/* * This file is part of qpOASES. * * qpOASES -- An Implementation of the Online Active Set Strategy. * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, * Christian Kirches et al. All rights reserved. * * qpOASES is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * qpOASES is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with qpOASES; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * */ /** * \file include/qpOASES/Bounds.hpp * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches * \version 3.2 * \date 2007-2015 * * Declaration of the Bounds class designed to manage working sets of * bounds within a QProblem. */ #ifndef QPOASES_BOUNDS_HPP #define QPOASES_BOUNDS_HPP #include BEGIN_NAMESPACE_QPOASES /** * \brief Manages working sets of bounds (i.e. box constraints). * * This class manages working sets of bounds (= box constraints) * by storing index sets and other status information. * * \author Hans Joachim Ferreau * \version 3.2 * \date 2007-2015 */ class Bounds : public SubjectTo { /* * PUBLIC MEMBER FUNCTIONS */ public: /** Default constructor. */ Bounds( ); /** Constructor which takes the number of bounds. */ Bounds( int_t _n /**< Number of bounds. */ ); /** Copy constructor (deep copy). */ Bounds( const Bounds& rhs /**< Rhs object. */ ); /** Destructor. */ virtual ~Bounds( ); /** Assignment operator (deep copy). */ Bounds& operator=( const Bounds& rhs /**< Rhs object. */ ); /** Initialises object with given number of bounds. * \return SUCCESSFUL_RETURN \n RET_INVALID_ARGUMENTS */ returnValue init( int_t _n = 0 /**< Number of bounds. */ ); /** Initially adds number of a new (i.e. not yet in the list) bound to * given index set. * \return SUCCESSFUL_RETURN \n RET_SETUP_BOUND_FAILED \n RET_INDEX_OUT_OF_BOUNDS \n RET_INVALID_ARGUMENTS */ returnValue setupBound( int_t number, /**< Number of new bound. */ SubjectToStatus _status /**< Status of new bound. */ ); /** 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. * \return SUCCESSFUL_RETURN \n RET_SETUP_BOUND_FAILED */ returnValue setupAllFree( ); /** 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. * \return SUCCESSFUL_RETURN \n RET_SETUP_BOUND_FAILED */ returnValue 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 upper bounds); * the order depends on the SujectToType of each index. * \return SUCCESSFUL_RETURN \n RET_SETUP_BOUND_FAILED */ returnValue setupAllUpper( ); /** Moves index of a bound from index list of fixed to that of free bounds. * \return SUCCESSFUL_RETURN \n RET_MOVING_BOUND_FAILED \n RET_INDEX_OUT_OF_BOUNDS */ returnValue moveFixedToFree( int_t number /**< Number of bound to be freed. */ ); /** Moves index of a bound from index list of free to that of fixed bounds. * \return SUCCESSFUL_RETURN \n RET_MOVING_BOUND_FAILED \n RET_INDEX_OUT_OF_BOUNDS */ returnValue moveFreeToFixed( int_t number, /**< Number of bound to be fixed. */ SubjectToStatus _status /**< Status of bound to be fixed. */ ); /** Flip fixed bound. * \return SUCCESSFUL_RETURN \n RET_MOVING_BOUND_FAILED \n RET_INDEX_OUT_OF_BOUNDS */ returnValue flipFixed( int_t number ); /** Swaps the indices of two free bounds within the index set. * \return SUCCESSFUL_RETURN \n RET_SWAPINDEX_FAILED */ returnValue swapFree( int_t number1, /**< Number of first constraint or bound. */ int_t number2 /**< Number of second constraint or bound. */ ); /** Returns number of variables. * \return Number of variables. */ inline int_t getNV( ) const; /** Returns number of implicitly fixed variables. * \return Number of implicitly fixed variables. */ inline int_t getNFV( ) const; /** Returns number of bounded (but possibly free) variables. * \return Number of bounded (but possibly free) variables. */ inline int_t getNBV( ) const; /** Returns number of unbounded variables. * \return Number of unbounded variables. */ inline int_t getNUV( ) const; /** Returns number of free variables. * \return Number of free variables. */ inline int_t getNFR( ) const; /** Returns number of fixed variables. * \return Number of fixed variables. */ inline int_t getNFX( ) const; /** Returns a pointer to free variables index list. * \return Pointer to free variables index list. */ inline Indexlist* getFree( ); /** Returns a pointer to fixed variables index list. * \return Pointer to fixed variables index list. */ inline Indexlist* getFixed( ); /** 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 \ bounds is thrown away, * type and status of the last \ bounds is doubled, * e.g. for offset = 2: \n * shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6} * \return SUCCESSFUL_RETURN \n RET_INDEX_OUT_OF_BOUNDS \n RET_INVALID_ARGUMENTS \n RET_SHIFTING_FAILED */ virtual returnValue shift( int_t offset /**< Shift offset within the range [0,n/2] and integer divisor of n. */ ); /** 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: \n * rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2} * \return SUCCESSFUL_RETURN \n RET_INDEX_OUT_OF_BOUNDS \n RET_ROTATING_FAILED */ virtual returnValue rotate( int_t offset /**< Rotation offset within the range [0,n]. */ ); /** Prints information on bounds object * (in particular, lists of free and fixed bounds. * \return SUCCESSFUL_RETURN \n RET_INDEXLIST_CORRUPTED */ returnValue print( ); /* * PROTECTED MEMBER FUNCTIONS */ protected: /** Frees all allocated memory. * \return SUCCESSFUL_RETURN */ returnValue clear( ); /** Copies all members from given rhs object. * \return SUCCESSFUL_RETURN */ returnValue copy( const Bounds& rhs /**< Rhs object. */ ); /** 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. * \return SUCCESSFUL_RETURN \n RET_SETUP_BOUND_FAILED */ returnValue setupAll( SubjectToStatus _status /**< Desired initial status for all bounds. */ ); /* * PROTECTED MEMBER VARIABLES */ protected: Indexlist freee; /**< Index list of free variables. */ Indexlist fixed; /**< Index list of fixed variables. */ }; END_NAMESPACE_QPOASES #include #endif /* QPOASES_BOUNDS_HPP */ /* * end of file */