#include <qpOASES_e/Constraints.h>

Include dependency graph for Constraints.c:

Functions
returnValue	Constraints_addIndex (Constraints _THIS, Indexlist const indexlist, int newnumber, SubjectToStatus newstatus)

returnValue	Constraints_flipFixed (Constraints *_THIS, int number)

returnValue	Constraints_init (Constraints *_THIS, int _n)

returnValue	Constraints_moveActiveToInactive (Constraints *_THIS, int number)

returnValue	Constraints_moveInactiveToActive (Constraints *_THIS, int number, SubjectToStatus _status)

returnValue	Constraints_print (Constraints *_THIS)

returnValue	Constraints_removeIndex (Constraints _THIS, Indexlist const indexlist, int removenumber)

returnValue	Constraints_rotate (Constraints *_THIS, int offset)

returnValue	Constraints_setupAll (Constraints *_THIS, SubjectToStatus _status)

returnValue	Constraints_setupAllInactive (Constraints *_THIS)

returnValue	Constraints_setupAllLower (Constraints *_THIS)

returnValue	Constraints_setupAllUpper (Constraints *_THIS)

returnValue	Constraints_setupConstraint (Constraints *_THIS, int number, SubjectToStatus _status)

returnValue	Constraints_shift (Constraints *_THIS, int offset)

returnValue	Constraints_swapIndex (Constraints _THIS, Indexlist const indexlist, int number1, int number2)

BEGIN_NAMESPACE_QPOASES void	ConstraintsCON (Constraints *_THIS, int _n)

void	ConstraintsCPY (Constraints FROM, Constraints TO)

Detailed Description

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

Implementation of the Constraints class designed to manage working sets of constraints within a QProblem.

Definition in file Constraints.c.

Function Documentation

◆ Constraints_addIndex()

returnValue Constraints_addIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)

Adds the index of a new constraint to index set.

Returns: SUCCESSFUL_RETURN
RET_ADDINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list to which the new index shall be added.
newnumber	Number of new constraint.
newstatus	Status of new constraint.

Definition at line 486 of file Constraints.c.

◆ Constraints_flipFixed()

returnValue Constraints_flipFixed	(	Constraints *	_THIS,
		int	number
	)

Flip fixed constraint.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

Definition at line 238 of file Constraints.c.

◆ Constraints_init()

returnValue Constraints_init	(	Constraints *	_THIS,
		int	_n
	)

Initialises object with given number of constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_n	Number of constraints.

Definition at line 89 of file Constraints.c.

◆ Constraints_moveActiveToInactive()

returnValue Constraints_moveActiveToInactive	(	Constraints *	_THIS,
		int	number
	)

Moves index of a constraint from index list of active to that of inactive constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number Number of constraint to become inactive.

Definition at line 194 of file Constraints.c.

◆ Constraints_moveInactiveToActive()

returnValue Constraints_moveInactiveToActive	(	Constraints *	_THIS,
		int	number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters

number	Number of constraint to become active.
_status	Status of constraint to become active.

Definition at line 216 of file Constraints.c.

◆ Constraints_print()

returnValue Constraints_print ( Constraints * _THIS )

Prints information on constraints object (in particular, lists of inactive and active constraints.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 397 of file Constraints.c.

◆ Constraints_removeIndex()

returnValue Constraints_removeIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	removenumber
	)

Removes the index of a constraint from index set.

Returns: SUCCESSFUL_RETURN
RET_REMOVEINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list from which the new index shall be removed.
removenumber	Number of constraint to be removed.

Definition at line 517 of file Constraints.c.

◆ Constraints_rotate()

returnValue Constraints_rotate	(	Constraints *	_THIS,
		int	offset
	)

Rotates forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters

offset Rotation offset within the range [0,n].

Definition at line 322 of file Constraints.c.

◆ Constraints_setupAll()

returnValue Constraints_setupAll	(	Constraints *	_THIS,
		SubjectToStatus	_status
	)

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set corresponding to the desired status; the order depends on the SujectToType of each index.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Parameters

_status Desired initial status for all bounds.

Definition at line 434 of file Constraints.c.

◆ Constraints_setupAllInactive()

returnValue Constraints_setupAllInactive ( Constraints * _THIS )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 164 of file Constraints.c.

◆ Constraints_setupAllLower()

returnValue Constraints_setupAllLower ( Constraints * _THIS )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their lower bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 174 of file Constraints.c.

◆ Constraints_setupAllUpper()

returnValue Constraints_setupAllUpper ( Constraints * _THIS )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their upper bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

Definition at line 184 of file Constraints.c.

◆ Constraints_setupConstraint()

returnValue Constraints_setupConstraint	(	Constraints *	_THIS,
		int	number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) constraint to a given index set.

Returns: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters

number	Number of new constraint.
_status	Status of new constraint.

Definition at line 127 of file Constraints.c.

◆ Constraints_shift()

returnValue Constraints_shift	(	Constraints *	_THIS,
		int	offset
	)

Shifts forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n/2] and has to be an integer divisor of the total number of constraints n. Type and status of the first <offset> constraints is thrown away, type and status of the last <offset> constraints is doubled, e.g. for offset = 2:
shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS
RET_SHIFTING_FAILED

Parameters

offset Shift offset within the range [0,n/2] and integer divisor of n.

Definition at line 259 of file Constraints.c.

◆ Constraints_swapIndex()

returnValue Constraints_swapIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	number1,
		int	number2
	)

Swaps the indices of two constraints or bounds within the index set.

Returns: SUCCESSFUL_RETURN
RET_SWAPINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list in which the indices shold be swapped.
number1	Number of first constraint.
number2	Number of second constraint.

Definition at line 542 of file Constraints.c.

◆ ConstraintsCON()

BEGIN_NAMESPACE_QPOASES void ConstraintsCON	(	Constraints *	_THIS,
		int	_n
	)

Constructor which takes the number of constraints.

Parameters

_n	Number of constraints.

Definition at line 50 of file Constraints.c.

◆ ConstraintsCPY()

void ConstraintsCPY	(	Constraints *	FROM,
		Constraints *	TO
	)

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Definition at line 61 of file Constraints.c.

Functions

Detailed Description

Function Documentation

◆ Constraints_addIndex()

◆ Constraints_flipFixed()

◆ Constraints_init()

◆ Constraints_moveActiveToInactive()

◆ Constraints_moveInactiveToActive()

◆ Constraints_print()

◆ Constraints_removeIndex()

◆ Constraints_rotate()

◆ Constraints_setupAll()

◆ Constraints_setupAllInactive()

◆ Constraints_setupAllLower()

◆ Constraints_setupAllUpper()

◆ Constraints_setupConstraint()

◆ Constraints_shift()

◆ Constraints_swapIndex()

◆ ConstraintsCON()

◆ ConstraintsCPY()