Merge pull request #342 from fabinsch/timings-in-us

Specify timings in us, fix cereal, extend doc
Simple-Robotics · Aug 7, 2024 · 942ec03 · 942ec03
2 parents 4045f58 + c422749
commit 942ec03
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,6 +9,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Added
 * Allow use of installed cereal and jrl-cmakemodules via cmake
 * Add compatibility with jrl-cmakemodules workspace ([#339](https://github.com/Simple-Robotics/proxsuite/pull/339))
+* Specifically mention that timings are in microseconds ([#340](https://github.com/Simple-Robotics/proxsuite/pull/340))
+* Fix cereal include directory in cmake ([#340](https://github.com/Simple-Robotics/proxsuite/pull/340))
+* Extend doc with hint for conda installation from source ([#340](https://github.com/Simple-Robotics/proxsuite/pull/340))
 
 ## [0.6.6] - 2024-06-15
 

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -92,7 +92,8 @@ function(CREATE_PYTHON_TARGET target_name COMPILE_OPTIONS dependencies)
   endif(BUILD_WITH_OPENMP_SUPPORT)
 
   if(cereal_FOUND)
-    target_link_libraries(${target_name} SYSTEM PRIVATE cereal)
+    target_include_directories(${target_name} SYSTEM
+                               PRIVATE ${CEREAL_INCLUDE_DIRS})
   else()
     target_include_directories(
       ${target_name} SYSTEM

diff --git a/bindings/python/src/expose-solve.hpp b/bindings/python/src/expose-solve.hpp
@@ -82,7 +82,8 @@ solveDenseQp(pybind11::module_ m)
                     true,
                     "executes the default preconditioner for reducing ill "
                     "conditioning and speeding up the solver."),
-    pybind11::arg_v("compute_timings", false, "compute solver's timings."),
+    pybind11::arg_v(
+      "compute_timings", false, "compute solver's timings in μs."),
     pybind11::arg_v("max_iter", nullopt, "maximum number of iteration."),
     pybind11::arg_v(
       "initial_guess",
@@ -177,7 +178,8 @@ solveDenseQp(pybind11::module_ m)
                     true,
                     "executes the default preconditioner for reducing ill "
                     "conditioning and speeding up the solver."),
-    pybind11::arg_v("compute_timings", false, "compute solver's timings."),
+    pybind11::arg_v(
+      "compute_timings", false, "compute solver's timings in μs."),
     pybind11::arg_v("max_iter", nullopt, "maximum number of iteration."),
     pybind11::arg_v(
       "initial_guess",
@@ -255,7 +257,8 @@ solveSparseQp(pybind11::module_ m)
                     true,
                     "executes the default preconditioner for reducing ill "
                     "conditioning and speeding up the solver."),
-    pybind11::arg_v("compute_timings", false, "compute solver's timings."),
+    pybind11::arg_v(
+      "compute_timings", false, "compute solver's timings in μs."),
     pybind11::arg_v("max_iter", nullopt, "maximum number of iteration."),
     pybind11::arg_v("initial_guess",
                     proxsuite::proxqp::InitialGuessStatus::

diff --git a/doc/2-ProxQP_api.md b/doc/2-ProxQP_api.md
@@ -388,7 +388,7 @@ In this table, you have the three columns from left to right: the name of the se
 | default_rho                         | 1.E-6                              | Default rho parameter of result class (i.e., for each initial guess, except WARM_START_WITH_PREVIOUS_RESULT, after a new solve or update, the solver initializes rho to this value).
 | default_mu_eq                       | 1.E-3                              | Default mu_eq parameter of result class (i.e., for each initial guess, except WARM_START_WITH_PREVIOUS_RESULT, after a new solve or update, the solver initializes mu_eq to this value).
 | default_mu_in                       | 1.E-1                              | Default mu_in parameter of result class (i.e., for each initial guess, except WARM_START_WITH_PREVIOUS_RESULT, after a new solve or update, the solver initializes mu_in to this value).
-| compute_timings                     | False                              | If set to true, timings will be computed by the solver (setup time, solving time, and run time = setup time + solving time).
+| compute_timings                     | False                              | If set to true, timings in microseconds will be computed by the solver (setup time, solving time, and run time = setup time + solving time).
 | max_iter                            | 10.000                             | Maximal number of authorized outer iterations.
 | max_iter_in                         | 1500                               | Maximal number of authorized inner iterations.
 | initial_guess                       | EQUALITY_CONSTRAINED_INITIAL_GUESS | Sets the initial guess option for initilizing x, y and z.

diff --git a/doc/3-ProxQP_solve.md b/doc/3-ProxQP_solve.md
@@ -113,7 +113,7 @@ Different options are available for the solve function. In the table below you h
 | rho                                 | 1.E-6                                           | Proximal step size wrt primal variable.
 | VERBOSE                             | False                                           | If set to true, the solver prints information at each loop.
 | compute_preconditioner              | True                                            | If set to true, the preconditioner will be derived.
-| compute_timings                     | False                                           | If set to true, timings will be computed by the solver (setup time, solving time, and run time = setup time + solving time).
+| compute_timings                     | False                                           | If set to true, timings in microseconds will be computed by the solver (setup time, solving time, and run time = setup time + solving time).
 | max_iter                            | 10.000                                          | Maximal number of authorized outer iterations.
 | initial_guess                       | EQUALITY_CONSTRAINED_INITIAL_GUESS              | Sets the initial guess option for initilizing x, y and z.
 

