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127 lines
3.8 KiB
127 lines
3.8 KiB
8 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) 2007-2008 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/CyclingManager.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 CyclingManager class designed to detect
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* and handle possible cycling during QP iterations.
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*/
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#ifndef QPOASES_CYCLINGMANAGER_HPP
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#define QPOASES_CYCLINGMANAGER_HPP
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#include <Utils.hpp>
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/** This class is intended to detect and handle possible cycling during QP iterations.
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* As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
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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 CyclingManager
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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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CyclingManager( );
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/** Copy constructor (deep copy). */
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CyclingManager( const CyclingManager& rhs /**< Rhs object. */
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);
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/** Destructor. */
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~CyclingManager( );
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/** Copy asingment operator (deep copy). */
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CyclingManager& operator=( const CyclingManager& rhs /**< Rhs object. */
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);
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/** Pseudo-constructor which takes the number of bounds/constraints.
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* \return SUCCESSFUL_RETURN */
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returnValue init( int _nV, /**< Number of bounds to be managed. */
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int _nC /**< Number of constraints to be managed. */
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);
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/** Stores index of a bound/constraint that might cause cycling.
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* \return SUCCESSFUL_RETURN \n
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RET_INDEX_OUT_OF_BOUNDS */
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returnValue setCyclingStatus( int number, /**< Number of bound/constraint. */
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BooleanType isBound, /**< Flag that indicates if given number corresponds to a
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* bound (BT_TRUE) or a constraint (BT_FALSE). */
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CyclingStatus _status /**< Cycling status of bound/constraint. */
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);
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/** Returns if bound/constraint might cause cycling.
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* \return BT_TRUE: bound/constraint might cause cycling \n
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BT_FALSE: otherwise */
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CyclingStatus getCyclingStatus( int number, /**< Number of bound/constraint. */
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BooleanType isBound /**< Flag that indicates if given number corresponds to
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* a bound (BT_TRUE) or a constraint (BT_FALSE). */
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) const;
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/** Clears all previous cycling information.
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* \return SUCCESSFUL_RETURN */
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returnValue clearCyclingData( );
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/** Returns if cycling was detected.
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* \return BT_TRUE iff cycling was detected. */
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inline BooleanType isCyclingDetected( ) const;
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/*
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* PROTECTED MEMBER VARIABLES
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*/
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protected:
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int nV; /**< Number of managed bounds. */
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int nC; /**< Number of managed constraints. */
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CyclingStatus status[NVMAX+NCMAX]; /**< Array to store cycling status of all bounds/constraints. */
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BooleanType cyclingDetected; /**< Flag if cycling was detected. */
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};
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#include <CyclingManager.ipp>
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#endif /* QPOASES_CYCLINGMANAGER_HPP */
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/*
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* end of file
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*/
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