qp_as.h

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#ifndef QPAS_H
#define QPAS_H

/****************************************
 * INCLUDES 
 ****************************************/
#include "smpc_common.h"
#include "as_chol_solve.h"
#include "as_constraint.h"
#include "as_problem_param.h"

#include <vector>


/****************************************
 * Defines
 ****************************************/


using namespace std;


class qp_as : public AS::problem_parameters
{
    public:
// functions        
        qp_as(
                const int N_, 
                const double, 
                const double, 
                const double,
                const double,
                const double, 
                const bool,
                const unsigned int,
                const bool);
        ~qp_as();

        void set_parameters(
                const double*, 
                const double*, 
                const double, 
                const double*, 
                const double*, 
                const double*, 
                const double*, 
                const double*);


        void solve (vector<double> &);
        void form_init_fp (
                const double *, 
                const double *, 
                const double *, 
                const bool, 
                double *);


        double *X;


    // counters
        unsigned int added_constraints_num;
        unsigned int removed_constraints_num;
        unsigned int active_set_size;
    // limits
        bool constraint_removal_on;
        unsigned int max_added_constraints_num;


    private:

// functions        
        int check_blocking_constraints();
        int choose_excl_constr (const double *);
        double compute_obj();

// variables        

        AS::chol_solve chol;


        const double *zref_x;
        const double *zref_y;

        double tol;

        bool obj_computation_on;

    // active set        
        vector <AS::constraint> active_set;

        vector <AS::constraint> constraints;


    // descent direction
        double *dX;

        double alpha;        
};

#endif /*QPAS_H*/