diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7335a564167991b77a83d55ab459baee09c2d479..96761f71a1de2487719fe17bd908e08743bff0d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,7 +99,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC eiquadprog::eiquadprog)
find_package(osqp REQUIRED)
# Link the OSQP shared library
-target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqp)
+target_link_libraries(${PROJECT_NAME} PUBLIC osqp::osqp)
#find_package(yaml-cpp REQUIRED)
#target_link_libraries(${PROJECT_NAME} PRIVATE yaml-cpp::yaml-cpp)
diff --git a/include/osqp_folder/LICENSE b/include/osqp_folder/LICENSE
deleted file mode 100644
index 5a568288d8a3816fd915dc1554612f68c253e9dd..0000000000000000000000000000000000000000
--- a/include/osqp_folder/LICENSE
+++ /dev/null
@@ -1,201 +0,0 @@
- Apache License
- Version 2.0, January 2004
- http://www.apache.org/licenses/
-
- TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
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- any Contribution intentionally submitted for inclusion in the Work
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- 7. Disclaimer of Warranty. Unless required by applicable law or
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diff --git a/include/osqp_folder/include/auxil.h b/include/osqp_folder/include/auxil.h
deleted file mode 100644
index d756c2a49fd42a9a13283dd254d536ef92a18c7d..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/auxil.h
+++ /dev/null
@@ -1,181 +0,0 @@
-#ifndef AUXIL_H
-# define AUXIL_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-
-/***********************************************************
-* Auxiliary functions needed to compute ADMM iterations * *
-***********************************************************/
-# if EMBEDDED != 1
-
-/**
- * Compute rho estimate from residuals
- * @param work Workspace
- * @return rho estimate
- */
-c_float compute_rho_estimate(OSQPWorkspace *work);
-
-/**
- * Adapt rho value based on current unscaled primal/dual residuals
- * @param work Workspace
- * @return Exitflag
- */
-c_int adapt_rho(OSQPWorkspace *work);
-
-/**
- * Set values of rho vector based on constraint types
- * @param work Workspace
- */
-void set_rho_vec(OSQPWorkspace *work);
-
-/**
- * Update values of rho vector based on updated constraints.
- * If the constraints change, update the linear systems solver.
- *
- * @param work Workspace
- * @return Exitflag
- */
-c_int update_rho_vec(OSQPWorkspace *work);
-
-# endif // EMBEDDED
-
-/**
- * Swap c_float vector pointers
- * @param a first vector
- * @param b second vector
- */
-void swap_vectors(c_float **a,
- c_float **b);
-
-
-/**
- * Cold start workspace variables xz and y
- * @param work Workspace
- */
-void cold_start(OSQPWorkspace *work);
-
-
-/**
- * Update x_tilde and z_tilde variable (first ADMM step)
- * @param work [description]
- */
-void update_xz_tilde(OSQPWorkspace *work);
-
-
-/**
- * Update x (second ADMM step)
- * Update also delta_x (For for dual infeasibility)
- * @param work Workspace
- */
-void update_x(OSQPWorkspace *work);
-
-
-/**
- * Update z (third ADMM step)
- * @param work Workspace
- */
-void update_z(OSQPWorkspace *work);
-
-
-/**
- * Update y variable (fourth ADMM step)
- * Update also delta_y to check for primal infeasibility
- * @param work Workspace
- */
-void update_y(OSQPWorkspace *work);
-
-
-/**
- * Compute objective function from data at value x
- * @param work OSQPWorkspace structure
- * @param x Value x
- * @return Objective function value
- */
-c_float compute_obj_val(OSQPWorkspace *work,
- c_float *x);
-
-/**
- * Check whether QP has solution
- * @param info OSQPInfo
- */
-c_int has_solution(OSQPInfo *info);
-
-/**
- * Store the QP solution
- * @param work Workspace
- */
-void store_solution(OSQPWorkspace *work);
-
-
-/**
- * Update solver information
- * @param work Workspace
- * @param iter Iteration number
- * @param compute_objective Boolean (if compute the objective or not)
- * @param polish Boolean (if called from polish)
- */
-void update_info(OSQPWorkspace *work,
- c_int iter,
- c_int compute_objective,
- c_int polish);
-
-
-/**
- * Reset solver information (after problem updates)
- * @param info Information structure
- */
-void reset_info(OSQPInfo *info);
-
-
-/**
- * Update solver status (value and string)
- * @param info OSQPInfo
- * @param status_val new status value
- */
-void update_status(OSQPInfo *info,
- c_int status_val);
-
-
-/**
- * Check if termination conditions are satisfied
- * If the boolean flag is ON, it checks for approximate conditions (10 x larger
- * tolerances than the ones set)
- *
- * @param work Workspace
- * @param approximate Boolean
- * @return Residuals check
- */
-c_int check_termination(OSQPWorkspace *work,
- c_int approximate);
-
-
-# ifndef EMBEDDED
-
-/**
- * Validate problem data
- * @param data OSQPData to be validated
- * @return Exitflag to check
- */
-c_int validate_data(const OSQPData *data);
-
-
-/**
- * Validate problem settings
- * @param settings OSQPSettings to be validated
- * @return Exitflag to check
- */
-c_int validate_settings(const OSQPSettings *settings);
-
-
-# endif // #ifndef EMBEDDED
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef AUXIL_H
diff --git a/include/osqp_folder/include/constants.h b/include/osqp_folder/include/constants.h
deleted file mode 100644
index d5cec84398d15e9b6251e43c17bed2ed1b887d04..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/constants.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef CONSTANTS_H
-# define CONSTANTS_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-
-/*******************
-* OSQP Versioning *
-*******************/
-# define OSQP_VERSION ("0.6.0") /* string literals automatically null-terminated
- */
-
-/******************
-* Solver Status *
-******************/
-# define OSQP_DUAL_INFEASIBLE_INACCURATE (4)
-# define OSQP_PRIMAL_INFEASIBLE_INACCURATE (3)
-# define OSQP_SOLVED_INACCURATE (2)
-# define OSQP_SOLVED (1)
-# define OSQP_MAX_ITER_REACHED (-2)
-# define OSQP_PRIMAL_INFEASIBLE (-3) /* primal infeasible */
-# define OSQP_DUAL_INFEASIBLE (-4) /* dual infeasible */
-# define OSQP_SIGINT (-5) /* interrupted by user */
-# ifdef PROFILING
-# define OSQP_TIME_LIMIT_REACHED (-6)
-# endif // ifdef PROFILING
-# define OSQP_NON_CVX (-7) /* problem non convex */
-# define OSQP_UNSOLVED (-10) /* Unsolved. Only setup function has been called */
-
-
-/*************************
-* Linear System Solvers *
-*************************/
-enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER };
-extern const char * LINSYS_SOLVER_NAME[];
-
-
-/******************
-* Solver Errors *
-******************/
-enum osqp_error_type {
- OSQP_DATA_VALIDATION_ERROR = 1, /* Start errors from 1 */
- OSQP_SETTINGS_VALIDATION_ERROR,
- OSQP_LINSYS_SOLVER_LOAD_ERROR,
- OSQP_LINSYS_SOLVER_INIT_ERROR,
- OSQP_NONCVX_ERROR,
- OSQP_MEM_ALLOC_ERROR,
- OSQP_WORKSPACE_NOT_INIT_ERROR,
-};
-extern const char * OSQP_ERROR_MESSAGE[];
-
-
-/**********************************
-* Solver Parameters and Settings *
-**********************************/
-
-# define RHO (0.1)
-# define SIGMA (1E-06)
-# define MAX_ITER (4000)
-# define EPS_ABS (1E-3)
-# define EPS_REL (1E-3)
-# define EPS_PRIM_INF (1E-4)
-# define EPS_DUAL_INF (1E-4)
-# define ALPHA (1.6)
-# define LINSYS_SOLVER (QDLDL_SOLVER)
-
-# define RHO_MIN (1e-06)
-# define RHO_MAX (1e06)
-# define RHO_EQ_OVER_RHO_INEQ (1e03)
-# define RHO_TOL (1e-04) ///< tolerance for detecting if an inequality is set to equality
-
-
-# ifndef EMBEDDED
-# define DELTA (1E-6)
-# define POLISH (0)
-# define POLISH_REFINE_ITER (3)
-# define VERBOSE (1)
-# endif // ifndef EMBEDDED
-
-# define SCALED_TERMINATION (0)
-# define CHECK_TERMINATION (25)
-# define WARM_START (1)
-# define SCALING (10)
-
-# define MIN_SCALING (1e-04) ///< minimum scaling value
