/*
 *	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
 */