SolutionAnalysis.hpp
Go to the documentation of this file.
00001 /*
00002  *      This file is part of qpOASES.
00003  *
00004  *      qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *      Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
00006  *
00007  *      qpOASES is free software; you can redistribute it and/or
00008  *      modify it under the terms of the GNU Lesser General Public
00009  *      License as published by the Free Software Foundation; either
00010  *      version 2.1 of the License, or (at your option) any later version.
00011  *
00012  *      qpOASES is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00015  *      Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with qpOASES; if not, write to the Free Software
00019  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00020  *
00021  */
00022 
00023 
00034 //
00035 
00036 #ifndef QPOASES_SOLUTIONANALYSIS_HPP
00037 #define QPOASES_SOLUTIONANALYSIS_HPP
00038 
00039 #include <QProblem.hpp>
00040 
00042 #define QPOASES_USE_OLD_VERSION 0
00043 
00044 #if QPOASES_USE_OLD_VERSION
00045 #define KKT_DIM (2 * NVMAX + NCMAX)
00046 #endif
00047 
00048 class SolutionAnalysis
00049 {
00050 public:
00051         
00053         SolutionAnalysis( );
00054         
00056         SolutionAnalysis(       const SolutionAnalysis& rhs     
00057                                                 );
00058         
00060         ~SolutionAnalysis( );
00061         
00063         SolutionAnalysis& operator=(    const SolutionAnalysis& rhs     
00064                                                                         );
00065         
00067         returnValue getHessianInverse(
00068                                                                         QProblem* qp,                   
00069                                                                         real_t* hessianInverse  
00070                                                                         );
00071         
00073         returnValue getHessianInverse(  QProblemB* qp,                  
00074                                                                         real_t* hessianInverse  
00075                                                                         );
00076 
00077 #if QPOASES_USE_OLD_VERSION
00078         returnValue getVarianceCovariance(
00079                                                                                 QProblem* qp,
00080                                                                                 real_t* g_b_bA_VAR,
00081                                                                                 real_t* Primal_Dual_VAR
00082                                                                                 );
00083 #endif
00084         
00085 private:
00086         
00087         real_t delta_g_cov[ NVMAX ];            
00088         real_t delta_lb_cov[ NVMAX ];           
00089         real_t delta_ub_cov[ NVMAX ];           
00090         real_t delta_lbA_cov[ NCMAX_ALLOC ];            
00091         real_t delta_ubA_cov[ NCMAX_ALLOC ];            
00093 #if QPOASES_USE_OLD_VERSION
00094         real_t K[KKT_DIM * KKT_DIM];            
00095 #endif
00096         
00097         int FR_idx[ NVMAX ];                            
00098         int FX_idx[ NVMAX ];                            
00099         int AC_idx[ NCMAX_ALLOC ];                              
00101         real_t delta_xFR[ NVMAX ];                      
00102         real_t delta_xFX[ NVMAX ];                      
00103         real_t delta_yAC[ NVMAX ];                      
00104         real_t delta_yFX[ NVMAX ];                      
00105 };
00106 
00107 #endif // QPOASES_SOLUTIONANALYSIS_HPP


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:08