casadi 3.6.4__cp310-none-manylinux2014_aarch64.whl → 3.6.6__cp310-none-manylinux2014_aarch64.whl

casadi/include/include/proxsuite/proxqp/sparse/solver.hpp

@@ -1,1441 +0,0 @@
-//
-// Copyright (c) 2022 INRIA
-//
-/** \file */
-
-#ifndef PROXSUITE_PROXQP_SPARSE_SOLVER_HPP
-#define PROXSUITE_PROXQP_SPARSE_SOLVER_HPP
-
-#include <chrono>
-#include <cmath>
-
-#include <proxsuite/linalg/dense/core.hpp>
-#include <proxsuite/linalg/sparse/core.hpp>
-#include <proxsuite/linalg/sparse/factorize.hpp>
-#include <proxsuite/linalg/sparse/update.hpp>
-#include <proxsuite/linalg/sparse/rowmod.hpp>
-#include <proxsuite/proxqp/dense/views.hpp>
-#include <proxsuite/proxqp/settings.hpp>
-#include <proxsuite/linalg/veg/vec.hpp>
-#include "proxsuite/proxqp/results.hpp"
-#include "proxsuite/proxqp/sparse/fwd.hpp"
-#include "proxsuite/proxqp/sparse/views.hpp"
-#include "proxsuite/proxqp/sparse/model.hpp"
-#include "proxsuite/proxqp/sparse/workspace.hpp"
-#include "proxsuite/proxqp/sparse/utils.hpp"
-#include "proxsuite/proxqp/sparse/preconditioner/ruiz.hpp"
-#include "proxsuite/proxqp/sparse/preconditioner/identity.hpp"
-
-#include <iostream>
-#include <iomanip>
-#include <Eigen/IterativeLinearSolvers>
-#include <unsupported/Eigen/IterativeSolvers>
-
-namespace proxsuite {
-namespace proxqp {
-namespace sparse {
-
-template<typename T, typename I>
-void
-ldl_solve(VectorViewMut<T> sol,
-          VectorView<T> rhs,
-          isize n_tot,
-          proxsuite::linalg::sparse::MatMut<T, I> ldl,
-          Eigen::MINRES<detail::AugmentedKkt<T, I>,
-                        Eigen::Upper | Eigen::Lower,
-                        Eigen::IdentityPreconditioner>& iterative_solver,
-          bool do_ldlt,
-          proxsuite::linalg::veg::dynstack::DynStackMut stack,
-          T* ldl_values,
-          I* perm,
-          I* ldl_col_ptrs,
-          I const* perm_inv)
-{
-  LDLT_TEMP_VEC_UNINIT(T, work_, n_tot, stack);
-  auto rhs_e = rhs.to_eigen();
-  auto sol_e = sol.to_eigen();
-  auto zx = proxsuite::linalg::sparse::util::zero_extend;
-
-  if (do_ldlt) {
-
-    for (isize i = 0; i < n_tot; ++i) {
-      work_[i] = rhs_e[isize(zx(perm[i]))];
-    }
-
-    proxsuite::linalg::sparse::dense_lsolve<T, I>( //
-      { proxsuite::linalg::sparse::from_eigen, work_ },
-      ldl.as_const());
-
-    for (isize i = 0; i < n_tot; ++i) {
-      work_[i] /= ldl_values[isize(zx(ldl_col_ptrs[i]))];
-    }
-
-    proxsuite::linalg::sparse::dense_ltsolve<T, I>( //
-      { proxsuite::linalg::sparse::from_eigen, work_ },
-      ldl.as_const());
-
-    for (isize i = 0; i < n_tot; ++i) {
-      sol_e[i] = work_[isize(zx(perm_inv[i]))];
-    }
-  } else {
-    work_ = iterative_solver.solve(rhs_e);
-    sol_e = work_;
-  }
-}
-
-template<typename T, typename I>
-void
-ldl_iter_solve_noalias(
-  VectorViewMut<T> sol,
-  VectorView<T> rhs,
-  VectorView<T> init_guess,
-  Results<T> const& results,
-  Model<T, I> const& data,
-  isize n_tot,
-  proxsuite::linalg::sparse::MatMut<T, I> ldl,
-  Eigen::MINRES<detail::AugmentedKkt<T, I>,
-                Eigen::Upper | Eigen::Lower,
-                Eigen::IdentityPreconditioner>& iterative_solver,
-  bool do_ldlt,
-  proxsuite::linalg::veg::dynstack::DynStackMut stack,
-  T* ldl_values,
-  I* perm,
-  I* ldl_col_ptrs,
-  I const* perm_inv,
-  Settings<T> const& settings,
-  proxsuite::linalg::sparse::MatMut<T, I> kkt_active,
-  proxsuite::linalg::veg::SliceMut<bool> active_constraints)
-{
-  auto rhs_e = rhs.to_eigen();
-  auto sol_e = sol.to_eigen();
-
-  if (init_guess.dim == sol.dim) {
-    sol_e = init_guess.to_eigen();
-  } else {
-    sol_e.setZero();
-  }
-
-  LDLT_TEMP_VEC_UNINIT(T, err, n_tot, stack);
-
-  T prev_err_norm = std::numeric_limits<T>::infinity();
-
-  for (isize solve_iter = 0; solve_iter < settings.nb_iterative_refinement;
-       ++solve_iter) {
-
-    auto err_x = err.head(data.dim);
-    auto err_y = err.segment(data.dim, data.n_eq);
-    auto err_z = err.tail(data.n_in);
-
-    auto sol_x = sol_e.head(data.dim);
-    auto sol_y = sol_e.segment(data.dim, data.n_eq);
-    auto sol_z = sol_e.tail(data.n_in); // removed active set condition
-
-    err = -rhs_e;
-
-    if (solve_iter > 0) {
-      T mu_eq_neg = -results.info.mu_eq;
-      T mu_in_neg = -results.info.mu_in;
-      detail::noalias_symhiv_add(err, kkt_active.to_eigen(), sol_e);
-      err_x += results.info.rho * sol_x;
-      err_y += mu_eq_neg * sol_y;
-      for (isize i = 0; i < data.n_in; ++i) {
-        err_z[i] += (active_constraints[i] ? mu_in_neg : T(1)) * sol_z[i];
-      }
-    }
-
-    T err_norm = infty_norm(err);
-    if (err_norm > prev_err_norm / T(2)) {
-      break;
-    }
-    prev_err_norm = err_norm;
-
-    ldl_solve({ proxqp::from_eigen, err },
-              { proxqp::from_eigen, err },
-              n_tot,
-              ldl,
-              iterative_solver,
-              do_ldlt,
-              stack,
-              ldl_values,
-              perm,
-              ldl_col_ptrs,
-              perm_inv);
-
-    sol_e -= err;
-  }
-}
-/*!
- * Solves in place a linear system.
- *
- * @param rhs right hand side vector of the linear system to solver.
- * @param init_guess initial guess for solving the linear system
- * @param ldl current ldlt.
- * @param do_ldlt boolean variable for doing the ldlt (rather than MinRes
- * algorithm).
- * @param perm_inv pointer to the inverse of the permutation.
- * @param results solver results.
- * @param data model of the QP.
