Indexlist Class Reference

Stores and manages index lists. More...

#include <Indexlist.hpp>

List of all members.

Public Member Functions
	Indexlist ()
	Indexlist (int_t n)
	Indexlist (const Indexlist &rhs)
	~Indexlist ()
Indexlist &	operator= (const Indexlist &rhs)
returnValue	init (int_t n=0)
returnValue	getNumberArray (int_t **const numberarray) const
returnValue	getISortArray (int_t **const iSortArray) const
int_t	getIndex (int_t givennumber) const
int_t	getNumber (int_t physicalindex) const
int_t	getLength () const
int_t	getLastNumber () const
returnValue	addNumber (int_t addnumber)
returnValue	removeNumber (int_t removenumber)
returnValue	swapNumbers (int_t number1, int_t number2)
BooleanType	isMember (int_t _number) const
Protected Member Functions
returnValue	clear ()
returnValue	copy (const Indexlist &rhs)
int_t	findInsert (int_t i) const
Protected Attributes
int_t *	number
int_t *	iSort
int_t	length
int_t	first
int_t	last
int_t	lastusedindex
int_t	physicallength
Friends
class	DenseMatrix
class	SymDenseMat
class	SparseMatrix
class	SparseMatrixRow
class	SymSparseMat

---

Detailed Description

This class manages index lists of active/inactive bounds/constraints.

Author:

Hans Joachim Ferreau

Version:

3.2

Date:

2007-2017

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Indexlist::Indexlist

(

)

Default constructor.

References init(), iSort, and number.

Indexlist::Indexlist

(

int_t

n

)

Constructor which takes the desired physical length of the index list.

Parameters:

n	Physical length of index list.

References init(), iSort, and number.

Indexlist::Indexlist

(

const Indexlist &

rhs

)

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

Indexlist::~Indexlist

(

)

Destructor.

References clear().

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Member Function Documentation

returnValue Indexlist::addNumber

(

int_t

addnumber

)

Adds number to index list.

Returns:

SUCCESSFUL_RETURN
RET_INDEXLIST_MUST_BE_REORDERD
RET_INDEXLIST_EXCEEDS_MAX_LENGTH

Parameters:

addnumber

Number to be added.

References findInsert(), iSort, length, number, physicallength, RET_INDEXLIST_EXCEEDS_MAX_LENGTH, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by SubjectTo::addIndex(), Constraints::rotate(), Bounds::rotate(), Constraints::shift(), and Bounds::shift().

returnValue Indexlist::clear

(

)

[protected]

Frees all allocated memory.

Returns:

SUCCESSFUL_RETURN

References iSort, number, and SUCCESSFUL_RETURN.

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

returnValue Indexlist::copy

(

const Indexlist &

rhs

)

[protected]

Copies all members from given rhs object.

Returns:

SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References iSort, length, number, physicallength, and SUCCESSFUL_RETURN.

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

int_t Indexlist::findInsert

(

int_t

i

)

const [protected]

Find first index j between -1 and length in sorted list of indices iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses bisection.

Returns:

j.

References iSort, length, and number.

Referenced by addNumber(), getIndex(), removeNumber(), and swapNumbers().

int_t Indexlist::getIndex

(

int_t

givennumber

)

const

Determines the index within the index list at which a given number is stored.

Returns:

>= 0: Index of given number.
-1: Number not found.

Parameters:

givennumber

Number whose index shall be determined.

References findInsert(), iSort, and number.

Referenced by QProblemB::addBound(), isMember(), SQProblemSchur::removeConstraint(), and QProblem::removeConstraint().

returnValue Indexlist::getISortArray

(

int_t **const

iSortArray

)

const

Creates an array of all numbers within the index set in correct order.

Returns:

SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Parameters:

iSortArray

Output: iSort Array.

References iSort, and SUCCESSFUL_RETURN.

Referenced by SQProblemSchur::determineStepDirection2().

int_t Indexlist::getLastNumber

(

)

const [inline]

Returns last number within the index list.

Returns:

Last number within the index list.

References length, and number.

Referenced by QProblem::addBound().

int_t Indexlist::getLength

(

)

const [inline]

Returns the current length of the index list.

Returns:

Current length of the index list.

References length.

Referenced by SQProblemSchur::addBound(), SQProblemSchur::addConstraint(), SQProblemSchur::addToSchurComplement(), SQProblemSchur::determineStepDirection2(), Constraints::getNAC(), Bounds::getNFR(), Bounds::getNFX(), Constraints::getNIAC(), Matrix::getSparseSubmatrix(), SQProblemSchur::removeBound(), and SQProblemSchur::removeConstraint().

