Merge pull request #244 from DavideBarbone/barbone-patch

Ensure that the OSQP report as status output not the return value of solveProblem(), but the output of solveProblem()
robotology · Sep 24, 2024 · 5b464d2 · 5b464d2
2 parents 19b7408 + 04d6bb9
commit 5b464d2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/toolbox/library/src/OSQP.cpp b/toolbox/library/src/OSQP.cpp
@@ -599,7 +599,8 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)
     }
 
     // Set status
-    if (!statusSignal->set(0, double(solveReturnVal))) {
+    OsqpEigen::Status status = pImpl->sqSolver->getStatus();
+    if (!statusSignal->set(0, double(status))) {
         bfError << "Failed to set status signal.";
         return false;
     }