casadi 3.6.5__cp311-none-macosx_11_0_arm64.whl → 3.6.7__cp311-none-macosx_11_0_arm64.whl

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

@@ -1,73 +0,0 @@
-#pragma once
-
-#include <alpaqa/problem/box-constr-problem.hpp>
-#include <alpaqa/util/alloc-check.hpp>
-
-namespace alpaqa {
-
-/// Problem class that allows specifying the basic functions as C++
-/// `std::function`s.
-/// @ingroup grp_Problems
-template <Config Conf = DefaultConfig>
-class FunctionalProblem : public BoxConstrProblem<Conf> {
-  public:
-    USING_ALPAQA_CONFIG(Conf);
-    using BoxConstrProblem<Conf>::BoxConstrProblem;
-
-    std::function<real_t(crvec)> f;
-    std::function<void(crvec, rvec)> grad_f;
-    std::function<void(crvec, rvec)> g;
-    std::function<void(crvec, crvec, rvec)> grad_g_prod;
-    std::function<void(crvec, index_t, rvec)> grad_gi;
-    std::function<void(crvec, rmat)> jac_g;
-    std::function<void(crvec, crvec, real_t, crvec, rvec)> hess_L_prod;
-    std::function<void(crvec, crvec, real_t, rmat)> hess_L;
-    std::function<void(crvec, crvec, crvec, real_t, crvec, rvec)> hess_ψ_prod;
-    std::function<void(crvec, crvec, crvec, real_t, rmat)> hess_ψ;
-
-    // clang-format off
-    real_t eval_f(crvec x) const { ScopedMallocAllower ma; return f(x); }
-    void eval_grad_f(crvec x, rvec grad_fx) const { ScopedMallocAllower ma; grad_f(x, grad_fx); }
-    void eval_g(crvec x, rvec gx) const { ScopedMallocAllower ma; g(x, gx); }
-    void eval_grad_g_prod(crvec x, crvec y, rvec grad_gxy) const { ScopedMallocAllower ma; grad_g_prod(x, y, grad_gxy); }
-    void eval_grad_gi(crvec x, index_t i, rvec grad_gix) const { ScopedMallocAllower ma; grad_gi(x, i, grad_gix); }
-    void eval_hess_L_prod(crvec x, crvec y, real_t scale, crvec v, rvec Hv) const { ScopedMallocAllower ma; hess_L_prod(x, y, scale, v, Hv); }
-    void eval_hess_ψ_prod(crvec x, crvec y, crvec Σ, real_t scale, crvec v, rvec Hv) const { ScopedMallocAllower ma; hess_ψ_prod(x, y, Σ, scale, v, Hv); }
-    // clang-format on
-    void eval_jac_g(crvec x, rindexvec, rindexvec, rvec J_values) const {
-        ScopedMallocAllower ma;
-        if (J_values.size() > 0)
-            jac_g(x, J_values.reshaped(this->m, this->n));
-    }
-    void eval_hess_L(crvec x, crvec y, real_t scale, rindexvec, rindexvec, rvec H_values) const {
-        ScopedMallocAllower ma;
-        if (H_values.size() > 0)
-            hess_L(x, y, scale, H_values.reshaped(this->n, this->n));
-    }
-    void eval_hess_ψ(crvec x, crvec y, crvec Σ, real_t scale, rindexvec, rindexvec,
-                     rvec H_values) const {
-        ScopedMallocAllower ma;
-        if (H_values.size() > 0)
-            hess_ψ(x, y, Σ, scale, H_values.reshaped(this->n, this->n));
-    }
-
-    /// @see @ref TypeErasedProblem::provides_eval_grad_gi
-    bool provides_eval_grad_gi() const { return bool{grad_gi}; }
-    /// @see @ref TypeErasedProblem::provides_eval_jac_g
-    bool provides_eval_jac_g() const { return bool{jac_g}; }
-    /// @see @ref TypeErasedProblem::provides_eval_hess_L_prod
-    bool provides_eval_hess_L_prod() const { return bool{hess_L_prod}; }
-    /// @see @ref TypeErasedProblem::provides_eval_hess_L
-    bool provides_eval_hess_L() const { return bool{hess_L}; }
-    /// @see @ref TypeErasedProblem::provides_eval_hess_ψ_prod
-    bool provides_eval_hess_ψ_prod() const { return bool{hess_ψ_prod}; }
-    /// @see @ref TypeErasedProblem::provides_eval_hess_ψ
-    bool provides_eval_hess_ψ() const { return bool{hess_ψ}; }
-
-    FunctionalProblem(const FunctionalProblem &)                = default;
-    FunctionalProblem &operator=(const FunctionalProblem &)     = default;
-    FunctionalProblem(FunctionalProblem &&) noexcept            = default;
-    FunctionalProblem &operator=(FunctionalProblem &&) noexcept = default;
-};
-
-} // namespace alpaqa

