casadi 3.6.5__cp310-none-manylinux2014_aarch64.whl → 3.6.7__cp310-none-manylinux2014_aarch64.whl

casadi/include/fatrop/solver/NLPL1.hpp

@@ -0,0 +1,263 @@
+#pragma once
+#include "fatrop/templates/NLPAlg.hpp"
+#include "fatrop/solver/FatropOptions.hpp"
+#include <memory>
+namespace fatrop
+{
+    class NLPL1 : public FatropNLP
+    {
+    public:
+        NLPL1(const std::shared_ptr<FatropNLP> &orig, const std::shared_ptr<FatropOptions>& opts) : orig_(orig), orig_dims_(orig->get_nlp_dims()), lower_(orig_dims_.nineqs), upper_(orig_dims_.nineqs), upper_bounded_(orig_dims_.nineqs), lower_bounded_(orig_dims_.nineqs), slack_dummy_(orig_dims_.nineqs), sigma_dummy_(orig_dims_.nineqs), gradb_dummy_(orig_dims_.nineqs), zl_dummy_(orig_dims_.nineqs), zu_dummy_(orig_dims_.nineqs), sigma_cache_(orig_dims_.nineqs * 3), gradb_cache_(orig_dims_.nineqs * 3)
+        {
+            opts -> register_option(DoubleOption::lower_bounded("L1_rho", "L1 penalty parameter", &rho, 1e4, 0.0));
+            auto lower_v = lower_[0];
+            auto upper_v = upper_[0];
+            orig_->get_bounds(lower_v, upper_v);
+            n_p = orig_dims_.nineqs;
+            n_n = orig_dims_.nineqs;
+            for (fatrop_int i = 0; i < orig_dims_.nineqs; ++i)
+            {
+                bool lower_bounded = !std::isinf(lower_v.at(i));
+                bool upper_bounded = !std::isinf(upper_v.at(i));
+                upper_bounded_[i] = upper_bounded;
+                lower_bounded_[i] = lower_bounded;
+            }
+            this_dims_.nvars = orig_dims_.nvars;
+            this_dims_.nineqs = orig_dims_.nineqs + n_n + n_p;
+            this_dims_.neqs = orig_dims_.neqs;
+        }
+        virtual fatrop_int eval_lag_hess(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            const FatropVecBF &lam) override
+        {
+            FatropVecBF slack_dummy_v = slack_dummy_[0];
+            update_slack_vars(slack_vars, slack_dummy_v);
+            orig_->eval_lag_hess(obj_scale, primal_vars, slack_dummy_v, lam);
+            return 0;
+        };
+
+        virtual fatrop_int eval_constr_jac(
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars) override
+        {
+            FatropVecBF slack_dummy_v = slack_dummy_[0];
+            update_slack_vars(slack_vars, slack_dummy_v);
+            orig_->eval_constr_jac(primal_vars, slack_dummy_v);
+            return 0;
+        };
+        void update_slack_vars(const FatropVecBF &slack_vars, FatropVecBF &slack_dummy)
+        {
+            fatrop_int offs_n = orig_dims_.nineqs;
+            fatrop_int offs_p = orig_dims_.nineqs + n_n;
+            for (fatrop_int i = 0; i < orig_dims_.nineqs; ++i)
+            {
+                slack_dummy.at(i) = slack_vars.at(i) - slack_vars.at(i + offs_n) + slack_vars.at(i + offs_p);
+            }
+        }
+        virtual fatrop_int eval_constraint_viol(
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            FatropVecBF &constraint_violation) override
+        {
+            FatropVecBF slack_dummy_v = slack_dummy_[0];
+            update_slack_vars(slack_vars, slack_dummy_v);
+            orig_->eval_constraint_viol(primal_vars, slack_dummy_v, constraint_violation);
+            return 0;
+        };
+        virtual fatrop_int eval_obj_grad(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            FatropVecBF &gradient_x,
