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‎.gitignore

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build*
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Xcode*
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*.pyc
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.vscode*
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.vscode*
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.cache/

‎bindings/python/src/common/expose.hpp

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

‎bindings/python/src/common/helpers.hpp

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

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