Fixed bug when updating hessian matrix.

My bad, it seemed I did not know the definition of an upper triangular matrix.
robotology · Jun 13, 2018 · 7109a22 · 7109a22
1 parent 38825e5
commit 7109a22
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/OsqpEigen/Solver.tpp b/include/OsqpEigen/Solver.tpp
@@ -427,7 +427,7 @@ void OsqpEigen::Solver::selectUpperTriangularTriplets(const std::vector<Eigen::T
 
     int upperTriangularTriplets = 0;
     for (int i = 0; i < fullMatrixTriplets.size(); ++i) {
-        if (fullMatrixTriplets[i].row() >= fullMatrixTriplets[i].col()) {
+        if (fullMatrixTriplets[i].row() <= fullMatrixTriplets[i].col()) {
             if (upperTriangularTriplets < upperTriangularMatrixTriplets.size()) {
                 upperTriangularMatrixTriplets[upperTriangularTriplets] = fullMatrixTriplets[i];
             } else {