Manages working sets of bounds (i.e. box constraints). More...

#include <Bounds.hpp>

Inheritance diagram for Bounds:

Public Member Functions
	Bounds ()
	Bounds (int_t _n)
	Bounds (const Bounds &rhs)
virtual	~Bounds ()
Bounds &	operator= (const Bounds &rhs)
returnValue	init (int_t _n=0)
returnValue	setupBound (int_t number, SubjectToStatus _status)
returnValue	setupAllFree ()
returnValue	setupAllLower ()
returnValue	setupAllUpper ()
returnValue	moveFixedToFree (int_t number)
returnValue	moveFreeToFixed (int_t number, SubjectToStatus _status)
returnValue	flipFixed (int_t number)
returnValue	swapFree (int_t number1, int_t number2)
int_t	getNV () const
int_t	getNFV () const
int_t	getNBV () const
int_t	getNUV () const
int_t	getNFR () const
int_t	getNFX () const
Indexlist *	getFree ()
Indexlist *	getFixed ()
virtual returnValue	shift (int_t offset)
virtual returnValue	rotate (int_t offset)
returnValue	print ()
int_t	getNumberOfType (SubjectToType _type) const
SubjectToType	getType (int_t i) const
SubjectToStatus	getStatus (int_t i) const
returnValue	setType (int_t i, SubjectToType value)
returnValue	setStatus (int_t 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_t newnumber, SubjectToStatus newstatus)
returnValue	removeIndex (Indexlist *const indexlist, int_t removenumber)
returnValue	swapIndex (Indexlist *const indexlist, int_t number1, int_t number2)
Protected Attributes
Indexlist	freee
Indexlist	fixed
int_t	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:: 3.2

Date:: 2007-2017

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Bounds::Bounds ( )

Default constructor.

Bounds::Bounds ( int_t _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_t	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_t 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 SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), 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(), SQProblemSchur::addBound_checkLISchur(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), QProblem::addConstraint_ensureLI(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), SQProblemSchur::correctInertia(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::ensureNonzeroCurvature(), QProblem::getFreeVariablesFlags(), SolutionAnalysis::getVarianceCovariance(), moveFixedToFree(), moveFreeToFixed(), QProblem::performStep(), QProblemB::performStep(), print(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), SQProblemSchur::repairSingularWorkingSet(), SQProblemSchur::resetSchurComplement(), setupBound(), QProblem::setupTQfactorisation(), QProblem::solveCurrentEQP(), swapFree(), and QProblem::writeQpWorkspaceIntoMatFile().

int_t 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_t 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_t 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_t 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_t 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_t Bounds::getNUV ( ) const [inline]

Returns number of unbounded variables.

Returns:: Number of unbounded variables.

References SubjectTo::getNumberOfType(), and ST_UNBOUNDED.

Referenced by SQProblemSchur::addBound(), and QProblem::addBound().

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

Returns number of variables.

Returns:: Number of variables.

References SubjectTo::n.

Referenced by QProblemB::getNV().

SubjectToStatus SubjectTo::getStatus ( int_t 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 SQProblemSchur::addBound(), QProblem::addBound(), SQProblemSchur::addConstraint(), QProblem::addConstraint(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), 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(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), Constraints::rotate(), rotate(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), SQProblemSchur::setupAuxiliaryWorkingSet(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), Constraints::shift(), shift(), and QProblem::updateActivitiesForHotstart().

SubjectToType SubjectTo::getType ( int_t 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(), SQProblemSchur::repairSingularWorkingSet(), Constraints::rotate(), rotate(), Constraints::setupAll(), setupAll(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::setupSubjectToType(), Constraints::shift(), shift(), and QProblem::updateActivitiesForHotstart().

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_t _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(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), and SQProblem::setupNewAuxiliaryQP().

returnValue Bounds::moveFixedToFree ( int_t 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 SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), and SQProblemSchur::setupAuxiliaryWorkingSet().

returnValue Bounds::moveFreeToFixed	(	int_t	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 SQProblemSchur::addBound(), QProblem::addBound(), QProblemB::addBound(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), SQProblemSchur::removeBound(), SQProblemSchur::repairSingularWorkingSet(), SQProblemSchur::setupAuxiliaryWorkingSet(), 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_t	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_t 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_t	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(), SQProblemSchur::setupAuxiliaryQP(), SQProblem::setupNewAuxiliaryQP(), Constraints::shift(), and shift().

returnValue SubjectTo::setType	(	int_t	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 SQProblemSchur::repairSingularWorkingSet(), 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 SQProblemSchur::setupAuxiliaryQP(), 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_t	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_t 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}