[WIP] QpOases: Switch to use reliable options #208
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cc @CarlottaSartore It could be worth to give it a shot to this PR. |
diegoferigo
approved these changes
May 18, 2021
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As I was mentioning in #202 (comment), I have observed some unexpected behaviour. I would try to run again this option before merging (I will switch to this branch today). |
Ah cool, I have missed that. |
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In my environment the change to reliable causes the QP to fail I would say always |
traversaro
changed the title
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As this seems to have a serious impact in some applications, and in any case a replacement block is being provided in #209 , I would close this. |
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Fix #202 . As per @lrapetti tests, on typical QP instances used in robotic Whole-Body Control the time difference is not big, and using the reliably settings seems safer.