- * @param n_tot dimension of the KKT matrix
- * @param kkt_active active part of the KKT matrix.
- * @param active_constraints vector boolean precising whether the constraints
- * are active or not.
- * @param iterative_solver iterative solver matrix free.
- * @param stack memory stack.
- * @param ldl_values pointor to ldl values.
- * @param perm pointor to the ldl permutation.
- * @param ldl_col_ptrs pointor to the column of the ldl.
- * @param perm_inv pointor the inverse permutation.
- * @param settings solver's settings.
- * @param kkt_active active part of the kkt.
- */
-template<typename T, typename I>
-void
-ldl_solve_in_place(
-  VectorViewMut<T> rhs,
-  VectorView<T> init_guess,
-  Results<T> const& results,
-  Model<T, I> const& data,
-  isize n_tot,
-  proxsuite::linalg::sparse::MatMut<T, I> ldl,
-  Eigen::MINRES<detail::AugmentedKkt<T, I>,
-                Eigen::Upper | Eigen::Lower,
-                Eigen::IdentityPreconditioner>& iterative_solver,
-  bool do_ldlt,
-  proxsuite::linalg::veg::dynstack::DynStackMut stack,
-  T* ldl_values,
-  I* perm,
-  I* ldl_col_ptrs,
-  I const* perm_inv,
-  Settings<T> const& settings,
-  proxsuite::linalg::sparse::MatMut<T, I> kkt_active,
-  proxsuite::linalg::veg::SliceMut<bool> active_constraints)
-{
-  LDLT_TEMP_VEC_UNINIT(T, tmp, n_tot, stack);
-  ldl_iter_solve_noalias({ proxqp::from_eigen, tmp },
-                         rhs.as_const(),
-                         init_guess,
-                         results,
-                         data,
-                         n_tot,
-                         ldl,
-                         iterative_solver,
-                         do_ldlt,
-                         stack,
-                         ldl_values,
-                         perm,
-                         ldl_col_ptrs,
-                         perm_inv,
-                         settings,
-                         kkt_active,
-                         active_constraints);
-  rhs.to_eigen() = tmp;
-}
-/*!
- * Reconstructs manually the permutted matrix.
- *
- * @param ldl current ldlt.
- * @param do_ldlt boolean variable for doing the ldlt (rather than MinRes
- * algorithm).
- */
-template<typename T, typename I>
-auto
-inner_reconstructed_matrix(proxsuite::linalg::sparse::MatMut<T, I> ldl)
-  -> DMat<T>
-{
-  auto ldl_dense = ldl.to_eigen().toDense();
-  auto l = DMat<T>(ldl_dense.template triangularView<Eigen::UnitLower>());
-  auto lt = l.transpose();
-  auto d = ldl_dense.diagonal().asDiagonal();
-  auto mat = DMat<T>(l * d * lt);
-  return mat;
-}
-/*!
- * Reconstructs manually the value of the KKT matrix.
- *
- * @param ldl current ldlt.
- * @param do_ldlt boolean variable for doing the ldlt (rather than MinRes
- * algorithm).
- * @param perm_inv pointer to the inverse of the permutation.
- * @param n_tot dimension of the KKT matrix
- */
-template<typename T, typename I>
-auto
-reconstructed_matrix(proxsuite::linalg::sparse::MatMut<T, I> ldl,
-                     I const* perm_inv,
-                     isize n_tot) -> DMat<T>
-{
-  auto mat = inner_reconstructed_matrix(ldl);
-  auto mat_backup = mat;
-  for (isize i = 0; i < n_tot; ++i) {
-    for (isize j = 0; j < n_tot; ++j) {
-      mat(i, j) = mat_backup(perm_inv[i], perm_inv[j]);
-    }
-  }
-  return mat;
-}
-/*!
- * Derives the norm of the difference between current KKT and the one it should
- * be (derived manually).
- *
- * @param ldl current ldlt.
- * @param perm_inv pointer to the inverse of the permutation.
- * @param results solver results.
- * @param data model of the QP.
- * @param n_tot dimension of the KKT matrix
- * @param kkt_active active part of the KKT matrix.
- * @param active_constraints vector boolean precising whether the constraints
- * are active or not.
- */
-template<typename T, typename I>
-auto
-reconstruction_error(proxsuite::linalg::sparse::MatMut<T, I> ldl,
-                     I const* perm_inv,
-                     Results<T> const& results,
-                     Model<T, I> const& data,
-                     isize n_tot,
-                     proxsuite::linalg::sparse::MatMut<T, I> kkt_active,
-                     proxsuite::linalg::veg::SliceMut<bool> active_constraints)
-  -> DMat<T>
-{
-  T mu_eq_neg = -results.info.mu_eq;
-  T mu_in_neg = -results.info.mu_in;
-  auto diff = DMat<T>(
-    reconstructed_matrix(ldl, perm_inv, n_tot) -
-    DMat<T>(
-      DMat<T>(kkt_active.to_eigen()).template selfadjointView<Eigen::Upper>()));
-  diff.diagonal().head(data.dim).array() -= results.info.rho;
-  diff.diagonal().segment(data.dim, data.n_eq).array() -= mu_eq_neg;
-  for (isize i = 0; i < data.n_in; ++i) {
-    diff.diagonal()[data.dim + data.n_eq + i] -=
-      active_constraints[i] ? mu_in_neg : T(1);
-  }
-  return diff;
-}
-
-template<typename T>
-struct PrimalDualGradResult
-{
-  T a;
-  T b;
-  T grad;
-  VEG_REFLECT(PrimalDualGradResult, a, b, grad);
-};
-
-/*!
- * Executes the PROXQP algorithm.
- *
- * @param results solver results.
- * @param data QP problem model as defined by the user (without any scaling
- * performed).
- * @param settings solver settings.
- * @param work solver workspace.
- * @param precond preconditioner.
