casadi 3.6.5__cp310-none-macosx_11_0_arm64.whl → 3.6.7__cp310-none-macosx_11_0_arm64.whl

casadi/include/alpaqa/dl/dl-problem.hpp

@@ -1,301 +0,0 @@
-#pragma once
-
-#include <alpaqa/config/config.hpp>
-#include <alpaqa/dl/dl-problem.h>
-#include <alpaqa/problem/box-constr-problem.hpp>
-#include <alpaqa/util/demangled-typename.hpp>
-
-#include <memory>
-#include <stdexcept>
-#include <string>
-#include <string_view>
-#include <type_traits>
-
-namespace alpaqa::dl {
-
-class DLLoader {
-  protected:
-    /// Load a shared library.
-    DLLoader(
-        /// Filename of the shared library to load.
-        std::string so_filename,
-        /// Prefix of the symbols in the library.
-        std::string symbol_prefix);
-
-  protected:
-    std::string so_filename;
-    std::string symbol_prefix;
-
-    using dl_handle_t = std::shared_ptr<void>;
-    /// Handle to the shared library (returned by `dlopen`).
-    dl_handle_t handle;
-
-    /// An associative array of additional functions exposed by the problem.
-    std::shared_ptr<function_dict_t> extra_functions;
-
-    /// Open the shared library using `dlopen`
-    [[nodiscard]] std::shared_ptr<void> load_lib() const;
-    /// Load a function with signature @p F from the library using `dlsym`.
-    template <class F>
-    [[nodiscard]] F *load_func(std::string_view name) const;
-
-    template <class Signature>
-        requires std::is_function_v<Signature>
-    const std::function<Signature> &extra_func(const std::string &name) const {
-        if (!extra_functions)
-            throw std::out_of_range("DLProblem: no extra functions");
-        auto it = extra_functions->dict.find(name);
-        if (it == extra_functions->dict.end())
-            throw std::out_of_range("DLProblem: no extra function named \"" +
-                                    name + '"');
-        try {
-            return std::any_cast<const std::function<Signature> &>(it->second);
-        } catch (const std::bad_any_cast &e) {
-            throw std::logic_error(
-                "DLProblem: incorrect type for extra function \"" + name +
-                "\" (stored type: " + demangled_typename(it->second.type()) +
-                ')');
-        }
-    }
-
-  public:
-    /// Unique type for calling an extra function that is a member function.
-    struct instance_t;
-
-  protected:
-    template <class Func>
-    struct FuncTag {};
-
-    template <class Ret, class... FArgs, class... Args>
-    decltype(auto)
-    call_extra_func_helper(const void *instance,
-                           FuncTag<Ret(const instance_t *, FArgs...)>,
-                           const std::string &name, Args &&...args) const {
-        return extra_func<Ret(const void *, FArgs...)>(name)(
-            instance, std::forward<Args>(args)...);
-    }
-
-    template <class Ret, class... FArgs, class... Args>
-    decltype(auto)
-    call_extra_func_helper(void *instance, FuncTag<Ret(instance_t *, FArgs...)>,
-                           const std::string &name, Args &&...args) {
-        return extra_func<Ret(void *, FArgs...)>(name)(
-            instance, std::forward<Args>(args)...);
-    }
-
-    template <class Ret, class... FArgs, class... Args>
-    decltype(auto) call_extra_func_helper(const void *, FuncTag<Ret(FArgs...)>,
-                                          const std::string &name,
-                                          Args &&...args) const {
-        return extra_func<Ret(FArgs...)>(name)(std::forward<Args>(args)...);
-    }
-};
-
-/// Class that loads a problem using `dlopen`.
-///
-/// The shared library should export a C function with the name
-/// `<symbol_prefix>_register` that accepts a void pointer with user data, and
-/// returns a struct of type @ref alpaqa_problem_register_t that contains all
-/// data to represent the problem, as well as function pointers for all
-/// required operations. See @ref C++/DLProblem/main.cpp
-///
-/// @note   Copies are shallow, they all share the same problem instance, take
-///         that into account when using multiple threads.