casadi/include/alpaqa/problem/kkt-error.hpp

@@ -1,43 +0,0 @@
-#pragma once
-
-#include <alpaqa/problem/type-erased-problem.hpp>
-#include <numeric>
-
-namespace alpaqa {
-
-template <Config Conf>
-struct KKTError {
-    USING_ALPAQA_CONFIG(Conf);
-    static constexpr auto NaN = alpaqa::NaN<config_t>;
-    real_t stationarity = NaN, constr_violation = NaN, complementarity = NaN;
-};
-
-template <Config Conf>
-KKTError<Conf> compute_kkt_error(const alpaqa::TypeErasedProblem<Conf> &problem,
-                                 alpaqa::crvec<Conf> x, alpaqa::crvec<Conf> y) {
-
-    USING_ALPAQA_CONFIG(Conf);
-    const auto n = x.size(), m = y.size();
-    vec z(n), grad_Lx(n), work(n), g(m), e(m);
-    // Gradient of Lagrangian, ∇ℒ(x,y) = ∇f(x) + ∇g(x) y
-    problem.eval_grad_L(x, y, grad_Lx, work);
-    // Eliminate normal cone of bound constraints, z = Π(x - ∇ℒ(x,y)) - x
-    problem.eval_prox_grad_step(1, x, grad_Lx, work, z);
-    // Stationarity, ‖Π(x - ∇ℒ(x,y)) - x‖
-    auto stationarity = alpaqa::vec_util::norm_inf(z);
-    // Constraints, g(x)
-    problem.eval_g(x, g);
-    // Distance to feasible set, e = g(x) - Π(g(x))
-    problem.eval_proj_diff_g(g, e);
-    // Constraint violation, ‖g(x) - Π(g(x))‖
-    auto constr_violation = alpaqa::vec_util::norm_inf(e);
-    // Complementary slackness
-    real_t complementarity = std::inner_product(
-        y.begin(), y.end(), e.begin(), real_t(0),
-        [](real_t acc, real_t ye) { return std::fmax(acc, std::abs(ye)); }, std::multiplies<>{});
-    return {.stationarity     = stationarity,
-            .constr_violation = constr_violation,
-            .complementarity  = complementarity};
-}
-
-} // namespace alpaqa

