Manages working sets of constraints. More...

#include <Constraints.hpp>

Inheritance diagram for Constraints:

Public Member Functions
	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)
int_t	getNC () const
int_t	getNEC () const
int_t	getNIC () const
int_t	getNUC () const
int_t	getNAC () const
int_t	getNIAC () const
Indexlist *	getActive ()
Indexlist *	getInactive ()
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 Constraints &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	active
Indexlist	inactive
int_t	n
SubjectToType *	type
SubjectToStatus *	status
BooleanType	noLower
BooleanType	noUpper

Detailed Description

This class manages working sets of 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 Constraints::Constraints ( )

Default constructor.

Constraints::Constraints ( int_t _n )

Constructor which takes the number of constraints.

Parameters:

_n	Number of constraints.

References init().

Constraints::Constraints ( const Constraints & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

Constraints::~Constraints ( ) [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 moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), moveInactiveToActive(), Bounds::setupBound(), and setupConstraint().

returnValue Constraints::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented from SubjectTo.

References SUCCESSFUL_RETURN.

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

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 Constraints::copy ( const Constraints & rhs ) [protected]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References active, inactive, and SUCCESSFUL_RETURN.

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

returnValue Constraints::flipFixed ( int_t number )

Flip fixed constraint.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS

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

Referenced by QProblem::removeConstraint().

Indexlist * Constraints::getActive ( ) [inline]

Returns a pointer to active constraints index list.

Returns:: Pointer to active constraints index list.

References active.

Referenced by SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::computeProjectedCholesky(), QProblem::determineDataShift(), QProblem::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getVarianceCovariance(), moveActiveToInactive(), moveInactiveToActive(), QProblem::performStep(), print(), QProblem::removeBound(), SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), SQProblemSchur::repairSingularWorkingSet(), SQProblemSchur::resetSchurComplement(), setupConstraint(), QProblem::solveCurrentEQP(), and QProblem::writeQpWorkspaceIntoMatFile().

Indexlist * Constraints::getInactive ( ) [inline]

Returns a pointer to inactive constraints index list.

Returns:: Pointer to inactive constraints index list.

References inactive.

Referenced by QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), QProblem::ensureNonzeroCurvature(), moveActiveToInactive(), moveInactiveToActive(), QProblem::performStep(), print(), setupConstraint(), and QProblem::writeQpWorkspaceIntoMatFile().

int_t Constraints::getNAC ( ) const [inline]

Returns the number of active constraints.

Returns:: Number of active constraints.

References active, and Indexlist::getLength().

Referenced by QProblem::getNAC(), print(), and QProblem::shallRefactorise().

BEGIN_NAMESPACE_QPOASES int_t Constraints::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

References SubjectTo::n.

Referenced by SQProblemSchur::addConstraint(), QProblem::addConstraint(), and QProblem::getNC().

int_t Constraints::getNEC ( ) const [inline]

Returns the number of implicit equality constraints.

Returns:: Number of implicit equality constraints.

References SubjectTo::getNumberOfType(), and ST_EQUALITY.

Referenced by QProblem::getNEC().

int_t Constraints::getNIAC ( ) const [inline]

Returns the number of inactive constraints.

Returns:: Number of inactive constraints.

References Indexlist::getLength(), and inactive.

Referenced by QProblem::getNIAC(), and print().

int_t Constraints::getNIC ( ) const [inline]

Returns the number of "real" inequality constraints.

Returns:: Number of "real" inequality constraints.

References SubjectTo::getNumberOfType(), and ST_BOUNDED.

int_t Constraints::getNUC ( ) const [inline]

Returns the number of unbounded constraints (i.e. without any bounds).

Returns:: Number of unbounded constraints (i.e. without any bounds).

References SubjectTo::getNumberOfType(), and ST_UNBOUNDED.

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

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

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(), rotate(), Bounds::rotate(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), SQProblemSchur::setupAuxiliaryWorkingSet(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::shallRefactorise(), QProblemB::shallRefactorise(), shift(), Bounds::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(), rotate(), Bounds::rotate(), setupAll(), Bounds::setupAll(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), SQProblem::setupNewAuxiliaryQP(), QProblem::setupSubjectToType(), shift(), Bounds::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 Constraints::init ( int_t _n = 0 )

Initialises object with given number of constraints.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_n	Number of constraints.