+            FatropVecBF &gradient_s) override
+        {
+            orig_->eval_obj_grad(obj_scale, primal_vars, slack_vars, gradient_x, gradient_s);
+            gradient_s.block(orig_dims_.nineqs, n_n + n_p) = rho;
+            return 0;
+        };
+        virtual fatrop_int eval_obj(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            double &res) override
+        {
+            orig_->eval_obj(obj_scale, primal_vars, slack_vars, res);
+            res += rho * sum(slack_vars.block(orig_dims_.nineqs, n_n + n_p));
+            return 0;
+        };
+        void get_initialization(const FatropVecBF &primal_vars_orig, FatropVecBF &intialization)
+        {
+            intialization.block(0, orig_dims_.nvars).copy(primal_vars_orig.block(0, orig_dims_.nvars));
+        }
+        virtual fatrop_int eval_dual_inf(
+            double obj_scale,
+            const FatropVecBF &lam,
+            const FatropVecBF &grad_x,
+            const FatropVecBF &grad_s,
+            FatropVecBF &du_inf_x, FatropVecBF &du_inf_s_wo_z) override
+        {
+            auto du_inf_s_wo_z_or = du_inf_s_wo_z.block(0, orig_dims_.nineqs);
+            orig_->eval_dual_inf(obj_scale, lam, grad_x, grad_s, du_inf_x, du_inf_s_wo_z_or);
+            auto lam_I = lam.block(orig_dims_.neqs - orig_dims_.nineqs, orig_dims_.nineqs);
+            axpby(1.0, lam_I, 1.0, grad_s.block(orig_dims_.nineqs, n_n), du_inf_s_wo_z.block(orig_dims_.nineqs, n_n));
+            axpby(-1.0, lam_I, 1.0, grad_s.block(orig_dims_.nineqs + n_n, n_p), du_inf_s_wo_z.block(orig_dims_.nineqs + n_n, n_p));
+            return 0;
+        }
+        void update_sigma_gradb(double inertia, const FatropVecBF &sigma_s, const FatropVecBF &sigma_n, const FatropVecBF &sigma_p, const FatropVecBF &gradb_s, const FatropVecBF &gradb_n, const FatropVecBF &gradb_p, const FatropVecBF &sigma_update, const FatropVecBF &gradb_update)
+        {
+            for (int i = 0; i < orig_dims_.nineqs; ++i)
+            {
+                double sigma_updt = 1.0 / (1.0 / (sigma_s.at(i) + inertia) + 1.0 / (sigma_n.at(i) + inertia) + 1.0 / (sigma_p.at(i) + inertia));
+                sigma_update.at(i) = sigma_updt - inertia;
+                gradb_update.at(i) = ((gradb_s.at(i)) / (sigma_s.at(i) + inertia) - (gradb_n.at(i)) / (sigma_n.at(i) + inertia) + (gradb_p.at(i)) / (sigma_p.at(i) + inertia)) * sigma_updt;
+            }
+        }
+        void update_delta_snp(double inertia, const FatropVecBF &sigma_s, const FatropVecBF &sigma_n, const FatropVecBF &sigma_p, const FatropVecBF &gradb_s, const FatropVecBF &gradb_n, const FatropVecBF &gradb_p, const FatropVecBF &lam_I, const FatropVecBF &delta_s, const FatropVecBF &delta_n, const FatropVecBF &delta_p)
+        {
+            for (int i = 0; i < orig_dims_.nineqs; ++i)
+            {
+                double lam_I_i = lam_I.at(i);
+                delta_s.at(i) = (-gradb_s.at(i) + lam_I_i) / (sigma_s.at(i) + inertia);
+                delta_n.at(i) = (-gradb_n.at(i) - lam_I_i) / (sigma_n.at(i) + inertia);
+                delta_p.at(i) = (-gradb_p.at(i) + lam_I_i) / (sigma_p.at(i) + inertia);
+            }
+        }
+
+        virtual fatrop_int solve_pd_sys(
+            const double inertia_correction_w,
+            const double inertia_correction_c,
+            const FatropVecBF &ux,
+            const FatropVecBF &lam,
+            const FatropVecBF &delta_s,
