Manages working sets of constraints. More...

#include <Constraints.hpp>

Inheritance diagram for Constraints:

Public Member Functions
	Constraints ()
	Constraints (int_t _n)
	Constraints (const Constraints &rhs)
virtual	~Constraints ()
Constraints &	operator= (const Constraints &rhs)
returnValue	init (int_t _n=0)
returnValue	setupConstraint (int_t number, SubjectToStatus _status)
returnValue	setupAllInactive ()
returnValue	setupAllLower ()
returnValue	setupAllUpper ()
returnValue	moveActiveToInactive (int_t number)
returnValue	moveInactiveToActive (int_t number, SubjectToStatus _status)
returnValue	flipFixed (int_t number)
int_t	getNC () const
int_t	getNEC () const
int_t	getNIC () const
int_t	getNUC () const
int_t	getNAC () const
int_t	getNIAC () const
Indexlist *	getActive ()
Indexlist *	getInactive ()
virtual returnValue	shift (int_t offset)
virtual returnValue	rotate (int_t offset)
returnValue	print ()
int_t	getNumberOfType (SubjectToType _type) const
SubjectToType	getType (int_t i) const
SubjectToStatus	getStatus (int_t i) const
returnValue	setType (int_t i, SubjectToType value)
returnValue	setStatus (int_t i, SubjectToStatus value)
void	setNoLower (BooleanType _status)
void	setNoUpper (BooleanType _status)
BooleanType	hasNoLower () const
BooleanType	hasNoUpper () const

Protected Member Functions
returnValue	clear ()
returnValue	copy (const Constraints &rhs)
returnValue	setupAll (SubjectToStatus _status)
returnValue	copy (const SubjectTo &rhs)
returnValue	addIndex (Indexlist *const indexlist, int_t newnumber, SubjectToStatus newstatus)
returnValue	removeIndex (Indexlist *const indexlist, int_t removenumber)
returnValue	swapIndex (Indexlist *const indexlist, int_t number1, int_t number2)

Protected Attributes
Indexlist	active
Indexlist	inactive
int_t	n
SubjectToType *	type
SubjectToStatus *	status
BooleanType	noLower
BooleanType	noUpper

Detailed Description

This class manages working sets of constraints by storing index sets and other status information.

Author: Hans Joachim Ferreau

Version: 3.2

Date: 2007-2017

Constructor & Destructor Documentation

◆ Constraints() [1/3]

BEGIN_NAMESPACE_QPOASES Constraints::Constraints ( )

Default constructor.

References SubjectTo::SubjectTo().

Referenced by Constraints(), copy(), and operator=().

◆ Constraints() [2/3]

Constraints::Constraints ( int_t _n )

Constructor which takes the number of constraints.

Parameters

_n	Number of constraints.

References init(), and SubjectTo::SubjectTo().

◆ Constraints() [3/3]

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

References Constraints(), copy(), and SubjectTo::SubjectTo().

◆ ~Constraints()

Constraints::~Constraints ( )

virtual

Destructor.

References clear().

Member Function Documentation

◆ addIndex()

returnValue SubjectTo::addIndex	(	Indexlist *const	indexlist,
		int_t	newnumber,
		SubjectToStatus	newstatus )

protectedinherited

Adds the index of a new constraint or bound to index set.

Returns: SUCCESSFUL_RETURN
RET_ADDINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list to which the new index shall be added.
newnumber	Number of new constraint or bound.
newstatus	Status of new constraint or bound.

References Indexlist::addNumber(), RET_ADDINDEX_FAILED, RET_INDEX_ALREADY_OF_DESIRED_STATUS, RET_INDEXLIST_EXCEEDS_MAX_LENGTH, RET_INVALID_ARGUMENTS, status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Constraints::moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), Constraints::moveInactiveToActive(), Bounds::setupBound(), and Constraints::setupConstraint().

◆ clear()

returnValue Constraints::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN.

Referenced by init(), operator=(), and ~Constraints().

◆ copy() [1/2]

returnValue Constraints::copy ( const Constraints & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

References active, Constraints(), inactive, and SUCCESSFUL_RETURN.

Referenced by Constraints(), and operator=().

◆ copy() [2/2]

returnValue SubjectTo::copy ( const SubjectTo & rhs )

protectedinherited

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

References n, noLower, noUpper, status, SubjectTo(), SUCCESSFUL_RETURN, and type.

