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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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Fix osqp_eigen_solver hessian and linear constraint matrix. #343

Closed Levi-Armstrong closed 1 year ago

Levi-Armstrong commented 1 year ago

There were several issues found

  1. Not correctly using eigen prune
  2. Not using pruned matrix in one case
  3. OSQP Eigen uses a different method for populating the CSC Matrix which has a bug if the input is an empty sparse matrix so a work around was implemented to get around the issue until it is fixed upstream
  4. Improve debug output to easily compare between Ifopt and Legacy Version
Levi-Armstrong commented 1 year ago

@rjoomen FYI