Manages working sets of constraints. More...

#include <Constraints.hpp>

Inheritance diagram for Constraints:

Public Member Functions
	Constraints ()

	Constraints ()

	Constraints (const Constraints &rhs)

	Constraints (const Constraints &rhs)

	Constraints ()

	Constraints ()

	Constraints (int_t _n)

	Constraints (int _n)

	Constraints (const Constraints &rhs)

	Constraints (const Constraints &rhs)

returnValue	flipFixed (int_t number)

returnValue	flipFixed (int number)

Indexlist *	getActive ()

Indexlist *	getActive ()

Indexlist *	getActive ()

Indexlist *	getActive ()

Indexlist *	getInactive ()

Indexlist *	getInactive ()

Indexlist *	getInactive ()

Indexlist *	getInactive ()

int	getNAC ()

int	getNAC ()

int_t	getNAC () const

int	getNAC () const

int	getNC () const

int	getNC () const

int_t	getNC () const

int	getNC () const

int	getNEC () const

int	getNEC () const

int_t	getNEC () const

int	getNEC () const

int	getNIAC ()

int	getNIAC ()

int_t	getNIAC () const

int	getNIAC () const

int	getNIC () const

int	getNIC () const

int_t	getNIC () const

int	getNIC () const

int	getNUC () const

int	getNUC () const

int_t	getNUC () const

int	getNUC () const

returnValue	init (int n)

returnValue	init (int n)

returnValue	init (int_t _n=0)

returnValue	init (int _n=0)

returnValue	moveActiveToInactive (int _number)

returnValue	moveActiveToInactive (int _number)

returnValue	moveActiveToInactive (int_t number)

returnValue	moveActiveToInactive (int number)

returnValue	moveInactiveToActive (int _number, SubjectToStatus _status)

returnValue	moveInactiveToActive (int _number, SubjectToStatus _status)

returnValue	moveInactiveToActive (int_t number, SubjectToStatus _status)

returnValue	moveInactiveToActive (int number, SubjectToStatus _status)

Constraints &	operator= (const Constraints &rhs)

Constraints &	operator= (const Constraints &rhs)

Constraints &	operator= (const Constraints &rhs)

Constraints &	operator= (const Constraints &rhs)

returnValue	print ()

returnValue	print ()

virtual returnValue	rotate (int_t offset)

virtual returnValue	rotate (int offset)

returnValue	setNEC (int n)

returnValue	setNEC (int n)

returnValue	setNIC (int n)

returnValue	setNIC (int n)

returnValue	setNUC (int n)

returnValue	setNUC (int n)

returnValue	setupAllInactive ()

returnValue	setupAllInactive ()

returnValue	setupAllInactive ()

returnValue	setupAllInactive ()

returnValue	setupAllLower ()

returnValue	setupAllLower ()

returnValue	setupAllUpper ()

returnValue	setupAllUpper ()

returnValue	setupConstraint (int _number, SubjectToStatus _status)

returnValue	setupConstraint (int _number, SubjectToStatus _status)

returnValue	setupConstraint (int number, SubjectToStatus _status)

returnValue	setupConstraint (int_t number, SubjectToStatus _status)

virtual returnValue	shift (int_t offset)

virtual returnValue	shift (int offset)

	~Constraints ()

	~Constraints ()

virtual	~Constraints ()

virtual	~Constraints ()

Public Member Functions inherited from SubjectTo
int	getNumberOfType (SubjectToType _type) const

int_t	getNumberOfType (SubjectToType _type) const

SubjectToStatus	getStatus (int i) const

SubjectToStatus	getStatus (int i) const

SubjectToStatus	getStatus (int i) const

SubjectToStatus	getStatus (int_t i) const

SubjectToType	getType (int i) const

SubjectToType	getType (int i) const

SubjectToType	getType (int i) const

SubjectToType	getType (int_t i) const

BooleanType	hasNoLower () const

BooleanType	hasNoLower () const

BooleanType	hasNoUpper () const

BooleanType	hasNoUpper () const

returnValue	init (int n)

returnValue	init (int n)

returnValue	init (int _n=0)

returnValue	init (int_t _n=0)

BooleanType	isNoLower () const

BooleanType	isNoLower () const

BooleanType	isNoUpper () const

BooleanType	isNoUpper () const

SubjectTo &	operator= (const SubjectTo &rhs)

