nmrConstraintOptimizer.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  Author(s):  Paul Wilkening
  Created on: 2014

  (C) Copyright 2014-2015 Johns Hopkins University (JHU), All Rights Reserved.

 --- begin cisst license - do not edit ---

 This software is provided "as is" under an open source license, with
 no warranty.  The complete license can be found in license.txt and
 http://www.cisst.org/cisst/license.txt.

 --- end cisst license ---
 */

#ifndef _nmrConstraintOptimizer_h
#define _nmrConstraintOptimizer_h

#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstVector/vctDynamicMatrixTypes.h>
#include <cisstNumerical/nmrLSqLin.h>

// Always include last!
#include <cisstNumerical/nmrExport.h>


class CISST_EXPORT nmrConstraintOptimizer
{

private:

    vctDoubleMat C;
    vctDoubleVec d;
    vctDoubleMat A;
    vctDoubleVec b;
    vctDoubleMat E;
    vctDoubleVec f;

    nmrLSqLinSolutionDynamic lsiSolution;

    size_t NumVars;

    size_t Slacks;
    size_t CIndex;
    size_t AIndex;
    size_t EIndex;
    size_t SlackIndex;

public:

    enum STATUS {NMR_OK, NMR_EQ_CONTRADICTION, NMR_INEQ_CONTRADICTION, NMR_BOTH_CONTRADICTION, NMR_MALFORMED, NMR_EMPTY};

    nmrConstraintOptimizer() {}

    ~nmrConstraintOptimizer() {}

    nmrConstraintOptimizer(const size_t n);


    STATUS Solve(vctDoubleVec & dq);


    void ResetIndices(void);


    void Allocate(void);


    void Allocate(const size_t CRows, const size_t CCols, const size_t ARows, const size_t ACols, const size_t ERows, const size_t ECols);


    void ReserveSpace(const size_t CRows, const size_t ARows, const size_t ERows, const size_t num_slacks);


    void SetRefs(const size_t CRows, const size_t ARows, const size_t ERows, const size_t num_slacks, const vctDoubleVec & limits,
                 vctDynamicMatrixRef<double> & CData, vctDynamicMatrixRef<double> & CSlacks, vctDynamicVectorRef<double> & dData,
                 vctDynamicMatrixRef<double> & AData, vctDynamicMatrixRef<double> & ASlacks, vctDynamicVectorRef<double> & bData,
                 vctDynamicMatrixRef<double> & EData, vctDynamicMatrixRef<double> & ESlacks, vctDynamicVectorRef<double> & fData);


    size_t GetNumVars(void) const;


    size_t GetSlackIndex(void) const;


    size_t GetSlacks(void) const;


    size_t GetObjectiveRows(void) const;


    size_t GetObjectiveIndex(void) const;


    size_t GetIneqConstraintRows(void) const;


    size_t GetIneqConstraintIndex(void) const;


    size_t GetEqConstraintRows(void) const;


    size_t GetEqConstraintIndex(void) const;


    const vctDoubleMat & GetObjectiveMatrix(void) const;


    const vctDoubleVec & GetObjectiveVector(void) const;


    const vctDoubleMat & GetIneqConstraintMatrix(void) const;


    const vctDoubleVec & GetIneqConstraintVector(void) const;


    const vctDoubleMat & GetEqConstraintMatrix(void) const;


    const vctDoubleVec & GetEqConstraintVector(void) const;


    const std::string GetStatusString(STATUS status) const;

};

#endif // _nmrConstraintOptimizer_h