acado_constants.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit 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 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit 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 ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_ACADO_CONSTANTS_HPP
#define ACADO_TOOLKIT_ACADO_CONSTANTS_HPP

#include <acado/utils/acado_types.hpp>

BEGIN_NAMESPACE_ACADO

const double EPS = 2.221e-16;

const double ZERO_EPS = 2.221e-16;

const double EQUALITY_EPS = 1.0e-12;

const double SQRT_EPS = 1.490301982821e-08;

const double THIRD_ROOT_EPS = 6.055957976542e-06;

const double FOURTH_ROOT_EPS = 1.22077925228967e-04;

const double ZERO = 1.0e-50;

const double INFTY = 1.0e12;

#ifndef INFINITY
const double INFINITY = 1.0/1e-53;
#endif

const double ACADO_NAN = INFTY;

const double BOUNDTOL = 1.0e-10;

const double BOUNDRELAXATION = 1.0e3;

const double DEFAULT_SAMPLING_TIME = 1.0;

const unsigned int MAX_LENGTH_STRING = 1024;

const unsigned int MAX_LENGTH_NAME = 80;

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_ACADO_CONSTANTS_HPP

/*
 *      end of file
 */