%==========================================================================
% 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.
   
%
                                                                          
% Note: The function uses that MATLAB in-built function 'fmincon'.
         
% Numerical tests have shown that the solver is incredibly sensitive to the
% tolerances used. Hopefully, a future version of POP will feature a
       
% work-around for this problem.
                                            
%--------------------------------------------------------------------------
% Author        : Richard Oberdieck, Nikolaos A. Diangelakis, 
             
%                 Efstratios N. Pistikopoulos
                              
% Office        : Engineering Research Building, Texas A&M University, USA
 
% Mail          : paroc@tamu.edu
                                           
%--------------------------------------------------------------------------
% Last Revision | Author  | Description
                                    
%---------------+---------+------------------------------------------------
% 17-Dec-2015   | RO      | Initial Version
                                
%==========================================================================
