Base class for managing working sets of bounds and constraints. More...

#include <SubjectTo.hpp>

Inheritance diagram for SubjectTo:

Public Member Functions
	SubjectTo ()
	SubjectTo (int _n)
	SubjectTo (const SubjectTo &rhs)
virtual	~SubjectTo ()
SubjectTo &	operator= (const SubjectTo &rhs)
returnValue	init (int _n=0)
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
virtual returnValue	shift (int offset)=0
virtual returnValue	rotate (int offset)=0
Protected Member Functions
returnValue	clear ()
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
int	n
SubjectToType *	type
SubjectToStatus *	status
BooleanType	noLower
BooleanType	noUpper

Detailed Description

This class manages working sets of bounds and 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 SubjectTo::SubjectTo ( )

Default constructor.

References init(), status, and type.

SubjectTo::SubjectTo ( int _n )

Constructor which takes the number of constraints or bounds.

Parameters:

_n	Number of constraints or bounds.

References init(), status, and type.

SubjectTo::SubjectTo ( const SubjectTo & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

SubjectTo::~SubjectTo ( ) [virtual]

Destructor.

References clear().

Member Function Documentation

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

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, status, SUCCESSFUL_RETURN, and THROWERROR.

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

returnValue SubjectTo::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented in Bounds, and Constraints.

References status, SUCCESSFUL_RETURN, and type.

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

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

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

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

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

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

Returns number of constraints/bounds with given SubjectTo type.

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

Parameters:

_type Type of (constraints') bound.

References n, and type.

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

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

Returns status of (constraints') bound.

Returns:: Status of (constraints') bound
ST_UNDEFINED

Parameters:

i	Number of (constraints') bound.

References n, ST_UNDEFINED, and 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(), Bounds::rotate(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), Constraints::shift(), and Bounds::shift().

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

Returns type of (constraints') bound.

Returns:: Type of (constraints') bound
RET_INDEX_OUT_OF_BOUNDS

Parameters:

i	Number of (constraints') bound.

References n, ST_UNKNOWN, and type.

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

BooleanType SubjectTo::hasNoLower ( ) const [inline]

Returns status of lower (constraints') bounds.

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

References noLower.

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

BooleanType SubjectTo::hasNoUpper ( ) const [inline]

Returns status of upper bounds.

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

References noUpper.

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

returnValue SubjectTo::init ( int _n = 0 )

Initialises object with given number of constraints or bounds.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of constraints or bounds.

Reimplemented in Bounds, and Constraints.

References BT_TRUE, clear(), n, noLower, noUpper, RET_INVALID_ARGUMENTS, ST_UNDEFINED, ST_UNKNOWN, status, SUCCESSFUL_RETURN, THROWERROR, and type.

Referenced by SubjectTo().

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

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

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, status, SUCCESSFUL_RETURN, and THROWERROR.

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

virtual returnValue SubjectTo::rotate ( int offset ) [pure virtual]

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

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters:

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

Implemented in Bounds, and Constraints.

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

Sets status of lower (constraints') bounds.

Parameters:

_status Status of lower (constraints') bounds.

References noLower.

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

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

Sets status of upper (constraints') bounds.

Parameters:

_status Status of upper (constraints') bounds.

References noUpper.

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

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

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 n, RET_INDEX_OUT_OF_BOUNDS, status, SUCCESSFUL_RETURN, and THROWERROR.

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

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

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 n, RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, THROWERROR, and type.

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

virtual returnValue SubjectTo::shift ( int offset ) [pure virtual]

Shifts forward type and status of all constraints/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 constraints/bounds n. Type and status of the first <offset> constraints/bounds is thrown away, type and status of the last <offset> constraints/bounds is doubled, e.g. for offset = 2:
shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}