solver/qp_as.h

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#ifndef QPAS_H
#define QPAS_H

/****************************************
 * INCLUDES 
 ****************************************/
#include "smpc_common.h"
#include "chol_solve_as.h"
#include "qp_solver.h"

#include <vector>


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


using namespace std;


class bound
{
    public:
        void set (const int, const double, const double, const bool);


        int var_num;

        double lb;

        double ub;

        bool isActive;
};




class qp_as : public qp_solver
{
    public:
// functions        
        qp_as(
                const int N_, 
                const double, 
                const double, 
                const double,
                const double,
                const double);
        ~qp_as();

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


        int solve ();


    private:

// functions        
        void form_iHg(const double *, const double *);
        void form_bounds(const double *, const double *);
        int check_blocking_bounds();

        int choose_excl_constr (const double *);

        chol_solve_as chol;


        double *iHg;


    // active set        
        int *W;

        int *W_sign;

        int nW;

        std::vector <bound> Bounds;
};

#endif /*QPAS_H*/