Restore previous verbosity behaviour

tesseract-robotics · Feb 23, 2024 · 66e081a · 66e081a
1 parent 5d0e60b
commit 66e081a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp b/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
@@ -129,6 +129,9 @@ PlannerResponse TrajOptIfoptMotionPlanner::solve(const PlannerRequest& request)
   problem->qp_solver = std::make_shared<trajopt_sqp::OSQPEigenSolver>();
   OSQPEigenSolver_setSettings(dynamic_cast<trajopt_sqp::OSQPEigenSolver&>(*problem->qp_solver).solver_,
                               problem->convex_solver_settings);
+  dynamic_cast<trajopt_sqp::OSQPEigenSolver&>(*problem->qp_solver)
+      .solver_.settings()
+      ->setVerbosity((problem->convex_solver_settings.verbose != 0) || request.verbose);
 
   trajopt_sqp::TrustRegionSQPSolver solver(problem->qp_solver);
   solver.params = problem->opt_info;