affine-mpc 0.2.0__tar.gz

affine_mpc-0.2.0/.clang-format

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+# See https://clang.llvm.org/docs/ClangFormat.html
+#
+# Google style guide: https://google.github.io/styleguide/cppguide.html#Variable_Names
+---
+BasedOnStyle: LLVM
+InsertNewlineAtEOF: true
+---
+Language: Cpp
+# Standard: Cpp11
+
+# ColumnLimit: 80
+# AccessModifierOffset: -4
+# IndentWidth: 4
+# UseTab: Never
+
+# Force pointers to the type
+DerivePointerAlignment: false
+PointerAlignment: Left
+# IndentPPDirectives: AfterHash
+
+# AlignTrailingComments: false # default is true
+
+# AlignEscapedNewlines: Left
+# AllowShortFunctionsOnASingleLine: Empty
+# AllowShortLambdasOnASingleLine: Empty
+# AlwaysBreakTemplateDeclarations: true
+
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterControlStatement: false
+  AfterEnum: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterNamespace: false
+  SplitEmptyRecord: false
+  SplitEmptyFunction: false
+  # AfterInit: true
+
+AllowAllConstructorInitializersOnNextLine: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+
+BreakConstructorInitializers: AfterColon # BeforeComma
+
+MaxEmptyLinesToKeep: 2
+SeparateDefinitionBlocks: Leave # Always
+
+# Bin packing fits as many items as possible on one line within column limit
+# With it off, each item gets its own line
+BinPackParameters: false # AlwaysOnePerLine
+# BinPackArguments: true
+# Cpp11BracedListStyle: false
+# AlignAfterOpenBracket: DontAlign
+BreakBeforeBinaryOperators: NonAssignment

affine_mpc-0.2.0/.github/workflows/build_test.yaml

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+name: Build and Test
+
+on:
+  pull_request:
+    paths:
+      - CMakeLists.txt
+      - cmake/**
+      - include/**
+      - src/**
+      - test/**
+      - python/CMakeLists.txt
+      - python/affine_mpc/**
+      - python/bindings/**
+      - requirements/build.txt
+      - .github/workflows/build_test.yaml
+  push:
+    branches: [main]
+    paths:
+      - CMakeLists.txt
+      - cmake/**
+      - include/**
+      - src/**
+      - test/**
+      - python/CMakeLists.txt
+      - python/affine_mpc/**
+      - python/bindings/**
+      - requirements/build.txt
+      - .github/workflows/build_test.yaml
+
+jobs:
+  build-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+
+      - name: Install Linux build dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y cmake build-essential libeigen3-dev zlib1g-dev
+
+      - name: Install Python build dependencies
+        run: python -m pip install -r requirements/build.txt
+
+      - name: Configure CMake
+        run: |
+          cmake -S . -B build \
+            -DAFFINE_MPC_BUILD_EXAMPLES=ON \
+            -DAFFINE_MPC_BUILD_TESTS=ON \
+            -DAFFINE_MPC_BUILD_BINDINGS=ON
+
+      - name: Build project
+        run: cmake --build build --config Release --parallel
+
+      - name: Run examples
+        run: ./build/example_sim
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure

affine_mpc-0.2.0/.github/workflows/check_stubs.yaml

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+name: Check Stubs
+
+on:
+  pull_request:
+    paths:
+      - python/bindings/**
+      - python/CMakeLists.txt
+      - python/custom_stubgen.py
+      - python/affine_mpc/_bindings.pyi
+      - pyproject.toml
+      - .github/workflows/check_stubs.yaml
+  push:
+    branches: [main]
+    paths:
+      - python/bindings/**
+      - python/CMakeLists.txt
+      - python/custom_stubgen.py
+      - python/affine_mpc/_bindings.pyi
+      - pyproject.toml
+      - .github/workflows/check_stubs.yaml
+
+jobs:
+  check-stubs:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+
+      - name: Install Linux build dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y cmake build-essential libeigen3-dev zlib1g-dev
+
+      - name: Install package and regenerate stubs
+        run: |
+          python -m pip install ".[dev]"
+          python python/custom_stubgen.py
+
+      - name: Check committed stub file is up to date
+        run: |
+          git diff --exit-code -- python/affine_mpc/_bindings.pyi || {
+            echo "Generated bindings stub differs from python/affine_mpc/_bindings.pyi"
+            echo "Regenerate the stub locally and commit the updated file."
+            exit 1
+          }

