store callback in class

SleipnirGroup · Nov 14, 2023 · 3c1008b · 3c1008b
1 parent c9962a1
commit 3c1008b
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/optimization/CasADiOpti.cpp b/src/optimization/CasADiOpti.cpp
@@ -24,12 +24,12 @@ void CasADiOpti::SetInitial(const casadi::MX& expression, double value) {
   opti.set_initial(expression, value);
 }
 void CasADiOpti::Solve() {
-  auto callback = CasADiIterCallback("f", opti.nx(), opti.ng(), opti.np());
+  callback = CasADiIterCallback("f", opti.nx(), opti.ng(), opti.np());
 #ifdef DEBUG_OUTPUT
   // I don't try-catch this next line since it should always work.
   // I'm assuming the dynamic lib is on the path and casadi can find it.
   auto pluginOptions = casadi::Dict();
-  pluginOptions["iteration_callback"] = &callback;
+  pluginOptions["iteration_callback"] = callback;
   //auto reference = &pluginOptions["iteration_callback"];
   opti.solver("ipopt", pluginOptions);
 #else

diff --git a/src/optimization/CasADiOpti.h b/src/optimization/CasADiOpti.h
@@ -5,6 +5,7 @@
 #include <optional>
 
 #include <casadi/casadi.hpp>
+#include "CasAdiIterCallback.h"
 
 #include "optimization/OptiSys.h"
 
@@ -14,6 +15,7 @@ class CasADiOpti {
  private:
   casadi::Opti opti;
   std::optional<casadi::OptiSol> solution;
+  CasADiIterCallback callback = null;
 
  public:
   casadi::MX DecisionVariable();