From 3695f7c3edf2da40a4c00498177394cd2c9ea400 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Fri, 5 Jan 2024 16:35:59 +0900
Subject: [PATCH] fix(obstacle_avoidance_planner): use update_bounds instead of
 update_lower/upper_bounds (#6011)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
index 765136b3cf6f6..47f5f59827267 100644
--- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
+++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
@@ -1519,8 +1519,7 @@ std::optional<Eigen::VectorXd> MPTOptimizer::calcOptimizedSteerAngles(
     osqp_solver_ptr_->updateCscP(P_csc);
     osqp_solver_ptr_->updateQ(f);
     osqp_solver_ptr_->updateCscA(A_csc);
-    osqp_solver_ptr_->updateL(lower_bound);
-    osqp_solver_ptr_->updateU(upper_bound);
+    osqp_solver_ptr_->updateBounds(lower_bound, upper_bound);
   } else {
     RCLCPP_INFO_EXPRESSION(logger_, enable_debug_info_, "no warm start");
     osqp_solver_ptr_ = std::make_unique<autoware::common::osqp::OSQPInterface>(