affine_mpc-0.2.0/.github/workflows/docs.yaml

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+name: Deploy Docs
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - "docs/**"
+      - "zensical.toml"
+      - "requirements/docs.txt"
+      - ".github/workflows/docs.yml"
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install docs dependencies
+        run: python -m pip install -r requirements/docs.txt
+
+      - name: Build docs site
+        run: zensical build
+
+      - name: Upload Pages artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: site
+
+  deploy:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

affine_mpc-0.2.0/.github/workflows/publish_pypi.yaml

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+name: Publish to PyPI
+
+on:
+  release:
+    types: [published]
+
+env:
+  ## Manually specify versions if one ever fails
+  # CIBW_BUILD: "cp310-* cp311-* cp312-* cp313-* cp314-*"
+  CIBW_SKIP: "cp3??t-* *-win32 *-manylinux_i686 *-musllinux_i686"
+  CIBW_ARCHS_WINDOWS: AMD64
+  CIBW_TEST_REQUIRES: pytest
+  CIBW_ENVIRONMENT: AFFINE_MPC_HAS_ZLIB=1
+  CIBW_TEST_COMMAND: "python -m pytest {project}/test/bindings"
+  CIBW_BEFORE_ALL_LINUX: >-
+    bash -c 'if command -v dnf >/dev/null 2>&1; then dnf install -y zlib-devel;
+    elif command -v yum >/dev/null 2>&1; then yum install -y zlib-devel;
+    elif command -v apt-get >/dev/null 2>&1; then apt-get update && apt-get install -y zlib1g-dev;
+    elif command -v apk >/dev/null 2>&1; then apk add --no-cache zlib-dev;
+    else echo "No supported package manager found for installing zlib" >&2; exit 1; fi'
+  CIBW_BEFORE_BUILD_WINDOWS: "pip install delvewheel"
+  CIBW_ENVIRONMENT_WINDOWS: >-
+    AFFINE_MPC_HAS_ZLIB=1 CMAKE_ARGS='-DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows-static'
+  CIBW_REPAIR_WHEEL_COMMAND_WINDOWS: "delvewheel repair -w {dest_dir} {wheel}"
+
+jobs:
+  build-wheels:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        ## Manually specify versions if one ever fails
+        # os: [ubuntu-24.04, windows-2025, macos-15]
+        os: [ubuntu-latest, windows-latest, macos-latest]
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      # Windows step
+      - name: Install dependencies (Windows)
+        if: runner.os == 'Windows'
+        shell: pwsh
+        run: |
+          git clone https://github.com/microsoft/vcpkg.git C:\vcpkg
+          C:\vcpkg\bootstrap-vcpkg.bat
+          C:\vcpkg\vcpkg install zlib:x64-windows-static eigen3:x64-windows-static
+
+      # macOS step
+      - name: Install dependencies (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew update
+          brew install cmake zlib eigen
+
+      - name: Install cibuildwheel
+        run: pip install cibuildwheel
+
+      - name: Build wheels
+        run: cibuildwheel --output-dir wheelhouse
+
+      - name: List built wheels (Windows)
+        if: runner.os == 'Windows'
+        shell: pwsh
+        run: |
+          if (Test-Path wheelhouse) {
+              ls wheelhouse
+          } else {
+              Write-Host "wheelhouse folder does not exist yet."
+          }
+
+      - name: List built wheels (Linux/macOS)
+        if: runner.os != 'Windows'
+        run: ls -l wheelhouse
+
+      - name: Upload built wheels as artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: python-wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  build-sdist:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install build frontend
+        run: python -m pip install build
+
+      - name: Build sdist
+        run: python -m build --sdist
+
+      - name: Upload sdist as artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: python-sdist
+          path: dist/*.tar.gz
+
+  publish-pypi:
+    needs: [build-wheels, build-sdist]
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - name: Download distribution artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: python-*
+          path: dist
+          merge-multiple: true
+
+      - name: List downloaded distributions
+        run: ls -l dist
+
+      - name: Publish distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages_dir: dist

affine_mpc-0.2.0/.gitignore

@@ -0,0 +1,35 @@
+build/
+build*/
+install/
+out/
+Debug/
+Release/
+MinSizRel/
+RelWithDebInfo/
+Deployment/
+Development/
+
+notes/
+
+compile_commands.json
+.cache/
+
+# IDE files
+*.user
+.vscode/
+
+# python files
+*.egg-info/
+__pycache__/
+*.so
+*.pyd
+*.pyi
+.pytest_cache/
+.cache/
+dist/
+
+# docs
+site/
+
+# generated by scikit-build-core
+python/affine_mpc/_version.py

