Fix mismatched delete/free in OSQPModel

tesseract-robotics · Apr 12, 2024 · cf32e19 · cf32e19
1 parent 35bfb93
commit cf32e19
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/trajopt_sco/include/trajopt_sco/osqp_interface.hpp b/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
@@ -60,17 +60,17 @@ class OSQPModel : public Model
   ConstraintTypeVector cnt_types_; /**< constraints types */
   DblVec solution_;                /**< optimizizer's solution for current model */
 
-  std::unique_ptr<csc> P_;               /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
-  std::unique_ptr<csc> A_;               /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
-  std::vector<c_int> P_row_indices_;     /**< row indices for P, CSC format */
-  std::vector<c_int> P_column_pointers_; /**< column pointers for P, CSC format */
-  DblVec P_csc_data_;                    /**< P values in CSC format */
-  Eigen::VectorXd q_;                    /**< linear part of the objective */
-
-  std::vector<c_int> A_row_indices_;     /**< row indices for constraint matrix, CSC format */
-  std::vector<c_int> A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
-  DblVec A_csc_data_;                    /**< constraint matrix values in CSC format */
-  DblVec l_, u_;                         /**< linear constraints upper and lower limits */
+  std::unique_ptr<csc, decltype(&free)> P_;   /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
+  std::unique_ptr<csc, decltype(&free)> A_;   /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
+  std::vector<c_int> P_row_indices_;          /**< row indices for P, CSC format */
+  std::vector<c_int> P_column_pointers_;      /**< column pointers for P, CSC format */
+  DblVec P_csc_data_;                         /**< P values in CSC format */
+  Eigen::VectorXd q_;                         /**< linear part of the objective */
+
+  std::vector<c_int> A_row_indices_;          /**< row indices for constraint matrix, CSC format */
+  std::vector<c_int> A_column_pointers_;      /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;                         /**< constraint matrix values in CSC format */
+  DblVec l_, u_;                              /**< linear constraints upper and lower limits */
 
   QuadExpr objective_; /**< objective QuadExpr expression */
 

diff --git a/trajopt_sco/src/osqp_interface.cpp b/trajopt_sco/src/osqp_interface.cpp
@@ -36,7 +36,7 @@ Model::Ptr createOSQPModel(const ModelConfig::ConstPtr& config = nullptr)
   return std::make_shared<OSQPModel>(config);
 }
 
-OSQPModel::OSQPModel(const ModelConfig::ConstPtr& config) : P_(nullptr), A_(nullptr)
+OSQPModel::OSQPModel(const ModelConfig::ConstPtr& config) : P_(nullptr, free), A_(nullptr, free)
 {
   // tuning parameters to be less accurate, but add a polishing step
   if (config != nullptr)