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130 lines
4.1 KiB
130 lines
4.1 KiB
4 years ago
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/*
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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) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches 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.
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* See the GNU 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/qpOASES_e/Flipper.h
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*
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* Declaration of the Options class designed to manage user-specified
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* options for solving a QProblem.
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*/
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#ifndef QPOASES_FLIPPER_H
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#define QPOASES_FLIPPER_H
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#include <qpOASES_e/Bounds.h>
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#include <qpOASES_e/Constraints.h>
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BEGIN_NAMESPACE_QPOASES
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/**
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* \brief Auxiliary class for storing a copy of the current matrix factorisations.
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*
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* This auxiliary class stores a copy of the current matrix factorisations. It
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* is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
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*
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*/
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typedef struct
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{
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Bounds *bounds; /**< Data structure for problem's bounds. */
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Constraints *constraints; /**< Data structure for problem's constraints. */
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real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */
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real_t *Q; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
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real_t *T; /**< Reverse triangular matrix, A = [0 T]*Q'. */
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unsigned int nV; /**< Number of variables. */
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unsigned int nC; /**< Number of constraints. */
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} Flipper;
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int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
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char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
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Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
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/** Constructor which takes the number of bounds and constraints. */
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void FlipperCON( Flipper* _THIS,
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unsigned int _nV, /**< Number of bounds. */
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unsigned int _nC /**< Number of constraints. */
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);
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/** Copy constructor (deep copy). */
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void FlipperCPY( Flipper* FROM,
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Flipper* TO
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);
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/** Initialises object with given number of bounds and constraints.
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* \return SUCCESSFUL_RETURN \n
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RET_INVALID_ARGUMENTS */
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returnValue Flipper_init( Flipper* _THIS,
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unsigned int _nV, /**< Number of bounds. */
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unsigned int _nC /**< Number of constraints. */
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);
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/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
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* \return SUCCESSFUL_RETURN */
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returnValue Flipper_get( Flipper* _THIS,
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Bounds* const _bounds, /**< Pointer to new bounds. */
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real_t* const R, /**< New matrix R. */
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Constraints* const _constraints, /**< Pointer to new constraints. */
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real_t* const _Q, /**< New matrix Q. */
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real_t* const _T /**< New matrix T. */
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);
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/** Assigns new values to non-null arguments.
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* \return SUCCESSFUL_RETURN */
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returnValue Flipper_set( Flipper* _THIS,
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const Bounds* const _bounds, /**< Pointer to new bounds. */
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const real_t* const _R, /**< New matrix R. */
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const Constraints* const _constraints, /**< Pointer to new constraints. */
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const real_t* const _Q, /**< New matrix Q. */
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const real_t* const _T /**< New matrix T. */
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);
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/** Returns dimension of matrix T.
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* \return Dimension of matrix T. */
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unsigned int Flipper_getDimT( Flipper* _THIS );
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END_NAMESPACE_QPOASES
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#endif /* QPOASES_FLIPPER_H */
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/*
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* end of file
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*/
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