qpOASES-3.0beta/src/Flipper.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 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
 *
 */


#include <qpOASES/Flipper.hpp>


BEGIN_NAMESPACE_QPOASES


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


/*
 *      F l i p p e r
 */
Flipper::Flipper( )
{
        R = 0;
        Q = 0;
        T = 0;
        
        init( );
}


/*
 *      F l i p p e r
 */
Flipper::Flipper(       int _nV,
                                        int _nC
                                        )
{
        R = 0;
        Q = 0;
        T = 0;
        
        init( _nV,_nC );
}


/*
 *      F l i p p e r
 */
Flipper::Flipper( const Flipper& rhs )
{
        R = 0;
        Q = 0;
        T = 0;

        copy( rhs );
}


/*
 *      ~ F l i p p e r
 */
Flipper::~Flipper( )
{
        clear( );
}


/*
 *      o p e r a t o r =
 */
Flipper& Flipper::operator=( const Flipper& rhs )
{
        if ( this != &rhs )
        {
                clear( );
                copy( rhs );
        }

        return *this;
}



/*
 *      i n i t
 */
returnValue Flipper::init(      int _nV,
                                                        int _nC
                                                        )
{
        if ( ( _nV < 0 ) || ( _nC < 0 ) )
                return THROWERROR( RET_INVALID_ARGUMENTS );

        clear( );

        nV = _nV;
        nC = _nC;

        /*if ( nV > 0 )
        {
                R = new real_t[nV*nV];
        
                if ( nC > 0 )
                {
                        Q = new real_t[nV*nV];
                        T = new real_t[getDimT()];
                }
        }*/

        return SUCCESSFUL_RETURN;
}



/*
 *      g e t
 */
returnValue Flipper::get(       Bounds* const _bounds,
                                                        double* const _R,
                                                        Constraints* const _constraints,
                                                        double* const _Q,
                                                        double* const _T 
                                                        ) const
{
        if ( _bounds != 0 )
                *_bounds = bounds;

        if ( _constraints != 0 )
                *_constraints = constraints;

        if ( ( _R != 0 ) && ( R != 0 ) )
                memcpy( _R,R, nV*nV*sizeof(real_t) );

        if ( ( _Q != 0 ) && ( Q != 0 ) )
                memcpy( _Q,Q, nV*nV*sizeof(real_t) );

        if ( ( _T != 0 ) && ( T != 0 ) )
                memcpy( _T,T, getDimT()*sizeof(real_t) );

        return SUCCESSFUL_RETURN;
}


/*
 *      s e t
 */
returnValue Flipper::set(       const Bounds* const _bounds,
                                                        const double* const _R,
                                                        const Constraints* const _constraints,
                                                        const double* const _Q,
                                                        const double* const _T
                                                        )
{
        if ( _bounds != 0 )
                bounds = *_bounds;

        if ( _constraints != 0 )
                constraints = *_constraints;

        if ( _R != 0 )
        {
                if ( R == 0 )
                        R = new real_t[nV*nV];

                memcpy( R,_R, nV*nV*sizeof(real_t) );
        }

        if ( _Q != 0 )
        {
                if ( Q == 0 )
                        Q = new real_t[nV*nV];

                memcpy( Q,_Q, nV*nV*sizeof(real_t) );
        }

        if ( _T != 0 )
        {
                if ( T == 0 )
                        T = new real_t[getDimT()];

                memcpy( T,_T, getDimT()*sizeof(real_t) );
        }

        return SUCCESSFUL_RETURN;
}



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

/*
 *      c l e a r
 */
returnValue Flipper::clear( )
{
        if ( R != 0 )
        {
                delete[] R;
                R = 0;
        }
        
        if ( Q != 0 )
        {
                delete[] Q;
                Q = 0;
        }
        
        if ( T != 0 )
        {
                delete[] T;
                T = 0;
        }

        return SUCCESSFUL_RETURN;
}


/*
 *      c o p y
 */
returnValue Flipper::copy(      const Flipper& rhs
                                                        )
{
        return set( &(rhs.bounds),rhs.R, &(rhs.constraints),rhs.Q,rhs.T );
}


int Flipper::getDimT( ) const
{
        if ( nV > nC )
                return nC*nC;
        else
                return nV*nV;
}


END_NAMESPACE_QPOASES


/*
 *      end of file
 */