Store OSQPEigenSettings by value

Author: Levi-Armstrong

tesseract_motion_planners/trajopt_ifopt/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_osqp_solver_profile.h

@@ -56,9 +56,15 @@ class TrajOptIfoptOSQPSolverProfile : public TrajOptIfoptSolverProfile
   using ConstPtr = std::shared_ptr<const TrajOptIfoptOSQPSolverProfile>;
 
   TrajOptIfoptOSQPSolverProfile();
+  TrajOptIfoptOSQPSolverProfile(TrajOptIfoptOSQPSolverProfile&&) = default;
+  TrajOptIfoptOSQPSolverProfile& operator=(TrajOptIfoptOSQPSolverProfile&&) = default;
+
+  // Delete because OsqpEigen::Settings stores raw pointer
+  TrajOptIfoptOSQPSolverProfile(const TrajOptIfoptOSQPSolverProfile&) = delete;
+  TrajOptIfoptOSQPSolverProfile& operator=(const TrajOptIfoptOSQPSolverProfile&) = delete;
 
   /** @brief The OSQP convex solver settings to use */
-  std::unique_ptr<OsqpEigen::Settings> qp_settings{ nullptr };
+  OsqpEigen::Settings qp_settings;
 
   /** @brief Optimization parameters */
   trajopt_sqp::SQPParameters opt_params{};

tesseract_motion_planners/trajopt_ifopt/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h

@@ -45,6 +45,8 @@ namespace ifopt
 class ConstraintSet;
 }
 
+namespace tesseract_planning
+{
 /** @brief Structure to store TrajOpt IFOPT constrant and cost term infos */
 struct TrajOptIfoptTermInfos
 {
@@ -62,8 +64,6 @@ struct TrajOptIfoptWaypointInfo
   bool fixed{ false };
 };
 
-namespace tesseract_planning
-{
 class TrajOptIfoptPlanProfile : public Profile
 {
 public:

tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_osqp_solver_profile.cpp

@@ -96,14 +96,13 @@ namespace tesseract_planning
 {
 TrajOptIfoptOSQPSolverProfile::TrajOptIfoptOSQPSolverProfile()
 {
-  qp_settings = std::make_unique<OsqpEigen::Settings>();
-  qp_settings->setVerbosity(false);
-  qp_settings->setWarmStart(true);
-  qp_settings->setPolish(true);
-  qp_settings->setAdaptiveRho(true);
-  qp_settings->setMaxIteration(8192);
-  qp_settings->setAbsoluteTolerance(1e-4);
-  qp_settings->setRelativeTolerance(1e-6);
+  qp_settings.setVerbosity(false);
+  qp_settings.setWarmStart(true);
+  qp_settings.setPolish(true);
+  qp_settings.setAdaptiveRho(true);
+  qp_settings.setMaxIteration(8192);
+  qp_settings.setAbsoluteTolerance(1e-4);
+  qp_settings.setRelativeTolerance(1e-6);
 }
 
 std::unique_ptr<trajopt_sqp::TrustRegionSQPSolver> TrajOptIfoptOSQPSolverProfile::create(bool verbose) const
@@ -113,8 +112,8 @@ std::unique_ptr<trajopt_sqp::TrustRegionSQPSolver> TrajOptIfoptOSQPSolverProfile
 
   // There seems to be no way to set objects solver_->settings() (OsqpEigen::Settings)
   // or solver_->settings()->getSettings() (OSQPSettings) at once
-  copyOSQPEigenSettings(*qp_solver->solver_->settings(), *qp_settings);
-  qp_solver->solver_->settings()->setVerbosity((qp_settings->getSettings()->verbose != 0) || verbose);
+  copyOSQPEigenSettings(*qp_solver->solver_->settings(), qp_settings);
+  qp_solver->solver_->settings()->setVerbosity((qp_settings.getSettings()->verbose != 0) || verbose);
 
   auto solver = std::make_unique<trajopt_sqp::TrustRegionSQPSolver>(qp_solver);
   solver->params = opt_params;