Bounds.h

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches 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_BOUNDS_H
#define QPOASES_BOUNDS_H


#include <qpOASES_e/Indexlist.h>


BEGIN_NAMESPACE_QPOASES


typedef struct
{
        int n;                                                          
        SubjectToType   type[NVMAX];            
        SubjectToStatus status[NVMAX];          
        BooleanType noLower;                            
        BooleanType noUpper;                            
        Indexlist freee;                                        
        Indexlist fixed;                                        
} Bounds;



void BoundsCON( Bounds* _THIS,
                                int _n                                                                  
                                );

void BoundsCPY( Bounds* FROM,
                                Bounds* TO
                                );


returnValue Bounds_init(        Bounds* _THIS,
                                                        int _n                                  
                                                        );


returnValue Bounds_setupBound(  Bounds* _THIS,
                                                                int number,                             
                                                                SubjectToStatus _status 
                                                                );

returnValue Bounds_setupAllFree(        Bounds* _THIS
                                                                        );

returnValue Bounds_setupAllLower(       Bounds* _THIS
                                                                        );

returnValue Bounds_setupAllUpper(       Bounds* _THIS
                                                                        );


returnValue Bounds_moveFixedToFree(     Bounds* _THIS,
                                                                        int number                              
                                                                        );

returnValue Bounds_moveFreeToFixed(     Bounds* _THIS,
                                                                        int number,                             
                                                                        SubjectToStatus _status 
                                                                        );

returnValue Bounds_flipFixed(   Bounds* _THIS,
                                                                int number
                                                                );

returnValue Bounds_swapFree(    Bounds* _THIS,
                                                                int number1,                                    
                                                                int number2                                             
                                                                );


static inline int Bounds_getNV( Bounds* _THIS
                                                        );

static inline int Bounds_getNFV(        Bounds* _THIS
                                                                        );

static inline int Bounds_getNBV(        Bounds* _THIS
                                                                        );

static inline int Bounds_getNUV(        Bounds* _THIS
                                                                        );

static inline int Bounds_getNFR(        Bounds* _THIS
                                                                        );

static inline int Bounds_getNFX(        Bounds* _THIS
                                                                        );


static inline Indexlist* Bounds_getFree(        Bounds* _THIS
                                                                                        );

static inline Indexlist* Bounds_getFixed(       Bounds* _THIS
                                                                                        );


static inline int Bounds_getNumberOfType(       Bounds* _THIS,
                                                                                        SubjectToType _type     
                                                                                        );


static inline SubjectToType Bounds_getType(     Bounds* _THIS,
                                                                                        int i                   
                                                                                        );

static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS,
                                                                                                int i           
                                                                                                );


static inline returnValue Bounds_setType(       Bounds* _THIS,
                                                                                        int i,                          
                                                                                        SubjectToType value     
                                                                                        );

static inline returnValue Bounds_setStatus(     Bounds* _THIS,
                                                                                        int i,                                  
                                                                                        SubjectToStatus value   
                                                                                        );


static inline void Bounds_setNoLower(   Bounds* _THIS,
                                                                                BooleanType _status             
                                                                                );

static inline void Bounds_setNoUpper(   Bounds* _THIS,
                                                                                BooleanType _status             
                                                                                );


static inline BooleanType Bounds_hasNoLower(    Bounds* _THIS
                                                                                                );

static inline BooleanType Bounds_hasNoUpper(    Bounds* _THIS
                                                                                                );


returnValue Bounds_shift(       Bounds* _THIS,
                                                        int offset              
                                                        );

returnValue Bounds_rotate(      Bounds* _THIS,
                                                        int offset              
                                                        );


returnValue Bounds_print(       Bounds* _THIS
                                                        );


returnValue Bounds_setupAll(    Bounds* _THIS,
                                                                SubjectToStatus _status 
                                                                );


returnValue Bounds_addIndex(    Bounds* _THIS,
                                                                Indexlist* const indexlist,     
                                                                int newnumber,                          
                                                                SubjectToStatus newstatus       
                                                                );

returnValue Bounds_removeIndex( Bounds* _THIS,
                                                                Indexlist* const indexlist,     
                                                                int removenumber                        
                                                                );

returnValue Bounds_swapIndex(   Bounds* _THIS,
                                                                Indexlist* const indexlist,     
                                                                int number1,                            
                                                                int number2                                     
                                                                );



/*
 *      g e t N u m b e r O f T y p e
 */
static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
{
        int i;
        int numberOfType = 0;

        if ( _THIS->type != 0 )
        {
                for( i=0; i<_THIS->n; ++i )
                        if ( _THIS->type[i] == _type )
                                ++numberOfType;
        }

        return numberOfType;
}


/*
 *      g e t T y p e
 */
static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
                return _THIS->type[i];

        return ST_UNKNOWN;
}


/*
 *      g e t S t a t u s
 */
static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
                return _THIS->status[i];

        return ST_UNDEFINED;
}


/*
 *      s e t T y p e
 */
static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
        {
                _THIS->type[i] = value;
                return SUCCESSFUL_RETURN;
        }
        else
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
}


/*
 *      s e t S t a t u s
 */
static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
{
        if ( ( i >= 0 ) && ( i < _THIS->n ) )
        {
                _THIS->status[i] = value;
                return SUCCESSFUL_RETURN;
        }
        else
                return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
}


/*
 *      s e t N o L o w e r
 */
static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
{
        _THIS->noLower = _status;
}


/*
 *      s e t N o U p p e r
 */
static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
{
        _THIS->noUpper = _status;
}


/*
 *      h a s N o L o w e r
 */
static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
{
        return _THIS->noLower;
}


/*
 *      h a s N o U p p p e r
 */
static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
{
        return _THIS->noUpper;
}



/*
 *      g e t N V
 */
static inline int Bounds_getNV( Bounds* _THIS )
{
        return _THIS->n;
}


/*
 *      g e t N F V
 */
static inline int Bounds_getNFV( Bounds* _THIS )
{
        return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
}


/*
 *      g e t N B V
 */
static inline int Bounds_getNBV( Bounds* _THIS )
{
        return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
}


/*
 *      g e t N U V
 */
static inline int Bounds_getNUV( Bounds* _THIS )
{
        return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
}


/*
 *      g e t N F R
 */
static inline int Bounds_getNFR( Bounds* _THIS )
{
        return Indexlist_getLength( &(_THIS->freee) );
}


/*
 *      g e t N F X
 */
static inline int Bounds_getNFX( Bounds* _THIS )
{
        return Indexlist_getLength( &(_THIS->fixed) );
}


/*
 *      g e t F r e e
 */
static inline Indexlist* Bounds_getFree( Bounds* _THIS )
{
        return &(_THIS->freee);
}


/*
 *      g e t F i x e d
 */
static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
{
        return &(_THIS->fixed);
}


END_NAMESPACE_QPOASES

#endif  /* QPOASES_BOUNDS_H */


/*
 *      end of file
 */