Constraints.h

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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
 *
 */


#ifndef QPOASES_CONSTRAINTS_H
#define QPOASES_CONSTRAINTS_H


#include <qpOASES_e/Indexlist.h>


BEGIN_NAMESPACE_QPOASES


typedef struct
{
        int n;                                                          
        SubjectToType   type[NCMAX];            
        SubjectToStatus status[NCMAX];          
        BooleanType noLower;                            
        BooleanType noUpper;                            
        Indexlist active;                                       
        Indexlist inactive;                                     
} Constraints;



void ConstraintsCON(    Constraints* _THIS,
                                                int _n                                                  
                                                );

void ConstraintsCPY(    Constraints* FROM,
                                                Constraints* TO
                                                );


returnValue Constraints_init(   Constraints* _THIS,
                                                                int _n                                  
                                                                );


returnValue Constraints_setupConstraint(        Constraints* _THIS,
                                                                                        int number,                             
                                                                                        SubjectToStatus _status 
                                                                                        );

returnValue Constraints_setupAllInactive(       Constraints* _THIS
                                                                                        );

returnValue Constraints_setupAllLower(  Constraints* _THIS
                                                                                );

returnValue Constraints_setupAllUpper(  Constraints* _THIS
                                                                                );


returnValue Constraints_moveActiveToInactive(   Constraints* _THIS,
                                                                                                int number                              
                                                                                                );

returnValue Constraints_moveInactiveToActive(   Constraints* _THIS,
                                                                                                int number,                             
                                                                                                SubjectToStatus _status 
                                                                                                );

returnValue Constraints_flipFixed(      Constraints* _THIS,
                                                                        int number
                                                                        );


static inline int Constraints_getNC(    Constraints* _THIS
                                                                                );

static inline int Constraints_getNEC(   Constraints* _THIS
                                                                                );

static inline int Constraints_getNIC(   Constraints* _THIS
                                                                                );

static inline int Constraints_getNUC(   Constraints* _THIS
                                                                                );

static inline int Constraints_getNAC(   Constraints* _THIS
                                                                                );

static inline int Constraints_getNIAC(  Constraints* _THIS
                                                                                );


static inline Indexlist* Constraints_getActive( Constraints* _THIS
                                                                                                );

static inline Indexlist* Constraints_getInactive(       Constraints* _THIS
                                                                                                        );


static inline int Constraints_getNumberOfType(  Constraints* _THIS,
                                                                                                SubjectToType _type     
                                                                                                );


static inline SubjectToType Constraints_getType(        Constraints* _THIS,
                                                                                                        int i                   
                                                                                                        );

static inline SubjectToStatus Constraints_getStatus(    Constraints* _THIS,
                                                                                                                int i           
                                                                                                                );


static inline returnValue Constraints_setType(  Constraints* _THIS,
                                                                                                int i,                          
                                                                                                SubjectToType value     
                                                                                                );

static inline returnValue Constraints_setStatus(        Constraints* _THIS,
                                                                                                        int i,                                  
                                                                                                        SubjectToStatus value   
                                                                                                        );


static inline void Constraints_setNoLower(      Constraints* _THIS,
                                                                                        BooleanType _status             
                                                                                        );

static inline void Constraints_setNoUpper(      Constraints* _THIS,
                                                                                        BooleanType _status             
                                                                                        );


static inline BooleanType Constraints_hasNoLower(       Constraints* _THIS
                                                                                                        );

static inline BooleanType Constraints_hasNoUpper(       Constraints* _THIS
                                                                                                        );


returnValue Constraints_shift(  Constraints* _THIS,
                                                                int offset              
                                                                );

returnValue Constraints_rotate( Constraints* _THIS,
                                                                int offset              
                                                                );


returnValue Constraints_print(  Constraints* _THIS
                                                                );


returnValue Constraints_setupAll(       Constraints* _THIS,
                                                                        SubjectToStatus _status 
                                                                        );


returnValue Constraints_addIndex(       Constraints* _THIS,
                                                                        Indexlist* const indexlist,     
                                                                        int newnumber,                          
                                                                        SubjectToStatus newstatus       
                                                                        );

returnValue Constraints_removeIndex(    Constraints* _THIS,
                                                                                Indexlist* const indexlist,     
                                                                                int removenumber                        
                                                                                );

returnValue Constraints_swapIndex(      Constraints* _THIS,
                                                                        Indexlist* const indexlist,     
                                                                        int number1,                            
                                                                        int number2                                     
                                                                        );



/*
 *      g e t N u m b e r O f T y p e
 */
static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
{
        int i;
        int numberOfType = 0;

        if ( _THIS->type != 0 )
        {
                for( i=0; i<_THIS->n; ++i )
                        if ( _THIS->type[i] == _type )
                                ++numberOfType;
        }

        return numberOfType;
}


/*
 *      g e t T y p e
 */
static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
                return _THIS->type[i];

        return ST_UNKNOWN;
}


/*
 *      g e t S t a t u s
 */
static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
                return _THIS->status[i];

        return ST_UNDEFINED;
}


/*
 *      s e t T y p e
 */
static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
        {
                _THIS->type[i] = value;
                return SUCCESSFUL_RETURN;
        }
        else
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
}


/*
 *      s e t S t a t u s
 */
static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
        {
                _THIS->status[i] = value;
                return SUCCESSFUL_RETURN;
        }
        else
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
}


/*
 *      s e t N o L o w e r
 */
static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
{
        _THIS->noLower = _status;
}


/*
 *      s e t N o U p p e r
 */
static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
{
        _THIS->noUpper = _status;
}


/*
 *      h a s N o L o w e r
 */
static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
{
        return _THIS->noLower;
}


/*
 *      h a s N o U p p p e r
 */
static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
{
        return _THIS->noUpper;
}



/*
 *      g e t N C
 */
static inline int Constraints_getNC( Constraints* _THIS )
{
        return _THIS->n;
}


/*
 *      g e t N E C
 */
static inline int Constraints_getNEC( Constraints* _THIS )
{
        return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
}


/*
 *      g e t N I C
 */
static inline int Constraints_getNIC( Constraints* _THIS )
{
        return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
}


/*
 *      g e t N U C
 */
static inline int Constraints_getNUC( Constraints* _THIS )
{
        return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
}


/*
 *      g e t N A C
 */
static inline int Constraints_getNAC( Constraints* _THIS )
{
        return Indexlist_getLength( &(_THIS->active) );
}


/*
 *      g e t N I A C
 */
static inline int Constraints_getNIAC( Constraints* _THIS )
{
        return Indexlist_getLength( &(_THIS->inactive) );
}



/*
 *      g e t A c t i v e
 */
static inline Indexlist* Constraints_getActive( Constraints* _THIS )
{
        return &(_THIS->active);
}


/*
 *      g e t I n a c t i v e
 */
static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
{
        return &(_THIS->inactive);
}


END_NAMESPACE_QPOASES


#endif  /* QPOASES_CONSTRAINTS_H */


/*
 *      end of file
 */