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178 lines
5.3 KiB
178 lines
5.3 KiB
/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file INCLUDE/SubjectTo.hpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*
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* Declaration of the SubjectTo class designed to manage working sets of
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* constraints and bounds within a QProblem.
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*/
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#ifndef QPOASES_SUBJECTTO_HPP
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#define QPOASES_SUBJECTTO_HPP
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#include <Indexlist.hpp>
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/** This class manages working sets of constraints and bounds by storing
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* index sets and other status information.
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*
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*/
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class SubjectTo
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{
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/*
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* PUBLIC MEMBER FUNCTIONS
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*/
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public:
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/** Default constructor. */
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SubjectTo( );
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/** Copy constructor (deep copy). */
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SubjectTo( const SubjectTo& rhs /**< Rhs object. */
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);
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/** Destructor. */
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~SubjectTo( );
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/** Assignment operator (deep copy). */
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SubjectTo& operator=( const SubjectTo& rhs /**< Rhs object. */
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);
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/** Pseudo-constructor takes the number of constraints or bounds.
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* \return SUCCESSFUL_RETURN */
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returnValue init( int n /**< Number of constraints or bounds. */
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);
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/** Returns type of (constraints') bound.
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* \return Type of (constraints') bound \n
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RET_INDEX_OUT_OF_BOUNDS */
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inline SubjectToType getType( int i /**< Number of (constraints') bound. */
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) const ;
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/** Returns status of (constraints') bound.
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* \return Status of (constraints') bound \n
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ST_UNDEFINED */
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inline SubjectToStatus getStatus( int i /**< Number of (constraints') bound. */
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) const;
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/** Sets type of (constraints') bound.
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* \return SUCCESSFUL_RETURN \n
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RET_INDEX_OUT_OF_BOUNDS */
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inline returnValue setType( int i, /**< Number of (constraints') bound. */
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SubjectToType value /**< Type of (constraints') bound. */
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);
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/** Sets status of (constraints') bound.
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* \return SUCCESSFUL_RETURN \n
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RET_INDEX_OUT_OF_BOUNDS */
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inline returnValue setStatus( int i, /**< Number of (constraints') bound. */
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SubjectToStatus value /**< Status of (constraints') bound. */
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);
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/** Sets status of lower (constraints') bounds. */
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inline void setNoLower( BooleanType _status /**< Status of lower (constraints') bounds. */
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);
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/** Sets status of upper (constraints') bounds. */
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inline void setNoUpper( BooleanType _status /**< Status of upper (constraints') bounds. */
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);
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/** Returns status of lower (constraints') bounds.
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* \return BT_TRUE if there is no lower (constraints') bound on any variable. */
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inline BooleanType isNoLower( ) const;
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/** Returns status of upper bounds.
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* \return BT_TRUE if there is no upper (constraints') bound on any variable. */
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inline BooleanType isNoUpper( ) const;
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/*
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* PROTECTED MEMBER FUNCTIONS
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*/
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protected:
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/** Adds the index of a new constraint or bound to index set.
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* \return SUCCESSFUL_RETURN \n
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RET_ADDINDEX_FAILED */
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returnValue addIndex( Indexlist* const indexlist, /**< Index list to which the new index shall be added. */
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int newnumber, /**< Number of new constraint or bound. */
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SubjectToStatus newstatus /**< Status of new constraint or bound. */
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);
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/** Removes the index of a constraint or bound from index set.
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* \return SUCCESSFUL_RETURN \n
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RET_UNKNOWN_BUG */
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returnValue removeIndex( Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */
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int removenumber /**< Number of constraint or bound to be removed. */
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);
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/** Swaps the indices of two constraints or bounds within the index set.
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* \return SUCCESSFUL_RETURN \n
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RET_SWAPINDEX_FAILED */
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returnValue swapIndex( Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */
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int number1, /**< Number of first constraint or bound. */
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int number2 /**< Number of second constraint or bound. */
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);
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/*
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* PROTECTED MEMBER VARIABLES
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*/
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protected:
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SubjectToType type[NVMAX+NCMAX]; /**< Type of constraints/bounds. */
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SubjectToStatus status[NVMAX+NCMAX]; /**< Status of constraints/bounds. */
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BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */
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BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */
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/*
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* PRIVATE MEMBER VARIABLES
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*/
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private:
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int size;
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};
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#include <SubjectTo.ipp>
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#endif /* QPOASES_SUBJECTTO_HPP */
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/*
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* end of file
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*/
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