You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
188 lines
3.9 KiB
188 lines
3.9 KiB
/*
|
|
* 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
|
|
*
|
|
*/
|
|
|
|
|
|
/**
|
|
* \file SRC/CyclingManager.cpp
|
|
* \author Hans Joachim Ferreau
|
|
* \version 1.3embedded
|
|
* \date 2007-2008
|
|
*
|
|
* Implementation of the CyclingManager class designed to detect
|
|
* and handle possible cycling during QP iterations.
|
|
*
|
|
*/
|
|
|
|
|
|
#include <CyclingManager.hpp>
|
|
|
|
|
|
/*****************************************************************************
|
|
* P U B L I C *
|
|
*****************************************************************************/
|
|
|
|
|
|
/*
|
|
* C y c l i n g M a n a g e r
|
|
*/
|
|
CyclingManager::CyclingManager( ) : nV( 0 ),
|
|
nC( 0 )
|
|
{
|
|
cyclingDetected = BT_FALSE;
|
|
}
|
|
|
|
|
|
/*
|
|
* C y c l i n g M a n a g e r
|
|
*/
|
|
CyclingManager::CyclingManager( const CyclingManager& rhs ) : nV( rhs.nV ),
|
|
nC( rhs.nC ),
|
|
cyclingDetected( rhs.cyclingDetected )
|
|
{
|
|
int i;
|
|
|
|
for( i=0; i<nV+nC; ++i )
|
|
status[i] = rhs.status[i];
|
|
}
|
|
|
|
|
|
/*
|
|
* ~ C y c l i n g M a n a g e r
|
|
*/
|
|
CyclingManager::~CyclingManager( )
|
|
{
|
|
}
|
|
|
|
|
|
/*
|
|
* o p e r a t o r =
|
|
*/
|
|
CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
|
|
{
|
|
int i;
|
|
|
|
if ( this != &rhs )
|
|
{
|
|
nV = rhs.nV;
|
|
nC = rhs.nC;
|
|
|
|
for( i=0; i<nV+nC; ++i )
|
|
status[i] = rhs.status[i];
|
|
|
|
cyclingDetected = rhs.cyclingDetected;
|
|
}
|
|
|
|
return *this;
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* i n i t
|
|
*/
|
|
returnValue CyclingManager::init( int _nV, int _nC )
|
|
{
|
|
nV = _nV;
|
|
nC = _nC;
|
|
|
|
cyclingDetected = BT_FALSE;
|
|
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* s e t C y c l i n g S t a t u s
|
|
*/
|
|
returnValue CyclingManager::setCyclingStatus( int number,
|
|
BooleanType isBound, CyclingStatus _status
|
|
)
|
|
{
|
|
if ( isBound == BT_TRUE )
|
|
{
|
|
/* Set cycling status of a bound. */
|
|
if ( ( number >= 0 ) && ( number < nV ) )
|
|
{
|
|
status[number] = _status;
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
else
|
|
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
|
}
|
|
else
|
|
{
|
|
/* Set cycling status of a constraint. */
|
|
if ( ( number >= 0 ) && ( number < nC ) )
|
|
{
|
|
status[nV+number] = _status;
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
else
|
|
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
* g e t C y c l i n g S t a t u s
|
|
*/
|
|
CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
|
|
{
|
|
if ( isBound == BT_TRUE )
|
|
{
|
|
/* Return cycling status of a bound. */
|
|
if ( ( number >= 0 ) && ( number < nV ) )
|
|
return status[number];
|
|
}
|
|
else
|
|
{
|
|
/* Return cycling status of a constraint. */
|
|
if ( ( number >= 0 ) && ( number < nC ) )
|
|
return status[nV+number];
|
|
}
|
|
|
|
return CYC_NOT_INVOLVED;
|
|
}
|
|
|
|
|
|
/*
|
|
* c l e a r C y c l i n g D a t a
|
|
*/
|
|
returnValue CyclingManager::clearCyclingData( )
|
|
{
|
|
int i;
|
|
|
|
/* Reset all status values ... */
|
|
for( i=0; i<nV+nC; ++i )
|
|
status[i] = CYC_NOT_INVOLVED;
|
|
|
|
/* ... and the main cycling flag. */
|
|
cyclingDetected = BT_FALSE;
|
|
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
|
|
|
|
/*
|
|
* end of file
|
|
*/
|
|
|