include/qpOASES/Flipper.hpp

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/*
 *  This file is part of qpOASES.
 *
 *  qpOASES -- An Implementation of the Online Active Set Strategy.
 *  Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *  Christian Kirches 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
 *
 */


#ifndef QPOASES_FLIPPER_HPP
#define QPOASES_FLIPPER_HPP


#include <qpOASES/Bounds.hpp>
#include <qpOASES/Constraints.hpp>


BEGIN_NAMESPACE_QPOASES


class Flipper
{
    friend class QProblemB;
    friend class QProblem;

    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        Flipper( );

        Flipper(    unsigned int _nV,       
                    unsigned int _nC = 0        
                    );

        Flipper(    const Flipper& rhs          
                    );

        ~Flipper( );

        Flipper& operator=( const Flipper& rhs  
                            );


        returnValue init(   unsigned int _nV = 0,   
                            unsigned int _nC = 0        
                            );


        returnValue get(    Bounds* const _bounds,                  
                            real_t* const R,                        
                            Constraints* const _constraints = 0,    
                            real_t* const _Q = 0,                   
                            real_t* const _T = 0                    
                            ) const;

        returnValue set(    const Bounds* const _bounds,                
                            const real_t* const _R,                     
                            const Constraints* const _constraints = 0,  
                            const real_t* const _Q = 0,                 
                            const real_t* const _T = 0                  
                            );


    /*
     *  PROTECTED MEMBER FUNCTIONS
     */
    protected:
        returnValue clear( );
        
        returnValue copy(   const Flipper& rhs  
                            );

        unsigned int getDimT( ) const;


    /*
     *  PROTECTED MEMBER VARIABLES
     */
    protected:
        unsigned int nV;                
        unsigned int nC;                
        Bounds      bounds;             
        Constraints constraints;        
        real_t* R;                      
        real_t* Q;                      
        real_t* T;                      
};


END_NAMESPACE_QPOASES


#endif  /* QPOASES_FLIPPER_HPP */


/*
 *  end of file
 */