Function tiny_set_linear_constraints

src/tinympc/tiny_api.cpp:210–252

}

int tiny_set_linear_constraints(TinySolver* solver,
                               tinyMatrix Alin_x, tinyVector blin_x,
                               tinyMatrix Alin_u, tinyVector blin_u) {
    if (!solver) {
        std::cout << "Error in tiny_set_linear_constraints: solver is nullptr" << std::endl;
        return 1;
    }

    // Make sure all linear constraint matrix sizes are self-consistent
    int num_state_linear = Alin_x.rows();
    int num_input_linear = Alin_u.rows();
    int status = 0;
    
    // Check state constraint dimensions
    if (num_state_linear > 0) {
        status |= check_dimension("State linear constraint matrix (Alin_x)", "rows", Alin_x.rows(), num_state_linear);
        status |= check_dimension("State linear constraint matrix (Alin_x)", "columns", Alin_x.cols(), solver->work->nx);
        status |= check_dimension("State linear constraint vector (blin_x)", "rows", blin_x.rows(), num_state_linear);
        status |= check_dimension("State linear constraint vector (blin_x)", "columns", blin_x.cols(), 1);
    }
    
    // Check input constraint dimensions
    if (num_input_linear > 0) {
        status |= check_dimension("Input linear constraint matrix (Alin_u)", "rows", Alin_u.rows(), num_input_linear);
        status |= check_dimension("Input linear constraint matrix (Alin_u)", "columns", Alin_u.cols(), solver->work->nu);
        status |= check_dimension("Input linear constraint vector (blin_u)", "rows", blin_u.rows(), num_input_linear);
        status |= check_dimension("Input linear constraint vector (blin_u)", "columns", blin_u.cols(), 1);
    }
    
    if (status) {
        return status;
    }

    solver->work->numStateLinear = num_state_linear;
    solver->work->numInputLinear = num_input_linear;

    solver->work->Alin_x = Alin_x;
    solver->work->blin_x = blin_x;
    solver->work->Alin_u = Alin_u;
    solver->work->blin_u = blin_u;

    return 0;
}

int tiny_set_tv_linear_constraints(TinySolver* solver,
                               tinyMatrix tv_Alin_x, tinyMatrix tv_blin_x,