Fixes two forgotten csc_spfree calls

rjoomen · Levi-Armstrong · commit d744f46a1396 · 2023-12-08T07:41:40.000-06:00
diff --git a/trajopt_optimizers/trajopt_sqp/src/osqp_eigen_solver.cpp b/trajopt_optimizers/trajopt_sqp/src/osqp_eigen_solver.cpp
@@ -312,7 +312,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo
     bool success = solver_.updateLinearConstraintsMatrix(cleaned);
     if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */
     {
-      csc_spfree(solver_.data()->getData()->A);
+      csc_spfree_fix(solver_.data()->getData()->A);
       solver_.data()->getData()->A = nullptr;
       solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);
     }
@@ -322,7 +322,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo
   bool success = solver_.data()->setLinearConstraintsMatrix(cleaned);
   if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */
   {
-    csc_spfree(solver_.data()->getData()->A);
+    csc_spfree_fix(solver_.data()->getData()->A);
     solver_.data()->getData()->A = nullptr;
     solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);
   }

Original file line number	Diff line number	Diff line change
`@@ -312,7 +312,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo`
`312`	`312`	`bool success = solver_.updateLinearConstraintsMatrix(cleaned);`
`313`	`313`	`if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */`
`314`	`314`	`{`
`315`		`- csc_spfree(solver_.data()->getData()->A);`
	`315`	`+ csc_spfree_fix(solver_.data()->getData()->A);`
`316`	`316`	`solver_.data()->getData()->A = nullptr;`
`317`	`317`	`solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);`
`318`	`318`	`}`
`@@ -322,7 +322,7 @@ bool OSQPEigenSolver::updateLinearConstraintsMatrix(const SparseMatrix& linearCo`
`322`	`322`	`bool success = solver_.data()->setLinearConstraintsMatrix(cleaned);`
`323`	`323`	`if (cleaned.nonZeros() == 0) /** @todo Remove when upgrading to OSQP 1.0.0 */`
`324`	`324`	`{`
`325`		`- csc_spfree(solver_.data()->getData()->A);`
	`325`	`+ csc_spfree_fix(solver_.data()->getData()->A);`
`326`	`326`	`solver_.data()->getData()->A = nullptr;`
`327`	`327`	`solver_.data()->getData()->A = csc_spalloc_fix(cleaned.rows(), cleaned.cols(), 0, 1, 0);`
`328`	`328`	`}`