qpOASES-3.0beta/examples/example4CP.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
 *
 */


BEGIN_NAMESPACE_QPOASES


class MyConstraintProduct : public ConstraintProduct
{
        public:
                MyConstraintProduct( ) {};

                MyConstraintProduct(    int _nV,
                                                                int _nC,
                                                                real_t* _A
                                                                )
                {
                        nV = _nV;
                        nC = _nC;
                        A  = _A;
                };

                MyConstraintProduct(    const MyConstraintProduct &rhs
                                                                )
                {
                        nV = rhs.nV;
                        nC = rhs.nC;
                        A  = rhs.A;
                };

                virtual ~MyConstraintProduct( ) {};
                
                MyConstraintProduct &operator=( const MyConstraintProduct &rhs
                                                                                )
                {
                        if ( this != &rhs )
                        {
                                nV = rhs.nV;
                                nC = rhs.nC;
                                A  = rhs.A;
                        }
                        else
                                return *this;
                }

                virtual int operator() (        int constrIndex,
                                                                        const real_t* const x,
                                                                        real_t* const constrValue
                                                                        ) const
                {
                        constrValue[0] = 1.0 * x[(constrIndex/10)+2];

                        for( int i=0; i<2; ++i )
                                constrValue[0] += A[constrIndex*nV + i] * x[i];

                        return 0;
                };

        protected:
                int nV;
                int nC;
                real_t* A;
};


END_NAMESPACE_QPOASES