Referenced by operator=(), and SubjectTo().

◆ flipFixed()

returnValue Constraints::flipFixed ( int_t number )

Flip fixed constraint.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_CONSTRAINT_FAILED, ST_LOWER, ST_UPPER, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.

◆ getActive()

Indexlist * Constraints::getActive ( )

inline

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

References active.

Referenced by SolutionAnalysis::getVarianceCovariance(), moveActiveToInactive(), moveInactiveToActive(), print(), and setupConstraint().

◆ getInactive()

Indexlist * Constraints::getInactive ( )

inline

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

References inactive.

Referenced by moveActiveToInactive(), moveInactiveToActive(), print(), and setupConstraint().

◆ getNAC()

int_t Constraints::getNAC ( ) const

inline

Returns the number of active constraints.

Returns: Number of active constraints.

References active.

Referenced by print(), and QProblem::shallRefactorise().

◆ getNC()

BEGIN_NAMESPACE_QPOASES int_t Constraints::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

References SubjectTo::n.

◆ getNEC()

int_t Constraints::getNEC ( ) const

inline

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

References SubjectTo::getNumberOfType(), and ST_EQUALITY.

◆ getNIAC()

int_t Constraints::getNIAC ( ) const

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

References inactive.

Referenced by print().

◆ getNIC()

int_t Constraints::getNIC ( ) const

inline

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

References SubjectTo::getNumberOfType(), and ST_BOUNDED.

◆ getNUC()

int_t Constraints::getNUC ( ) const

inline

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

References SubjectTo::getNumberOfType(), and ST_UNBOUNDED.

◆ getNumberOfType()

BEGIN_NAMESPACE_QPOASES int_t SubjectTo::getNumberOfType ( SubjectToType _type ) const

inlineinherited

Returns number of constraints/bounds with given SubjectTo type.

Returns: Number of constraints/bounds with given type.

Parameters

_type Type of (constraints') bound.

References n, and type.

Referenced by Bounds::getNBV(), Constraints::getNEC(), Bounds::getNFV(), Constraints::getNIC(), Constraints::getNUC(), and Bounds::getNUV().

◆ getStatus()

SubjectToStatus SubjectTo::getStatus ( int_t i ) const

inlineinherited

Returns status of (constraints') bound.

Returns: Status of (constraints') bound
ST_UNDEFINED

Parameters

i	Number of (constraints') bound.

References n, ST_UNDEFINED, and status.

Referenced by SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblem::init(), QProblem::init(), QProblem::init(), QProblemB::init(), QProblemB::init(), QProblemB::init(), QProblem::obtainAuxiliaryWorkingSet(), QProblemB::obtainAuxiliaryWorkingSet(), QProblemB::performRatioTest(), Bounds::rotate(), Constraints::rotate(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblemSchur::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), Bounds::shift(), and Constraints::shift().

◆ getType()

SubjectToType SubjectTo::getType ( int_t i ) const

inlineinherited

Returns type of (constraints') bound.

Returns: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of (constraints') bound.

References n, ST_UNKNOWN, and type.

Referenced by QProblemB::performRatioTest(), Bounds::rotate(), Constraints::rotate(), Bounds::setupAll(), Constraints::setupAll(), SQProblem::setupNewAuxiliaryQP(), Bounds::shift(), and Constraints::shift().

◆ hasNoLower()

BooleanType SubjectTo::hasNoLower ( ) const

inlineinherited

Returns status of lower (constraints') bounds.

Returns: BT_TRUE if there is no lower (constraints') bound on any variable.

References noLower.

◆ hasNoUpper()

BooleanType SubjectTo::hasNoUpper ( ) const

inlineinherited

Returns status of upper bounds.

Returns: BT_TRUE if there is no upper (constraints') bound on any variable.

References noUpper.

◆ init()

returnValue Constraints::init ( int_t _n = 0 )

Initialises object with given number of constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_n	Number of constraints.

References active, clear(), inactive, SubjectTo::init(), RET_INVALID_ARGUMENTS, and THROWERROR.

Referenced by Constraints().

◆ moveActiveToInactive()

returnValue Constraints::moveActiveToInactive ( int_t number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number Number of constraint to become inactive.