+            const FatropVecBF &sigma_total,
+            const FatropVecBF &gradb_total) override
+        {
+            inertia_correction_w_cache = inertia_correction_w;
+            sigma_cache_[0].copy(sigma_total);
+            gradb_cache_[0].copy(gradb_total);
+            auto lam_I = lam.block(orig_dims_.neqs - orig_dims_.nineqs, orig_dims_.nineqs);
+            auto sigma_s = sigma_total.block(0, orig_dims_.nineqs);
+            auto sigma_n = sigma_total.block(orig_dims_.nineqs, n_n);
+            auto sigma_p = sigma_total.block(orig_dims_.nineqs + n_n, n_p);
+            auto gradb_s = gradb_total.block(0, orig_dims_.nineqs);
+            auto gradb_n = gradb_total.block(orig_dims_.nineqs, n_n);
+            auto gradb_p = gradb_total.block(orig_dims_.nineqs + n_n, n_p);
+            auto delta_s_or = delta_s.block(0, orig_dims_.nineqs);
+            auto delta_n = delta_s.block(orig_dims_.nineqs, n_n);
+            auto delta_p = delta_s.block(orig_dims_.nineqs + n_n, n_p);
+            update_sigma_gradb(inertia_correction_w, sigma_s, sigma_n, sigma_p, gradb_s, gradb_n, gradb_p, sigma_dummy_[0], gradb_dummy_[0]);
+            int ret = orig_->solve_pd_sys(inertia_correction_w, inertia_correction_c, ux, lam, delta_s.block(0, orig_dims_.nineqs), sigma_dummy_[0], gradb_dummy_[0]);
+            update_delta_snp(inertia_correction_w, sigma_s, sigma_n, sigma_p, gradb_s, gradb_n, gradb_p, lam_I, delta_s_or, delta_n, delta_p);
+            return ret;
+        };
+        virtual fatrop_int solve_soc_rhs(
+            const FatropVecBF &ux,
+            const FatropVecBF &lam,
+            const FatropVecBF &delta_s,
+            const FatropVecBF &cosntraint_violation) override
+        {
+            auto lam_I = lam.block(orig_dims_.neqs - orig_dims_.nineqs, orig_dims_.nineqs);
+            auto sigma_s = sigma_cache_[0].block(0, orig_dims_.nineqs);
+            auto sigma_n = sigma_cache_[0].block(orig_dims_.nineqs, n_n);
+            auto sigma_p = sigma_cache_[0].block(orig_dims_.nineqs + n_n, n_p);
+            auto gradb_s = gradb_cache_[0].block(0, orig_dims_.nineqs);
+            auto gradb_n = gradb_cache_[0].block(orig_dims_.nineqs, n_n);
+            auto gradb_p = gradb_cache_[0].block(orig_dims_.nineqs + n_n, n_p);
+            auto delta_s_or = delta_s.block(0, orig_dims_.nineqs);
+            auto delta_n = delta_s.block(orig_dims_.nineqs, n_n);
+            auto delta_p = delta_s.block(orig_dims_.nineqs + n_n, n_p);
+            int ret = orig_->solve_soc_rhs(ux, lam, delta_s.block(0, orig_dims_.nineqs), cosntraint_violation);
+            update_delta_snp(inertia_correction_w_cache, sigma_s, sigma_n, sigma_p, gradb_s, gradb_n, gradb_p, lam_I, delta_s_or, delta_n, delta_p);
+            return ret;
+        }
+        virtual NLPDims get_nlp_dims() const override { return this_dims_; };
+        virtual fatrop_int compute_scalings(
+            double &obj_scale,
+            FatropVecBF &x_scales,
+            FatropVecBF &lam_scales,
+            const FatropVecBF &grad_curr_x, const FatropVecBF &grad_curr_s) override
+        {
+            return orig_->compute_scalings(obj_scale, x_scales, lam_scales, grad_curr_x, grad_curr_s);
+        };
+        virtual fatrop_int initialize_slacks(double mu0,
+                                             FatropVecBF &s_curr) override
+        {
