Auxiliary class for storing a copy of the current matrix factorisations. More...

#include <Flipper.hpp>

Public Member Functions
	Flipper ()

	Flipper ()

	Flipper (int _nV, int _nC=0)

	Flipper (uint_t _nV, uint_t _nC=0)

	Flipper (const Flipper &rhs)

	Flipper (const Flipper &rhs)

returnValue	get (Bounds const _bounds, real_t const R, Constraints const _constraints=0, real_t const _Q=0, real_t *const _T=0) const

returnValue	get (Bounds const _bounds, double const R, Constraints const _constraints=0, double const _Q=0, double *const _T=0) const

returnValue	init (uint_t _nV=0, uint_t _nC=0)

returnValue	init (int _nV=0, int _nC=0)

Flipper &	operator= (const Flipper &rhs)

Flipper &	operator= (const Flipper &rhs)

returnValue	set (const Bounds const _bounds, const double const _R, const Constraints const _constraints=0, const double const _Q=0, const double *const _T=0)

returnValue	set (const Bounds const _bounds, const real_t const _R, const Constraints const _constraints=0, const real_t const _Q=0, const real_t *const _T=0)

	~Flipper ()

	~Flipper ()

Public Attributes
unsigned int	nC

unsigned int	nV

real_t	Q [NVMAX *NVMAX]

real_t	R [NVMAX *NVMAX]

real_t	T [NVCMIN *NVCMIN]

Protected Member Functions
returnValue	clear ()

returnValue	clear ()

returnValue	copy (const Flipper &rhs)

returnValue	copy (const Flipper &rhs)

int	getDimT () const

uint_t	getDimT () const

Protected Attributes
Bounds	bounds

Constraints	constraints

uint_t	nC

int	nC

uint_t	nV

int	nV

real_t *	Q

real_t *	R

real_t *	T

Friends
class	QProblem

class	QProblemB

Detailed Description

Auxiliary class for storing a copy of the current matrix factorisations.

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.0beta

Date: 2007-2011

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.2

Date: 2007-2015

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

Definition at line 57 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

Constructor & Destructor Documentation

◆ Flipper() [1/6]

BEGIN_NAMESPACE_QPOASES Flipper::Flipper ( )

Default constructor.

Definition at line 50 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ Flipper() [2/6]

Flipper::Flipper	(	int	_nV,
		int	_nC = `0`
	)

Constructor which takes the number of bounds and constraints.

Parameters

_nV	Number of bounds.
_nC	Number of constraints.

Definition at line 63 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ Flipper() [3/6]

Flipper::Flipper ( const Flipper & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

Definition at line 78 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ ~Flipper() [1/2]

Flipper::~Flipper ( )

Destructor.

Definition at line 91 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ Flipper() [4/6]

Flipper::Flipper ( )

Default constructor.

◆ Flipper() [5/6]

Flipper::Flipper	(	uint_t	_nV,
		uint_t	_nC = `0`
	)

Constructor which takes the number of bounds and constraints.

Parameters

_nV	Number of bounds.
_nC	Number of constraints.

Definition at line 63 of file qpOASES-3.2.0/src/Flipper.cpp.

◆ Flipper() [6/6]

Flipper::Flipper ( const Flipper & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

◆ ~Flipper() [2/2]

Flipper::~Flipper ( )

Destructor.

Member Function Documentation

◆ clear() [1/2]

returnValue Flipper::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

Definition at line 225 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ clear() [2/2]

returnValue Flipper::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

◆ copy() [1/2]

returnValue Flipper::copy ( const Flipper & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

Definition at line 252 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ copy() [2/2]

returnValue Flipper::copy ( const Flipper & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

◆ get() [1/2]

returnValue Flipper::get	(	Bounds *const	_bounds,
		double *const	R,
		Constraints *const	_constraints = `0`,
		double *const	_Q = `0`,
		double *const	_T = `0`
	)		const

Copies current values to non-null arguments (assumed to be allocated with consistent size).

Returns: SUCCESSFUL_RETURN

Parameters

_bounds	Pointer to new bounds.
R	New matrix R.
_constraints	Pointer to new constraints.
_Q	New matrix Q.
_T	New matrix T.

Definition at line 147 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ get() [2/2]

returnValue Flipper::get	(	Bounds *const	_bounds,
		real_t *const	R,
		Constraints *const	_constraints = `0`,
		real_t *const	_Q = `0`,
		real_t *const	_T = `0`
	)		const

Copies current values to non-null arguments (assumed to be allocated with consistent size).

Returns: SUCCESSFUL_RETURN

Parameters

_bounds	Pointer to new bounds.
R	New matrix R.
_constraints	Pointer to new constraints.
_Q	New matrix Q.
_T	New matrix T.

◆ getDimT() [1/2]

uint_t Flipper::getDimT ( ) const

protected

Returns dimension of matrix T.

Returns: Dimension of matrix T.

◆ getDimT() [2/2]

uint_t Flipper::getDimT ( ) const

protected

Returns dimension of matrix T.

