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Flipper Struct Reference

Auxiliary class for storing a copy of the current matrix factorisations. More...

#include <Flipper.hpp>

Public Member Functions

 Flipper ()
 
 Flipper ()
 
 Flipper (int _nV, int _nC=0)
 
 Flipper (uint_t _nV, uint_t _nC=0)
 
 Flipper (const Flipper &rhs)
 
 Flipper (const Flipper &rhs)
 
returnValue get (Bounds *const _bounds, real_t *const R, Constraints *const _constraints=0, real_t *const _Q=0, real_t *const _T=0) const
 
returnValue get (Bounds *const _bounds, double *const R, Constraints *const _constraints=0, double *const _Q=0, double *const _T=0) const
 
returnValue init (uint_t _nV=0, uint_t _nC=0)
 
returnValue init (int _nV=0, int _nC=0)
 
Flipper & operator= (const Flipper &rhs)
 
Flipper & operator= (const Flipper &rhs)
 
returnValue set (const Bounds *const _bounds, const double *const _R, const Constraints *const _constraints=0, const double *const _Q=0, const double *const _T=0)
 
returnValue set (const Bounds *const _bounds, const real_t *const _R, const Constraints *const _constraints=0, const real_t *const _Q=0, const real_t *const _T=0)
 
 ~Flipper ()
 
 ~Flipper ()
 

Public Attributes

unsigned int nC
 
unsigned int nV
 
real_t Q [NVMAX *NVMAX]
 
real_t R [NVMAX *NVMAX]
 
real_t T [NVCMIN *NVCMIN]
 

Protected Member Functions

returnValue clear ()
 
returnValue clear ()
 
returnValue copy (const Flipper &rhs)
 
returnValue copy (const Flipper &rhs)
 
int getDimT () const
 
uint_t getDimT () const
 

Protected Attributes

Bounds bounds
 
Constraints constraints
 
uint_t nC
 
int nC
 
uint_t nV
 
int nV
 
real_t * Q
 
real_t * R
 
real_t * T
 

Friends

class QProblem
 
class QProblemB
 

Detailed Description

Auxiliary class for storing a copy of the current matrix factorisations.

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author
Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
Version
3.0beta
Date
2007-2011

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author
Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
Version
3.2
Date
2007-2015

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author
Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
Version
3.1embedded
Date
2007-2015

Definition at line 57 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Flipper::Flipper ( )

Default constructor.

Definition at line 50 of file qpOASES-3.0beta/src/Flipper.cpp.

Flipper::Flipper ( int  _nV,
int  _nC = 0 
)

Constructor which takes the number of bounds and constraints.

Parameters
_nVNumber of bounds.
_nCNumber of constraints.

Definition at line 63 of file qpOASES-3.0beta/src/Flipper.cpp.

Flipper::Flipper ( const Flipper &  rhs)

Copy constructor (deep copy).

Parameters
rhsRhs object.

Definition at line 78 of file qpOASES-3.0beta/src/Flipper.cpp.

Flipper::~Flipper ( )

Destructor.

Definition at line 91 of file qpOASES-3.0beta/src/Flipper.cpp.

Flipper::Flipper ( )

Default constructor.

Flipper::Flipper ( uint_t  _nV,
uint_t  _nC = 0 
)

Constructor which takes the number of bounds and constraints.

Parameters
_nVNumber of bounds.
_nCNumber of constraints.

Definition at line 63 of file qpOASES-3.2.0/src/Flipper.cpp.

Flipper::Flipper ( const Flipper &  rhs)

Copy constructor (deep copy).

Parameters
rhsRhs object.
Flipper::~Flipper ( )

Destructor.

Member Function Documentation

returnValue Flipper::clear ( )
protected

Frees all allocated memory.

Returns
SUCCESSFUL_RETURN

Definition at line 225 of file qpOASES-3.0beta/src/Flipper.cpp.

returnValue Flipper::clear ( )
protected

Frees all allocated memory.

Returns
SUCCESSFUL_RETURN
returnValue Flipper::copy ( const Flipper &  rhs)
protected

Copies all members from given rhs object.

Returns
SUCCESSFUL_RETURN
Parameters
rhsRhs object.

Definition at line 252 of file qpOASES-3.0beta/src/Flipper.cpp.

returnValue Flipper::copy ( const Flipper &  rhs)
protected

Copies all members from given rhs object.

Returns
SUCCESSFUL_RETURN
Parameters
rhsRhs object.
returnValue Flipper::get ( Bounds *const  _bounds,
double *const  R,
Constraints *const  _constraints = 0,
double *const  _Q = 0,
double *const  _T = 0 
) const

Copies current values to non-null arguments (assumed to be allocated with consistent size).

