fixed bug with reading S

qpDUNES / qpDUNES-dev

Private development repository for qpDUNES

GNU Lesser General Public License v3.0

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fixed bug with reading S #9

Closed dkouzoup closed 7 years ago

dkouzoup commented 7 years ago

I noticed that the S^T terms in the objective are read in the wrong way. Changing NX to NU seems to fix the problem and yields the correct results in all QPs I have tested so far.

dkouzoup commented 7 years ago

@jfrasch, @mvukov do you agree?

rienq commented 7 years ago

Your fix looks correct to me.. qpdunes is row-major right? ;-)

dkouzoup commented 7 years ago

I mean jj runs until NX and we multiply by NX.. you definitely read outside matrix S, oder? Okay I will merge the request, thanks!

mvukov commented 7 years ago

It was a long time ago since I interfaced that code, thus, it may be the best to check the interface in ACADO. Matrix format might indeed be the issue.