Constraints.c

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 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
 *
 */


#include <qpOASES_e/Constraints.h>


BEGIN_NAMESPACE_QPOASES


/*****************************************************************************
 *  P U B L I C                                                              *
 *****************************************************************************/


/*
 *      C o n s t r a i n t s
 */
void ConstraintsCON(    Constraints* _THIS,
                                                int _n
                                                )
{
        Constraints_init( _THIS,_n );
}


/*
 *      c o p y
 */
void ConstraintsCPY(    Constraints* FROM,
                                                Constraints* TO
                                                )
{
        int i;

        TO->n = FROM->n;
        TO->noLower = FROM->noLower;
        TO->noUpper = FROM->noUpper;

        if ( FROM->n != 0 )
        {
                for( i=0; i<TO->n; ++i )
                {
                        TO->type[i]   = FROM->type[i];
                        TO->status[i] = FROM->status[i];
                }
        }

        IndexlistCPY( &(FROM->active),&(TO->active) );
        IndexlistCPY( &(FROM->inactive),&(TO->inactive) );
}



/*
 *      i n i t
 */
returnValue Constraints_init(   Constraints* _THIS,
                                                                int _n
                                                                )
{
        int i;

        if ( _n < 0 )
                return THROWERROR( RET_INVALID_ARGUMENTS );

        if ( _n >= 0 )
        {
                Indexlist_init( &(_THIS->active),_n );
                Indexlist_init( &(_THIS->inactive),_n );
        }

        _THIS->n = _n;
        _THIS->noLower = BT_TRUE;
        _THIS->noUpper = BT_TRUE;

        assert( _THIS->n <= NCMAX );

        if ( _THIS->n > 0 )
        {
                for( i=0; i<_THIS->n; ++i )
                {
                        _THIS->type[i]   = ST_UNKNOWN;
                        _THIS->status[i] = ST_UNDEFINED;
                }
        }

        return SUCCESSFUL_RETURN;
}



/*
 *      s e t u p C o n s t r a i n t
 */
returnValue Constraints_setupConstraint(        Constraints* _THIS,
                                                                                        int number, SubjectToStatus _status
                                                                                        )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= _THIS->n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Add constraint index to respective index list. */
        switch ( _status )
        {
                case ST_INACTIVE:
                        if ( Constraints_addIndex( _THIS,Constraints_getInactive( _THIS ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                case ST_LOWER:
                        if ( Constraints_addIndex( _THIS,Constraints_getActive( _THIS ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                case ST_UPPER:
                        if ( Constraints_addIndex( _THIS,Constraints_getActive( _THIS ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                default:
                        return THROWERROR( RET_INVALID_ARGUMENTS );
        }

        return SUCCESSFUL_RETURN;
}


/*
 *      s e t u p A l l I n a c t i v e
 */
returnValue Constraints_setupAllInactive(       Constraints* _THIS
                                                                                        )
{
        return Constraints_setupAll( _THIS,ST_INACTIVE );
}


/*
 *      s e t u p A l l L o w e r
 */
returnValue Constraints_setupAllLower(  Constraints* _THIS
                                                                                )
{
        return Constraints_setupAll( _THIS,ST_LOWER );
}


/*
 *      s e t u p A l l U p p e r
 */
returnValue Constraints_setupAllUpper(  Constraints* _THIS
                                                                                )
{
        return Constraints_setupAll( _THIS,ST_UPPER );
}


/*
 *      m o v e A c t i v e T o I n a c t i v e
 */
returnValue Constraints_moveActiveToInactive(   Constraints* _THIS,
                                                                                                int number
                                                                                                )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= _THIS->n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Move index from indexlist of active constraints to that of inactive ones. */
        if ( Constraints_removeIndex( _THIS,Constraints_getActive( _THIS ),number ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        if ( Constraints_addIndex( _THIS,Constraints_getInactive( _THIS ),number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      m o v e I n a c t i v e T o A c t i v e
 */
returnValue Constraints_moveInactiveToActive(   Constraints* _THIS,
                                                                                                int number, SubjectToStatus _status
                                                                                                )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= _THIS->n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Move index from indexlist of inactive constraints to that of active ones. */
        if ( Constraints_removeIndex( _THIS,Constraints_getInactive( _THIS ),number ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        if ( Constraints_addIndex( _THIS,Constraints_getActive( _THIS ),number,_status ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      f l i p F i x e d
 */
returnValue Constraints_flipFixed( Constraints* _THIS, int number )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= _THIS->n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        if ( _THIS->status != 0 )
                switch (_THIS->status[number])
                {
                        case ST_LOWER: _THIS->status[number] = ST_UPPER; break;
                        case ST_UPPER: _THIS->status[number] = ST_LOWER; break;
                        default: return THROWERROR( RET_MOVING_CONSTRAINT_FAILED );
                }

        return SUCCESSFUL_RETURN;
}


/*
 *      s h i f t
 */
returnValue Constraints_shift( Constraints* _THIS, int offset )
{
        int i;
        myStatic Indexlist shiftedActive;
        myStatic Indexlist shiftedInactive;