Returns
SUCCESSFUL_RETURN
Parameters
_boundsPointer to new bounds.
RNew matrix R.
_constraintsPointer to new constraints.
_QNew matrix Q.
_TNew matrix T.

Definition at line 147 of file qpOASES-3.0beta/src/Flipper.cpp.

returnValue Flipper::get ( Bounds *const  _bounds,
real_t *const  R,
Constraints *const  _constraints = 0,
real_t *const  _Q = 0,
real_t *const  _T = 0 
) const

Copies current values to non-null arguments (assumed to be allocated with consistent size).

Returns
SUCCESSFUL_RETURN
Parameters
_boundsPointer to new bounds.
RNew matrix R.
_constraintsPointer to new constraints.
_QNew matrix Q.
_TNew matrix T.
uint_t Flipper::getDimT ( ) const
protected

Returns dimension of matrix T.

Returns
Dimension of matrix T.
uint_t Flipper::getDimT ( ) const
protected

Returns dimension of matrix T.

Returns
Dimension of matrix T.

Definition at line 259 of file qpOASES-3.0beta/src/Flipper.cpp.

returnValue Flipper::init ( uint_t  _nV = 0,
uint_t  _nC = 0 
)

Initialises object with given number of bounds and constraints.

Returns
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters
_nVNumber of bounds.
_nCNumber of constraints.

Definition at line 116 of file qpOASES-3.2.0/src/Flipper.cpp.

returnValue Flipper::init ( int  _nV = 0,
int  _nC = 0 
)

Initialises object with given number of bounds and constraints.

Returns
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters
_nVNumber of bounds.
_nCNumber of constraints.

Definition at line 116 of file qpOASES-3.0beta/src/Flipper.cpp.

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

Assignment operator (deep copy).

Parameters
rhsRhs object.

Definition at line 100 of file qpOASES-3.0beta/src/Flipper.cpp.

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

Assignment operator (deep copy).

Parameters
rhsRhs object.
returnValue Flipper::set ( const Bounds *const  _bounds,
const double *const  _R,
const Constraints *const  _constraints = 0,
const double *const  _Q = 0,
const double *const  _T = 0 
)

Assigns new values to non-null arguments.

Returns
SUCCESSFUL_RETURN
Parameters
_boundsPointer to new bounds.
_RNew matrix R.
_constraintsPointer to new constraints.
_QNew matrix Q.
_TNew matrix T.

Definition at line 176 of file qpOASES-3.0beta/src/Flipper.cpp.

returnValue Flipper::set ( const Bounds *const  _bounds,
const real_t *const  _R,
const Constraints *const  _constraints = 0,
const real_t *const  _Q = 0,
const real_t *const  _T = 0 
)

Assigns new values to non-null arguments.

Returns
SUCCESSFUL_RETURN
Parameters
_boundsPointer to new bounds.
_RNew matrix R.
_constraintsPointer to new constraints.
_QNew matrix Q.
_TNew matrix T.

Friends And Related Function Documentation

QProblem
friend

Definition at line 60 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

QProblemB
friend

Definition at line 59 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

Member Data Documentation

Bounds Flipper::bounds
protected

Data structure for problem's bounds.

Definition at line 138 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

Constraints Flipper::constraints
protected

Data structure for problem's constraints.

Definition at line 139 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

unsigned int Flipper::nC

Number of constraints.

Definition at line 60 of file Flipper.h.

uint_t Flipper::nC
protected

Number of constraints.

Definition at line 136 of file qpOASES-3.2.0/include/qpOASES/Flipper.hpp.

int Flipper::nC
protected

Number of constraints.

Definition at line 136 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

unsigned int Flipper::nV

Number of variables.

Definition at line 59 of file Flipper.h.

uint_t Flipper::nV
protected

Number of variables.

Definition at line 135 of file qpOASES-3.2.0/include/qpOASES/Flipper.hpp.

int Flipper::nV
protected

Number of variables.

Definition at line 135 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

real_t Flipper::Q[NVMAX *NVMAX]

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 66 of file Flipper.h.

real_t * Flipper::Q
protected

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 142 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

real_t Flipper::R[NVMAX *NVMAX]

Cholesky factor of H (i.e. H = R^T*R).

Definition at line 65 of file Flipper.h.

real_t * Flipper::R
protected

Cholesky factor of H (i.e. H = R^T*R).

Definition at line 141 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

real_t Flipper::T[NVCMIN *NVCMIN]

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 67 of file Flipper.h.

real_t * Flipper::T
protected

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 143 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

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

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:24