- */
-template<typename T, typename I, typename P>
-void
-qp_solve(Results<T>& results,
-         Model<T, I>& data,
-         const Settings<T>& settings,
-         Workspace<T, I>& work,
-         P& precond)
-{
-  if (settings.compute_timings) {
-    work.timer.stop();
-    work.timer.start();
-  }
-
-  if (work.internal
-        .dirty) // the following is used when a solve has already been executed
-                // (and without any intermediary model update)
-  {
-    proxsuite::linalg::sparse::MatMut<T, I> kkt_unscaled =
-      data.kkt_mut_unscaled();
-
-    auto kkt_top_n_rows = detail::top_rows_mut_unchecked(
-      proxsuite::linalg::veg::unsafe, kkt_unscaled, data.dim);
-
-    proxsuite::linalg::sparse::MatMut<T, I> H_unscaled =
-      detail::middle_cols_mut(kkt_top_n_rows, 0, data.dim, data.H_nnz);
-
-    proxsuite::linalg::sparse::MatMut<T, I> AT_unscaled =
-      detail::middle_cols_mut(kkt_top_n_rows, data.dim, data.n_eq, data.A_nnz);
-
-    proxsuite::linalg::sparse::MatMut<T, I> CT_unscaled =
-      detail::middle_cols_mut(
-        kkt_top_n_rows, data.dim + data.n_eq, data.n_in, data.C_nnz);
-
-    SparseMat<T, I> H_triu =
-      H_unscaled.to_eigen().template triangularView<Eigen::Upper>();
-    sparse::QpView<T, I> qp = {
-      { proxsuite::linalg::sparse::from_eigen, H_triu },
-      { proxsuite::linalg::sparse::from_eigen, data.g },
-      { proxsuite::linalg::sparse::from_eigen, AT_unscaled.to_eigen() },
-      { proxsuite::linalg::sparse::from_eigen, data.b },
-      { proxsuite::linalg::sparse::from_eigen, CT_unscaled.to_eigen() },
-      { proxsuite::linalg::sparse::from_eigen, data.l },
-      { proxsuite::linalg::sparse::from_eigen, data.u }
-    };
-
-    switch (settings.initial_guess) { // the following is used when one solve
-                                      // has already been executed
-      case InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS: {
-        results.cleanup(settings);
-        break;
-      }
-      case InitialGuessStatus::COLD_START_WITH_PREVIOUS_RESULT: {
-        // keep solutions but restart workspace and results
-        results.cold_start(settings);
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen, results.x });
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-      case InitialGuessStatus::NO_INITIAL_GUESS: {
-        results.cleanup(settings);
-        break;
-      }
-      case InitialGuessStatus::WARM_START: {
-        results.cold_start(settings); // because there was already a solve,
-                                      // precond was already computed if set so
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen,
-            results.x }); // it contains the value given in entry for warm start
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-      case InitialGuessStatus::WARM_START_WITH_PREVIOUS_RESULT: {
-        // keep workspace and results solutions except statistics
-        results.cleanup_statistics();
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen, results.x });
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-    }
-    work.setup_impl(
-      qp,
-      data,
-      settings,
-      false,
-      precond,
-      P::scale_qp_in_place_req(
-        proxsuite::linalg::veg::Tag<T>{}, data.dim, data.n_eq, data.n_in));
-
-  } else {
-    // the following is used for a first solve after initializing or updating
-    // the Qp object
-    switch (settings.initial_guess) {
-      case InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS: {
-        break;
-      }
-      case InitialGuessStatus::COLD_START_WITH_PREVIOUS_RESULT: {
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen,
-            results.x }); // meaningful for when there is an upate of the model
-                          // and one wants to warm start with previous result
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-      case InitialGuessStatus::NO_INITIAL_GUESS: {
-        break;
-      }
-      case InitialGuessStatus::WARM_START: {
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen, results.x });
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-      case InitialGuessStatus::WARM_START_WITH_PREVIOUS_RESULT: {
-        precond.scale_primal_in_place(
-          { proxsuite::proxqp::from_eigen,
-            results.x }); // meaningful for when there is an upate of the model
-                          // and one wants to warm start with previous result
-        precond.scale_dual_in_place_eq(
-          { proxsuite::proxqp::from_eigen, results.y });
-        precond.scale_dual_in_place_in(
-          { proxsuite::proxqp::from_eigen, results.z });
-        break;
-      }
-    }
-  }
-
-  if (settings.verbose) {
-    sparse::print_setup_header(settings, results, data);
-  }
-  using namespace proxsuite::linalg::veg::literals;
-  namespace util = proxsuite::linalg::sparse::util;
-  auto zx = util::zero_extend;
-
-  proxsuite::linalg::veg::dynstack::DynStackMut stack = work.stack_mut();
-
-  isize n = data.dim;
-  isize n_eq = data.n_eq;
-  isize n_in = data.n_in;
-  isize n_tot = n + n_eq + n_in;
-
-  VectorViewMut<T> x{ proxqp::from_eigen, results.x };
-  VectorViewMut<T> y{ proxqp::from_eigen, results.y };
-  VectorViewMut<T> z{ proxqp::from_eigen, results.z };
-
-  proxsuite::linalg::sparse::MatMut<T, I> kkt = data.kkt_mut();
-
-  auto kkt_top_n_rows =
-    detail::top_rows_mut_unchecked(proxsuite::linalg::veg::unsafe, kkt, n);
-
-  proxsuite::linalg::sparse::MatMut<T, I> H_scaled =
-    detail::middle_cols_mut(kkt_top_n_rows, 0, n, data.H_nnz);
-
-  proxsuite::linalg::sparse::MatMut<T, I> AT_scaled =
-    detail::middle_cols_mut(kkt_top_n_rows, n, n_eq, data.A_nnz);
-
-  proxsuite::linalg::sparse::MatMut<T, I> CT_scaled =
-    detail::middle_cols_mut(kkt_top_n_rows, n + n_eq, n_in, data.C_nnz);
-
-  auto& g_scaled_e = work.internal.g_scaled;
-  auto& b_scaled_e = work.internal.b_scaled;
-  auto& l_scaled_e = work.internal.l_scaled;
-  auto& u_scaled_e = work.internal.u_scaled;
-
-  QpViewMut<T, I> qp_scaled = {
-    H_scaled,
-    { proxsuite::linalg::sparse::from_eigen, g_scaled_e },
-    AT_scaled,
-    { proxsuite::linalg::sparse::from_eigen, b_scaled_e },
-    CT_scaled,
-    { proxsuite::linalg::sparse::from_eigen, l_scaled_e },
-    { proxsuite::linalg::sparse::from_eigen, u_scaled_e },
-  };
-
-  T const dual_feasibility_rhs_2 = infty_norm(data.g);
-
-  // auto ldl_col_ptrs = work.ldl_col_ptrs_mut();
-  auto ldl_col_ptrs = work.internal.ldl.col_ptrs.ptr_mut();
-  proxsuite::linalg::veg::Tag<I> itag;
-  proxsuite::linalg::veg::Tag<T> xtag;
-
-  bool do_ldlt = work.internal.do_ldlt;
-
-  isize ldlt_ntot = do_ldlt ? n_tot : 0;
-
-  auto _perm = stack.make_new_for_overwrite(itag, ldlt_ntot);
-
-  I* perm_inv = work.internal.ldl.perm_inv.ptr_mut();
-  I* perm = _perm.ptr_mut();
-
-  if (do_ldlt) {
-    // compute perm from perm_inv
-    for (isize i = 0; i < n_tot; ++i) {
-      perm[isize(zx(perm_inv[i]))] = I(i);
-    }
-  }
-
-  I* kkt_nnz_counts = work.internal.kkt_nnz_counts.ptr_mut();
-
-  auto& iterative_solver = *work.internal.matrix_free_solver.get();
-  isize C_active_nnz = 0;
-  switch (settings.initial_guess) {
-    case InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS: {
-      // H and A are always active
-      for (usize j = 0; j < usize(n + n_eq); ++j) {
-        kkt_nnz_counts[isize(j)] = I(kkt.col_end(j) - kkt.col_start(j));
-      }
-      // ineq constraints initially inactive
-      for (isize j = 0; j < n_in; ++j) {
-        kkt_nnz_counts[n + n_eq + j] = 0;
-        work.active_inequalities[j] = false;
-      }
-      break;
-    }
-    case InitialGuessStatus::COLD_START_WITH_PREVIOUS_RESULT: {
-      // keep solutions + restart workspace and results except rho and mu : done
