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154 lines
4.7 KiB
154 lines
4.7 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/Indexlist.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 Indexlist class designed to manage index lists of
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* constraints and bounds within a SubjectTo object.
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*/
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#ifndef QPOASES_INDEXLIST_HPP
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#define QPOASES_INDEXLIST_HPP
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#include <Utils.hpp>
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/** This class manages index lists.
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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 Indexlist
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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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Indexlist( );
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/** Copy constructor (deep copy). */
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Indexlist( const Indexlist& rhs /**< Rhs object. */
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);
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/** Destructor. */
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~Indexlist( );
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/** Assingment operator (deep copy). */
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Indexlist& operator=( const Indexlist& rhs /**< Rhs object. */
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);
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/** Pseudo-constructor.
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* \return SUCCESSFUL_RETURN */
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returnValue init( );
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/** Creates an array of all numbers within the index set in correct order.
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* \return SUCCESSFUL_RETURN \n
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RET_INDEXLIST_CORRUPTED */
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returnValue getNumberArray( int* const numberarray /**< Output: Array of numbers (NULL on error). */
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) const;
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/** Determines the index within the index list at with a given number is stored.
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* \return >= 0: Index of given number. \n
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-1: Number not found. */
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int getIndex( int givennumber /**< Number whose index shall be determined. */
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) const;
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/** Determines the physical index within the index list at with a given number is stored.
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* \return >= 0: Index of given number. \n
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-1: Number not found. */
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int getPhysicalIndex( int givennumber /**< Number whose physical index shall be determined. */
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) const;
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/** Returns the number stored at a given physical index.
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* \return >= 0: Number stored at given physical index. \n
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-RET_INDEXLIST_OUTOFBOUNDS */
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int getNumber( int physicalindex /**< Physical index of the number to be returned. */
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) const;
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/** Returns the current length of the index list.
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* \return Current length of the index list. */
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inline int getLength( );
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/** Returns last number within the index list.
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* \return Last number within the index list. */
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inline int getLastNumber( ) const;
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/** Adds number to index list.
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* \return SUCCESSFUL_RETURN \n
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RET_INDEXLIST_MUST_BE_REORDERD \n
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RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
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returnValue addNumber( int addnumber /**< Number to be added. */
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);
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/** Removes number from index list.
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* \return SUCCESSFUL_RETURN */
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returnValue removeNumber( int removenumber /**< Number to be removed. */
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);
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/** Swaps two numbers within index list.
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* \return SUCCESSFUL_RETURN */
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returnValue swapNumbers( int number1,/**< First number for swapping. */
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int number2 /**< Second number for swapping. */
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);
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/** Determines if a given number is contained in the index set.
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* \return BT_TRUE iff number is contain in the index set */
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inline BooleanType isMember( int _number /**< Number to be tested for membership. */
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) 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 number[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store numbers of constraints or bounds. */
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int next[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of successor. */
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int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of predecossor. */
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int length; /**< Length of index list. */
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int first; /**< Physical index of first element. */
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int last; /**< Physical index of last element. */
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int lastusedindex; /**< Physical index of last entry in index list. */
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int physicallength; /**< Physical length of index list. */
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};
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#include <Indexlist.ipp>
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#endif /* QPOASES_INDEXLIST_HPP */
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/*
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* end of file
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*/
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