-///
-/// @ingroup    grp_Problems
-/// @see @ref   TypeErasedProblem
-class DLProblem : private DLLoader, public BoxConstrProblem<DefaultConfig> {
-  public:
-    USING_ALPAQA_CONFIG(DefaultConfig);
-
-    /// Load a problem from a shared library.
-    DLProblem(
-        /// Filename of the shared library to load.
-        std::string so_filename,
-        /// Prefix of the registration function.
-        std::string symbol_prefix = "alpaqa_problem",
-        /// Pointer to custom user data to pass to the registration function.
-        void *user_param = nullptr);
-
-  private:
-    /// Problem instance created by the registration function, including the
-    /// deleter to destroy it.
-    std::shared_ptr<void> instance;
-    /// Pointer to the struct of function pointers for evaluating the objective,
-    /// constraints, their gradients, etc.
-    problem_functions_t *functions = nullptr;
-
-  public:
-    // clang-format off
-    real_t eval_prox_grad_step(real_t γ, crvec x, crvec grad_ψ, rvec x̂, rvec p) const;
-    real_t eval_f(crvec x) const;
-    void eval_grad_f(crvec x, rvec grad_fx) const;
-    void eval_g(crvec x, rvec gx) const;
-    void eval_grad_g_prod(crvec x, crvec y, rvec grad_gxy) const;
-    void eval_jac_g(crvec x, rindexvec inner_idx, rindexvec outer_ptr, rvec J_values) const;
-    length_t get_jac_g_num_nonzeros() const;
-    void eval_grad_gi(crvec x, index_t i, rvec grad_gi) const;
-    void eval_hess_L_prod(crvec x, crvec y, real_t scale, crvec v, rvec Hv) const;
-    void eval_hess_L(crvec x, crvec y, real_t scale, rindexvec inner_idx, rindexvec outer_ptr, rvec H_values) const;
-    length_t get_hess_L_num_nonzeros() const;
-    void eval_hess_ψ_prod(crvec x, crvec y, crvec Σ, real_t scale, crvec v, rvec Hv) const;
-    void eval_hess_ψ(crvec x, crvec y, crvec Σ, real_t scale, rindexvec inner_idx, rindexvec outer_ptr, rvec H_values) const;
-    length_t get_hess_ψ_num_nonzeros() const;
-    real_t eval_f_grad_f(crvec x, rvec grad_fx) const;
-    real_t eval_f_g(crvec x, rvec g) const;
-    void eval_grad_f_grad_g_prod(crvec x, crvec y, rvec grad_f, rvec grad_gxy) const;
-    void eval_grad_L(crvec x, crvec y, rvec grad_L, rvec work_n) const;
-    real_t eval_ψ(crvec x, crvec y, crvec Σ, rvec ŷ) const;
-    void eval_grad_ψ(crvec x, crvec y, crvec Σ, rvec grad_ψ, rvec work_n, rvec work_m) const;
-    real_t eval_ψ_grad_ψ(crvec x, crvec y, crvec Σ, rvec grad_ψ, rvec work_n, rvec work_m) const;
-
-    [[nodiscard]] bool provides_eval_f() const;
-    [[nodiscard]] bool provides_eval_grad_f() const;
-    [[nodiscard]] bool provides_eval_g() const;
-    [[nodiscard]] bool provides_eval_grad_g_prod() const;
-    [[nodiscard]] bool provides_eval_jac_g() const;
-    [[nodiscard]] bool provides_get_jac_g_num_nonzeros() const;
-    [[nodiscard]] bool provides_eval_grad_gi() const;
-    [[nodiscard]] bool provides_eval_hess_L_prod() const;