-# define MAX_SCALING (1e+04) ///< maximum scaling value
-
-
-# ifndef OSQP_NULL
-# define OSQP_NULL 0
-# endif /* ifndef OSQP_NULL */
-
-# ifndef OSQP_NAN
-# define OSQP_NAN ((c_float)0x7fc00000UL) // not a number
-# endif /* ifndef OSQP_NAN */
-
-# ifndef OSQP_INFTY
-# define OSQP_INFTY ((c_float)1e30) // infinity
-# endif /* ifndef OSQP_INFTY */
-
-
-# if EMBEDDED != 1
-# define ADAPTIVE_RHO (1)
-# define ADAPTIVE_RHO_INTERVAL (0)
-# define ADAPTIVE_RHO_FRACTION (0.4) ///< fraction of setup time after which we update rho
-# define ADAPTIVE_RHO_MULTIPLE_TERMINATION (4) ///< multiple of check_termination after which we update rho (if PROFILING disabled)
-# define ADAPTIVE_RHO_FIXED (100) ///< number of iterations after which we update rho if termination_check and PROFILING are disabled
-# define ADAPTIVE_RHO_TOLERANCE (5) ///< tolerance for adopting new rho; minimum ratio between new rho and the current one
-# endif // if EMBEDDED != 1
-
-# ifdef PROFILING
-# define TIME_LIMIT (0) ///< Disable time limit as default
-# endif // ifdef PROFILING
-
-/* Printing */
-# define PRINT_INTERVAL 200
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef CONSTANTS_H
diff --git a/include/osqp_folder/include/cs.h b/include/osqp_folder/include/cs.h
deleted file mode 100644
index dff0a805231a52d8ac7f0e78b897b27321df0028..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/cs.h
+++ /dev/null
@@ -1,180 +0,0 @@
-#ifndef CS_H
-# define CS_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h" // CSC matrix type
-# include "lin_alg.h" // Vector copy operations
-
-/*****************************************************************************
-* Create and free CSC Matrices *
-*****************************************************************************/
-
-/**
- * Create Compressed-Column-Sparse matrix from existing arrays
- (no MALLOC to create inner arrays x, i, p)
- * @param m First dimension
- * @param n Second dimension
- * @param nzmax Maximum number of nonzero elements
- * @param x Vector of data
- * @param i Vector of row indices
- * @param p Vector of column pointers
- * @return New matrix pointer
- */
-csc* csc_matrix(c_int m,
- c_int n,
- c_int nzmax,
- c_float *x,
- c_int *i,
- c_int *p);
-
-
-/**
- * Create uninitialized CSC matrix atricture
- (uses MALLOC to create inner arrays x, i, p)
- * @param m First dimension
- * @param n Second dimension
- * @param nzmax Maximum number of nonzero elements
- * @param values Allocate values (0/1)
- * @param triplet Allocate CSC or triplet format matrix (1/0)
- * @return Matrix pointer
- */
-csc* csc_spalloc(c_int m,
- c_int n,
- c_int nzmax,
- c_int values,
- c_int triplet);
-
-
-/**
- * Free sparse matrix
- (uses FREE to free inner arrays x, i, p)
- * @param A Matrix in CSC format
- */
-void csc_spfree(csc *A);
-
-
-/**
- * free workspace and return a sparse matrix result
- * @param C CSC matrix
- * @param w Workspace vector
- * @param x Workspace vector
- * @param ok flag
- * @return Return result C if OK, otherwise free it
- */
-csc* csc_done(csc *C,
- void *w,
- void *x,
- c_int ok);
-
-/*****************************************************************************
-* Copy Matrices *
-*****************************************************************************/
-
-/**
- * Copy sparse CSC matrix A to output.
- * output is allocated by this function (uses MALLOC)
- */
-csc* copy_csc_mat(const csc *A);
-
-
-/**
- * Copy sparse CSC matrix A to B (B is preallocated, NO MALOC)
- */
-void prea_copy_csc_mat(const csc *A,
- csc *B);
-
-
-/*****************************************************************************
-* Matrices Conversion *
-*****************************************************************************/
-
-
-/**
- * C = compressed-column CSC from matrix T in triplet form
- *
- * TtoC stores the vector of indices from T to C
- * -> C[TtoC[i]] = T[i]
- *
- * @param T matrix in triplet format
- * @param TtoC vector of indices from triplet to CSC format
- * @return matrix in CSC format
- */
-csc* triplet_to_csc(const csc *T,
- c_int *TtoC);
-
-
-/**
- * C = compressed-row CSR from matrix T in triplet form
- *
- * TtoC stores the vector of indices from T to C
- * -> C[TtoC[i]] = T[i]
- *
- * @param T matrix in triplet format
- * @param TtoC vector of indices from triplet to CSR format
- * @return matrix in CSR format
- */
-csc* triplet_to_csr(const csc *T,
- c_int *TtoC);
-
-
-/**
- * Convert sparse to dense
- */
-c_float* csc_to_dns(csc *M);
-
-
-/**
- * Convert square CSC matrix into upper triangular one
- *
- * @param M Matrix to be converted
- * @return Upper triangular matrix in CSC format
- */
-csc* csc_to_triu(csc *M);
-
-
-/*****************************************************************************
-* Extra operations *
-*****************************************************************************/
-
-/**
- * p [0..n] = cumulative sum of c [0..n-1], and then copy p [0..n-1] into c
- *
- * @param p Create cumulative sum into p
- * @param c Vector of which we compute cumulative sum
- * @param n Number of elements
- * @return Exitflag
- */
-c_int csc_cumsum(c_int *p,
- c_int *c,
- c_int n);
-
-/**
- * Compute inverse of permutation matrix stored in the vector p.
- * The computed inverse is also stored in a vector.
- */
-c_int* csc_pinv(c_int const *p,
- c_int n);
-
-/**
- * C = A(p,p)= PAP' where A and C are symmetric the upper part stored;
- * NB: pinv not p!
- * @param A Original matrix (upper-triangular)
- * @param pinv Inverse of permutation vector
- * @param AtoC Mapping from indices of A-x to C->x
- * @param values Are values of A allocated?
- * @return New matrix (allocated)
- */
-csc* csc_symperm(const csc *A,
- const c_int *pinv,
- c_int *AtoC,
- c_int values);
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef CS_H
diff --git a/include/osqp_folder/include/ctrlc.h b/include/osqp_folder/include/ctrlc.h
deleted file mode 100644
index 749e8e78d640545e4bc20eca723e2ed7f037b792..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/ctrlc.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Interface for OSQP signal handling.
- */
-
-#ifndef CTRLC_H
-# define CTRLC_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "glob_opts.h"
-
-# if defined MATLAB
-
-/* No header file available here; define the prototypes ourselves */
-bool utIsInterruptPending(void);
-bool utSetInterruptEnabled(bool);
-
-# elif defined IS_WINDOWS
-
-/* Use Windows SetConsoleCtrlHandler for signal handling */
-# include <windows.h>
-
-# else // if defined MATLAB
-
-/* Use sigaction for signal handling on non-Windows machines */
-# include <signal.h>
-
-# endif // if defined MATLAB
-
-/* METHODS are the same for both */
-
-/**
- * Start listener for ctrl-c interrupts
- */
-void osqp_start_interrupt_listener(void);
-
-/**
- * End listener for ctrl-c interrupts
- */
-void osqp_end_interrupt_listener(void);
-
-/**
- * Check if the solver has been interrupted
- * @return Boolean indicating if the solver has been interrupted
- */
-int osqp_is_interrupted(void);
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-
-#endif /* END IFDEF CTRLC */
diff --git a/include/osqp_folder/include/error.h b/include/osqp_folder/include/error.h
deleted file mode 100644
index 9d7879f03d49e31f5b5e8ae3b67a013aa01a4ea5..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/error.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef ERROR_H
-# define ERROR_H
-
-/* OSQP error handling */
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-
-/* OSQP error macro */
-# if __STDC_VERSION__ >= 199901L
-/* The C99 standard gives the __func__ macro, which is preferred over __FUNCTION__ */
-# define osqp_error(error_code) _osqp_error(error_code, __func__);
-#else
-# define osqp_error(error_code) _osqp_error(error_code, __FUNCTION__);
-#endif
-
-
-
-/**
- * Internal function to print error description and return error code.
