qpOASES
3.2.1
An Implementation of the Online Active Set Strategy
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Manages working sets of bounds (i.e. box constraints). More...
#include <Bounds.hpp>
Protected Member Functions | |
returnValue | clear () |
returnValue | copy (const Bounds &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 | freee |
Indexlist | fixed |
int_t | n |
SubjectToType * | type |
SubjectToStatus * | status |
BooleanType | noLower |
BooleanType | noUpper |
This class manages working sets of bounds (= box constraints) by storing index sets and other status information.
BEGIN_NAMESPACE_QPOASES Bounds::Bounds | ( | ) |
Default constructor.
Bounds::Bounds | ( | int_t | _n | ) |
Bounds::Bounds | ( | const Bounds & | rhs | ) |
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Destructor.
References clear().
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protectedinherited |
Adds the index of a new constraint or bound to index set.
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, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by Constraints::moveActiveToInactive(), moveFixedToFree(), moveFreeToFixed(), Constraints::moveInactiveToActive(), setupBound(), and Constraints::setupConstraint().
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Frees all allocated memory.
References SUCCESSFUL_RETURN.
Referenced by init(), operator=(), and ~Bounds().
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protectedinherited |
Copies all members from given rhs object.
rhs | Rhs object. |
References SubjectTo::n, SubjectTo::noLower, SubjectTo::noUpper, SubjectTo::status, SUCCESSFUL_RETURN, and SubjectTo::type.
Referenced by SubjectTo::operator=(), and SubjectTo::SubjectTo().
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Copies all members from given rhs object.
rhs | Rhs object. |
References fixed, freee, and SUCCESSFUL_RETURN.
Referenced by Bounds(), and operator=().
returnValue Bounds::flipFixed | ( | int_t | number | ) |
Flip fixed bound.
References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, ST_LOWER, ST_UPPER, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by QProblem::removeBound(), and QProblemB::removeBound().
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Returns a pointer to fixed variables index list.
References END_NAMESPACE_QPOASES, and fixed.
Referenced by SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getVarianceCovariance(), moveFixedToFree(), moveFreeToFixed(), QProblem::performStep(), QProblemB::performStep(), print(), setupBound(), QProblem::solveCurrentEQP(), and QProblem::writeQpWorkspaceIntoMatFile().
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Returns a pointer to free variables index list.
References freee.
Referenced by QProblem::addBound(), QProblemB::addBound(), SQProblemSchur::addBound_checkLISchur(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), QProblem::addConstraint_ensureLI(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), SQProblemSchur::correctInertia(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::ensureNonzeroCurvature(), QProblem::getFreeVariablesFlags(), SolutionAnalysis::getVarianceCovariance(), moveFixedToFree(), moveFreeToFixed(), QProblem::performStep(), QProblemB::performStep(), print(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), SQProblemSchur::repairSingularWorkingSet(), setupBound(), QProblem::setupTQfactorisation(), QProblem::solveCurrentEQP(), swapFree(), and QProblem::writeQpWorkspaceIntoMatFile().
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Returns number of bounded (but possibly free) variables.
References SubjectTo::getNumberOfType(), and ST_BOUNDED.
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Returns number of free variables.
References freee, and Indexlist::getLength().
Referenced by QProblemB::getNFR(), and print().
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Returns number of implicitly fixed variables.
References SubjectTo::getNumberOfType(), and ST_EQUALITY.
Referenced by QProblemB::getNFV().
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Returns number of fixed variables.
References fixed, and Indexlist::getLength().
Referenced by QProblemB::getNFX(), print(), QProblem::shallRefactorise(), and QProblemB::shallRefactorise().
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inlineinherited |
Returns number of constraints/bounds with given SubjectTo type.
_type | Type of (constraints') bound. |
References SubjectTo::n, and SubjectTo::type.
Referenced by getNBV(), Constraints::getNEC(), getNFV(), Constraints::getNIC(), Constraints::getNUC(), and getNUV().
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Returns number of unbounded variables.
References SubjectTo::getNumberOfType(), and ST_UNBOUNDED.
Referenced by SQProblemSchur::addBound(), and QProblem::addBound().
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Returns number of variables.
References SubjectTo::n.
Referenced by QProblemB::getNV().
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inlineinherited |
Returns status of (constraints') bound.
i | Number of (constraints') bound. |
References SubjectTo::n, ST_UNDEFINED, and SubjectTo::status.