-    [[nodiscard]] bool provides_eval_hess_L() const;
-    [[nodiscard]] bool provides_get_hess_L_num_nonzeros() const;
-    [[nodiscard]] bool provides_eval_hess_ψ_prod() const;
-    [[nodiscard]] bool provides_eval_hess_ψ() const;
-    [[nodiscard]] bool provides_get_hess_ψ_num_nonzeros() const;
-    [[nodiscard]] bool provides_eval_f_grad_f() const;
-    [[nodiscard]] bool provides_eval_f_g() const;
-    [[nodiscard]] bool provides_eval_grad_f_grad_g_prod() const;
-    [[nodiscard]] bool provides_eval_grad_L() const;
-    [[nodiscard]] bool provides_eval_ψ() const;
-    [[nodiscard]] bool provides_eval_grad_ψ() const;
-    [[nodiscard]] bool provides_eval_ψ_grad_ψ() const;
-    [[nodiscard]] bool provides_get_box_C() const;
-    // clang-format on
-
-    using instance_t = DLLoader::instance_t;
-
-    template <class Signature, class... Args>
-    decltype(auto) call_extra_func(const std::string &name,
-                                   Args &&...args) const {
-        return extra_func_helper(instance.get(), FuncTag<Signature>{}, name,
-                                 std::forward<Args>(args)...);
-    }
-
-    template <class Signature, class... Args>
-    decltype(auto) call_extra_func(const std::string &name, Args &&...args) {
-        return call_extra_func_helper(instance.get(), FuncTag<Signature>{},
-                                      name, std::forward<Args>(args)...);
-    }
-};
-
-#if ALPAQA_WITH_OCP
-
-/// Class that loads an optimal control problem using `dlopen`.
-///
-/// The shared library should export a C function with the name
-/// `<symbol_prefix>_register` that accepts a void pointer with user data, and
-/// returns a struct of type @ref alpaqa_control_problem_register_t that
-/// contains all data to represent the problem, as well as function pointers for
-/// all required operations. See @ref C++/DLProblem/main.cpp
-///
-/// @note   Copies are shallow, they all share the same problem instance, take
-///         that into account when using multiple threads.
-///
-/// @ingroup    grp_Problems
-/// @see @ref   TypeErasedControlProblem
-class DLControlProblem : private DLLoader {
-  public:
-    USING_ALPAQA_CONFIG(DefaultConfig);
-    using Box = alpaqa::Box<config_t>;
-
-    /// Load a problem from a shared library.
-    DLControlProblem(
-        /// Filename of the shared library to load.
-        std::string so_filename,
-        /// Prefix of the registration function.
-        std::string symbol_prefix = "alpaqa_control_problem",
-        /// Pointer to custom user data to pass to the registration function.
-        void *user_param = nullptr);
-
-  private:
-    /// Problem instance created by the registration function, including the
-    /// deleter to destroy it.
-    std::shared_ptr<void> instance;
-    /// Pointer to the struct of function pointers for evaluating the objective,
-    /// constraints, their gradients, etc.
