Constraints.hpp
Go to the documentation of this file.
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_CONSTRAINTS_HPP
00037 #define QPOASES_CONSTRAINTS_HPP
00038 
00039 
00040 #include <qpOASES/SubjectTo.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_QPOASES
00044 
00045 
00056 class Constraints : public SubjectTo
00057 {
00058         /*
00059          *      PUBLIC MEMBER FUNCTIONS
00060          */
00061         public:
00063                 Constraints( );
00064 
00066                 Constraints(    int _n                                                  
00067                                                 );
00068 
00070                 Constraints(    const Constraints& rhs                  
00071                                                 );
00072 
00074                 virtual ~Constraints( );
00075 
00077                 Constraints& operator=( const Constraints& rhs  
00078                                                                 );
00079 
00080 
00084                 returnValue init(       int _n = 0                                      
00085                                                         );
00086 
00087 
00094                 returnValue setupConstraint(    int number,                             
00095                                                                                 SubjectToStatus _status 
00096                                                                                 );
00097 
00103                 returnValue setupAllInactive( );
00104 
00110                 returnValue setupAllLower( );
00111 
00117                 returnValue setupAllUpper( );
00118 
00119 
00123                 returnValue moveActiveToInactive(       int number                              
00124                                                                                         );
00125 
00129                 returnValue moveInactiveToActive(       int number,                             
00130                                                                                         SubjectToStatus _status 
00131                                                                                         );
00132 
00137                 returnValue flipFixed( int number );
00138 
00139 
00142                 inline int getNC( ) const;
00143 
00146                 inline int getNEC( ) const;
00147 
00150                 inline int getNIC( ) const;
00151 
00154                 inline int getNUC( ) const;
00155 
00158                 inline int getNAC( ) const;
00159 
00162                 inline int getNIAC( ) const;
00163 
00164 
00167                 inline Indexlist* getActive( );
00168 
00171                 inline Indexlist* getInactive( );
00172 
00173 
00185                 virtual returnValue shift(      int offset              
00186                                                                         );
00187 
00195                 virtual returnValue rotate(     int offset              
00196                                                                         );
00197 
00198 
00203                 returnValue print( );
00204 
00205 
00206         /*
00207          *      PROTECTED MEMBER FUNCTIONS
00208          */
00209         protected:
00212                 returnValue clear( );
00213                 
00216                 returnValue copy(       const Constraints& rhs  
00217                                                         );
00218 
00219 
00225                 returnValue setupAll(   SubjectToStatus _status 
00226                                                                 );
00227 
00228 
00229         /*
00230          *      PROTECTED MEMBER VARIABLES
00231          */
00232         protected:
00233                 Indexlist active;               
00234                 Indexlist inactive;             
00235 };
00236 
00237 END_NAMESPACE_QPOASES
00238 
00239 #include <qpOASES/Constraints.ipp>
00240 
00241 #endif  /* QPOASES_CONSTRAINTS_HPP */
00242 
00243 
00244 /*
00245  *      end of file
00246  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:56