References SubjectTo::addIndex(), getActive(), getInactive(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, ST_INACTIVE, SUCCESSFUL_RETURN, and THROWERROR.

◆ moveInactiveToActive()

returnValue Constraints::moveInactiveToActive	(	int_t	number,
		SubjectToStatus	_status )

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number	Number of constraint to become active.
_status	Status of constraint to become active.

References SubjectTo::addIndex(), getActive(), getInactive(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, SUCCESSFUL_RETURN, and THROWERROR.

◆ operator=()

Constraints & Constraints::operator= ( const Constraints & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

References clear(), Constraints(), copy(), and SubjectTo::operator=().

◆ print()

returnValue Constraints::print ( )

Prints information on constraints object (in particular, lists of inactive and active constraints.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

References getActive(), getInactive(), getNAC(), getNIAC(), Indexlist::getNumberArray(), MAX_STRING_LENGTH, myPrintf(), SubjectTo::n, print(), REFER_NAMESPACE_QPOASES, and SUCCESSFUL_RETURN.

Referenced by print().

◆ removeIndex()

returnValue SubjectTo::removeIndex	(	Indexlist *const	indexlist,
		int_t	removenumber )

protectedinherited

Removes the index of a constraint or bound from index set.

Returns: SUCCESSFUL_RETURN
RET_REMOVEINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list from which the new index shall be removed.
removenumber	Number of constraint or bound to be removed.

References Indexlist::removeNumber(), RET_INVALID_ARGUMENTS, RET_REMOVEINDEX_FAILED, ST_UNDEFINED, status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Constraints::moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), and Constraints::moveInactiveToActive().

◆ rotate()

returnValue Constraints::rotate ( int_t offset )

virtual

Rotates forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters

offset Rotation offset within the range [0,n].

Implements SubjectTo.

References active, Indexlist::addNumber(), SubjectTo::getStatus(), SubjectTo::getType(), inactive, SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_ROTATING_FAILED, SubjectTo::setStatus(), SubjectTo::setType(), ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

◆ setNoLower()

void SubjectTo::setNoLower ( BooleanType _status )

inlineinherited

Sets status of lower (constraints') bounds.

Parameters

_status Status of lower (constraints') bounds.

References noLower.

◆ setNoUpper()

void SubjectTo::setNoUpper ( BooleanType _status )

inlineinherited

Sets status of upper (constraints') bounds.

Parameters

_status Status of upper (constraints') bounds.

References noUpper.

◆ setStatus()

returnValue SubjectTo::setStatus	(	int_t	i,
		SubjectToStatus	value )

inlineinherited

Sets status of (constraints') bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of (constraints') bound.
value	Status of (constraints') bound.

References n, RET_INDEX_OUT_OF_BOUNDS, status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Bounds::rotate(), Constraints::rotate(), SQProblemSchur::setupAuxiliaryQP(), SQProblem::setupNewAuxiliaryQP(), Bounds::shift(), and Constraints::shift().

◆ setType()

returnValue SubjectTo::setType	(	int_t	i,
		SubjectToType	value )

inlineinherited

Sets type of (constraints') bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of (constraints') bound.
value	Type of (constraints') bound.

References n, RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, THROWERROR, and type.

Referenced by Bounds::rotate(), Constraints::rotate(), Bounds::shift(), and Constraints::shift().

◆ setupAll()

returnValue Constraints::setupAll ( SubjectToStatus _status )

protected

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set corresponding to the desired status; the order depends on the SujectToType of each index.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Parameters

_status Desired initial status for all bounds.

References SubjectTo::getType(), SubjectTo::n, RET_SETUP_CONSTRAINT_FAILED, setupConstraint(), ST_BOUNDED, ST_DISABLED, ST_EQUALITY, ST_UNBOUNDED, ST_UNKNOWN, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by setupAllInactive(), setupAllLower(), and setupAllUpper().

◆ setupAllInactive()

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_INACTIVE.

◆ setupAllLower()

returnValue Constraints::setupAllLower ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their lower bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_LOWER.

◆ setupAllUpper()

returnValue Constraints::setupAllUpper ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their upper bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_UPPER.

◆ setupConstraint()

returnValue Constraints::setupConstraint	(	int_t	number,
		SubjectToStatus	_status )

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

number	Number of new constraint.
_status	Status of new constraint.