-      // in setup
-
-      // H and A are always active
-      for (usize j = 0; j < usize(n + n_eq); ++j) {
-        kkt_nnz_counts[isize(j)] = I(kkt.col_end(j) - kkt.col_start(j));
-      }
-      // keep constraints inactive from previous solution
-      for (isize j = 0; j < n_in; ++j) {
-        if (results.z(j) != 0) {
-          kkt_nnz_counts[n + n_eq + j] = I(kkt.col_end(usize(n + n_eq + j)) -
-                                           kkt.col_start(usize(n + n_eq + j)));
-          work.active_inequalities[j] = true;
-          C_active_nnz += kkt_nnz_counts[n + n_eq + j];
-        } else {
-          kkt_nnz_counts[n + n_eq + j] = 0;
-          work.active_inequalities[j] = false;
-        }
-      }
-      break;
-    }
-    case InitialGuessStatus::NO_INITIAL_GUESS: {
-      // already set to zero in the setup
-      // H and A are always active
-      for (usize j = 0; j < usize(n + n_eq); ++j) {
-        kkt_nnz_counts[isize(j)] = I(kkt.col_end(j) - kkt.col_start(j));
-      }
-      // ineq constraints initially inactive
-      for (isize j = 0; j < n_in; ++j) {
-        kkt_nnz_counts[n + n_eq + j] = 0;
-        work.active_inequalities[j] = false;
-      }
-      break;
-    }
-    case InitialGuessStatus::WARM_START: {
-      // keep previous solution
-
-      // H and A are always active
-      for (usize j = 0; j < usize(n + n_eq); ++j) {
-        kkt_nnz_counts[isize(j)] = I(kkt.col_end(j) - kkt.col_start(j));
-      }
-      // keep constraints inactive from previous solution
-      for (isize j = 0; j < n_in; ++j) {
-        if (results.z(j) != 0) {
-          kkt_nnz_counts[n + n_eq + j] = I(kkt.col_end(usize(n + n_eq + j)) -
-                                           kkt.col_start(usize(n + n_eq + j)));
-          work.active_inequalities[j] = true;
-          C_active_nnz += kkt_nnz_counts[n + n_eq + j];
-
-        } else {
-          kkt_nnz_counts[n + n_eq + j] = 0;
-          work.active_inequalities[j] = false;
-        }
-      }
-      break;
-    }
-    case InitialGuessStatus::WARM_START_WITH_PREVIOUS_RESULT: {
-      // keep workspace and results solutions except statistics
-      // H and A are always active
-      for (usize j = 0; j < usize(n + n_eq); ++j) {
-        kkt_nnz_counts[isize(j)] = I(kkt.col_end(j) - kkt.col_start(j));
-      }
-      // keep constraints inactive from previous solution
-      for (isize j = 0; j < n_in; ++j) {
-        if (results.z(j) != 0) {
-          kkt_nnz_counts[n + n_eq + j] = I(kkt.col_end(usize(n + n_eq + j)) -
-                                           kkt.col_start(usize(n + n_eq + j)));
-          work.active_inequalities[j] = true;
-          C_active_nnz += kkt_nnz_counts[n + n_eq + j];
-        } else {
-          kkt_nnz_counts[n + n_eq + j] = 0;
-          work.active_inequalities[j] = false;
-        }
-      }
-      break;
-    }
-  }
-
-  proxsuite::linalg::sparse::MatMut<T, I> kkt_active = {
-    proxsuite::linalg::sparse::from_raw_parts,
-    n_tot,
-    n_tot,
-    data.H_nnz + data.A_nnz + C_active_nnz,
-    kkt.col_ptrs_mut(),
-    kkt_nnz_counts,
-    kkt.row_indices_mut(),
-    kkt.values_mut(),
-  };
-
-  I* etree = work.internal.ldl.etree.ptr_mut();
-  I* ldl_nnz_counts = work.internal.ldl.nnz_counts.ptr_mut();
-  I* ldl_row_indices = work.internal.ldl.row_indices.ptr_mut();
-  T* ldl_values = work.internal.ldl.values.ptr_mut();
-  proxsuite::linalg::veg::SliceMut<bool> active_constraints =
-    work.active_inequalities.as_mut();
-
-  proxsuite::linalg::sparse::MatMut<T, I> ldl = {
-    proxsuite::linalg::sparse::from_raw_parts,
-    n_tot,
-    n_tot,
-    0,
-    ldl_col_ptrs,
-    do_ldlt ? ldl_nnz_counts : nullptr, // si do_ldlt est vrai do ldl_nnz_counts
-    ldl_row_indices,
-    ldl_values,
-  };
-
-  T bcl_eta_ext_init = pow(T(0.1), settings.alpha_bcl);
-  T bcl_eta_ext = bcl_eta_ext_init;
-  T bcl_eta_in(1);
-  T eps_in_min = std::min(settings.eps_abs, T(1e-9));
-
-  auto x_e = x.to_eigen();
-  auto y_e = y.to_eigen();
-  auto z_e = z.to_eigen();
-  sparse::refactorize<T, I>(
-    work, results, kkt_active, active_constraints, data, stack, xtag);
-  switch (settings.initial_guess) {
-    case InitialGuessStatus::EQUALITY_CONSTRAINED_INITIAL_GUESS: {
-      LDLT_TEMP_VEC_UNINIT(T, rhs, n_tot, stack);
-      LDLT_TEMP_VEC_UNINIT(T, no_guess, 0, stack);
-
-      rhs.head(n) = -g_scaled_e;
-      rhs.segment(n, n_eq) = b_scaled_e;
-      rhs.segment(n + n_eq, n_in).setZero();
-
-      ldl_solve_in_place({ proxqp::from_eigen, rhs },
-                         { proxqp::from_eigen, no_guess },
-                         results,
-                         data,
-                         n_tot,
-                         ldl,
-                         iterative_solver,
-                         do_ldlt,
-                         stack,
-                         ldl_values,
-                         perm,
-                         ldl_col_ptrs,
-                         perm_inv,
-                         settings,
-                         kkt_active,
-                         active_constraints);
-      x_e = rhs.head(n);
-      y_e = rhs.segment(n, n_eq);
-      z_e = rhs.segment(n + n_eq, n_in);
-      break;
-    }
-    case InitialGuessStatus::COLD_START_WITH_PREVIOUS_RESULT: {
-      // keep solutions but restart workspace and results
-      break;
-    }
-    case InitialGuessStatus::NO_INITIAL_GUESS: {
-      // already set to zero in the setup
-      break;
-    }
-    case InitialGuessStatus::WARM_START: {
-      // keep previous solution
-      break;
-    }
-    case InitialGuessStatus::WARM_START_WITH_PREVIOUS_RESULT: {
-      // keep workspace and results solutions except statistics
-      break;
-    }
-  }
-  T rhs_duality_gap(0);
-
-  for (isize iter = 0; iter < settings.max_iter; ++iter) {
-
-    results.info.iter_ext += 1;
-    if (iter == settings.max_iter) {
-      break;
-    }
-    T new_bcl_mu_eq = results.info.mu_eq;
-    T new_bcl_mu_in = results.info.mu_in;
-    T new_bcl_mu_eq_inv = results.info.mu_eq_inv;
-    T new_bcl_mu_in_inv = results.info.mu_in_inv;
-
-    {
-      T primal_feasibility_eq_rhs_0;
-      T primal_feasibility_in_rhs_0;
-
-      T dual_feasibility_rhs_0(0);
-      T dual_feasibility_rhs_1(0);
-      T dual_feasibility_rhs_3(0);
-
-      LDLT_TEMP_VEC_UNINIT(T, primal_residual_eq_scaled, n_eq, stack);
-      LDLT_TEMP_VEC_UNINIT(T, primal_residual_in_scaled_lo, n_in, stack);
-      LDLT_TEMP_VEC_UNINIT(T, primal_residual_in_scaled_up, n_in, stack);
-
-      LDLT_TEMP_VEC_UNINIT(T, dual_residual_scaled, n, stack);
-
-      // vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
-      auto is_primal_feasible = [&](T primal_feasibility_lhs) -> bool {
-        T rhs_pri = settings.eps_abs;
-        if (settings.eps_rel != 0) {
-          rhs_pri +=
-            settings.eps_rel * std::max({ primal_feasibility_eq_rhs_0,
-                                          primal_feasibility_in_rhs_0 });
-        }
-        return primal_feasibility_lhs <= rhs_pri;
-      };
-      auto is_dual_feasible = [&](T dual_feasibility_lhs) -> bool {
-        T rhs_dua = settings.eps_abs;
-        if (settings.eps_rel != 0) {
-          rhs_dua += settings.eps_rel * std::max({
-                                          dual_feasibility_rhs_0,
-                                          dual_feasibility_rhs_1,
-                                          dual_feasibility_rhs_2,
-                                          dual_feasibility_rhs_3,
-                                        });
-        }
-
-        return dual_feasibility_lhs <= rhs_dua;
-      };
-      // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-      VEG_BIND( // ?
