Manages working sets of bounds (= box constraints). More...

#include <Bounds.hpp>

Inheritance diagram for Bounds:

Public Member Functions
	Bounds ()
	Bounds ()
	Bounds (const Bounds &rhs)
	Bounds (const Bounds &rhs)
	Bounds ()
	Bounds (int _n)
	Bounds (const Bounds &rhs)
returnValue	flipFixed (int number)
Indexlist *	getFixed ()
Indexlist *	getFixed ()
Indexlist *	getFixed ()
Indexlist *	getFree ()
Indexlist *	getFree ()
Indexlist *	getFree ()
int	getNBV () const
int	getNBV () const
int	getNBV () const
int	getNFR ()
int	getNFR ()
int	getNFR () const
int	getNFV () const
int	getNFV () const
int	getNFV () const
int	getNFX ()
int	getNFX ()
int	getNFX () const
int	getNUV () const
int	getNUV () const
int	getNUV () const
int	getNV () const
int	getNV () const
int	getNV () const
returnValue	init (int n)
returnValue	init (int n)
returnValue	init (int _n=0)
returnValue	moveFixedToFree (int _number)
returnValue	moveFixedToFree (int _number)
returnValue	moveFixedToFree (int number)
returnValue	moveFreeToFixed (int _number, SubjectToStatus _status)
returnValue	moveFreeToFixed (int _number, SubjectToStatus _status)
returnValue	moveFreeToFixed (int number, SubjectToStatus _status)
Bounds &	operator= (const Bounds &rhs)
Bounds &	operator= (const Bounds &rhs)
Bounds &	operator= (const Bounds &rhs)
returnValue	print ()
virtual returnValue	rotate (int offset)
returnValue	setNBV (int n)
returnValue	setNBV (int n)
returnValue	setNFV (int n)
returnValue	setNFV (int n)
returnValue	setNUV (int n)
returnValue	setNUV (int n)
returnValue	setupAllFree ()
returnValue	setupAllFree ()
returnValue	setupAllFree ()
returnValue	setupAllLower ()
returnValue	setupAllUpper ()
returnValue	setupBound (int _number, SubjectToStatus _status)
returnValue	setupBound (int _number, SubjectToStatus _status)
returnValue	setupBound (int number, SubjectToStatus _status)
virtual returnValue	shift (int offset)
returnValue	swapFree (int number1, int number2)
returnValue	swapFree (int number1, int number2)
returnValue	swapFree (int number1, int number2)
	~Bounds ()
	~Bounds ()
virtual	~Bounds ()
Protected Member Functions
returnValue	clear ()
returnValue	copy (const Bounds &rhs)
returnValue	setupAll (SubjectToStatus _status)
Protected Attributes
Indexlist	fixed
Indexlist	free
Indexlist	freee
int	nBV
int	nFV
int	nUV
int	nV

Detailed Description

Manages working sets of bounds (= box constraints).

This class manages working sets of bounds by storing index sets and other status information.

Author:: Hans Joachim Ferreau

Version:: 1.3embedded

Date:: 2007-2008

This class manages working sets of bounds (= box constraints) by storing index sets and other status information.

Author:: Hans Joachim Ferreau

Version:: 3.0beta

Date:: 2007-2011

Definition at line 50 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Bounds.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Bounds::Bounds ( )

Default constructor.

Definition at line 47 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

Bounds::Bounds ( const Bounds & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 59 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

Bounds::~Bounds ( )

Destructor.

Definition at line 73 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

Bounds::Bounds ( )

Default constructor.

Bounds::Bounds ( const Bounds & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Bounds::~Bounds ( )

Destructor.

Bounds::Bounds ( )

Default constructor.

Bounds::Bounds ( int _n )

Constructor which takes the number of bounds.

Parameters:

_n	Number of bounds.

Definition at line 58 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

Bounds::Bounds ( const Bounds & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

virtual Bounds::~Bounds ( ) [virtual]

Destructor.

Member Function Documentation

returnValue Bounds::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented from SubjectTo.

Definition at line 439 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::copy ( const Bounds & rhs ) [protected]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 448 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::flipFixed ( int number )

Flip fixed bound.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Definition at line 228 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

Indexlist* Bounds::getFixed ( ) [inline]

Returns a pointer to fixed variables index list.

Returns:: Pointer to fixed variables index list.

Indexlist* Bounds::getFixed ( ) [inline]

Returns a pointer to fixed variables index list.

Returns:: Pointer to fixed variables index list.

Indexlist* Bounds::getFixed ( ) [inline]

Returns a pointer to fixed variables index list.

Returns:: Pointer to fixed variables index list.

Indexlist* Bounds::getFree ( ) [inline]

Returns a pointer to free variables index list.

Returns:: Pointer to free variables index list.

Indexlist* Bounds::getFree ( ) [inline]

Returns a pointer to free variables index list.

Returns:: Pointer to free variables index list.

Indexlist* Bounds::getFree ( ) [inline]

Returns a pointer to free variables index list.

Returns:: Pointer to free variables index list.

int Bounds::getNBV ( ) const [inline]

Returns number of bounded (but possibly free) variables.

Returns:: Number of bounded (but possibly free) variables.

int Bounds::getNBV ( ) const [inline]

Returns number of bounded (but possibly free) variables.

Returns:: Number of bounded (but possibly free) variables.

int Bounds::getNBV ( ) const [inline]

Returns number of bounded (but possibly free) variables.

Returns:: Number of bounded (but possibly free) variables.

int Bounds::getNFR ( ) [inline]

Returns number of free variables.