        Indexlist_init( &shiftedActive,_THIS->n );
        Indexlist_init( &shiftedInactive,_THIS->n );

        /* consistency check */
        if ( ( offset == 0 ) || ( _THIS->n <= 1 ) )
                return SUCCESSFUL_RETURN;

        if ( ( offset < 0 ) || ( offset > _THIS->n/2 ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        if ( ( _THIS->n % offset ) != 0 )
                return THROWERROR( RET_INVALID_ARGUMENTS );


        /* 1) Shift types and status. */
        for( i=0; i<_THIS->n-offset; ++i )
        {
                Constraints_setType( _THIS,i,Constraints_getType( _THIS,i+offset ) );
                Constraints_setStatus( _THIS,i,Constraints_getStatus( _THIS,i+offset ) );
        }

        /* 2) Construct shifted index lists of free and fixed variables. */
        for( i=0; i<_THIS->n; ++i )
        {
                switch ( Constraints_getStatus( _THIS,i ) )
                {
                        case ST_INACTIVE:
                                if ( Indexlist_addNumber( &shiftedInactive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        case ST_LOWER:
                                if ( Indexlist_addNumber( &shiftedActive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        case ST_UPPER:
                                if ( Indexlist_addNumber( &shiftedActive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        default:
                                return THROWERROR( RET_SHIFTING_FAILED );
                }
        }

        /* 3) Assign shifted index list. */
        IndexlistCPY( &shiftedActive,&(_THIS->active) );
        IndexlistCPY( &shiftedInactive,&(_THIS->inactive) );

        return SUCCESSFUL_RETURN;
}


/*
 *      r o t a t e
 */
returnValue Constraints_rotate( Constraints* _THIS, int offset )
{
        int i;
        myStatic SubjectToType   typeTmp[NCMAX];
        myStatic SubjectToStatus statusTmp[NCMAX];
        
        myStatic Indexlist rotatedActive;
        myStatic Indexlist rotatedInactive;

        Indexlist_init( &rotatedActive,_THIS->n );
        Indexlist_init( &rotatedInactive,_THIS->n );
        
        /* consistency check */
        if ( ( offset == 0 ) || ( offset == _THIS->n ) || ( _THIS->n <= 1 ) )
                return SUCCESSFUL_RETURN;

        if ( ( offset < 0 ) || ( offset > _THIS->n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );


        /* 1) Rotate types and status. */
        for( i=0; i<offset; ++i )
        {
                typeTmp[i] = Constraints_getType( _THIS,i );
                statusTmp[i] = Constraints_getStatus( _THIS,i );
        }

        for( i=0; i<_THIS->n-offset; ++i )
        {
                Constraints_setType( _THIS,i,Constraints_getType( _THIS,i+offset ) );
                Constraints_setStatus( _THIS,i,Constraints_getStatus( _THIS,i+offset ) );
        }

        for( i=_THIS->n-offset; i<_THIS->n; ++i )
        {
                Constraints_setType( _THIS,i,typeTmp[i-_THIS->n+offset] );
                Constraints_setStatus( _THIS,i,statusTmp[i-_THIS->n+offset] );
        }

        /* 2) Construct shifted index lists of free and fixed variables. */
        for( i=0; i<_THIS->n; ++i )
        {
                switch ( Constraints_getStatus( _THIS,i ) )
                {
                        case ST_INACTIVE:
                                if ( Indexlist_addNumber( &rotatedInactive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        case ST_LOWER:
                                if ( Indexlist_addNumber( &rotatedActive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        case ST_UPPER:
                                if ( Indexlist_addNumber( &rotatedActive,i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        default:
                                return THROWERROR( RET_ROTATING_FAILED );
                }
        }

        /* 3) Assign shifted index list. */
        IndexlistCPY( &rotatedActive,&(_THIS->active) );
        IndexlistCPY( &rotatedInactive,&(_THIS->inactive) );

        return SUCCESSFUL_RETURN;
}


/*
 *      p r i n t
 */
returnValue Constraints_print( Constraints* _THIS )
{
        #ifndef __SUPPRESSANYOUTPUT__

        myStatic char myPrintfString[QPOASES_MAX_STRING_LENGTH];

        int nIAC = Constraints_getNIAC( _THIS );
        int nAC  = Constraints_getNAC( _THIS );

        int *IAC_idx, *AC_idx;

        if ( _THIS->n == 0 )
                return SUCCESSFUL_RETURN;

