Wrapper struct to make memory management easier for using osqp's C API. On OSQP v0.6.x, the aggregated OSQPData struct is populated in the constructor and passed as a single pointer to osqp_setup. On OSQP v1.0+, that aggregate no longer exists — matrices/vectors are passed directly to osqp_setup — but this wrapper still owns the Eigen-backed memory for P, A, q, l, u so the solver's borrowed pointers stay alive across the object's lifetime. More...

Collaboration diagram for online_signal_smoothing::OSQPDataWrapper:

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Public Member Functions
	OSQPDataWrapper (Eigen::SparseMatrix< double > &objective_sparse, Eigen::SparseMatrix< double > &constraints_sparse)
void	updateA (OSQPWorkspace *work, Eigen::SparseMatrix< double > &constraints_sparse)
	Update the constraint matrix A without reallocating memory.

Public Attributes
CSCWrapper	P
CSCWrapper	A
Eigen::VectorXd	q
Eigen::VectorXd	l
Eigen::VectorXd	u
OSQPData	data {}

Detailed Description

Wrapper struct to make memory management easier for using osqp's C API. On OSQP v0.6.x, the aggregated OSQPData struct is populated in the constructor and passed as a single pointer to osqp_setup. On OSQP v1.0+, that aggregate no longer exists — matrices/vectors are passed directly to osqp_setup — but this wrapper still owns the Eigen-backed memory for P, A, q, l, u so the solver's borrowed pointers stay alive across the object's lifetime.

Definition at line 120 of file acceleration_filter.cpp.

Constructor & Destructor Documentation

◆ OSQPDataWrapper()

online_signal_smoothing::OSQPDataWrapper::OSQPDataWrapper	(	Eigen::SparseMatrix< double > &	objective_sparse,
		Eigen::SparseMatrix< double > &	constraints_sparse )

inline

Definition at line 122 of file acceleration_filter.cpp.

Member Function Documentation

◆ updateA()

void online_signal_smoothing::OSQPDataWrapper::updateA	(	OSQPWorkspace *	work,
		Eigen::SparseMatrix< double > &	constraints_sparse )

inline

Update the constraint matrix A without reallocating memory.

Definition at line 153 of file acceleration_filter.cpp.

Member Data Documentation

◆ A

CSCWrapper online_signal_smoothing::OSQPDataWrapper::A

Definition at line 162 of file acceleration_filter.cpp.

◆ data

OSQPData online_signal_smoothing::OSQPDataWrapper::data {}

Definition at line 167 of file acceleration_filter.cpp.

◆ l

Eigen::VectorXd online_signal_smoothing::OSQPDataWrapper::l

Definition at line 164 of file acceleration_filter.cpp.

◆ P

CSCWrapper online_signal_smoothing::OSQPDataWrapper::P

Definition at line 161 of file acceleration_filter.cpp.

◆ q

Eigen::VectorXd online_signal_smoothing::OSQPDataWrapper::q

Definition at line 163 of file acceleration_filter.cpp.

◆ u

Eigen::VectorXd online_signal_smoothing::OSQPDataWrapper::u

Definition at line 165 of file acceleration_filter.cpp.

The documentation for this struct was generated from the following file:

moveit_core/online_signal_smoothing/src/acceleration_filter.cpp

Public Member Functions

Public Attributes