Squashed 'third_party/osqp/' content from commit 33454b3e23
Change-Id: I056df0582ca06664e86554c341a94c47ab932001
git-subtree-dir: third_party/osqp
git-subtree-split: 33454b3e236f1f44193bfbbb6b8c8e71f8f04e9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/include/constants.h b/include/constants.h
new file mode 100644
index 0000000..2acbb65
--- /dev/null
+++ b/include/constants.h
@@ -0,0 +1,128 @@
+#ifndef CONSTANTS_H
+# define CONSTANTS_H
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+
+/*******************
+* OSQP Versioning *
+*******************/
+#include "version.h"
+
+/******************
+* Solver Status *
+******************/
+# define OSQP_DUAL_INFEASIBLE_INACCURATE (4)
+# define OSQP_PRIMAL_INFEASIBLE_INACCURATE (3)
+# define OSQP_SOLVED_INACCURATE (2)
+# define OSQP_SOLVED (1)
+# define OSQP_MAX_ITER_REACHED (-2)
+# define OSQP_PRIMAL_INFEASIBLE (-3) /* primal infeasible */
+# define OSQP_DUAL_INFEASIBLE (-4) /* dual infeasible */
+# define OSQP_SIGINT (-5) /* interrupted by user */
+# ifdef PROFILING
+# define OSQP_TIME_LIMIT_REACHED (-6)
+# endif // ifdef PROFILING
+# define OSQP_NON_CVX (-7) /* problem non convex */
+# define OSQP_UNSOLVED (-10) /* Unsolved. Only setup function has been called */
+
+
+/*************************
+* Linear System Solvers *
+*************************/
+enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER, UNKNOWN_SOLVER=99 };
+extern const char * LINSYS_SOLVER_NAME[];
+
+
+/******************
+* Solver Errors *
+******************/
+enum osqp_error_type {
+ OSQP_DATA_VALIDATION_ERROR = 1, /* Start errors from 1 */
+ OSQP_SETTINGS_VALIDATION_ERROR,
+ OSQP_LINSYS_SOLVER_LOAD_ERROR,
+ OSQP_LINSYS_SOLVER_INIT_ERROR,
+ OSQP_NONCVX_ERROR,
+ OSQP_MEM_ALLOC_ERROR,
+ OSQP_WORKSPACE_NOT_INIT_ERROR,
+};
+extern const char * OSQP_ERROR_MESSAGE[];
+
+
+/**********************************
+* Solver Parameters and Settings *
+**********************************/
+
+# define RHO (0.1)
+# define SIGMA (1E-06)
+# define MAX_ITER (4000)
+# define EPS_ABS (1E-3)
+# define EPS_REL (1E-3)
+# define EPS_PRIM_INF (1E-4)
+# define EPS_DUAL_INF (1E-4)
+# define ALPHA (1.6)
+# define LINSYS_SOLVER (QDLDL_SOLVER)
+
+# define RHO_MIN (1e-06)
+# define RHO_MAX (1e06)
+# define RHO_EQ_OVER_RHO_INEQ (1e03)
+# define RHO_TOL (1e-04) ///< tolerance for detecting if an inequality is set to equality
+
+
+# ifndef EMBEDDED
+# define DELTA (1E-6)
+# define POLISH (0)
+# define POLISH_REFINE_ITER (3)
+# define VERBOSE (1)
+# endif // ifndef EMBEDDED
+
+# define SCALED_TERMINATION (0)
+# define CHECK_TERMINATION (25)
+# define WARM_START (1)
+# define SCALING (10)
+
+# define MIN_SCALING (1e-04) ///< minimum scaling value
+# define MAX_SCALING (1e+04) ///< maximum scaling value
+
+
+# ifndef OSQP_NULL
+# define OSQP_NULL 0
+# endif /* ifndef OSQP_NULL */
+
+# ifndef OSQP_NAN
+# define OSQP_NAN ((c_float)0x7fc00000UL) // not a number
+# endif /* ifndef OSQP_NAN */
+
+# ifndef OSQP_INFTY
+# define OSQP_INFTY ((c_float)1e30) // infinity
+# endif /* ifndef OSQP_INFTY */
+
+# ifndef OSQP_DIVISION_TOL
+# define OSQP_DIVISION_TOL ((c_float)1.0 / OSQP_INFTY)
+# endif /* ifndef OSQP_DIVISION_TOL */
+
+
+# if EMBEDDED != 1
+# define ADAPTIVE_RHO (1)
+# define ADAPTIVE_RHO_INTERVAL (0)
+# define ADAPTIVE_RHO_FRACTION (0.4) ///< fraction of setup time after which we update rho
+# define ADAPTIVE_RHO_MULTIPLE_TERMINATION (4) ///< multiple of check_termination after which we update rho (if PROFILING disabled)
+# define ADAPTIVE_RHO_FIXED (100) ///< number of iterations after which we update rho if termination_check and PROFILING are disabled
+# define ADAPTIVE_RHO_TOLERANCE (5) ///< tolerance for adopting new rho; minimum ratio between new rho and the current one
+# endif // if EMBEDDED != 1
+
+# ifdef PROFILING
+# define TIME_LIMIT (0) ///< Disable time limit as default
+# endif // ifdef PROFILING
+
+/* Printing */
+# define PRINT_INTERVAL 200
+
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+#endif // ifndef CONSTANTS_H