qpOASES 3.2.1
An Implementation of the Online Active Set Strategy
Constraints.hpp
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1/*
2 * This file is part of qpOASES.
3 *
4 * qpOASES -- An Implementation of the Online Active Set Strategy.
5 * Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
6 * Christian Kirches et al. All rights reserved.
7 *
8 * qpOASES is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU Lesser General Public
10 * License as published by the Free Software Foundation; either
11 * version 2.1 of the License, or (at your option) any later version.
12 *
13 * qpOASES is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16 * See the GNU Lesser General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public
19 * License along with qpOASES; if not, write to the Free Software
20 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21 *
22 */
23
24
36#ifndef QPOASES_CONSTRAINTS_HPP
37#define QPOASES_CONSTRAINTS_HPP
38
39
40#include <qpOASES/SubjectTo.hpp>
41
42
44
45
56class Constraints : public SubjectTo
57{
58 /*
59 * PUBLIC MEMBER FUNCTIONS
60 */
61 public:
63 Constraints( );
64
67 );
68
70 Constraints( const Constraints& rhs
71 );
72
74 virtual ~Constraints( );
75
78 );
79
80
84 returnValue init( int_t _n = 0
85 );
86
87
95 SubjectToStatus _status
96 );
97
104
111
118
119
124 );
125
130 SubjectToStatus _status
131 );
132
137 returnValue flipFixed( int_t number );
138
139
142 inline int_t getNC( ) const;
143
146 inline int_t getNEC( ) const;
147
150 inline int_t getNIC( ) const;
151
154 inline int_t getNUC( ) const;
155
158 inline int_t getNAC( ) const;
159
162 inline int_t getNIAC( ) const;
163
164
167 inline Indexlist* getActive( );
168
171 inline Indexlist* getInactive( );
172
173
185 virtual returnValue shift( int_t offset
186 );
187
195 virtual returnValue rotate( int_t offset
196 );
197
198
204
205
206 /*
207 * PROTECTED MEMBER FUNCTIONS
208 */
209 protected:
213
216 returnValue copy( const Constraints& rhs
217 );
218
219
226 );
227
228
229 /*
230 * PROTECTED MEMBER VARIABLES
231 */
232 protected:
235};
236
238
240
241#endif /* QPOASES_CONSTRAINTS_HPP */
242
243
244/*
245 * end of file
246 */
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.hpp:65
SubjectToStatus
Definition: Types.hpp:273
int int_t
Definition: Types.hpp:180
#define END_NAMESPACE_QPOASES
Definition: Types.hpp:110
#define BEGIN_NAMESPACE_QPOASES
Definition: Types.hpp:107
Manages working sets of constraints.
Definition: Constraints.hpp:57
int_t getNUC() const
Definition: Constraints.ipp:74
returnValue setupAllLower()
Definition: Constraints.cpp:168
virtual returnValue rotate(int_t offset)
Definition: Constraints.cpp:309
returnValue moveInactiveToActive(int_t number, SubjectToStatus _status)
Definition: Constraints.cpp:206
returnValue flipFixed(int_t number)
Definition: Constraints.cpp:227
Indexlist active
Definition: Constraints.hpp:233
Indexlist * getInactive()
Definition: Constraints.ipp:111
int_t getNC() const
Definition: Constraints.ipp:47
Indexlist inactive
Definition: Constraints.hpp:234
virtual ~Constraints()
Definition: Constraints.cpp:76
int_t getNIAC() const
Definition: Constraints.ipp:92
int_t getNAC() const
Definition: Constraints.ipp:83
virtual returnValue shift(int_t offset)
Definition: Constraints.cpp:248
returnValue setupAllUpper()
Definition: Constraints.cpp:177
returnValue moveActiveToInactive(int_t number)
Definition: Constraints.cpp:186
returnValue clear()
Definition: Constraints.cpp:422
int_t getNIC() const
Definition: Constraints.ipp:65
Constraints()
Definition: Constraints.cpp:50
returnValue init(int_t _n=0)
Definition: Constraints.cpp:101
returnValue print()
Definition: Constraints.cpp:384
returnValue setupAllInactive()
Definition: Constraints.cpp:159
returnValue setupConstraint(int_t number, SubjectToStatus _status)
Definition: Constraints.cpp:123
Indexlist * getActive()
Definition: Constraints.ipp:102
Constraints & operator=(const Constraints &rhs)
Definition: Constraints.cpp:85
int_t getNEC() const
Definition: Constraints.ipp:56
returnValue copy(const Constraints &rhs)
Definition: Constraints.cpp:431
returnValue setupAll(SubjectToStatus _status)
Definition: Constraints.cpp:445
Stores and manages index lists.
Definition: Indexlist.hpp:56
Base class for managing working sets of bounds and constraints.
Definition: SubjectTo.hpp:57