Indexlist.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_INDEXLIST_H
#define QPOASES_INDEXLIST_H


#include <qpOASES_e/Utils.h>


BEGIN_NAMESPACE_QPOASES


typedef struct
{
        int number[NVCMAX];     
        int iSort[NVCMAX];      
        int     length;                 
        int     first;                  
        int     last;                   
        int     lastusedindex;  
        int     physicallength; 
} Indexlist;



void IndexlistCON(      Indexlist* _THIS,
                                        int n   
                                        );

void IndexlistCPY(      Indexlist* FROM,
                                        Indexlist* TO
                                        );

returnValue Indexlist_init(     Indexlist* _THIS,
                                                        int n           
                                                        );


returnValue Indexlist_getNumberArray(   Indexlist* _THIS,
                                                                                int** const numberarray 
                                                                                );

returnValue     Indexlist_getISortArray(        Indexlist* _THIS,
                                                                                int** const iSortArray  
                                                                                );


int Indexlist_getIndex( Indexlist* _THIS,
                                                int givennumber 
                                                );

static inline int Indexlist_getNumber(  Indexlist* _THIS,
                                                                                int physicalindex       
                                                                                );


static inline int Indexlist_getLength(  Indexlist* _THIS
                                                                                );

static inline int Indexlist_getLastNumber(      Indexlist* _THIS
                                                                                        );


returnValue Indexlist_addNumber(        Indexlist* _THIS,
                                                                        int addnumber                   
                                                                        );

returnValue Indexlist_removeNumber(     Indexlist* _THIS,
                                                                        int removenumber        
                                                                        );

returnValue Indexlist_swapNumbers(      Indexlist* _THIS,
                                                                        int number1,            
                                                                        int number2                     
                                                                        );

static inline BooleanType Indexlist_isMember(   Indexlist* _THIS,
                                                                                                int _number             
                                                                                                );


int Indexlist_findInsert(       Indexlist* _THIS,
                                                        int i
                                                        );



/*
 *      g e t N u m b e r
 */
static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
{
        /* consistency check */
        if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
                return -RET_INDEXLIST_OUTOFBOUNDS;

        return _THIS->number[physicalindex];
}


/*
 *      g e t L e n g t h
 */
static inline int Indexlist_getLength( Indexlist* _THIS )
{
        return _THIS->length;
}


/*
 *      g e t L a s t N u m b e r
 */
static inline int Indexlist_getLastNumber( Indexlist* _THIS )
{
        return _THIS->number[_THIS->length-1];
}


/*
 *      g e t L a s t N u m b e r
 */
static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
{
        if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
                return BT_TRUE;
        else
                return BT_FALSE;
}


END_NAMESPACE_QPOASES


#endif  /* QPOASES_INDEXLIST_H */


/*
 *      end of file
 */