From 6913906b5369ae5fd44d0c0b9c77935131c2ca7a Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Thu, 27 Jun 2024 18:59:10 -0600
Subject: [PATCH 01/12] mpc bug test

---
 test/problems/mpc_bug                    | Bin 0 -> 23753 bytes
 test/problems/mpc_bug.h                  |   8 ++++++++
 test/problems/test_prob_from_data_file.h |  18 ++++++++++++++++--
 test/run_tests.c                         |   3 +++
 4 files changed, 27 insertions(+), 2 deletions(-)
 create mode 100644 test/problems/mpc_bug
 create mode 100644 test/problems/mpc_bug.h

diff --git a/test/problems/mpc_bug b/test/problems/mpc_bug
new file mode 100644
index 0000000000000000000000000000000000000000..989fbb3e4bb5863af6620ae8317575a1eed2a4c3
GIT binary patch
literal 23753
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diff --git a/test/problems/mpc_bug.h b/test/problems/mpc_bug.h
new file mode 100644
index 00000000..4782404f
--- /dev/null
+++ b/test/problems/mpc_bug.h
@@ -0,0 +1,8 @@
+#include "glbopts.h"
+#include "problems/test_prob_from_data_file.h"
+#include "scs.h"
+
+static const char *mpc_bug(void) {
+  scs_float OPT = -0.473957794500; /* from scs */
+  return _test_prob_from_data("test/problems/mpc_bug", OPT);
+}
diff --git a/test/problems/test_prob_from_data_file.h b/test/problems/test_prob_from_data_file.h
index 5e972bdb..d4ffbae1 100644
--- a/test/problems/test_prob_from_data_file.h
+++ b/test/problems/test_prob_from_data_file.h
@@ -19,8 +19,11 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   scs_float perr, derr;
   scs_int success;
   const char *fail;
+  scs_float xt_p_x;
+  scs_float *px;
 
   read_status = SCS(read_data)(file, &d, &k, &stgs);
+  px = (scs_float *)scs_calloc(d->n, sizeof(scs_float));
 
   if (read_status < 0) {
     return "Data read failure, exit.\n";
@@ -28,12 +31,22 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
 
   stgs->eps_abs = 1e-6;
   stgs->eps_rel = 1e-6;
+  /* Force verbosity for the test */
+  stgs->verbose = 1;
 
   sol = (ScsSolution *)scs_calloc(1, sizeof(ScsSolution));
   exitflag = scs(d, k, stgs, sol, &info);
 
-  perr = SCS(dot)(d->c, sol->x, d->n) - OPT;
-  derr = -SCS(dot)(d->b, sol->y, d->m) - OPT;
+  if (d->P) {
+    /* px = Px */
+    SCS(accum_by_p)(d->P, sol->x, px);
+    xt_p_x = SCS(dot)(px, sol->x, n);
+  } else {
+    xt_p_x = 0.;
+  }
+
+  perr = 0.5 * xt_p_x + SCS(dot)(d->c, sol->x, d->n) - OPT;
+  derr = -0.5 * xt_p_x - SCS(dot)(d->b, sol->y, d->m) - OPT;
   scs_printf("primal obj error %4e\n", perr);
   scs_printf("dual obj error %4e\n", derr);
 
@@ -47,6 +60,7 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   SCS(free_cone)(k);
   SCS(free_sol)(sol);
   scs_free(stgs);
+  scs_free(px);
 
   if (fail) {
     scs_printf("%s: FAILED\n", file);
diff --git a/test/run_tests.c b/test/run_tests.c
index 337b5d7a..15094ce7 100644
--- a/test/run_tests.c
+++ b/test/run_tests.c
@@ -43,9 +43,11 @@ _SKIP(random_prob)
 #if NO_READ_WRITE == 0 /* reads / writes */
 #include "problems/hs21_tiny_qp_rw.h"
 #include "problems/max_ent.h"
+#include "problems/mpc_bug.h"
 #else
 _SKIP(hs21_tiny_qp_rw)
 _SKIP(max_ent)
+_SKIP(mpc_bug)
 #endif
 
 static const char *all_tests(void) {
@@ -61,6 +63,7 @@ static const char *all_tests(void) {
   mu_run_test(unbounded_tiny_qp);
   mu_run_test(random_prob);
   mu_run_test(max_ent);
+  mu_run_test(mpc_bug);
   mu_run_test(test_exp_cone);
   return 0;
 }

