returnValue OCP::subjectTo( const int index_, const ConstraintComponent& component ){
for( uint i=0; i<component.getDim(); ++i )
constraint.add( index_,component(i) );
return SUCCESSFUL_RETURN;
}
returnValue OCP::subjectTo( const TimeHorizonElement index_, const ConstraintComponent& component ){
uint i;
switch( index_ ){
case AT_START:
for( i = 0; i < component.getDim(); i++ )
ACADO_TRY( constraint.add( 0,component(i) ) );
return SUCCESSFUL_RETURN;
case AT_END:
for( i = 0; i < component.getDim(); i++ )
ACADO_TRY( constraint.add( grid.getLastIndex(),component(i) ) );
return SUCCESSFUL_RETURN;
default:
return ACADOERROR(RET_UNKNOWN_BUG);
}
return SUCCESSFUL_RETURN;
}
returnValue OCP::subjectTo( int index_, const ConstraintComponent& component )
{
ASSERT(index_ >= AT_START);
if (index_ == AT_START)
{
for (unsigned el = 0; el < component.getDim(); ++el)
ACADO_TRY( constraint->add( 0,component( el ) ) );
}
else if (index_ == AT_END)
{
for (unsigned el = 0; el < component.getDim(); ++el)
ACADO_TRY(constraint->add(grid->getLastIndex(), component( el )));
}
else
{
for (unsigned el = 0; el < component.getDim(); ++el)
constraint->add(index_, component(el));
}
return SUCCESSFUL_RETURN;
}