From 2583ba5d557547cae7df67b96e5648966d333ee9 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 25 Aug 2021 16:20:57 +0200
Subject: [PATCH] Switch OSQP list size to 15000 for longer horizon
---
include/qrw/MPC.hpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/qrw/MPC.hpp b/include/qrw/MPC.hpp
index f003cddf..1240c304 100644
--- a/include/qrw/MPC.hpp
+++ b/include/qrw/MPC.hpp
@@ -240,7 +240,7 @@ class MPC {
Eigen::MatrixXd x_f_applied; // Next predicted state of the robot + Desired contact forces to reach it
// Matrix ML
- const static int size_nz_ML = 5000;
+ const static int size_nz_ML = 15000;
csc *ML; // Compressed Sparse Column matrix
// Indices that are used to udpate ML
@@ -250,17 +250,17 @@ class MPC {
// TODO FOR S ????
// Matrix NK
- const static int size_nz_NK = 5000;
+ const static int size_nz_NK = 15000;
double v_NK_up[size_nz_NK] = {}; // maxtrix NK (upper bound)
double v_NK_low[size_nz_NK] = {}; // maxtrix NK (lower bound)
double v_warmxf[size_nz_NK] = {}; // maxtrix NK (lower bound)
// Matrix P
- const static int size_nz_P = 5000;
+ const static int size_nz_P = 15000;
csc *P; // Compressed Sparse Column matrix
// Matrix Q
- const static int size_nz_Q = 5000;
+ const static int size_nz_Q = 15000;
double Q[size_nz_Q] = {}; // Q is full of zeros
// OSQP solver variables
--
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