Base class for managing working sets of bounds and constraints. More...

#include <SubjectTo.hpp>

Inheritance diagram for SubjectTo:

Public Member Functions
int	getNumberOfType (SubjectToType _type) const
SubjectToStatus	getStatus (int i) const
SubjectToStatus	getStatus (int i) const
SubjectToStatus	getStatus (int i) const
SubjectToType	getType (int i) const
SubjectToType	getType (int i) const
SubjectToType	getType (int i) const
BooleanType	hasNoLower () const
BooleanType	hasNoUpper () const
returnValue	init (int n)
returnValue	init (int n)
returnValue	init (int _n=0)
BooleanType	isNoLower () const
BooleanType	isNoLower () const
BooleanType	isNoUpper () const
BooleanType	isNoUpper () const
SubjectTo &	operator= (const SubjectTo &rhs)
SubjectTo &	operator= (const SubjectTo &rhs)
SubjectTo &	operator= (const SubjectTo &rhs)
virtual returnValue	rotate (int offset)=0
void	setNoLower (BooleanType _status)
void	setNoLower (BooleanType _status)
void	setNoLower (BooleanType _status)
void	setNoUpper (BooleanType _status)
void	setNoUpper (BooleanType _status)
void	setNoUpper (BooleanType _status)
returnValue	setStatus (int i, SubjectToStatus value)
returnValue	setStatus (int i, SubjectToStatus value)
returnValue	setStatus (int i, SubjectToStatus value)
returnValue	setType (int i, SubjectToType value)
returnValue	setType (int i, SubjectToType value)
returnValue	setType (int i, SubjectToType value)
virtual returnValue	shift (int offset)=0
	SubjectTo ()
	SubjectTo ()
	SubjectTo (const SubjectTo &rhs)
	SubjectTo (const SubjectTo &rhs)
	SubjectTo ()
	SubjectTo (int _n)
	SubjectTo (const SubjectTo &rhs)
	~SubjectTo ()
	~SubjectTo ()
virtual	~SubjectTo ()
Protected Member Functions
returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)
returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)
returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)
returnValue	clear ()
returnValue	copy (const SubjectTo &rhs)
returnValue	removeIndex (Indexlist *const indexlist, int removenumber)
returnValue	removeIndex (Indexlist *const indexlist, int removenumber)
returnValue	removeIndex (Indexlist *const indexlist, int removenumber)
returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)
returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)
returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)
Protected Attributes
int	n
BooleanType	noLower
BooleanType	noUpper
SubjectToStatus	status [NVMAX+NCMAX]
SubjectToStatus *	status
SubjectToType	type [NVMAX+NCMAX]
SubjectToType *	type
Private Attributes
int	size

Detailed Description

Base class for managing working sets of bounds and constraints.

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

Author:: Hans Joachim Ferreau

Version:: 1.3embedded

Date:: 2007-2008

This class manages working sets of bounds and 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/SubjectTo.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES SubjectTo::SubjectTo ( )

Default constructor.

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

SubjectTo::SubjectTo ( const SubjectTo & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 63 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/SubjectTo.cpp.

SubjectTo::~SubjectTo ( )

Destructor.

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

SubjectTo::SubjectTo ( )

Default constructor.

SubjectTo::SubjectTo ( const SubjectTo & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

SubjectTo::~SubjectTo ( )

Destructor.

SubjectTo::SubjectTo ( )

Default constructor.

SubjectTo::SubjectTo ( int _n )

Constructor which takes the number of constraints or bounds.

Parameters:

_n	Number of constraints or bounds.

Definition at line 62 of file external_packages/qpOASES-3.0beta/src/SubjectTo.cpp.

SubjectTo::SubjectTo ( const SubjectTo & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

virtual SubjectTo::~SubjectTo ( ) [virtual]

Destructor.

Member Function Documentation

returnValue SubjectTo::addIndex	(	Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)		`[protected]`

Adds the index of a new constraint or bound to index set.

Returns:: SUCCESSFUL_RETURN
RET_ADDINDEX_FAILED

Parameters:

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

Definition at line 141 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/SubjectTo.cpp.

returnValue SubjectTo::addIndex	(	Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)		`[protected]`

Adds the index of a new constraint or bound to index set.

Returns:: SUCCESSFUL_RETURN
RET_ADDINDEX_FAILED

Parameters:

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

returnValue SubjectTo::addIndex	(	Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)		`[protected]`

Adds the index of a new constraint or bound 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 or bound.
newstatus	Status of new constraint or bound.

returnValue SubjectTo::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented in Bounds, and Constraints.

Definition at line 145 of file external_packages/qpOASES-3.0beta/src/SubjectTo.cpp.

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

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 166 of file external_packages/qpOASES-3.0beta/src/SubjectTo.cpp.

int SubjectTo::getNumberOfType ( SubjectToType _type ) const [inline]

Returns number of constraints/bounds with given SubjectTo type.

Returns:: Number of constraints/bounds with given type.

Parameters:

_type Type of (constraints') bound.

SubjectToStatus SubjectTo::getStatus ( int i ) const [inline]

Returns status of (constraints') bound.

Returns:: Status of (constraints') bound
ST_UNDEFINED

Parameters:

i	Number of (constraints') bound.

