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coin-or / qpOASES

Open-source C++ implementation of the recently proposed online active set strategy
GNU Lesser General Public License v2.1
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different results in C++ and Matlab/Simulink version #37

Closed svigerske closed 4 years ago

svigerske commented 4 years ago

Issue created by migration from Trac.

Original creator: ferreau

Original creation time: 2015-05-13 18:15:10

Assignee: ferreau

Version: 3.1.0

All interfaces to qpOASES should behave exactly like the C++ version. If results in the C++ version differ from the ones obtained with Matlab or Simulink, you may have passed the QP problem data in a wrong way. In particular, the C++ expects H and A to be stored in row-major format, while Matlab / Simulink internally use the FORTRAN–inspired column-major format. While this does not matter for the symmetric Hessian matrix, passing an implicitly transposed constraint matrix typically results in an infeasible QP problem. Particular case has to be taken when using the Simulink interface as it required to stack the constraint matrix A into a vector.

(changed by ferreau at 2015-05-13 18:16:49)

svigerske commented 4 years ago

Comment by ferreau created at 2015-05-13 18:16:49

Resolution: fixed