qpoases3/include/qpOASES_e/Constants.h

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches 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_H
#define QPOASES_CONSTANTS_H


#include <qpOASES_e/Types.h>

#ifdef __CODE_GENERATION__

  #define CONVERTTOSTRINGAUX(x) #x
  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)

  #ifndef QPOASES_CUSTOM_INTERFACE
  #include "acado_qpoases3_interface.h"
  #else
  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
  #endif

#endif


BEGIN_NAMESPACE_QPOASES


#ifndef __EXTERNAL_DIMENSIONS__

  #define QPOASES_NVMAX  50
  #define QPOASES_NCMAX  100
  /*#define QPOASES_NVMAX  287
  #define QPOASES_NCMAX  709*/

#endif /* __EXTERNAL_DIMENSIONS__ */


#define NVMAX  QPOASES_NVMAX

#define NCMAX  QPOASES_NCMAX

#if ( QPOASES_NVMAX > QPOASES_NCMAX )
#define NVCMAX QPOASES_NVMAX
#else
#define NVCMAX QPOASES_NCMAX
#endif

#if ( QPOASES_NVMAX > QPOASES_NCMAX )
#define NVCMIN QPOASES_NCMAX
#else
#define NVCMIN QPOASES_NVMAX
#endif


#define NQPMAX 1000


#ifndef __CODE_GENERATION__

  #ifdef __USE_SINGLE_PRECISION__
  static const real_t QPOASES_EPS = 1.193e-07;
  #else
  static const real_t QPOASES_EPS = 2.221e-16;
  #endif /* __USE_SINGLE_PRECISION__ */

#endif /* __CODE_GENERATION__ */


static const real_t QPOASES_ZERO = 1.0e-25;

static const real_t QPOASES_INFTY = 1.0e20;

static const real_t QPOASES_TOL = 1.0e-25;


#define QPOASES_MAX_STRING_LENGTH 160


END_NAMESPACE_QPOASES


#endif  /* QPOASES_CONSTANTS_H */


/*
 *      end of file
 */