Avoid re-initializing FastOSQP workspace when disabling warmstart

DAIRLab / dairlib

MIT License

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Avoid re-initializing FastOSQP workspace when disabling warmstart #357

Closed Brian-Acosta closed 2 months ago

Brian-Acosta commented 4 months ago

This PR avoids re-initializing the OSQP workspace when disabling warm starts, and instead directly handles the warm start setting at each solve. It also turns off warm-starting for the first solve of each new contact mode to avoid starting from an inaccurate guess.

This change is

Brian-Acosta commented 4 months ago

cc @mposa for CI failures