fix(osqp-interface): fix the pointer integration with c

Author: jerensl

example/basic/main.go

@@ -1,32 +1,26 @@
 package main
 
 import (
-	"fmt"
-
 	"github.com/jerensl/osqp.go"
 )
 
 func main() {
 	newOSQP := osqp.NewOSQP()
 
-	p_mat := osqp.NewCSCMat(2, 2, [][]float64{{4.0, 1.0}, {0.0, 2.0}})
-	a_mat := osqp.NewCSCMat(3, 2, [][]float64{{1.0, 1.0}, {1.0, 0.0}, {0.0, 1.0}})
+	p_mat := osqp.NewCSCMat(2, 2, [][]float64{{4, 1}, {0, 2}})
+	a_mat := osqp.NewCSCMat(3, 2, [][]float64{{1, 1}, {1, 0}, {0, 1}})
 
-	fmt.Println(p_mat)
-	fmt.Println(a_mat)
 	data := osqp.Data{
 		P_mat: p_mat,
-		A_mat: a_mat,
 		Q: []float64{1.0, 1.0},
+		A_mat: a_mat,
 		L: []float64{1.0, 0.0, 0.0},
 		U: []float64{1.0, 0.7, 0.7},
 		N: 2,
 		M: 3,
 	}
 
-	newOSQP.SetData(data)
-	
-	newOSQP.Setup()
+	newOSQP.Setup(data)
 
 	newOSQP.Solve()
 

internal/pkg/binding/c.go

@@ -46,30 +46,31 @@ func NewOSQP() *OSQPWorkSpace {
 	}
 
 	// settings.verbose = 0
-	settings.alpha = 1.0
+	// settings.alpha = 1.60
 
 
 	return &OSQPWorkSpace{
 		settings: settings,
 	}
 }
 
-func (o *OSQPWorkSpace) Setup() {
+func (o *OSQPWorkSpace) Setup(newData Data) {
+	o.setData(newData)
 	C.osqp_setup(&o.work, o.data, o.settings)
 }
 
 func (o *OSQPWorkSpace) Solve() {
 	C.osqp_solve(o.work)
 }
 
-func (o *OSQPWorkSpace) SetData(newData Data) {
+func (o *OSQPWorkSpace) setData(newData Data) {
 	data := (*C.OSQPData)(C.c_malloc(C.sizeof_OSQPData))
 
 	data.n = (C.c_int)(newData.N)
 	data.m = (C.c_int)(newData.M)
 
 	data.P = C.csc_matrix(data.n, data.n, (C.c_int)(newData.P_nnz), (*C.c_float)(unsafe.Pointer(&newData.P_x[0])), (*C.c_int)(unsafe.Pointer(&newData.P_i[0])), (*C.c_int)(unsafe.Pointer(&newData.P_p[0])))
-	data.q = (*C.c_float)(unsafe.Pointer(&newData.Q))
+	data.q = (*C.c_float)(unsafe.Pointer(&newData.Q[0]))
 	data.A = C.csc_matrix(data.m, data.n, (C.c_int)(newData.A_nnz), (*C.c_float)(unsafe.Pointer(&newData.A_x[0])), (*C.c_int)(unsafe.Pointer(&newData.A_i[0])), (*C.c_int)(unsafe.Pointer(&newData.A_p[0])))
 
 	data.l = (*C.c_float)(unsafe.Pointer(&newData.L[0]))

osqp.go

@@ -17,7 +17,9 @@ func NewCSCMat(m, n int, matrix [][]float64) *sparse.CSC {
 		}
 	}
 
-	return doxMatrix.ToCSC()
+	csc := doxMatrix.ToCSC()
+
+	return csc
 }
 
 type Data struct {
@@ -44,8 +46,7 @@ func NewOSQP() *OSQPConfig {
 	return newOSQP
 }
 
-
-func (o *OSQPConfig) SetData(newData Data)  {
+func (o OSQPConfig) Setup(newData Data)  {
 	currData := binding.Data{
 		M: newData.M,
 		N: newData.N,
@@ -62,26 +63,7 @@ func (o *OSQPConfig) SetData(newData Data)  {
 		U: newData.U,
 	}
 
-	// currData := binding.Data{
-	// 	M: newData.M,
-	// 	N: newData.N,
-	// 	P_x: newData.P_mat.Data,
-	// 	P_i: newData.P_mat.Ind,
-	// 	P_p: newData.P_mat.IdxPtr,
-	// 	P_nnz: int64(newData.P_mat.NNZ),
-	// 	A_x: newData.A_mat.Data,
-	// 	A_i: newData.A_mat.Ind,
-	// 	A_p: newData.A_mat.IdxPtr,
-	// 	A_nnz: int64(newData.A_mat.NNZ),
-	// 	Q: newData.Q,
-	// 	L: newData.L,
-	// 	U: newData.U,
-	// }
-	o.bind.SetData(currData)
-}
-
-func (o OSQPConfig) Setup()  {
-	o.bind.Setup()
+	o.bind.Setup(currData)
 }
 
 func (o OSQPConfig) Solve()  {