201 lines
3.9 KiB
C++
201 lines
3.9 KiB
C++
/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file SRC/SubjectTo.cpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*
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* Implementation of the SubjectTo class designed to manage working sets of
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* constraints and bounds within a QProblem.
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*/
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#include <SubjectTo.hpp>
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/*****************************************************************************
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* P U B L I C *
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*****************************************************************************/
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/*
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* S u b j e c t T o
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*/
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SubjectTo::SubjectTo( ) : noLower( BT_TRUE ),
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noUpper( BT_TRUE ),
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size( 0 )
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{
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int i;
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for( i=0; i<size; ++i )
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{
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type[i] = ST_UNKNOWN;
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status[i] = ST_UNDEFINED;
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}
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}
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/*
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* S u b j e c t T o
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*/
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SubjectTo::SubjectTo( const SubjectTo& rhs ) : noLower( rhs.noLower ),
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noUpper( rhs.noUpper ),
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size( rhs.size )
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{
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int i;
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for( i=0; i<size; ++i )
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{
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type[i] = rhs.type[i];
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status[i] = rhs.status[i];
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}
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}
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/*
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* ~ S u b j e c t T o
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*/
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SubjectTo::~SubjectTo( )
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{
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}
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/*
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* o p e r a t o r =
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*/
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SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
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{
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int i;
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if ( this != &rhs )
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{
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size = rhs.size;
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for( i=0; i<size; ++i )
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{
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type[i] = rhs.type[i];
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status[i] = rhs.status[i];
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}
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noLower = rhs.noLower;
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noUpper = rhs.noUpper;
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}
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return *this;
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}
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/*
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* i n i t
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*/
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returnValue SubjectTo::init( int n )
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{
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int i;
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size = n;
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noLower = BT_TRUE;
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noUpper = BT_TRUE;
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for( i=0; i<size; ++i )
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{
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type[i] = ST_UNKNOWN;
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status[i] = ST_UNDEFINED;
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}
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return SUCCESSFUL_RETURN;
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}
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/*****************************************************************************
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* P R O T E C T E D *
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*****************************************************************************/
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/*
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* a d d I n d e x
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*/
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returnValue SubjectTo::addIndex( Indexlist* const indexlist,
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int newnumber, SubjectToStatus newstatus
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)
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{
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/* consistency check */
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if ( status[newnumber] == newstatus )
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return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
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status[newnumber] = newstatus;
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if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
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return THROWERROR( RET_ADDINDEX_FAILED );
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return SUCCESSFUL_RETURN;
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}
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/*
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* r e m o v e I n d e x
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*/
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returnValue SubjectTo::removeIndex( Indexlist* const indexlist,
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int removenumber
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)
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{
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status[removenumber] = ST_UNDEFINED;
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if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
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return THROWERROR( RET_UNKNOWN_BUG );
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return SUCCESSFUL_RETURN;
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}
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/*
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* s w a p I n d e x
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*/
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returnValue SubjectTo::swapIndex( Indexlist* const indexlist,
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int number1, int number2
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)
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{
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/* consistency checks */
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if ( status[number1] != status[number2] )
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return THROWERROR( RET_SWAPINDEX_FAILED );
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if ( number1 == number2 )
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{
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THROWWARNING( RET_NOTHING_TO_DO );
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return SUCCESSFUL_RETURN;
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}
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if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
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return THROWERROR( RET_SWAPINDEX_FAILED );
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return SUCCESSFUL_RETURN;
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}
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/*
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* end of file
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*/
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