[WIP] OSQP

.gitignore

@@ -1,4 +1,5 @@
 build*
 Xcode*
 *.pyc
-.vscode*
+.vscode*
+.cache/

CITATION.cff

@@ -14,7 +14,7 @@ authors:
   - family-names: Carpentier
     given-names: Justin
     orcid: "https://orcid.org/0000-0001-6585-2894"
-version: 0.7.1
-date-released: "2025-01-28"
+version: 0.7.2
+date-released: "2025-03-12"
 license: BSD-2-Clause
 repository-code: "https://github.com/Simple-Robotics/proxsuite"

bindings/python/src/common/expose.hpp

@@ -0,0 +1,219 @@
+//
+// Copyright (c) 2022-2024 INRIA
+//
+
+#ifndef bindings_python_src_common_expose
+#define bindings_python_src_common_expose
+
+#include <nanobind/nanobind.h>
+#include <nanobind/eigen/dense.h>
+#include <nanobind/eigen/sparse.h>
+#include <nanobind/operators.h>
+
+#include <proxsuite/proxqp/status.hpp>
+#include <proxsuite/serialization/archive.hpp>
+#include <proxsuite/serialization/wrapper.hpp>
+
+#include <proxsuite/proxqp/dense/wrapper.hpp>
+#include <proxsuite/osqp/dense/wrapper.hpp>
+
+#include <proxsuite/solvers/common/utils.hpp>
+
+namespace proxsuite {
+namespace common {
+using proxsuite::linalg::veg::isize;
+
+namespace dense {
+namespace python {
+
+template<typename T, typename QPClass>
+void
+exposeDenseQP(nanobind::module_& m)
+{
+
+  ::nanobind::class_<QPClass>(m, "QP")
+    .def(::nanobind::init<isize,
+                          isize,
+                          isize,
+                          bool,
+                          proxsuite::proxqp::HessianType,
+                          proxsuite::proxqp::DenseBackend>(),
+         nanobind::arg("n") = 0,
+         nanobind::arg("n_eq") = 0,
+         nanobind::arg("n_in") = 0,
+         nanobind::arg("box_constraints") = false,
+         nanobind::arg("hessian_type") = proxsuite::proxqp::HessianType::Dense,
+         nanobind::arg("dense_backend") =
+           proxsuite::proxqp::DenseBackend::Automatic,
+         "Default constructor using QP model dimensions.") // constructor
+    .def_rw("results",
+            &QPClass::results,
+            "class containing the solution or certificate of infeasibility, "
+            "and "
+            "information statistics in an info subclass.")
+    .def_rw("settings", &QPClass::settings, "Settings of the solver.")
+    .def_rw("model", &QPClass::model, "class containing the QP model")
+    .def("is_box_constrained",
+         &QPClass::is_box_constrained,
+         "precise whether or not the QP is designed with box constraints.")
+    .def("which_hessian_type",
+         &QPClass::which_hessian_type,
+         "precise which problem type is to be solved.")
+    .def("which_dense_backend",
+         &QPClass::which_dense_backend,
+         "precise which dense backend is chosen.")
+    .def("init",
+         static_cast<void (QPClass::*)(optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       bool compute_preconditioner,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>)>(&QPClass::init),
+         "function for initialize the QP model.",
+         nanobind::arg("H"),
+         nanobind::arg("g"),
+         nanobind::arg("A") = nanobind::none(),
+         nanobind::arg("b") = nanobind::none(),
+         nanobind::arg("C") = nanobind::none(),
+         nanobind::arg("l") = nanobind::none(),
+         nanobind::arg("u") = nanobind::none(),
+         nanobind::arg("compute_preconditioner") = true,
+         nanobind::arg("rho") = nanobind::none(),
+         nanobind::arg("mu_eq") = nanobind::none(),
+         nanobind::arg("mu_in") = nanobind::none(),
+         nanobind::arg("manual_minimal_H_eigenvalue") = nanobind::none())
+    .def("init",
+         static_cast<void (QPClass::*)(optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       bool compute_preconditioner,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>)>(&QPClass::init),
+         "function for initialize the QP model.",
+         nanobind::arg("H") = nanobind::none(),
+         nanobind::arg("g") = nanobind::none(),
+         nanobind::arg("A") = nanobind::none(),
+         nanobind::arg("b") = nanobind::none(),
+         nanobind::arg("C") = nanobind::none(),
+         nanobind::arg("l") = nanobind::none(),
+         nanobind::arg("u") = nanobind::none(),
+         nanobind::arg("l_box") = nanobind::none(),
+         nanobind::arg("u_box") = nanobind::none(),
+         nanobind::arg("compute_preconditioner") = true,
+         nanobind::arg("rho") = nanobind::none(),
+         nanobind::arg("mu_eq") = nanobind::none(),
+         nanobind::arg("mu_in") = nanobind::none(),
+         nanobind::arg("manual_minimal_H_eigenvalue") = nanobind::none())
+    .def("solve",
+         static_cast<void (QPClass::*)()>(&QPClass::solve),
+         "function used for solving the QP problem, using default parameters.")
+    .def("solve",
+         static_cast<void (QPClass::*)(optional<proxqp::dense::VecRef<T>> x,
+                                       optional<proxqp::dense::VecRef<T>> y,
+                                       optional<proxqp::dense::VecRef<T>> z)>(
+           &QPClass::solve),
+         "function used for solving the QP problem, when passing a warm start.")
+
+    .def("update",
+         static_cast<void (QPClass::*)(optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       bool update_preconditioner,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>)>(&QPClass::update),
+         "function used for updating matrix or vector entry of the model using "
+         "dense matrix entries.",
+         nanobind::arg("H") = nanobind::none(),
+         nanobind::arg("g") = nanobind::none(),
+         nanobind::arg("A") = nanobind::none(),
+         nanobind::arg("b") = nanobind::none(),
+         nanobind::arg("C") = nanobind::none(),
+         nanobind::arg("l") = nanobind::none(),
+         nanobind::arg("u") = nanobind::none(),
+         nanobind::arg("update_preconditioner") = false,
+         nanobind::arg("rho") = nanobind::none(),
+         nanobind::arg("mu_eq") = nanobind::none(),
+         nanobind::arg("mu_in") = nanobind::none(),
+         nanobind::arg("manual_minimal_H_eigenvalue") = nanobind::none())
+    .def("update",
+         static_cast<void (QPClass::*)(optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::MatRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       optional<proxqp::dense::VecRef<T>>,
+                                       bool update_preconditioner,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>,
+                                       optional<T>)>(&QPClass::update),
+         "function used for updating matrix or vector entry of the model using "
+         "dense matrix entries.",
+         nanobind::arg("H") = nanobind::none(),
+         nanobind::arg("g") = nanobind::none(),
+         nanobind::arg("A") = nanobind::none(),
+         nanobind::arg("b") = nanobind::none(),
+         nanobind::arg("C") = nanobind::none(),
+         nanobind::arg("l") = nanobind::none(),
+         nanobind::arg("u") = nanobind::none(),
+         nanobind::arg("l_box") = nanobind::none(),
+         nanobind::arg("u_box") = nanobind::none(),
+         nanobind::arg("update_preconditioner") = false,
+         nanobind::arg("rho") = nanobind::none(),
+         nanobind::arg("mu_eq") = nanobind::none(),
+         nanobind::arg("mu_in") = nanobind::none(),
+         nanobind::arg("manual_minimal_H_eigenvalue") = nanobind::none())
+    .def("cleanup",
+         &QPClass::cleanup,
+         "function used for cleaning the workspace and result "
+         "classes.")
+    .def(nanobind::self == nanobind::self)
+    .def(nanobind::self != nanobind::self)
+    .def("__getstate__",
+         [](const QPClass& qp) {
+           return proxsuite::serialization::saveToString(qp);
+         })
+    .def("__setstate__", [](QPClass& qp, const std::string& s) {
+      new (&qp) QPClass(1, 1, 1);
+      proxsuite::serialization::loadFromString(qp, s);
+    });
+  ;
+}
+
+// TODO: Define some function solveDenseQP with templates or other to avoid code
+// duplication (2 functions solveDenseQP in the expose-solve.hpp files)
+// Challenge: The functions are not gievn by means of a class like previously,
+// by definition of the solve function without API. Then, find some way to
+// provide generic coding on namespaces (as wa have
+// proxsuite::proxqp::dense::solve<T> and proxsuite::osqp::dense::solve<T>)
+
+} // namespace python
+} // namespace dense
+
+} // namespace common
+} // namespace proxsuite
+
+#endif // bindings_python_src_common_expose

