From 1b80ad6154848c17f195074acd4d5f5f0c22b91e Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 26 Sep 2020 20:17:41 +0900
Subject: [PATCH] [Solver.tpp] add warning message to updateHessianMatrix and
 updateLinearConstraintsMatrix for RowMajor

---
 include/OsqpEigen/Solver.tpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/include/OsqpEigen/Solver.tpp b/include/OsqpEigen/Solver.tpp
index d0325eb..2c62f52 100644
--- a/include/OsqpEigen/Solver.tpp
+++ b/include/OsqpEigen/Solver.tpp
@@ -25,6 +25,11 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De
         return false;
     }
 
+    if(hessianMatrix.IsRowMajor){
+        std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] The hessian matrix has to be ColMajor"
+                  << std::endl;
+        return false;
+    }
 
     // evaluate the triplets from old and new hessian sparse matrices
     if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->P,
@@ -127,6 +132,12 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres
         return false;
     }
 
+    if(linearConstraintsMatrix.IsRowMajor){
+        std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The constraints matrix has to be ColMajor"
+                  << std::endl;
+        return false;
+    }
+
     // evaluate the triplets from old and new hessian sparse matrices
 
     if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->A,