external_packages/qpOASES-3.2.0/include/qpOASES/extras/SolutionAnalysis.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_SOLUTIONANALYSIS_HPP
#define QPOASES_SOLUTIONANALYSIS_HPP


#include <qpOASES/SQProblem.hpp>
#include <qpOASES/SQProblemSchur.hpp>


BEGIN_NAMESPACE_QPOASES


class SolutionAnalysis
{
        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                SolutionAnalysis( );

                SolutionAnalysis(       const SolutionAnalysis& rhs             
                                                        );

                ~SolutionAnalysis( );

                SolutionAnalysis& operator=(    const SolutionAnalysis& rhs             
                                                                                );


                real_t getKktViolation( QProblemB* const qp,            
                                                                real_t* const maxStat = 0,      
                                                                real_t* const maxFeas = 0,      
                                                                real_t* const maxCmpl = 0       
                                                                ) const;

                real_t getKktViolation( QProblem* const qp,                     
                                                                real_t* const maxStat = 0,      
                                                                real_t* const maxFeas = 0,      
                                                                real_t* const maxCmpl = 0       
                                                                ) const;

                real_t getKktViolation( SQProblem* const qp,            
                                                                real_t* const maxStat = 0,      
                                                                real_t* const maxFeas = 0,      
                                                                real_t* const maxCmpl = 0       
                                                                ) const;


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

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

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

                returnValue checkCurvatureOnStronglyActiveConstraints(  SQProblemSchur* qp );
                returnValue checkCurvatureOnStronglyActiveConstraints(  SQProblem* qp );

        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:

};


END_NAMESPACE_QPOASES

#include <qpOASES/extras/SolutionAnalysis.ipp>

#endif  /* QPOASES_SOLUTIONANALYSIS_HPP */


/*
 *      end of file
 */