migrate_from_osqp_eigen.md

How to migrate from osqp-eigen to qpsolvers-eigen

This document list the changes that you need to do to migrate from osqp-eigen to qpsolvers-eigen.

CMake

Change any instance of find_package(OsqpEigen) to find_package(QpSolversEigen) and any instance of OsqpEigen::OsqpEigen to QpSolversEigen::QpSolversEigen.

Header inclusion

Remove any line that include OsqpEigen headers:

#include <OsqpEigen/...>

and instead include:

#include <QpSolversEigen/QpSolversEigen.hpp>

Solver instantiation

With osqp-eigen, the solver was instantiated as:

OsqpEigen::Solver solver;

while for qpsolvers-eigen you need to instantiate the solver with:

QpSolversEigen::Solver solver;
// Change "osqp" to any solver you want to use
solver.instantiateSolver("osqp");

solver.data() methods

All calls to methods like:

solver.data()->setHessianMatrix(hessian)
solver.data()->setGradient(gradient)

Need to be changed by removing data()->, i.e. converted to:

solver.setHessianMatrix(hessian)
solver.setGradient(gradient)

solver.settings() methods

As QpSolversEigen has a generic solver-agnostic interface, to set parameters you need to specify the parameter to set by name, so you need to port code such as:

solver.settings()->setVerbosity(true);
solver.settings()->setAlpha(1.0);

to

// verbose is an option common to all
solver.setBooleanParameter("verbose", false);

// alpha is a osqp specific parameter, so we only set if the solver used is indeed osqp
if (solver.getSolverName() == "osqp")
{
    REQUIRE(solver.setRealNumberParameter("alpha", 1.0));
}

Constants

Change any instance of OsqpEigen::INFTY to QpSolversEigen::INFTY, OsqpEigen::Status to QpSolversEigen::Status and OsqpEigen::ErrorExitFlag to QpSolversEigen::ErrorExitFlag .