From de6af32c584cd0f90b2961972528f737d198994b Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Mon, 10 Jan 2022 11:08:05 +0100
Subject: [PATCH] Avoid to use deprecated functions in the example

---
 example/src/MPCExample.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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();