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108 lines
3.3 KiB
108 lines
3.3 KiB
/*
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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) 2007-2008 by Hans Joachim Ferreau 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. See the GNU
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* 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/Constants.hpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2008
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*
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* Definition of all global constants.
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*/
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#ifndef QPOASES_CONSTANTS_HPP
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#define QPOASES_CONSTANTS_HPP
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#ifndef QPOASES_CUSTOM_INTERFACE
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#include "acado_qpoases_interface.hpp"
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#else
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#define XSTR(x) #x
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#define STR(x) XSTR(x)
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#include STR(QPOASES_CUSTOM_INTERFACE)
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#endif
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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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const int 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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const int NCMAX = QPOASES_NCMAX;
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/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
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and compiler errors. */
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const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
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/**< Maximum number of working set recalculations.
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Note: this value has to be positive! */
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const int NWSRMAX = QPOASES_NWSRMAX;
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/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
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* issued if this tolerance is not met.
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* Note: this value has to be positive! */
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const real_t DESIREDACCURACY = (real_t) 1.0e-3;
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/** Critical KKT tolerance of QP solution; an error is issued if this
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* tolerance is not met.
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* Note: this value has to be positive! */
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const real_t CRITICALACCURACY = (real_t) 1.0e-2;
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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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const real_t EPS = (real_t) QPOASES_EPS;
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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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const real_t ZERO = (real_t) 1.0e-50;
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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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const real_t INFTY = (real_t) 1.0e12;
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/** Lower/upper (constraints') bound tolerance (an inequality constraint
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* whose lower and upper bound differ by less than BOUNDTOL is regarded
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* to be an equality constraint).
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* Note: this value has to be positive! */
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const real_t BOUNDTOL = (real_t) 1.0e-10;
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/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
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* Note: this value has to be positive! */
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const real_t BOUNDRELAXATION = (real_t) 1.0e3;
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/** Factor that determines physical lengths of index lists.
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* Note: this value has to be greater than 1! */
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const int INDEXLISTFACTOR = 5;
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#endif /* QPOASES_CONSTANTS_HPP */
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/*
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* end of file
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*/
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