affine_mpc-0.2.0/CITATION.cff

@@ -0,0 +1,22 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+- family-names: "Haskell"
+  given-names: "Mathew"
+  orcid: "https://orcid.org/0000-0003-3813-7312"
+- family-names: "Killpack"
+  given-names: "Marc"
+  orcid: "https://orcid.org/0000-0001-9372-104X"
+title: "affine_mpc: A library for affine model predictive control with C++ and Python interfaces"
+version: 0.2.0
+date-released: 2026-10-07
+url: "https://byu-rad-lab.github.io/affine_mpc"
+license: BSD-3-Clause
+repository-code: "https://github.com/byu-rad-lab/affine_mpc"
+keywords:
+  - model predictive control
+  - control
+  - robotics
+  - optimization
+  - b-spline
+  - quadratic-programming

affine_mpc-0.2.0/CMakeLists.txt

@@ -0,0 +1,244 @@
+cmake_minimum_required(VERSION 3.18)
+project(affine_mpc
+  LANGUAGES CXX C
+  VERSION 0.2.0
+)
+
+# Default to an optimized build. Single-config generators (Makefiles, Ninja)
+# otherwise build without optimization when no build type is given, and
+# `cmake --build --config Release` only applies to multi-config generators.
+# Only set when this is the top-level project so parent projects keep control.
+get_property(AFFINE_MPC_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR AND NOT AFFINE_MPC_MULTI_CONFIG)
+  if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING
+      "Build type (Debug, Release, RelWithDebInfo, MinSizeRel)" FORCE)
+    message(STATUS "No build type given; defaulting to Release")
+  endif()
+  # dropdown in cmake-gui and ccmake
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    Debug Release RelWithDebInfo MinSizeRel)
+endif()
+
+# --------------------------------------------------
+# Standard includes
+# --------------------------------------------------
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+
+# --------------------------------------------------
+# Options
+# --------------------------------------------------
+option(AFFINE_MPC_BUILD_TESTS "Build unit tests" OFF)
+option(AFFINE_MPC_BUILD_EXAMPLES "Build examples" OFF)
+
+# Internal flag for building python bindings
+if(NOT DEFINED AFFINE_MPC_BUILD_BINDINGS)
+  set(AFFINE_MPC_BUILD_BINDINGS OFF)
+endif()
+
+# --------------------------------------------------
+# Dependencies
+# --------------------------------------------------
+include(cmake/extern_eigen.cmake)
+include(cmake/extern_osqp.cmake)
+find_package(ZLIB QUIET)
+
+# --------------------------------------------------
+# Main library
+# --------------------------------------------------
+add_library(${PROJECT_NAME}
+  src/options.cpp
+  src/parameterization.cpp
+  src/solve_status.cpp
+  src/osqp_solver.cpp
+  src/mpc_base.cpp
+  src/condensed_mpc.cpp
+  src/sparse_mpc.cpp
+  src/mpc_logger.cpp
+  src/npy_writer.cpp
+  src/npz_writer.cpp
+)
+
+# Namespaced alias
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+# Library properties
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  POSITION_INDEPENDENT_CODE ON
+)
+if(NOT AFFINE_MPC_BUILD_BINDINGS)
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    VERSION ${PROJECT_VERSION}
+    SOVERSION ${PROJECT_VERSION_MAJOR}
+  )
+endif()
+
+# Include directories
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+# Link dependencies
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC Eigen3::Eigen
+  PUBLIC osqp::osqp
+)
+
+if(TARGET ZLIB::ZLIB)
+  target_link_libraries(${PROJECT_NAME} PRIVATE ZLIB::ZLIB)
+  target_compile_definitions(${PROJECT_NAME} PRIVATE AFFINE_MPC_HAS_ZLIB=1)
+else()
+  target_compile_definitions(${PROJECT_NAME} PRIVATE AFFINE_MPC_HAS_ZLIB=0)
+endif()
+
+# C++ standard
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+
+# --------------------------------------------------
+# Examples
+# --------------------------------------------------
+if(AFFINE_MPC_BUILD_EXAMPLES)
+  add_executable(example_sim examples/sim.cpp)
+  target_link_libraries(example_sim PRIVATE ${PROJECT_NAME}::${PROJECT_NAME})
