Bug in export of Householder QR based lin. solver #46
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ghost
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Hello @rienq ? Any progress on this so far? :) |
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sorry, no.. will try to have a look at it later this week ! |
rienq
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mvukov
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Oct 7, 2013
- In the Householder QP decomposition, since acado#46 is solved - In the ExportAcadoFunction, because it is giving me more headache than helping me debug the code. There is a comment and todo there now.
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While extending the QR based lin. solver I think I found a bug. @rienq please take a look at commit mvukov@d0219e4. I commented out some lines and fixed the loop limit of the outer-most loop of the factorization routine.
The basic problem was that the last element of the R matrix, i.e. R(nc, nc), was wrong.
The solver works now w/o reuse feature. I compared results (for both cases m=n, m > n) against MATLAB and everything is fine.
@rienq please fix the solver so that it works with reuse of factorization again. Thanx! :)
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