performance_index.hpp

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#ifndef ROBOTOC_PERFORMANCE_INDEX_HPP_
#define ROBOTOC_PERFORMANCE_INDEX_HPP_
 
#include <iostream>
 
 
namespace robotoc {
 
struct PerformanceIndex {
  double cost = 0.0;
 
  double cost_barrier = 0.0;
 
  double primal_feasibility = 0.0;
 
  double dual_feasibility = 0.0;
 
  double kkt_error = 0.0;
 
  PerformanceIndex& operator+=(const PerformanceIndex& other);
 
  PerformanceIndex operator+(const PerformanceIndex& other) const;
 
  void setZero();
 
  bool isApprox(const PerformanceIndex& other) const;
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, 
                                  const PerformanceIndex& kkt_residual);
};
 
} // namespace robotoc
 
#endif // ROBOTOC_PERFORMANCE_INDEX_HPP_