Revert "Accessors and documentation"

This reverts commit 653b4b0a.

src/ZMPRefTrajectoryGeneration/qp-problem.cpp

@@ -57,54 +57,63 @@ QPProblem_s::QPProblem_s():
 QPProblem_s::~QPProblem_s()
 {
 
-  releaseMemory();
+  ReleaseMemory();
 }
 
-void QPProblem_s::releaseMemory()
+void QPProblem_s::ReleaseMemory()
 {
   if (Q!=0)
     delete [] Q;
+
   if (D!=0)
     delete [] D;
+
   if (DS!=0)
     delete [] DS;
+
   if (DU!=0)
     delete [] DU;
+
   if (XL!=0)
     delete [] XL;
+
   if (XU!=0)
     delete [] XU;
+
   if (X!=0)
     delete [] X;
+
   if (iwar!=0)
     delete [] iwar;
+
   if (war!=0)
     delete [] war;
+
   if (U!=0)
     delete [] U;
 }
 
 
 void
-QPProblem_s::resizeAll( int nb_variables, int nb_constraints)
+QPProblem_s::resizeAll( int NbVariables, int NbConstraints)
 {
 
-  resize(Q,2*n*n,2*nb_variables*nb_variables);  //Quadratic part of the objective function
-  resize(D,2*n,2*nb_variables);   // Linear part of the objective function
+  resize(Q,2*n*n,2*NbVariables*NbVariables);  //Quadratic part of the objective function
+  resize(D,2*n,2*NbVariables);   // Linear part of the objective function
 
-  resize(DS,2*m,2*nb_constraints);
-  resize(DU,2*m*n,2*nb_variables*nb_constraints);
+  resize(DS,2*m,2*NbConstraints);
+  resize(DU,2*m*n,2*NbVariables*NbConstraints);
 
-  resize(XL,2*n,2*nb_variables);  // Lower bound on the solution.
-  initialize(XL,2*nb_variables,-1e8);
-  resize(XU,2*n,2*nb_variables);  // Upper bound on the solution.
-  initialize(XU,2*nb_variables,1e8);
+  resize(XL,2*n,2*NbVariables);  // Lower bound on the solution.
+  initialize(XL,2*NbVariables,-1e8);
+  resize(XU,2*n,2*NbVariables);  // Upper bound on the solution.
+  initialize(XU,2*NbVariables,1e8);
 
-  resize(X,2*n,2*nb_variables);  // Solution of the problem.
-  resize(U,2*mnn,2*(nb_constraints+2*nb_variables));
+  resize(X,2*n,2*NbVariables);  // Solution of the problem.
+  resize(U,2*mnn,2*(NbConstraints+2*NbVariables));
 
-  resize(war,2*lwar,2*(3*nb_variables*nb_variables/2+ 10*nb_variables  + 2*(nb_constraints+1) + 20000));
-  resize(iwar,2*liwar,2*nb_variables); // The Cholesky decomposition is done internally.
+  resize(war,2*lwar,2*(3*NbVariables*NbVariables/2+ 10*NbVariables  + 2*(NbConstraints+1) + 20000));
+  resize(iwar,2*liwar,2*NbVariables); // The Cholesky decomposition is done internally.
 
 
 }
@@ -313,28 +322,28 @@ void QPProblem_s::addTerm( const MAL_VECTOR (&Vec, double), int type,
 			   unsigned int row )
 {
 
-  double * array;
+  double * aArray;
   unsigned int max_rows;
 
   switch(type)
     {
     case VECTOR_D:
-      array = D;
+      aArray = D;
       max_rows = n;
       break;
 
     case VECTOR_XL:
-      array = XL;
+      aArray = XL;
       max_rows = n;
       break;
 
     case VECTOR_XU:
-      array = XU;
+      aArray = XU;
       max_rows = n;
       break;
 
     case VECTOR_DS:
-      array = DS;
+      aArray = DS;
       max_rows = mmax;
       break;
     }
@@ -348,7 +357,7 @@ void QPProblem_s::addTerm( const MAL_VECTOR (&Vec, double), int type,
     }
 
   for(unsigned int i = 0;i < Vec.size(); i++)
-    array[row+i] += Vec(i);
+    aArray[row+i] += Vec(i);
 