-        auto,
-        (primal_feasibility_lhs, dual_feasibility_lhs),
-        detail::unscaled_primal_dual_residual(work,
-                                              results,
-                                              primal_residual_eq_scaled,
-                                              primal_residual_in_scaled_lo,
-                                              primal_residual_in_scaled_up,
-                                              dual_residual_scaled,
-                                              primal_feasibility_eq_rhs_0,
-                                              primal_feasibility_in_rhs_0,
-                                              dual_feasibility_rhs_0,
-                                              dual_feasibility_rhs_1,
-                                              dual_feasibility_rhs_3,
-                                              rhs_duality_gap,
-                                              precond,
-                                              data,
-                                              qp_scaled.as_const(),
-                                              detail::vec_mut(x_e),
-                                              detail::vec_mut(y_e),
-                                              detail::vec_mut(z_e),
-                                              stack));
-      /*put in debug mode
-      if (settings.verbose) {
-              std::cout << "-------- outer iteration: " << iter << " primal
-      residual "
-                                                      << primal_feasibility_lhs
-      << " dual residual "
-                                                      << dual_feasibility_lhs <<
-      " mu_in " << results.info.mu_in
-                                                      << " bcl_eta_ext " <<
-      bcl_eta_ext << " bcl_eta_in "
-                                                      << bcl_eta_in <<
-      std::endl;
-      }
-      */
-      if (settings.verbose) {
-        LDLT_TEMP_VEC_UNINIT(T, tmp, n, stack);
-        tmp.setZero();
-        detail::noalias_symhiv_add(tmp, qp_scaled.H.to_eigen(), x_e);
-        precond.unscale_dual_residual_in_place({ proxqp::from_eigen, tmp });
-
-        precond.unscale_primal_in_place({ proxqp::from_eigen, x_e });
-        precond.unscale_dual_in_place_eq({ proxqp::from_eigen, y_e });
-        precond.unscale_dual_in_place_in({ proxqp::from_eigen, z_e });
-        tmp *= 0.5;
-        tmp += data.g;
-        results.info.objValue = (tmp).dot(x_e);
-        std::cout << "\033[1;32m[outer iteration " << iter + 1 << "]\033[0m"
-                  << std::endl;
-        std::cout << std::scientific << std::setw(2) << std::setprecision(2)
-                  << "| primal residual=" << primal_feasibility_lhs
-                  << " | dual residual=" << dual_feasibility_lhs
-                  << " | duality gap=" << results.info.duality_gap
-                  << " | mu_in=" << results.info.mu_in
-                  << " | rho=" << results.info.rho << std::endl;
-        results.info.pri_res = primal_feasibility_lhs;
-        results.info.dua_res = dual_feasibility_lhs;
-        precond.scale_primal_in_place(VectorViewMut<T>{ from_eigen, x_e });
-        precond.scale_dual_in_place_eq(VectorViewMut<T>{ from_eigen, y_e });
-        precond.scale_dual_in_place_in(VectorViewMut<T>{ from_eigen, z_e });
-      }
-      if (is_primal_feasible(primal_feasibility_lhs) &&
-          is_dual_feasible(dual_feasibility_lhs)) {
-        if (settings.check_duality_gap) {
-          if (std::fabs(results.info.duality_gap) <=
-              settings.eps_duality_gap_abs +
-                settings.eps_duality_gap_rel * rhs_duality_gap) {
-            results.info.pri_res = primal_feasibility_lhs;
-            results.info.dua_res = dual_feasibility_lhs;
-            results.info.status = QPSolverOutput::PROXQP_SOLVED;
-            break;
-          }
-        } else {
-          results.info.pri_res = primal_feasibility_lhs;
-          results.info.dua_res = dual_feasibility_lhs;
-          results.info.status = QPSolverOutput::PROXQP_SOLVED;
-          break;
-        }
-      }
-
-      LDLT_TEMP_VEC_UNINIT(T, x_prev_e, n, stack);
-      LDLT_TEMP_VEC_UNINIT(T, y_prev_e, n_eq, stack);
-      LDLT_TEMP_VEC_UNINIT(T, z_prev_e, n_in, stack);
-      LDLT_TEMP_VEC(T, dw_prev, n_tot, stack);
-
-      x_prev_e = x_e;
-      y_prev_e = y_e;
-      z_prev_e = z_e;
-
-      // Cx + 1/mu_in * z_prev
-      primal_residual_in_scaled_up += results.info.mu_in * z_prev_e;
-      primal_residual_in_scaled_lo = primal_residual_in_scaled_up;
-
-      // Cx - l + 1/mu_in * z_prev
-      primal_residual_in_scaled_lo -= l_scaled_e;
-
-      // Cx - u + 1/mu_in * z_prev
-      primal_residual_in_scaled_up -= u_scaled_e;
-
-      // vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
-      auto primal_dual_newton_semi_smooth = [&]() -> void {
-        for (isize iter_inner = 0; iter_inner < settings.max_iter_in;
-             ++iter_inner) {
-          LDLT_TEMP_VEC_UNINIT(T, dw, n_tot, stack);
-
-          if (iter_inner == settings.max_iter_in - 1) {
-            results.info.iter += settings.max_iter_in;
-            break;
-          }
-
-          // primal_dual_semi_smooth_newton_step
-          {
-            LDLT_TEMP_VEC_UNINIT(bool, new_active_constraints, n_in, stack);
-            auto rhs = dw;
-
-            work.active_set_low.array() =
-              primal_residual_in_scaled_lo.array() <= 0;
-            work.active_set_up.array() =
-              primal_residual_in_scaled_up.array() >= 0;
-            new_active_constraints = work.active_set_low || work.active_set_up;
-
-            // active set change
-            if (n_in > 0) {
-              bool removed = false;
-              bool added = false;
-
-              for (isize i = 0; i < n_in; ++i) {
-                bool was_active = active_constraints[i];
-                bool is_active = new_active_constraints[i];
-
-                isize idx = n + n_eq + i;
-
-                usize col_nnz =
-                  zx(kkt.col_end(usize(idx))) - zx(kkt.col_start(usize(idx)));
-
-                if (is_active && !was_active) {
-                  added = true;
-
-                  kkt_active.nnz_per_col_mut()[idx] = I(col_nnz);
-                  kkt_active._set_nnz(kkt_active.nnz() + isize(col_nnz));
-
-                  if (do_ldlt) {
-                    proxsuite::linalg::sparse::VecRef<T, I> new_col{
-                      proxsuite::linalg::sparse::from_raw_parts,
-                      n_tot,
-                      isize(col_nnz),
-                      kkt.row_indices() + zx(kkt.col_start(usize(idx))),
-                      kkt.values() + zx(kkt.col_start(usize(idx))),
-                    };
-
-                    ldl =
-                      proxsuite::linalg::sparse::add_row(ldl,
-                                                         etree,