-    control_problem_functions_t *functions = nullptr;
-
-  public:
-    length_t get_N() const { return functions->N; }
-    length_t get_nx() const { return functions->nx; }
-    length_t get_nu() const { return functions->nu; }
-    length_t get_nh() const { return functions->nh; }
-    length_t get_nh_N() const { return functions->nh_N; }
-    length_t get_nc() const { return functions->nc; }
-    length_t get_nc_N() const { return functions->nc_N; }
-
-    void check() const {} // TODO
-
-    // clang-format off
-    void get_U(Box &U) const;
-    void get_D(Box &D) const;
-    void get_D_N(Box &D) const;
-    void get_x_init(rvec x_init) const;
-    void eval_f(index_t timestep, crvec x, crvec u, rvec fxu) const;
-    void eval_jac_f(index_t timestep, crvec x, crvec u, rmat J_fxu) const;
-    void eval_grad_f_prod(index_t timestep, crvec x, crvec u, crvec p, rvec grad_fxu_p) const;
-    void eval_h(index_t timestep, crvec x, crvec u, rvec h) const;
-    void eval_h_N(crvec x, rvec h) const;
-    [[nodiscard]] real_t eval_l(index_t timestep, crvec h) const;
-    [[nodiscard]] real_t eval_l_N(crvec h) const;
-    void eval_qr(index_t timestep, crvec xu, crvec h, rvec qr) const;
-    void eval_q_N(crvec x, crvec h, rvec q) const;
-    void eval_add_Q(index_t timestep, crvec xu, crvec h, rmat Q) const;
-    void eval_add_Q_N(crvec x, crvec h, rmat Q) const;
-    void eval_add_R_masked(index_t timestep, crvec xu, crvec h, crindexvec mask, rmat R, rvec work) const;
-    void eval_add_S_masked(index_t timestep, crvec xu, crvec h, crindexvec mask, rmat S, rvec work) const;
-    void eval_add_R_prod_masked(index_t timestep, crvec xu, crvec h, crindexvec mask_J, crindexvec mask_K, crvec v, rvec out, rvec work) const;
-    void eval_add_S_prod_masked(index_t timestep, crvec xu, crvec h, crindexvec mask_K, crvec v, rvec out, rvec work) const;
-    [[nodiscard]] length_t get_R_work_size() const;
-    [[nodiscard]] length_t get_S_work_size() const;
-    void eval_constr(index_t timestep, crvec x, rvec c) const;
-    void eval_constr_N(crvec x, rvec c) const;
-    void eval_grad_constr_prod(index_t timestep, crvec x, crvec p, rvec grad_cx_p) const;
-    void eval_grad_constr_prod_N(crvec x, crvec p, rvec grad_cx_p) const;
-    void eval_add_gn_hess_constr(index_t timestep, crvec x, crvec M, rmat out) const;
-    void eval_add_gn_hess_constr_N(crvec x, crvec M, rmat out) const;
-
-    [[nodiscard]] bool provides_get_D() const;
-    [[nodiscard]] bool provides_get_D_N() const;
-    [[nodiscard]] bool provides_eval_add_Q_N() const;
-    [[nodiscard]] bool provides_eval_add_R_prod_masked() const;
-    [[nodiscard]] bool provides_eval_add_S_prod_masked() const;
-    [[nodiscard]] bool provides_get_R_work_size() const;
-    [[nodiscard]] bool provides_get_S_work_size() const;
-    [[nodiscard]] bool provides_eval_constr() const;
-    [[nodiscard]] bool provides_eval_constr_N() const;
-    [[nodiscard]] bool provides_eval_grad_constr_prod() const;
