agv_ros_ws/osqp/tests/osqp_tester.h

// Utilities for testing

#ifndef EMBEDDED

c_float* csc_to_dns(csc *M)
{
  c_int i, j = 0; // Predefine row index and column index
  c_int idx;

  // Initialize matrix of zeros
  c_float *A = (c_float *)c_calloc(M->m * M->n, sizeof(c_float));

  // Allocate elements
  for (idx = 0; idx < M->p[M->n]; idx++)
  {
    // Get row index i (starting from 1)
    i = M->i[idx];

    // Get column index j (increase if necessary) (starting from 1)
    while (M->p[j + 1] <= idx) {
      j++;
    }

    // Assign values to A
    A[j * (M->m) + i] = M->x[idx];
  }
  return A;
}

c_int is_eq_csc(csc *A, csc *B, c_float tol) {
  c_int j, i;

  // If number of columns does not coincide, they are not equal.
  if (A->n != B->n) return 0;

  for (j = 0; j < A->n; j++) { // Cycle over columns j
    // if column pointer does not coincide, they are not equal
    if (A->p[j] != B->p[j]) return 0;

    for (i = A->p[j]; i < A->p[j + 1]; i++) { // Cycle rows i in column j
      if ((A->i[i] != B->i[i]) ||             // Different row indices
          (c_absval(A->x[i] - B->x[i]) > tol)) {
        return 0;
      }
    }
  }
  return 1;
}

#endif // #ifndef EMBEDDED