disable OSQP polish

dfki-ric-underactuated-lab · Feb 23, 2025 · 5ba5dfe · 5ba5dfe
1 parent eee5a5b
commit 5ba5dfe
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/ws/src/controllers/src/mit_controller/mpc.cpp b/ws/src/controllers/src/mit_controller/mpc.cpp
@@ -242,6 +242,11 @@ MPC::MPC(double alpha,
                                  reinterpret_cast<ocp_qp_xcond_solver_opts *>(solver_opts_),
                                  "osqp_linsys_solver",
                                  (void *)osqp_linsys_solver.c_str());
+    int polish = 0;
+    ocp_qp_xcond_solver_opts_set(solver_config_,
+                                  reinterpret_cast<ocp_qp_xcond_solver_opts *>(solver_opts_),
+                                  "osqp_polish",
+                                  &polish);                  
   }
 
   ocp_qp_xcond_solver_opts_set(