From d81a031fdd213b84e9b4250ac55d09f61cf9c2bb Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Thu, 27 Jun 2024 19:02:53 -0600
Subject: [PATCH 02/12] explicit memset to 0

---
 test/problems/test_prob_from_data_file.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/problems/test_prob_from_data_file.h b/test/problems/test_prob_from_data_file.h
index d4ffbae1..2a0d6d42 100644
--- a/test/problems/test_prob_from_data_file.h
+++ b/test/problems/test_prob_from_data_file.h
@@ -37,6 +37,7 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   sol = (ScsSolution *)scs_calloc(1, sizeof(ScsSolution));
   exitflag = scs(d, k, stgs, sol, &info);
 
+  memset(px, 0, n * sizeof(scs_float));
   if (d->P) {
     /* px = Px */
     SCS(accum_by_p)(d->P, sol->x, px);

From 54e5f42e8c430b6427b874e26863ac4ad1fc55ad Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Thu, 27 Jun 2024 19:07:10 -0600
Subject: [PATCH 03/12] not sure what is failing

---
 test/problems/test_prob_from_data_file.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/test/problems/test_prob_from_data_file.h b/test/problems/test_prob_from_data_file.h
index 2a0d6d42..ff7f4202 100644
--- a/test/problems/test_prob_from_data_file.h
+++ b/test/problems/test_prob_from_data_file.h
@@ -20,10 +20,9 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   scs_int success;
   const char *fail;
   scs_float xt_p_x;
-  scs_float *px;
+  scs_float *px = SCS_NULL;
 
   read_status = SCS(read_data)(file, &d, &k, &stgs);
-  px = (scs_float *)scs_calloc(d->n, sizeof(scs_float));
 
   if (read_status < 0) {
     return "Data read failure, exit.\n";
@@ -37,9 +36,10 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   sol = (ScsSolution *)scs_calloc(1, sizeof(ScsSolution));
   exitflag = scs(d, k, stgs, sol, &info);
 
-  memset(px, 0, n * sizeof(scs_float));
   if (d->P) {
     /* px = Px */
+    px = (scs_float *)scs_calloc(d->n, sizeof(scs_float));
+    memset(px, 0, n * sizeof(scs_float));
     SCS(accum_by_p)(d->P, sol->x, px);
     xt_p_x = SCS(dot)(px, sol->x, n);
   } else {
@@ -61,8 +61,9 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   SCS(free_cone)(k);
   SCS(free_sol)(sol);
   scs_free(stgs);
-  scs_free(px);
-
+  if (px) {
+    scs_free(px);
+  }
   if (fail) {
     scs_printf("%s: FAILED\n", file);
   }

From 72b6158246e895fb52f1c21d3a674b13fe63ccb1 Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Thu, 27 Jun 2024 19:09:23 -0600
Subject: [PATCH 04/12] fix n

---
 test/problems/test_prob_from_data_file.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/test/problems/test_prob_from_data_file.h b/test/problems/test_prob_from_data_file.h
index ff7f4202..3b993039 100644
--- a/test/problems/test_prob_from_data_file.h
+++ b/test/problems/test_prob_from_data_file.h
@@ -39,9 +39,9 @@ static const char *_test_prob_from_data(const char *file, scs_float OPT) {
   if (d->P) {
     /* px = Px */
     px = (scs_float *)scs_calloc(d->n, sizeof(scs_float));
-    memset(px, 0, n * sizeof(scs_float));
+    memset(px, 0, d->n * sizeof(scs_float));
     SCS(accum_by_p)(d->P, sol->x, px);
-    xt_p_x = SCS(dot)(px, sol->x, n);
+    xt_p_x = SCS(dot)(px, sol->x, d->n);
   } else {
     xt_p_x = 0.;
   }

