# OsqpEigen

**Repository Path**: ph_code/osqp-eigen

## Basic Information

- **Project Name**: OsqpEigen
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-11-09
- **Last Updated**: 2022-11-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

[TOC]

# OsqpEigen  安装

​														**涂志明 2020.09.18**

### 1.Osqp安装

[OSQP安装步骤](https://osqp.org/docs/get_started/cc++)

​		但Osqp使用时 矩阵(H矩阵,f矩阵)均是以三个向量去表示并存储的, 不够直观方便, 此时可以使用OsqpEigen库, 用Eigen去表达矩阵的形式,非常方便快捷.

Osqp库源程序如osqp-0.4.1.zip 已经编译好,可以将头文件和库文件放到自己/usr/local/目录下 

Osqp库例子程序如OSQPtest.zip

### 2.OsqpEigen 源程序更改

```cpp
//Solver.cpp  osqp_setup()程序的接口错误
//下面注释的为原程序中内容 注释下方为更改后内容
bool OsqpEigen::Solver::initSolver()
{
    if(m_isSolverInitialized){
        std::cerr << "[OsqpEigen::Solver::initSolver] The solver has been already initialized. "
                  << "Please use clearSolver() method to deallocate memory."
                  << std::endl;
        return false;
    }

    if(!m_data->isSet()){
        std::cerr << "[OsqpEigen::Solver::initSolver] Some data are not set."
                  << std::endl;
        return false;
    }

    OSQPWorkspace* workspace;
//    if(osqp_setup(&workspace, m_data->getData(),
//                  m_settings->getSettings()) != 0 ){
//        std::cerr << "[OsqpEigen::Solver::initSolver] Unable to setup the workspace."
//                  << std::endl;
//        return false;
    workspace = osqp_setup(m_data->getData(),
                           m_settings->getSettings());
    if( workspace == 0 ){
        std::cerr << "[OsqpEigen::Solver::initSolver] Unable to setup the workspace."
                  << std::endl;
        return false;
    }
    m_workspace.reset(workspace);

    m_isSolverInitialized = true;
    return true;
}
```

### 3.OsqpEigen库生成

此处使用Qt Creator去生成OsqpEigen的动态库与静态库 如OsqpEigen.zip文件

### 4.OsqpEigen使用

[库的文档](https://robotology.github.io/osqp-eigen/doxygen/doc/html/index.html)

库例程如OsqpEigenTest.zip