Referenced by SQProblemSchur::addBound(), QProblem::addBound(), SQProblemSchur::addConstraint(), QProblem::addConstraint(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), QProblemB::getWorkingSetBounds(), QProblem::getWorkingSetConstraints(), QProblemB::init(), QProblem::init(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblemB::performRamping(), QProblem::performRamping(), QProblemB::performRatioTest(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), Constraints::rotate(), rotate(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), SQProblemSchur::setupAuxiliaryWorkingSet(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), Constraints::shift(), shift(), and QProblem::updateActivitiesForHotstart().
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inlineinherited |
Returns type of (constraints') bound.
i | Number of (constraints') bound. |
References SubjectTo::n, ST_UNKNOWN, and SubjectTo::type.
Referenced by QProblem::dropInfeasibles(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblemB::performRamping(), QProblem::performRamping(), QProblemB::performRatioTest(), QProblem::performStep(), Constraints::rotate(), rotate(), Constraints::setupAll(), setupAll(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::setupSubjectToType(), Constraints::shift(), shift(), and QProblem::updateActivitiesForHotstart().
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inlineinherited |
Returns status of lower (constraints') bounds.
References SubjectTo::noLower.
Referenced by QProblem::performStep(), QProblemB::performStep(), QProblem::printProperties(), and QProblemB::printProperties().
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inlineinherited |
Returns status of upper bounds.
References END_NAMESPACE_QPOASES, and SubjectTo::noUpper.
Referenced by QProblem::performStep(), QProblemB::performStep(), QProblem::printProperties(), and QProblemB::printProperties().
returnValue Bounds::init | ( | int_t | _n = 0 | ) |
Initialises object with given number of bounds.
_n | Number of bounds. |
References clear(), fixed, freee, SubjectTo::init(), Indexlist::init(), RET_INVALID_ARGUMENTS, and THROWERROR.
Referenced by Bounds(), QProblemB::QProblemB(), QProblemB::reset(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), and SQProblem::setupNewAuxiliaryQP().
returnValue Bounds::moveFixedToFree | ( | int_t | number | ) |
Moves index of a bound from index list of fixed to that of free bounds.
number | Number of bound to be freed. |
References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, ST_INACTIVE, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), and SQProblemSchur::setupAuxiliaryWorkingSet().
returnValue Bounds::moveFreeToFixed | ( | int_t | number, |
SubjectToStatus | _status | ||
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Moves index of a bound from index list of free to that of fixed bounds.
number | Number of bound to be fixed. |
_status | Status of bound to be fixed. |
References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by SQProblemSchur::addBound(), QProblem::addBound(), QProblemB::addBound(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), SQProblemSchur::setupAuxiliaryWorkingSet(), and QProblem::setupAuxiliaryWorkingSet().
Assignment operator (deep copy).
rhs | Rhs object. |
References clear(), copy(), and SubjectTo::operator=().
returnValue Bounds::print | ( | ) |
Prints information on bounds object (in particular, lists of free and fixed bounds.
References getFixed(), getFree(), getNFR(), getNFX(), Indexlist::getNumberArray(), MAX_STRING_LENGTH, myPrintf(), SubjectTo::n, REFER_NAMESPACE_QPOASES, and SUCCESSFUL_RETURN.
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protectedinherited |
Removes the index of a constraint or bound from index set.
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, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by Constraints::moveActiveToInactive(), moveFixedToFree(), moveFreeToFixed(), and Constraints::moveInactiveToActive().
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Rotates forward type and status of all bounds by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
offset | Rotation offset within the range [0,n]. |
Implements SubjectTo.
References Indexlist::addNumber(), fixed, freee, SubjectTo::getStatus(), SubjectTo::getType(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_ROTATING_FAILED, SubjectTo::setStatus(), SubjectTo::setType(), ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.
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inlineinherited |
Sets status of lower (constraints') bounds.
_status | Status of lower (constraints') bounds. |
References SubjectTo::noLower.
Referenced by QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().
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inlineinherited |
Sets status of upper (constraints') bounds.
_status | Status of upper (constraints') bounds. |
References SubjectTo::noUpper.
Referenced by QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().
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inlineinherited |
Sets status of (constraints') bound.
i | Number of (constraints') bound. |
value | Status of (constraints') bound. |
References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by QProblem::dropInfeasibles(), Constraints::rotate(), rotate(), SQProblem::setupNewAuxiliaryQP(), Constraints::shift(), and shift().
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inlineinherited |
Sets type of (constraints') bound.
i | Number of (constraints') bound. |
value | Type of (constraints') bound. |
References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, THROWERROR, and SubjectTo::type.