-    [[nodiscard]] bool provides_eval_grad_constr_prod_N() const;
-    [[nodiscard]] bool provides_eval_add_gn_hess_constr() const;
-    [[nodiscard]] bool provides_eval_add_gn_hess_constr_N() const;
-    // clang-format on
-
-    using instance_t = DLLoader::instance_t;
-
-    template <class Signature, class... Args>
-    decltype(auto) call_extra_func(const std::string &name,
-                                   Args &&...args) const {
-        return extra_func_helper(instance.get(), FuncTag<Signature>{}, name,
-                                 std::forward<Args>(args)...);
-    }
-
-    template <class Signature, class... Args>
-    decltype(auto) call_extra_func(const std::string &name, Args &&...args) {
-        return call_extra_func_helper(instance.get(), FuncTag<Signature>{},
-                                      name, std::forward<Args>(args)...);
-    }
-};
-
-#endif
-
-} // namespace alpaqa::dl

casadi/include/alpaqa/export.h

@@ -1,42 +0,0 @@
-
-#ifndef ALPAQA_EXPORT_H
-#define ALPAQA_EXPORT_H
-
-#ifdef ALPAQA_STATIC_DEFINE
-#  define ALPAQA_EXPORT
-#  define ALPAQA_NO_EXPORT
-#else
-#  ifndef ALPAQA_EXPORT
-#    ifdef alpaqa_EXPORTS
-        /* We are building this library */
-#      define ALPAQA_EXPORT __attribute__((visibility("default")))
-#    else
-        /* We are using this library */
-#      define ALPAQA_EXPORT __attribute__((visibility("default")))
-#    endif
-#  endif
-
-#  ifndef ALPAQA_NO_EXPORT
-#    define ALPAQA_NO_EXPORT __attribute__((visibility("hidden")))
-#  endif
-#endif
-
-#ifndef ALPAQA_DEPRECATED
-#  define ALPAQA_DEPRECATED __attribute__ ((__deprecated__))
-#endif
-
-#ifndef ALPAQA_DEPRECATED_EXPORT
-#  define ALPAQA_DEPRECATED_EXPORT ALPAQA_EXPORT ALPAQA_DEPRECATED
-#endif
-
-#ifndef ALPAQA_DEPRECATED_NO_EXPORT
-#  define ALPAQA_DEPRECATED_NO_EXPORT ALPAQA_NO_EXPORT ALPAQA_DEPRECATED
-#endif
-
-#if 0 /* DEFINE_NO_DEPRECATED */
-#  ifndef ALPAQA_NO_DEPRECATED
-#    define ALPAQA_NO_DEPRECATED
-#  endif
-#endif
-
-#endif /* ALPAQA_EXPORT_H */

casadi/include/alpaqa/export.hpp

@@ -1,30 +0,0 @@
-#pragma once
-
-#include <alpaqa/export.h>
-
-#ifndef DOXYGEN
-
-#ifdef _WIN32
-#ifdef __GNUC__ // mingw
-#define ALPAQA_EXPORT_EXTERN_TEMPLATE(strcls, name, ...)
-#define ALPAQA_EXPORT_TEMPLATE(strcls, name, ...)                              \
-    template strcls ALPAQA_EXPORT name<__VA_ARGS__>
-#else
-#define ALPAQA_EXPORT_EXTERN_TEMPLATE(strcls, name, ...)                       \
-    extern template strcls name<__VA_ARGS__>
-#define ALPAQA_EXPORT_TEMPLATE(strcls, name, ...)                              \
-    template strcls ALPAQA_EXPORT name<__VA_ARGS__>
-#endif
-#else
-#define ALPAQA_EXPORT_EXTERN_TEMPLATE(strcls, name, ...)                       \
-    extern template strcls ALPAQA_EXPORT name<__VA_ARGS__>
-#define ALPAQA_EXPORT_TEMPLATE(strcls, name, ...)                              \
-    template strcls ALPAQA_EXPORT name<__VA_ARGS__>
-#endif
-
-#else // DOXYGEN
-
-#define ALPAQA_EXPORT_EXTERN_TEMPLATE(...)
-#define ALPAQA_EXPORT_TEMPLATE(...)
