Make the code compatible with OSQP v1.0.0 #131
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Thanks a lot @gergondet ! fyi @GiulioRomualdi @S-Dafarra |
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Sorry for the unrelated CI failure, it should be fixed by #133 . |
- Use trailing return type to disambiguate use of namespace for OSQPData - Fix typo in pre 1.0.0 code
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Thanks @traversaro I have rebased on the lastest master and it all seems green now (the latest Windows failure is a network hiccup I guess) The Codacity warnings are wrong, the members are used since the structure replaces the |
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Thank you @gergondet! Your work is much appreciated, and we're grateful for the time and effort you put into it! I want to apologize for the long delay in reviewing and merging your PR. |
GiulioRomualdi
approved these changes
Aug 1, 2023
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This PR updates osqp-eigen to be compatible with OSQP v1.0.0 (currently in beta). I have kept the API of osqp-eigen (almost) identical
The following things are known to not work (and afaik cannot be done with OSQP v1.0.0)
bool OsqpEigen::Solver::getPrimalVariable(Eigen::Matrix<T, n, 1> &dualVariable)andbool OsqpEigen::Solver::getDualVariable(Eigen::Matrix<T, m, 1> &dualVariable)return the solution held in the solution rather than the values in the workspace (which are not accessible anymore)bool OsqpEigen::Solver::clearSolverVariables()is a no-op since workspace is opaque nowOtherwise I can at least confirm the unit tests pass but I haven't tried much more.