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Call destructor first before doing placement-new on workspace and results objects #192

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Sep 11, 2024
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Call destructor first before doing placement-new on workspace and results objects #192

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2 changes: 2 additions & 0 deletions include/aligator/solvers/fddp/solver-fddp.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@ SolverFDDPTpl<Scalar>::SolverFDDPTpl(const Scalar tol, VerboseLevel verbose,
template <typename Scalar>
void SolverFDDPTpl<Scalar>::setup(const Problem &problem) {
problem.checkIntegrity();
results_.~Results();
workspace_.~Workspace();
new (&results_) Results(problem);
new (&workspace_) Workspace(problem);
// check if there are any constraints other than dynamics and throw a warning
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4 changes: 3 additions & 1 deletion include/aligator/solvers/proxddp/solver-proxddp.hxx
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Expand Up @@ -118,8 +118,10 @@ Scalar SolverProxDDPTpl<Scalar>::tryLinearStep(const Problem &problem,
template <typename Scalar>
void SolverProxDDPTpl<Scalar>::setup(const Problem &problem) {
problem.checkIntegrity();
new (&workspace_) Workspace(problem);
results_.~Results();
workspace_.~Workspace();
new (&results_) Results(problem);
new (&workspace_) Workspace(problem);
linesearch_.setOptions(ls_params);

workspace_.configureScalers(problem, mu_penal_, DefaultScaling<Scalar>{});
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