include/qpOASES/Constraints.hpp

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/*
 *  This file is part of qpOASES.
 *
 *  qpOASES -- An Implementation of the Online Active Set Strategy.
 *  Copyright (C) 2007-2017 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_CONSTRAINTS_HPP
#define QPOASES_CONSTRAINTS_HPP


#include <qpOASES/SubjectTo.hpp>


BEGIN_NAMESPACE_QPOASES


class Constraints : public SubjectTo
{
    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        Constraints( );

        Constraints(    int_t _n                        
                        );

        Constraints(    const Constraints& rhs          
                        );

        virtual ~Constraints( );

        Constraints& operator=( const Constraints& rhs  
                                );


        returnValue init(   int_t _n = 0                
                            );


        returnValue setupConstraint(    int_t number,           
                                        SubjectToStatus _status 
                                        );

        returnValue setupAllInactive( );

        returnValue setupAllLower( );

        returnValue setupAllUpper( );


        returnValue moveActiveToInactive(   int_t number            
                                            );

        returnValue moveInactiveToActive(   int_t number,           
                                            SubjectToStatus _status 
                                            );

        returnValue flipFixed( int_t number );


        inline int_t getNC( ) const;

        inline int_t getNEC( ) const;

        inline int_t getNIC( ) const;

        inline int_t getNUC( ) const;

        inline int_t getNAC( ) const;

        inline int_t getNIAC( ) const;


        inline Indexlist* getActive( );

        inline Indexlist* getInactive( );


        virtual returnValue shift(  int_t offset    
                                    );

        virtual returnValue rotate( int_t offset    
                                    );


        returnValue print( );


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


        returnValue setupAll(   SubjectToStatus _status 
                                );


    /*
     *  PROTECTED MEMBER VARIABLES
     */
    protected:
        Indexlist active;       
        Indexlist inactive;     
};

END_NAMESPACE_QPOASES

#include <qpOASES/Constraints.ipp>

#endif  /* QPOASES_CONSTRAINTS_HPP */


/*
 *  end of file
 */