external_packages/qpOASES-3.0beta/src/Constraints.cpp

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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
 *
 */


#include <qpOASES/Constraints.hpp>


BEGIN_NAMESPACE_QPOASES


/*****************************************************************************
 *  P U B L I C                                                              *
 *****************************************************************************/


/*
 *      C o n s t r a i n t s
 */
Constraints::Constraints( ) : SubjectTo( )
{
}


/*
 *      C o n s t r a i n t s
 */
Constraints::Constraints( int _n ) : SubjectTo( _n )
{
        init( _n );
}


/*
 *      C o n s t r a i n t s
 */
Constraints::Constraints( const Constraints& rhs ) : SubjectTo( rhs )
{
        copy( rhs );
}


/*
 *      ~ C o n s t r a i n t s
 */
Constraints::~Constraints( )
{
        clear( );
}


/*
 *      o p e r a t o r =
 */
Constraints& Constraints::operator=( const Constraints& rhs )
{
        if ( this != &rhs )
        {
                clear( );
                SubjectTo::operator=( rhs );
                copy( rhs );
        }

        return *this;
}


/*
 *      i n i t
 */
returnValue Constraints::init(  int _n
                                                                )
{
        if ( _n < 0 )
                return THROWERROR( RET_INVALID_ARGUMENTS );

        clear( );

        if ( _n > 0 )
        {
                active.init(   _n );
                inactive.init( _n );
        }

        return SubjectTo::init( _n );
}



/*
 *      s e t u p C o n s t r a i n t
 */
returnValue Constraints::setupConstraint(       int number, SubjectToStatus _status
                                                                                        )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Add constraint index to respective index list. */
        switch ( _status )
        {
                case ST_INACTIVE:
                        if ( this->addIndex( this->getInactive( ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                case ST_LOWER:
                        if ( this->addIndex( this->getActive( ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                case ST_UPPER:
                        if ( this->addIndex( this->getActive( ),number,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                        break;

                default:
                        return THROWERROR( RET_INVALID_ARGUMENTS );
        }

        return SUCCESSFUL_RETURN;
}


/*
 *      s e t u p A l l I n a c t i v e
 */
returnValue Constraints::setupAllInactive( )
{
        return setupAll( ST_INACTIVE );
}


/*
 *      s e t u p A l l L o w e r
 */
returnValue Constraints::setupAllLower( )
{
        return setupAll( ST_LOWER );
}


/*
 *      s e t u p A l l U p p e r
 */
returnValue Constraints::setupAllUpper( )
{
        return setupAll( ST_UPPER );
}


/*
 *      m o v e A c t i v e T o I n a c t i v e
 */
returnValue Constraints::moveActiveToInactive( int number )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Move index from indexlist of active constraints to that of inactive ones. */
        if ( this->removeIndex( this->getActive( ),number ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        if ( this->addIndex( this->getInactive( ),number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      m o v e I n a c t i v e T o A c t i v e
 */
returnValue Constraints::moveInactiveToActive(  int number, SubjectToStatus _status
                                                                                                )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        /* Move index from indexlist of inactive constraints to that of active ones. */
        if ( this->removeIndex( this->getInactive( ),number ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        if ( this->addIndex( this->getActive( ),number,_status ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_MOVING_BOUND_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      f l i p F i x e d
 */
returnValue Constraints::flipFixed( int number )
{
        /* consistency check */
        if ( ( number < 0 ) || ( number >= n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        if ( status != 0 )
                switch (status[number])
                {
                        case ST_LOWER: status[number] = ST_UPPER; break;
                        case ST_UPPER: status[number] = ST_LOWER; break;
                        default: return THROWERROR( RET_MOVING_CONSTRAINT_FAILED );
                }

        return SUCCESSFUL_RETURN;
}


/*
 *      s h i f t
 */
returnValue Constraints::shift( int offset )
{
        int i;

        /* consistency check */
        if ( ( offset == 0 ) || ( n <= 1 ) )
                return SUCCESSFUL_RETURN;

        if ( ( offset < 0 ) || ( offset > n/2 ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );

        if ( ( n % offset ) != 0 )
                return THROWERROR( RET_INVALID_ARGUMENTS );


        /* 1) Shift types and status. */
        for( i=0; i<n-offset; ++i )
        {
                setType( i,getType( i+offset ) );
                setStatus( i,getStatus( i+offset ) );
        }

        /* 2) Construct shifted index lists of free and fixed variables. */
        Indexlist shiftedActive( n );
        Indexlist shiftedInactive( n );

        for( i=0; i<n; ++i )
        {
                switch ( getStatus( i ) )
                {
                        case ST_INACTIVE:
                                if ( shiftedInactive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        case ST_LOWER:
                                if ( shiftedActive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        case ST_UPPER:
                                if ( shiftedActive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_SHIFTING_FAILED );
                                break;

