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

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Merged
merged 3 commits into from
Jan 24, 2025
Merged

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

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2a5dcfb
fix(autoware_qp_interface): incorrect parameter passing in delegating…
NorahXiong Jan 22, 2025
dbe7019
Merge branch 'main' into porting/fix_bugs/autoware_qp_interface
mitsudome-r Jan 22, 2025
5db3c68
Merge branch 'main' into porting/fix_bugs/autoware_qp_interface
youtalk Jan 24, 2025
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3 changes: 2 additions & 1 deletion common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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4 changes: 2 additions & 2 deletions common/autoware_qp_interface/src/osqp_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
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)

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common/autoware_qp_interface/src/osqp_interface.cpp#L55 

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{
initializeProblem(P, A, q, l, u);
}
Expand All @@ -61,7 +61,7 @@
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)

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{
initializeCSCProblemImpl(P, A, q, l, u);
}
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