- * @param Error code
- * @param Function name
- * @return Error code
- */
- c_int _osqp_error(enum osqp_error_type error_code,
- const char * function_name);
-
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef ERROR_H
diff --git a/include/osqp_folder/include/glob_opts.h b/include/osqp_folder/include/glob_opts.h
deleted file mode 100644
index 21bcac09aa3c16c40e2c65737d0016710c9f6ab7..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/glob_opts.h
+++ /dev/null
@@ -1,171 +0,0 @@
-#ifndef GLOB_OPTS_H
-# define GLOB_OPTS_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif /* ifdef __cplusplus */
-
-/*
- Define OSQP compiler flags
- */
-
-// cmake generated compiler flags
-#include "osqp_configure.h"
-
-/* DATA CUSTOMIZATIONS (depending on memory manager)----------------------- */
-
-// We do not need memory allocation functions if EMBEDDED is enabled
-# ifndef EMBEDDED
-
-/* define custom printfs and memory allocation (e.g. matlab/python) */
-# ifdef MATLAB
- # include "mex.h"
-static void* c_calloc(size_t num, size_t size) {
- void *m = mxCalloc(num, size);
- mexMakeMemoryPersistent(m);
- return m;
-}
-
-static void* c_malloc(size_t size) {
- void *m = mxMalloc(size);
- mexMakeMemoryPersistent(m);
- return m;
-}
-
-static void* c_realloc(void *ptr, size_t size) {
- void *m = mxRealloc(ptr, size);
- mexMakeMemoryPersistent(m);
- return m;
-}
-
- # define c_free mxFree
-# elif defined PYTHON
-// Define memory allocation for python. Note that in Python 2 memory manager
-// Calloc is not implemented
- # include <Python.h>
- # define c_malloc PyMem_Malloc
- # if PY_MAJOR_VERSION >= 3
- # define c_calloc PyMem_Calloc
- # else /* if PY_MAJOR_VERSION >= 3 */
-static void* c_calloc(size_t num, size_t size) {
- void *m = PyMem_Malloc(num * size);
- memset(m, 0, num * size);
- return m;
-}
- # endif /* if PY_MAJOR_VERSION >= 3 */
- # define c_free PyMem_Free
- # define c_realloc PyMem_Realloc
-
-# elif !defined OSQP_CUSTOM_MEMORY
-/* If no custom memory allocator defined, use
- * standard linux functions. Custom memory allocator definitions
- * appear in the osqp_configure.h generated file. */
- # include <stdlib.h>
- # define c_malloc malloc
- # define c_calloc calloc
- # define c_free free
- # define c_realloc realloc
-# endif /* ifdef MATLAB */
-
-# endif // end ifndef EMBEDDED
-
-
-/* Use customized number representation ----------------------------------- */
-# ifdef DLONG // long integers
-typedef long long c_int; /* for indices */
-# else // standard integers
-typedef int c_int; /* for indices */
-# endif /* ifdef DLONG */
-
-
-# ifndef DFLOAT // Doubles
-typedef double c_float; /* for numerical values */
-# else // Floats
-typedef float c_float; /* for numerical values */
-# endif /* ifndef DFLOAT */
-
-
-/* Use customized operations */
-
-# ifndef c_absval
-# define c_absval(x) (((x) < 0) ? -(x) : (x))
-# endif /* ifndef c_absval */
-
-# ifndef c_max
-# define c_max(a, b) (((a) > (b)) ? (a) : (b))
-# endif /* ifndef c_max */
-
-# ifndef c_min
-# define c_min(a, b) (((a) < (b)) ? (a) : (b))
-# endif /* ifndef c_min */
-
-// Round x to the nearest multiple of N
-# ifndef c_roundmultiple
-# define c_roundmultiple(x, N) ((x) + .5 * (N)-c_fmod((x) + .5 * (N), (N)))
-# endif /* ifndef c_roundmultiple */
-
-
-/* Use customized functions ----------------------------------------------- */
-
-# if EMBEDDED != 1
-
-# include <math.h>
-# ifndef DFLOAT // Doubles
-# define c_sqrt sqrt
-# define c_fmod fmod
-# else // Floats
-# define c_sqrt sqrtf
-# define c_fmod fmodf
-# endif /* ifndef DFLOAT */
-
-# endif // end EMBEDDED
-
-
-# ifdef PRINTING
-# include <stdio.h>
-# include <string.h>
-
-# ifdef MATLAB
-# define c_print mexPrintf
-
-// The following trick slows down the performance a lot. Since many solvers
-// actually
-// call mexPrintf and immediately force print buffer flush
-// otherwise messages don't appear until solver termination
-// ugly because matlab does not provide a vprintf mex interface
-// #include <stdarg.h>
-// static int c_print(char *msg, ...)
-// {
-// va_list argList;
-// va_start(argList, msg);
-// //message buffer
-// int bufferSize = 256;
-// char buffer[bufferSize];
-// vsnprintf(buffer,bufferSize-1, msg, argList);
-// va_end(argList);
-// int out = mexPrintf(buffer); //print to matlab display
-// mexEvalString("drawnow;"); // flush matlab print buffer
-// return out;
-// }
-# elif defined PYTHON
-# include <Python.h>
-# define c_print PySys_WriteStdout
-# elif defined R_LANG
-# include <R_ext/Print.h>
-# define c_print Rprintf
-# else /* ifdef MATLAB */
-# define c_print printf
-# endif /* ifdef MATLAB */
-
-/* Print error macro */
-# define c_eprint(...) c_print("ERROR in %s: ", __FUNCTION__); c_print(\
- __VA_ARGS__); c_print("\n");
-
-# endif /* PRINTING */
-
-
-# ifdef __cplusplus
-}
-# endif /* ifdef __cplusplus */
-
-#endif /* ifndef GLOB_OPTS_H */
diff --git a/include/osqp_folder/include/kkt.h b/include/osqp_folder/include/kkt.h
deleted file mode 100644
index 9560d5ecbf4e26e77aabb315a78257adf560378f..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/kkt.h
+++ /dev/null
@@ -1,109 +0,0 @@
-#ifndef KKT_H
-# define KKT_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-# ifndef EMBEDDED
-
-# include "cs.h"
-
-/**
- * Form square symmetric KKT matrix of the form
- *
- * [P + param1 I, A';
- * A -diag(param2)]
- *
- * NB: Only the upper triangular part is stuffed!
- *
- *
- * If Pdiag_idx is not OSQP_NULL, it saves the index of the diagonal
- * elements of P there and the number of diagonal elements in Pdiag_n.
- *
- * Similarly, if rhotoKKT is not null,
- * it saves where the values of param2 go in the final KKT matrix
- *
- * NB: Pdiag_idx needs to be freed!
- *
- * @param P cost matrix (already just upper triangular part)
- * @param A linear constraint matrix
- * @param format CSC (0) or CSR (1)
- * @param param1 regularization parameter
- * @param param2 regularization parameter (vector)
- * @param PtoKKT (modified) index mapping from elements of P to KKT matrix
- * @param AtoKKT (modified) index mapping from elements of A to KKT matrix
- * @param Pdiag_idx (modified) Address of the index of diagonal elements in P
- * @param Pdiag_n (modified) Address to the number of diagonal elements in P
- * @param param2toKKT (modified) index mapping from param2 to elements of
- *KKT
- * @return return status flag
- */
-csc* form_KKT(const csc *P,
- const csc *A,
- c_int format,
- c_float param1,
- c_float *param2,
- c_int *PtoKKT,
- c_int *AtoKKT,
- c_int **Pdiag_idx,
- c_int *Pdiag_n,
- c_int *param2toKKT);
-# endif // ifndef EMBEDDED
-
-
-# if EMBEDDED != 1
-
-/**
- * Update KKT matrix using the elements of P
- *
- * @param KKT KKT matrix in CSC form (upper-triangular)
- * @param P P matrix in CSC form (upper-triangular)
- * @param PtoKKT Vector of pointers from P->x to KKT->x
- * @param param1 Parameter added to the diagonal elements of P
- * @param Pdiag_idx Index of diagonal elements in P->x
- * @param Pdiag_n Number of diagonal elements of P
- */
-void update_KKT_P(csc *KKT,
- const csc *P,
- const c_int *PtoKKT,
- const c_float param1,
- const c_int *Pdiag_idx,
- const c_int Pdiag_n);
-
-
-/**
- * Update KKT matrix using the elements of A
- *
- * @param KKT KKT matrix in CSC form (upper-triangular)
- * @param A A matrix in CSC form (upper-triangular)
- * @param AtoKKT Vector of pointers from A->x to KKT->x
- */
-void update_KKT_A(csc *KKT,
- const csc *A,
- const c_int *AtoKKT);
-
-
-/**
- * Update KKT matrix with new param2
- *
- * @param KKT KKT matrix
- * @param param2 Parameter of the KKT matrix (vector)
- * @param param2toKKT index where param2 enters in the KKT matrix
