CyclingManager.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *      Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_CYCLINGMANAGER_HPP
#define QPOASES_CYCLINGMANAGER_HPP


#include <Utils.hpp>



class CyclingManager
{
        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                CyclingManager( );

                CyclingManager( const CyclingManager& rhs       
                                                );

                ~CyclingManager( );

                CyclingManager& operator=(      const CyclingManager& rhs       
                                                                        );


                returnValue init(       int _nV,        
                                                        int _nC         
                                                        );


                returnValue setCyclingStatus(   int number,                             
                                                                                BooleanType isBound,    
                                                                                CyclingStatus _status   
                                                                                );

                CyclingStatus getCyclingStatus( int number,                     
                                                                                BooleanType isBound     
                                                                                ) const;


                returnValue clearCyclingData( );


                inline BooleanType isCyclingDetected( ) const;


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                int     nV;                                                                     
                int     nC;                                                                     
                CyclingStatus status[NVMAX+NCMAX];              
                BooleanType cyclingDetected;                    
};


#include <CyclingManager.ipp>

#endif  /* QPOASES_CYCLINGMANAGER_HPP */


/*
 *      end of file
 */