Change template function definition to support Visual Studio

[MonkeyDied]

When compiling the mpc example using VS2013 on Win10, the following error occurred.

fatal error C1001: An internal error has occurred in the compiler.
(compiler file 'msc1.cpp', line 1325)
...

After some testing I found that it seems to be a problem with the template parsing for functions of the following form.
template<int n> ret_type some_function(Eigen::Matrix<c_float, n, 1>& arg)

This could be remedied by changing the definition to the following.
template<class T, int n> ret_type some_function(Eigen::Matrix<T, n, 1>& arg)

For example, in Data.hpp & Data.tpp, there is a function called setGradient. The current version and the suggested revised version are as follows.
/*current*/ template<int n> bool Data::setGradient(Eigen::Matrix<c_float, n, 1>& gradient)
/*suggest*/ template<class T, int n> bool Data::setGradient(Eigen::Matrix<T, n, 1>& gradient)

Below are all the functions I found to have the same problems.
For Data.hpp & Data.tpp
template<int n> bool Data::setGradient(Eigen::Matrix<c_float, n, 1>& gradientVector);
template<int m> bool setLowerBound(Eigen::Matrix<c_float, m, 1>& lowerBoundVector);
template<int m> bool setUpperBound(Eigen::Matrix<c_float, m, 1>& upperBoundVector);
For Solver.hpp & Solver.tpp
template<int n> bool updateGradient(Eigen::Matrix<c_float, n, 1>& gradient);
template<int m> bool updateLowerBound(Eigen::Matrix<c_float, m, 1>& lowerBound);
template<int m> bool updateUpperBound(Eigen::Matrix<c_float, m, 1>& upperBound);
template<int m> bool updateBounds(Eigen::Matrix<c_float, m, 1>& lowerBound, Eigen::Matrix<c_float, m, 1>& upperBound);

It would be nice if someone could help fix all the definitions.
Thx~

[GiulioRomualdi]

Hi @MonkeyDied, first of all, thanks for using osqp-eigen.
Regarding your question, I think that the problem is related to the template argument deduction. Can you copy-paste the lines of the code that cause the issue?

[MonkeyDied]

@GiulioRomualdi The following are the definitions of the functions that cause the issue.

osqp-eigen/include/OsqpEigen/Data.hpp

Lines 93 to 94 in a74f46f

	template<int n>
	bool setGradient(Eigen::Matrix<c_float, n, 1> &gradientVector);

osqp-eigen/include/OsqpEigen/Data.hpp

Lines 104 to 118 in a74f46f

	/**
	* Set the array for lower bound (size m).
	* @param lowerBoundVector is the lower bound constraint.
	* @return true/false in case of success/failure.
	*/
	template<int m>
	bool setLowerBound(Eigen::Matrix<c_float, m, 1>& lowerBoundVector);
	/**
	* Set the array for upper bound (size m).
	* @param upperBoundVector is the upper bound constraint.
	* @return true/false in case of success/failure.
	*/
	template<int m>
	bool setUpperBound(Eigen::Matrix<c_float, m, 1>& upperBoundVector);

osqp-eigen/include/OsqpEigen/Solver.hpp

Lines 125 to 157 in a74f46f

	/**
	* Update the linear part of the cost function (Gradient).
	* @param gradient is the Gradient vector.
	* @return true/false in case of success/failure.
	*/
	template<int n>
	bool updateGradient(Eigen::Matrix<c_float, n, 1>& gradient);
	/**
	* Update the lower bounds limit (size m).
	* @param lowerBound is the lower bound constraint vector.
	* @return true/false in case of success/failure.
	*/
	template<int m>
	bool updateLowerBound(Eigen::Matrix<c_float, m, 1>& lowerBound);
	/**
	* Update the upper bounds limit (size m).
	* @param upperBound is the upper bound constraint vector.
	* @return true/false in case of success/failure.
	*/
	template<int m>
	bool updateUpperBound(Eigen::Matrix<c_float, m, 1>& upperBound);
	/**
	* Update both upper and lower bounds (size m).
	* @param lowerBound is the lower bound constraint vector;
	* @param upperBound is the upper bound constraint vector.
	* @return true/false in case of success/failure.
	*/
	template<int m>
	bool updateBounds(Eigen::Matrix<c_float, m, 1>& lowerBound,
	Eigen::Matrix<c_float, m, 1>& upperBound);

[GiulioRomualdi]

Hi @MonkeyDied, I was referring to your code 😃

[MonkeyDied]

Hi @GiulioRomualdi , I encounter the problem when compiling the MPCExample using Visual Studio 2013 in Win10. The Eigen version is 3.3.5. osqp version is 0.5.0.

The following codes produce a compile time fatal error C1001 as described in the first post.
(The setLinearConstraintsMatrix function works fine)

osqp-eigen/example/src/MPCExample.cpp

Lines 261 to 264 in a74f46f

	if(!solver.data()->setGradient(gradient)) return 1;
	if(!solver.data()->setLinearConstraintsMatrix(linearMatrix)) return 1;
	if(!solver.data()->setLowerBound(lowerBound)) return 1;
	if(!solver.data()->setUpperBound(upperBound)) return 1;

osqp-eigen/example/src/MPCExample.cpp

Line 293 in a74f46f

if(!solver.updateBounds(lowerBound, upperBound)) return 1;

[GiulioRomualdi]

Can you try to edit the lines in the following way?

 if(!solver.data()->setGradient<Eigen::Dynamic>(gradient)) return 1; 
 if(!solver.data()->setLinearConstraintsMatrix(linearMatrix)) return 1; 
 if(!solver.data()->setLowerBound<Eigen::Dynamic>(lowerBound)) return 1; 
 if(!solver.data()->setUpperBound<Eigen::Dynamic>(upperBound)) return 1; 

and

 if(!solver.updateBounds<Eigen::Dynamic>(lowerBound, upperBound)) return 1; 

[MonkeyDied]

Hi @GiulioRomualdi , that seems to solve the problem.

[GiulioRomualdi]

Nice! I'll fix it!

[GiulioRomualdi]

Hi @MonkeyDied this PR (#24 ) should solve your problem. Let me know if you have still problems.

[GiulioRomualdi]

Fixed in #24