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adapted to new OSQP interface

This commit is contained in:
Sven Oesau 2023-06-08 10:37:29 +02:00
parent 37ae7456c6
commit deda05c534
1 changed files with 21 additions and 37 deletions
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58
Solver_interface/include/CGAL/OSQP_quadratic_program_traits.h
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@ -220,22 +220,11 @@ public:
CGAL_assertion(settings);
// Structures.
OSQPWorkspace *work;
OSQPData *data = (OSQPData *) malloc(sizeof(OSQPData));
CGAL_assertion(data);
OSQPCscMatrix* P = static_cast<OSQPCscMatrix*>(malloc(sizeof(OSQPCscMatrix)));
OSQPCscMatrix* A = static_cast<OSQPCscMatrix*>(malloc(sizeof(OSQPCscMatrix)));
// Populate data.
data->n = static_cast<OSQPInt>(n);
data->m = static_cast<OSQPInt>(m);
data->P = csc_matrix(data->n, data->n, P_nnz, P_x.get(), P_i.get(), P_p.get());
CGAL_assertion(data->P);
data->q = q_x.get();
data->A = csc_matrix(data->m, data->n, A_nnz, A_x.get(), A_i.get(), A_p.get());
CGAL_assertion(data->A);
data->l = l_x.get();
data->u = u_x.get();
csc_set_data(A, m, n, A_nnz, A_x.get(), A_i.get(), A_p.get());
csc_set_data(P, n, n, P_nnz, P_x.get(), P_i.get(), P_p.get());
// Set solver settings.
osqp_set_default_settings(settings);
@ -243,38 +232,33 @@ public:
settings->eps_rel = eps_rel;
settings->verbose = verbose;
// Set workspace.
osqp_setup(&work, data, settings);
OSQPSolver* solver = NULL;
OSQPInt exitflag = osqp_setup(&solver, P, q_x.get(), A, l_x.get(), u_x.get(), m, n, settings);
// Solve problem.
OSQPInt exitflag = -1;
try
{
exitflag = osqp_solve(work);
if (!exitflag)
exitflag = osqp_solve(solver);
const OSQPFloat* x = solver->solution->x;
for (std::size_t i = 0; i < n; ++i)
{
const FT value{ x[i] };
*(++solution) = value;
}
}
catch(std::exception& e)
catch (std::exception& e)
{
std::cerr << "ERROR: OSQP solver has thrown an exception!" << std::endl;
std::cerr << e.what() << std::endl;
}
const bool success = (exitflag == 0);
// Create solution.
const OSQPFloat *x = work->solution->x;
for(std::size_t i=0; i<n; ++i)
{
const FT value{x[i]};
*(++solution) = value;
}
osqp_cleanup(solver);
if (A) free(A);
if (P) free(P);
if (settings) free(settings);
// Clean workspace.
osqp_cleanup(work);
c_free(data->A);
c_free(data->P);
c_free(data);
c_free(settings);
return success;
return (exitflag == 0);
}
/// \endcond