external_packages/qpoases/SRC/CyclingManager.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2008 by Hans Joachim Ferreau 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 <CyclingManager.hpp>


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


/*
 *      C y c l i n g M a n a g e r
 */
CyclingManager::CyclingManager( ) :     nV( 0 ),
                                                                        nC( 0 )
{
        cyclingDetected = BT_FALSE;
}


/*
 *      C y c l i n g M a n a g e r
 */
CyclingManager::CyclingManager( const CyclingManager& rhs ) :   nV( rhs.nV ),
                                                                                                                                nC( rhs.nC ),
                                                                                                                                cyclingDetected( rhs.cyclingDetected )
{
        int i;

        for( i=0; i<nV+nC; ++i )
                status[i] = rhs.status[i];
}


/*
 *      ~ C y c l i n g M a n a g e r
 */
CyclingManager::~CyclingManager( )
{
}


/*
 *      o p e r a t o r =
 */
CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
{
        int i;

        if ( this != &rhs )
        {
                nV = rhs.nV;
                nC = rhs.nC;

                for( i=0; i<nV+nC; ++i )
                        status[i] = rhs.status[i];

                cyclingDetected = rhs.cyclingDetected;
        }

        return *this;
}



/*
 *      i n i t
 */
returnValue CyclingManager::init( int _nV, int _nC )
{
        nV = _nV;
        nC = _nC;

        cyclingDetected = BT_FALSE;

        return SUCCESSFUL_RETURN;
}



/*
 *      s e t C y c l i n g S t a t u s
 */
returnValue CyclingManager::setCyclingStatus(   int number,
                                                                                                BooleanType isBound, CyclingStatus _status
                                                                                                )
{
        if ( isBound == BT_TRUE )
        {
                /* Set cycling status of a bound. */
                if ( ( number >= 0 ) && ( number < nV ) )
                {
                        status[number] = _status;
                        return SUCCESSFUL_RETURN;
                }
                else
                        return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
        }
        else
        {
                /* Set cycling status of a constraint. */
                if ( ( number >= 0 ) && ( number < nC ) )
                {
                        status[nV+number] = _status;
                        return SUCCESSFUL_RETURN;
                }
                else
                        return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
        }
}


/*
 *      g e t C y c l i n g S t a t u s
 */
CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
{
        if ( isBound == BT_TRUE )
        {
                /* Return cycling status of a bound. */
                if ( ( number >= 0 ) && ( number < nV ) )
                        return status[number];
        }
        else
        {
                /* Return cycling status of a constraint. */
                if ( ( number >= 0 ) && ( number < nC ) )
                        return status[nV+number];
        }

        return CYC_NOT_INVOLVED;
}


/*
 *      c l e a r C y c l i n g D a t a
 */
returnValue CyclingManager::clearCyclingData( )
{
        int i;

        /* Reset all status values ... */
        for( i=0; i<nV+nC; ++i )
                status[i] = CYC_NOT_INVOLVED;

        /* ... and the main cycling flag. */
        cyclingDetected = BT_FALSE;

        return SUCCESSFUL_RETURN;
}


/*
 *      end of file
 */