SubjectTo &	operator= (const SubjectTo &rhs)

SubjectTo &	operator= (const SubjectTo &rhs)

SubjectTo &	operator= (const SubjectTo &rhs)

void	setNoLower (BooleanType _status)

void	setNoLower (BooleanType _status)

void	setNoLower (BooleanType _status)

void	setNoLower (BooleanType _status)

void	setNoUpper (BooleanType _status)

void	setNoUpper (BooleanType _status)

void	setNoUpper (BooleanType _status)

void	setNoUpper (BooleanType _status)

returnValue	setStatus (int i, SubjectToStatus value)

returnValue	setStatus (int i, SubjectToStatus value)

returnValue	setStatus (int_t i, SubjectToStatus value)

returnValue	setStatus (int i, SubjectToStatus value)

returnValue	setType (int i, SubjectToType value)

returnValue	setType (int i, SubjectToType value)

returnValue	setType (int_t i, SubjectToType value)

returnValue	setType (int i, SubjectToType value)

	SubjectTo ()

	SubjectTo ()

	SubjectTo (const SubjectTo &rhs)

	SubjectTo (const SubjectTo &rhs)

	SubjectTo ()

	SubjectTo ()

	SubjectTo (int _n)

	SubjectTo (int_t _n)

	SubjectTo (const SubjectTo &rhs)

	SubjectTo (const SubjectTo &rhs)

	~SubjectTo ()

	~SubjectTo ()

virtual	~SubjectTo ()

virtual	~SubjectTo ()

Public Attributes
int	n

BooleanType	noLower

BooleanType	noUpper

SubjectToStatus	status [NCMAX]

SubjectToType	type [NCMAX]

Protected Member Functions
returnValue	clear ()

returnValue	clear ()

returnValue	copy (const Constraints &rhs)

returnValue	copy (const Constraints &rhs)

returnValue	setupAll (SubjectToStatus _status)

returnValue	setupAll (SubjectToStatus _status)

Protected Member Functions inherited from SubjectTo
returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)

returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)

returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)

returnValue	addIndex (Indexlist *const indexlist, int_t newnumber, SubjectToStatus newstatus)

returnValue	clear ()

returnValue	clear ()

returnValue	copy (const SubjectTo &rhs)

returnValue	copy (const SubjectTo &rhs)

returnValue	removeIndex (Indexlist *const indexlist, int removenumber)

returnValue	removeIndex (Indexlist *const indexlist, int removenumber)

returnValue	removeIndex (Indexlist *const indexlist, int_t removenumber)

returnValue	removeIndex (Indexlist *const indexlist, int removenumber)

returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)

returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)

returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)

returnValue	swapIndex (Indexlist *const indexlist, int_t number1, int_t number2)

Protected Attributes
Indexlist	active

Indexlist	inactive

int	nC

int	nEC

int	nIC

int	nUC

Protected Attributes inherited from SubjectTo
int	n

int_t	n

BooleanType	noLower

BooleanType	noUpper

SubjectToStatus	status [NVMAX+NCMAX]

SubjectToStatus *	status

SubjectToType	type [NVMAX+NCMAX]

SubjectToType *	type

Detailed Description

Manages working sets of constraints.

This class manages working sets of constraints by storing index sets and other status information.

Author: Hans Joachim Ferreau

Version: 1.3embedded

Date: 2007-2008

This class manages working sets of constraints by storing index sets and other status information.

Author: Hans Joachim Ferreau

Version: 3.0beta

Date: 2007-2011

This class manages working sets of constraints by storing index sets and other status information.

Author: Hans Joachim Ferreau

Version: 3.2

Date: 2007-2015

This class manages working sets of constraints by storing index sets and other status information.

Author: Hans Joachim Ferreau

Version: 3.1embedded

Date: 2007-2015

Definition at line 50 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Constraints::Constraints ( )

Default constructor.

Definition at line 46 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

Definition at line 58 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::~Constraints ( )

Destructor.

Definition at line 72 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

Constraints::~Constraints ( )

Destructor.

Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( int _n )

Constructor which takes the number of constraints.

Parameters

_n	Number of constraints.

Definition at line 58 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

virtual Constraints::~Constraints ( )

virtual

Destructor.

Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( int_t _n )

Constructor which takes the number of constraints.

Parameters

_n	Number of constraints.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

virtual Constraints::~Constraints ( )

virtual

Destructor.

Member Function Documentation

returnValue Constraints::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

Definition at line 423 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

returnValue Constraints::copy ( const Constraints & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

returnValue Constraints::copy ( const Constraints & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

Definition at line 432 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::flipFixed ( int_t number )

Flip fixed constraint.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

returnValue Constraints::flipFixed ( int number )

Flip fixed constraint.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

Definition at line 227 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

Indexlist* Constraints::getActive ( )

inline

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Indexlist* Constraints::getActive ( )

inline

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Indexlist* Constraints::getActive ( )

inline

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Indexlist* Constraints::getActive ( )

inline

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Indexlist* Constraints::getInactive ( )

inline

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

Indexlist* Constraints::getInactive ( )

inline

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

Indexlist* Constraints::getInactive ( )

inline

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

Indexlist* Constraints::getInactive ( )

inline

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

int Constraints::getNAC ( )

inline

Returns the number of active constraints.

Returns: Number of constraints.

int Constraints::getNAC ( )

inline

Returns the number of active constraints.

Returns: Number of constraints.

int_t Constraints::getNAC ( ) const

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int Constraints::getNAC ( ) const

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int Constraints::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int Constraints::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int_t Constraints::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int Constraints::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int Constraints::getNEC ( ) const

inline

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

int Constraints::getNEC ( ) const

inline

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

int_t Constraints::getNEC ( ) const

inline

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

int Constraints::getNEC ( ) const

inline

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

int Constraints::getNIAC ( )

inline

Returns the number of inactive constraints.

Returns: Number of constraints.

int Constraints::getNIAC ( )

inline

Returns the number of inactive constraints.

Returns: Number of constraints.

int_t Constraints::getNIAC ( ) const

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int Constraints::getNIAC ( ) const

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int Constraints::getNIC ( ) const

inline

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

int Constraints::getNIC ( ) const

inline

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

int_t Constraints::getNIC ( ) const

inline

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

int Constraints::getNIC ( ) const

inline

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

int Constraints::getNUC ( ) const

inline

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

int Constraints::getNUC ( ) const

inline

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

int_t Constraints::getNUC ( ) const

inline

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

int Constraints::getNUC ( ) const

inline

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

returnValue Constraints::init ( int n )

Pseudo-constructor takes the number of constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of constraints.

returnValue Constraints::init ( int n )

Pseudo-constructor takes the number of constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of constraints.

Definition at line 102 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::init ( int _n = 0 )

Initialises object with given number of constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_n	Number of constraints.

returnValue Constraints::init ( int_t _n = 0 )

Initialises object with given number of constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_n	Number of constraints.

returnValue Constraints::moveActiveToInactive ( int _number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

_number Number of constraint to become inactive.

Definition at line 207 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::moveActiveToInactive ( int _number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

_number Number of constraint to become inactive.

returnValue Constraints::moveActiveToInactive ( int_t number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number Number of constraint to become inactive.

returnValue Constraints::moveActiveToInactive ( int number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number Number of constraint to become inactive.

returnValue Constraints::moveInactiveToActive	(	int	_number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

_number	Number of constraint to become active.
_status	Status of constraint to become active.

returnValue Constraints::moveInactiveToActive	(	int	_number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

_number	Number of constraint to become active.
_status	Status of constraint to become active.

Definition at line 227 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::moveInactiveToActive	(	int_t	number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number	Number of constraint to become active.
_status	Status of constraint to become active.

returnValue Constraints::moveInactiveToActive	(	int	number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number	Number of constraint to become active.
_status	Status of constraint to become active.

Constraints & Constraints::operator= ( const Constraints & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

Definition at line 80 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints& Constraints::operator= ( const Constraints & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

Constraints& Constraints::operator= ( const Constraints & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

Constraints& Constraints::operator= ( const Constraints & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

returnValue Constraints::print ( )

Prints information on constraints object (in particular, lists of inactive and active constraints.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

returnValue Constraints::print ( )

Prints information on constraints object (in particular, lists of inactive and active constraints.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 384 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

virtual returnValue Constraints::rotate ( int_t offset )

virtual

Rotates forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters

offset Rotation offset within the range [0,n].

