Fix bug for which warm_starting parameter was ignored in osqp plugin

[LoreMoretti]

Remove duplicated code.

[traversaro]

Thanks for noticing! This is actually a bug, but I think the reason is that the second warm_start should be warm_starting for compatibility with osqp 1.0, see the docs: https://github.com/ami-iit/qpsolvers-eigen/tree/main/plugins/osqp#boolean-parameters . Can you change the PR to just fix the second if to use warm_starting ?

[traversaro]

Thanks! This also fixes the code in

qpsolvers-eigen/examples/mpc/MPCExample.cpp

Line 257 in 8465681

solver.setBooleanParameter("warm_starting", true);

.

[traversaro]

Thanks @LoreMoretti ! I updated the title to be more descriptive for future reference (as PR title end up in the release notes).