00001 /* 00002 * This file is part of qpOASES. 00003 * 00004 * qpOASES -- An Implementation of the Online Active Set Strategy. 00005 * Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka, 00006 * Christian Kirches et al. All rights reserved. 00007 * 00008 * qpOASES is free software; you can redistribute it and/or 00009 * modify it under the terms of the GNU Lesser General Public 00010 * License as published by the Free Software Foundation; either 00011 * version 2.1 of the License, or (at your option) any later version. 00012 * 00013 * qpOASES is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00016 * See the GNU Lesser General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU Lesser General Public 00019 * License along with qpOASES; if not, write to the Free Software 00020 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00021 * 00022 */ 00023 00024 00035 #ifndef QPOASES_CONSTANTS_HPP 00036 #define QPOASES_CONSTANTS_HPP 00037 00038 00039 #include <qpOASES/Types.hpp> 00040 00041 00042 BEGIN_NAMESPACE_QPOASES 00043 00044 00047 #ifdef __USE_SINGLE_PRECISION__ 00048 const real_t EPS = 1.193e-07; 00049 #else 00050 const real_t EPS = 2.221e-16; 00051 #endif /* __USE_SINGLE_PRECISION__ */ 00052 00053 00057 const real_t ZERO = 1.0e-50; 00058 00061 const real_t INFTY = 1.0e12; 00062 00063 00064 00065 END_NAMESPACE_QPOASES 00066 00067 00068 #endif /* QPOASES_CONSTANTS_HPP */ 00069 00070 00071 /* 00072 * end of file 00073 */