casadi 3.6.4__cp35-none-manylinux2010_x86_64.whl → 3.6.6__cp35-none-manylinux2010_x86_64.whl

casadi/include/include/superscs/linSys.h

@@ -1,205 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
- *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
- *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
- * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- * 
- */
-#ifndef LINSYS_H_GUARD
-#define LINSYS_H_GUARD
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    /* 
-     * YOUR LINEAR SYSTEM SOLVER MUST IMPLEMENT THESE METHODS AND scs_private_data
-     * STRUCT 
-     */
-
-    /* 
-     * private data structs (that you define) containing any necessary data to solve
-     * linear system, etc. 
-     */
-
-    /* 
-     * this defines the matrix A, only the linear system solver interacts with this
-     * struct 
-     */
-
-    /**
-     * Structure supporting sparse matrices in CSC format.
-     * 
-     * \sa \ref page_sparse_matrices "Sparse matrices documentation"
-     */
-    typedef struct scs_a_data_matrix ScsAMatrix;
-
-    /** 
-     * Stores the necessary private workspace, only the linear system solver
-     * interacts with this struct 
-     */
-    typedef struct scs_private_data ScsPrivWorkspace;
-
-    /** 
-     * initialize scs_linsys_priv_workspace structure and perform any necessary preprocessing 
-     */
-    ScsPrivWorkspace *scs_init_priv(
-            const ScsAMatrix *A,
-            const ScsSettings *stgs);
-
-    /** 
-     * Solves <code>[d->RHO_X * I  A' ; A  -I] x = b</code> for <code>x</code>, 
-     * stores result in <code>b</code>, <code>s</code> contains
-     * warm-start, <code>iter</code> is current scs iteration count 
-     * 
-     * @param A sparse matrix A
-     * @param stgs user-specified settings
-     * @param p private structure
-     * @param b right hand side
-     * @param s initial guess
-     * @param iter 
-     * 
-     * @return on success, returns 0
-     */
-    scs_int scs_solve_lin_sys(
-            const ScsAMatrix *A,
-            const ScsSettings *stgs,
-            ScsPrivWorkspace *p,
-            scs_float *b,
-            const scs_float *s,
-            scs_int iter);
-    /** 
-     * Frees scs_linsys_priv_workspace structure and allocated memory in it.
-     */
-    void scs_free_priv(ScsPrivWorkspace *p);
-
-    /** 
-     * Performs <code>y += A'*x</code>
-     */
-    void scs_accum_by_a_trans(
-            const ScsAMatrix *A,
-            ScsPrivWorkspace *p,
-            const scs_float *x,
-            scs_float *y);
-
-    /** 
-     * Performs <code>y += A*x</code>
-     */
-    void scs_accum_by_a(
-            const ScsAMatrix *A,
-            ScsPrivWorkspace *p,
-            const scs_float *x,
-            scs_float *y);
-
-    /** 
-     * Returns negative num if input data is invalid 
-     */
-    scs_int scs_validate_linsys(
-            const ScsAMatrix *A);
-
-    /** 
-     * Returns string describing method, can return null, if not null free will be
-     * called on output 
-     */
-    char *scs_get_linsys_method(
-            const ScsAMatrix *A,
-            const ScsSettings *stgs);
-
-    /** 
-     * Returns string containing summary information about linear system solves, can
-     * return null, if not null free will be called on output 
-     */
-    char *scs_get_linsys_summary(
-            ScsPrivWorkspace *p,
-            const ScsInfo *info);
-
-    /* Normalization routines, used if d->NORMALIZE is true */
-    /** 
-     * normalizes A matrix, sets <code>w->E</code> and <code>w->D</code> 
-     * diagonal scaling matrices,<code>Anew = d->SCALE * (D^-1)*A*(E^-1)</code> 
-     * (different to paper which is <code>D*A*E</code>) D and E must be all 
-     * positive entries, D must satisfy cone boundaries must set 
-     * (<code>w->meanNormRowA</code> = mean of norms of rows of normalized A) 
-     * THEN scale resulting <code>A</code> by <code>d->SCALE</code>.
-     */
-    void scs_normalize_a(
-            ScsAMatrix *A,
-            const ScsSettings *stgs,
-            const ScsCone *k,
-            ScsScaling *scal);
-
-    /** 
-     * unnormalizes \c A matrix, unnormalizes by <code>w->D</code> and <code>w->E</code> 
-     * and <code>d->SCALE</code>.
-     */
-    void scs_unnormalize_a(
-            ScsAMatrix *A,
-            const ScsSettings *stgs,
-            const ScsScaling *scal);
-
-    /** 
-     * Frees the memory allocated in ScsAMatrix.
-     */
-    void scs_free_a_matrix(ScsAMatrix *A);
-    
-    /**
-     * Whether the solution of the linear system is based on 
-     * an indirect method.
-     * 
-     * @return \c 1 if indirect, \c 0 otherwise
-     */
-    scs_int scs_linsys_is_indirect(void);
-    
-    /**
-     * Total number of CG iterations if an indirect method is used,
-     * \c -1 otherwise
-     * 
-     * @param priv private workspace structure
-     * @return total CG iterations
-     */
-    scs_int scs_linsys_total_cg_iters(ScsPrivWorkspace *priv);
-    
-    /**
-     * Returns the total solve time for the linear system (in \c ms).
-     * 
-     * @param priv private workspace structure
-     * @return solve time in \c ms
-     */
-    scs_float scs_linsys_total_solve_time_ms(ScsPrivWorkspace *priv);
-
-#ifdef COPYAMATRIX
-
-    /** 
-     * copies <code>A</code> (instead of in-place normalization), returns 
-     * <code>0</code> for failure, allocates memory for <code>dstp</code>.
-     */
-    scs_int scs_copy_a_matrix(
-            ScsAMatrix **dstp,
-            const ScsAMatrix *src);
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