Reimplemented from SubjectTo.

References active, clear(), inactive, Indexlist::init(), RET_INVALID_ARGUMENTS, and THROWERROR.

Referenced by Constraints(), QProblem::QProblem(), QProblem::reset(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQP(), and SQProblem::setupNewAuxiliaryQP().

returnValue Constraints::moveActiveToInactive ( int_t number )

Moves index of a constraint from index list of active to that of inactive constraints.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters:

number Number of constraint to become inactive.

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

Referenced by SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), SQProblemSchur::repairSingularWorkingSet(), and SQProblemSchur::setupAuxiliaryWorkingSet().

returnValue Constraints::moveInactiveToActive	(	int_t	number,
		SubjectToStatus	_status
	)

Moves index of a constraint from index list of inactive to that of active constraints.

Returns:: SUCCESSFUL_RETURN
RET_MOVING_CONSTRAINT_FAILED

Parameters:

number	Number of constraint to become active.
_status	Status of constraint to become active.

References SubjectTo::addIndex(), getActive(), getInactive(), SubjectTo::n, SubjectTo::removeIndex(), RET_INDEX_OUT_OF_BOUNDS, RET_MOVING_BOUND_FAILED, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by SQProblemSchur::addConstraint(), QProblem::addConstraint(), SQProblemSchur::removeConstraint(), and SQProblemSchur::setupAuxiliaryWorkingSet().

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

returnValue Constraints::print ( )

Prints information on constraints object (in particular, lists of inactive and active constraints.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

References getActive(), getInactive(), getNAC(), getNIAC(), 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 moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), and moveInactiveToActive().

returnValue Constraints::rotate ( int_t offset ) [virtual]

Rotates forward type and status of all constraints by a given offset. This offset has to lie within the range [0,n]. Example for offset = 2:
rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
RET_ROTATING_FAILED

Parameters:

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

Implements SubjectTo.

References active, Indexlist::addNumber(), SubjectTo::getStatus(), SubjectTo::getType(), inactive, 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(), rotate(), Bounds::rotate(), SQProblemSchur::setupAuxiliaryQP(), SQProblem::setupNewAuxiliaryQP(), shift(), and Bounds::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(), rotate(), Bounds::rotate(), QProblem::setA(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupSubjectToType(), QProblem::setupSubjectToType(), shift(), and Bounds::shift().

returnValue Constraints::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_CONSTRAINT_FAILED

Parameters:

_status Desired initial status for all bounds.

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

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

returnValue Constraints::setupAllInactive ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of inactive constraints; the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns:: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_INACTIVE.

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

returnValue Constraints::setupAllLower ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their lower bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns:: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_LOWER.

returnValue Constraints::setupAllUpper ( )

Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to to the index set of active constraints (on their upper bounds); the order depends on the SujectToType of each index. Only disabled constraints are added to index set of disabled constraints!

Returns:: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED

References setupAll(), and ST_UPPER.

returnValue Constraints::setupConstraint	(	int_t	number,
		SubjectToStatus	_status
	)

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

Returns:: SUCCESSFUL_RETURN
RET_SETUP_CONSTRAINT_FAILED
RET_INDEX_OUT_OF_BOUNDS
RET_INVALID_ARGUMENTS

Parameters:

number	Number of new constraint.
_status	Status of new constraint.

References SubjectTo::addIndex(), getActive(), getInactive(), SubjectTo::n, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_SETUP_CONSTRAINT_FAILED, ST_INACTIVE, ST_LOWER, ST_UPPER, SUCCESSFUL_RETURN, and THROWERROR.

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

returnValue Constraints::shift ( int_t offset ) [virtual]

Shifts forward type and status of all constraints 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 n. Type and status of the first <offset> constraints is thrown away, type and status of the last <offset> constraints is doubled, e.g. for offset = 2:
shift( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c5,c6}