Constraints.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_CONSTRAINTS_HPP
#define QPOASES_CONSTRAINTS_HPP


#include <qpOASES/SubjectTo.hpp>


BEGIN_NAMESPACE_QPOASES


class Constraints : public SubjectTo
{
        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                Constraints( );

                Constraints(    int _n                                                  
                                                );

                Constraints(    const Constraints& rhs                  
                                                );

                virtual ~Constraints( );

                Constraints& operator=( const Constraints& rhs  
                                                                );


                returnValue init(       int _n = 0                                      
                                                        );


                returnValue setupConstraint(    int number,                             
                                                                                SubjectToStatus _status 
                                                                                );

                returnValue setupAllInactive( );

                returnValue setupAllLower( );

                returnValue setupAllUpper( );


                returnValue moveActiveToInactive(       int number                              
                                                                                        );

                returnValue moveInactiveToActive(       int number,                             
                                                                                        SubjectToStatus _status 
                                                                                        );

                returnValue flipFixed( int number );


                inline int getNC( ) const;

                inline int getNEC( ) const;

                inline int getNIC( ) const;

                inline int getNUC( ) const;

                inline int getNAC( ) const;

                inline int getNIAC( ) const;


                inline Indexlist* getActive( );

                inline Indexlist* getInactive( );


                virtual returnValue shift(      int offset              
                                                                        );

                virtual returnValue rotate(     int offset              
                                                                        );


                returnValue print( );


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


                returnValue setupAll(   SubjectToStatus _status 
                                                                );


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                Indexlist active;               
                Indexlist inactive;             
};

END_NAMESPACE_QPOASES

#include <qpOASES/Constraints.ipp>

#endif  /* QPOASES_CONSTRAINTS_HPP */


/*
 *      end of file
 */