[Solver.tpp] add warning message to updateHessianMatrix and updateLin…

…earConstraintsMatrix for RowMajor
robotology · Sep 26, 2020 · 651bdf2 · 651bdf2
1 parent bba25ca
commit 651bdf2
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/include/OsqpEigen/Solver.tpp b/include/OsqpEigen/Solver.tpp
@@ -25,6 +25,11 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De
         return false;
     }
 
+    if(hessianMatrix.IsRowMajor){
+        std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The hessian matrix has to be ColMajor"
+                  << std::endl;
+        return false;
+    }
 
     // evaluate the triplets from old and new hessian sparse matrices
     if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->P,
@@ -127,6 +132,12 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres
         return false;
     }
 
+    if(linearConstraintsMatrix.IsRowMajor){
+        std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The constraints matrix has to be ColMajor"
+                  << std::endl;
+        return false;
+    }
+
     // evaluate the triplets from old and new hessian sparse matrices
 
     if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->A,