Auxiliary class for storing a copy of the current matrix factorisations. More...

#include <Flipper.hpp>

Public Member Functions
	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
returnValue	clear ()
returnValue	copy (const Flipper &rhs)
unsigned int	getDimT () const
Protected Attributes
unsigned int	nV
unsigned int	nC
Bounds	bounds
Constraints	constraints
real_t *	R
real_t *	Q
real_t *	T
Friends
class	QProblemB
class	QProblem

Detailed Description

This auxiliary class stores a copy of the current matrix factorisations. It is used by the classe QProblemB and QProblem in case flipping bounds are enabled.

Author:: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:: 3.1

Date:: 2007-2015

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Flipper::Flipper ( )

Default constructor.

References init(), Q, R, and T.

Flipper::Flipper	(	unsigned int	_nV,
		unsigned int	_nC = `0`
	)

Constructor which takes the number of bounds and constraints.

Parameters:

_nV	Number of bounds.
_nC	Number of constraints.

References init(), Q, R, and T.

Flipper::Flipper ( const Flipper & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy(), Q, R, and T.

Flipper::~Flipper ( )

Destructor.

References clear().

Member Function Documentation

returnValue Flipper::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

References Q, R, SUCCESSFUL_RETURN, and T.

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

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

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References bounds, constraints, Q, R, and T.

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

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

Copies current values to non-null arguments (assumed to be allocated with consistent size).

Returns:: SUCCESSFUL_RETURN

Parameters:

_bounds	Pointer to new bounds.
R	New matrix R.
_constraints	Pointer to new constraints.
_Q	New matrix Q.
_T	New matrix T.

References bounds, constraints, getDimT(), nV, Q, R, real_t, SUCCESSFUL_RETURN, and T.

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

unsigned int Flipper::getDimT ( ) const [protected]

Returns dimension of matrix T.

Returns:: Dimension of matrix T.

References nC, and nV.

Referenced by get(), and set().

returnValue Flipper::init	(	unsigned int	_nV = `0`,
		unsigned int	_nC = `0`
	)

Initialises object with given number of bounds and constraints.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_nV	Number of bounds.
_nC	Number of constraints.

References clear(), nC, nV, and SUCCESSFUL_RETURN.

Referenced by Flipper(), QProblem::QProblem(), QProblemB::QProblemB(), QProblem::reset(), and QProblemB::reset().

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

returnValue Flipper::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`
	)