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Resolved Compilation error when using float #123

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Aug 2, 2022
Merged

Resolved Compilation error when using float #123

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8 changes: 4 additions & 4 deletions include/OsqpEigen/Solver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,8 @@ namespace OsqpEigen
std::unique_ptr<OsqpEigen::Data> m_data; /**< Pointer to Data class. */
Eigen::Matrix<c_float, Eigen::Dynamic ,1> m_primalVariables;
Eigen::Matrix<c_float, Eigen::Dynamic ,1> m_dualVariables;
Eigen::VectorXd m_solution;
Eigen::VectorXd m_dualSolution;
Eigen::Matrix<c_float, -1, 1> m_solution;
Eigen::Matrix<c_float, -1, 1> m_dualSolution;

std::vector<c_int> m_hessianNewIndices;
std::vector<c_float> m_hessianNewValues;
Expand Down Expand Up @@ -135,13 +135,13 @@ namespace OsqpEigen
* Get the optimization problem solution.
* @return an Eigen::Vector contating the optimization result.
*/
const Eigen::VectorXd &getSolution();
const Eigen::Matrix<c_float, -1, 1> &getSolution();

/**
* Get the dual optimization problem solution.
* @return an Eigen::Vector contating the optimization result.
*/
const Eigen::VectorXd &getDualSolution();
const Eigen::Matrix<c_float, -1, 1> &getDualSolution();

/**
* Update the linear part of the cost function (Gradient).
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8 changes: 4 additions & 4 deletions src/Solver.cpp
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Expand Up @@ -160,20 +160,20 @@ OsqpEigen::ErrorExitFlag OsqpEigen::Solver::solveProblem()
return static_cast<OsqpEigen::ErrorExitFlag>(osqp_solve(m_workspace.get()));
}

const Eigen::VectorXd &OsqpEigen::Solver::getSolution()
const Eigen::Matrix<c_float, -1, 1> &OsqpEigen::Solver::getSolution()
{
// copy data from an array to Eigen vector
c_float* solution = m_workspace->solution->x;
m_solution = Eigen::Map<Eigen::VectorXd>(solution, m_workspace->data->n, 1);
m_solution = Eigen::Map<Eigen::Matrix<c_float, -1, 1>>(solution, m_workspace->data->n, 1);

return m_solution;
}

const Eigen::VectorXd &OsqpEigen::Solver::getDualSolution()
const Eigen::Matrix<c_float, -1, 1> &OsqpEigen::Solver::getDualSolution()
{
// copy data from an array to Eigen vector
c_float* solution = m_workspace->solution->y;
m_dualSolution = Eigen::Map<Eigen::VectorXd>(solution, m_workspace->data->m, 1);
m_dualSolution = Eigen::Map< Eigen::Matrix<c_float, -1, 1>>(solution, m_workspace->data->m, 1);

return m_dualSolution;
}
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