casadi/include/include/superscs/linsys/amatrix.h

@@ -1,77 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
- *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
- *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
- * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- * 
- */
-#ifndef AMATRIX_H_GUARD
-#define AMATRIX_H_GUARD
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* this struct defines the data matrix A */
-    
-    /**
-     * \brief The sparse matrix A of the conic optimization problem.
-     * 
-     * The data are stored in \ref page_sparse_matrices "CSC format".
-     * 
-     * \sa \ref page_sparse_matrices "Sparse matrices documentation"
-     */
-struct scs_a_data_matrix {
-    /* A is supplied in column compressed format */
-    /**
-     * \brief Values of \c A
-     */
-    scs_float *x; /* A values, size: NNZ A */
-    /**
-     * \brief The row-index of the matrix (\f$J\f$). 
-     * 
-     * An array of length equal to the number of nonzero elements of \c A.
-     */
-    scs_int *i;
-    /**
-     * \brief  Array of column pointers of A in \ref page_sparse_matrices "CSC format"
-     * (\f$I\f$).
-     * 
-     * The length of <code>A->p</code> is equal to <code>A->n + 1</code>.
-     * 
-     */
-    scs_int *p;
-    /**
-     * \brief  Number of rows (\f$m\f$).
-     */
-    scs_int m;
-    /**
-     * \brief  Number of columns (\f$n\f$).
-     */
-    scs_int n; 
-};
-
-#ifdef __cplusplus
-}
-#endif
-#endif

casadi/include/include/superscs/linsys/common.h

@@ -1,49 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
- *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
- *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
- * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- * 
- */
-#ifndef COMMON_H_GUARD
-#define COMMON_H_GUARD
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "scs.h"
-#include "amatrix.h"
-
-void scs_accum_by_a_trans__(scs_int n, scs_float *Ax, scs_int *Ai, scs_int *Ap,
-                    const scs_float *x, scs_float *y);
-void scs_accum_by_a__(scs_int n, scs_float *Ax, scs_int *Ai, scs_int *Ap,
-               const scs_float *x, scs_float *y);
-
-void scs_print_a_matrix(const ScsAMatrix *A);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

