external_packages/qpOASES-3.0beta/include/qpOASES/Constraints.hpp
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
6  * Christian Kirches et al. All rights reserved.
7  *
8  * qpOASES is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Lesser General Public
10  * License as published by the Free Software Foundation; either
11  * version 2.1 of the License, or (at your option) any later version.
12  *
13  * qpOASES is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16  * See the GNU Lesser General Public License for more details.
17  *
18  * You should have received a copy of the GNU Lesser General Public
19  * License along with qpOASES; if not, write to the Free Software
20  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21  *
22  */
23 
24 
36 #ifndef QPOASES_CONSTRAINTS_HPP
37 #define QPOASES_CONSTRAINTS_HPP
38 
39 
40 #include <qpOASES/SubjectTo.hpp>
41 
42 
44 
45 
56 class Constraints : public SubjectTo
57 {
58  /*
59  * PUBLIC MEMBER FUNCTIONS
60  */
61  public:
63  Constraints( );
64 
66  Constraints( int _n
67  );
68 
70  Constraints( const Constraints& rhs
71  );
72 
74  virtual ~Constraints( );
75 
78  );
79 
80 
84  returnValue init( int _n = 0
85  );
86 
87 
94  returnValue setupConstraint( int number,
95  SubjectToStatus _status
96  );
97 
104 
111 
118 
119 
123  returnValue moveActiveToInactive( int number
124  );
125 
129  returnValue moveInactiveToActive( int number,
130  SubjectToStatus _status
131  );
132 
137  returnValue flipFixed( int number );
138 
139 
142  inline int getNC( ) const;
143 
146  inline int getNEC( ) const;
147 
150  inline int getNIC( ) const;
151 
154  inline int getNUC( ) const;
155 
158  inline int getNAC( ) const;
159 
162  inline int getNIAC( ) const;
163 
164 
167  inline Indexlist* getActive( );
168 
171  inline Indexlist* getInactive( );
172 
173 
185  virtual returnValue shift( int offset
186  );
187 
195  virtual returnValue rotate( int offset
196  );
197 
198 
203  returnValue print( );
204 
205 
206  /*
207  * PROTECTED MEMBER FUNCTIONS
208  */
209  protected:
212  returnValue clear( );
213 
217  );
218 
219 
226  );
227 
228 
229  /*
230  * PROTECTED MEMBER VARIABLES
231  */
232  protected:
233  Indexlist active;
235 };
236 
238 
239 #include <qpOASES/Constraints.ipp>
240 
241 #endif /* QPOASES_CONSTRAINTS_HPP */
242 
243 
244 /*
245  * end of file
246  */
int getNIC() const
int getNC() const
returnValue moveInactiveToActive(int _number, SubjectToStatus _status)
returnValue copy(const Constraints &rhs)
Allows to pass back messages to the calling function.
int getNEC() const
Base class for managing working sets of bounds and constraints.
Indexlist * getInactive()
returnValue setupAll(SubjectToStatus _status)
returnValue setupConstraint(int _number, SubjectToStatus _status)
void rhs(const real_t *x, real_t *f)
Indexlist * getActive()
int getNUC() const


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:31