Flipper.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 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
 *
 */


#ifndef QPOASES_FLIPPER_HPP
#define QPOASES_FLIPPER_HPP


#include <qpOASES/Bounds.hpp>
#include <qpOASES/Constraints.hpp>


BEGIN_NAMESPACE_QPOASES


class Flipper
{
        friend class QProblemB;
        friend class QProblem;

        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                Flipper( );

                Flipper(        int _nV,                
                                        int _nC = 0             
                                        );

                Flipper(        const Flipper& rhs                      
                                        );

                ~Flipper( );

                Flipper& operator=(     const Flipper& rhs      
                                                        );


                returnValue init(       int _nV = 0,    
                                                        int _nC = 0             
                                                        );


                returnValue get(        Bounds* const _bounds,                                  
                                                        double* const R,                                                
                                                        Constraints* const _constraints = 0,    
                                                        double* const _Q = 0,                                   
                                                        double* const _T = 0                                    
                                                        ) const;

                returnValue set(        const Bounds* const _bounds,                            
                                                        const double* const _R,                                         
                                                        const Constraints* const _constraints = 0,      
                                                        const double* const _Q = 0,                                     
                                                        const double* const _T = 0                                      
                                                        );


        /*
         *      PROTECTED MEMBER FUNCTIONS
         */
        protected:
                returnValue clear( );
                
                returnValue copy(       const Flipper& rhs      
                                                        );

                int getDimT( ) const;


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                int nV;                                                 
                int nC;                                                 
                Bounds      bounds;                             
                Constraints constraints;                
                real_t* R;                                              
                real_t* Q;                                              
                real_t* T;                                              
};


END_NAMESPACE_QPOASES


#endif  /* QPOASES_FLIPPER_HPP */


/*
 *      end of file
 */