#include <qpOASES_e/Indexlist.h>

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Classes
struct	Constraints
	Manages working sets of constraints. More...

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

returnValue	Constraints_flipFixed (Constraints *_THIS, int number)

static Indexlist *	Constraints_getActive (Constraints *_THIS)

static Indexlist *	Constraints_getInactive (Constraints *_THIS)

static int	Constraints_getNAC (Constraints *_THIS)

static int	Constraints_getNC (Constraints *_THIS)

static int	Constraints_getNEC (Constraints *_THIS)

static int	Constraints_getNIAC (Constraints *_THIS)

static int	Constraints_getNIC (Constraints *_THIS)

static int	Constraints_getNUC (Constraints *_THIS)

static int	Constraints_getNumberOfType (Constraints *_THIS, SubjectToType _type)

static SubjectToStatus	Constraints_getStatus (Constraints *_THIS, int i)

static SubjectToType	Constraints_getType (Constraints *_THIS, int i)

static BooleanType	Constraints_hasNoLower (Constraints *_THIS)

static BooleanType	Constraints_hasNoUpper (Constraints *_THIS)

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)

static void	Constraints_setNoLower (Constraints *_THIS, BooleanType _status)

static void	Constraints_setNoUpper (Constraints *_THIS, BooleanType _status)

static returnValue	Constraints_setStatus (Constraints *_THIS, int i, SubjectToStatus value)

static returnValue	Constraints_setType (Constraints *_THIS, int i, SubjectToType value)

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)

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

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

Definition in file Constraints.h.

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.

static Indexlist * Constraints_getActive ( Constraints * _THIS )

inlinestatic

Returns a pointer to active constraints index list.

Returns: Pointer to active constraints index list.

Definition at line 499 of file Constraints.h.

static Indexlist * Constraints_getInactive ( Constraints * _THIS )

inlinestatic

Returns a pointer to inactive constraints index list.

Returns: Pointer to inactive constraints index list.

Definition at line 508 of file Constraints.h.

static int Constraints_getNAC ( Constraints * _THIS )

inlinestatic

Returns the number of active constraints.

Returns: Number of active constraints.

Definition at line 480 of file Constraints.h.

static int Constraints_getNC ( Constraints * _THIS )

inlinestatic

Returns the number of constraints.

Returns: Number of constraints.

Definition at line 444 of file Constraints.h.

static int Constraints_getNEC ( Constraints * _THIS )

inlinestatic

Returns the number of implicit equality constraints.

Returns: Number of implicit equality constraints.

Definition at line 453 of file Constraints.h.

static int Constraints_getNIAC ( Constraints * _THIS )

inlinestatic

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

Definition at line 489 of file Constraints.h.

static int Constraints_getNIC ( Constraints * _THIS )

inlinestatic

Returns the number of "real" inequality constraints.

Returns: Number of "real" inequality constraints.

Definition at line 462 of file Constraints.h.

static int Constraints_getNUC ( Constraints * _THIS )

inlinestatic

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

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

Definition at line 471 of file Constraints.h.

static int Constraints_getNumberOfType	(	Constraints *	_THIS,
		SubjectToType	_type
	)

inlinestatic

Returns number of constraints with given SubjectTo type.

Returns: Number of constraints with given type.

Parameters

_type Type of constraints' bound.

Definition at line 334 of file Constraints.h.

static SubjectToStatus Constraints_getStatus	(	Constraints *	_THIS,
		int	i
	)

inlinestatic

Returns status of constraints' bound.

Returns: Status of constraints' bound
ST_UNDEFINED

Parameters

i	Number of constraints' bound.

Definition at line 365 of file Constraints.h.

static SubjectToType Constraints_getType	(	Constraints *	_THIS,
		int	i
	)

inlinestatic

Returns type of constraints' bound.

Returns: Type of constraints' bound
RET_INDEX_OUT_OF_BOUNDS

Parameters

i	Number of constraints' bound.

Definition at line 353 of file Constraints.h.

static BooleanType Constraints_hasNoLower ( Constraints * _THIS )

inlinestatic

Returns status of lower constraints' bounds.

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

Definition at line 425 of file Constraints.h.

static BooleanType Constraints_hasNoUpper ( Constraints * _THIS )

inlinestatic

Returns status of upper bounds.

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

Definition at line 434 of file Constraints.h.

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.

static void Constraints_setNoLower	(	Constraints *	_THIS,
		BooleanType	_status
	)

inlinestatic

Sets status of lower constraints' bounds.

Parameters

_status Status of lower constraints' bounds.

Definition at line 407 of file Constraints.h.

static void Constraints_setNoUpper	(	Constraints *	_THIS,
		BooleanType	_status
	)

inlinestatic

Sets status of upper constraints' bounds.

Parameters

_status Status of upper constraints' bounds.

Definition at line 416 of file Constraints.h.

static returnValue Constraints_setStatus	(	Constraints *	_THIS,
		int	i,
		SubjectToStatus	value
	)

inlinestatic

Sets status of constraints' bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

Definition at line 392 of file Constraints.h.

static returnValue Constraints_setType	(	Constraints *	_THIS,
		int	i,
		SubjectToType	value
	)

inlinestatic

Sets type of constraints' bound.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

Definition at line 377 of file Constraints.h.

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.

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.

Classes

Functions

Detailed Description

Function Documentation