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Fix osqp_eigen_solver hessian and linear constraint matrix. #343

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Levi-Armstrong merged 1 commit into tesseract-robotics:master from Levi-Armstrong:fix/OSQPEigenSolver

Aug 1, 2023

Contributor

Levi-Armstrong commented Jul 31, 2023 •

edited

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There were several issues found

Not correctly using eigen prune
Not using pruned matrix in one case
OSQP Eigen uses a different method for populating the CSC Matrix which has a bug if the input is an empty sparse matrix so a work around was implemented to get around the issue until it is fixed upstream
Improve debug output to easily compare between Ifopt and Legacy Version

Contributor Author

Levi-Armstrong commented Jul 31, 2023


          Fix osqp eigen solver hessian and linear constraint matrix

d6cb9b7

Levi-Armstrong force-pushed the fix/OSQPEigenSolver branch from 37925e0 to d6cb9b7 Compare

August 1, 2023 00:01

Levi-Armstrong merged commit c2d372d into tesseract-robotics:master

4 of 6 checks passed

Levi-Armstrong deleted the fix/OSQPEigenSolver branch

August 1, 2023 02:20

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