Manages working sets of constraints. More...

#include <Constraints.hpp>

Inheritance diagram for Constraints:

Public Member Functions
	Constraints ()
	Constraints ()
	Constraints (const Constraints &rhs)
	Constraints (const Constraints &rhs)
	Constraints ()
	Constraints (int _n)
	Constraints (const Constraints &rhs)
returnValue	flipFixed (int number)
Indexlist *	getActive ()
Indexlist *	getActive ()
Indexlist *	getActive ()
Indexlist *	getInactive ()
Indexlist *	getInactive ()
Indexlist *	getInactive ()
int	getNAC ()
int	getNAC ()
int	getNAC () const
int	getNC () const
int	getNC () const
int	getNC () const
int	getNEC () const
int	getNEC () const
int	getNEC () const
int	getNIAC ()
int	getNIAC ()
int	getNIAC () const
int	getNIC () const
int	getNIC () const
int	getNIC () const
int	getNUC () const
int	getNUC () const
int	getNUC () const
returnValue	init (int n)
returnValue	init (int n)
returnValue	init (int _n=0)
returnValue	moveActiveToInactive (int _number)
returnValue	moveActiveToInactive (int _number)
returnValue	moveActiveToInactive (int number)
returnValue	moveInactiveToActive (int _number, SubjectToStatus _status)
returnValue	moveInactiveToActive (int _number, SubjectToStatus _status)
returnValue	moveInactiveToActive (int number, SubjectToStatus _status)
Constraints &	operator= (const Constraints &rhs)
Constraints &	operator= (const Constraints &rhs)
Constraints &	operator= (const Constraints &rhs)
returnValue	print ()
virtual returnValue	rotate (int offset)
returnValue	setNEC (int n)
returnValue	setNEC (int n)
returnValue	setNIC (int n)
returnValue	setNIC (int n)
returnValue	setNUC (int n)
returnValue	setNUC (int n)
returnValue	setupAllInactive ()
returnValue	setupAllInactive ()
returnValue	setupAllInactive ()
returnValue	setupAllLower ()
returnValue	setupAllUpper ()
returnValue	setupConstraint (int _number, SubjectToStatus _status)
returnValue	setupConstraint (int _number, SubjectToStatus _status)
returnValue	setupConstraint (int number, SubjectToStatus _status)
virtual returnValue	shift (int offset)
	~Constraints ()
	~Constraints ()
virtual	~Constraints ()
Protected Member Functions
returnValue	clear ()
returnValue	copy (const Constraints &rhs)
returnValue	setupAll (SubjectToStatus _status)
Protected Attributes
Indexlist	active
Indexlist	inactive
int	nC
int	nEC
int	nIC
int	nUC

Detailed Description

Manages working sets of constraints.

This class manages working sets of constraints by storing index sets and other status information.

Author:: Hans Joachim Ferreau

Version:: 1.3embedded

Date:: 2007-2008

This class manages working sets of constraints by storing index sets and other status information.

Author:: Hans Joachim Ferreau

Version:: 3.0beta

Date:: 2007-2011

Definition at line 50 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/Constraints.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Constraints::Constraints ( )

Default constructor.

Definition at line 46 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 58 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::~Constraints ( )

Destructor.

Definition at line 72 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Constraints::~Constraints ( )

Destructor.

Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( int _n )

Constructor which takes the number of constraints.

Parameters:

_n	Number of constraints.

Definition at line 58 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

virtual Constraints::~Constraints ( ) [virtual]

Destructor.

Member Function Documentation

returnValue Constraints::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented from SubjectTo.

Definition at line 423 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::copy ( const Constraints & rhs ) [protected]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 432 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::flipFixed ( int number )

Flip fixed constraint.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

Definition at line 227 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

Indexlist* Constraints::getActive ( ) [inline]

Returns a pointer to active constraints index list.

Returns:: Pointer to active constraints index list.

Indexlist* Constraints::getActive ( ) [inline]

Returns a pointer to active constraints index list.

Returns:: Pointer to active constraints index list.

Indexlist* Constraints::getActive ( ) [inline]

Returns a pointer to active constraints index list.

Returns:: Pointer to active constraints index list.

