Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Expose OSQP Workspace #63

Merged
merged 1 commit into from
Jun 4, 2020
Merged

Expose OSQP Workspace #63

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions include/OsqpEigen/Solver.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -231,6 +231,12 @@ namespace OsqpEigen
* @return the pointer to Data object.
*/
const std::unique_ptr<OsqpEigen::Data>& data() const;

/**
* Get the pointer to the OSQP workspace.
* @return the pointer to Workspace object.
*/
const std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>>& workspace() const;
};

#include <OsqpEigen/Solver.tpp>
Expand Down
5 changes: 5 additions & 0 deletions src/Solver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,11 @@ const std::unique_ptr<OsqpEigen::Data>& OsqpEigen::Solver::data() const
return m_data;
}

const std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>>& OsqpEigen::Solver::workspace() const
{
return m_workspace;
}

bool OsqpEigen::Solver::updateGradient(const Eigen::Ref<const Eigen::Matrix<c_float, Eigen::Dynamic, 1>>& gradient)
{
// check if the dimension of the gradient is correct
Expand Down