casadi/include/include/superscs/normalize.h

@@ -1,138 +0,0 @@
-/*
- * The MIT License (MIT)
- *
- * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
- *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
- *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
- * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- * 
- */
-#ifndef SCS_NORMALIZE_H_GUARD
-#define SCS_NORMALIZE_H_GUARD
-
-#include "scs.h"
-
-
-#define MIN_SCALE (1e-3)
-#define MAX_SCALE (1e3)
-
-void scs_normalize_bc(ScsWork *w) {
-    scs_int i;
-    scs_float nm, *D = w->scal->D, *E = w->scal->E, *b = w->b, *c = w->c;
-    /* scale b */
-    for (i = 0; i < w->m; ++i) {
-        b[i] /= D[i];
-    }
-    nm = scs_norm(b, w->m);
-    w->sc_b = w->scal->meanNormColA / MAX(nm, MIN_SCALE);
-    /* scale c */
-    for (i = 0; i < w->n; ++i) {
-        c[i] /= E[i];
-    }
-    nm = scs_norm(c, w->n);
-    w->sc_c = w->scal->meanNormRowA / MAX(nm, MIN_SCALE);
-    scs_scale_array(b, w->sc_b * w->stgs->scale, w->m);
-    scs_scale_array(c, w->sc_c * w->stgs->scale, w->n);
-}
-
-/* TENTATIVELY REMOVE THIS FUNCTION 
-void scs_calculate_scaled_residuals(ScsWork *w, struct scs_residuals *r) {
-    scs_float *D = w->scal->D;
-    scs_float *E = w->scal->E;
-    scs_float *u = w->u;
-    scs_float *u_t = w->u_t;
-    scs_float *u_prev = w->u_prev;
-    scs_float tmp;
-    scs_int i, n = w->n, m = w->m;
-
-    r->res_pri = 0;
-    for (i = 0; i < n; ++i) {
-        tmp = (u[i] - u_t[i]) / (E[i] * w->sc_b);
-        r->res_pri += tmp * tmp;
-    }
-    for (i = 0; i < m; ++i) {
-        tmp = (u[i + n] - u_t[i + n]) / (D[i] * w->sc_c);
-        r->res_pri += tmp * tmp;
-    }
-    tmp = u[n + m] - u_t[n + m];
-    r->res_pri += tmp * tmp;
-    r->res_pri = sqrt(r->res_pri);
-
-    r->res_dual = 0;
-    for (i = 0; i < n; ++i) {
-        tmp = (u[i] - u_prev[i]) * E[i] / w->sc_b;
-        r->res_dual += tmp * tmp;
-    }
-    for (i = 0; i < m; ++i) {
-        tmp = (u[i + n] - u_prev[i + n]) * D[i] / w->sc_c;
-        r->res_dual += tmp * tmp;
-    }
-    tmp = u[n + m] - u_t[n + m];
-    r->res_dual += tmp * tmp;
-    r->res_dual = sqrt(r->res_dual);
-}
-*/
-
-void scs_normalize_warm_start(ScsWork *w) {
-    scs_int i;
-    scs_float *D;
-    scs_float *E;
-    scs_float *x;
-    scs_float *y;
-
-    D = w->scal->D;
-    E = w->scal->E;
-    if (!w->stgs->do_super_scs) {
-        scs_float *s;
-        x = w->u;
-        y = &(w->u[w->n]);
-        s = &(w->u[w->n]);
-        for (i = 0; i < w->m; ++i) {
-            s[i] /= (D[i] / (w->sc_b * w->stgs->scale));
-        }
-    } else {
-        x = w->u_t;
-        y = &(w->u_t[w->n]);
-    }
-    for (i = 0; i < w->n; ++i) {
-        x[i] *= (E[i] * w->sc_b);
-    }
-    for (i = 0; i < w->m; ++i) {
-        y[i] *= (D[i] * w->sc_c);
-    }
-}
-
-void scs_unnormalize_sol(ScsWork *w, ScsSolution *sol) {
-    scs_int i;
-    scs_float *D = w->scal->D;
-    scs_float *E = w->scal->E;
-    for (i = 0; i < w->n; ++i) {
-        sol->x[i] /= (E[i] * w->sc_b);
-    }
-    for (i = 0; i < w->m; ++i) {
-        sol->y[i] /= (D[i] * w->sc_c);
-    }
-    for (i = 0; i < w->m; ++i) {
-        sol->s[i] *= D[i] / (w->sc_b * w->stgs->scale);
-    }
-}
-
-#endif