Unit tests, Maros Meszaros: Redefine function load_qp#433
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jorisv merged 2 commits intoSimple-Robotics:develfrom Nov 24, 2025
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Unit tests, Maros Meszaros: Redefine function load_qp#433jorisv merged 2 commits intoSimple-Robotics:develfrom
jorisv merged 2 commits intoSimple-Robotics:develfrom
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fabinsch
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Nov 24, 2025
…h intern skipping of large problems, to avoid useless computations (adapt from Eigen 3 to Eigen5)
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jorisv
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We look with @Lucas-Haubert why load_qp is way slower with Eigen5. It turn out the SparseMatrix::insert method is taking all the time.
Since this method is only use to create maros_meszaros problem or random qp problem we will not investigate the issue right now.
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This PR solved the execution time of the Maros Meszaros unit tests with Eigen5.
In the files, all the problems are called in
files[], then loaded in theload_qpfunction. Then, depending on the problem size, the instance can be skipped, or not.With Eigen3: The
load_qpfunction is fast.With Eigen5: Its execution time seems proportional to the problems size, due to an internal loop.
The proposed correction:
Note:
ProxQP::dense: test primal infeasibility solvingtest. Indeed, this test is run with Eigen5. A fix for this test is proposed in PR Correction of update status PROXQP_SOLVED_CLOSEST_FEASIBLE in dense backend #432.