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Fixes two forgotten csc_spfree calls #375

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merged 1 commit into from
Dec 8, 2023
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Fixes two forgotten csc_spfree calls #375

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4 changes: 2 additions & 2 deletions trajopt_optimizers/trajopt_sqp/src/osqp_eigen_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,7 +312,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo
bool success = solver_.updateLinearConstraintsMatrix(cleaned);
if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */
{
csc_spfree(solver_.data()->getData()->A);
csc_spfree_fix(solver_.data()->getData()->A);
solver_.data()->getData()->A = nullptr;
solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);
}
Expand All @@ -322,7 +322,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo
bool success = solver_.data()->setLinearConstraintsMatrix(cleaned);
if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */
{
csc_spfree(solver_.data()->getData()->A);
csc_spfree_fix(solver_.data()->getData()->A);
solver_.data()->getData()->A = nullptr;
solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);
}
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