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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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Fix mismatched delete/free in OSQPModel #398

Closed Jack-ReframeSystems closed 3 months ago

Jack-ReframeSystems commented 3 months ago

Previously we were calling delete on the CSC matrix pointer but its malloc'd, we should be calling "free" instead. We also don't want to free any of the subfield (using something like csc_spfree) since we manage the individual fields in OSQPModel vectors.

Jack-ReframeSystems commented 3 months ago

LGTM, Could can you run clang format? There is a script .run-clang-format that you may run.

Do you mind if I change the clang format script to use a newer version of clang? Its using clang 8 at the moment but I can't get that on Ubuntu Jammy, I would like to change it to use the clang default version on the system.

I'll update the PR with this and you can let me know if you have concerns with this.

Also, happy to break that into a different PR if you want me to.

Levi-Armstrong commented 3 months ago

replaced by #399

rjoomen commented 2 months ago

Good catch!