You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
109 lines
3.4 KiB
109 lines
3.4 KiB
8 years ago
|
/*
|
||
|
|
* 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
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \file INCLUDE/Constants.hpp
|
||
|
|
* \author Hans Joachim Ferreau
|
||
|
|
* \version 1.3embedded
|
||
|
|
* \date 2008
|
||
|
|
*
|
||
|
|
* Definition of all global constants.
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef QPOASES_CONSTANTS_HPP
|
||
|
|
#define QPOASES_CONSTANTS_HPP
|
||
|
|
|
||
|
|
#ifndef QPOASES_CUSTOM_INTERFACE
|
||
|
|
#include "acado_qpoases_interface.hpp"
|
||
|
|
#else
|
||
|
|
#define XSTR(x) #x
|
||
|
|
#define STR(x) XSTR(x)
|
||
|
|
#include STR(QPOASES_CUSTOM_INTERFACE)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** Maximum number of variables within a QP formulation.
|
||
|
|
Note: this value has to be positive! */
|
||
|
|
const int NVMAX = QPOASES_NVMAX;
|
||
|
|
|
||
|
|
/** Maximum number of constraints within a QP formulation.
|
||
|
|
Note: this value has to be positive! */
|
||
|
|
const int NCMAX = QPOASES_NCMAX;
|
||
|
|
|
||
|
|
/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
|
||
|
|
and compiler errors. */
|
||
|
|
const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
|
||
|
|
|
||
|
|
/**< Maximum number of working set recalculations.
|
||
|
|
Note: this value has to be positive! */
|
||
|
|
const int NWSRMAX = QPOASES_NWSRMAX;
|
||
|
|
|
||
|
|
/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
|
||
|
|
* issued if this tolerance is not met.
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t DESIREDACCURACY = (real_t) 1.0e-3;
|
||
|
|
|
||
|
|
/** Critical KKT tolerance of QP solution; an error is issued if this
|
||
|
|
* tolerance is not met.
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t CRITICALACCURACY = (real_t) 1.0e-2;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
|
||
|
|
Note: this value has to be positive! */
|
||
|
|
const real_t EPS = (real_t) QPOASES_EPS;
|
||
|
|
|
||
|
|
/** Numerical value of zero (for situations in which it would be
|
||
|
|
* unreasonable to compare with 0.0).
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t ZERO = (real_t) 1.0e-50;
|
||
|
|
|
||
|
|
/** Numerical value of infinity (e.g. for non-existing bounds).
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t INFTY = (real_t) 1.0e12;
|
||
|
|
|
||
|
|
|
||
|
|
/** Lower/upper (constraints') bound tolerance (an inequality constraint
|
||
|
|
* whose lower and upper bound differ by less than BOUNDTOL is regarded
|
||
|
|
* to be an equality constraint).
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t BOUNDTOL = (real_t) 1.0e-10;
|
||
|
|
|
||
|
|
/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
|
||
|
|
* Note: this value has to be positive! */
|
||
|
|
const real_t BOUNDRELAXATION = (real_t) 1.0e3;
|
||
|
|
|
||
|
|
|
||
|
|
/** Factor that determines physical lengths of index lists.
|
||
|
|
* Note: this value has to be greater than 1! */
|
||
|
|
const int INDEXLISTFACTOR = 5;
|
||
|
|
|
||
|
|
|
||
|
|
#endif /* QPOASES_CONSTANTS_HPP */
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* end of file
|
||
|
|
*/
|