Manages working sets of bounds (= box constraints). More...

#include <Bounds.hpp>

Inheritance diagram for Bounds:

Public Member Functions
	Bounds ()
	Bounds (int _n)
	Bounds (const Bounds &rhs)
virtual	~Bounds ()
Bounds &	operator= (const Bounds &rhs)
returnValue	init (int _n=0)
returnValue	setupBound (int number, SubjectToStatus _status)
returnValue	setupAllFree ()
returnValue	setupAllLower ()
returnValue	setupAllUpper ()
returnValue	moveFixedToFree (int number)
returnValue	moveFreeToFixed (int number, SubjectToStatus _status)
returnValue	flipFixed (int number)
returnValue	swapFree (int number1, int number2)
int	getNV () const
int	getNFV () const
int	getNBV () const
int	getNUV () const
int	getNFR () const
int	getNFX () const
Indexlist *	getFree ()
Indexlist *	getFixed ()
virtual returnValue	shift (int offset)
virtual returnValue	rotate (int offset)
returnValue	print ()
int	getNumberOfType (SubjectToType _type) const
SubjectToType	getType (int i) const
SubjectToStatus	getStatus (int i) const
returnValue	setType (int i, SubjectToType value)
returnValue	setStatus (int i, SubjectToStatus value)
void	setNoLower (BooleanType _status)
void	setNoUpper (BooleanType _status)
BooleanType	hasNoLower () const
BooleanType	hasNoUpper () const
Protected Member Functions
returnValue	clear ()
returnValue	copy (const Bounds &rhs)
returnValue	setupAll (SubjectToStatus _status)
returnValue	copy (const SubjectTo &rhs)
returnValue	addIndex (Indexlist *const indexlist, int newnumber, SubjectToStatus newstatus)
returnValue	removeIndex (Indexlist *const indexlist, int removenumber)
returnValue	swapIndex (Indexlist *const indexlist, int number1, int number2)
Protected Attributes
Indexlist	freee
Indexlist	fixed
int	n
SubjectToType *	type
SubjectToStatus *	status
BooleanType	noLower
BooleanType	noUpper

Detailed Description

This class manages working sets of bounds (= box constraints) by storing index sets and other status information.

Author:: Hans Joachim Ferreau

Version:: 3.1

Date:: 2007-2015

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Bounds::Bounds ( )

Default constructor.

Bounds::Bounds ( int _n )

Constructor which takes the number of bounds.

Parameters:

_n	Number of bounds.

References init().

Bounds::Bounds ( const Bounds & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

Bounds::~Bounds ( ) [virtual]

Destructor.

References clear().

Member Function Documentation

returnValue SubjectTo::addIndex	(	Indexlist *const	indexlist,
		int	newnumber,
		SubjectToStatus	newstatus
	)		`[protected, inherited]`

Adds the index of a new constraint or bound to index set.

Returns:: SUCCESSFUL_RETURN
RET_ADDINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters:

indexlist	Index list to which the new index shall be added.
newnumber	Number of new constraint or bound.
newstatus	Status of new constraint or bound.

References Indexlist::addNumber(), RET_ADDINDEX_FAILED, RET_INDEX_ALREADY_OF_DESIRED_STATUS, RET_INDEXLIST_EXCEEDS_MAX_LENGTH, RET_INVALID_ARGUMENTS, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Constraints::moveActiveToInactive(), moveFixedToFree(), moveFreeToFixed(), Constraints::moveInactiveToActive(), setupBound(), and Constraints::setupConstraint().

returnValue Bounds::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented from SubjectTo.

References SUCCESSFUL_RETURN.

Referenced by init(), operator=(), and ~Bounds().

returnValue SubjectTo::copy ( const SubjectTo & rhs ) [protected, inherited]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References SubjectTo::n, SubjectTo::noLower, SubjectTo::noUpper, SubjectTo::status, SUCCESSFUL_RETURN, and SubjectTo::type.

Referenced by SubjectTo::operator=(), and SubjectTo::SubjectTo().

returnValue Bounds::copy ( const Bounds & rhs ) [protected]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References fixed, freee, and SUCCESSFUL_RETURN.

Referenced by Bounds(), and operator=().

returnValue Bounds::flipFixed ( int number )

Flip fixed bound.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, ST_LOWER, ST_UPPER, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblem::removeBound(), and QProblemB::removeBound().

Indexlist * Bounds::getFixed ( ) [inline]

Returns a pointer to fixed variables index list.

Returns:: Pointer to fixed variables index list.

References fixed.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_checkLI(), QProblem::addConstraint_ensureLI(), QProblemB::determineDataShift(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getVarianceCovariance(), moveFixedToFree(), moveFreeToFixed(), QProblem::performStep(), QProblemB::performStep(), print(), setupBound(), QProblem::solveCurrentEQP(), and QProblem::writeQpWorkspaceIntoMatFile().

Indexlist * Bounds::getFree ( ) [inline]

Returns a pointer to free variables index list.