        Indexlist_getNumberArray( Constraints_getInactive( _THIS ),&IAC_idx );
        Indexlist_getNumberArray( Constraints_getActive( _THIS ),&AC_idx );

        snprintf( myPrintfString,QPOASES_MAX_STRING_LENGTH,"Constraints object comprising %d constraints (%d inactive, %d active):\n",_THIS->n,nIAC,nAC );
        qpOASES_myPrintf( myPrintfString );

        REFER_NAMESPACE_QPOASES qpOASES_printNI( IAC_idx,nIAC,"inactive" );
        REFER_NAMESPACE_QPOASES qpOASES_printNI( AC_idx, nAC, "active  " );

        #endif /* __SUPPRESSANYOUTPUT__ */

        return SUCCESSFUL_RETURN;
}



/*****************************************************************************
 *  P R O T E C T E D                                                        *
 *****************************************************************************/

/*
 *      s e t u p A l l
 */
returnValue Constraints_setupAll( Constraints* _THIS, SubjectToStatus _status )
{
        int i;

        /* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
        for( i=0; i<_THIS->n; ++i )
        {
                if ( Constraints_getType( _THIS,i ) == ST_UNBOUNDED )
                {
                        if ( Constraints_setupConstraint( _THIS,i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
        for( i=0; i<_THIS->n; ++i )
        {
                if ( Constraints_getType( _THIS,i ) == ST_BOUNDED )
                {
                        if ( Constraints_setupConstraint( _THIS,i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
        for( i=0; i<_THIS->n; ++i )
        {
                if ( Constraints_getType( _THIS,i ) == ST_EQUALITY )
                {
                        if ( Constraints_setupConstraint( _THIS,i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 4) Moreover, add all constraints of unknown type. */
        for( i=0; i<_THIS->n; ++i )
        {
                if ( Constraints_getType( _THIS,i ) == ST_UNKNOWN || Constraints_getType( _THIS,i ) == ST_DISABLED )
                {
                        if ( Constraints_setupConstraint( _THIS,i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }


        return SUCCESSFUL_RETURN;
}


/*
 *      a d d I n d e x
 */
returnValue Constraints_addIndex(       Constraints* _THIS,
                                                                        Indexlist* const indexlist,
                                                                        int newnumber, SubjectToStatus newstatus
                                                                        )
{
        if ( _THIS->status != 0 )
        {
                /* consistency check */
                if ( _THIS->status[newnumber] == newstatus )
                        return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );

                _THIS->status[newnumber] = newstatus;
        }
        else
                return THROWERROR( RET_ADDINDEX_FAILED );

        if ( indexlist != 0 )
        {
                if ( Indexlist_addNumber( indexlist,newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
                        return THROWERROR( RET_ADDINDEX_FAILED );
        }
        else
                return THROWERROR( RET_INVALID_ARGUMENTS );

        return SUCCESSFUL_RETURN;
}


/*
 *      r e m o v e I n d e x
 */
returnValue Constraints_removeIndex(    Constraints* _THIS,
                                                                                Indexlist* const indexlist,
                                                                                int removenumber
                                                                                )
{
        if ( _THIS->status != 0 )
                _THIS->status[removenumber] = ST_UNDEFINED;
        else
                return THROWERROR( RET_REMOVEINDEX_FAILED );

        if ( indexlist != 0 )
        {
                if ( Indexlist_removeNumber( indexlist,removenumber ) != SUCCESSFUL_RETURN )
                        return THROWERROR( RET_REMOVEINDEX_FAILED );
        }
        else
                return THROWERROR( RET_INVALID_ARGUMENTS );

        return SUCCESSFUL_RETURN;
}


/*
 *      s w a p I n d e x
 */
returnValue Constraints_swapIndex(      Constraints* _THIS, Indexlist* const indexlist,
                                                                        int number1, int number2
                                                                        )
{
        /* consistency checks */
        if ( _THIS->status != 0 )
        {
                if ( _THIS->status[number1] != _THIS->status[number2] )
                        return THROWERROR( RET_SWAPINDEX_FAILED );
        }
        else
                return THROWERROR( RET_SWAPINDEX_FAILED );

        if ( number1 == number2 )
        {
                THROWWARNING( RET_NOTHING_TO_DO );
                return SUCCESSFUL_RETURN;
        }

        if ( indexlist != 0 )
        {
                if ( Indexlist_swapNumbers( indexlist,number1,number2 ) != SUCCESSFUL_RETURN )
                        return THROWERROR( RET_SWAPINDEX_FAILED );
        }
        else
                return THROWERROR( RET_INVALID_ARGUMENTS );

        return SUCCESSFUL_RETURN;
}



END_NAMESPACE_QPOASES


/*
 *      end of file
 */