Flipper.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_FLIPPER_H
#define QPOASES_FLIPPER_H


#include <qpOASES_e/Bounds.h>
#include <qpOASES_e/Constraints.h>


BEGIN_NAMESPACE_QPOASES


typedef struct
{
        unsigned int nV;                                
        unsigned int nC;                                
        Bounds      bounds;                             
        Constraints constraints;                
        real_t R[NVMAX*NVMAX];                  
        real_t Q[NVMAX*NVMAX];                  
        real_t T[NVCMIN*NVCMIN];                
} Flipper;


void FlipperCON(        Flipper* _THIS,
                                        unsigned int _nV,               
                                        unsigned int _nC                
                                        );

void FlipperCPY(        Flipper* FROM,
                                        Flipper* TO
                                        );

returnValue Flipper_init(       Flipper* _THIS,
                                                        unsigned int _nV,       
                                                        unsigned int _nC        
                                                        );


returnValue Flipper_get(        Flipper* _THIS,
                                                        Bounds* const _bounds,                          
                                                        real_t* const R,                                        
                                                        Constraints* const _constraints,        
                                                        real_t* const _Q,                                       
                                                        real_t* const _T                                        
                                                        );

returnValue Flipper_set(        Flipper* _THIS,
                                                        const Bounds* const _bounds,                    
                                                        const real_t* const _R,                                 
                                                        const Constraints* const _constraints,  
                                                        const real_t* const _Q,                                 
                                                        const real_t* const _T                                  
                                                        );
                
unsigned int Flipper_getDimT( Flipper* _THIS );


END_NAMESPACE_QPOASES


#endif  /* QPOASES_FLIPPER_H */


/*
 *      end of file
 */