Provides additional tools for analysing QP solutions. More...

#include <SolutionAnalysis.hpp>

Public Member Functions
returnValue	getHessianInverse (QProblem qp, real_t hessianInverse)
returnValue	getHessianInverse (QProblem qp, real_t hessianInverse)
returnValue	getHessianInverse (QProblemB qp, real_t hessianInverse)
returnValue	getHessianInverse (QProblemB qp, real_t hessianInverse)
returnValue	getMaxKKTviolation (QProblemB *qp, real_t &maxKKTviolation) const
returnValue	getMaxKKTviolation (QProblem *qp, real_t &maxKKTviolation) const
returnValue	getMaxKKTviolation (SQProblem *qp, real_t &maxKKTviolation) const
returnValue	getVarianceCovariance (QProblemB qp, real_t g_b_bA_VAR, real_t *Primal_Dual_VAR) const
returnValue	getVarianceCovariance (QProblem qp, real_t g_b_bA_VAR, real_t *Primal_Dual_VAR) const
returnValue	getVarianceCovariance (SQProblem qp, real_t g_b_bA_VAR, real_t *Primal_Dual_VAR) const
SolutionAnalysis &	operator= (const SolutionAnalysis &rhs)
SolutionAnalysis &	operator= (const SolutionAnalysis &rhs)
SolutionAnalysis &	operator= (const SolutionAnalysis &rhs)
	SolutionAnalysis ()
	SolutionAnalysis ()
	SolutionAnalysis (const SolutionAnalysis &rhs)
	SolutionAnalysis (const SolutionAnalysis &rhs)
	SolutionAnalysis ()
	SolutionAnalysis (const SolutionAnalysis &rhs)
	~SolutionAnalysis ()
	~SolutionAnalysis ()
	~SolutionAnalysis ()
Private Attributes
int	AC_idx [NCMAX_ALLOC]
real_t	delta_g_cov [NVMAX]
real_t	delta_lb_cov [NVMAX]
real_t	delta_lbA_cov [NCMAX_ALLOC]
real_t	delta_ub_cov [NVMAX]
real_t	delta_ubA_cov [NCMAX_ALLOC]
real_t	delta_xFR [NVMAX]
real_t	delta_xFX [NVMAX]
real_t	delta_yAC [NVMAX]
real_t	delta_yFX [NVMAX]
int	FR_idx [NVMAX]
int	FX_idx [NVMAX]

Detailed Description

Provides additional tools for analysing QP solutions.

This class is intended to provide additional tools for analysing a QP solution obtained with qpOASES.

Author:: Boris Houska, Hans Joachim Ferreau

Version:: 3.0beta

Date:: 2007-2011

Definition at line 48 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES SolutionAnalysis::SolutionAnalysis ( )

Default constructor.

Definition at line 38 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp.

SolutionAnalysis::SolutionAnalysis ( const SolutionAnalysis & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 46 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp.

SolutionAnalysis::~SolutionAnalysis ( )

Destructor.

Definition at line 54 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp.

SolutionAnalysis::SolutionAnalysis ( )

Default constructor.

SolutionAnalysis::SolutionAnalysis ( const SolutionAnalysis & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

SolutionAnalysis::~SolutionAnalysis ( )

Destructor.

SolutionAnalysis::SolutionAnalysis ( )

Default constructor.

SolutionAnalysis::SolutionAnalysis ( const SolutionAnalysis & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

SolutionAnalysis::~SolutionAnalysis ( )

Destructor.

Member Function Documentation

returnValue SolutionAnalysis::getHessianInverse	(	QProblem *	qp,
		real_t *	hessianInverse
	)

A routine for computation of inverse of the Hessian matrix.

Parameters:

hessianInverse QP Inverse of the Hessian matrix

Definition at line 75 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getHessianInverse	(	QProblem *	qp,
		real_t *	hessianInverse
	)

A routine for computation of inverse of the Hessian matrix.