-
-#endif // DOXYGEN

casadi/include/alpaqa/implementation/accelerators/lbfgs.tpp

@@ -1,240 +0,0 @@
-#pragma once
-
-#include <alpaqa/accelerators/lbfgs.hpp>
-
-#include <cmath>
-#include <limits>
-#include <stdexcept>
-
-namespace alpaqa {
-
-template <Config Conf>
-bool LBFGS<Conf>::update_valid(const Params &params, real_t yᵀs, real_t sᵀs,
-                               real_t pᵀp) {
-    // Check if this L-BFGS update is accepted
-    if (sᵀs <= params.min_abs_s)
-        return false;
-    if (not std::isfinite(yᵀs))
-        return false;
-    real_t a_yᵀs = params.force_pos_def ? yᵀs : std::abs(yᵀs);
-    if (a_yᵀs <= params.min_div_fac * sᵀs)
-        return false;
-
-    // CBFGS condition: https://epubs.siam.org/doi/10.1137/S1052623499354242
-    if (params.cbfgs) {
-        const real_t α = params.cbfgs.α;
-        const real_t ϵ = params.cbfgs.ϵ;
-        // Condition: yᵀs / sᵀs >= ϵ ‖p‖^α
-        bool cbfgs_cond = a_yᵀs >= sᵀs * ϵ * std::pow(pᵀp, α / 2);
-        if (not cbfgs_cond)
-            return false;
-    }
-
-    return true;
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::update_sy_impl(const auto &s, const auto &y,
-                                 real_t pₙₑₓₜᵀpₙₑₓₜ, bool forced) {
-    real_t yᵀs = y.dot(s);
-    real_t ρ   = 1 / yᵀs;
-    if (not forced) {
-        real_t sᵀs = s.squaredNorm();
-        if (not update_valid(params, yᵀs, sᵀs, pₙₑₓₜᵀpₙₑₓₜ))
-            return false;
-    }
-
-    // Store the new s and y vectors
-    sto.s(idx) = s;
-    sto.y(idx) = y;
-    sto.ρ(idx) = ρ;
-
-    // Increment the index in the circular buffer
-    idx = succ(idx);
-    full |= idx == 0;
-
-    return true;
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::update_sy(crvec s, crvec y, real_t pₙₑₓₜᵀpₙₑₓₜ, bool forced) {
-    return update_sy_impl(s, y, pₙₑₓₜᵀpₙₑₓₜ, forced);
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::update(crvec xₖ, crvec xₙₑₓₜ, crvec pₖ, crvec pₙₑₓₜ,
-                         Sign sign, bool forced) {
-    const auto s = xₙₑₓₜ - xₖ;
-    const auto y = (sign == Sign::Positive) ? pₙₑₓₜ - pₖ : pₖ - pₙₑₓₜ;
-    real_t pₙₑₓₜᵀpₙₑₓₜ = params.cbfgs ? pₙₑₓₜ.squaredNorm() : 0;
-    return update_sy_impl(s, y, pₙₑₓₜᵀpₙₑₓₜ, forced);
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::apply(rvec q, real_t γ) const {
-    // Only apply if we have previous vectors s and y
-    if (idx == 0 && not full)
-        return false;
-
-    // If the step size is negative, compute it as sᵀy/yᵀy
-    if (params.stepsize == LBFGSStepSize::BasedOnCurvature || γ < 0) {
-        auto new_idx = pred(idx);
-        real_t yᵀy   = y(new_idx).squaredNorm();
-        γ            = 1 / (ρ(new_idx) * yᵀy);
-    }
-
-    foreach_rev([&](index_t i) {
-        α(i) = ρ(i) * s(i).dot(q);
-        q -= α(i) * y(i);
-    });
-
-    // r ← H_0 q
-    q *= γ;
-
-    foreach_fwd([&](index_t i) {
-        real_t β = ρ(i) * y(i).dot(q);
-        q -= (β - α(i)) * s(i);
-    });
-
-    return true;
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::apply_masked_impl(rvec q, real_t γ, const auto &J) const {
-    // Only apply if we have previous vectors s and y
-    if (idx == 0 && not full)
-        return false;
-    const bool fullJ = q.size() == static_cast<index_t>(J.size());
-
-    // Use curvature to compute initial scale
-    if (params.stepsize == LBFGSStepSize::BasedOnCurvature)
-        γ = -1;
-
-    if (params.cbfgs)
-        throw std::invalid_argument("CBFGS check not supported when using "
-                                    "masked version of LBFGS::apply_masked()");
-
-    // Eigen 3.3.9 doesn't yet support indexing using a vector of indices
-    // so we'll have to do it manually.
-    // TODO: Abstract this away in an expression template / nullary expression?
-    //       Or wait for Eigen update?
-    // Update: Eigen 3.4's indexing seems significantly slower, so the manual
-    //         for loops stay for now.