Referenced by Constraints::rotate(), rotate(), QProblem::setA(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupSubjectToType(), QProblem::setupSubjectToType(), Constraints::shift(), and shift().
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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.
_status | Desired initial status for all bounds. |
References END_NAMESPACE_QPOASES, SubjectTo::getType(), SubjectTo::n, RET_SETUP_BOUND_FAILED, setupBound(), ST_BOUNDED, ST_DISABLED, ST_EQUALITY, ST_UNBOUNDED, ST_UNKNOWN, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by setupAllFree(), setupAllLower(), and setupAllUpper().
returnValue Bounds::setupAllFree | ( | ) |
Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of free bounds; the order depends on the SujectToType of each index.
References setupAll(), and ST_INACTIVE.
Referenced by QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), SQProblem::setupNewAuxiliaryQP(), QProblem::solveInitialQP(), and QProblemB::solveInitialQP().
returnValue Bounds::setupAllLower | ( | ) |
Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their lower bounds); the order depends on the SujectToType of each index.
References setupAll(), and ST_LOWER.
returnValue Bounds::setupAllUpper | ( | ) |
Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their upper bounds); the order depends on the SujectToType of each index.
References setupAll(), and ST_UPPER.
returnValue Bounds::setupBound | ( | int_t | number, |
SubjectToStatus | _status | ||
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Initially adds number of a new (i.e. not yet in the list) bound to given index set.
number | Number of new bound. |
_status | Status of new bound. |
References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_SETUP_BOUND_FAILED, ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.
Referenced by QProblemB::obtainAuxiliaryWorkingSet(), and setupAll().
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Shifts forward type and status of all bounds 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 bounds n. Type and status of the first <offset> bounds is thrown away, type and status of the last <offset> bounds is doubled, e.g. for offset = 2:
shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
offset | Shift offset within the range [0,n/2] and integer divisor of n. |
Implements SubjectTo.
References Indexlist::addNumber(), fixed, freee, SubjectTo::getStatus(), SubjectTo::getType(), 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.
returnValue Bounds::swapFree | ( | int_t | number1, |
int_t | number2 | ||
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Swaps the indices of two free bounds within the index set.
number1 | Number of first constraint or bound. |
number2 | Number of second constraint or bound. |
References getFree(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, SubjectTo::swapIndex(), and THROWERROR.
Referenced by QProblem::addBound().
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protectedinherited |
Swaps the indices of two constraints or bounds within the index set.
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 END_NAMESPACE_QPOASES, RET_INVALID_ARGUMENTS, RET_NOTHING_TO_DO, RET_SWAPINDEX_FAILED, SubjectTo::status, SUCCESSFUL_RETURN, Indexlist::swapNumbers(), THROWERROR, and THROWWARNING.
Referenced by swapFree().
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protectedinherited |
Total number of constraints/bounds.
Referenced by SubjectTo::copy(), Constraints::flipFixed(), flipFixed(), Constraints::getNC(), SubjectTo::getNumberOfType(), getNV(), SubjectTo::getStatus(), SubjectTo::getType(), SubjectTo::init(), Constraints::moveActiveToInactive(), moveFixedToFree(), moveFreeToFixed(), Constraints::moveInactiveToActive(), Constraints::print(), print(), Constraints::rotate(), rotate(), SubjectTo::setStatus(), SubjectTo::setType(), Constraints::setupAll(), setupAll(), setupBound(), Constraints::setupConstraint(), Constraints::shift(), shift(), and swapFree().
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This flag indicates if there is no lower bound on any variable.
Referenced by SubjectTo::copy(), SubjectTo::hasNoLower(), SubjectTo::init(), and SubjectTo::setNoLower().
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This flag indicates if there is no upper bound on any variable.
Referenced by SubjectTo::copy(), SubjectTo::hasNoUpper(), SubjectTo::init(), and SubjectTo::setNoUpper().
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Status of constraints/bounds.
Referenced by SubjectTo::addIndex(), SubjectTo::clear(), SubjectTo::copy(), Constraints::flipFixed(), flipFixed(), SubjectTo::getStatus(), SubjectTo::init(), SubjectTo::removeIndex(), SubjectTo::setStatus(), SubjectTo::SubjectTo(), and SubjectTo::swapIndex().
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Type of constraints/bounds.
Referenced by SubjectTo::clear(), SubjectTo::copy(), SubjectTo::getNumberOfType(), SubjectTo::getType(), SubjectTo::init(), SubjectTo::setType(), and SubjectTo::SubjectTo().