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>


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;

    /*
     *  PROTECTED MEMBER VARIABLES
     */
    protected:

};


END_NAMESPACE_QPOASES

#include <qpOASES/extras/SolutionAnalysis.ipp>

#endif  /* QPOASES_SOLUTIONANALYSIS_HPP */


/*
 *  end of file
 */