qpOASES: include/qpOASES/Constants.hpp Source File

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00001 /*
00002  *  This file is part of qpOASES.
00003  *
00004  *  qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
00006  *  Christian Kirches et al. All rights reserved.
00007  *
00008  *  qpOASES is free software; you can redistribute it and/or
00009  *  modify it under the terms of the GNU Lesser General Public
00010  *  License as published by the Free Software Foundation; either
00011  *  version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *  qpOASES is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *  See the GNU Lesser General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU Lesser General Public
00019  *  License along with qpOASES; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00035 #ifndef QPOASES_CONSTANTS_HPP
00036 #define QPOASES_CONSTANTS_HPP
00037 
00038 
00039 #include <qpOASES/Types.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_QPOASES
00043 
00044 
00047 #ifdef __USE_SINGLE_PRECISION__
00048 const real_t EPS = 1.193e-07f;
00049 #else
00050 const real_t EPS = 2.221e-16;
00051 #endif /* __USE_SINGLE_PRECISION__ */
00052 
00053 
00057 const real_t ZERO = 1.0e-25;
00058 
00061 const real_t INFTY = 1.0e20;
00062 
00063 
00066 const uint_t MAX_STRING_LENGTH = 160;
00067 
00068 
00069 END_NAMESPACE_QPOASES
00070 
00071 
00072 #endif  /* QPOASES_CONSTANTS_HPP */
00073 
00074 
00075 /*
00076  *  end of file
00077  */