Support the CG-based linear solver in QPs

PREDICT-EPFL / polympc

Light-weight C++ library for fast embedded nonlinear optimisation and optimal control

https://polympc.rtfd.io

Mozilla Public License 2.0

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Closed petlist closed 5 years ago

petlist commented 5 years ago

Implement a CG-based linear solver in the QP solver.

msplr commented 5 years ago

Addressed in d083c6416d57be380fc8c7511a35b182b4b53d0c. Also works with Eigen::ConjugateGradient.

msplr commented 5 years ago

Compilation fails with ConjugateGradient. How can we do template of template with variable number of arguments?

msplr commented 5 years ago

fixed in cf0704e44464016ef711d9faa1a45a2951614b87. This works thanks to Eigen's consistent API, yay 🦉