%==========================================================================
% File Name     : <ExactSolution.m>
% Usage         : New_Sol = ExactSolution(Solution)
% Description   : This function takes the solution struct featuring
% envelopes of solutions and polytopic critical regions and provides the
% exact solution by solving the corresponding QCLP feasibility problems. In
% the current version the redundant constraints are not removed, but this
% might be added in a future version.
%--------------------------------------------------------------------------
% Author        : Richard Oberdieck, Nikolaos A. Diangelakis
% Office        : Giesecke Engineering Research Building, Texas A&M, USA.
% Mail          : paroc@tamu.edu
%--------------------------------------------------------------------------
% Last Revision | Author  | Description
%---------------+---------+------------------------------------------------
% 17-Dec-2015   | RO      | Initial Version
%==========================================================================