fix(autoware_qp_interface): incorrect parameter passing in delegating constructor (#147)

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: 3 people

common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp

@@ -27,13 +27,14 @@
 namespace autoware::qp_interface
 {
 constexpr c_float OSQP_INF = 1e30;
+constexpr int OSQP_MAX_ITERATION = 20000;
 
 class OSQPInterface : public QPInterface
 {
 public:
   /// \brief Constructor without problem formulation
   OSQPInterface(
-    const bool enable_warm_start = false, const int max_iteration = 20000,
+    const bool enable_warm_start = false, const int max_iteration = OSQP_MAX_ITERATION,
     const c_float eps_abs = std::numeric_limits<c_float>::epsilon(),
     const c_float eps_rel = std::numeric_limits<c_float>::epsilon(), const bool polish = true,
     const bool verbose = false);

common/autoware_qp_interface/src/osqp_interface.cpp

@@ -52,7 +52,7 @@ OSQPInterface::OSQPInterface(
   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
   const std::vector<double> & l, const std::vector<double> & u, const bool enable_warm_start,
   const c_float eps_abs)
-: OSQPInterface(enable_warm_start, eps_abs)
+: OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs)
 {
   initializeProblem(P, A, q, l, u);
 }
@@ -61,7 +61,7 @@ OSQPInterface::OSQPInterface(
   const CSC_Matrix & P, const CSC_Matrix & A, const std::vector<double> & q,
   const std::vector<double> & l, const std::vector<double> & u, const bool enable_warm_start,
   const c_float eps_abs)
-: OSQPInterface(enable_warm_start, eps_abs)
+: OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs)
 {
   initializeCSCProblemImpl(P, A, q, l, u);
 }