Merge pull request #126 from fabinsch/get-obj-value

Solver: add function to get the objective value
robotology · Nov 17, 2022 · 376bb1a · 376bb1a
2 parents 3a15343 + d7326fb
commit 376bb1a
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diff --git a/include/OsqpEigen/Solver.hpp b/include/OsqpEigen/Solver.hpp
@@ -128,6 +128,12 @@ namespace OsqpEigen
          */
         OsqpEigen::Status getStatus() const;
 
+        /**
+         * Get the primal objective value
+         * @return The primal objective value
+         */
+        const c_float getObjValue() const;
+
         /**
          * Get the optimization problem solution.
          * @return an Eigen::Vector contating the optimization result.

diff --git a/src/Solver.cpp b/src/Solver.cpp
@@ -148,6 +148,11 @@ OsqpEigen::Status OsqpEigen::Solver::getStatus() const
     return static_cast<OsqpEigen::Status>(m_workspace->info->status_val);
 }
 
+const c_float OsqpEigen::Solver::getObjValue() const
+{
+    return m_workspace->info->obj_val;
+}
+
 OsqpEigen::ErrorExitFlag OsqpEigen::Solver::solveProblem()
 {
     if(!m_isSolverInitialized){