refactor Ipm

mayataka · mayataka · commit ec559e46ed5d · 2022-12-15T13:59:14.000+01:00
diff --git a/ocs2_ipm/src/IpmSolver.cpp b/ocs2_ipm/src/IpmSolver.cpp
@@ -203,9 +203,8 @@ void IpmSolver::runImpl(scalar_t initTime, const vector_t& initState, scalar_t f
   }
 
   // Interior point variables
-  vector_array_t slackStateIneq, slackStateInputIneq, dualStateIneq, dualStateInputIneq;
-
   scalar_t barrierParam = settings_.initialBarrierParameter;
+  vector_array_t slackStateIneq, slackStateInputIneq, dualStateIneq, dualStateInputIneq;
 
   // Bookkeeping
   performanceIndeces_.clear();

Original file line number	Diff line number	Diff line change
`@@ -203,9 +203,8 @@ void IpmSolver::runImpl(scalar_t initTime, const vector_t& initState, scalar_t f`
`203`	`203`	`}`
`204`	`204`
`205`	`205`	`// Interior point variables`
`206`		`- vector_array_t slackStateIneq, slackStateInputIneq, dualStateIneq, dualStateInputIneq;`
`207`		`-`
`208`	`206`	`scalar_t barrierParam = settings_.initialBarrierParameter;`
	`207`	`+ vector_array_t slackStateIneq, slackStateInputIneq, dualStateIneq, dualStateInputIneq;`
`209`	`208`
`210`	`209`	`// Bookkeeping`
`211`	`210`	`performanceIndeces_.clear();`