From 8e8370ab82e54d2379ca6e5009de689e07bf9e17 Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Fri, 28 Jun 2024 07:01:06 -0600
Subject: [PATCH 05/12] add some prints

---
 src/scs.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/scs.c b/src/scs.c
index 9cb1ee58..0de95be4 100644
--- a/src/scs.c
+++ b/src/scs.c
@@ -213,6 +213,9 @@ static void compute_residuals(ScsResiduals *r, scs_int m, scs_int n) {
     r->res_unbdd_a = SAFEDIV_POS(nm_ax_s, -r->ctx_tau);
     r->res_unbdd_p = SAFEDIV_POS(nm_px, -r->ctx_tau);
   }
+  scs_printf("iter %i\n", r->last_iter);
+  scs_printf("bty_tau %.6f\n", r->bty_tau);
+  scs_printf("nm_aty %.6f\n", NORM(r->aty, n));
   if (r->bty_tau < 0) {
     nm_aty = NORM(r->aty, n);
     r->res_infeas = SAFEDIV_POS(nm_aty, -r->bty_tau);

From fed1e6c53d7eb407989fa749d77b240dd930d26c Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Fri, 28 Jun 2024 07:03:41 -0600
Subject: [PATCH 06/12] better print

---
 src/scs.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/scs.c b/src/scs.c
index 0de95be4..4210bb08 100644
--- a/src/scs.c
+++ b/src/scs.c
@@ -214,8 +214,8 @@ static void compute_residuals(ScsResiduals *r, scs_int m, scs_int n) {
     r->res_unbdd_p = SAFEDIV_POS(nm_px, -r->ctx_tau);
   }
   scs_printf("iter %i\n", r->last_iter);
-  scs_printf("bty_tau %.6f\n", r->bty_tau);
-  scs_printf("nm_aty %.6f\n", NORM(r->aty, n));
+  scs_printf("bty_tau %.6e\n", r->bty_tau);
+  scs_printf("nm_aty %.6e\n", NORM(r->aty, n));
   if (r->bty_tau < 0) {
     nm_aty = NORM(r->aty, n);
     r->res_infeas = SAFEDIV_POS(nm_aty, -r->bty_tau);

From 66708de9c64c85942bd6456d5b8ebc881a5a1f4b Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Fri, 28 Jun 2024 07:46:39 -0600
Subject: [PATCH 07/12] test disable res infeas

---
 src/scs.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/scs.c b/src/scs.c
index 4210bb08..5d00254b 100644
--- a/src/scs.c
+++ b/src/scs.c
@@ -218,7 +218,7 @@ static void compute_residuals(ScsResiduals *r, scs_int m, scs_int n) {
   scs_printf("nm_aty %.6e\n", NORM(r->aty, n));
   if (r->bty_tau < 0) {
     nm_aty = NORM(r->aty, n);
-    r->res_infeas = SAFEDIV_POS(nm_aty, -r->bty_tau);
+    r->res_infeas = 1.0; /* SAFEDIV_POS(nm_aty, -r->bty_tau); */
   }
 }
 

From b1a41ba75e657d593d4a5ea2605892748f2559c8 Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Fri, 28 Jun 2024 07:56:50 -0600
Subject: [PATCH 08/12] disable other tests

---
 test/run_tests.c | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/test/run_tests.c b/test/run_tests.c
index 15094ce7..e9ead414 100644
--- a/test/run_tests.c
+++ b/test/run_tests.c
@@ -51,20 +51,7 @@ _SKIP(mpc_bug)
 #endif
 
 static const char *all_tests(void) {
-  mu_run_test(test_validation);
-  mu_run_test(degenerate);
-  mu_run_test(small_lp);
-  mu_run_test(small_qp);
-  mu_run_test(rob_gauss_cov_est);
-  mu_run_test(hs21_tiny_qp);
-  mu_run_test(hs21_tiny_qp_rw);
-  mu_run_test(qafiro_tiny_qp);
-  mu_run_test(infeasible_tiny_qp);
-  mu_run_test(unbounded_tiny_qp);
-  mu_run_test(random_prob);
-  mu_run_test(max_ent);
   mu_run_test(mpc_bug);
-  mu_run_test(test_exp_cone);
   return 0;
 }
 int main(void) {

