format

Simple-Robotics · Jan 9, 2025 · b72e27f · b72e27f
1 parent d58746b
commit b72e27f
Showing 1 changed file with 65 additions and 63 deletions.
diff --git a/bindings/python/src/expose-solve.hpp b/bindings/python/src/expose-solve.hpp
@@ -140,67 +140,67 @@ solveDenseQp(nanobind::module_ m)
     nanobind::arg("eps_duality_gap_rel") = nanobind::none(),
     nanobind::arg("primal_infeasibility_solving") = false,
     nanobind::arg("default_H_eigenvalue_estimate") = 0.);
-  
-  m.def(
-    "solve_no_gil",
-    nanobind::overload_cast<optional<dense::MatRef<T>>,
-                            optional<dense::VecRef<T>>,
-                            optional<dense::MatRef<T>>,
-                            optional<dense::VecRef<T>>,
-                            optional<dense::MatRef<T>>,
-                            optional<dense::VecRef<T>>,
-                            optional<dense::VecRef<T>>,
-                            optional<VecRef<T>>,
-                            optional<VecRef<T>>,
-                            optional<VecRef<T>>,
-                            optional<T>,
-                            optional<T>,
-                            optional<T>,
-                            optional<T>,
-                            optional<T>,
-                            optional<bool>,
-                            bool,
-                            bool,
-                            optional<isize>,
-                            proxsuite::proxqp::InitialGuessStatus,
-                            bool,
-                            optional<T>,
-                            optional<T>,
-                            bool,
-                            optional<T>>(&dense::solve<T>),
-    "Function for solving a QP problem using PROXQP dense backend directly "
-    "without defining a QP object and while releasing the Global Interpreter Lock (GIL). "
-    "It is possible to set up some of the solver "
-    "parameters (warm start, initial guess option, proximal step sizes, "
-    "absolute and relative accuracies, maximum number of iterations, "
-    "preconditioner execution).",
-    nanobind::arg("H"),
-    nanobind::arg("g"),
-    nanobind::arg("A").none(),
-    nanobind::arg("b").none(),
-    nanobind::arg("C").none(),
-    nanobind::arg("l").none(),
-    nanobind::arg("u").none(),
-    nanobind::arg("x") = nanobind::none(),
-    nanobind::arg("y") = nanobind::none(),
-    nanobind::arg("z") = nanobind::none(),
-    nanobind::arg("eps_abs") = nanobind::none(),
-    nanobind::arg("eps_rel") = nanobind::none(),
-    nanobind::arg("rho") = nanobind::none(),
-    nanobind::arg("mu_eq") = nanobind::none(),
-    nanobind::arg("mu_in") = nanobind::none(),
-    nanobind::arg("verbose") = nanobind::none(),
-    nanobind::arg("compute_preconditioner") = true,
-    nanobind::arg("compute_timings") = false,
-    nanobind::arg("max_iter") = nanobind::none(),
-    nanobind::arg("initial_guess") =
-      InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS,
-    nanobind::arg("check_duality_gap") = false,
-    nanobind::arg("eps_duality_gap_abs") = nanobind::none(),
-    nanobind::arg("eps_duality_gap_rel") = nanobind::none(),
-    nanobind::arg("primal_infeasibility_solving") = false,
-    nanobind::arg("default_H_eigenvalue_estimate") = 0.,
-    nanobind::call_guard<nanobind::gil_scoped_release>());
+
+  m.def("solve_no_gil",
+        nanobind::overload_cast<optional<dense::MatRef<T>>,
+                                optional<dense::VecRef<T>>,
+                                optional<dense::MatRef<T>>,
+                                optional<dense::VecRef<T>>,
+                                optional<dense::MatRef<T>>,
+                                optional<dense::VecRef<T>>,
+                                optional<dense::VecRef<T>>,
+                                optional<VecRef<T>>,
+                                optional<VecRef<T>>,
+                                optional<VecRef<T>>,
+                                optional<T>,
+                                optional<T>,
+                                optional<T>,
+                                optional<T>,
+                                optional<T>,
+                                optional<bool>,
+                                bool,
+                                bool,
+                                optional<isize>,
+                                proxsuite::proxqp::InitialGuessStatus,
+                                bool,
+                                optional<T>,
+                                optional<T>,
+                                bool,
+                                optional<T>>(&dense::solve<T>),
+        "Function for solving a QP problem using PROXQP dense backend directly "
+        "without defining a QP object and while releasing the Global "
+        "Interpreter Lock (GIL). "
+        "It is possible to set up some of the solver "
+        "parameters (warm start, initial guess option, proximal step sizes, "
+        "absolute and relative accuracies, maximum number of iterations, "
+        "preconditioner execution).",
+        nanobind::arg("H"),
+        nanobind::arg("g"),
+        nanobind::arg("A").none(),
+        nanobind::arg("b").none(),
+        nanobind::arg("C").none(),
+        nanobind::arg("l").none(),
+        nanobind::arg("u").none(),
+        nanobind::arg("x") = nanobind::none(),
+        nanobind::arg("y") = nanobind::none(),
+        nanobind::arg("z") = nanobind::none(),
+        nanobind::arg("eps_abs") = nanobind::none(),
+        nanobind::arg("eps_rel") = nanobind::none(),
+        nanobind::arg("rho") = nanobind::none(),
+        nanobind::arg("mu_eq") = nanobind::none(),
+        nanobind::arg("mu_in") = nanobind::none(),
+        nanobind::arg("verbose") = nanobind::none(),
+        nanobind::arg("compute_preconditioner") = true,
+        nanobind::arg("compute_timings") = false,
+        nanobind::arg("max_iter") = nanobind::none(),
+        nanobind::arg("initial_guess") =
+          InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS,
+        nanobind::arg("check_duality_gap") = false,
+        nanobind::arg("eps_duality_gap_abs") = nanobind::none(),
+        nanobind::arg("eps_duality_gap_rel") = nanobind::none(),
+        nanobind::arg("primal_infeasibility_solving") = false,
+        nanobind::arg("default_H_eigenvalue_estimate") = 0.,
+        nanobind::call_guard<nanobind::gil_scoped_release>());
 
   m.def(
     "solve_no_gil",
@@ -232,7 +232,8 @@ solveDenseQp(nanobind::module_ m)
                             bool,
                             optional<T>>(&dense::solve<T>),
     "Function for solving a QP problem using PROXQP dense backend directly "
-    "without defining a QP object and while releasing the Global Interpreter Lock (GIL). "
+    "without defining a QP object and while releasing the Global Interpreter "
+    "Lock (GIL). "
     "It is possible to set up some of the solver "
     "parameters (warm start, initial guess option, proximal step sizes, "
     "absolute and relative accuracies, maximum number of iterations, "
@@ -318,7 +319,8 @@ solveSparseQp(nanobind::module_ m)
     "solve_no_gil",
     &sparse::solve<T, I>,
     "Function for solving a QP problem using PROXQP sparse backend directly "
-    "without defining a QP object and while releasing the Global Interpreter Lock (GIL). "
+    "without defining a QP object and while releasing the Global Interpreter "
+    "Lock (GIL). "
     "It is possible to set up some of the solver "
     "parameters (warm start, initial guess option, proximal step sizes, "
     "absolute and relative accuracies, maximum number of iterations, "