text: /*
   *	This file is part of qpOASES.
   *
   *	qpOASES -- An Implementation of the Online Active Set Strategy.
   *	Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
   *
   *	qpOASES is free software; you can redistribute it and/or
   *	modify it under the terms of the GNU Lesser General Public
   *	License as published by the Free Software Foundation; either
   *	version 2.1 of the License, or (at your option) any later version.
   *
   *	qpOASES is distributed in the hope that it will be useful,
   *	but WITHOUT ANY WARRANTY; without even the implied warranty of
   *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   *	Lesser General Public License for more details.
   *
   *	You should have received a copy of the GNU Lesser General Public
   *	License along with qpOASES; if not, write to the Free Software
   *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
   *
   */
  
  
  /**
   *	\file INCLUDE/Indexlist.hpp
   *	\author Hans Joachim Ferreau
   *	\version 1.3embedded
   *	\date 2007-2008
   *
   *	Declaration of the Indexlist class designed to manage index lists of
   *	constraints and bounds within a SubjectTo object.
   */
  
  
  #ifndef QPOASES_INDEXLIST_HPP
  #define QPOASES_INDEXLIST_HPP
  
  
  #include "Utils.hpp"
  
  
  /** This class manages index lists.
   *
   *	\author Hans Joachim Ferreau
   *	\version 1.3embedded
   *	\date 2007-2008
   */
  class Indexlist
  {
  	/*
  	 *	PUBLIC MEMBER FUNCTIONS
  	 */
  	public:
  		/** Default constructor. */
  		Indexlist( );
  
  		/** Copy constructor (deep copy). */
  		Indexlist(	const Indexlist& rhs	/**< Rhs object. */
  					);
  
  		/** Destructor. */
  		~Indexlist( );
  
  		/** Assingment operator (deep copy). */
  		Indexlist& operator=(	const Indexlist& rhs	/**< Rhs object. */
  								);
  
  		/** Pseudo-constructor.
  		 *	\return SUCCESSFUL_RETURN */
  		returnValue init( );
  
  
  		/** Creates an array of all numbers within the index set in correct order.
  		 *	\return SUCCESSFUL_RETURN \n
  		 			RET_INDEXLIST_CORRUPTED */
  		returnValue	getNumberArray(	int* const numberarray	/**< Output: Array of numbers (NULL on error). */
  									) const;
  
  
  		/** Determines the index within the index list at with a given number is stored.
  		 *	\return >= 0: Index of given number. \n
  		 			-1: Number not found. */
  		int	getIndex(	int givennumber	/**< Number whose index shall be determined. */
  						) const;
  
  		/** Determines the physical index within the index list at with a given number is stored.
  		 *	\return >= 0: Index of given number. \n
  		 			-1: Number not found. */
  		int	getPhysicalIndex(	int givennumber	/**< Number whose physical index shall be determined. */
  								) const;
  
  		/** Returns the number stored at a given physical index.
  		 *	\return >= 0: Number stored at given physical index. \n
  		 			-RET_INDEXLIST_OUTOFBOUNDS */
  		int	getNumber(	int physicalindex	/**< Physical index of the number to be returned. */
  						) const;
  
  
  		/** Returns the current length of the index list.
  		 *	\return Current length of the index list. */
  		inline int getLength( );
  
  		/** Returns last number within the index list.
  		 *	\return Last number within the index list. */
  		inline int getLastNumber( ) const;
  
  
  		/** Adds number to index list.
  		 *	\return SUCCESSFUL_RETURN \n
  		 			RET_INDEXLIST_MUST_BE_REORDERD \n
  		 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
  		returnValue addNumber(	int addnumber	/**< Number to be added. */
  								);
  
  		/** Removes number from index list.
  		 *	\return SUCCESSFUL_RETURN */
  		returnValue removeNumber(	int removenumber	/**< Number to be removed. */
  									);
  
  		/** Swaps two numbers within index list.
  		 *	\return SUCCESSFUL_RETURN */
  		returnValue swapNumbers(	int number1,/**< First number for swapping. */
  									int number2	/**< Second number for swapping. */
  									);
  
  		/** Determines if a given number is contained in the index set.
  		 *	\return BT_TRUE iff number is contain in the index set */
  		inline BooleanType isMember(	int _number	/**< Number to be tested for membership. */
  										) const;
  
  
  	/*
  	 *	PROTECTED MEMBER VARIABLES
  	 */
  	protected:
  		int number[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store numbers of constraints or bounds. */
  		int next[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store physical index of successor. */
  		int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)];	/**< Array to store physical index of predecossor. */
  		int	length;										/**< Length of index list. */
  		int	first;										/**< Physical index of first element. */
  		int	last;										/**< Physical index of last element. */
  		int	lastusedindex;								/**< Physical index of last entry in index list. */
  		int	physicallength;								/**< Physical length of index list. */
  };
  
  
  #include "Indexlist.ipp"
  
  #endif	/* QPOASES_INDEXLIST_HPP */
  
  
  /*
   *	end of file
   */
  