From 3c1fc81fb99bf2ba2666fbbe7600278cb3aa48d7 Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue@google.com>
Date: Tue, 2 Jul 2024 04:44:31 +0000
Subject: [PATCH 09/12] Revert "disable other tests"

This reverts commit b1a41ba75e657d593d4a5ea2605892748f2559c8.
---
 test/run_tests.c | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/test/run_tests.c b/test/run_tests.c
index e9ead414..15094ce7 100644
--- a/test/run_tests.c
+++ b/test/run_tests.c
@@ -51,7 +51,20 @@ _SKIP(mpc_bug)
 #endif
 
 static const char *all_tests(void) {
+  mu_run_test(test_validation);
+  mu_run_test(degenerate);
+  mu_run_test(small_lp);
+  mu_run_test(small_qp);
+  mu_run_test(rob_gauss_cov_est);
+  mu_run_test(hs21_tiny_qp);
+  mu_run_test(hs21_tiny_qp_rw);
+  mu_run_test(qafiro_tiny_qp);
+  mu_run_test(infeasible_tiny_qp);
+  mu_run_test(unbounded_tiny_qp);
+  mu_run_test(random_prob);
+  mu_run_test(max_ent);
   mu_run_test(mpc_bug);
+  mu_run_test(test_exp_cone);
   return 0;
 }
 int main(void) {

From 2945cba8f186a4fd1ce554b0bdeed4397a6c7d7d Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue@google.com>
Date: Tue, 2 Jul 2024 04:48:49 +0000
Subject: [PATCH 10/12] cleanup

---
 include/glbopts.h |  3 ++-
 src/scs.c         | 39 ++++++++++++++++++---------------------
 2 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/include/glbopts.h b/include/glbopts.h
index 4d7b7fdf..d0be30ba 100644
--- a/include/glbopts.h
+++ b/include/glbopts.h
@@ -39,7 +39,8 @@ extern "C" {
 #define WRITE_DATA_FILENAME (0)
 #define LOG_CSV_FILENAME (0)
 #define TIME_LIMIT_SECS (0.)
-
+/* Tolerance to check negativity condition for infeasibility */
+#define EPS_INFEAS_TOL (1e-9)
 /* redefine printfs as needed */
 #if NO_PRINTING > 0     /* Disable all printing */
 #define scs_printf(...) /* No-op */
diff --git a/src/scs.c b/src/scs.c
index 5d00254b..7b76c4dc 100644
--- a/src/scs.c
+++ b/src/scs.c
@@ -207,18 +207,15 @@ static void compute_residuals(ScsResiduals *r, scs_int m, scs_int n) {
   r->res_unbdd_a = NAN;
   r->res_unbdd_p = NAN;
   r->res_infeas = NAN;
-  if (r->ctx_tau < 0) {
+  if (r->ctx_tau < -EPS_INFEAS_TOL) {
     nm_ax_s = NORM(r->ax_s, m);
     nm_px = NORM(r->px, n);
     r->res_unbdd_a = SAFEDIV_POS(nm_ax_s, -r->ctx_tau);
     r->res_unbdd_p = SAFEDIV_POS(nm_px, -r->ctx_tau);
   }
-  scs_printf("iter %i\n", r->last_iter);
-  scs_printf("bty_tau %.6e\n", r->bty_tau);
-  scs_printf("nm_aty %.6e\n", NORM(r->aty, n));
-  if (r->bty_tau < 0) {
+  if (r->bty_tau < -EPS_INFEAS_TOL) {
     nm_aty = NORM(r->aty, n);
-    r->res_infeas = 1.0; /* SAFEDIV_POS(nm_aty, -r->bty_tau); */
+    r->res_infeas = SAFEDIV_POS(nm_aty, -r->bty_tau);
   }
 }
 
@@ -590,22 +587,22 @@ static void print_summary(ScsWork *w, scs_int i, SCS(timer) * solve_timer) {
   scs_printf("\n");
 