 }
 
@@ -407,48 +416,48 @@ QPProblem_s::dump( int type, std::ostream & aos)
 {
 
   int lnbrows=0, lnbcols=0;
-  double * array=0;
+  double * aArray=0;
   std::string Name;
   switch(type)
     {
     case MATRIX_Q:
       lnbrows = lnbcols = n ;
-      array = Q;
+      aArray = Q;
       Name = "Q";
       break;
 
     case MATRIX_DU:
       lnbrows = mmax;
       lnbcols = n;
-      array = DU;
+      aArray = DU;
       Name = "DU";
       break;
 
     case VECTOR_D:
       lnbrows = n;
       lnbcols = 1 ;
-      array = D;
+      aArray = D;
       Name = "D";
       break;
 
     case VECTOR_XL:
       lnbrows = n;
       lnbcols = 1;
-      array = XL;
+      aArray = XL;
       Name = "XL";
       break;
 
     case VECTOR_XU:
       lnbrows = n;
       lnbcols=1;
-      array = XU;
+      aArray = XU;
       Name = "XU";
       break;
 
     case VECTOR_DS:
       lnbrows = m;
       lnbcols= 1;
-      array = DS;
+      aArray = DS;
       Name = "DS";
       break;
     }
@@ -458,7 +467,7 @@ QPProblem_s::dump( int type, std::ostream & aos)
   for(int i=0;i<lnbrows;i++)
     {
       for(int j=0;j<lnbcols;j++)
-	aos << array[i+j*lnbrows] << " ";
+	aos << aArray[i+j*lnbrows] << " ";
       aos << std::endl;
     }
   aos << std::endl;

src/ZMPRefTrajectoryGeneration/qp-problem.hh

@@ -116,22 +116,8 @@ namespace PatternGeneratorJRL
     ~QPProblem_s();
 
     /// \brief Set the number of optimization parameters.
-    ///
-    /// \param nb_variables
-    inline void setNbVariables( int nb_variables )
-    { m_NbVariables = n = nb_variables;};
-
-    /// \brief Set the number of optimization parameters.
-    ///
-    /// \param nb_variables
-    inline void setNbEqConstraints( int nb_eq_constraints )
-    { m_NbEqConstraints = me = nb_eq_constraints;};
-
-    /// \brief Set the number of optimization parameters.
-    ///
-    /// \param nb_variables
-    inline void setNbConstraints( int nb_constraints )
-    { m_NbVariables = n = nb_constraints;};
+    inline void setNbVariables( int NbVariables )
+    { m_NbVariables = NbVariables;};
 
     /// \brief Set the dimensions of the problem.
     /// This method has an internal logic to 
@@ -185,8 +171,6 @@ namespace PatternGeneratorJRL
     void addTerm(const MAL_VECTOR (&Vec, double), int type,
 		 unsigned int row);
 
-    /// \name Dumping functions
-    /// \{
     /// \brief Print of disk the parameters that are passed to the solver
     void dumpSolverParameters(std::ostream & aos);
 
@@ -200,35 +184,27 @@ namespace PatternGeneratorJRL
     /// \param filename
     void dump( int type, const char *filename);
     void dump( int type, std::ostream &);
-    /// \}
 
     /// \brief Initialize array
     ///
-    /// \param[out] array
-    /// \param[in] size
+    /// \param array
+    /// \param size
     template <class type> void initialize(type * array, int size, type value)
     { std::fill_n(array,size,value); }
 
     /// \brief Initialize whole array
     ///
-    /// \param[in] type
-    void clear( int type );
+    /// \param type
+    void clear(const int type);
 
     /// \brief Initialize block of matrix-array
     ///
-    /// \param[in] type
-    /// \param[in] row
-    /// \param[in] col
-    /// \param[in] nb_rows
-    /// \param[in] nb_cols
+    /// \param type
     void clear( int type,
 	        int row, int col,
 	        int nb_rows, int nb_cols);
 
     /// \brief Solve the problem
-    ///
-    /// \param[in] solver
-    /// \param[out] result
     void solve( int solver, solution_t & result);
 
     //
@@ -236,39 +212,31 @@ namespace PatternGeneratorJRL
     //
   protected:
 
-    /// \brief Relese memory.
-    void releaseMemory();
+    /// The method doing the real job of releasing the memory.
+    void ReleaseMemory();
 
-    /// \brief Allocate memory.
+    /// The method allocating the memory.
     /// Called when setting the dimensions of the problem.
-    ///
-    /// \param nb_variables
-    /// \param nb_constraints
-    void resizeAll( int nb_variables, int nb_constraints);
+    void resizeAll( int NbVariables, int NbConstraints);
 
     //
     //Private members
     //
   private:
 
-    /// \name ql-parameters
-    /// \{
+    /// \brief QLD parameters
     int m, me, mmax, n, nmax, mnn;
-    double *Q, *D, *DU, *DS, *XL, *XU, *X, *U, *war;
+    double *Q, *D, *DU, *DS, *XL, *XU, *X, *U, *war;//For COM
     int *iwar;
     int iout, ifail, iprint, lwar, liwar;
     double Eps;
-    /// \}
 
     /// \brief Number of optimization parameters
     int m_NbVariables;
 
-    /// \brief Total number of constraints
+    /// \brief Number of optimization parameters
     int m_NbConstraints;
 
-    /// \brief Number of equality constraints
-    int m_NbEqConstraints;
-
     /// \brief Reallocation margins
     int m_ReallocMarginVar, m_ReallocMarginConstr;