+            auto s_curr_or = s_curr.block(0, orig_dims_.nineqs);
+            auto n_curr = s_curr.block(orig_dims_.nineqs, n_n);
+            auto p_curr = s_curr.block(orig_dims_.nineqs + n_n, n_p);
+            int ret = orig_->initialize_slacks(mu0, s_curr_or);
+            auto upper_v = upper_[0];
+            auto lower_v = lower_[0];
+            // set zero for now TODO use quadratic formula here
+            for (int i = 0; i < orig_dims_.nineqs; i++)
+            {
+                double dist_L = lower_bounded_[i] ? s_curr_or.at(i) - lower_v.at(i) : 0.0;
+                double dist_U = upper_bounded_[i] ? upper_v.at(i) - s_curr_or.at(i) : 0.0;
+                double viol = 0.0;
+                double s_proj = s_curr_or.at(i);
+                if (lower_bounded_[i] && dist_L < 0.0)
+                {
+                    // std::cout << "lower" << std::endl;
+                    s_proj = s_curr_or.at(i) - dist_L;
+                }
+                if (upper_bounded_[i] && dist_U < 0.0)
+                {
+                    // std::cout << "upper" << std::endl;
+                    s_proj = s_curr_or.at(i) + dist_U;
+                }
+                viol = (s_curr_or.at(i) - s_proj);
+                double n_init = (mu0 - rho * viol) / (2 * rho) + std::sqrt(std::pow((mu0 - rho * viol) / (2 * rho), 2) + mu0 * viol / (2 * rho));
+                // if viol >>>> 0 -> n_init = 0 if viol <<< 0 n_init = viol
+                n_curr.at(i) = n_init;
+                p_curr.at(i) = viol + n_init;
+            }
+            return ret;
+        }
+        virtual fatrop_int initialize_dual(
+            const FatropVecBF &grad_x,
+            const FatropVecBF &grad_s,
+            FatropVecBF &dlam,
+            const FatropVecBF &zL,
+            const FatropVecBF &zU) override
+        {
+            // todo check if this is correct
+            return orig_->initialize_dual(grad_x, grad_s, dlam, zL.block(0, orig_dims_.nineqs), zU.block(0, orig_dims_.nineqs));
+        };
+        virtual fatrop_int get_bounds(
+            FatropVecBF &lower,
+            FatropVecBF &upper) const override
+        {
+            orig_->get_bounds(lower, upper);
+            lower.block(orig_dims_.nineqs, n_n) = 0.0;
+            lower.block(orig_dims_.nineqs + n_n, n_p) = 0.0;
+            upper.block(orig_dims_.nineqs, n_n) = std::numeric_limits<double>::infinity();
+            upper.block(orig_dims_.nineqs + n_n, n_p) = std::numeric_limits<double>::infinity();
+            return 0;
+        };
+        virtual fatrop_int get_initial_sol_guess(
+            FatropVecBF &initial) const override
+        {
+            orig_->get_initial_sol_guess(initial);
+            return 0;
+        }
+        std::shared_ptr<FatropNLP> orig_;
+        NLPDims orig_dims_;
+        NLPDims this_dims_;
+        FatropMemoryVecBF lower_, upper_;
+        std::vector<bool> upper_bounded_;
+        std::vector<bool> lower_bounded_;
+        fatrop_int n_p = 0;
+        fatrop_int n_n = 0;
+        FatropMemoryVecBF slack_dummy_;
+        FatropMemoryVecBF sigma_dummy_;
+        FatropMemoryVecBF gradb_dummy_;
+        FatropMemoryVecBF zl_dummy_;
+        FatropMemoryVecBF zu_dummy_;
+        double inertia_correction_w_cache = 0.0;
+        FatropMemoryVecBF sigma_cache_;
+        FatropMemoryVecBF gradb_cache_;
+        double rho = 1e4;
+    };
+};