                        default:
                                return THROWERROR( RET_SHIFTING_FAILED );
                }
        }

        /* 3) Assign shifted index list. */
        active = shiftedActive;
        inactive = shiftedInactive;

        return SUCCESSFUL_RETURN;
}


/*
 *      r o t a t e
 */
returnValue Constraints::rotate( int offset )
{
        int i;

        /* consistency check */
        if ( ( offset == 0 ) || ( offset == n ) || ( n <= 1 ) )
                return SUCCESSFUL_RETURN;

        if ( ( offset < 0 ) || ( offset > n ) )
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );


        /* 1) Rotate types and status. */
        SubjectToType*   typeTmp   = new SubjectToType[offset];
        SubjectToStatus* statusTmp = new SubjectToStatus[offset];

        for( i=0; i<offset; ++i )
        {
                typeTmp[i] = getType( i );
                statusTmp[i] = getStatus( i );
        }

        for( i=0; i<n-offset; ++i )
        {
                setType( i,getType( i+offset ) );
                setStatus( i,getStatus( i+offset ) );
        }

        for( i=n-offset; i<n; ++i )
        {
                setType( i,typeTmp[i-n+offset] );
                setStatus( i,statusTmp[i-n+offset] );
        }

        delete[] statusTmp; delete[] typeTmp;

        /* 2) Construct shifted index lists of free and fixed variables. */
        Indexlist rotatedActive( n );
        Indexlist rotatedInactive( n );

        for( i=0; i<n; ++i )
        {
                switch ( getStatus( i ) )
                {
                        case ST_INACTIVE:
                                if ( rotatedInactive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        case ST_LOWER:
                                if ( rotatedActive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        case ST_UPPER:
                                if ( rotatedActive.addNumber( i ) != SUCCESSFUL_RETURN )
                                        return THROWERROR( RET_ROTATING_FAILED );
                                break;

                        default:
                                return THROWERROR( RET_ROTATING_FAILED );
                }
        }

        /* 3) Assign shifted index list. */
        active = rotatedActive;
        inactive = rotatedInactive;

        return SUCCESSFUL_RETURN;
}


/*
 *      p r i n t
 */
returnValue Constraints::print( )
{
        if ( n == 0 )
                return SUCCESSFUL_RETURN;

        #ifndef __XPCTARGET__
        #ifndef __DSPACE__
        char myPrintfString[160];

        int nIAC = getNIAC( );
        int nAC  = getNAC( );

        int* IAC_idx;
        getInactive( )->getNumberArray( &IAC_idx );

        int* AC_idx;
        getActive( )->getNumberArray( &AC_idx );

        snprintf( myPrintfString,160,"Constraints object comprising %d constraints (%d inactive, %d active):\n",n,nIAC,nAC );
        myPrintf( myPrintfString );

        REFER_NAMESPACE_QPOASES print( IAC_idx,nIAC,"inactive" );
        REFER_NAMESPACE_QPOASES print( AC_idx, nAC, "active  " );

        #endif
        #endif

        return SUCCESSFUL_RETURN;
}



/*****************************************************************************
 *  P R O T E C T E D                                                        *
 *****************************************************************************/

/*
 *      c l e a r
 */
returnValue Constraints::clear( )
{
        return SUCCESSFUL_RETURN;
}


/*
 *      c o p y
 */
returnValue Constraints::copy(  const Constraints& rhs
                                                                )
{
        active   = rhs.active;
        inactive = rhs.inactive;

        return SUCCESSFUL_RETURN;
}



/*
 *      s e t u p A l l
 */
returnValue Constraints::setupAll( SubjectToStatus _status )
{
        int i;

        /* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
        for( i=0; i<n; ++i )
        {
                if ( getType( i ) == ST_UNBOUNDED )
                {
                        if ( setupConstraint( i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
        for( i=0; i<n; ++i )
        {
                if ( getType( i ) == ST_BOUNDED )
                {
                        if ( setupConstraint( i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
        for( i=0; i<n; ++i )
        {
                if ( getType( i ) == ST_EQUALITY )
                {
                        if ( setupConstraint( i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }

        /* 4) Moreover, add all constraints of unknown type. */
        for( i=0; i<n; ++i )
        {
                if ( getType( i ) == ST_UNKNOWN )
                {
                        if ( setupConstraint( i,_status ) != SUCCESSFUL_RETURN )
                                return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
                }
        }


        return SUCCESSFUL_RETURN;
}


END_NAMESPACE_QPOASES


/*
 *      end of file
 */