external_packages/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2008 by Hans Joachim Ferreau 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 <QProblem.hpp>

#define QPOASES_USE_OLD_VERSION 0

#if QPOASES_USE_OLD_VERSION
#define KKT_DIM (2 * NVMAX + NCMAX)
#endif

class SolutionAnalysis
{
public:
        
        SolutionAnalysis( );
        
        SolutionAnalysis(       const SolutionAnalysis& rhs     
                                                );
        
        ~SolutionAnalysis( );
        
        SolutionAnalysis& operator=(    const SolutionAnalysis& rhs     
                                                                        );
        
        returnValue getHessianInverse(
                                                                        QProblem* qp,                   
                                                                        real_t* hessianInverse  
                                                                        );
        
        returnValue getHessianInverse(  QProblemB* qp,                  
                                                                        real_t* hessianInverse  
                                                                        );

#if QPOASES_USE_OLD_VERSION
        returnValue getVarianceCovariance(
                                                                                QProblem* qp,
                                                                                real_t* g_b_bA_VAR,
                                                                                real_t* Primal_Dual_VAR
                                                                                );
#endif
        
private:
        
        real_t delta_g_cov[ NVMAX ];            
        real_t delta_lb_cov[ NVMAX ];           
        real_t delta_ub_cov[ NVMAX ];           
        real_t delta_lbA_cov[ NCMAX_ALLOC ];            
        real_t delta_ubA_cov[ NCMAX_ALLOC ];            
#if QPOASES_USE_OLD_VERSION
        real_t K[KKT_DIM * KKT_DIM];            
#endif
        
        int FR_idx[ NVMAX ];                            
        int FX_idx[ NVMAX ];                            
        int AC_idx[ NCMAX_ALLOC ];                              
        real_t delta_xFR[ NVMAX ];                      
        real_t delta_xFX[ NVMAX ];                      
        real_t delta_yAC[ NVMAX ];                      
        real_t delta_yFX[ NVMAX ];                      
};

#endif // QPOASES_SOLUTIONANALYSIS_HPP