Merge pull request #32 from robotology/fix/osqp_0.6.0

Restore compatibility with osqp version 0.6.0.
Closes #31

CMakeLists.txt

@@ -27,7 +27,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED 11)
 
 project(OsqpEigen
   LANGUAGES CXX
-  VERSION 0.4.1)
+  VERSION 0.5.0)
 
 # add GNU dirs
 include(GNUInstallDirs)
@@ -102,7 +102,7 @@ install(TARGETS ${LIBRARY_TARGET_NAME}
 include(InstallBasicPackageFiles)
 install_basic_package_files(${PROJECT_NAME}
   VERSION ${${PROJECT_NAME}_VERSION}
-  COMPATIBILITY AnyNewerVersion
+  COMPATIBILITY SameMinorVersion
   VARS_PREFIX ${PROJECT_NAME}
   NO_CHECK_REQUIRED_COMPONENTS_MACRO
   CONFIG_TEMPLATE ${CMAKE_SOURCE_DIR}/cmake/OsqpEigenConfig.cmake.in)

cmake/BasicConfigVersion-SameMinorVersion.cmake.in

@@ -0,0 +1,55 @@
+# This is a basic version file for the Config-mode of find_package().
+# It is used by write_basic_package_version_file() as input file for configure_file()
+# to create a version-file which can be installed along a config.cmake file.
+#
+# The created file sets PACKAGE_VERSION_EXACT if the current version string and
+# the requested version string are exactly the same and it sets
+# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
+# but only if the requested major and minor versions are the same as the current
+# one.
+# The variable CVF_VERSION must be set before calling configure_file().
+
+
+set(PACKAGE_VERSION "@CVF_VERSION@")
+
+if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+
+  if("@CVF_VERSION@" MATCHES "^([0-9]+)\\.([0-9]+)")
+    set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
+    set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}")
+  else()
+    set(CVF_VERSION_MAJOR "@CVF_VERSION@")
+    set(CVF_VERSION_MINOR "")
+  endif()
+
+  if((PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR) AND
+     (PACKAGE_FIND_VERSION_MINOR STREQUAL CVF_VERSION_MINOR))
+    set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  else()
+    set(PACKAGE_VERSION_COMPATIBLE FALSE)
+  endif()
+
+  if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
+      set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()
+
+
+# if the installed project requested no architecture check, don't perform the check
+if("@CVF_ARCH_INDEPENDENT@")
+  return()
+endif()
+
+# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
+if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "@CMAKE_SIZEOF_VOID_P@" STREQUAL "")
+  return()
+endif()
+
+# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
+if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "@CMAKE_SIZEOF_VOID_P@")
+  math(EXPR installedBits "@CMAKE_SIZEOF_VOID_P@ * 8")
+  set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
+  set(PACKAGE_VERSION_UNSUITABLE TRUE)
+endif()

cmake/InstallBasicPackageFiles.cmake

@@ -233,6 +233,9 @@ include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 include(CMakeParseArguments)
 
+# custom version of the   write_basic_package_version_file
+# available only from cmake 3.11
+include(WriteBasicConfigVersionFile)
 
 function(INSTALL_BASIC_PACKAGE_FILES _Name)
 

cmake/WriteBasicConfigVersionFile.cmake

@@ -0,0 +1,51 @@
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#[=======================================================================[.rst:
+WriteBasicConfigVersionFile
+---------------------------
+
+.. deprecated:: 3.0
+
+  Use the identical command :command:`write_basic_package_version_file()`
+  from module :module:`CMakePackageConfigHelpers`.
+
+::
+
+  WRITE_BASIC_CONFIG_VERSION_FILE( filename
+    [VERSION major.minor.patch]
+    COMPATIBILITY (AnyNewerVersion|SameMajorVersion|SameMinorVersion|ExactVersion)
+    [ARCH_INDEPENDENT]
+    )
+
+
+#]=======================================================================]
+
+function(WRITE_BASIC_CONFIG_VERSION_FILE _filename)
+
+  set(options ARCH_INDEPENDENT )
+  set(oneValueArgs VERSION COMPATIBILITY )
+  set(multiValueArgs )
+
+  cmake_parse_arguments(CVF "${options}" "${oneValueArgs}" "${multiValueArgs}"  ${ARGN})
+
+  if(CVF_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "Unknown keywords given to WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_UNPARSED_ARGUMENTS}\"")
+  endif()
+
+  set(versionTemplateFile "${CMAKE_CURRENT_SOURCE_DIR}/cmake/BasicConfigVersion-${CVF_COMPATIBILITY}.cmake.in")
+  if(NOT EXISTS "${versionTemplateFile}")
+    message(FATAL_ERROR "Bad COMPATIBILITY value used for WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_COMPATIBILITY}\"")
+  endif()
+
+  if("${CVF_VERSION}" STREQUAL "")
+    if ("${PROJECT_VERSION}" STREQUAL "")
+      message(FATAL_ERROR "No VERSION specified for WRITE_BASIC_CONFIG_VERSION_FILE()")
+    else()
+      set(CVF_VERSION "${PROJECT_VERSION}")
+    endif()
+  endif()
+
+  configure_file("${versionTemplateFile}" "${_filename}" @ONLY)
+
+endfunction()

include/OsqpEigen/Data.tpp

@@ -32,7 +32,9 @@ bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseMatrix<T> &hessianMatr
     }
 
     //set the hessian matrix
-    if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(hessianMatrix, m_data->P)){
+    // osqp 0.6.0 required only the upper triangular part of the hessian matrix
+    Eigen::SparseMatrix<T> hessianMatrixUpperTriangular = hessianMatrix.template triangularView<Eigen::Upper>();
+    if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){
         std::cerr << "[OsqpEigen::Data::setHessianMatrix] Unable to instantiate the osqp sparse matrix."
                   << std::endl;
         return false;

src/Solver.cpp

@@ -78,10 +78,8 @@ bool OsqpEigen::Solver::initSolver()
         return false;
     }
 
-    m_workspace = osqp_setup(m_data->getData(),
-                             m_settings->getSettings());
-
-    if(m_workspace == OSQP_NULL){
+    if(osqp_setup(&m_workspace, m_data->getData(),
+                  m_settings->getSettings()) != 0 ){
         std::cerr << "[OsqpEigen::Solver::initSolver] Unable to setup the workspace."
                   << std::endl;
         return false;