Issue #724 while loop instead of for loop

casadi/solvers/conic_as.cpp

@@ -334,11 +334,8 @@ namespace casadi {
     const casadi_int* a_row = A_.row();
 
     // QP iterations
-
-    // QP iterations
-    casadi_int iter;
-    for (iter=0; iter<max_iter_; ++iter) {
-
+    casadi_int iter = 0;
+    while (true) {
       // Debugging
       if (verbose_) {
         print("Current xk = \n");
@@ -351,39 +348,18 @@ namespace casadi {
         print_vector(lam_ak, na_);
       }
 
-      // Copy kkt to kktd
-      casadi_project(kkt, kkt_, kktd, kktd_, w);
-
-      // Loop over kktd entries (left two blocks of the transposed KKT)
-      for (casadi_int c=0; c<nx_; ++c) {
-        if (lam_xk[c]!=0) {
-          // Zero out column, set diagonal entry to 1
-          for (casadi_int k=kkt_colind[c]; k<kkt_colind[c+1]; ++k) {
-            kktd[k] = kkt_row[k]==c ? 1. : 0.;
-          }
-        }
-      }
-
-      // Loop over kktd entries (right two blocks of the transposed KKT)
-      for (casadi_int c=0; c<na_; ++c) {
-        if (lam_ak[c]==0) {
-          // Zero out column, set diagonal entry to -1
-          for (casadi_int k=kkt_colind[nx_+c]; k<kkt_colind[nx_+c+1]; ++k) {
-            kktd[k] = kkt_row[k]==nx_+c ? -1. : 0.;
-          }
-        }
-      }
-
-      // QR factorization
-      casadi_qr(kktd_, kktd, w, sp_v_, v, sp_r_, r, beta, get_ptr(prinv_), get_ptr(pc_));
-
       // Evaluate gradient of the Lagrangian and constraint functions
       casadi_copy(g, nx_, step);
       casadi_mv(h, H_, xk, step, 0); // gradient of the objective
       casadi_mv(a, A_, lam_ak, step, 1); // gradient of the Lagrangian
-      casadi_copy(gk, na_, step + nx_); // constraint evaluation
 
-      // Correct for active simple bounds
+      // Start new iteration
+      if (++iter==max_iter_) {
+        casadi_warning("Maximum number of iterations reached");
+        break;
+      }
+
+      // Calculate KKT residual: Correct for active simple bounds
       for (i=0; i<nx_; ++i) {
         if (lam_xk[i]!=0.) {
           step[i] = xk[i];
@@ -392,7 +368,8 @@ namespace casadi {
         }
       }
 
-      // Correct for inactive constraints
+      // Calculate KKT residual: Correct for inactive constraints
+      casadi_copy(gk, na_, step + nx_); // constraint evaluation
       for (i=0; i<na_; ++i) {
         if (lam_ak[i]==0) {
           step[nx_+i] = 0.; // -lam_ak[i]
@@ -408,10 +385,34 @@ namespace casadi {
         print_vector(step, nx_ + na_);
       }
 
-      // Negative residual
-      casadi_scal(nx_+na_, -1., step);
+      // Copy kkt to kktd
+      casadi_project(kkt, kkt_, kktd, kktd_, w);
+
+      // Loop over kktd entries (left two blocks of the transposed KKT)
+      for (casadi_int c=0; c<nx_; ++c) {
+        if (lam_xk[c]!=0) {
+          // Zero out column, set diagonal entry to 1
+          for (casadi_int k=kkt_colind[c]; k<kkt_colind[c+1]; ++k) {
+            kktd[k] = kkt_row[k]==c ? 1. : 0.;
+          }
+        }
+      }
+
+      // Loop over kktd entries (right two blocks of the transposed KKT)
+      for (casadi_int c=0; c<na_; ++c) {
+        if (lam_ak[c]==0) {
+          // Zero out column, set diagonal entry to -1
+          for (casadi_int k=kkt_colind[nx_+c]; k<kkt_colind[nx_+c+1]; ++k) {
+            kktd[k] = kkt_row[k]==nx_+c ? -1. : 0.;
+          }
+        }
+      }
+
+      // QR factorization
+      casadi_qr(kktd_, kktd, w, sp_v_, v, sp_r_, r, beta, get_ptr(prinv_), get_ptr(pc_));
 
       // Solve to get primal-dual step
+      casadi_scal(nx_+na_, -1., step);
       casadi_qr_solve(step, 1, 1, sp_v_, v, sp_r_, r, beta,
                       get_ptr(prinv_), get_ptr(pc_), w);
 
@@ -693,11 +694,6 @@ namespace casadi {
       break;
     }
 
-    // Maximum number of iterations reached
-    if (iter==max_iter_) {
-      casadi_warning("Maximum number of iterations reached");
-    }
-
     // Calculate optimal cost
     if (f) *f = fk;