diff --git a/docs/pages/mpc.md b/docs/pages/mpc.md
index 42a69df..5903aed 100644
--- a/docs/pages/mpc.md
+++ b/docs/pages/mpc.md
@@ -142,7 +142,7 @@ if(!solver.initSolver()) return 1;
 
  The optimization problem can be solved calling the following method
 \code{.cpp}
-if(!solver.solve()) return 1;
+if(solver.solveProblem() != OsqpEigen::ErrorExitFlag::NoError) return 1;
 \endcode
  and the solution can be easily got by calling the following method
 \code{.cpp}
@@ -161,4 +161,4 @@ Eigen::VectorXd QPSolution = solver.getSolution();
  \include MPCExample.cpp
 
  The example presented generates the following results
- \image html mpc_result.png
\ No newline at end of file
+ \image html mpc_result.png
diff --git a/example/src/MPCExample.cpp b/example/src/MPCExample.cpp
index e44c5d6..e85799a 100644
--- a/example/src/MPCExample.cpp
+++ b/example/src/MPCExample.cpp
@@ -276,7 +276,7 @@ int main()
     for (int i = 0; i < numberOfSteps; i++){
 
         // solve the QP problem
-        if(!solver.solve()) return 1;
+        if(solver.solveProblem() != OsqpEigen::ErrorExitFlag::NoError) return 1;
 
         // get the controller input
         QPSolution = solver.getSolution();
diff --git a/package.xml b/package.xml
index 9fb8712..d02cb4e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>osqp-eigen</name>
-  <version>0.6.4</version>
-  <description>Simple Eigen-C++ wrapper for OSQP library </description>
+  <version>0.7.0</version>
+  <description>Simple Eigen-C++ wrapper for OSQP library</description>
   <maintainer email="tbd@tbd.tbd">tbd</maintainer>
 
   <license>BSD</license>
diff --git a/tests/MPCTest.cpp b/tests/MPCTest.cpp
index a455d65..93db3eb 100644
--- a/tests/MPCTest.cpp
+++ b/tests/MPCTest.cpp
@@ -297,7 +297,7 @@ TEST_CASE("MPCTest")
         startTime = clock();
 
         // solve the QP problem
-        REQUIRE(solver.solve());
+        REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
         // get the controller input
         QPSolution = solver.getSolution();
diff --git a/tests/MPCUpdateMatricesTest.cpp b/tests/MPCUpdateMatricesTest.cpp
index b840b72..f36e4a9 100644
--- a/tests/MPCUpdateMatricesTest.cpp
+++ b/tests/MPCUpdateMatricesTest.cpp
@@ -273,7 +273,7 @@ TEST_CASE("MPCTest Update matrices")
         REQUIRE(solver.updateBounds(lowerBound, upperBound));
 
         // solve the QP problem
-        REQUIRE(solver.solve());
+        REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
         // get the controller input
         QPSolution = solver.getSolution();
diff --git a/tests/QPTest.cpp b/tests/QPTest.cpp
index 8268e2d..8183b8d 100644
--- a/tests/QPTest.cpp
+++ b/tests/QPTest.cpp
@@ -34,7 +34,7 @@ TEST_CASE("QPProblem - Unconstrained")
     REQUIRE(solver.data()->setGradient(gradient));
 
     REQUIRE(solver.initSolver());
-    REQUIRE(solver.solve());
+    REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
     // expected solution
     Eigen::Vector2d expectedSolution;
@@ -85,7 +85,7 @@ TEST_CASE("QPProblem")
 
     REQUIRE(solver.initSolver());
 
-    REQUIRE(solver.solve());
+    REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
     Eigen::Vector2d expectedSolution;
     expectedSolution << 0.3,  0.7;
 
diff --git a/tests/UpdateMatricesTest.cpp b/tests/UpdateMatricesTest.cpp
index 9d5d03f..0afc130 100644
--- a/tests/UpdateMatricesTest.cpp
+++ b/tests/UpdateMatricesTest.cpp
@@ -59,7 +59,7 @@ TEST_CASE("QPProblem - FirstRun")
     REQUIRE(solver.data()->setUpperBound(upperBound));
 
     REQUIRE(solver.initSolver());
-    REQUIRE(solver.solve());
+    REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
     auto solution = solver.getSolution();
     std::cout << COUT_GTEST_MGT << "Solution [" << solution(0) << " "
@@ -80,7 +80,7 @@ TEST_CASE("QPProblem - SparsityConstant")
 
     REQUIRE(solver.updateHessianMatrix(H_s));
     REQUIRE(solver.updateLinearConstraintsMatrix(A_s));
-    REQUIRE(solver.solve());
+    REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
     auto solution = solver.getSolution();
     std::cout << COUT_GTEST_MGT << "Solution [" << solution(0) << " "
@@ -101,7 +101,7 @@ TEST_CASE("QPProblem - SparsityChange")
 
     REQUIRE(solver.updateHessianMatrix(H_s));
     REQUIRE(solver.updateLinearConstraintsMatrix(A_s));
-    REQUIRE(solver.solve());
+    REQUIRE(solver.solveProblem() == OsqpEigen::ErrorExitFlag::NoError);
 
     auto solution = solver.getSolution();
     std::cout << COUT_GTEST_MGT << "Solution [" << solution(0) << " "