Do not check for problem size change in Eiquadprog solver, since the

solver deals with this internally
ARC-OPT · May 6, 2024 · 154389f · 154389f
1 parent 280d4ea
commit 154389f
Showing 1 changed file with 0 additions and 7 deletions.
diff --git a/src/solvers/eiquadprog/EiquadprogSolver.cpp b/src/solvers/eiquadprog/EiquadprogSolver.cpp
@@ -44,13 +44,6 @@ void EiquadprogSolver::solve(const wbc::HierarchicalQP& hierarchical_qp, base::V
 
         configured = true;
     }
-    else 
-    {
-        if(n_var != _CI_mtx.cols())
-            throw std::runtime_error("QP problem changed dynamically. Not supported at the moment.");
-        if(n_in != _CI_mtx.rows())
-            throw std::runtime_error("QP problem changed dynamically. Not supported at the moment.");
-    }
 
     _CI_mtx.setZero();