Closed gergondet closed 1 year ago
Thanks a lot @gergondet ! fyi @GiulioRomualdi @S-Dafarra
Sorry for the unrelated CI failure, it should be fixed by https://github.com/robotology/osqp-eigen/pull/133 .
Thanks @traversaro
I have rebased on the lastest master and it all seems green now (the latest Windows failure is a network hiccup I guess)
The Codacity warnings are wrong, the members are used since the structure replaces the OSQPData
structure from the old API
Thank you @gergondet! Your work is much appreciated, and we're grateful for the time and effort you put into it! I want to apologize for the long delay in reviewing and merging your PR.
This PR updates osqp-eigen to be compatible with OSQP v1.0.0 (currently in beta). I have kept the API of osqp-eigen (almost) identical
The following things are known to not work (and afaik cannot be done with OSQP v1.0.0)
bool OsqpEigen::Solver::getPrimalVariable(Eigen::Matrix<T, n, 1> &dualVariable)
andbool OsqpEigen::Solver::getDualVariable(Eigen::Matrix<T, m, 1> &dualVariable)
return the solution held in the solution rather than the values in the workspace (which are not accessible anymore)bool OsqpEigen::Solver::clearSolverVariables()
is a no-op since workspace is opaque nowOtherwise I can at least confirm the unit tests pass but I haven't tried much more.