-                                                         perm_inv,
-                                                         idx,
-                                                         new_col,
-                                                         -results.info.mu_in,
-                                                         stack);
-                  }
-                  active_constraints[i] = new_active_constraints[i];
-
-                } else if (!is_active && was_active) {
-                  removed = true;
-                  kkt_active.nnz_per_col_mut()[idx] = 0;
-                  kkt_active._set_nnz(kkt_active.nnz() - isize(col_nnz));
-                  if (do_ldlt) {
-                    ldl = proxsuite::linalg::sparse::delete_row(
-                      ldl, etree, perm_inv, idx, stack);
-                  }
-                  active_constraints[i] = new_active_constraints[i];
-                }
-              }
-
-              if (!do_ldlt) {
-                if (removed || added) {
-                  refactorize(work,
-                              results,
-                              kkt_active,
-                              active_constraints,
-                              data,
-                              stack,
-                              xtag);
-                }
-              }
-            }
-
-            rhs.head(n) = -dual_residual_scaled;
-            rhs.segment(n, n_eq) = -primal_residual_eq_scaled;
-
-            for (isize i = 0; i < n_in; ++i) {
-              if (work.active_set_up(i)) {
-                rhs(n + n_eq + i) =
-                  results.info.mu_in * z_e(i) - primal_residual_in_scaled_up(i);
-              } else if (work.active_set_low(i)) {
-                rhs(n + n_eq + i) =
-                  results.info.mu_in * z_e(i) - primal_residual_in_scaled_lo(i);
-              } else {
-                rhs(n + n_eq + i) = -z_e(i);
-                rhs.head(n) += z_e(i) * CT_scaled.to_eigen().col(i);
-              }
-            }
-
-            ldl_solve_in_place(
-              { proxqp::from_eigen, rhs },
-              { proxqp::from_eigen,
-                dw_prev }, // todo: MAJ dw_prev avec dw pour avoir meilleur
-                           // guess sur les solve in place
-              results,
-              data,
-              n_tot,
-              ldl,
-              iterative_solver,
-              do_ldlt,
-              stack,
-              ldl_values,
-              perm,
-              ldl_col_ptrs,
-              perm_inv,
-              settings,
-              kkt_active,
-              active_constraints);
-          }
-          auto dx = dw.head(n);
-          auto dy = dw.segment(n, n_eq);
-          auto dz = dw.segment(n + n_eq, n_in);
-
-          LDLT_TEMP_VEC(T, Hdx, n, stack);
-          LDLT_TEMP_VEC(T, Adx, n_eq, stack);
-          LDLT_TEMP_VEC(T, Cdx, n_in, stack);
-
-          LDLT_TEMP_VEC(T, ATdy, n, stack);
-          LDLT_TEMP_VEC(T, CTdz, n, stack);
-
-          detail::noalias_symhiv_add(Hdx, H_scaled.to_eigen(), dx);
-          detail::noalias_gevmmv_add(Adx, ATdy, AT_scaled.to_eigen(), dx, dy);
-          detail::noalias_gevmmv_add(Cdx, CTdz, CT_scaled.to_eigen(), dx, dz);
-
-          T alpha = 1;
-          // primal dual line search
-          if (n_in > 0) {
-            auto primal_dual_gradient_norm =
-              [&](T alpha_cur) -> PrimalDualGradResult<T> {
-              LDLT_TEMP_VEC_UNINIT(T, Cdx_active, n_in, stack);
-              LDLT_TEMP_VEC_UNINIT(T, active_part_z, n_in, stack);
-              {
-                LDLT_TEMP_VEC_UNINIT(T, tmp_lo, n_in, stack);
-                LDLT_TEMP_VEC_UNINIT(T, tmp_up, n_in, stack);
-
-                auto zero = Eigen::Matrix<T, Eigen::Dynamic, 1>::Zero(n_in);
-
-                tmp_lo = primal_residual_in_scaled_lo + alpha_cur * Cdx;
-                tmp_up = primal_residual_in_scaled_up + alpha_cur * Cdx;
-                Cdx_active =
-                  (tmp_lo.array() < 0 || tmp_up.array() > 0).select(Cdx, zero);
-                active_part_z = (tmp_lo.array() < 0)
-                                  .select(primal_residual_in_scaled_lo, zero) +
-                                (tmp_up.array() > 0)
-                                  .select(primal_residual_in_scaled_up, zero);
-              }
-
-              T a = dx.dot(Hdx) +                         //
-                    results.info.rho * dx.squaredNorm() + //
-                    results.info.mu_eq_inv * Adx.squaredNorm() +
-                    +results.info.mu_in_inv * Cdx_active.squaredNorm() +
-                    results.info.nu * results.info.mu_eq *
-                      (results.info.mu_eq_inv * Adx - dy).squaredNorm() +
-                    results.info.nu * results.info.mu_in *
-                      (results.info.mu_in_inv * Cdx_active - dz).squaredNorm();
-
-              T b =
-                x_e.dot(Hdx) +                                               //
-                (results.info.rho * (x_e - x_prev_e) + g_scaled_e).dot(dx) + //
-                Adx.dot(results.info.mu_eq_inv * primal_residual_eq_scaled +
-                        y_e) +                                           //
-                results.info.mu_in_inv * Cdx_active.dot(active_part_z) + //
-                results.info.nu * primal_residual_eq_scaled.dot(
-                                    results.info.mu_eq_inv * Adx - dy) + //
-                results.info.nu *
-                  (active_part_z - results.info.mu_in * z_e)
-                    .dot(results.info.mu_in_inv * Cdx_active - dz);
-
-              return {
-                a,
-                b,
-                a * alpha_cur + b,
-              };
-            };
-
-            LDLT_TEMP_VEC_UNINIT(T, alphas, 2 * n_in, stack);
-            isize alphas_count = 0;
-
-            for (isize i = 0; i < n_in; ++i) {
-              T alpha_candidates[2] = {
-                -primal_residual_in_scaled_lo(i) / (Cdx(i)),
-                -primal_residual_in_scaled_up(i) / (Cdx(i)),
-              };
-
-              for (auto alpha_candidate : alpha_candidates) {
-                if (alpha_candidate > 0) {
-                  alphas[alphas_count] = alpha_candidate;
-                  ++alphas_count;
-                }
-              }
-            }
-            std::sort(alphas.data(), alphas.data() + alphas_count);
-            alphas_count =
-              std::unique(alphas.data(), alphas.data() + alphas_count) -
-              alphas.data();
-
-            if (alphas_count > 0 && alphas[0] <= 1) {
-              auto infty = std::numeric_limits<T>::infinity();
-
-              T last_neg_grad = 0;
-              T alpha_last_neg = 0;
-              T first_pos_grad = 0;
-              T alpha_first_pos = infty;
-
-              {
-                for (isize i = 0; i < alphas_count; ++i) {
