external_packages/qpoases/SRC/SubjectTo.cpp

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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
 *
 */


#include <SubjectTo.hpp>


/*****************************************************************************
 *  P U B L I C                                                              *
 *****************************************************************************/


/*
 *      S u b j e c t T o
 */
SubjectTo::SubjectTo( ) :       noLower( BT_TRUE ),
                                                        noUpper( BT_TRUE ),
                                                        size( 0 )
{
        int i;

        for( i=0; i<size; ++i )
        {
                type[i] = ST_UNKNOWN;
                status[i] = ST_UNDEFINED;
        }
}


/*
 *      S u b j e c t T o
 */
SubjectTo::SubjectTo( const SubjectTo& rhs ) :  noLower( rhs.noLower ),
                                                                                                noUpper( rhs.noUpper ),
                                                                                                size( rhs.size )
{
        int i;

        for( i=0; i<size; ++i )
        {
                type[i] = rhs.type[i];
                status[i] = rhs.status[i];
        }
}


/*
 *      ~ S u b j e c t T o
 */
SubjectTo::~SubjectTo( )
{
}


/*
 *      o p e r a t o r =
 */
SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
{
        int i;

        if ( this != &rhs )
        {
                size = rhs.size;

                for( i=0; i<size; ++i )
                {
                        type[i] = rhs.type[i];
                        status[i] = rhs.status[i];
                }

                noLower = rhs.noLower;
                noUpper = rhs.noUpper;
        }

        return *this;
}



/*
 *      i n i t
 */
returnValue SubjectTo::init( int n )
{
        int i;

        size = n;

        noLower = BT_TRUE;
        noUpper = BT_TRUE;

        for( i=0; i<size; ++i )
        {
                type[i] = ST_UNKNOWN;
                status[i] = ST_UNDEFINED;
        }

        return SUCCESSFUL_RETURN;
}



/*****************************************************************************
 *  P R O T E C T E D                                                        *
 *****************************************************************************/

/*
 *      a d d I n d e x
 */
returnValue SubjectTo::addIndex(        Indexlist* const indexlist,
                                                                        int newnumber, SubjectToStatus newstatus
                                                                        )
{
        /* consistency check */
        if ( status[newnumber] == newstatus )
                return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );

        status[newnumber] = newstatus;

        if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
                return THROWERROR( RET_ADDINDEX_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      r e m o v e I n d e x
 */
returnValue SubjectTo::removeIndex(     Indexlist* const indexlist, 
                                                                        int removenumber
                                                                        )
{
        status[removenumber] = ST_UNDEFINED;

        if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_UNKNOWN_BUG );

        return SUCCESSFUL_RETURN;
}


/*
 *      s w a p I n d e x
 */
returnValue SubjectTo::swapIndex(       Indexlist* const indexlist,
                                                                        int number1, int number2
                                                                        )
{
        /* consistency checks */
        if ( status[number1] != status[number2] )
                return THROWERROR( RET_SWAPINDEX_FAILED );

        if ( number1 == number2 )
        {
                THROWWARNING( RET_NOTHING_TO_DO );
                return SUCCESSFUL_RETURN;
        }

        if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
                return THROWERROR( RET_SWAPINDEX_FAILED );

        return SUCCESSFUL_RETURN;
}


/*
 *      end of file
 */