C: avoid using local variable sqp_iter
#1496
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david0oo
suggested changes
Apr 10, 2025
| @@ -990,7 +990,7 @@ static int prepare_and_solve_QP(ocp_nlp_config* config, ocp_nlp_sqp_wfqp_opts* o | |||
| if (solve_feasibility_qp && opts->use_constraint_hessian_in_feas_qp) | |||
| { | |||
| // LM for feasibility QP | |||
| ocp_nlp_add_levenberg_marquardt_term(config, dims, nlp_in, nlp_out, opts->nlp_opts, nlp_mem, nlp_work, mem->alpha, sqp_iter, qp_in); | |||
| ocp_nlp_add_levenberg_marquardt_term(config, dims, nlp_in, nlp_out, opts->nlp_opts, nlp_mem, nlp_work, mem->alpha, nlp_mem->iter, qp_in); | |||
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Since nlp_mem is passed. Do we need nlp_mem->iter as additional argument?
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In SQP_RTI, this function is called with iter=0. I don't know the reason, but I don't want to change the behavior.
…prev commit" This reverts commit 9a75a59.
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Follow-up of #1492.
The changed tests in #1492 have been reverted as the iteration reference was still wrong there. Now I verified by printing.