external_packages/qpOASES-3.0beta/include/qpOASES/Bounds.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 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_BOUNDS_HPP
#define QPOASES_BOUNDS_HPP


#include <qpOASES/SubjectTo.hpp>


BEGIN_NAMESPACE_QPOASES


class Bounds : public SubjectTo
{
        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                Bounds( );

                Bounds( int _n                                                                  
                                );

                Bounds( const Bounds& rhs                                               
                                );

                virtual ~Bounds( );

                Bounds& operator=(      const Bounds& rhs                       
                                                        );


                returnValue init(       int _n = 0                                      
                                                        );


                returnValue setupBound( int number,                             
                                                                SubjectToStatus _status 
                                                                );

                returnValue setupAllFree( );

                returnValue setupAllLower( );

                returnValue setupAllUpper( );


                returnValue moveFixedToFree(    int number                              
                                                                                );

                returnValue moveFreeToFixed(    int number,                             
                                                                                SubjectToStatus _status 
                                                                                );

                returnValue flipFixed( int number );

                returnValue swapFree(   int number1,                                    
                                                                int number2                                             
                                                                );


                inline int getNV( ) const;

                inline int getNFV( ) const;

                inline int getNBV( ) const;

                inline int getNUV( ) const;

                inline int getNFR( ) const;

                inline int getNFX( ) const;


                inline Indexlist* getFree( );

                inline Indexlist* getFixed( );


                virtual returnValue shift(      int offset              
                                                                        );

                virtual returnValue rotate(     int offset              
                                                                        );


                returnValue print( );


        /*
         *      PROTECTED MEMBER FUNCTIONS
         */
        protected:
                returnValue clear( );
                
                returnValue copy(       const Bounds& rhs       
                                                        );


                returnValue setupAll(   SubjectToStatus _status 
                                                                );


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                Indexlist freee;                
                Indexlist fixed;                
};


END_NAMESPACE_QPOASES

#include <qpOASES/Bounds.ipp>

#endif  /* QPOASES_BOUNDS_HPP */


/*
 *      end of file
 */