qpOASES 3.2.1
An Implementation of the Online Active Set Strategy
SolutionAnalysis.hpp
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1/*
2 * This file is part of qpOASES.
3 *
4 * qpOASES -- An Implementation of the Online Active Set Strategy.
5 * Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
6 * Christian Kirches et al. All rights reserved.
7 *
8 * qpOASES is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU Lesser General Public
10 * License as published by the Free Software Foundation; either
11 * version 2.1 of the License, or (at your option) any later version.
12 *
13 * qpOASES is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16 * See the GNU Lesser General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public
19 * License along with qpOASES; if not, write to the Free Software
20 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21 *
22 */
23
24
36#ifndef QPOASES_SOLUTIONANALYSIS_HPP
37#define QPOASES_SOLUTIONANALYSIS_HPP
38
39
40#include <qpOASES/SQProblem.hpp>
42
43
45
46
58{
59 /*
60 * PUBLIC MEMBER FUNCTIONS
61 */
62 public:
65
68 );
69
72
75 );
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77
82 real_t* const maxStat = 0,
83 real_t* const maxFeas = 0,
84 real_t* const maxCmpl = 0
85 ) const;
86
91 real_t* const maxStat = 0,
92 real_t* const maxFeas = 0,
93 real_t* const maxCmpl = 0
94 ) const;
95
100 real_t* const maxStat = 0,
101 real_t* const maxFeas = 0,
102 real_t* const maxCmpl = 0
103 ) const;
104
105
113 const real_t* const g_b_bA_VAR,
115 real_t* const Primal_Dual_VAR
117 ) const;
118
126 const real_t* const g_b_bA_VAR,
128 real_t* const Primal_Dual_VAR
130 ) const;
131
139 const real_t* const g_b_bA_VAR,
141 real_t* const Primal_Dual_VAR
143 ) const;
144
148
149 /*
150 * PROTECTED MEMBER VARIABLES
151 */
152 protected:
153
154};
155
156
158
160
161#endif /* QPOASES_SOLUTIONANALYSIS_HPP */
162
163
164/*
165 * end of file
166 */
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.hpp:65
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition: Types.hpp:171
#define END_NAMESPACE_QPOASES
Definition: Types.hpp:110
#define BEGIN_NAMESPACE_QPOASES
Definition: Types.hpp:107
Implements the online active set strategy for box-constrained QPs.
Definition: QProblemB.hpp:64
Implements the online active set strategy for QPs with general constraints.
Definition: QProblem.hpp:62
Implements the online active set strategy for QPs with varying, sparse matrices.
Definition: SQProblemSchur.hpp:62
Implements the online active set strategy for QPs with varying matrices.
Definition: SQProblem.hpp:60
Provides additional tools for analysing QP solutions.
Definition: SolutionAnalysis.hpp:58
returnValue getVarianceCovariance(QProblemB *const qp, const real_t *const g_b_bA_VAR, real_t *const Primal_Dual_VAR) const
Definition: SolutionAnalysis.cpp:265
real_t getKktViolation(QProblemB *const qp, real_t *const maxStat=0, real_t *const maxFeas=0, real_t *const maxCmpl=0) const
Definition: SolutionAnalysis.cpp:93
~SolutionAnalysis()
Definition: SolutionAnalysis.cpp:69
SolutionAnalysis()
Definition: SolutionAnalysis.cpp:51
SolutionAnalysis & operator=(const SolutionAnalysis &rhs)
Definition: SolutionAnalysis.cpp:78
returnValue checkCurvatureOnStronglyActiveConstraints(SQProblemSchur *qp)
Definition: SolutionAnalysis.cpp:534