Out of memory because of allocation on stack

[Martin Sarajærvi]

It seems the code does not work for medium sized or large problems. In my case I tried with a VAR_SIZE of 531 and I get the following:

error: static assertion failed: OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG

Setting EIGEN_STACK_ALLOCATION_LIMIT 0 resolves this, but then the code simply crashes.

We should probably look at a alternative version without using allocations on the stack? Do you think this would take much work?

[Michael Spieler]

Hi @Toeplitz thanks for pointing it out.
I recently merged a some changes where the fixed size types are replaced by Eigen::Dynamic types, which should solve this issue.
You can have a look at the unit tests for example usage: sqp_test.cpp and sqp_test_autodiff.cpp

[Martin Sarajærvi]

Thank you. I will have a look now to try it out!