Returns:: Number of free variables.

int Bounds::getNFR ( ) [inline]

Returns number of free variables.

Returns:: Number of free variables.

int Bounds::getNFR ( ) const [inline]

Returns number of free variables.

Returns:: Number of free variables.

int Bounds::getNFV ( ) const [inline]

Returns number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int Bounds::getNFV ( ) const [inline]

Returns number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int Bounds::getNFV ( ) const [inline]

Returns number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int Bounds::getNFX ( ) [inline]

Returns number of fixed variables.

Returns:: Number of fixed variables.

int Bounds::getNFX ( ) [inline]

Returns number of fixed variables.

Returns:: Number of fixed variables.

int Bounds::getNFX ( ) const [inline]

Returns number of fixed variables.

Returns:: Number of fixed variables.

int Bounds::getNUV ( ) const [inline]

Returns number of unbounded variables.

Returns:: Number of unbounded variables.

int Bounds::getNUV ( ) const [inline]

Returns number of unbounded variables.

Returns:: Number of unbounded variables.

int Bounds::getNUV ( ) const [inline]

Returns number of unbounded variables.

Returns:: Number of unbounded variables.

int Bounds::getNV ( ) const [inline]

Returns number of variables.

Returns:: Number of variables.

int Bounds::getNV ( ) const [inline]

Returns number of variables.

Returns:: Number of variables.

int Bounds::getNV ( ) const [inline]

Returns number of variables.

Returns:: Number of variables.

returnValue Bounds::init ( int n )

Pseudo-constructor takes the number of bounds.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of bounds.

Reimplemented from SubjectTo.

Definition at line 103 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

returnValue Bounds::init ( int n )

Pseudo-constructor takes the number of bounds.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of bounds.

Reimplemented from SubjectTo.

returnValue Bounds::init ( int _n = 0 )

Initialises object with given number of bounds.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of bounds.

Reimplemented from SubjectTo.

returnValue Bounds::moveFixedToFree ( int _number )

Moves index of a bound from index list of fixed to that of free bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

_number Number of bound to be freed.

Definition at line 197 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

returnValue Bounds::moveFixedToFree ( int _number )

Moves index of a bound from index list of fixed to that of free bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

_number Number of bound to be freed.

returnValue Bounds::moveFixedToFree ( int number )

Moves index of a bound from index list of fixed to that of free bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number Number of bound to be freed.

returnValue Bounds::moveFreeToFixed	(	int	_number,
		SubjectToStatus	_status
	)

Moves index of a bound from index list of free to that of fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

_number	Number of bound to be fixed.
_status	Status of bound to be fixed.

returnValue Bounds::moveFreeToFixed	(	int	_number,
		SubjectToStatus	_status
	)

Moves index of a bound from index list of free to that of fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

_number	Number of bound to be fixed.
_status	Status of bound to be fixed.

Definition at line 217 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

returnValue Bounds::moveFreeToFixed	(	int	number,
		SubjectToStatus	_status
	)

Moves index of a bound from index list of free to that of fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of bound to be fixed.
_status	Status of bound to be fixed.

Bounds& Bounds::operator= ( const Bounds & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Bounds & Bounds::operator= ( const Bounds & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 81 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

Bounds& Bounds::operator= ( const Bounds & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

returnValue Bounds::print ( )

Prints information on bounds object (in particular, lists of free and fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 400 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::rotate ( int offset ) [virtual]

Rotates forward type and status of all bounds by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b1,c/b2}

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters:

offset Rotation offset within the range [0,n].

Implements SubjectTo.

Definition at line 325 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::setNBV ( int n ) [inline]

Sets number of bounded (but possibly free) variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of bounded (but possibly free) variables.

returnValue Bounds::setNBV ( int n ) [inline]

Sets number of bounded (but possibly free) variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of bounded (but possibly free) variables.

returnValue Bounds::setNFV ( int n ) [inline]

Sets number of implicitly fixed variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of implicitly fixed variables.

returnValue Bounds::setNFV ( int n ) [inline]

Sets number of implicitly fixed variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of implicitly fixed variables.

returnValue Bounds::setNUV ( int n ) [inline]

Sets number of unbounded variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of unbounded variables

returnValue Bounds::setNUV ( int n ) [inline]

Sets number of unbounded variables.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of unbounded variables

returnValue Bounds::setupAll ( SubjectToStatus _status ) [protected]

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.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

Parameters:

_status Desired initial status for all bounds.

Definition at line 462 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::setupAllFree ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of free bounds; the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

Definition at line 156 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

returnValue Bounds::setupAllFree ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of free bounds; the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

returnValue Bounds::setupAllFree ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of free bounds; the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

returnValue Bounds::setupAllLower ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their lower bounds); the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

Definition at line 169 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::setupAllUpper ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their upper bounds); the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

Definition at line 178 of file external_packages/qpOASES-3.0beta/src/Bounds.cpp.

returnValue Bounds::setupBound	(	int	_number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) bound to given index set.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters:

_number	Number of new bound.
_status	Status of new bound.

returnValue Bounds::setupBound	(	int	_number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) bound to given index set.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters:

_number	Number of new bound.
_status	Status of new bound.

Definition at line 120 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Bounds.cpp.

returnValue Bounds::setupBound	(	int	number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) bound to given index set.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters:

number	Number of new bound.
_status	Status of new bound.

returnValue Bounds::shift ( int offset ) [virtual]

Shifts forward type and status of all bounds 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 bounds n. Type and status of the first <offset> bounds is thrown away, type and status of the last <offset> bounds is real_td, e.g. for offset = 2:
shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}