moved to OSQP to solve the update QP problem (QRQP was having scaling…

… issues)
FilippoAiraldi · Oct 13, 2023 · 1e292d9 · 1e292d9
1 parent 352afc5
commit 1e292d9
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/src/mpcrl/optim/gradient_based_optimizer.py b/src/mpcrl/optim/gradient_based_optimizer.py
@@ -85,13 +85,19 @@ def _init_update_solver(self) -> Optional[cs.Function]:
         n_params = self.learnable_parameters.size
         qp = {"h": getattr(cs.Sparsity, self._hessian_sparsity)(n_params, n_params)}
         opts = {
-            "print_info": False,
-            "print_iter": False,
-            "print_header": False,
             "error_on_fail": False,
-            "max_iter": 2000,
+            "osqp": {
+                "verbose": False,
+                "polish": True,
+                "scaling": 20,
+                "eps_abs": 1e-9,
+                "eps_rel": 1e-9,
+                "eps_prim_inf": 1e-10,
+                "eps_dual_inf": 1e-10,
+                "max_iter": 6000,
+            }
         }
-        return cs.conic(f"qpsol_{id(self)}", "qrqp", qp, opts)
+        return cs.conic(f"qpsol_{id(self)}", "osqp", qp, opts)
 
     def update(
         self,