References SubjectTo::addIndex(), getActive(), getInactive(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_SETUP_CONSTRAINT_FAILED, ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblem::obtainAuxiliaryWorkingSet(), and setupAll().

◆ shift()

returnValue Constraints::shift ( int_t offset )

virtual

Shifts forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n/2] and has to be an integer divisor of the total number of constraints n. Type and status of the first <offset> constraints is thrown away, type and status of the last <offset> constraints is doubled, e.g. for offset = 2:
shift( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c5,c6}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS
RET_SHIFTING_FAILED

Parameters

offset Shift offset within the range [0,n/2] and integer divisor of n.

Implements SubjectTo.

References active, Indexlist::addNumber(), SubjectTo::getStatus(), SubjectTo::getType(), inactive, SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_SHIFTING_FAILED, SubjectTo::setStatus(), SubjectTo::setType(), ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

◆ swapIndex()

returnValue SubjectTo::swapIndex	(	Indexlist *const	indexlist,
		int_t	number1,
		int_t	number2 )

protectedinherited

Swaps the indices of two constraints or bounds within the index set.

Returns: SUCCESSFUL_RETURN
RET_SWAPINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list in which the indices shold be swapped.
number1	Number of first constraint or bound.
number2	Number of second constraint or bound.

References RET_INVALID_ARGUMENTS, RET_NOTHING_TO_DO, RET_SWAPINDEX_FAILED, status, SUCCESSFUL_RETURN, Indexlist::swapNumbers(), THROWERROR, and THROWWARNING.

Referenced by Bounds::swapFree().

Member Data Documentation

◆ active

Indexlist Constraints::active

protected

Index list of active constraints.

Referenced by copy(), getActive(), getNAC(), init(), rotate(), and shift().

◆ inactive

Indexlist Constraints::inactive

protected

Index list of inactive constraints.

Referenced by copy(), getInactive(), getNIAC(), init(), rotate(), and shift().

◆ n

int_t SubjectTo::n

protectedinherited

◆ noLower

BooleanType SubjectTo::noLower

protectedinherited

This flag indicates if there is no lower bound on any variable.

Referenced by copy(), hasNoLower(), init(), and setNoLower().

◆ noUpper

BooleanType SubjectTo::noUpper

protectedinherited

This flag indicates if there is no upper bound on any variable.

Referenced by copy(), hasNoUpper(), init(), and setNoUpper().

◆ status

SubjectToStatus* SubjectTo::status

protectedinherited

Status of constraints/bounds.

Referenced by addIndex(), clear(), copy(), Bounds::flipFixed(), Constraints::flipFixed(), getStatus(), init(), removeIndex(), setStatus(), SubjectTo(), SubjectTo(), and swapIndex().

◆ type

SubjectToType* SubjectTo::type

protectedinherited

Type of constraints/bounds.

Referenced by clear(), copy(), getNumberOfType(), getType(), init(), setType(), SubjectTo(), and SubjectTo().

The documentation for this class was generated from the following files:

include/qpOASES/Constraints.hpp
src/Constraints.cpp
include/qpOASES/Constraints.ipp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Constraints() [1/3]

◆ Constraints() [2/3]

◆ Constraints() [3/3]

◆ ~Constraints()

Member Function Documentation

◆ addIndex()

◆ clear()

◆ copy() [1/2]

◆ copy() [2/2]

◆ flipFixed()

◆ getActive()

◆ getInactive()

◆ getNAC()

◆ getNC()

◆ getNEC()

◆ getNIAC()

◆ getNIC()

◆ getNUC()

◆ getNumberOfType()

◆ getStatus()

◆ getType()

◆ hasNoLower()

◆ hasNoUpper()

◆ init()

◆ moveActiveToInactive()

◆ moveInactiveToActive()

◆ operator=()

◆ print()

◆ removeIndex()

◆ rotate()

◆ setNoLower()

◆ setNoUpper()

◆ setStatus()

◆ setType()

◆ setupAll()

◆ setupAllInactive()

◆ setupAllLower()

◆ setupAllUpper()

◆ setupConstraint()

◆ shift()

◆ swapIndex()

Member Data Documentation

◆ active

◆ inactive

◆ n

◆ noLower

◆ noUpper

◆ status

◆ type