-                  T alpha_cur = alphas[i];
-                  T gr = primal_dual_gradient_norm(alpha_cur).grad;
-
-                  if (gr < 0) {
-                    alpha_last_neg = alpha_cur;
-                    last_neg_grad = gr;
-                  } else {
-                    first_pos_grad = gr;
-                    alpha_first_pos = alpha_cur;
-                    break;
-                  }
-                }
-
-                if (alpha_last_neg == 0) {
-                  last_neg_grad =
-                    primal_dual_gradient_norm(alpha_last_neg).grad;
-                }
-
-                if (alpha_first_pos == infty) {
-                  auto res = primal_dual_gradient_norm(2 * alpha_last_neg + 1);
-                  alpha = -res.b / res.a;
-                } else {
-                  alpha = alpha_last_neg -
-                          last_neg_grad * (alpha_first_pos - alpha_last_neg) /
-                            (first_pos_grad - last_neg_grad);
-                }
-              }
-            } else {
-              auto res = primal_dual_gradient_norm(T(0));
-              alpha = -res.b / res.a;
-            }
-          }
-          if (alpha * infty_norm(dw) < T(1e-11) && iter_inner > 0) {
-            results.info.iter += iter_inner + 1;
-            return;
-          }
-
-          x_e += alpha * dx;
-          y_e += alpha * dy;
-          z_e += alpha * dz;
-
-          dual_residual_scaled +=
-            alpha * (Hdx + ATdy + CTdz + results.info.rho * dx);
-          primal_residual_eq_scaled += alpha * (Adx - results.info.mu_eq * dy);
-          primal_residual_in_scaled_lo += alpha * Cdx;
-          primal_residual_in_scaled_up += alpha * Cdx;
-
-          T err_in = std::max({
-            (infty_norm(helpers::negative_part(primal_residual_in_scaled_lo) +
-                        helpers::positive_part(primal_residual_in_scaled_up) -
-                        results.info.mu_in * z_e)),
-            (infty_norm(primal_residual_eq_scaled)),
-            (infty_norm(dual_residual_scaled)),
-          });
-          /* put in debug mode
-          if (settings.verbose) {
-                  std::cout << "--inner iter " << iter_inner << " iner error "
-                                                          << err_in << " alpha "
-          << alpha << " infty_norm(dw) "
-                                                          << infty_norm(dw) <<
-          std::endl;
-          }
-          */
-          if (settings.verbose) {
-            std::cout << "\033[1;34m[inner iteration " << iter_inner + 1
-                      << "]\033[0m" << std::endl;
-            std::cout << std::scientific << std::setw(2) << std::setprecision(2)
-                      << "| inner residual=" << err_in << " | alpha=" << alpha
-                      << std::endl;
-          }
-          if (err_in <= bcl_eta_in) {
-            results.info.iter += iter_inner + 1;
-            return;
-          }
-
-          // compute primal and dual infeasibility criteria
-          bool is_primal_infeasible = proxsuite::proxqp::sparse::detail::
-            global_primal_residual_infeasibility(
-              VectorViewMut<T>{ from_eigen, ATdy },
-              VectorViewMut<T>{ from_eigen, CTdz },
-              VectorViewMut<T>{ from_eigen, dy },
-              VectorViewMut<T>{ from_eigen, dz },
-              qp_scaled.as_const(),
-              settings,
-              precond);
-          bool is_dual_infeasible = proxsuite::proxqp::sparse::detail::
-            global_dual_residual_infeasibility(
-              VectorViewMut<T>{ from_eigen, Adx },
-              VectorViewMut<T>{ from_eigen, Cdx },
-              VectorViewMut<T>{ from_eigen, Hdx },
-              VectorViewMut<T>{ from_eigen, dx },
-              qp_scaled.as_const(),
-              settings,
-              data,
-              precond);
-          if (is_primal_infeasible) {
-            results.info.status = QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE;
-            dw_prev = dw;
-            break;
-          } else if (is_dual_infeasible) {
-            results.info.status = QPSolverOutput::PROXQP_DUAL_INFEASIBLE;
-            dw_prev = dw;
-            break;
-          }
-        }
-      };
-      // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-      primal_dual_newton_semi_smooth();
-      if (results.info.status == QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE ||
-          results.info.status == QPSolverOutput::PROXQP_DUAL_INFEASIBLE) {
-        // certificate of infeasibility
-        results.x = dw_prev.head(data.dim);
-        results.y = dw_prev.segment(data.dim, data.n_eq);
-        results.z = dw_prev.tail(data.n_in);
-        break;
-      }
-      // VEG bind : met le résultat tuple de unscaled_primal_dual_residual dans
-      // (primal_feasibility_lhs_new, dual_feasibility_lhs_new) en guessant leur
-      // type via auto
-      VEG_BIND(
-        auto,
-        (primal_feasibility_lhs_new, dual_feasibility_lhs_new),
-        detail::unscaled_primal_dual_residual(work,
-                                              results,
-                                              primal_residual_eq_scaled,
-                                              primal_residual_in_scaled_lo,
-                                              primal_residual_in_scaled_up,
-                                              dual_residual_scaled,
-                                              primal_feasibility_eq_rhs_0,
-                                              primal_feasibility_in_rhs_0,
-                                              dual_feasibility_rhs_0,
-                                              dual_feasibility_rhs_1,
-                                              dual_feasibility_rhs_3,
-                                              rhs_duality_gap,
-                                              precond,
-                                              data,
-                                              qp_scaled.as_const(),
-                                              detail::vec_mut(x_e),
-                                              detail::vec_mut(y_e),
-                                              detail::vec_mut(z_e),
-                                              stack));
-
-      if (is_primal_feasible(primal_feasibility_lhs_new) &&
-          is_dual_feasible(dual_feasibility_lhs_new)) {
-        if (settings.check_duality_gap) {
-          if (std::fabs(results.info.duality_gap) <=
-              settings.eps_duality_gap_abs +
-                settings.eps_duality_gap_rel * rhs_duality_gap) {
-            results.info.pri_res = primal_feasibility_lhs_new;
-            results.info.dua_res = dual_feasibility_lhs_new;
-            results.info.status = QPSolverOutput::PROXQP_SOLVED;
-            break;
-          }
-        } else {
-          results.info.pri_res = primal_feasibility_lhs_new;
