Allow enabling OSQP workspace update via settings

Author: rjoomen

tesseract_motion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_osqp_solver_profile.h

@@ -48,6 +48,8 @@ class TrajOptOSQPSolverProfile : public TrajOptSolverProfile
 
   OSQPSettings settings{};
 
+  bool update_workspace{ false };
+
   sco::ModelType getSolverType() const override;
 
   std::unique_ptr<sco::ModelConfig> createSolverConfig() const override;

tesseract_motion_planners/trajopt/src/profile/trajopt_osqp_solver_profile.cpp

@@ -73,6 +73,7 @@ std::unique_ptr<sco::ModelConfig> TrajOptOSQPSolverProfile::createSolverConfig()
 {
   auto config = std::make_unique<sco::OSQPModelConfig>();
   config->settings = settings;
+  config->update_workspace = update_workspace;
   return config;
 }
 
@@ -81,6 +82,7 @@ void TrajOptOSQPSolverProfile::serialize(Archive& ar, const unsigned int /*versi
 {
   ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(TrajOptSolverProfile);
   ar& BOOST_SERIALIZATION_NVP(settings);
+  ar& BOOST_SERIALIZATION_NVP(update_workspace);
 }
 
 }  // namespace tesseract_planning