Flipper.hpp
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00001 /*
00002  *      This file is part of qpOASES.
00003  *
00004  *      qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
00006  *      Christian Kirches et al. All rights reserved.
00007  *
00008  *      qpOASES is free software; you can redistribute it and/or
00009  *      modify it under the terms of the GNU Lesser General Public
00010  *      License as published by the Free Software Foundation; either
00011  *      version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *      qpOASES is distributed in the hope that it will be useful,
00014  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *      See the GNU Lesser General Public License for more details.
00017  *
00018  *      You should have received a copy of the GNU Lesser General Public
00019  *      License along with qpOASES; if not, write to the Free Software
00020  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00036 #ifndef QPOASES_FLIPPER_HPP
00037 #define QPOASES_FLIPPER_HPP
00038 
00039 
00040 #include <qpOASES/Bounds.hpp>
00041 #include <qpOASES/Constraints.hpp>
00042 
00043 
00044 BEGIN_NAMESPACE_QPOASES
00045 
00046 
00057 class Flipper
00058 {
00059         friend class QProblemB;
00060         friend class QProblem;
00061 
00062         /*
00063          *      PUBLIC MEMBER FUNCTIONS
00064          */
00065         public:
00067                 Flipper( );
00068 
00070                 Flipper(        int _nV,                
00071                                         int _nC = 0             
00072                                         );
00073 
00075                 Flipper(        const Flipper& rhs                      
00076                                         );
00077 
00079                 ~Flipper( );
00080 
00082                 Flipper& operator=(     const Flipper& rhs      
00083                                                         );
00084 
00085 
00089                 returnValue init(       int _nV = 0,    
00090                                                         int _nC = 0             
00091                                                         );
00092 
00093 
00096                 returnValue get(        Bounds* const _bounds,                                  
00097                                                         double* const R,                                                
00098                                                         Constraints* const _constraints = 0,    
00099                                                         double* const _Q = 0,                                   
00100                                                         double* const _T = 0                                    
00101                                                         ) const;
00102 
00105                 returnValue set(        const Bounds* const _bounds,                            
00106                                                         const double* const _R,                                         
00107                                                         const Constraints* const _constraints = 0,      
00108                                                         const double* const _Q = 0,                                     
00109                                                         const double* const _T = 0                                      
00110                                                         );
00111 
00112 
00113         /*
00114          *      PROTECTED MEMBER FUNCTIONS
00115          */
00116         protected:
00119                 returnValue clear( );
00120                 
00123                 returnValue copy(       const Flipper& rhs      
00124                                                         );
00125 
00128                 int getDimT( ) const;
00129 
00130 
00131         /*
00132          *      PROTECTED MEMBER VARIABLES
00133          */
00134         protected:
00135                 int nV;                                                 
00136                 int nC;                                                 
00138                 Bounds      bounds;                             
00139                 Constraints constraints;                
00141                 real_t* R;                                              
00142                 real_t* Q;                                              
00143                 real_t* T;                                              
00144 };
00145 
00146 
00147 END_NAMESPACE_QPOASES
00148 
00149 
00150 #endif  /* QPOASES_FLIPPER_HPP */
00151 
00152 
00153 /*
00154  *      end of file
00155  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:02