Returns:: Pointer to free variables index list.

References freee.

Referenced by QProblem::addBound(), QProblemB::addBound(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), QProblem::addConstraint_ensureLI(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getVarianceCovariance(), moveFixedToFree(), moveFreeToFixed(), QProblem::performStep(), QProblemB::performStep(), print(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), setupBound(), QProblem::setupTQfactorisation(), QProblem::solveCurrentEQP(), swapFree(), and QProblem::writeQpWorkspaceIntoMatFile().

int Bounds::getNBV ( ) const [inline]

Returns number of bounded (but possibly free) variables.

Returns:: Number of bounded (but possibly free) variables.

References SubjectTo::getNumberOfType(), and ST_BOUNDED.

int Bounds::getNFR ( ) const [inline]

Returns number of free variables.

Returns:: Number of free variables.

References freee, and Indexlist::getLength().

Referenced by QProblemB::getNFR(), and print().

int Bounds::getNFV ( ) const [inline]

Returns number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

References SubjectTo::getNumberOfType(), and ST_EQUALITY.

Referenced by QProblemB::getNFV().

int Bounds::getNFX ( ) const [inline]

Returns number of fixed variables.

Returns:: Number of fixed variables.

References fixed, and Indexlist::getLength().

Referenced by QProblemB::getNFX(), print(), QProblem::shallRefactorise(), and QProblemB::shallRefactorise().

BEGIN_NAMESPACE_QPOASES int SubjectTo::getNumberOfType ( SubjectToType _type ) const [inline, inherited]

Returns number of constraints/bounds with given SubjectTo type.

Returns:: Number of constraints/bounds with given type.

Parameters:

_type Type of (constraints') bound.

References SubjectTo::n, and SubjectTo::type.

Referenced by getNBV(), Constraints::getNEC(), getNFV(), Constraints::getNIC(), Constraints::getNUC(), and getNUV().

int Bounds::getNUV ( ) const [inline]

Returns number of unbounded variables.

Returns:: Number of unbounded variables.

References SubjectTo::getNumberOfType(), and ST_UNBOUNDED.

Referenced by QProblem::addBound().

BEGIN_NAMESPACE_QPOASES int Bounds::getNV ( ) const [inline]

Returns number of variables.

Returns:: Number of variables.

References SubjectTo::n.

Referenced by QProblemB::getNV().

SubjectToStatus SubjectTo::getStatus ( int i ) const [inline, inherited]

Returns status of (constraints') bound.

Returns:: Status of (constraints') bound
ST_UNDEFINED

Parameters:

i	Number of (constraints') bound.

References SubjectTo::n, ST_UNDEFINED, and SubjectTo::status.

Referenced by QProblem::addBound(), QProblem::addConstraint(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), QProblemB::getWorkingSetBounds(), QProblem::getWorkingSetConstraints(), QProblemB::init(), QProblem::init(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblemB::performRamping(), QProblem::performRamping(), QProblemB::performRatioTest(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), Constraints::rotate(), rotate(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), Constraints::shift(), and shift().

SubjectToType SubjectTo::getType ( int i ) const [inline, inherited]

Returns type of (constraints') bound.

Returns:: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.

References SubjectTo::n, ST_UNKNOWN, and SubjectTo::type.

Referenced by QProblem::dropInfeasibles(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblemB::performRamping(), QProblem::performRamping(), QProblemB::performRatioTest(), QProblem::performStep(), Constraints::rotate(), rotate(), Constraints::setupAll(), setupAll(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::setupSubjectToType(), Constraints::shift(), and shift().

BooleanType SubjectTo::hasNoLower ( ) const [inline, inherited]

Returns status of lower (constraints') bounds.

Returns:: BT_TRUE if there is no lower (constraints') bound on any variable.

References SubjectTo::noLower.

Referenced by QProblem::performStep(), QProblemB::performStep(), QProblem::printProperties(), and QProblemB::printProperties().

BooleanType SubjectTo::hasNoUpper ( ) const [inline, inherited]

Returns status of upper bounds.

Returns:: BT_TRUE if there is no upper (constraints') bound on any variable.

References SubjectTo::noUpper.

Referenced by QProblem::performStep(), QProblemB::performStep(), QProblem::printProperties(), and QProblemB::printProperties().

returnValue Bounds::init ( int _n = 0 )

Initialises object with given number of bounds.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of bounds.

Reimplemented from SubjectTo.

References clear(), fixed, freee, Indexlist::init(), RET_INVALID_ARGUMENTS, and THROWERROR.

Referenced by Bounds(), QProblemB::QProblemB(), QProblemB::reset(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), and SQProblem::setupNewAuxiliaryQP().

returnValue Bounds::moveFixedToFree ( int number )

Moves index of a bound from index list of fixed to that of free bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number Number of bound to be freed.

References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, ST_INACTIVE, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblem::removeBound(), and QProblemB::removeBound().

returnValue Bounds::moveFreeToFixed	(	int	number,
		SubjectToStatus	_status
	)

Moves index of a bound from index list of free to that of fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of bound to be fixed.
_status	Status of bound to be fixed.