 #if VERBOSITY > 0
-  scs_printf("Norm u = %4f, ", SCS(norm_2)(w->u, w->d->n + w->d->m + 1));
-  scs_printf("Norm u_t = %4f, ", SCS(norm_2)(w->u_t, w->d->n + w->d->m + 1));
-  scs_printf("Norm v = %4f, ", SCS(norm_2)(w->v, w->d->n + w->d->m + 1));
-  scs_printf("Norm rsk = %4f, ", SCS(norm_2)(w->rsk, w->d->n + w->d->m + 1));
-  scs_printf("Norm x = %4f, ", SCS(norm_2)(w->xys_orig->x, w->d->n));
-  scs_printf("Norm y = %4f, ", SCS(norm_2)(w->xys_orig->y, w->d->m));
-  scs_printf("Norm s = %4f, ", SCS(norm_2)(w->xys_orig->s, w->d->m));
-  scs_printf("Norm |Ax + s| = %1.2e, ", SCS(norm_2)(r->ax_s, w->d->m));
-  scs_printf("tau = %4f, ", w->u[w->d->n + w->d->m]);
-  scs_printf("kappa = %4f, ", w->rsk[w->d->n + w->d->m]);
-  scs_printf("|u - u_t| = %1.2e, ",
+  scs_printf("Norm u = %1.6e, ", SCS(norm_2)(w->u, w->d->n + w->d->m + 1));
+  scs_printf("Norm u_t = %1.6e, ", SCS(norm_2)(w->u_t, w->d->n + w->d->m + 1));
+  scs_printf("Norm v = %1.6e, ", SCS(norm_2)(w->v, w->d->n + w->d->m + 1));
+  scs_printf("Norm rsk = %1.6e, ", SCS(norm_2)(w->rsk, w->d->n + w->d->m + 1));
+  scs_printf("Norm x = %1.6e, ", SCS(norm_2)(w->xys_orig->x, w->d->n));
+  scs_printf("Norm y = %1.6e, ", SCS(norm_2)(w->xys_orig->y, w->d->m));
+  scs_printf("Norm s = %1.6e, ", SCS(norm_2)(w->xys_orig->s, w->d->m));
+  scs_printf("Norm |Ax + s| = %1.6e, ", SCS(norm_2)(r->ax_s, w->d->m));
+  scs_printf("tau = %1.6e, ", w->u[w->d->n + w->d->m]);
+  scs_printf("kappa = %1.6e, ", w->rsk[w->d->n + w->d->m]);
+  scs_printf("|u - u_t| = %1.6e, ",
              SCS(norm_diff)(w->u, w->u_t, w->d->n + w->d->m + 1));
-  scs_printf("res_infeas = %1.2e, ", r->res_infeas);
-  scs_printf("res_unbdd_a = %1.2e, ", r->res_unbdd_a);
-  scs_printf("res_unbdd_p = %1.2e, ", r->res_unbdd_p);
-  scs_printf("ctx_tau = %1.2e, ", r->ctx_tau);
+  scs_printf("res_infeas = %1.6e, ", r->res_infeas);
+  scs_printf("res_unbdd_a = %1.6e, ", r->res_unbdd_a);
+  scs_printf("res_unbdd_p = %1.6e, ", r->res_unbdd_p);
+  scs_printf("ctx_tau = %1.6e, ", r->ctx_tau);
   scs_printf("bty_tau = %1.2e\n", r->bty_tau);
 #endif
 

From d2eb50aaa0ad5a9840570e66a0577b325ab3370b Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue85@gmail.com>
Date: Mon, 1 Jul 2024 22:58:32 -0600
Subject: [PATCH 11/12] add more tests

