external_packages/qpoases/INCLUDE/Constraints.hpp
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
6  *
7  * qpOASES is free software; you can redistribute it and/or
8  * modify it under the terms of the GNU Lesser General Public
9  * License as published by the Free Software Foundation; either
10  * version 2.1 of the License, or (at your option) any later version.
11  *
12  * qpOASES is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15  * Lesser General Public License for more details.
16  *
17  * You should have received a copy of the GNU Lesser General Public
18  * License along with qpOASES; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
35 #ifndef QPOASES_CONSTRAINTS_HPP
36 #define QPOASES_CONSTRAINTS_HPP
37 
38 
39 #include <SubjectTo.hpp>
40 
41 
42 
50 class Constraints : public SubjectTo
51 {
52  /*
53  * PUBLIC MEMBER FUNCTIONS
54  */
55  public:
57  Constraints( );
58 
60  Constraints( const Constraints& rhs
61  );
62 
64  ~Constraints( );
65 
68  );
69 
70 
73  returnValue init( int n
74  );
75 
76 
83  returnValue setupConstraint( int _number,
84  SubjectToStatus _status
85  );
86 
93 
94 
98  returnValue moveActiveToInactive( int _number
99  );
100 
104  returnValue moveInactiveToActive( int _number,
105  SubjectToStatus _status
106  );
107 
108 
111  inline int getNC( ) const;
112 
115  inline int getNEC( ) const;
116 
119  inline int getNIC( ) const;
120 
123  inline int getNUC( ) const;
124 
125 
128  inline returnValue setNEC( int n
129  );
130 
133  inline returnValue setNIC( int n
134  );
135 
138  inline returnValue setNUC( int n
139  );
140 
141 
144  inline int getNAC( );
145 
148  inline int getNIAC( );
149 
150 
153  inline Indexlist* getActive( );
154 
157  inline Indexlist* getInactive( );
158 
159 
160  /*
161  * PROTECTED MEMBER VARIABLES
162  */
163  protected:
164  int nC;
165  int nEC;
166  int nIC;
167  int nUC;
169  Indexlist active;
171 };
172 
173 
174 #include <Constraints.ipp>
175 
176 #endif /* QPOASES_CONSTRAINTS_HPP */
177 
178 
179 /*
180  * end of file
181  */
int getNIC() const
int getNC() const
returnValue moveInactiveToActive(int _number, SubjectToStatus _status)
returnValue setNEC(int n)
returnValue setNIC(int n)
Allows to pass back messages to the calling function.
int getNEC() const
Base class for managing working sets of bounds and constraints.
Indexlist * getInactive()
returnValue setupConstraint(int _number, SubjectToStatus _status)
void rhs(const real_t *x, real_t *f)
Indexlist * getActive()
returnValue setNUC(int n)
int getNUC() const


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:31