Line | |
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1 | function [Fi,Gi,details] = mpt_project_back_equality(Matrices,Fi,Gi,details,OriginalMatrices); |
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2 | if isempty(Matrices.getback) |
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3 | return |
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4 | else |
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5 | %Original solution given by S1*z+S2*x+S3 |
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6 | S1 = Matrices.getback.S1; |
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7 | S2 = Matrices.getback.S2; |
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8 | S3 = Matrices.getback.S3; |
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9 | for i=1:length(Fi) |
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10 | if isempty(Fi{i}) |
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11 | Fi{i} = S2; |
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12 | Gi{i} = S3; |
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13 | else |
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14 | Fi{i} = S1*Fi{i} + S2; |
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15 | Gi{i} = S1*Gi{i} + S3; |
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16 | end |
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17 | end |
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18 | if nargin>2 |
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19 | if OriginalMatrices.qp |
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20 | for i=1:length(Fi) |
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21 | % FIX : Check this... |
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22 | details.Ai{i} = 0.5*Fi{i}'*OriginalMatrices.H*Fi{i} + 0.5*(OriginalMatrices.F*Fi{i}+Fi{i}'*OriginalMatrices.F') + OriginalMatrices.Y; |
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23 | details.Bi{i} = OriginalMatrices.Cf*Fi{i}+Gi{i}'*OriginalMatrices.F' + Gi{i}'*OriginalMatrices.H*Fi{i} + OriginalMatrices.Cx; |
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24 | details.Ci{i} = OriginalMatrices.Cf*Gi{i}+0.5*Gi{i}'*OriginalMatrices.H*Gi{i} + OriginalMatrices.Cc; |
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25 | end |
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26 | else |
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27 | for i=1:length(Fi) |
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28 | details.Bi{i} = OriginalMatrices.H*Fi{i} + OriginalMatrices.F; |
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29 | details.Ci{i} = OriginalMatrices.H*Gi{i}; |
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30 | end |
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31 | end |
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32 | end |
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33 | end |
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