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OSQP: Fix missing return in OSQP::solverInitialization and disable OSQP verbose output #220

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May 26, 2021
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OSQP: Fix missing return in OSQP::solverInitialization and disable OSQP verbose output #220

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2824db6
OSQP: Fix missing return in OSQP::solverInitialization
traversaro May 26, 2021
9e11a1b
Update CHANGELOG.md
traversaro May 26, 2021
4c0cff9
Update OSQP.cpp
traversaro May 26, 2021
2c5ae7e
Update CHANGELOG.md
traversaro May 26, 2021
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6 changes: 6 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -5,6 +5,12 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo

## [Unreleased]

## [5.4.1] - 2021-05-26

### Fixed
- Fixed bug that caused Simulink models that used OSQP block to hang indefinitely in "Initializing" or "Compiling" phase (https://github.com/robotology/wb-toolbox/pull/220).
- Disable verbose output option in OSQP block (https://github.com/robotology/wb-toolbox/pull/220).

## [5.4.0] - 2021-05-24

### Added
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4 changes: 2 additions & 2 deletions toolbox/library/src/OSQP.cpp
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Expand Up @@ -316,7 +316,7 @@ bool wbt::block::OSQP::solverInitialization(const BlockInformation*blockInfo)
pImpl->totalConstraintsMatrix = Eigen::MatrixXd(pImpl->numberOfTotalConstraints, pImpl->numberOfVariables);

// Setup options
pImpl->sqSolver->settings()->setVerbosity(true);
pImpl->sqSolver->settings()->setVerbosity(false);

// Set adaptive_rho to false to avoid converge problems
// See https://github.com/oxfordcontrol/osqp/issues/151
Expand All @@ -326,7 +326,7 @@ bool wbt::block::OSQP::solverInitialization(const BlockInformation*blockInfo)
// of hessians, gradient and constraints
pImpl->sqSolver->settings()->setWarmStart(true);


return true;
}

bool wbt::block::OSQP::initialize(BlockInformation* blockInfo)
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