- * @param m number of constraints
- */
-void update_KKT_param2(csc *KKT,
- const c_float *param2,
- const c_int *param2toKKT,
- const c_int m);
-
-# endif // EMBEDDED != 1
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef KKT_H
diff --git a/include/osqp_folder/include/lin_alg.h b/include/osqp_folder/include/lin_alg.h
deleted file mode 100644
index e9589e9d7b714677f885ba38143a9b55fe4b3fb4..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/lin_alg.h
+++ /dev/null
@@ -1,216 +0,0 @@
-#ifndef LIN_ALG_H
-# define LIN_ALG_H
-
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-
-/* VECTOR FUNCTIONS ----------------------------------------------------------*/
-
-# ifndef EMBEDDED
-
-/* copy vector a into output (Uses MALLOC)*/
-c_float* vec_copy(c_float *a,
- c_int n);
-# endif // ifndef EMBEDDED
-
-/* copy vector a into preallocated vector b */
-void prea_vec_copy(const c_float *a,
- c_float *b,
- c_int n);
-
-/* copy integer vector a into preallocated vector b */
-void prea_int_vec_copy(const c_int *a,
- c_int *b,
- c_int n);
-
-/* set float vector to scalar */
-void vec_set_scalar(c_float *a,
- c_float sc,
- c_int n);
-
-/* set integer vector to scalar */
-void int_vec_set_scalar(c_int *a,
- c_int sc,
- c_int n);
-
-/* add scalar to vector*/
-void vec_add_scalar(c_float *a,
- c_float sc,
- c_int n);
-
-/* multiply scalar to vector */
-void vec_mult_scalar(c_float *a,
- c_float sc,
- c_int n);
-
-/* c = a + sc*b */
-void vec_add_scaled(c_float *c,
- const c_float *a,
- const c_float *b,
- c_int n,
- c_float sc);
-
-/* ||v||_inf */
-c_float vec_norm_inf(const c_float *v,
- c_int l);
-
-/* ||Sv||_inf */
-c_float vec_scaled_norm_inf(const c_float *S,
- const c_float *v,
- c_int l);
-
-/* ||a - b||_inf */
-c_float vec_norm_inf_diff(const c_float *a,
- const c_float *b,
- c_int l);
-
-/* mean of vector elements */
-c_float vec_mean(const c_float *a,
- c_int n);
-
-# if EMBEDDED != 1
-
-/* Vector elementwise reciprocal b = 1./a (needed for scaling)*/
-void vec_ew_recipr(const c_float *a,
- c_float *b,
- c_int n);
-# endif // if EMBEDDED != 1
-
-/* Inner product a'b */
-c_float vec_prod(const c_float *a,
- const c_float *b,
- c_int n);
-
-/* Elementwise product a.*b stored in c*/
-void vec_ew_prod(const c_float *a,
- const c_float *b,
- c_float *c,
- c_int n);
-
-# if EMBEDDED != 1
-
-/* Elementwise sqrt of the vector elements */
-void vec_ew_sqrt(c_float *a,
- c_int n);
-
-/* Elementwise max between each vector component and max_val */
-void vec_ew_max(c_float *a,
- c_int n,
- c_float max_val);
-
-/* Elementwise min between each vector component and max_val */
-void vec_ew_min(c_float *a,
- c_int n,
- c_float min_val);
-
-/* Elementwise maximum between vectors c = max(a, b) */
-void vec_ew_max_vec(const c_float *a,
- const c_float *b,
- c_float *c,
- c_int n);
-
-/* Elementwise minimum between vectors c = min(a, b) */
-void vec_ew_min_vec(const c_float *a,
- const c_float *b,
- c_float *c,
- c_int n);
-
-# endif // if EMBEDDED != 1
-
-
-/* MATRIX FUNCTIONS ----------------------------------------------------------*/
-
-/* multiply scalar to matrix */
-void mat_mult_scalar(csc *A,
- c_float sc);
-
-/* Premultiply matrix A by diagonal matrix with diagonal d,
- i.e. scale the rows of A by d
- */
-void mat_premult_diag(csc *A,
- const c_float *d);
-
-/* Premultiply matrix A by diagonal matrix with diagonal d,
- i.e. scale the columns of A by d
- */
-void mat_postmult_diag(csc *A,
- const c_float *d);
-
-
-/* Matrix-vector multiplication
- * y = A*x (if plus_eq == 0)
- * y += A*x (if plus_eq == 1)
- * y -= A*x (if plus_eq == -1)
- */
-void mat_vec(const csc *A,
- const c_float *x,
- c_float *y,
- c_int plus_eq);
-
-
-/* Matrix-transpose-vector multiplication
- * y = A'*x (if plus_eq == 0)
- * y += A'*x (if plus_eq == 1)
- * y -= A'*x (if plus_eq == -1)
- * If skip_diag == 1, then diagonal elements of A are assumed to be zero.
- */
-void mat_tpose_vec(const csc *A,
- const c_float *x,
- c_float *y,
- c_int plus_eq,
- c_int skip_diag);
-
-
-# if EMBEDDED != 1
-
-/**
- * Infinity norm of each matrix column
- * @param M Input matrix
- * @param E Vector of infinity norms
- *
- */
-void mat_inf_norm_cols(const csc *M,
- c_float *E);
-
-/**
- * Infinity norm of each matrix row
- * @param M Input matrix
- * @param E Vector of infinity norms
- *
- */
-void mat_inf_norm_rows(const csc *M,
- c_float *E);
-
-/**
- * Infinity norm of each matrix column
- * Matrix M is symmetric upper-triangular
- *
- * @param M Input matrix (symmetric, upper-triangular)
- * @param E Vector of infinity norms
- *
- */
-void mat_inf_norm_cols_sym_triu(const csc *M,
- c_float *E);
-
-# endif // EMBEDDED != 1
-
-/**
- * Compute quadratic form f(x) = 1/2 x' P x
- * @param P quadratic matrix in CSC form (only upper triangular)
- * @param x argument float vector
- * @return quadratic form value
- */
-c_float quad_form(const csc *P,
- const c_float *x);
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef LIN_ALG_H
diff --git a/include/osqp_folder/include/lin_sys.h b/include/osqp_folder/include/lin_sys.h
deleted file mode 100644
index 69f3bdcff7107a65ebb3d6dcb491070d2bfca518..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/lin_sys.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#ifndef LIN_SYS_H
-# define LIN_SYS_H
-
-/* KKT linear system definition and solution */
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-/**
- * Load linear system solver shared library
- * @param linsys_solver Linear system solver
- * @return Zero on success, nonzero on failure.
- */
-c_int load_linsys_solver(enum linsys_solver_type linsys_solver);
-
-
-/**
- * Unload linear system solver shared library
- * @param linsys_solver Linear system solver
- * @return Zero on success, nonzero on failure.
- */
-c_int unload_linsys_solver(enum linsys_solver_type linsys_solver);
-
-
-// NB: Only the upper triangular part of P is stuffed!
-
-/**
- * Initialize linear system solver structure
- * @param s Pointer to linear system solver structure
- * @param P Cost function matrix
- * @param A Constraint matrix
- * @param sigma Algorithm parameter
- * @param rho_vec Algorithm parameter
- * @param linsys_solver Linear system solver
- * @param polish 0/1 depending whether we are allocating for
- *polishing or not
- * @return Exitflag for error (0 if no errors)
- */
-c_int init_linsys_solver(LinSysSolver **s,
- const csc *P,
- const csc *A,
- c_float sigma,
- const c_float *rho_vec,
- enum linsys_solver_type linsys_solver,
- c_int polish);
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef LIN_SYS_H
diff --git a/include/osqp_folder/include/osqp.h b/include/osqp_folder/include/osqp.h
deleted file mode 100644
index 296aff82deacb824145027d1a5a2b671c48a1061..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/osqp.h
+++ /dev/null
@@ -1,430 +0,0 @@
-#ifndef OSQP_H
-# define OSQP_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-/* Includes */
-# include "types.h"
-# include "util.h" // Needed for osqp_set_default_settings functions
-
-
-// Library to deal with sparse matrices enabled only if embedded not defined
-# ifndef EMBEDDED
-# include "cs.h"
-# endif // ifndef EMBEDDED
-
-/********************
-* Main Solver API *
-********************/
-
-/**
- * @name Main solver API
- * @{
- */
-
-/**
- * Set default settings from constants.h file
- * assumes settings already allocated in memory
- * @param settings settings structure
- */
-void osqp_set_default_settings(OSQPSettings *settings);
-
-
-# ifndef EMBEDDED
-
-/**
- * Initialize OSQP solver allocating memory.
- *
- * All the inputs must be already allocated in memory before calling.
