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included update_warm_start functionality #37

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included update_warm_start functionality #37

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28 changes: 28 additions & 0 deletions codegen/files_to_generate/emosqp_mex.c
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Original file line number Diff line number Diff line change
Expand Up @@ -299,6 +299,34 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
return;
}

// update warm_start
if (!strcmp("update_warm_start", cmd)) {
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Suggested change
if (!strcmp("update_warm_start", cmd)) {
if (!strcmp("warm_start", cmd)) {

The class wrapper doesn't call update_warm_start actually, it will call warm_start when it wants to update both vectors.

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Actually, I may have gotten confused here because I didn't see this was the emosqp file, so this change probably isn't actually needed (although we need to document this now in https://github.com/oxfordcontrol/osqp/blob/master/docs/codegen/matlab.rst as well).


// Fill l, u
const mxArray *x = prhs[1];
const mxArray *y = prhs[2];

// Copy vectors to ensure they are cast as c_float
c_float *x_vec;
c_float *y_vec;
if(!mxIsEmpty(x)){
x_vec = copyToCfloatVector(mxGetPr(x), (&workspace)->data->m);
}
if(!mxIsEmpty(y)){
y_vec = copyToCfloatVector(mxGetPr(y), (&workspace)->data->m);
}

if(!mxIsEmpty(y)){
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@imciner2 imciner2 May 28, 2021 •
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Is there a reason the call to warm starting is guarded against y being non-empty? As another note, with the update above to make this function callable from the wrapper, it should be guaranteed to get both an x and y to warm start.

osqp_warm_start(&workspace, x_vec, y_vec);
}

// Free
if(!mxIsEmpty(x)) mxFree(x_vec);
if(!mxIsEmpty(y)) mxFree(y_vec);

return;
}

#if EMBEDDED != 1
// update matrix P
if (!strcmp("update_P", cmd)) {
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