Returns: Dimension of matrix T.

Definition at line 259 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ init() [1/2]

returnValue Flipper::init	(	uint_t	_nV = `0`,
		uint_t	_nC = `0`
	)

Initialises object with given number of bounds and constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_nV	Number of bounds.
_nC	Number of constraints.

Definition at line 116 of file qpOASES-3.2.0/src/Flipper.cpp.

◆ init() [2/2]

returnValue Flipper::init	(	int	_nV = `0`,
		int	_nC = `0`
	)

Initialises object with given number of bounds and constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_nV	Number of bounds.
_nC	Number of constraints.

Definition at line 116 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ operator=() [1/2]

Flipper & Flipper::operator= ( const Flipper & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

Definition at line 100 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ operator=() [2/2]

Flipper& Flipper::operator= ( const Flipper & rhs )

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

◆ set() [1/2]

returnValue Flipper::set	(	const Bounds *const	_bounds,
		const double *const	_R,
		const Constraints *const	_constraints = `0`,
		const double *const	_Q = `0`,
		const double *const	_T = `0`
	)

Assigns new values to non-null arguments.

Returns: SUCCESSFUL_RETURN

Parameters

_bounds	Pointer to new bounds.
_R	New matrix R.
_constraints	Pointer to new constraints.
_Q	New matrix Q.
_T	New matrix T.

Definition at line 176 of file qpOASES-3.0beta/src/Flipper.cpp.

◆ set() [2/2]

returnValue Flipper::set	(	const Bounds *const	_bounds,
		const real_t *const	_R,
		const Constraints *const	_constraints = `0`,
		const real_t *const	_Q = `0`,
		const real_t *const	_T = `0`
	)

Assigns new values to non-null arguments.

Returns: SUCCESSFUL_RETURN

Parameters

_bounds	Pointer to new bounds.
_R	New matrix R.
_constraints	Pointer to new constraints.
_Q	New matrix Q.
_T	New matrix T.

Friends And Related Function Documentation

◆ QProblem

QProblem

friend

Definition at line 60 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ QProblemB

QProblemB

friend

Definition at line 59 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

Member Data Documentation

◆ bounds

Bounds Flipper::bounds

protected

Data structure for problem's bounds.

Definition at line 138 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ constraints

Constraints Flipper::constraints

protected

Data structure for problem's constraints.

Definition at line 139 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ nC [1/3]

unsigned int Flipper::nC

Number of constraints.

Definition at line 60 of file Flipper.h.

◆ nC [2/3]

uint_t Flipper::nC

protected

Number of constraints.

Definition at line 136 of file qpOASES-3.2.0/include/qpOASES/Flipper.hpp.

◆ nC [3/3]

int Flipper::nC

protected

Number of constraints.

Definition at line 136 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ nV [1/3]

unsigned int Flipper::nV

Number of variables.

Definition at line 59 of file Flipper.h.

◆ nV [2/3]

uint_t Flipper::nV

protected

Number of variables.

Definition at line 135 of file qpOASES-3.2.0/include/qpOASES/Flipper.hpp.

◆ nV [3/3]

int Flipper::nV

protected

Number of variables.

Definition at line 135 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ Q [1/2]

real_t Flipper::Q[NVMAX *NVMAX]

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 66 of file Flipper.h.

◆ Q [2/2]

real_t * Flipper::Q

protected

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 142 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ R [1/2]

real_t Flipper::R[NVMAX *NVMAX]

Cholesky factor of H (i.e. H = R^T*R).

Definition at line 65 of file Flipper.h.

◆ R [2/2]

real_t * Flipper::R

protected

Cholesky factor of H (i.e. H = R^T*R).

Definition at line 141 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

◆ T [1/2]

real_t Flipper::T[NVCMIN *NVCMIN]

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 67 of file Flipper.h.

◆ T [2/2]

real_t * Flipper::T

protected

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 143 of file qpOASES-3.0beta/include/qpOASES/Flipper.hpp.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Flipper() [1/6]

◆ Flipper() [2/6]

◆ Flipper() [3/6]

◆ ~Flipper() [1/2]

◆ Flipper() [4/6]

◆ Flipper() [5/6]

◆ Flipper() [6/6]

◆ ~Flipper() [2/2]

Member Function Documentation

◆ clear() [1/2]

◆ clear() [2/2]

◆ copy() [1/2]

◆ copy() [2/2]

◆ get() [1/2]

◆ get() [2/2]

◆ getDimT() [1/2]

◆ getDimT() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set() [1/2]

◆ set() [2/2]

Friends And Related Function Documentation

◆ QProblem

◆ QProblemB

Member Data Documentation

◆ bounds

◆ constraints

◆ nC [1/3]

◆ nC [2/3]

◆ nC [3/3]

◆ nV [1/3]

◆ nV [2/3]

◆ nV [3/3]

◆ Q [1/2]

◆ Q [2/2]

◆ R [1/2]

◆ R [2/2]

◆ T [1/2]

◆ T [2/2]