- *
- * It performs:
- * - data and settings validation
- * - problem data scaling
- * - automatic parameters tuning (if enabled)
- * - setup linear system solver:
- * - direct solver: KKT matrix factorization is performed here
- * - indirect solver: KKT matrix preconditioning is performed here
- *
- * NB: This is the only function that allocates dynamic memory and is not used
- *during code generation
- *
- * @param workp Solver workspace pointer
- * @param data Problem data
- * @param settings Solver settings
- * @return Exitflag for errors (0 if no errors)
- */
-c_int osqp_setup(OSQPWorkspace** workp, const OSQPData* data, const OSQPSettings* settings);
-
-# endif // #ifndef EMBEDDED
-
-/**
- * Solve quadratic program
- *
- * The final solver information is stored in the \a work->info structure
- *
- * The solution is stored in the \a work->solution structure
- *
- * If the problem is primal infeasible, the certificate is stored
- * in \a work->delta_y
- *
- * If the problem is dual infeasible, the certificate is stored in \a
- * work->delta_x
- *
- * @param work Workspace allocated
- * @return Exitflag for errors
- */
-c_int osqp_solve(OSQPWorkspace *work);
-
-
-# ifndef EMBEDDED
-
-/**
- * Cleanup workspace by deallocating memory
- *
- * This function is not used in code generation
- * @param work Workspace
- * @return Exitflag for errors
- */
-c_int osqp_cleanup(OSQPWorkspace *work);
-
-# endif // ifndef EMBEDDED
-
-/** @} */
-
-
-/********************************************
-* Sublevel API *
-* *
-* Edit data without performing setup again *
-********************************************/
-
-/**
- * @name Sublevel API
- * @{
- */
-
-/**
- * Update linear cost in the problem
- * @param work Workspace
- * @param q_new New linear cost
- * @return Exitflag for errors and warnings
- */
-c_int osqp_update_lin_cost(OSQPWorkspace *work,
- const c_float *q_new);
-
-
-/**
- * Update lower and upper bounds in the problem constraints
- * @param work Workspace
- * @param l_new New lower bound
- * @param u_new New upper bound
- * @return Exitflag: 1 if new lower bound is not <= than new upper bound
- */
-c_int osqp_update_bounds(OSQPWorkspace *work,
- const c_float *l_new,
- const c_float *u_new);
-
-
-/**
- * Update lower bound in the problem constraints
- * @param work Workspace
- * @param l_new New lower bound
- * @return Exitflag: 1 if new lower bound is not <= than upper bound
- */
-c_int osqp_update_lower_bound(OSQPWorkspace *work,
- const c_float *l_new);
-
-
-/**
- * Update upper bound in the problem constraints
- * @param work Workspace
- * @param u_new New upper bound
- * @return Exitflag: 1 if new upper bound is not >= than lower bound
- */
-c_int osqp_update_upper_bound(OSQPWorkspace *work,
- const c_float *u_new);
-
-
-/**
- * Warm start primal and dual variables
- * @param work Workspace structure
- * @param x Primal variable
- * @param y Dual variable
- * @return Exitflag
- */
-c_int osqp_warm_start(OSQPWorkspace *work,
- const c_float *x,
- const c_float *y);
-
-
-/**
- * Warm start primal variable
- * @param work Workspace structure
- * @param x Primal variable
- * @return Exitflag
- */
-c_int osqp_warm_start_x(OSQPWorkspace *work,
- const c_float *x);
-
-
-/**
- * Warm start dual variable
- * @param work Workspace structure
- * @param y Dual variable
- * @return Exitflag
- */
-c_int osqp_warm_start_y(OSQPWorkspace *work,
- const c_float *y);
-
-
-# if EMBEDDED != 1
-
-/**
- * Update elements of matrix P (upper triangular)
- * without changing sparsity structure.
- *
- *
- * If Px_new_idx is OSQP_NULL, Px_new is assumed to be as long as P->x
- * and the whole P->x is replaced.
- *
- * @param work Workspace structure
- * @param Px_new Vector of new elements in P->x (upper triangular)
- * @param Px_new_idx Index mapping new elements to positions in P->x
- * @param P_new_n Number of new elements to be changed
- * @return output flag: 0: OK
- * 1: P_new_n > nnzP
- * <0: error in the update
- */
-c_int osqp_update_P(OSQPWorkspace *work,
- const c_float *Px_new,
- const c_int *Px_new_idx,
- c_int P_new_n);
-
-
-/**
- * Update elements of matrix A without changing sparsity structure.
- *
- *
- * If Ax_new_idx is OSQP_NULL, Ax_new is assumed to be as long as A->x
- * and the whole A->x is replaced.
- *
- * @param work Workspace structure
- * @param Ax_new Vector of new elements in A->x
- * @param Ax_new_idx Index mapping new elements to positions in A->x
- * @param A_new_n Number of new elements to be changed
- * @return output flag: 0: OK
- * 1: A_new_n > nnzA
- * <0: error in the update
- */
-c_int osqp_update_A(OSQPWorkspace *work,
- const c_float *Ax_new,
- const c_int *Ax_new_idx,
- c_int A_new_n);
-
-
-/**
- * Update elements of matrix P (upper triangular) and elements of matrix A
- * without changing sparsity structure.
- *
- *
- * If Px_new_idx is OSQP_NULL, Px_new is assumed to be as long as P->x
- * and the whole P->x is replaced.
- *
- * If Ax_new_idx is OSQP_NULL, Ax_new is assumed to be as long as A->x
- * and the whole A->x is replaced.
- *
- * @param work Workspace structure
- * @param Px_new Vector of new elements in P->x (upper triangular)
- * @param Px_new_idx Index mapping new elements to positions in P->x
- * @param P_new_n Number of new elements to be changed
- * @param Ax_new Vector of new elements in A->x
- * @param Ax_new_idx Index mapping new elements to positions in A->x
- * @param A_new_n Number of new elements to be changed
- * @return output flag: 0: OK
- * 1: P_new_n > nnzP
- * 2: A_new_n > nnzA
- * <0: error in the update
- */
-c_int osqp_update_P_A(OSQPWorkspace *work,
- const c_float *Px_new,
- const c_int *Px_new_idx,
- c_int P_new_n,
- const c_float *Ax_new,
- const c_int *Ax_new_idx,
- c_int A_new_n);
-
-/**
- * Update rho. Limit it between RHO_MIN and RHO_MAX.
- * @param work Workspace
- * @param rho_new New rho setting
- * @return Exitflag
- */
-c_int osqp_update_rho(OSQPWorkspace *work,
- c_float rho_new);
-
-# endif // if EMBEDDED != 1
-
-/** @} */
-
-
-/**
- * @name Update settings
- * @{
- */
-
-
-/**
- * Update max_iter setting
- * @param work Workspace
- * @param max_iter_new New max_iter setting
- * @return Exitflag
- */
-c_int osqp_update_max_iter(OSQPWorkspace *work,
- c_int max_iter_new);
-
-
-/**
- * Update absolute tolernace value
- * @param work Workspace
- * @param eps_abs_new New absolute tolerance value
- * @return Exitflag
- */
-c_int osqp_update_eps_abs(OSQPWorkspace *work,
- c_float eps_abs_new);
-
-
-/**
- * Update relative tolernace value
- * @param work Workspace
- * @param eps_rel_new New relative tolerance value
- * @return Exitflag
- */
-c_int osqp_update_eps_rel(OSQPWorkspace *work,
- c_float eps_rel_new);
-
-
-/**
- * Update primal infeasibility tolerance
- * @param work Workspace
- * @param eps_prim_inf_new New primal infeasibility tolerance
- * @return Exitflag
- */
-c_int osqp_update_eps_prim_inf(OSQPWorkspace *work,
- c_float eps_prim_inf_new);
-
-
-/**
- * Update dual infeasibility tolerance
- * @param work Workspace
- * @param eps_dual_inf_new New dual infeasibility tolerance
- * @return Exitflag
- */
-c_int osqp_update_eps_dual_inf(OSQPWorkspace *work,
- c_float eps_dual_inf_new);
-
-
-/**
- * Update relaxation parameter alpha
- * @param work Workspace
- * @param alpha_new New relaxation parameter value
- * @return Exitflag
- */
-c_int osqp_update_alpha(OSQPWorkspace *work,
- c_float alpha_new);
-
-
-/**
- * Update warm_start setting
- * @param work Workspace
- * @param warm_start_new New warm_start setting
- * @return Exitflag
- */
-c_int osqp_update_warm_start(OSQPWorkspace *work,
- c_int warm_start_new);
-
-
-/**
- * Update scaled_termination setting
- * @param work Workspace
- * @param scaled_termination_new New scaled_termination setting
- * @return Exitflag
- */
-c_int osqp_update_scaled_termination(OSQPWorkspace *work,
- c_int scaled_termination_new);
-
-/**
- * Update check_termination setting
- * @param work Workspace
- * @param check_termination_new New check_termination setting
- * @return Exitflag
- */
-c_int osqp_update_check_termination(OSQPWorkspace *work,
- c_int check_termination_new);
-
-
-# ifndef EMBEDDED
-
-/**
- * Update regularization parameter in polish
- * @param work Workspace
- * @param delta_new New regularization parameter
- * @return Exitflag
- */
-c_int osqp_update_delta(OSQPWorkspace *work,
- c_float delta_new);
-
-
-/**
- * Update polish setting
- * @param work Workspace
- * @param polish_new New polish setting
- * @return Exitflag
- */
-c_int osqp_update_polish(OSQPWorkspace *work,
- c_int polish_new);
-
-
-/**
- * Update number of iterative refinement steps in polish
- * @param work Workspace
- * @param polish_refine_iter_new New iterative reginement steps
- * @return Exitflag
- */
-c_int osqp_update_polish_refine_iter(OSQPWorkspace *work,
- c_int polish_refine_iter_new);
-
-
-/**
- * Update verbose setting
- * @param work Workspace
- * @param verbose_new New verbose setting
- * @return Exitflag
- */
-c_int osqp_update_verbose(OSQPWorkspace *work,
- c_int verbose_new);
-
-
-# endif // #ifndef EMBEDDED
-
-# ifdef PROFILING
-
-/**
- * Update time_limit setting
- * @param work Workspace
- * @param time_limit_new New time_limit setting
- * @return Exitflag
- */
-c_int osqp_update_time_limit(OSQPWorkspace *work,
- c_float time_limit_new);
-# endif // ifdef PROFILING
-
-/** @} */
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef OSQP_H
diff --git a/include/osqp_folder/include/osqp_configure.h b/include/osqp_folder/include/osqp_configure.h
deleted file mode 100644
index 79248bc3a4e18183109cd17e84817d28bf9ba982..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/osqp_configure.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef OSQP_CONFIGURE_H
-# define OSQP_CONFIGURE_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif /* ifdef __cplusplus */
-
-/* DEBUG */
-/* #undef DEBUG */
-
-/* Operating system */
-#define IS_LINUX
-/* #undef IS_MAC */
-/* #undef IS_WINDOWS */
-
-/* EMBEDDED */
-/* #undef EMBEDDED */
-
-/* PRINTING */
-#define PRINTING
-
-/* PROFILING */
-#define PROFILING
-
-/* CTRLC */
-#define CTRLC
-
-/* DFLOAT */
-/* #undef DFLOAT */
-
-/* DLONG */
-// #define DLONG
-
-/* ENABLE_MKL_PARDISO */
-#define ENABLE_MKL_PARDISO
-
-/* MEMORY MANAGEMENT */
-/* #undef OSQP_CUSTOM_MEMORY */
-#ifdef OSQP_CUSTOM_MEMORY
-#include ""
-#endif
-
-
-
-# ifdef __cplusplus
-}
-# endif /* ifdef __cplusplus */
-
-#endif /* ifndef OSQP_CONFIGURE_H */
diff --git a/include/osqp_folder/include/polish.h b/include/osqp_folder/include/polish.h
deleted file mode 100644
index 5a8dc28ffefa9fcb0d4cd826264f72ad3856088b..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/polish.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/* Solution polish based on assuming the active set */
-#ifndef POLISH_H
-# define POLISH_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-
-# include "types.h"
-
-/**
- * Solution polish: Solve equality constrained QP with assumed active
- *constraints
- * @param work Workspace
- * @return Exitflag
- */
-c_int polish(OSQPWorkspace *work);
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef POLISH_H
diff --git a/include/osqp_folder/include/proj.h b/include/osqp_folder/include/proj.h
deleted file mode 100644
index ec0066a3af8f350ef80d014c205b1230c22e73cd..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/proj.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#ifndef PROJ_H
-# define PROJ_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-
-
-/* Define Projections onto set C involved in the ADMM algorithm */
-
-/**
- * Project z onto \f$C = [l, u]\f$
- * @param z Vector to project
- * @param work Workspace
- */
-void project(OSQPWorkspace *work,
- c_float *z);
-
-
-/**
- * Ensure z satisfies box constraints and y is is normal cone of z
- * @param work Workspace
- * @param z Primal variable z
- * @param y Dual variable y
- */
-void project_normalcone(OSQPWorkspace *work,
- c_float *z,
- c_float *y);
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef PROJ_H
diff --git a/include/osqp_folder/include/scaling.h b/include/osqp_folder/include/scaling.h
deleted file mode 100644
index 0df9c04d9c77da2e6fbbec969ce45207cf293549..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/scaling.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef SCALING_H
-# define SCALING_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-// Functions to scale problem data
-# include "types.h"
-# include "lin_alg.h"
-# include "constants.h"
-
-// Enable data scaling if EMBEDDED is disabled or if EMBEDDED == 2
-# if EMBEDDED != 1
-
-/**
- * Scale problem matrices
- * @param work Workspace
- * @return exitflag
- */
-c_int scale_data(OSQPWorkspace *work);
-# endif // if EMBEDDED != 1
-
-
-/**
- * Unscale problem matrices
- * @param work Workspace
- * @return exitflag
- */
-c_int unscale_data(OSQPWorkspace *work);
-
-
-/**
- * Unscale solution
- * @param work Workspace
- * @return exitflag
- */
-c_int unscale_solution(OSQPWorkspace *work);
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef SCALING_H
diff --git a/include/osqp_folder/include/types.h b/include/osqp_folder/include/types.h
deleted file mode 100644
index 4af5e0bde0b5f82b26b068aeca99dbbdaa331ae3..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/types.h
+++ /dev/null
@@ -1,324 +0,0 @@
-#ifndef OSQP_TYPES_H
-# define OSQP_TYPES_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "glob_opts.h"
-# include "constants.h"
-
-
-/******************
-* Internal types *
-******************/
-
-/**
- * Matrix in compressed-column or triplet form
- */
-typedef struct {
- c_int nzmax; ///< maximum number of entries
- c_int m; ///< number of rows
- c_int n; ///< number of columns
- c_int *p; ///< column pointers (size n+1); col indices (size nzmax) start from 0 when using triplet format (direct KKT matrix formation)
- c_int *i; ///< row indices, size nzmax starting from 0
- c_float *x; ///< numerical values, size nzmax
- c_int nz; ///< number of entries in triplet matrix, -1 for csc
-} csc;
-
-/**
- * Linear system solver structure (sublevel objects initialize it differently)
- */
-
-typedef struct linsys_solver LinSysSolver;
-
-/**
- * OSQP Timer for statistics
- */
-typedef struct OSQP_TIMER OSQPTimer;
-
-/**
- * Problem scaling matrices stored as vectors
- */
-typedef struct {
- c_float c; ///< cost function scaling
- c_float *D; ///< primal variable scaling
- c_float *E; ///< dual variable scaling
- c_float cinv; ///< cost function rescaling
- c_float *Dinv; ///< primal variable rescaling
- c_float *Einv; ///< dual variable rescaling
-} OSQPScaling;
-
-/**
- * Solution structure
- */
-typedef struct {
- c_float *x; ///< primal solution
- c_float *y; ///< Lagrange multiplier associated to \f$l <= Ax <= u\f$
-} OSQPSolution;
-
-
-/**
- * Solver return information
- */
-typedef struct {
- c_int iter; ///< number of iterations taken
- char status[32]; ///< status string, e.g. 'solved'
- c_int status_val; ///< status as c_int, defined in constants.h
-
-# ifndef EMBEDDED
- c_int status_polish; ///< polish status: successful (1), unperformed (0), (-1) unsuccessful
-# endif // ifndef EMBEDDED
-
- c_float obj_val; ///< primal objective
- c_float pri_res; ///< norm of primal residual
- c_float dua_res; ///< norm of dual residual
-
-# ifdef PROFILING
- c_float setup_time; ///< time taken for setup phase (seconds)
- c_float solve_time; ///< time taken for solve phase (seconds)
- c_float update_time; ///< time taken for update phase (seconds)
- c_float polish_time; ///< time taken for polish phase (seconds)
- c_float run_time; ///< total time (seconds)
-# endif // ifdef PROFILING
-
-# if EMBEDDED != 1
- c_int rho_updates; ///< number of rho updates
- c_float rho_estimate; ///< best rho estimate so far from residuals
-# endif // if EMBEDDED != 1
-} OSQPInfo;
-
-
-# ifndef EMBEDDED
-
-/**
- * Polish structure
- */
-typedef struct {
- csc *Ared; ///< active rows of A
- ///< Ared = vstack[Alow, Aupp]
- c_int n_low; ///< number of lower-active rows
- c_int n_upp; ///< number of upper-active rows
- c_int *A_to_Alow; ///< Maps indices in A to indices in Alow
- c_int *A_to_Aupp; ///< Maps indices in A to indices in Aupp
- c_int *Alow_to_A; ///< Maps indices in Alow to indices in A
- c_int *Aupp_to_A; ///< Maps indices in Aupp to indices in A
- c_float *x; ///< optimal x-solution obtained by polish
- c_float *z; ///< optimal z-solution obtained by polish
- c_float *y; ///< optimal y-solution obtained by polish
- c_float obj_val; ///< objective value at polished solution
- c_float pri_res; ///< primal residual at polished solution
- c_float dua_res; ///< dual residual at polished solution
-} OSQPPolish;
-# endif // ifndef EMBEDDED
-
-
-/**********************************
-* Main structures and Data Types *
-**********************************/
-
-/**
- * Data structure
- */
-typedef struct {
- c_int n; ///< number of variables n
- c_int m; ///< number of constraints m
- csc *P; ///< the upper triangular part of the quadratic cost matrix P in csc format (size n x n).
- csc *A; ///< linear constraints matrix A in csc format (size m x n)
- c_float *q; ///< dense array for linear part of cost function (size n)
- c_float *l; ///< dense array for lower bound (size m)
- c_float *u; ///< dense array for upper bound (size m)
-} OSQPData;
-
-
-/**
- * Settings struct
- */
-typedef struct {
- c_float rho; ///< ADMM step rho
- c_float sigma; ///< ADMM step sigma
- c_int scaling; ///< heuristic data scaling iterations; if 0, then disabled.
-
-# if EMBEDDED != 1
- c_int adaptive_rho; ///< boolean, is rho step size adaptive?
- c_int adaptive_rho_interval; ///< number of iterations between rho adaptations; if 0, then it is automatic
- c_float adaptive_rho_tolerance; ///< tolerance X for adapting rho. The new rho has to be X times larger or 1/X times smaller than the current one to trigger a new factorization.
-# ifdef PROFILING
- c_float adaptive_rho_fraction; ///< interval for adapting rho (fraction of the setup time)
-# endif // Profiling
-# endif // EMBEDDED != 1
-
- c_int max_iter; ///< maximum number of iterations
- c_float eps_abs; ///< absolute convergence tolerance
- c_float eps_rel; ///< relative convergence tolerance
- c_float eps_prim_inf; ///< primal infeasibility tolerance
- c_float eps_dual_inf; ///< dual infeasibility tolerance
- c_float alpha; ///< relaxation parameter
- enum linsys_solver_type linsys_solver; ///< linear system solver to use
-
-# ifndef EMBEDDED
- c_float delta; ///< regularization parameter for polishing
- c_int polish; ///< boolean, polish ADMM solution
- c_int polish_refine_iter; ///< number of iterative refinement steps in polishing
-
- c_int verbose; ///< boolean, write out progress
-# endif // ifndef EMBEDDED
-
- c_int scaled_termination; ///< boolean, use scaled termination criteria
- c_int check_termination; ///< integer, check termination interval; if 0, then termination checking is disabled
- c_int warm_start; ///< boolean, warm start
-
-# ifdef PROFILING
- c_float time_limit; ///< maximum number of seconds allowed to solve the problem; if 0, then disabled
-# endif // ifdef PROFILING
-} OSQPSettings;
-
-
-/**
- * OSQP Workspace
- */
-typedef struct {
- /// Problem data to work on (possibly scaled)
- OSQPData *data;
-
- /// Linear System solver structure
- LinSysSolver *linsys_solver;
-
-# ifndef EMBEDDED
- /// Polish structure
- OSQPPolish *pol;
-# endif // ifndef EMBEDDED
-
- /**
- * @name Vector used to store a vectorized rho parameter
- * @{
- */
- c_float *rho_vec; ///< vector of rho values
- c_float *rho_inv_vec; ///< vector of inv rho values
-
- /** @} */
-
-# if EMBEDDED != 1
- c_int *constr_type; ///< Type of constraints: loose (-1), equality (1), inequality (0)
-# endif // if EMBEDDED != 1
-
- /**
- * @name Iterates
- * @{
- */
- c_float *x; ///< Iterate x
- c_float *y; ///< Iterate y
- c_float *z; ///< Iterate z
- c_float *xz_tilde; ///< Iterate xz_tilde
-
- c_float *x_prev; ///< Previous x
-
- /**< NB: Used also as workspace vector for dual residual */
- c_float *z_prev; ///< Previous z
-
- /**< NB: Used also as workspace vector for primal residual */
-
- /**
- * @name Primal and dual residuals workspace variables
- *
- * Needed for residuals computation, tolerances computation,
- * approximate tolerances computation and adapting rho
- * @{
- */
- c_float *Ax; ///< scaled A * x
- c_float *Px; ///< scaled P * x
- c_float *Aty; ///< scaled A * x
-
- /** @} */
-
- /**
- * @name Primal infeasibility variables
- * @{
- */
- c_float *delta_y; ///< difference between consecutive dual iterates
- c_float *Atdelta_y; ///< A' * delta_y
-
- /** @} */
-
- /**
- * @name Dual infeasibility variables
- * @{
- */
- c_float *delta_x; ///< difference between consecutive primal iterates
- c_float *Pdelta_x; ///< P * delta_x
- c_float *Adelta_x; ///< A * delta_x
-
- /** @} */
-
- /**
- * @name Temporary vectors used in scaling
- * @{
- */
-
- c_float *D_temp; ///< temporary primal variable scaling vectors
- c_float *D_temp_A; ///< temporary primal variable scaling vectors storing norms of A columns
- c_float *E_temp; ///< temporary constraints scaling vectors storing norms of A' columns
-
-
- /** @} */
-
- OSQPSettings *settings; ///< problem settings
- OSQPScaling *scaling; ///< scaling vectors
- OSQPSolution *solution; ///< problem solution
- OSQPInfo *info; ///< solver information
-
-# ifdef PROFILING
- OSQPTimer *timer; ///< timer object
-
- /// flag indicating whether the solve function has been run before
- c_int first_run;
-
- /// flag indicating whether the update_time should be cleared
- c_int clear_update_time;
-
- /// flag indicating that osqp_update_rho is called from osqp_solve function
- c_int rho_update_from_solve;
-# endif // ifdef PROFILING
-
-# ifdef PRINTING
- c_int summary_printed; ///< Has last summary been printed? (true/false)
-# endif // ifdef PRINTING
-
-} OSQPWorkspace;
-
-
-/**
- * Define linsys_solver prototype structure
- *
- * NB: The details are defined when the linear solver is initialized depending
- * on the choice
- */
-struct linsys_solver {
- enum linsys_solver_type type; ///< linear system solver type functions
- c_int (*solve)(LinSysSolver *self,
- c_float *b); ///< solve linear system
-
-# ifndef EMBEDDED
- void (*free)(LinSysSolver *self); ///< free linear system solver (only in desktop version)
-# endif // ifndef EMBEDDED
-
-# if EMBEDDED != 1
- c_int (*update_matrices)(LinSysSolver *s,
- const csc *P, ///< update matrices P
- const csc *A); // and A in the solver
-
- c_int (*update_rho_vec)(LinSysSolver *s,
- const c_float *rho_vec); ///< Update rho_vec
-# endif // if EMBEDDED != 1
-
-# ifndef EMBEDDED
- c_int nthreads; ///< number of threads active
-# endif // ifndef EMBEDDED
-};
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef OSQP_TYPES_H
diff --git a/include/osqp_folder/include/util.h b/include/osqp_folder/include/util.h
deleted file mode 100644
index 6b2aac342363007a256d05d916a8b11d6f480056..0000000000000000000000000000000000000000
--- a/include/osqp_folder/include/util.h
+++ /dev/null
@@ -1,222 +0,0 @@
-#ifndef UTIL_H
-# define UTIL_H
-
-# ifdef __cplusplus
-extern "C" {
-# endif // ifdef __cplusplus
-
-# include "types.h"
-# include "constants.h"
-
-/******************
-* Versioning *
-******************/
-
-/**
- * Return OSQP version
- * @return OSQP version
- */
-const char* osqp_version(void);
-
-
-/**********************
-* Utility Functions *
-**********************/
-
-# ifndef EMBEDDED
-
-/**
- * Copy settings creating a new settings structure (uses MALLOC)
- * @param settings Settings to be copied
- * @return New settings structure
- */
-OSQPSettings* copy_settings(const OSQPSettings *settings);
-
-# endif // #ifndef EMBEDDED
-
-/**
- * Custom string copy to avoid string.h library
- * @param dest destination string
- * @param source source string
- */
-void c_strcpy(char dest[],
- const char source[]);
-
-
-# ifdef PRINTING
-
-/**
- * Print Header before running the algorithm
- * @param work osqp workspace
- */
-void print_setup_header(const OSQPWorkspace *work);
-
-/**
- * Print header with data to be displayed per iteration
- */
-void print_header(void);
-
-/**
- * Print iteration summary
- * @param work current workspace
- */
-void print_summary(OSQPWorkspace *work);
-
-/**
- * Print information after polish
- * @param work current workspace
- */
-void print_polish(OSQPWorkspace *work);
-
-/**
- * Print footer when algorithm terminates
- * @param info info structure
- * @param polish is polish enabled?
- */
-void print_footer(OSQPInfo *info,
- c_int polish);
-
-
-# endif // ifdef PRINTING
-
-
-/*********************************
-* Timer Structs and Functions * *
-*********************************/
-
-/*! \cond PRIVATE */
-
-# ifdef PROFILING
-
-// Windows
-# ifdef IS_WINDOWS
-
- // Some R packages clash with elements
- // of the windows.h header, so use a
- // slimmer version for conflict avoidance
-# ifdef R_LANG
-#define NOGDI
-# endif
-
-# include <windows.h>
-
-struct OSQP_TIMER {
- LARGE_INTEGER tic;
- LARGE_INTEGER toc;
- LARGE_INTEGER freq;
-};
-
-// Mac
-# elif defined IS_MAC
-
-# include <mach/mach_time.h>
-
-/* Use MAC OSX mach_time for timing */
-struct OSQP_TIMER {
- uint64_t tic;
- uint64_t toc;
- mach_timebase_info_data_t tinfo;
-};
-
-// Linux
-# else // ifdef IS_WINDOWS
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines */
-# include <time.h>
-# include <sys/time.h>
-
-
-struct OSQP_TIMER {
- struct timespec tic;
- struct timespec toc;
-};
-
-# endif // ifdef IS_WINDOWS
-
-/*! \endcond */
-
-/**
- * Timer Methods
- */
-
-/**
- * Start timer
- * @param t Timer object
- */
-void osqp_tic(OSQPTimer *t);
-
-/**
- * Report time
- * @param t Timer object
- * @return Reported time
- */
-c_float osqp_toc(OSQPTimer *t);
-
-# endif /* END #ifdef PROFILING */
-
-
-/* ================================= DEBUG FUNCTIONS ======================= */
-
-/*! \cond PRIVATE */
-
-
-# ifndef EMBEDDED
-
-/* Compare CSC matrices */
-c_int is_eq_csc(csc *A,
- csc *B,
- c_float tol);
-
-/* Convert sparse CSC to dense */
-c_float* csc_to_dns(csc *M);
-
-# endif // #ifndef EMBEDDED
-
-
-# ifdef PRINTING
-# include <stdio.h>
-
-
-/* Print a csc sparse matrix */
-void print_csc_matrix(csc *M,
- const char *name);
-
-/* Dump csc sparse matrix to file */
-void dump_csc_matrix(csc *M,
- const char *file_name);
-
-/* Print a triplet format sparse matrix */
-void print_trip_matrix(csc *M,
- const char *name);
-
-/* Print a dense matrix */
-void print_dns_matrix(c_float *M,
- c_int m,
- c_int n,
- const char *name);
-
-/* Print vector */
-void print_vec(c_float *v,
- c_int n,
- const char *name);
-
-/* Dump vector to file */
-void dump_vec(c_float *v,
- c_int len,
- const char *file_name);
-
-// Print int array
-void print_vec_int(c_int *x,
- c_int n,
- const char *name);
-
-# endif // ifdef PRINTING
-
-/*! \endcond */
-
-
-# ifdef __cplusplus
-}
-# endif // ifdef __cplusplus
-
-#endif // ifndef UTIL_H
diff --git a/include/osqp_folder/lib/libosqp.a b/include/osqp_folder/lib/libosqp.a
deleted file mode 100644
index 31059d2c104f7f6e360a8f5fadf149eec6ab2292..0000000000000000000000000000000000000000
Binary files a/include/osqp_folder/lib/libosqp.a and /dev/null differ
diff --git a/include/osqp_folder/lib/libosqp.so b/include/osqp_folder/lib/libosqp.so
deleted file mode 100755
index 7d0166fbe8f44b4e259c0643acb23a512a876bde..0000000000000000000000000000000000000000
Binary files a/include/osqp_folder/lib/libosqp.so and /dev/null differ
diff --git a/include/qrw/MPC.hpp b/include/qrw/MPC.hpp
index e2ff4b5afd65fe9e157d47f9cf5233aafafde271..0e7be911aea1ebd2bd2355b55f300ffaeb968fee 100644
--- a/include/qrw/MPC.hpp
+++ b/include/qrw/MPC.hpp
@@ -9,11 +9,7 @@
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
-#include "osqp_folder/include/osqp.h"
-#include "osqp_folder/include/cs.h"
-#include "osqp_folder/include/auxil.h"
-#include "osqp_folder/include/util.h"
-#include "osqp_folder/include/osqp_configure.h"
+#include "osqp.h"
#include "other/st_to_cc.hpp"
typedef Eigen::MatrixXd matXd;
diff --git a/include/qrw/QPWBC.hpp b/include/qrw/QPWBC.hpp
index 11aadf6bc06943e2b9ce39753a64b0774c043b89..8bbe2feb0ec8656d01241392a7adc3069d06513c 100644
--- a/include/qrw/QPWBC.hpp
+++ b/include/qrw/QPWBC.hpp
@@ -10,11 +10,7 @@
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
-#include "osqp_folder/include/osqp.h"
-#include "osqp_folder/include/cs.h"
-#include "osqp_folder/include/auxil.h"
-#include "osqp_folder/include/util.h"
-#include "osqp_folder/include/osqp_configure.h"
+#include "osqp.h"
#include "other/st_to_cc.hpp"
class QPWBC {
diff --git a/src/MPC.cpp b/src/MPC.cpp
index c3cbf6d6bd93273dc9c910832b240714bd18554a..b14eaf07d8ea7a87f6cd3400b13cb80122312d47 100644
--- a/src/MPC.cpp
+++ b/src/MPC.cpp
@@ -525,8 +525,8 @@ int MPC::call_solver(int k) {
// settings->rho = 0.1f;
// settings->sigma = 1e-6f;
// settings->max_iter = 4000;
- settings->eps_abs = (float)1e-5;
- settings->eps_rel = (float)1e-5;
+ settings->eps_abs = (c_float)1e-5;
+ settings->eps_rel = (c_float)1e-5;
/*settings->eps_prim_inf = 1e-4f;
settings->eps_dual_inf = 1e-4f;
settings->alpha = 1.6f;
@@ -535,8 +535,8 @@ int MPC::call_solver(int k) {
settings->polish_refine_iter = 3;*/
settings->adaptive_rho = (c_int)1;
settings->adaptive_rho_interval = (c_int)200;
- settings->adaptive_rho_tolerance = (float)5.0;
- settings->adaptive_rho_fraction = (float)0.7;
+ settings->adaptive_rho_tolerance = (c_float)5.0;
+ // settings->adaptive_rho_fraction = (c_float)0.7;
osqp_setup(&workspce, data, settings);
/*self.prob.setup(P=self.P, q=self.Q, A=self.ML, l=self.NK_inf, u=self.NK.ravel(), verbose=False)
@@ -705,7 +705,7 @@ void MPC::my_print_csc_matrix(csc *M, const char *name) {
c_int k = 0;
// Print name
- c_print("%s :\n", name);
+ printf("%s :\n", name);
for (j = 0; j < M->n; j++) {
row_start = M->p[j];
@@ -720,7 +720,7 @@ void MPC::my_print_csc_matrix(csc *M, const char *name) {
double c = M->x[k++];
if ((a >= 12 * (n_steps - 1)) && (a < 12 * (n_steps - 1) + 24) && (b >= 12 * (n_steps - 1)) &&
(b < 12 * (n_steps - 1) * 2)) {
- c_print("\t%3u [%3u,%3u] = %.3g\n", k - 1, a, b - 12 * n_steps, c);
+ printf("\t%3u [%3u,%3u] = %.3g\n", k - 1, a, b - 12 * n_steps, c);
}
}
}
diff --git a/src/QPWBC.cpp b/src/QPWBC.cpp
index c8818ef53426acb04623abe8b1e502a62e2dbd72..1984221d47203622af0cfd7ad657235f3f839b0e 100644
--- a/src/QPWBC.cpp
+++ b/src/QPWBC.cpp
@@ -247,7 +247,7 @@ int QPWBC::call_solver() {
settings->adaptive_rho = (c_int)1;
settings->adaptive_rho_interval = (c_int)200;
settings->adaptive_rho_tolerance = (float)5.0;
- settings->adaptive_rho_fraction = (float)0.7;
+ // settings->adaptive_rho_fraction = (float)0.7;
settings->verbose = true;
osqp_setup(&workspce, data, settings);
@@ -401,7 +401,7 @@ void QPWBC::my_print_csc_matrix(csc *M, const char *name) {
c_int k = 0;
// Print name
- c_print("%s :\n", name);
+ printf("%s :\n", name);
for (j = 0; j < M->n; j++) {
row_start = M->p[j];
@@ -414,7 +414,7 @@ void QPWBC::my_print_csc_matrix(csc *M, const char *name) {
int a = (int)M->i[i];
int b = (int)j;
double c = M->x[k++];
- c_print("\t%3u [%3u,%3u] = %.3g\n", k - 1, a, b, c);
+ printf("\t%3u [%3u,%3u] = %.3g\n", k - 1, a, b, c);
}
}