#include <qpOASES_e/Constraints.h>

Include dependency graph for Constraints.c:

Functions
returnValue	Constraints_addIndex (Constraints _THIS, Indexlist const indexlist, int newnumber, SubjectToStatus newstatus)

returnValue	Constraints_flipFixed (Constraints *_THIS, int number)

returnValue	Constraints_init (Constraints *_THIS, int _n)

returnValue	Constraints_moveActiveToInactive (Constraints *_THIS, int number)

returnValue	Constraints_moveInactiveToActive (Constraints *_THIS, int number, SubjectToStatus _status)

returnValue	Constraints_print (Constraints *_THIS)

returnValue	Constraints_removeIndex (Constraints _THIS, Indexlist const indexlist, int removenumber)

returnValue	Constraints_rotate (Constraints *_THIS, int offset)

returnValue	Constraints_setupAll (Constraints *_THIS, SubjectToStatus _status)

returnValue	Constraints_setupAllInactive (Constraints *_THIS)

returnValue	Constraints_setupAllLower (Constraints *_THIS)

returnValue	Constraints_setupAllUpper (Constraints *_THIS)

returnValue	Constraints_setupConstraint (Constraints *_THIS, int number, SubjectToStatus _status)

returnValue	Constraints_shift (Constraints *_THIS, int offset)

returnValue	Constraints_swapIndex (Constraints _THIS, Indexlist const indexlist, int number1, int number2)

BEGIN_NAMESPACE_QPOASES void	ConstraintsCON (Constraints *_THIS, int _n)

void	ConstraintsCPY (Constraints FROM, Constraints TO)

Detailed Description

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

Implementation of the Constraints class designed to manage working sets of constraints within a QProblem.

Definition in file Constraints.c.

Function Documentation

returnValue Constraints_addIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)

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

Definition at line 486 of file Constraints.c.

returnValue Constraints_flipFixed	(	Constraints *	_THIS,
		int	number
	)

Flip fixed constraint.

Returns: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

Definition at line 238 of file Constraints.c.

returnValue Constraints_init	(	Constraints *	_THIS,
		int	_n
	)

Initialises object with given number of constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

_n	Number of constraints.

Definition at line 89 of file Constraints.c.

returnValue Constraints_moveActiveToInactive	(	Constraints *	_THIS,
		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 194 of file Constraints.c.

returnValue Constraints_moveInactiveToActive	(	Constraints *	_THIS,
		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 216 of file Constraints.c.

returnValue Constraints_print ( Constraints * _THIS )

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

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 397 of file Constraints.c.

returnValue Constraints_removeIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	removenumber
	)

Removes the index of a constraint 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 to be removed.

Definition at line 517 of file Constraints.c.

returnValue Constraints_rotate	(	Constraints *	_THIS,
		int	offset
	)

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( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters

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

Definition at line 322 of file Constraints.c.

returnValue Constraints_setupAll	(	Constraints *	_THIS,
		SubjectToStatus	_status
	)

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 434 of file Constraints.c.

returnValue Constraints_setupAllInactive ( Constraints * _THIS )

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 164 of file Constraints.c.

returnValue Constraints_setupAllLower ( Constraints * _THIS )

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 174 of file Constraints.c.

returnValue Constraints_setupAllUpper ( Constraints * _THIS )

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 184 of file Constraints.c.

returnValue Constraints_setupConstraint	(	Constraints *	_THIS,
		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 127 of file Constraints.c.

returnValue Constraints_shift	(	Constraints *	_THIS,
		int	offset
	)

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 doubled, 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}

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS
RET_SHIFTING_FAILED

Parameters

offset Shift offset within the range [0,n/2] and integer divisor of n.

Definition at line 259 of file Constraints.c.

returnValue Constraints_swapIndex	(	Constraints *	_THIS,
		Indexlist *const	indexlist,
		int	number1,
		int	number2
	)

Swaps the indices of two constraints or bounds within the index set.

Returns: SUCCESSFUL_RETURN
RET_SWAPINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters

indexlist	Index list in which the indices shold be swapped.
number1	Number of first constraint.
number2	Number of second constraint.

Definition at line 542 of file Constraints.c.

BEGIN_NAMESPACE_QPOASES void ConstraintsCON	(	Constraints *	_THIS,
		int	_n
	)

Constructor which takes the number of constraints.

Parameters

_n	Number of constraints.

Definition at line 50 of file Constraints.c.

void ConstraintsCPY	(	Constraints *	FROM,
		Constraints *	TO
	)

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Definition at line 61 of file Constraints.c.

Functions

Detailed Description

Function Documentation