Implements SubjectTo.

returnValue Constraints::rotate ( int offset )

virtual

Rotates forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b1,c/b2}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters

offset Rotation offset within the range [0,n].

Implements SubjectTo.

Definition at line 309 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setNEC ( int n )

inline

Sets number of implicit equality constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of implicit equality constraints.

returnValue Constraints::setNEC ( int n )

inline

Sets number of implicit equality constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of implicit equality constraints.

returnValue Constraints::setNIC ( int n )

inline

Sets number of "real" inequality constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of "real" inequality constraints.

returnValue Constraints::setNIC ( int n )

inline

Sets number of "real" inequality constraints.

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of "real" inequality constraints.

returnValue Constraints::setNUC ( int n )

inline

Sets number of unbounded constraints (i.e. without any bounds).

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of unbounded constraints (i.e. without any bounds).

returnValue Constraints::setNUC ( int n )

inline

Sets number of unbounded constraints (i.e. without any bounds).

Returns: SUCCESSFUL_RETURN

Parameters

n	Number of unbounded constraints (i.e. without any bounds).

returnValue Constraints::setupAll ( SubjectToStatus _status )

protected

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set corresponding to the desired status; the order depends on the SujectToType of each index.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Parameters

_status Desired initial status for all bounds.

Definition at line 446 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupAll ( SubjectToStatus _status )

protected

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set corresponding to the desired status; the order depends on the SujectToType of each index.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Parameters

_status Desired initial status for all bounds.

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 155 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

returnValue Constraints::setupAllLower ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their lower bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 168 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupAllLower ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their lower bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

returnValue Constraints::setupAllUpper ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their upper bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 177 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupAllUpper ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their upper bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

returnValue Constraints::setupConstraint	(	int	_number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

_number	Number of new constraint.
_status	Status of new constraint.

Definition at line 119 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::setupConstraint	(	int	_number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

_number	Number of new constraint.
_status	Status of new constraint.

returnValue Constraints::setupConstraint	(	int	number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

number	Number of new constraint.
_status	Status of new constraint.

returnValue Constraints::setupConstraint	(	int_t	number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

number	Number of new constraint.
_status	Status of new constraint.

returnValue Constraints::shift ( int offset )

virtual

Shifts forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n/2] and has to be an integer divisor of the total number of constraints n. Type and status of the first <offset> constraints is thrown away, type and status of the last <offset> constraints is real_td, e.g. for offset = 2:
shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS
RET_SHIFTING_FAILED

Parameters

offset Shift offset within the range [0,n/2] and integer divisor of n.

Implements SubjectTo.

Definition at line 248 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

virtual returnValue Constraints::shift ( int_t offset )

virtual

Shifts forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n/2] and has to be an integer divisor of the total number of constraints n. Type and status of the first <offset> constraints is thrown away, type and status of the last <offset> constraints is doubled, e.g. for offset = 2:
shift( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c5,c6}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS
RET_SHIFTING_FAILED

Parameters

offset Shift offset within the range [0,n/2] and integer divisor of n.

Implements SubjectTo.

Member Data Documentation

Indexlist Constraints::active

protected

Index list of active constraints.

Definition at line 169 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

Indexlist Constraints::inactive

protected

Index list of inactive constraints.

Definition at line 170 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

int Constraints::n

Total number of constraints.

Definition at line 58 of file Constraints.h.

int Constraints::nC

protected

Number of constraints (nC = nEC + nIC + nUC).

Definition at line 164 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

int Constraints::nEC

protected

Number of implicit equality constraints.

Definition at line 165 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

int Constraints::nIC

protected

Number of "real" inequality constraints.

Definition at line 166 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

BooleanType Constraints::noLower

This flag indicates if there is no lower bound on any variable.

Definition at line 63 of file Constraints.h.

BooleanType Constraints::noUpper

This flag indicates if there is no upper bound on any variable.

Definition at line 64 of file Constraints.h.

int Constraints::nUC

protected

Number of unbounded constraints (i.e. without any bounds).

Definition at line 167 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

SubjectToStatus Constraints::status[NCMAX]

Status of constraints.

Definition at line 61 of file Constraints.h.

SubjectToType Constraints::type[NCMAX]

Type of constraints.

Definition at line 60 of file Constraints.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation