SubjectTo.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_SUBJECTTO_HPP
#define QPOASES_SUBJECTTO_HPP


#include <qpOASES/Indexlist.hpp>


BEGIN_NAMESPACE_QPOASES


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

                SubjectTo(      int _n                                                          
                                        );

                SubjectTo(      const SubjectTo& rhs                            
                                        );

                virtual ~SubjectTo( );

                SubjectTo& operator=(   const SubjectTo& rhs    
                                                                );


                returnValue init(       int _n = 0                                      
                                                        );


                inline int getNumberOfType(     SubjectToType _type     
                                                                        ) const;


                inline SubjectToType getType(   int i                   
                                                                                ) const;

                inline SubjectToStatus getStatus(       int i           
                                                                                        ) const;


                inline returnValue setType(     int i,                          
                                                                        SubjectToType value     
                                                                        );

                inline returnValue setStatus(   int i,                                  
                                                                                SubjectToStatus value   
                                                                                );


                inline void setNoLower( BooleanType _status             
                                                                );

                inline void setNoUpper( BooleanType _status             
                                                                );


                inline BooleanType hasNoLower( ) const;

                inline BooleanType hasNoUpper( ) const;


                virtual returnValue shift(      int offset              
                                                                        ) = 0;

                virtual returnValue rotate(     int offset              
                                                                        ) = 0;


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


                returnValue addIndex(   Indexlist* const indexlist,     
                                                                int newnumber,                          
                                                                SubjectToStatus newstatus       
                                                                );

                returnValue removeIndex(        Indexlist* const indexlist,     
                                                                        int removenumber                        
                                                                        );

                returnValue swapIndex(  Indexlist* const indexlist,     
                                                                int number1,                            
                                                                int number2                                     
                                                                );


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                int n;                                          
                SubjectToType* type;            
                SubjectToStatus* status;        
                BooleanType noLower;            
                BooleanType noUpper;            
};


END_NAMESPACE_QPOASES

#include <qpOASES/SubjectTo.ipp>

#endif  /* QPOASES_SUBJECTTO_HPP */


/*
 *      end of file
 */