Update OSQP workspace, instead of recreating #446
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rjoomen
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It might be good to make this configurable to allow time for testing. Is that something that can easily be done? |
I just made this possible, this also requires tesseract-robotics/tesseract_planning#596 |
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Should these changes also be added to trajopt_ifopt? |
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This recreates the OSQP workspace, instead of recreating it, if the sparsity of the P and A matrices has not changed.
Below are runtime results of some examples (average of three runs each). Warm start is switched on or off using
trajopt_solver_profile->settings.warm_start.@Levi-Armstrong can you take a good look at this? The examples do show increased performance, but we'll have to be sure there are no side effects. In my own work I did not see any improvements, but my optimization times are much lower.