casadi/include/fatrop/templates/NLPAlg.hpp

@@ -0,0 +1,104 @@
+/*
+ * Fatrop - A fast trajectory optimization solver
+ *  Copyright (C) 2022 - 2024 Lander Vanroye, KU Leuven. All rights reserved.
+ *
+ * This file is part of Fatrop.
+ *
+ * Fatrop is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Fatrop is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with Fatrop.  If not, see <http://www.gnu.org/licenses/>. */
+#ifndef NLPINCLUDED
+#define NLPINCLUDED
+#include "fatrop/blasfeo_wrapper/LinearAlgebraBlasfeo.hpp"
+#include "fatrop/auxiliary/Common.hpp"
+namespace fatrop
+{
+    struct NLPDims
+    {
+        fatrop_int nvars;
+        fatrop_int neqs;
+        fatrop_int nineqs;
+    };
+    class FatropNLP
+    {
+    public:
+        virtual fatrop_int eval_lag_hess(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            const FatropVecBF &lam) = 0;
+        virtual fatrop_int eval_constr_jac(
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars) = 0;
+        virtual fatrop_int eval_constraint_viol(
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            FatropVecBF &constraint_violation) = 0;
+        virtual fatrop_int eval_obj_grad(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            FatropVecBF &gradient_x,
+            FatropVecBF &gradient_s) = 0;
+        virtual fatrop_int eval_obj(
+            double obj_scale,
+            const FatropVecBF &primal_vars,
+            const FatropVecBF &slack_vars,
+            double &res) = 0;
+        virtual fatrop_int eval_dual_inf(
+            double obj_scale,
+            const FatropVecBF &lam,
+            const FatropVecBF &grad_x,
+            const FatropVecBF &grad_s,
+            FatropVecBF &du_inf_x, FatropVecBF& du_inf_s) = 0;
+        virtual fatrop_int solve_pd_sys(
+            const double inertia_correction_w,
+            const double inertia_correction_c,
+            const FatropVecBF &ux,
+            const FatropVecBF &lam,
+            const FatropVecBF &delta_s,
+            const FatropVecBF &sigma_total,
+            const FatropVecBF &gradb_total) = 0;
+        virtual fatrop_int solve_soc_rhs(
+            const FatropVecBF &ux,
+            const FatropVecBF &lam,
+            const FatropVecBF &delta_s,
+            const FatropVecBF &cosntraint_violation) = 0;
+        virtual NLPDims get_nlp_dims() const = 0;
+        virtual fatrop_int compute_scalings(
+            double &obj_scale,
+            FatropVecBF &x_scales,
+            FatropVecBF &lam_scales,
+            const FatropVecBF &grad_curr_x, const FatropVecBF& grad_curr_s) = 0;
+        virtual fatrop_int initialize_slacks(double mu0,
+            FatropVecBF &s_curr) = 0;
+        virtual fatrop_int initialize_dual(
+            const FatropVecBF &grad_x,
+            const FatropVecBF &grad_s,
+            FatropVecBF &dlam,
+            const FatropVecBF &zL,
+            const FatropVecBF &zU) = 0;
+        virtual fatrop_int get_bounds(
+            FatropVecBF &lower,
+            FatropVecBF &upper) const = 0;
+        virtual fatrop_int get_initial_sol_guess(
+            FatropVecBF &initial) const = 0;
+        virtual void pre_solve(const FatropVecBF& x_init,const FatropVecBF& s_init){};
+        // virtual fatrop_int GetDefaultParams(
+        //     FatropOptions &params) const = 0;
+        virtual fatrop_int Callback(FatropVecBF& primal_vars){return 0;};
+        virtual void finalize(){};
+        virtual void reset(){};
+        virtual void update_mu(double mu){};
+    };
+} // namespace fatrop
+#endif // NLPINCLUDED

casadi/include/licenses/daqp-external/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022 Daniel Arnström
+
+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.

casadi/include/licenses/fatrop-external/LICENSE.txt

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
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+
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+
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+and utility programs needed for reproducing the Combined Work from the
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+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
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+
+  2. Conveying Modified Versions.
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+  If you modify a copy of the Library, and, in your modifications, a
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+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

casadi/include/licenses/fatrop-external/external/blasfeo/LICENSE.txt

@@ -0,0 +1,26 @@
+BLASFEO -- BLAS For Embedded Optimization.
+Copyright (C) 2019 by Gianluca Frison.
+Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.
+All rights reserved.
+
+The 2-Clause BSD License
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

casadi/include/licenses/fatrop-external/external/pybind11/LICENSE

@@ -0,0 +1,29 @@
+Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Please also refer to the file .github/CONTRIBUTING.md, which clarifies licensing of
+external contributions to this project including patches, pull requests, etc.

casadi/include/osqp/constants.h

@@ -9,8 +9,7 @@ extern "C" {
 /*******************
 * OSQP Versioning *
 *******************/
-# define OSQP_VERSION ("0.6.2") /* string literals automatically null-terminated
-                                   */
+#include "version.h"
 
 /******************
 * Solver Status  *
@@ -33,7 +32,7 @@ extern "C" {
 /*************************
 * Linear System Solvers *
 *************************/
-enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER };
+enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER, UNKNOWN_SOLVER=99 };
 extern const char * LINSYS_SOLVER_NAME[];
 
 

casadi/include/osqp/version.h

@@ -0,0 +1,9 @@
+/**
+This file is replaced by an auto-generated version.h
+with an OSQP_VERSION obtained from a variable supplied
+to cmake
+*/
+
+#ifndef OSQP_VERSION
+#define OSQP_VERSION "0.6.3"
+#endif

casadi/lib/cmake/tinyxml2/tinyxml2-config-version.cmake

@@ -52,11 +52,6 @@ else()
 endif()
 
 
-# if the installed project requested no architecture check, don't perform the check
-if("FALSE")
-  return()
-endif()
-
 # if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
 if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
   return()

casadi/lib/cmake/tinyxml2/tinyxml2-static-targets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------