/* * 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/Constraints.hpp * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches * \version 3.2 * \date 2007-2015 * * Declaration of the Constraints class designed to manage working sets of * constraints within a QProblem. */ #ifndef QPOASES_CONSTRAINTS_HPP #define QPOASES_CONSTRAINTS_HPP #include BEGIN_NAMESPACE_QPOASES /** * \brief Manages working sets of constraints. * * This class manages working sets of constraints by storing * index sets and other status information. * * \author Hans Joachim Ferreau * \version 3.2 * \date 2007-2015 */ class Constraints : public SubjectTo { /* * PUBLIC MEMBER FUNCTIONS */ public: /** Default constructor. */ Constraints( ); /** Constructor which takes the number of constraints. */ Constraints( int_t _n /**< Number of constraints. */ ); /** Copy constructor (deep copy). */ Constraints( const Constraints& rhs /**< Rhs object. */ ); /** Destructor. */ virtual ~Constraints( ); /** Assignment operator (deep copy). */ Constraints& operator=( const Constraints& rhs /**< Rhs object. */ ); /** Initialises object with given number of constraints. * \return SUCCESSFUL_RETURN \n RET_INVALID_ARGUMENTS */ returnValue init( int_t _n = 0 /**< Number of constraints. */ ); /** Initially adds number of a new (i.e. not yet in the list) constraint to * a given index set. * \return SUCCESSFUL_RETURN \n RET_SETUP_CONSTRAINT_FAILED \n RET_INDEX_OUT_OF_BOUNDS \n RET_INVALID_ARGUMENTS */ returnValue setupConstraint( int_t number, /**< Number of new constraint. */ SubjectToStatus _status /**< Status of new constraint. */ ); /** 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! * \return SUCCESSFUL_RETURN \n RET_SETUP_CONSTRAINT_FAILED */ returnValue setupAllInactive( ); /** 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! * \return SUCCESSFUL_RETURN \n RET_SETUP_CONSTRAINT_FAILED */ returnValue 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 upper bounds); the order depends on the SujectToType * of each index. Only disabled constraints are added to index set of disabled constraints! * \return SUCCESSFUL_RETURN \n RET_SETUP_CONSTRAINT_FAILED */ returnValue setupAllUpper( ); /** Moves index of a constraint from index list of active to that of inactive constraints. * \return SUCCESSFUL_RETURN \n RET_MOVING_CONSTRAINT_FAILED */ returnValue moveActiveToInactive( int_t number /**< Number of constraint to become inactive. */ ); /** Moves index of a constraint from index list of inactive to that of active constraints. * \return SUCCESSFUL_RETURN \n RET_MOVING_CONSTRAINT_FAILED */ returnValue moveInactiveToActive( int_t number, /**< Number of constraint to become active. */ SubjectToStatus _status /**< Status of constraint to become active. */ ); /** Flip fixed constraint. * \return SUCCESSFUL_RETURN \n RET_MOVING_CONSTRAINT_FAILED \n RET_INDEX_OUT_OF_BOUNDS */ returnValue flipFixed( int_t number ); /** Returns the number of constraints. * \return Number of constraints. */ inline int_t getNC( ) const; /** Returns the number of implicit equality constraints. * \return Number of implicit equality constraints. */ inline int_t getNEC( ) const; /** Returns the number of "real" inequality constraints. * \return Number of "real" inequality constraints. */ inline int_t getNIC( ) const; /** Returns the number of unbounded constraints (i.e. without any bounds). * \return Number of unbounded constraints (i.e. without any bounds). */ inline int_t getNUC( ) const; /** Returns the number of active constraints. * \return Number of active constraints. */ inline int_t getNAC( ) const; /** Returns the number of inactive constraints. * \return Number of inactive constraints. */ inline int_t getNIAC( ) const; /** Returns a pointer to active constraints index list. * \return Pointer to active constraints index list. */ inline Indexlist* getActive( ); /** Returns a pointer to inactive constraints index list. * \return Pointer to inactive constraints index list. */ inline Indexlist* getInactive( ); /** 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 \ constraints is thrown away, * type and status of the last \ constraints is doubled, * e.g. for offset = 2: \n * shift( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c5,c6} * \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 constraints by a given * offset. This offset has to lie within the range [0,n]. * Example for offset = 2: \n * rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2} * \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 constraints object * (in particular, lists of inactive and active constraints. * \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 Constraints& 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_CONSTRAINT_FAILED */ returnValue setupAll( SubjectToStatus _status /**< Desired initial status for all bounds. */ ); /* * PROTECTED MEMBER VARIABLES */ protected: Indexlist active; /**< Index list of active constraints. */ Indexlist inactive; /**< Index list of inactive constraints. */ }; END_NAMESPACE_QPOASES #include #endif /* QPOASES_CONSTRAINTS_HPP */ /* * end of file */