diff --git a/doc/5-installation.md b/doc/5-installation.md
@@ -27,6 +27,8 @@ make
 make install
 ```
 
+Note: if you are building Proxsuite within a conda environment, consider passing `-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX`.
+
 3. Build the Python interface
 
 You just need to ensure that Python3 is indeed present on your system and activate the cmake option `BUILD_PYTHON_INTERFACE=ON` by replacing:

diff --git a/include/proxsuite/proxqp/dense/solver.hpp b/include/proxsuite/proxqp/dense/solver.hpp
@@ -1778,54 +1778,54 @@ qp_solve( //
   }
 
   if (qpsettings.compute_timings) {
-    qpresults.info.solve_time = qpwork.timer.elapsed().user; // in nanoseconds
+    qpresults.info.solve_time = qpwork.timer.elapsed().user; // in microseconds
     qpresults.info.run_time =
       qpresults.info.solve_time + qpresults.info.setup_time;
   }
 
   if (qpsettings.verbose) {
     std::cout << "-------------------SOLVER STATISTICS-------------------"
               << std::endl;
-    std::cout << "outer iter:   " << qpresults.info.iter_ext << std::endl;
-    std::cout << "total iter:   " << qpresults.info.iter << std::endl;
-    std::cout << "mu updates:   " << qpresults.info.mu_updates << std::endl;
-    std::cout << "rho updates:  " << qpresults.info.rho_updates << std::endl;
-    std::cout << "objective:    " << qpresults.info.objValue << std::endl;
+    std::cout << "outer iter:     " << qpresults.info.iter_ext << std::endl;
+    std::cout << "total iter:     " << qpresults.info.iter << std::endl;
+    std::cout << "mu updates:     " << qpresults.info.mu_updates << std::endl;
+    std::cout << "rho updates:    " << qpresults.info.rho_updates << std::endl;
+    std::cout << "objective:      " << qpresults.info.objValue << std::endl;
     switch (qpresults.info.status) {
       case QPSolverOutput::PROXQP_SOLVED: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solved" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_MAX_ITER_REACHED: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Maximum number of iterations reached" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Primal infeasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_DUAL_INFEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Dual infeasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solved closest primal feasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_NOT_RUN: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solver not run" << std::endl;
         break;
       }
     }
 
     if (qpsettings.compute_timings)
-      std::cout << "run time:     " << qpresults.info.solve_time << std::endl;
+      std::cout << "run time [μs]:  " << qpresults.info.solve_time << std::endl;
     std::cout << "--------------------------------------------------------"
               << std::endl;
   }

diff --git a/include/proxsuite/proxqp/settings.hpp b/include/proxsuite/proxqp/settings.hpp
@@ -182,9 +182,9 @@ struct Settings
    * re-computed when calling the update method.
    * @param compute_preconditioner If set to true, the preconditioner will be
    * computed with the init method.
-   * @param compute_timings If set to true, timings will be computed by the
-   * solver (setup time, solving time, and run time = setup time + solving
-   * time).
+   * @param compute_timings If set to true, timings in microseconds will be
+   * computed by the solver (setup time, solving time, and run time = setup time
+   * + solving time).
    * @param check_duality_gap If set to true, duality gap will be calculated and
    * included in the stopping criterion.
    * @param eps_duality_gap_abs absolute duality-gap stopping criterion.

diff --git a/include/proxsuite/proxqp/sparse/solver.hpp b/include/proxsuite/proxqp/sparse/solver.hpp
@@ -1623,45 +1623,45 @@ qp_solve(Results<T>& results,
   if (settings.verbose) {
     std::cout << "-------------------SOLVER STATISTICS-------------------"
               << std::endl;
-    std::cout << "outer iter:   " << results.info.iter_ext << std::endl;
-    std::cout << "total iter:   " << results.info.iter << std::endl;
-    std::cout << "mu updates:   " << results.info.mu_updates << std::endl;
-    std::cout << "rho updates:  " << results.info.rho_updates << std::endl;
-    std::cout << "objective:    " << results.info.objValue << std::endl;
+    std::cout << "outer iter:     " << results.info.iter_ext << std::endl;
+    std::cout << "total iter:     " << results.info.iter << std::endl;
+    std::cout << "mu updates:     " << results.info.mu_updates << std::endl;
+    std::cout << "rho updates:    " << results.info.rho_updates << std::endl;
+    std::cout << "objective:      " << results.info.objValue << std::endl;
     switch (results.info.status) {
       case QPSolverOutput::PROXQP_SOLVED: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solved" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_MAX_ITER_REACHED: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Maximum number of iterations reached" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Primal infeasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_DUAL_INFEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Dual infeasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solved closest primal feasible" << std::endl;
         break;
       }
       case QPSolverOutput::PROXQP_NOT_RUN: {
-        std::cout << "status:       "
+        std::cout << "status:         "
                   << "Solver not run" << std::endl;
         break;
       }
     }
     if (settings.compute_timings)
-      std::cout << "run time:     " << results.info.solve_time << std::endl;
+      std::cout << "run time [μs]:  " << results.info.solve_time << std::endl;
     std::cout << "--------------------------------------------------------"
               << std::endl;
   }