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135 lines
3.5 KiB
135 lines
3.5 KiB
4 years ago
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/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/qpOASES_e/Constants.h
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*
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* Definition of all global constants.
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*/
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#ifndef QPOASES_CONSTANTS_H
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#define QPOASES_CONSTANTS_H
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#include <qpOASES_e/Types.h>
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#ifdef __CODE_GENERATION__
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#define CONVERTTOSTRINGAUX(x) #x
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#define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
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#ifndef QPOASES_CUSTOM_INTERFACE
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#include "acado_qpoases3_interface.h"
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#else
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#include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
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#endif
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#endif
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BEGIN_NAMESPACE_QPOASES
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#ifndef __EXTERNAL_DIMENSIONS__
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/*#define QPOASES_NVMAX 50
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#define QPOASES_NCMAX 100*/
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#define QPOASES_NVMAX 287
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#define QPOASES_NCMAX 709
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#endif /* __EXTERNAL_DIMENSIONS__ */
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/** Maximum number of variables within a QP formulation.
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* Note: this value has to be positive! */
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#define NVMAX QPOASES_NVMAX
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/** Maximum number of constraints within a QP formulation.
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* Note: this value has to be positive! */
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#define NCMAX QPOASES_NCMAX
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#if ( QPOASES_NVMAX > QPOASES_NCMAX )
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#define NVCMAX QPOASES_NVMAX
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#else
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#define NVCMAX QPOASES_NCMAX
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#endif
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#if ( QPOASES_NVMAX > QPOASES_NCMAX )
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#define NVCMIN QPOASES_NCMAX
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#else
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#define NVCMIN QPOASES_NVMAX
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#endif
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/** Maximum number of QPs in a sequence solved by means of the OQP interface.
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* Note: this value has to be positive! */
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#define NQPMAX 1000
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/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
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* Note: this value has to be positive! */
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#ifndef __CODE_GENERATION__
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#ifdef __USE_SINGLE_PRECISION__
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static const real_t QPOASES_EPS = 1.193e-07;
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#else
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static const real_t QPOASES_EPS = 2.221e-16;
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#endif /* __USE_SINGLE_PRECISION__ */
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#endif /* __CODE_GENERATION__ */
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/** Numerical value of zero (for situations in which it would be
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* unreasonable to compare with 0.0).
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* Note: this value has to be positive! */
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static const real_t QPOASES_ZERO = 1.0e-25;
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/** Numerical value of infinity (e.g. for non-existing bounds).
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* Note: this value has to be positive! */
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static const real_t QPOASES_INFTY = 1.0e20;
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/** Tolerance to used for isEqual, isZero etc.
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* Note: this value has to be positive! */
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static const real_t QPOASES_TOL = 1.0e-25;
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/** Maximum number of characters within a string.
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* Note: this value should be at least 41! */
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#define QPOASES_MAX_STRING_LENGTH 160
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END_NAMESPACE_QPOASES
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#endif /* QPOASES_CONSTANTS_H */
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/*
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* end of file
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*/
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