#include <qpOASES_e/Indexlist.h>

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Classes
struct	Constraints
	Manages working sets of constraints. More...

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

returnValue	Constraints_flipFixed (Constraints *_THIS, int number)

static Indexlist *	Constraints_getActive (Constraints *_THIS)

static Indexlist *	Constraints_getInactive (Constraints *_THIS)

static int	Constraints_getNAC (Constraints *_THIS)

static int	Constraints_getNC (Constraints *_THIS)

static int	Constraints_getNEC (Constraints *_THIS)

static int	Constraints_getNIAC (Constraints *_THIS)

static int	Constraints_getNIC (Constraints *_THIS)

static int	Constraints_getNUC (Constraints *_THIS)

static int	Constraints_getNumberOfType (Constraints *_THIS, SubjectToType _type)

static SubjectToStatus	Constraints_getStatus (Constraints *_THIS, int i)

static SubjectToType	Constraints_getType (Constraints *_THIS, int i)

static BooleanType	Constraints_hasNoLower (Constraints *_THIS)

static BooleanType	Constraints_hasNoUpper (Constraints *_THIS)

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)

static void	Constraints_setNoLower (Constraints *_THIS, BooleanType _status)

static void	Constraints_setNoUpper (Constraints *_THIS, BooleanType _status)

static returnValue	Constraints_setStatus (Constraints *_THIS, int i, SubjectToStatus value)

static returnValue	Constraints_setType (Constraints *_THIS, int i, SubjectToType value)

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)

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

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

Definition in file Constraints.h.

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_getActive()

static Indexlist * Constraints_getActive ( Constraints * _THIS )

inlinestatic

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Definition at line 499 of file Constraints.h.

◆ Constraints_getInactive()

static Indexlist * Constraints_getInactive ( Constraints * _THIS )

inlinestatic

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

Definition at line 508 of file Constraints.h.

◆ Constraints_getNAC()

static int Constraints_getNAC ( Constraints * _THIS )

inlinestatic

Returns the number of active constraints.

Returns: Number of active constraints.

Definition at line 480 of file Constraints.h.

◆ Constraints_getNC()

static int Constraints_getNC ( Constraints * _THIS )

inlinestatic

Returns the number of constraints.

Returns: Number of constraints.

Definition at line 444 of file Constraints.h.

◆ Constraints_getNEC()

static int Constraints_getNEC ( Constraints * _THIS )

inlinestatic

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

Definition at line 453 of file Constraints.h.

◆ Constraints_getNIAC()

static int Constraints_getNIAC ( Constraints * _THIS )

inlinestatic

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

Definition at line 489 of file Constraints.h.

◆ Constraints_getNIC()

static int Constraints_getNIC ( Constraints * _THIS )

inlinestatic

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

Definition at line 462 of file Constraints.h.

◆ Constraints_getNUC()

static int Constraints_getNUC ( Constraints * _THIS )

inlinestatic

Returns the number of unbounded constraints (i.e. without any bounds).

Returns: Number of unbounded constraints (i.e. without any bounds).

Definition at line 471 of file Constraints.h.

◆ Constraints_getNumberOfType()

static int Constraints_getNumberOfType	(	Constraints *	_THIS,
		SubjectToType	_type
	)

inlinestatic

Returns number of constraints with given SubjectTo type.

Returns: Number of constraints with given type.

Parameters

_type Type of constraints' bound.

Definition at line 334 of file Constraints.h.

◆ Constraints_getStatus()

static SubjectToStatus Constraints_getStatus	(	Constraints *	_THIS,
		int	i
	)

inlinestatic

Returns status of constraints' bound.

Returns: Status of constraints' bound
ST_UNDEFINED

Parameters

i	Number of constraints' bound.

Definition at line 365 of file Constraints.h.

◆ Constraints_getType()

static SubjectToType Constraints_getType	(	Constraints *	_THIS,
		int	i
	)

inlinestatic

Returns type of constraints' bound.

Returns: Type of constraints' bound
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of constraints' bound.

Definition at line 353 of file Constraints.h.

◆ Constraints_hasNoLower()

static BooleanType Constraints_hasNoLower ( Constraints * _THIS )

inlinestatic

Returns status of lower constraints' bounds.

Returns: BT_TRUE if there is no lower constraints' bound on any variable.

Definition at line 425 of file Constraints.h.

◆ Constraints_hasNoUpper()

static BooleanType Constraints_hasNoUpper ( Constraints * _THIS )

inlinestatic

Returns status of upper bounds.

Returns: BT_TRUE if there is no upper constraints' bound on any variable.

Definition at line 434 of file Constraints.h.

◆ 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_setNoLower()

static void Constraints_setNoLower	(	Constraints *	_THIS,
		BooleanType	_status
	)

inlinestatic

Sets status of lower constraints' bounds.

Parameters

_status Status of lower constraints' bounds.

Definition at line 407 of file Constraints.h.

◆ Constraints_setNoUpper()

static void Constraints_setNoUpper	(	Constraints *	_THIS,
		BooleanType	_status
	)

inlinestatic

Sets status of upper constraints' bounds.

Parameters

_status Status of upper constraints' bounds.

Definition at line 416 of file Constraints.h.

◆ Constraints_setStatus()

static returnValue Constraints_setStatus	(	Constraints *	_THIS,
		int	i,
		SubjectToStatus	value
	)

inlinestatic

Sets status of constraints' bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of constraints' bound.
value	Status of constraints' bound.

Definition at line 392 of file Constraints.h.

◆ Constraints_setType()

static returnValue Constraints_setType	(	Constraints *	_THIS,
		int	i,
		SubjectToType	value
	)

inlinestatic

Sets type of constraints' bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of constraints' bound.
value	Type of constraints' bound.

Definition at line 377 of file Constraints.h.

◆ 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()

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.

Classes

Functions

Detailed Description

Function Documentation

◆ Constraints_addIndex()

◆ Constraints_flipFixed()

◆ Constraints_getActive()

◆ Constraints_getInactive()

◆ Constraints_getNAC()

◆ Constraints_getNC()

◆ Constraints_getNEC()

◆ Constraints_getNIAC()

◆ Constraints_getNIC()

◆ Constraints_getNUC()

◆ Constraints_getNumberOfType()

◆ Constraints_getStatus()

◆ Constraints_getType()

◆ Constraints_hasNoLower()

◆ Constraints_hasNoUpper()

◆ Constraints_init()

◆ Constraints_moveActiveToInactive()

◆ Constraints_moveInactiveToActive()

◆ Constraints_print()

◆ Constraints_removeIndex()

◆ Constraints_rotate()

◆ Constraints_setNoLower()

◆ Constraints_setNoUpper()

◆ Constraints_setStatus()

◆ Constraints_setType()

◆ Constraints_setupAll()

◆ Constraints_setupAllInactive()

◆ Constraints_setupAllLower()

◆ Constraints_setupAllUpper()

◆ Constraints_setupConstraint()

◆ Constraints_shift()

◆ Constraints_swapIndex()

◆ ConstraintsCON()

◆ ConstraintsCPY()