replace the depricated solve() by solveProblem()

robotology · Oct 20, 2022 · f7fbf5b · f7fbf5b
1 parent b31a26e
commit f7fbf5b
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/toolbox/library/src/OSQP.cpp b/toolbox/library/src/OSQP.cpp
@@ -586,21 +586,20 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)
  }
  }
 
- bool solveReturnVal = pImpl->sqSolver->solve();
+ OsqpEigen::ErrorExitFlag solveReturnVal = pImpl->sqSolver->solveProblem();
 
- if (pImpl->stopWhenFails && !solveReturnVal) {
- bfError << "OSQP: solve() failed.";
+ if (pImpl->stopWhenFails && solveReturnVal != OsqpEigen::ErrorExitFlag::NoError) {
+ bfError << "OSQP: solveProblem() failed.";
  return false;
  }
 
  // Get outputs
- if (solveReturnVal) {
+ if (solveReturnVal == OsqpEigen::ErrorExitFlag::NoError) {
  solution_colMajor = pImpl->sqSolver->getSolution();
  }
 
  // Set status
- double status = solveReturnVal ? 0 : 1;
- if (!statusSignal->set(0, status)) {
+ if (!statusSignal->set(0, double(solveReturnVal))) {
  bfError << "Failed to set status signal.";
  return false;
  }