Indexlist* Constraints::getInactive ( ) [inline]

Returns a pointer to inactive constraints index list.

Returns:: Pointer to inactive constraints index list.

Indexlist* Constraints::getInactive ( ) [inline]

Returns a pointer to inactive constraints index list.

Returns:: Pointer to inactive constraints index list.

Indexlist* Constraints::getInactive ( ) [inline]

Returns a pointer to inactive constraints index list.

Returns:: Pointer to inactive constraints index list.

int Constraints::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:: Number of constraints.

int Constraints::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:: Number of constraints.

int Constraints::getNAC ( ) const [inline]

Returns the number of active constraints.

Returns:: Number of active constraints.

int Constraints::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int Constraints::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int Constraints::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int Constraints::getNEC ( ) const [inline]

Returns the number of implicit equality constraints.

Returns:: Number of implicit equality constraints.

int Constraints::getNEC ( ) const [inline]

Returns the number of implicit equality constraints.

Returns:: Number of implicit equality constraints.

int Constraints::getNEC ( ) const [inline]

Returns the number of implicit equality constraints.

Returns:: Number of implicit equality constraints.

int Constraints::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:: Number of constraints.

int Constraints::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:: Number of constraints.

int Constraints::getNIAC ( ) const [inline]

Returns the number of inactive constraints.

Returns:: Number of inactive constraints.

int Constraints::getNIC ( ) const [inline]

Returns the number of "real" inequality constraints.

Returns:: Number of "real" inequality constraints.

int Constraints::getNIC ( ) const [inline]

Returns the number of "real" inequality constraints.

Returns:: Number of "real" inequality constraints.

int Constraints::getNIC ( ) const [inline]

Returns the number of "real" inequality constraints.

Returns:: Number of "real" inequality constraints.

int Constraints::getNUC ( ) const [inline]

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

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

int Constraints::getNUC ( ) const [inline]

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

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

int Constraints::getNUC ( ) const [inline]

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

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

returnValue Constraints::init ( int n )

Pseudo-constructor takes the number of constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of constraints.

Reimplemented from SubjectTo.

returnValue Constraints::init ( int n )

Pseudo-constructor takes the number of constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of constraints.

Reimplemented from SubjectTo.

Definition at line 102 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::init ( int _n = 0 )

Initialises object with given number of constraints.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of constraints.

Reimplemented from SubjectTo.

returnValue Constraints::moveActiveToInactive ( 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 207 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::moveActiveToInactive ( 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.

returnValue Constraints::moveActiveToInactive ( 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.

returnValue Constraints::moveInactiveToActive	(	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 227 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::moveInactiveToActive	(	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.

returnValue Constraints::moveInactiveToActive	(	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.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 80 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

returnValue Constraints::print ( )

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

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 384 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::rotate ( int offset ) [virtual]

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( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b1,c/b2}

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters:

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

Implements SubjectTo.

Definition at line 309 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setNEC ( int n ) [inline]

Sets number of implicit equality constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of implicit equality constraints.

returnValue Constraints::setNEC ( int n ) [inline]

Sets number of implicit equality constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of implicit equality constraints.

returnValue Constraints::setNIC ( int n ) [inline]

Sets number of "real" inequality constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of "real" inequality constraints.

returnValue Constraints::setNIC ( int n ) [inline]

Sets number of "real" inequality constraints.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of "real" inequality constraints.

returnValue Constraints::setNUC ( int n ) [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

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

returnValue Constraints::setNUC ( int n ) [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

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

returnValue Constraints::setupAll ( SubjectToStatus _status ) [protected]

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 446 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupAllInactive ( )

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

returnValue Constraints::setupAllInactive ( )

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 155 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::setupAllInactive ( )

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

returnValue Constraints::setupAllLower ( )

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 168 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupAllUpper ( )

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 177 of file external_packages/qpOASES-3.0beta/src/Constraints.cpp.

returnValue Constraints::setupConstraint	(	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.

returnValue Constraints::setupConstraint	(	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 119 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/Constraints.cpp.

returnValue Constraints::setupConstraint	(	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.

returnValue Constraints::shift ( int offset ) [virtual]

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 real_td, 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}