+  # the library is C++17; the example uses C++20 designated initializers
+  target_compile_features(example_sim PRIVATE cxx_std_20)
+endif()
+
+# --------------------------------------------------
+# Python Bindings
+# --------------------------------------------------
+if(AFFINE_MPC_BUILD_BINDINGS)
+  if(AFFINE_MPC_BUILD_TESTS)
+    set(AFFINE_MPC_PY_ADD_TESTS ON)
+  endif()
+
+  add_subdirectory(python)
+endif()
+
+# --------------------------------------------------
+# Tests
+# --------------------------------------------------
+if(AFFINE_MPC_BUILD_TESTS)
+  enable_testing()
+  include(GoogleTest)
+  include(cmake/extern_gtest.cmake)
+  find_package(Python COMPONENTS Interpreter QUIET)
+
+  set(TEST_SOURCES
+    test/affine_mpc/osqp_solver_tests.cpp
+    test/affine_mpc/parameterization_tests.cpp
+    test/affine_mpc/mpc_base_tests.cpp
+    test/affine_mpc/condensed_mpc_tests.cpp
+    test/affine_mpc/sparse_mpc_tests.cpp
+    test/affine_mpc/consistency_tests.cpp
+    test/affine_mpc/npz_writer_tests.cpp
+    test/affine_mpc/mpc_logger_tests.cpp
+  )
+
+  add_executable(np_writer_fixture test/affine_mpc/np_writer_fixture.cpp)
+  set_target_properties(np_writer_fixture PROPERTIES FOLDER tests)
+  target_link_libraries(np_writer_fixture
+    PRIVATE ${PROJECT_NAME}::${PROJECT_NAME}
+  )
+  target_include_directories(np_writer_fixture
+    PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src
+  )
+
+  if(Python_Interpreter_FOUND)
+    execute_process(
+      COMMAND "${Python_EXECUTABLE}" -m pytest --version
+      RESULT_VARIABLE pytest_found
+      OUTPUT_QUIET
+      ERROR_QUIET
+    )
+    if(pytest_found EQUAL 0)
+      add_test(
+        NAME python_npz_tests
+        COMMAND "${Python_EXECUTABLE}" -m pytest
+          "${CMAKE_CURRENT_SOURCE_DIR}/test/python_npz"
+      )
+      set(python_npz_tests_env
+        "PYTHONPATH=${CMAKE_BINARY_DIR}"
+        "AFFINE_MPC_NP_WRITER_FIXTURE=${CMAKE_BINARY_DIR}/np_writer_fixture"
+        "AFFINE_MPC_HAS_ZLIB=$<IF:$<BOOL:${ZLIB_FOUND}>,1,0>"
+      )
+      set_tests_properties(python_npz_tests PROPERTIES
+        ENVIRONMENT "${python_npz_tests_env}"
+      )
+    else()
+      message(FATAL_ERROR "pytest is required to register Python NPZ tests")
+    endif()
+  else()
+    message(FATAL_ERROR
+      "Python interpreter is required to register Python NPZ tests"
+    )
+  endif()
+
+  foreach(TEST_SRC IN LISTS TEST_SOURCES)
+    get_filename_component(TEST_NAME "${TEST_SRC}" NAME_WE)
+    add_executable(${TEST_NAME} ${TEST_SRC})
+    set_target_properties(${TEST_NAME} PROPERTIES FOLDER tests)
+    # the library is C++17; the tests use C++20 designated initializers
+    target_compile_features(${TEST_NAME} PRIVATE cxx_std_20)
+    target_link_libraries(${TEST_NAME} PRIVATE
+      GTest::gtest_main
+      ${PROJECT_NAME}::${PROJECT_NAME}
+    )
+    if(TEST_NAME STREQUAL "npz_writer_tests")
+      target_include_directories(${TEST_NAME}
+        PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src
+      )
+    endif()
+    gtest_discover_tests(${TEST_NAME})
+  endforeach()
+endif()
+
+# --------------------------------------------------
+# Installation
+# --------------------------------------------------
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  COMPONENT core
+)
+
+install(DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+  COMPONENT core
+)
+
+set(config_package_location ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+
+install(EXPORT ${PROJECT_NAME}Targets
+  FILE ${PROJECT_NAME}Targets.cmake
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION ${config_package_location}
+  COMPONENT core
+)
+
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+configure_package_config_file(
+  cmake/${PROJECT_NAME}Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION ${config_package_location}
+)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  DESTINATION ${config_package_location}
+  COMPONENT core
+)