From 154389f28d5a64c18eb89cd7e1a5281a4dbd55ce Mon Sep 17 00:00:00 2001 From: dmronga Date: Mon, 6 May 2024 12:35:12 +0200 Subject: [PATCH] Do not check for problem size change in Eiquadprog solver, since the solver deals with this internally --- src/solvers/eiquadprog/EiquadprogSolver.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/solvers/eiquadprog/EiquadprogSolver.cpp b/src/solvers/eiquadprog/EiquadprogSolver.cpp index 0cf8a33f..767278e5 100644 --- 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();