fixup

tesseract-robotics · Nov 27, 2023 · 2bca583 · 2bca583
1 parent 609ddb1
commit 2bca583
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/trajopt_sco/src/osqp_interface.cpp b/trajopt_sco/src/osqp_interface.cpp
@@ -62,7 +62,7 @@ OSQPModel::~OSQPModel()
 
 Var OSQPModel::addVar(const std::string& name)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   vars_.push_back(std::make_shared<VarRep>(vars_.size(), name, this));
   lbs_.push_back(-OSQP_INFINITY);
   ubs_.push_back(OSQP_INFINITY);
@@ -71,7 +71,7 @@ Var OSQPModel::addVar(const std::string& name)
 
 Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
   cnt_exprs_.push_back(expr);
   cnt_types_.push_back(EQ);
@@ -80,7 +80,7 @@ Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
 
 Cnt OSQPModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
   cnt_exprs_.push_back(expr);
   cnt_types_.push_back(INEQ);
@@ -91,7 +91,7 @@ Cnt OSQPModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/) { throw
 
 void OSQPModel::removeVars(const VarVector& vars)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   SizeTVec inds;
   vars2inds(vars, inds);
   for (const auto& var : vars)
@@ -100,7 +100,7 @@ void OSQPModel::removeVars(const VarVector& vars)
 
 void OSQPModel::removeCnts(const CntVector& cnts)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   SizeTVec inds;
   cnts2inds(cnts, inds);
   for (const auto& cnt : cnts)

diff --git a/trajopt_sco/src/qpoases_interface.cpp b/trajopt_sco/src/qpoases_interface.cpp
@@ -38,7 +38,7 @@ qpOASESModel::qpOASESModel()
 qpOASESModel::~qpOASESModel() = default;
 Var qpOASESModel::addVar(const std::string& name)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   vars_.push_back(std::make_shared<VarRep>(vars_.size(), name, this));
   lb_.push_back(-QPOASES_INFTY);
   ub_.push_back(QPOASES_INFTY);
@@ -47,7 +47,7 @@ Var qpOASESModel::addVar(const std::string& name)
 
 Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
   cnt_exprs_.push_back(expr);
   cnt_types_.push_back(EQ);
@@ -56,7 +56,7 @@ Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
 
 Cnt qpOASESModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
   cnt_exprs_.push_back(expr);
   cnt_types_.push_back(INEQ);
@@ -71,7 +71,7 @@ Cnt qpOASESModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
 
 void qpOASESModel::removeVars(const VarVector& vars)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   IntVec inds;
   vars2inds(vars, inds);
   for (const auto& var : vars)
@@ -80,7 +80,7 @@ void qpOASESModel::removeVars(const VarVector& vars)
 
 void qpOASESModel::removeCnts(const CntVector& cnts)
 {
-  std::scoped_lock lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   IntVec inds;
   cnts2inds(cnts, inds);
   for (const auto& cnt : cnts)