SubjectToStatus SubjectTo::getStatus ( int i ) const [inline]

Returns status of (constraints') bound.

Returns:: Status of (constraints') bound
ST_UNDEFINED

Parameters:

i	Number of (constraints') bound.

SubjectToStatus SubjectTo::getStatus ( int i ) const [inline]

Returns status of (constraints') bound.

Returns:: Status of (constraints') bound
ST_UNDEFINED

Parameters:

i	Number of (constraints') bound.

SubjectToType SubjectTo::getType ( int i ) const [inline]

Returns type of (constraints') bound.

Returns:: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.

SubjectToType SubjectTo::getType ( int i ) const [inline]

Returns type of (constraints') bound.

Returns:: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.

SubjectToType SubjectTo::getType ( int i ) const [inline]

Returns type of (constraints') bound.

Returns:: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.

BooleanType SubjectTo::hasNoLower ( ) const [inline]

Returns status of lower (constraints') bounds.

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

BooleanType SubjectTo::hasNoUpper ( ) const [inline]

Returns status of upper bounds.

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

returnValue SubjectTo::init ( int n )

Pseudo-constructor takes the number of constraints or bounds.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of constraints or bounds.

Reimplemented in Bounds, Constraints, Bounds, Constraints, Bounds, and Constraints.

Definition at line 114 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/SubjectTo.cpp.

returnValue SubjectTo::init ( int n )

Pseudo-constructor takes the number of constraints or bounds.

Returns:: SUCCESSFUL_RETURN

Parameters:

n	Number of constraints or bounds.

Reimplemented in Bounds, Constraints, Bounds, Constraints, Bounds, and Constraints.

returnValue SubjectTo::init ( int _n = 0 )

Initialises object with given number of constraints or bounds.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of constraints or bounds.

Reimplemented in Bounds, Constraints, Bounds, Constraints, Bounds, and Constraints.

BooleanType SubjectTo::isNoLower ( ) const [inline]

Returns status of lower (constraints') bounds.

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

BooleanType SubjectTo::isNoLower ( ) const [inline]

Returns status of lower (constraints') bounds.

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

BooleanType SubjectTo::isNoUpper ( ) const [inline]

Returns status of upper bounds.

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

BooleanType SubjectTo::isNoUpper ( ) const [inline]

Returns status of upper bounds.

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

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 88 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/SubjectTo.cpp.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

returnValue SubjectTo::removeIndex	(	Indexlist *const	indexlist,
		int	removenumber
	)		`[protected]`

Removes the index of a constraint or bound from index set.

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters:

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

returnValue SubjectTo::removeIndex	(	Indexlist *const	indexlist,
		int	removenumber
	)		`[protected]`

Removes the index of a constraint or bound from index set.

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters:

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

Definition at line 161 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/SubjectTo.cpp.

returnValue SubjectTo::removeIndex	(	Indexlist *const	indexlist,
		int	removenumber
	)		`[protected]`

Removes the index of a constraint or bound 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 or bound to be removed.

virtual returnValue SubjectTo::rotate ( int offset ) [pure virtual]

Rotates forward type and status of all constraints/bounds 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].

Implemented in Bounds, and Constraints.

void SubjectTo::setNoLower ( BooleanType _status ) [inline]

Sets status of lower (constraints') bounds.

Parameters:

_status Status of lower (constraints') bounds.

void SubjectTo::setNoLower ( BooleanType _status ) [inline]

Sets status of lower (constraints') bounds.

Parameters:

_status Status of lower (constraints') bounds.

void SubjectTo::setNoLower ( BooleanType _status ) [inline]

Sets status of lower (constraints') bounds.

Parameters:

_status Status of lower (constraints') bounds.

void SubjectTo::setNoUpper ( BooleanType _status ) [inline]

Sets status of upper (constraints') bounds.

Parameters:

_status Status of upper (constraints') bounds.

void SubjectTo::setNoUpper ( BooleanType _status ) [inline]

Sets status of upper (constraints') bounds.

Parameters:

_status Status of upper (constraints') bounds.

void SubjectTo::setNoUpper ( BooleanType _status ) [inline]

Sets status of upper (constraints') bounds.

Parameters:

_status Status of upper (constraints') bounds.

returnValue SubjectTo::setStatus	(	int	i,
		SubjectToStatus	value
	)		`[inline]`

Sets status of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue SubjectTo::setStatus	(	int	i,
		SubjectToStatus	value
	)		`[inline]`

Sets status of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue SubjectTo::setStatus	(	int	i,
		SubjectToStatus	value
	)		`[inline]`

Sets status of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue SubjectTo::setType	(	int	i,
		SubjectToType	value
	)		`[inline]`

Sets type of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue SubjectTo::setType	(	int	i,
		SubjectToType	value
	)		`[inline]`

Sets type of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue SubjectTo::setType	(	int	i,
		SubjectToType	value
	)		`[inline]`

Sets type of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

virtual returnValue SubjectTo::shift ( int offset ) [pure virtual]

Shifts forward type and status of all constraints/bounds 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/bounds n. Type and status of the first <offset> constraints/bounds is thrown away, type and status of the last <offset> constraints/bounds 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}