Merge pull request #63 from mpowelson/feature/expose_workspace

Expose OSQP Workspace
robotology · Jun 4, 2020 · 8aa7b4d · 8aa7b4d
2 parents 21bfc9e + 3d689f2
commit 8aa7b4d
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diff --git a/include/OsqpEigen/Solver.hpp b/include/OsqpEigen/Solver.hpp
@@ -231,6 +231,12 @@ namespace OsqpEigen
          * @return the pointer to Data object.
          */
         const std::unique_ptr<OsqpEigen::Data>& data() const;
+
+        /**
+         * Get the pointer to the OSQP workspace.
+         * @return the pointer to Workspace object.
+         */
+        const std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>>& workspace() const;
     };
 
     #include <OsqpEigen/Solver.tpp>

diff --git a/src/Solver.cpp b/src/Solver.cpp
@@ -159,6 +159,11 @@ const std::unique_ptr<OsqpEigen::Data>& OsqpEigen::Solver::data() const
     return m_data;
 }
 
+const std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>>& OsqpEigen::Solver::workspace() const
+{
+    return m_workspace;
+}
+
 bool OsqpEigen::Solver::updateGradient(const Eigen::Ref<const Eigen::Matrix<c_float, Eigen::Dynamic, 1>>& gradient)
 {
     // check if the dimension of the gradient is correct