---
 test/problems/mpc_bug.h             |  15 +++++++++++++--
 test/problems/{mpc_bug => mpc_bug1} | Bin
 test/problems/mpc_bug2              | Bin 0 -> 23753 bytes
 test/problems/mpc_bug3              | Bin 0 -> 23753 bytes
 4 files changed, 13 insertions(+), 2 deletions(-)
 rename test/problems/{mpc_bug => mpc_bug1} (100%)
 create mode 100644 test/problems/mpc_bug2
 create mode 100644 test/problems/mpc_bug3

diff --git a/test/problems/mpc_bug.h b/test/problems/mpc_bug.h
index 4782404f..e8fc2e03 100644
--- a/test/problems/mpc_bug.h
+++ b/test/problems/mpc_bug.h
@@ -3,6 +3,17 @@
 #include "scs.h"
 
 static const char *mpc_bug(void) {
-  scs_float OPT = -0.473957794500; /* from scs */
-  return _test_prob_from_data("test/problems/mpc_bug", OPT);
+  const char *fail;
+  scs_float OPT1 = -0.473957794500; /* from scs */
+  scs_float OPT2 = -0.029336830816; /* from scs */
+  scs_float OPT3 = -0.002215217478; /* from scs */
+  fail = _test_prob_from_data("test/problems/mpc_bug1", OPT1);
+  if (fail) {
+    return fail;
+  }
+  fail = _test_prob_from_data("test/problems/mpc_bug2", OPT2);
+  if (fail) {
+    return fail;
+  }
+  return _test_prob_from_data("test/problems/mpc_bug3", OPT3);
 }
diff --git a/test/problems/mpc_bug b/test/problems/mpc_bug1
similarity index 100%
rename from test/problems/mpc_bug
rename to test/problems/mpc_bug1
diff --git a/test/problems/mpc_bug2 b/test/problems/mpc_bug2
new file mode 100644
index 0000000000000000000000000000000000000000..4fc1ca6d003a829196f0ed7c93ec2769815fb840
GIT binary patch
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HcmV?d00001

diff --git a/test/problems/mpc_bug3 b/test/problems/mpc_bug3
new file mode 100644
index 0000000000000000000000000000000000000000..bfed77f2de6a189d078b6ccdf7350ad672ffa20b
GIT binary patch
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HcmV?d00001


From 6f413962133f2a07239032b19e4d80bc59def52e Mon Sep 17 00:00:00 2001
From: Brendan O'Donoghue <bodonoghue@google.com>
Date: Tue, 2 Jul 2024 05:10:30 +0000
Subject: [PATCH 12/12] rename var

---
 include/glbopts.h | 2 +-
 src/scs.c         | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/glbopts.h b/include/glbopts.h
index d0be30ba..ed2a15b5 100644
--- a/include/glbopts.h
+++ b/include/glbopts.h
@@ -40,7 +40,7 @@ extern "C" {
 #define LOG_CSV_FILENAME (0)
 #define TIME_LIMIT_SECS (0.)
 /* Tolerance to check negativity condition for infeasibility */
-#define EPS_INFEAS_TOL (1e-9)
+#define INFEAS_NEGATIVITY_TOL (1e-9)
 /* redefine printfs as needed */
 #if NO_PRINTING > 0     /* Disable all printing */
 #define scs_printf(...) /* No-op */
diff --git a/src/scs.c b/src/scs.c
index 7b76c4dc..7dfd092a 100644
--- a/src/scs.c
+++ b/src/scs.c
@@ -207,13 +207,13 @@ static void compute_residuals(ScsResiduals *r, scs_int m, scs_int n) {
   r->res_unbdd_a = NAN;
   r->res_unbdd_p = NAN;
   r->res_infeas = NAN;
-  if (r->ctx_tau < -EPS_INFEAS_TOL) {
+  if (r->ctx_tau < -INFEAS_NEGATIVITY_TOL) {
     nm_ax_s = NORM(r->ax_s, m);
     nm_px = NORM(r->px, n);
     r->res_unbdd_a = SAFEDIV_POS(nm_ax_s, -r->ctx_tau);
     r->res_unbdd_p = SAFEDIV_POS(nm_px, -r->ctx_tau);
   }
-  if (r->bty_tau < -EPS_INFEAS_TOL) {
+  if (r->bty_tau < -INFEAS_NEGATIVITY_TOL) {
     nm_aty = NORM(r->aty, n);
     r->res_infeas = SAFEDIV_POS(nm_aty, -r->bty_tau);
   }