Parameters:

hessianInverse QP Inverse of the Hessian matrix

returnValue SolutionAnalysis::getHessianInverse	(	QProblemB *	qp,
		real_t *	hessianInverse
	)

A routine for computation of inverse of the Hessian matrix.

Parameters:

hessianInverse QP Inverse of the Hessian matrix

Definition at line 176 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getHessianInverse	(	QProblemB *	qp,
		real_t *	hessianInverse
	)

A routine for computation of inverse of the Hessian matrix.

Parameters:

hessianInverse QP Inverse of the Hessian matrix

returnValue SolutionAnalysis::getMaxKKTviolation	(	QProblemB *	qp,
		real_t &	maxKKTviolation
	)		const

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblemB object.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_ANALYSE_QPROBLEM

Parameters:

qp	QProblemB to be analysed.
maxKKTviolation	OUTPUT: maximum violation of the KKT conditions.

Definition at line 93 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getMaxKKTviolation	(	QProblem *	qp,
		real_t &	maxKKTviolation
	)		const

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblem object.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_ANALYSE_QPROBLEM

Parameters:

qp	QProblem to be analysed.
maxKKTviolation	OUTPUT: maximum violation of the KKT conditions.

Definition at line 175 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getMaxKKTviolation	(	SQProblem *	qp,
		real_t &	maxKKTviolation
	)		const

Determines the maximum violation of the KKT optimality conditions of the current iterate within the SQProblem object.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_ANALYSE_QPROBLEM

Parameters:

qp	SQProblem to be analysed.
maxKKTviolation	OUTPUT: maximum violation of the KKT conditions.

Definition at line 302 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getVarianceCovariance	(	QProblemB *	qp,
		real_t *	g_b_bA_VAR,
		real_t *	Primal_Dual_VAR
	)		const

Computes the variance-covariance matrix of the QP output for uncertain
inputs.

Returns:: SUCCESSFUL_RETURN
RET_HOTSTART_FAILED
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

qp	QProblemB to be analysed.
g_b_bA_VAR	INPUT : Variance-covariance of g, the bounds lb and ub, and lbA and ubA respectively. Dimension: 2nV x 2nV
Primal_Dual_VAR	OUTPUT: The result for the variance-covariance of the primal and dual variables. Dimension: 2nV x 2nV

Definition at line 312 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getVarianceCovariance	(	QProblem *	qp,
		real_t *	g_b_bA_VAR,
		real_t *	Primal_Dual_VAR
	)		const

Computes the variance-covariance matrix of the QP output for uncertain
inputs.

Returns:: SUCCESSFUL_RETURN
RET_HOTSTART_FAILED
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

qp	QProblem to be analysed.
g_b_bA_VAR	INPUT : Variance-covariance of g, the bounds lb and ub, and lbA and ubA respectively. Dimension: (2nV+nC) x (2nV+nC)
Primal_Dual_VAR	OUTPUT: The result for the variance-covariance of the primal and dual variables. Dimension: (2nV+nC) x (2nV+nC)

Definition at line 321 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

returnValue SolutionAnalysis::getVarianceCovariance	(	SQProblem *	qp,
		real_t *	g_b_bA_VAR,
		real_t *	Primal_Dual_VAR
	)		const

Computes the variance-covariance matrix of the QP output for uncertain
inputs.

Returns:: SUCCESSFUL_RETURN
RET_HOTSTART_FAILED
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

qp	SQProblem to be analysed.
g_b_bA_VAR	INPUT : Variance-covariance of g, the bounds lb and ub, and lbA and ubA respectively. Dimension: (2nV+nC) x (2nV+nC)
Primal_Dual_VAR	OUTPUT: The result for the variance-covariance of the primal and dual variables. Dimension: (2nV+nC) x (2nV+nC)

Definition at line 555 of file external_packages/qpOASES-3.0beta/src/extras/SolutionAnalysis.cpp.

SolutionAnalysis& SolutionAnalysis::operator= ( const SolutionAnalysis & rhs )

Copy asingment operator (deep copy).

Parameters: