Fixed bug when the matrix to update has not changed.

Somehow, when the scaling was set to zero, it was segfaulting.
robotology · Jun 12, 2018 · 38825e5 · 38825e5
1 parent 8c19964
commit 38825e5
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Showing 2 changed files with 13 additions and 8 deletions.
diff --git a/include/OsqpEigen/Solver.tpp b/include/OsqpEigen/Solver.tpp
@@ -134,10 +134,12 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseMatrix<T> &hessia
 
     if(evaluateNewValues(m_oldHessianTriplet,  m_newUpperTriangularHessianTriplets,
                          m_hessianNewIndices, m_hessianNewValues)){
-        if(osqp_update_P(m_workspace, m_hessianNewValues.data(), m_hessianNewIndices.data(), m_hessianNewIndices.size()) != 0){
-            std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update hessian matrix."
-                      << std::endl;
-            return false;
+        if (m_hessianNewValues.size() > 0) {
+            if(osqp_update_P(m_workspace, m_hessianNewValues.data(), m_hessianNewIndices.data(), m_hessianNewIndices.size()) != 0){
+                std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update hessian matrix."
+                          << std::endl;
+                return false;
+            }
         }
     }
     else{
@@ -228,10 +230,12 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseMatrix<
 
     if(evaluateNewValues(m_oldLinearConstraintsTriplet, m_newLinearConstraintsTriplet,
                          m_constraintsNewIndices, m_constraintsNewValues)){
-        if(osqp_update_A(m_workspace, m_constraintsNewValues.data(), m_constraintsNewIndices.data(), m_constraintsNewIndices.size()) != 0){
-            std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update linear constraints matrix."
-                      << std::endl;
-            return false;
+        if (m_constraintsNewValues.size() > 0) {
+            if(osqp_update_A(m_workspace, m_constraintsNewValues.data(), m_constraintsNewIndices.data(), m_constraintsNewIndices.size()) != 0){
+                std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update linear constraints matrix."
+                          << std::endl;
+                return false;
+            }
         }
     }
     else{

diff --git a/tests/UpdateMatricesTest.cpp b/tests/UpdateMatricesTest.cpp
@@ -50,6 +50,7 @@ TEST(QPProblem, FirstRun)
 
     solver.data()->setNumberOfVariables(2);
     solver.data()->setNumberOfConstraints(3);
+    solver.settings()->setScaling(0);
     ASSERT_TRUE(solver.data()->setHessianMatrix(H_s));
     ASSERT_TRUE(solver.data()->setGradient(gradient));
     ASSERT_TRUE(solver.data()->setLinearConstraintsMatrix(A_s));