-          results.info.dua_res = dual_feasibility_lhs_new;
-          results.info.status = QPSolverOutput::PROXQP_SOLVED;
-          break;
-        }
-      }
-
-      // vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
-      auto bcl_update = [&]() -> void {
-        if (primal_feasibility_lhs_new <= bcl_eta_ext ||
-            iter > settings.safe_guard) {
-          bcl_eta_ext *= pow(results.info.mu_in, settings.beta_bcl);
-          bcl_eta_in = std::max(bcl_eta_in * results.info.mu_in, eps_in_min);
-
-        } else {
-          y_e = y_prev_e;
-          z_e = z_prev_e;
-          new_bcl_mu_in = std::max(
-            results.info.mu_in * settings.mu_update_factor, settings.mu_min_in);
-          new_bcl_mu_eq = std::max(
-            results.info.mu_eq * settings.mu_update_factor, settings.mu_min_eq);
-
-          new_bcl_mu_in_inv =
-            std::min(results.info.mu_in_inv * settings.mu_update_inv_factor,
-                     settings.mu_max_in_inv);
-          new_bcl_mu_eq_inv =
-            std::min(results.info.mu_eq_inv * settings.mu_update_inv_factor,
-                     settings.mu_max_eq_inv);
-          bcl_eta_ext =
-            bcl_eta_ext_init * pow(new_bcl_mu_in, settings.alpha_bcl);
-          bcl_eta_in = std::max(new_bcl_mu_in, eps_in_min);
-        }
-      };
-      // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-      bcl_update();
-
-      VEG_BIND(
-        auto,
-        (_, dual_feasibility_lhs_new_2),
-        detail::unscaled_primal_dual_residual(work,
-                                              results,
-                                              primal_residual_eq_scaled,
-                                              primal_residual_in_scaled_lo,
-                                              primal_residual_in_scaled_up,
-                                              dual_residual_scaled,
-                                              primal_feasibility_eq_rhs_0,
-                                              primal_feasibility_in_rhs_0,
-                                              dual_feasibility_rhs_0,
-                                              dual_feasibility_rhs_1,
-                                              dual_feasibility_rhs_3,
-                                              rhs_duality_gap,
-                                              precond,
-                                              data,
-                                              qp_scaled.as_const(),
-                                              detail::vec_mut(x_e),
-                                              detail::vec_mut(y_e),
-                                              detail::vec_mut(z_e),
-                                              stack));
-      proxsuite::linalg::veg::unused(_);
-
-      if (primal_feasibility_lhs_new >= primal_feasibility_lhs && //
-          dual_feasibility_lhs_new_2 >= primal_feasibility_lhs && //
-          results.info.mu_in <= T(1.E-5)) {
-        new_bcl_mu_in = settings.cold_reset_mu_in;
-        new_bcl_mu_eq = settings.cold_reset_mu_eq;
-        new_bcl_mu_in_inv = settings.cold_reset_mu_in_inv;
-        new_bcl_mu_eq_inv = settings.cold_reset_mu_eq_inv;
-      }
-    }
-    if (results.info.mu_in != new_bcl_mu_in ||
-        results.info.mu_eq != new_bcl_mu_eq) {
-      {
-        ++results.info.mu_updates;
-      }
-      /*
-      refactorize(
-                      work,
-                      results,
-                      kkt_active,
-                      active_constraints,
-                      data,
-                      stack,
-                      xtag);
-      */
-      if (work.internal.do_ldlt) {
-        isize w_values = 1; // un seul elt non nul
-        T alpha = 0;
-        for (isize j = 0; j < n_eq + n_in; ++j) {
-          I row_index = I(j + n);
-          if (j < n_eq) {
-            alpha = results.info.mu_eq - new_bcl_mu_eq;
-
-          } else {
-            if (!work.active_inequalities[j - n_eq]) {
-              continue;
-            }
-            alpha = results.info.mu_in - new_bcl_mu_in;
-          }
-          T value = 1;
-          proxsuite::linalg::sparse::VecRef<T, I> w{
-            proxsuite::linalg::veg::from_raw_parts,
-            n + n_eq + n_in,
-            w_values,
-            &row_index, // &: adresse de row index
-            &value,
-          };
-          ldl = rank1_update(ldl, etree, perm_inv, w, alpha, stack);
-        }
-      } else {
-        refactorize(
-          work, results, kkt_active, active_constraints, data, stack, xtag);
-      }
-    }
-
-    results.info.mu_eq = new_bcl_mu_eq;
-    results.info.mu_in = new_bcl_mu_in;
-    results.info.mu_eq_inv = new_bcl_mu_eq_inv;
-    results.info.mu_in_inv = new_bcl_mu_in_inv;
-  }
-  LDLT_TEMP_VEC_UNINIT(T, tmp, n, stack);
-  tmp.setZero();
-  detail::noalias_symhiv_add(tmp, qp_scaled.H.to_eigen(), x_e);
-  precond.unscale_dual_residual_in_place({ proxqp::from_eigen, tmp });
-
-  precond.unscale_primal_in_place({ proxqp::from_eigen, x_e });
-  precond.unscale_dual_in_place_eq({ proxqp::from_eigen, y_e });
-  precond.unscale_dual_in_place_in({ proxqp::from_eigen, z_e });
-  tmp *= 0.5;
-  tmp += data.g;
-  results.info.objValue = (tmp).dot(x_e);
-
-  if (settings.compute_timings) {
-    results.info.solve_time = work.timer.elapsed().user; // in nanoseconds
-    results.info.run_time = results.info.solve_time + results.info.setup_time;
-  }
-  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;
-    switch (results.info.status) {
-      case QPSolverOutput::PROXQP_SOLVED: {
-        std::cout << "status:       "
-                  << "Solved" << std::endl;
-        break;
-      }
-      case QPSolverOutput::PROXQP_MAX_ITER_REACHED: {
-        std::cout << "status:       "
-                  << "Maximum number of iterations reached" << std::endl;
-        break;
-      }
-      case QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE: {
-        std::cout << "status:       "
-                  << "Primal infeasible" << std::endl;
-        break;
-      }
-      case QPSolverOutput::PROXQP_DUAL_INFEASIBLE: {
-        std::cout << "status:       "
-                  << "Dual infeasible" << std::endl;
-        break;
-      }
-      default: {
-        assert(false && "Should never happened");
-        break;
-      }
-    }
-    if (settings.compute_timings)
-      std::cout << "run time:     " << results.info.solve_time << std::endl;
-    std::cout << "--------------------------------------------------------"
-              << std::endl;
-  }
-
-  assert(!std::isnan(results.info.pri_res));
-  assert(!std::isnan(results.info.dua_res));
-  assert(!std::isnan(results.info.duality_gap));
-
-  work.set_dirty();
-}
-} // namespace sparse
-} // namespace proxqp
-} // namespace proxsuite
-
-#endif /* end of include guard PROXSUITE_PROXQP_SPARSE_SOLVER_HPP */