Constants.hpp

Go to the documentation of this file.

/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
 *
 *      qpOASES 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 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES 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 qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_CONSTANTS_HPP
#define QPOASES_CONSTANTS_HPP

#ifndef QPOASES_CUSTOM_INTERFACE
#include "acado_qpoases_interface.hpp"
#else
#include QPOASES_CUSTOM_INTERFACE
#endif

const int NVMAX = QPOASES_NVMAX;

const int NCMAX = QPOASES_NCMAX;

const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;

const int NWSRMAX = QPOASES_NWSRMAX;

const real_t DESIREDACCURACY = (real_t) 1.0e-3;

const real_t CRITICALACCURACY = (real_t) 1.0e-2;



const real_t EPS = (real_t) QPOASES_EPS;

const real_t ZERO = (real_t) 1.0e-50;

const real_t INFTY = (real_t) 1.0e12;


const real_t BOUNDTOL = (real_t) 1.0e-10;

const real_t BOUNDRELAXATION = (real_t) 1.0e3;


const int INDEXLISTFACTOR = 5;


#endif  /* QPOASES_CONSTANTS_HPP */


/*
 *      end of file
 */