Constraints.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) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
00006  *
00007  *      qpOASES is free software; you can redistribute it and/or
00008  *      modify it under the terms of the GNU Lesser General Public
00009  *      License as published by the Free Software Foundation; either
00010  *      version 2.1 of the License, or (at your option) any later version.
00011  *
00012  *      qpOASES is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00015  *      Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with qpOASES; if not, write to the Free Software
00019  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00020  *
00021  */
00022 
00023 
00035 #ifndef QPOASES_CONSTRAINTS_HPP
00036 #define QPOASES_CONSTRAINTS_HPP
00037 
00038 
00039 #include <SubjectTo.hpp>
00040 
00041 
00042 
00050 class Constraints : public SubjectTo
00051 {
00052         /*
00053          *      PUBLIC MEMBER FUNCTIONS
00054          */
00055         public:
00057                 Constraints( );
00058 
00060                 Constraints(    const Constraints& rhs  
00061                                                 );
00062 
00064                 ~Constraints( );
00065 
00067                 Constraints& operator=( const Constraints& rhs  
00068                                                                 );
00069 
00070 
00073                 returnValue init(       int n   
00074                                                         );
00075 
00076 
00083                 returnValue setupConstraint(    int _number,                            
00084                                                                                 SubjectToStatus _status         
00085                                                                                 );
00086 
00092                 returnValue setupAllInactive( );
00093 
00094 
00098                 returnValue moveActiveToInactive(       int _number                             
00099                                                                                         );
00100 
00104                 returnValue moveInactiveToActive(       int _number,                    
00105                                                                                         SubjectToStatus _status 
00106                                                                                         );
00107 
00108 
00111                 inline int getNC( ) const;
00112 
00115                 inline int getNEC( ) const;
00116 
00119                 inline int getNIC( ) const;
00120 
00123                 inline int getNUC( ) const;
00124 
00125 
00128                 inline returnValue setNEC(      int n   
00129                                                         );
00130 
00133                 inline returnValue setNIC(      int n   
00134                                                                         );
00135 
00138                 inline returnValue setNUC(      int n   
00139                                                                         );
00140 
00141 
00144                 inline int getNAC( );
00145 
00148                 inline int getNIAC( );
00149 
00150 
00153                 inline Indexlist* getActive( );
00154 
00157                 inline Indexlist* getInactive( );
00158 
00159 
00160         /*
00161          *      PROTECTED MEMBER VARIABLES
00162          */
00163         protected:
00164                 int nC;                                 
00165                 int nEC;                                
00166                 int     nIC;                            
00167                 int nUC;                                
00169                 Indexlist active;               
00170                 Indexlist inactive;             
00171 };
00172 
00173 
00174 #include <Constraints.ipp>
00175 
00176 #endif  /* QPOASES_CONSTRAINTS_HPP */
00177 
00178 
00179 /*
00180  *      end of file
00181  */


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