casadi/include/alpaqa/problem/ocproblem-counters.hpp

@@ -1,116 +0,0 @@
-#pragma once
-
-#include <alpaqa/export.h>
-
-#include <chrono>
-#include <iosfwd>
-
-namespace alpaqa {
-
-struct OCPEvalCounter {
-    unsigned f{};
-    unsigned jac_f{};
-    unsigned grad_f_prod{};
-    unsigned h{};
-    unsigned h_N{};
-    unsigned l{};
-    unsigned l_N{};
-    unsigned qr{};
-    unsigned q_N{};
-    unsigned add_Q{};
-    unsigned add_Q_N{};
-    unsigned add_R_masked{};
-    unsigned add_S_masked{};
-    unsigned add_R_prod_masked{};
-    unsigned add_S_prod_masked{};
-    unsigned constr{};
-    unsigned constr_N{};
-    unsigned grad_constr_prod{};
-    unsigned grad_constr_prod_N{};
-    unsigned add_gn_hess_constr{};
-    unsigned add_gn_hess_constr_N{};
-
-    struct OCPEvalTimer {
-        std::chrono::nanoseconds f{};
-        std::chrono::nanoseconds jac_f{};
-        std::chrono::nanoseconds grad_f_prod{};
-        std::chrono::nanoseconds h{};
-        std::chrono::nanoseconds h_N{};
-        std::chrono::nanoseconds l{};
-        std::chrono::nanoseconds l_N{};
-        std::chrono::nanoseconds qr{};
-        std::chrono::nanoseconds q_N{};
-        std::chrono::nanoseconds add_Q{};
-        std::chrono::nanoseconds add_Q_N{};
-        std::chrono::nanoseconds add_R_masked{};
-        std::chrono::nanoseconds add_S_masked{};
-        std::chrono::nanoseconds add_R_prod_masked{};
-        std::chrono::nanoseconds add_S_prod_masked{};
-        std::chrono::nanoseconds constr{};
-        std::chrono::nanoseconds constr_N{};
-        std::chrono::nanoseconds grad_constr_prod{};
-        std::chrono::nanoseconds grad_constr_prod_N{};
-        std::chrono::nanoseconds add_gn_hess_constr{};
-        std::chrono::nanoseconds add_gn_hess_constr_N{};
-    } time;
-
-    void reset() { *this = {}; }
-};
-
-ALPAQA_EXPORT std::ostream &operator<<(std::ostream &, const OCPEvalCounter &);
-
-inline OCPEvalCounter::OCPEvalTimer &operator+=(OCPEvalCounter::OCPEvalTimer &a,
-                                                const OCPEvalCounter::OCPEvalTimer &b) {
-    a.f += b.f;
-    a.jac_f += b.jac_f;
-    a.grad_f_prod += b.grad_f_prod;
-    a.h += b.h;
-    a.h_N += b.h_N;
-    a.l += b.l;
-    a.l_N += b.l_N;
-    a.qr += b.qr;
-    a.q_N += b.q_N;
-    a.add_Q += b.add_Q;
-    a.add_Q_N += b.add_Q_N;
-    a.add_R_masked += b.add_R_masked;
-    a.add_S_masked += b.add_S_masked;
-    a.add_R_prod_masked += b.add_R_prod_masked;
-    a.add_S_prod_masked += b.add_S_prod_masked;
-    a.constr += b.constr;
-    a.constr_N += b.constr_N;
-    a.grad_constr_prod += b.grad_constr_prod;
-    a.grad_constr_prod_N += b.grad_constr_prod_N;
-    a.add_gn_hess_constr += b.add_gn_hess_constr;
-    a.add_gn_hess_constr_N += b.add_gn_hess_constr_N;
-    return a;
-}
-
-inline OCPEvalCounter &operator+=(OCPEvalCounter &a, const OCPEvalCounter &b) {
-    a.f += b.f;
-    a.jac_f += b.jac_f;
-    a.grad_f_prod += b.grad_f_prod;
-    a.h += b.h;
-    a.h_N += b.h_N;
-    a.l += b.l;
-    a.l_N += b.l_N;
-    a.qr += b.qr;
-    a.q_N += b.q_N;
-    a.add_Q += b.add_Q;
-    a.add_Q_N += b.add_Q_N;
-    a.add_R_masked += b.add_R_masked;
-    a.add_S_masked += b.add_S_masked;
-    a.add_R_prod_masked += b.add_R_prod_masked;
-    a.add_S_prod_masked += b.add_S_prod_masked;
-    a.constr += b.constr;
-    a.constr_N += b.constr_N;
-    a.grad_constr_prod += b.grad_constr_prod;
-    a.grad_constr_prod_N += b.grad_constr_prod_N;
-    a.add_gn_hess_constr += b.add_gn_hess_constr;
-    a.add_gn_hess_constr_N += b.add_gn_hess_constr_N;
-    a.time += b.time;
-    return a;
-}
-
-inline OCPEvalCounter operator+(OCPEvalCounter a, const OCPEvalCounter &b) { return a += b; }
-
-} // namespace alpaqa