-
-    // Dot product of two vectors, adding only the indices in set J
-    const auto dotJ = [&J, fullJ](const auto &a, const auto &b) {
-        if (fullJ) {
-            return a.dot(b);
-        } else {
-            real_t acc = 0;
-            for (auto j : J)
-                acc += a(j) * b(j);
-            return acc;
-        }
-    };
-    // y -= a x, scaling and subtracting only the indices in set J
-    const auto axmyJ = [&J, fullJ](real_t a, const auto &x, auto &y) {
-        if (fullJ) {
-            y -= a * x;
-        } else {
-            for (auto j : J)
-                y(j) -= a * x(j);
-        }
-    };
-    // x *= a, scaling only the indices in set J
-    const auto scalJ = [&J, fullJ](real_t a, auto &x) {
-        if (fullJ) {
-            x *= a;
-        } else {
-            for (auto j : J)
-                x(j) *= a;
-        }
-    };
-
-    foreach_rev([&](index_t i) {
-        // Recompute ρ, it depends on the index set J. Note that even if ρ was
-        // positive for the full vectors s and y, that's not necessarily the
-        // case for the smaller vectors s(J) and y(J).
-        real_t yᵀs = dotJ(s(i), y(i));
-        real_t sᵀs = dotJ(s(i), s(i));
-        ρ(i)       = 1 / yᵀs;
-        // Check if we should include this pair of vectors
-        if (not update_valid(params, yᵀs, sᵀs, 0)) {
-            ρ(i) = NaN<config_t>;
-            return; // continue foreach
-        }
-
-        α(i) = ρ(i) * dotJ(s(i), q); // αᵢ = ρᵢ〈sᵢ, q〉
-        axmyJ(α(i), y(i), q);        // q -= αᵢ yᵢ
-
-        if (γ < 0) {
-            // Compute step size based on most recent valid yᵀs/yᵀy
-            real_t yᵀy = dotJ(y(i), y(i));
-            γ          = 1 / (ρ(i) * yᵀy);
-        }
-    });
-
-    // If all ρ == 0, fail
-    if (γ < 0)
-        return false;
-
-    // r ← H_0 q
-    scalJ(γ, q); // q *= γ
-
-    foreach_fwd([&](index_t i) {
-        if (std::isnan(ρ(i)))
-            return; // continue foreach
-
-        real_t β = ρ(i) * dotJ(y(i), q); // βᵢ = ρᵢ〈yᵢ, q〉
-        axmyJ(β - α(i), s(i), q);        // q -= (βᵢ - αᵢ) sᵢ
-    });
-
-    return true;
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::apply_masked(rvec q, real_t γ, crindexvec J) const {
-    return apply_masked_impl(q, γ, J);
-}
-
-template <Config Conf>
-bool LBFGS<Conf>::apply_masked(rvec q, real_t γ,
-                               const std::vector<index_t> &J) const {
-    return apply_masked_impl(q, γ, J);
-}
-
-template <Config Conf>
-void LBFGS<Conf>::reset() {
-    idx  = 0;
-    full = false;
-}
-
-template <Config Conf>
-void LBFGS<Conf>::resize(length_t n) {
-    if (params.memory < 1)
-        throw std::invalid_argument("LBFGS::Params::memory must be >= 1");
-    sto.resize(n, params.memory);
-    reset();
-}
-
-template <Config Conf>
-void LBFGSStorage<Conf>::resize(length_t n, length_t history) {
-    sto.resize(n + 1, history * 2);
-}
-
-template <Config Conf>
-void LBFGS<Conf>::scale_y(real_t factor) {
-    if (full) {
-        for (index_t i = 0; i < history(); ++i) {
-            y(i) *= factor;
-            ρ(i) *= 1 / factor;
-        }
-    } else {
-        for (index_t i = 0; i < idx; ++i) {
-            y(i) *= factor;
-            ρ(i) *= 1 / factor;
-        }
-    }
-}
-
-} // namespace alpaqa