References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblem::addBound(), QProblemB::addBound(), and QProblem::setupAuxiliaryWorkingSet().

Bounds & Bounds::operator= ( const Bounds & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

returnValue Bounds::print ( )

Prints information on bounds object (in particular, lists of free and fixed bounds.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

References getFixed(), getFree(), getNFR(), getNFX(), Indexlist::getNumberArray(), MAX_STRING_LENGTH, myPrintf(), SubjectTo::n, REFER_NAMESPACE_QPOASES, and SUCCESSFUL_RETURN.

returnValue SubjectTo::removeIndex	(	Indexlist *const	indexlist,
		int	removenumber
	)		`[protected, inherited]`

Removes the index of a constraint or bound from index set.

Returns:: SUCCESSFUL_RETURN
RET_REMOVEINDEX_FAILED
RET_INVALID_ARGUMENTS

Parameters:

indexlist	Index list from which the new index shall be removed.
removenumber	Number of constraint or bound to be removed.

References Indexlist::removeNumber(), RET_INVALID_ARGUMENTS, RET_REMOVEINDEX_FAILED, ST_UNDEFINED, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Constraints::moveActiveToInactive(), moveFixedToFree(), moveFreeToFixed(), and Constraints::moveInactiveToActive().

returnValue Bounds::rotate ( int offset ) [virtual]

Rotates forward type and status of all bounds by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters:

offset Rotation offset within the range [0,n].

Implements SubjectTo.

References Indexlist::addNumber(), fixed, freee, SubjectTo::getStatus(), SubjectTo::getType(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_ROTATING_FAILED, SubjectTo::setStatus(), SubjectTo::setType(), ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

void SubjectTo::setNoLower ( BooleanType _status ) [inline, inherited]

Sets status of lower (constraints') bounds.

Parameters:

_status Status of lower (constraints') bounds.

References SubjectTo::noLower.

Referenced by QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().

void SubjectTo::setNoUpper ( BooleanType _status ) [inline, inherited]

Sets status of upper (constraints') bounds.

Parameters:

_status Status of upper (constraints') bounds.

References SubjectTo::noUpper.

Referenced by QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().

returnValue SubjectTo::setStatus	(	int	i,
		SubjectToStatus	value
	)		`[inline, inherited]`

Sets status of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.
value	Status of (constraints') bound.

References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, SubjectTo::status, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblem::dropInfeasibles(), Constraints::rotate(), rotate(), SQProblem::setupNewAuxiliaryQP(), Constraints::shift(), and shift().

returnValue SubjectTo::setType	(	int	i,
		SubjectToType	value
	)		`[inline, inherited]`

Sets type of (constraints') bound.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.
value	Type of (constraints') bound.

References SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, THROWERROR, and SubjectTo::type.

Referenced by Constraints::rotate(), rotate(), QProblem::setA(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupSubjectToType(), QProblem::setupSubjectToType(), Constraints::shift(), and shift().

returnValue Bounds::setupAll ( SubjectToStatus _status ) [protected]

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set corresponding to the desired status; the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

Parameters:

_status Desired initial status for all bounds.

References SubjectTo::getType(), SubjectTo::n, RET_SETUP_BOUND_FAILED, setupBound(), ST_BOUNDED, ST_DISABLED, ST_EQUALITY, ST_UNBOUNDED, ST_UNKNOWN, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by setupAllFree(), setupAllLower(), and setupAllUpper().

returnValue Bounds::setupAllFree ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of free bounds; the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

References setupAll(), and ST_INACTIVE.

Referenced by QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), SQProblem::setupNewAuxiliaryQP(), QProblem::solveInitialQP(), and QProblemB::solveInitialQP().

returnValue Bounds::setupAllLower ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their lower bounds); the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

References setupAll(), and ST_LOWER.

returnValue Bounds::setupAllUpper ( )

Initially adds all numbers of new (i.e. not yet in the list) bounds to to the index set of fixed bounds (on their upper bounds); the order depends on the SujectToType of each index.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED

References setupAll(), and ST_UPPER.

returnValue Bounds::setupBound	(	int	number,
		SubjectToStatus	_status
	)

Initially adds number of a new (i.e. not yet in the list) bound to given index set.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_BOUND_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters:

number	Number of new bound.
_status	Status of new bound.

References SubjectTo::addIndex(), getFixed(), getFree(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_SETUP_BOUND_FAILED, ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by QProblemB::obtainAuxiliaryWorkingSet(), and setupAll().

returnValue Bounds::shift ( int offset ) [virtual]

Shifts forward type and status of all bounds by a given offset. This offset has to lie within the range [0,n/2] and has to be an integer divisor of the total number of bounds n. Type and status of the first <offset> bounds is thrown away, type and status of the last <offset> bounds is doubled, e.g. for offset = 2:
shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}