fix(autoware_qp_interface): incorrect parameter passing in delegating…

… constructor (autowarefoundation#147) Signed-off-by: NorahXiong <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]>
JianKangEgon · Jan 24, 2025 · 45ead1c · 45ead1c
1 parent f27c9fb
commit 45ead1c
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp b/common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp
@@ -27,13 +27,14 @@
 namespace autoware::qp_interface
 {
 constexpr c_float OSQP_INF = 1e30;
+constexpr int OSQP_MAX_ITERATION = 20000;
 
 class OSQPInterface : public QPInterface
 {
 public:
   /// \brief Constructor without problem formulation
   OSQPInterface(
-    const bool enable_warm_start = false, const int max_iteration = 20000,
+    const bool enable_warm_start = false, const int max_iteration = OSQP_MAX_ITERATION,
     const c_float eps_abs = std::numeric_limits<c_float>::epsilon(),
     const c_float eps_rel = std::numeric_limits<c_float>::epsilon(), const bool polish = true,
     const bool verbose = false);

diff --git a/common/autoware_qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp
@@ -52,7 +52,7 @@ OSQPInterface::OSQPInterface(
   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
   const std::vector<double> & l, const std::vector<double> & u, const bool enable_warm_start,
   const c_float eps_abs)
-: OSQPInterface(enable_warm_start, eps_abs)
+: OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs)
 {
   initializeProblem(P, A, q, l, u);
 }
@@ -61,7 +61,7 @@ OSQPInterface::OSQPInterface(
   const CSC_Matrix & P, const CSC_Matrix & A, const std::vector<double> & q,
   const std::vector<double> & l, const std::vector<double> & u, const bool enable_warm_start,
   const c_float eps_abs)
-: OSQPInterface(enable_warm_start, eps_abs)
+: OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs)
 {
   initializeCSCProblemImpl(P, A, q, l, u);
 }