Build Failure with GUROBI support (#296)

cpetersmeier · web-flow · commit a27d40cdd92a · 2022-08-17T09:29:38.000-05:00
* trajopt_sco: include recent gurobi version

* trajopt_sco: fix gurobi solver interface
diff --git a/trajopt_sco/cmake/FindGUROBI.cmake b/trajopt_sco/cmake/FindGUROBI.cmake
@@ -18,7 +18,10 @@ find_path(
 
 find_library(
   GUROBI_LIBRARY
-  NAMES gurobi gurobi81 gurobi90
+  NAMES gurobi
+        gurobi81
+        gurobi90
+        gurobi95
   HINTS ${GUROBI_DIR} $ENV{GUROBI_HOME}
   PATH_SUFFIXES lib)
 
diff --git a/trajopt_sco/src/gurobi_interface.cpp b/trajopt_sco/src/gurobi_interface.cpp
@@ -157,12 +157,12 @@ Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)
 void resetIndices(VarVector& vars)
 {
   for (size_t i = 0; i < vars.size(); ++i)
-    vars[i].var_rep[i].index = i;
+    vars[i].var_rep->index = i;
 }
 void resetIndices(CntVector& cnts)
 {
   for (size_t i = 0; i < cnts.size(); ++i)
-    cnts[i].cnt_rep[i].index = i;
+    cnts[i].cnt_rep->index = i;
 }
 
 void GurobiModel::removeVars(const VarVector& vars)

Original file line number	Diff line number	Diff line change
`@@ -157,12 +157,12 @@ Cnt GurobiModel::addIneqCnt(const QuadExpr& qexpr, const std::string& name)`
`157`	`157`	`void resetIndices(VarVector& vars)`
`158`	`158`	`{`
`159`	`159`	`for (size_t i = 0; i < vars.size(); ++i)`
`160`		`- vars[i].var_rep[i].index = i;`
	`160`	`+ vars[i].var_rep->index = i;`
`161`	`161`	`}`
`162`	`162`	`void resetIndices(CntVector& cnts)`
`163`	`163`	`{`
`164`	`164`	`for (size_t i = 0; i < cnts.size(); ++i)`
`165`		`- cnts[i].cnt_rep[i].index = i;`
	`165`	`+ cnts[i].cnt_rep->index = i;`
`166`	`166`	`}`
`167`	`167`
`168`	`168`	`void GurobiModel::removeVars(const VarVector& vars)`