BEGIN_NAMESPACE_QPOASES int_t Indexlist::getNumber

(

int_t

physicalindex

)

const [inline]

Returns the number stored at a given physical index.

Returns:

>= 0: Number stored at given physical index.
-RET_INDEXLIST_OUTOFBOUNDS

Parameters:

physicalindex

Physical index of the number to be returned.

References length, number, and RET_INDEXLIST_OUTOFBOUNDS.

Referenced by SQProblemSchur::repairSingularWorkingSet().

returnValue Indexlist::getNumberArray

(

int_t **const

numberarray

)

const

Creates an array of all numbers within the index set in correct order.

Returns:

SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Parameters:

numberarray

Output: Array of numbers (NULL on error).

References number, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by SQProblemSchur::addBound(), QProblem::addBound(), SQProblemSchur::addBound_checkLISchur(), SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), SQProblemSchur::addConstraint(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), SQProblemSchur::correctInertia(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), QProblem::getFreeVariablesFlags(), Matrix::getSparseSubmatrix(), SolutionAnalysis::getVarianceCovariance(), QProblem::performStep(), QProblemB::performStep(), Constraints::print(), Bounds::print(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), QProblem::setupTQfactorisation(), QProblem::solveCurrentEQP(), and QProblem::writeQpWorkspaceIntoMatFile().

returnValue Indexlist::init

(

int_t

n = 0

)

Initialises index list of desired physical length.

Returns:

SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

n	Physical length of index list.

References clear(), iSort, length, number, physicallength, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by Indexlist(), Bounds::init(), and Constraints::init().

BooleanType Indexlist::isMember

(

int_t

_number

)

const [inline]

Determines if a given number is contained in the index set.

Returns:

BT_TRUE iff number is contain in the index set

Parameters:

_number

Number to be tested for membership.

References BT_FALSE, BT_TRUE, and getIndex().

Indexlist & Indexlist::operator=

(

const Indexlist &

rhs

)

Assingment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

returnValue Indexlist::removeNumber

(

int_t

removenumber

)

Removes number from index list.

Returns:

SUCCESSFUL_RETURN

Parameters:

removenumber

Number to be removed.

References findInsert(), iSort, length, number, and SUCCESSFUL_RETURN.

Referenced by SubjectTo::removeIndex().

returnValue Indexlist::swapNumbers	(	int_t	number1,
		int_t	number2
	)

Swaps two numbers within index list.

Returns:

SUCCESSFUL_RETURN

Parameters:

number1	First number for swapping.
number2	Second number for swapping.

References findInsert(), iSort, number, RET_INDEXLIST_CORRUPTED, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by SubjectTo::swapIndex().

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Member Data Documentation

int_t Indexlist::first [protected]

Physical index of first element.

int_t* Indexlist::iSort [protected]

Index list to sort vector number

Referenced by addNumber(), SymSparseMat::bilinear(), clear(), copy(), findInsert(), SparseMatrix::getCol(), SparseMatrixRow::getCol(), getIndex(), getISortArray(), SparseMatrix::getRow(), SparseMatrixRow::getRow(), Indexlist(), init(), removeNumber(), swapNumbers(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

int_t Indexlist::last [protected]

Physical index of last element.

int_t Indexlist::lastusedindex [protected]

Physical index of last entry in index list.

int_t Indexlist::length [protected]

Length of index list.

Referenced by addNumber(), SymDenseMat::bilinear(), SymSparseMat::bilinear(), copy(), findInsert(), DenseMatrix::getCol(), SparseMatrixRow::getCol(), getLastNumber(), getLength(), getNumber(), DenseMatrix::getRow(), SparseMatrix::getRow(), init(), removeNumber(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

int_t* Indexlist::number [protected]

Array to store numbers of constraints or bounds.

Referenced by addNumber(), SymDenseMat::bilinear(), SymSparseMat::bilinear(), clear(), copy(), findInsert(), DenseMatrix::getCol(), SparseMatrix::getCol(), SparseMatrixRow::getCol(), getIndex(), getLastNumber(), getNumber(), getNumberArray(), DenseMatrix::getRow(), SparseMatrix::getRow(), SparseMatrixRow::getRow(), Indexlist(), init(), removeNumber(), swapNumbers(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

int_t Indexlist::physicallength [protected]

Physical length of index list.

Referenced by addNumber(), copy(), and init().

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The documentation for this class was generated from the following files:

• include/qpOASES/Indexlist.hpp
• src/Indexlist.cpp
• include/qpOASES/Indexlist.ipp