bindings/python/src/common/helpers.hpp

@@ -0,0 +1,56 @@
+//
+// Copyright (c) 2022-2024 INRIA
+//
+
+#include "pytypedefs.h"
+#include <nanobind/nanobind.h>
+#include <nanobind/eigen/dense.h>
+#include <nanobind/eigen/sparse.h>
+
+namespace proxsuite {
+namespace common {
+namespace python {
+
+namespace detail {
+inline auto
+type_name_short(nanobind::handle h)
+{
+  namespace nb = nanobind;
+  assert(h.is_type());
+  assert(nb::type_check(h));
+  return nb::steal<nb::str>(PyType_GetName((PyTypeObject*)h.ptr()));
+}
+} // namespace detail
+
+/*!
+ * Exposes a type and export its values given the first definition in proxqp
+ * module.
+ *
+ * @param m nanobind module (proxsuite).
+ */
+template<typename E>
+void
+exposeAndExportValues(nanobind::module_& m, bool export_values = true)
+{
+  namespace nb = nanobind;
+  nb::handle t = nb::type<E>();
+  if (!t.is_valid()) {
+    throw std::runtime_error("Invalid type");
+  }
+#ifndef NDEBUG
+  assert(t.is_type());
+#endif
+  nb::enum_<E>& t_ = static_cast<nb::enum_<E>&>(t);
+  nb::str name = detail::type_name_short(t);
+
+  m.attr(name) = t_;
+  if (export_values) {
+    for (nb::handle item : t) {
+      m.attr(item.attr("name")) = item;
+    }
+  }
+}
+
+} // namespace python
+} // namespace common
+} // namespace proxsuite