Opened 4 years ago

Closed 4 years ago

#37 closed user support (fixed)

different results in C++ and Matlab/Simulink version

Reported by: ferreau Owned by: ferreau
Priority: normal Milestone:
Component: C++ core Version: 3.1.0
Keywords: Cc:

Description (last modified by ferreau)

All interfaces to qpOASES should behave exactly like the C++ version. If results in the C++ version differ from the ones obtained with Matlab or Simulink, you may have passed the QP problem data in a wrong way. In particular, the C++ expects H and A to be stored in row-major format, while Matlab / Simulink internally use the FORTRAN–inspired column-major format. While this does not matter for the symmetric Hessian matrix, passing an implicitly transposed constraint matrix typically results in an infeasible QP problem. Particular case has to be taken when using the Simulink interface as it required to stack the constraint matrix A into a vector.

Change History (1)

comment:1 Changed 4 years ago by ferreau

  • Description modified (diff)
  • Resolution set to fixed
  • Status changed from new to closed
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