casadi 3.6.5__cp312-none-macosx_11_0_arm64.whl → 3.6.7__cp312-none-macosx_11_0_arm64.whl

casadi/include/alpaqa/inner/directions/pantr/pantr-direction.hpp

@@ -1,99 +0,0 @@
-#pragma once
-
-#include <alpaqa/config/config.hpp>
-#include <alpaqa/problem/type-erased-problem.hpp>
-
-namespace alpaqa {
-
-/// This class outlines the interface for direction providers used by PANTR-like
-/// algorithms.
-///
-/// @ingroup grp_DirectionProviders
-template <Config Conf>
-struct PANTRDirection {
-    USING_ALPAQA_CONFIG(Conf);
-    using Problem = TypeErasedProblem<config_t>;
-
-    /// Initialize the direction provider.
-    ///
-    /// @param[in]  problem
-    ///             Problem description.
-    /// @param[in]  y
-    ///             Lagrange multipliers.
-    /// @param[in]  Σ
-    ///             Penalty factors.
-    /// @param[in]  γ_0
-    ///             Initial step size.
-    /// @param[in]  x_0
-    ///             Initial iterate.
-    /// @param[in]  x̂_0
-    ///             Result of proximal gradient step in @p x_0.
-    /// @param[in]  p_0
-    ///             Proximal gradient step in @p x_0.
-    /// @param[in]  grad_ψx_0
-    ///             Gradient of the objective in @p x_0.
-    ///
-    /// The references @p problem, @p y and @p Σ are guaranteed to remain valid
-    /// for subsequent calls to @ref update, @ref apply, @ref changed_γ and
-    /// @ref reset.
-    void initialize(const Problem &problem, crvec y, crvec Σ, real_t γ_0,
-                    crvec x_0, crvec x̂_0, crvec p_0, crvec grad_ψx_0) = delete;
-
-    /// Return whether a direction is available on the very first iteration,
-    /// before the first call to @ref update.
-    bool has_initial_direction() const { return true; }
-
-    /// Update the direction provider when accepting the next iterate.
-    ///
-    /// @param[in]  γₖ
-    ///             Current step size.
-    /// @param[in]  γₙₑₓₜ
-    ///             Step size for the next iterate.
-    /// @param[in]  xₖ
-    ///             Current iterate.
-    /// @param[in]  xₙₑₓₜ
-    ///             Next iterate.
-    /// @param[in]  pₖ
-    ///             Proximal gradient step in the current iterate.
-    /// @param[in]  pₙₑₓₜ
-    ///             Proximal gradient step in the next iterate.
-    /// @param[in]  grad_ψxₖ
-    ///             Gradient of the objective in the current iterate.
-    /// @param[in]  grad_ψxₙₑₓₜ
-    ///             Gradient of the objective in the next iterate.
-    bool update(real_t γₖ, real_t γₙₑₓₜ, crvec xₖ, crvec xₙₑₓₜ, crvec pₖ,
-                crvec pₙₑₓₜ, crvec grad_ψxₖ, crvec grad_ψxₙₑₓₜ) = delete;
-
-    /// Compute the direction in the given point.
-    ///
-    /// @param[in]  γₖ
-    ///             Current step size.
-    /// @param[in]  xₖ
-    ///             Current iterate.
-    /// @param[in]  x̂ₖ
-    ///             Result of proximal gradient step in @p xₖ.
-    /// @param[in]  pₖ
-    ///             Proximal gradient step in @p xₖ.
-    /// @param[in]  grad_ψxₖ
-    ///             Gradient of the objective at @p xₖ.
-    /// @param[in]  radius
-    ///             Trust radius Δ.
-    /// @param[out] qₖ
-    ///             Resulting step.
-    /// @return Model decrease.
-    real_t apply(real_t γₖ, crvec xₖ, crvec x̂ₖ, crvec pₖ, crvec grad_ψxₖ,
-                 real_t radius, rvec qₖ) const = delete;
-
-    /// Called when the PANTR step size changes.
-    void changed_γ(real_t γₖ, real_t old_γₖ) = delete;
-
-    /// Called when using the direction failed. A possible behavior could be to
-    /// flush the buffers, hopefully yielding a better direction on the next
-    /// iteration.
-    void reset() = delete;
-
-    /// Get a human-readable name for this direction provider.
-    std::string get_name() const = delete;
-};
-
-} // namespace alpaqa

casadi/include/alpaqa/inner/inner-solve-options.hpp

@@ -1,30 +0,0 @@
-#pragma once
-
-#include <alpaqa/config/config.hpp>
-
-#include <chrono>
-#include <optional>
-
-namespace alpaqa {
-
-template <Config Conf>
-struct InnerSolveOptions {
-    USING_ALPAQA_CONFIG(Conf);
-    /// Return the final iterate and multipliers, even if the solver did not
-    /// converge.
-    bool always_overwrite_results = true;
-    /// Maximum run time (in addition to the inner solver's own timeout).
-    /// Zero means no timeout.
-    std::optional<std::chrono::nanoseconds> max_time = std::nullopt;
-    /// Desired tolerance (overrides the solver's own tolerance).
-    /// Zero means no tolerance (use solver's own tolerance).
-    real_t tolerance = 0;
-    /// Output stream to print to.
-    std::ostream *os = nullptr;
-    /// The current iteration of the outer solver.
-    unsigned outer_iter = 0;
-    /// Call @ref TypeErasedProblem::check() before starting to solve.
-    bool check = true;
-};
-
-} // namespace alpaqa

casadi/include/alpaqa/inner/internal/lipschitz.hpp

@@ -1,27 +0,0 @@
-#pragma once
-
-#include <alpaqa/config/config.hpp>
-
-namespace alpaqa {
-
-template <Config Conf = DefaultConfig>
-struct LipschitzEstimateParams {
-    USING_ALPAQA_CONFIG(Conf);
-
-    /// Initial estimate of the Lipschitz constant of ∇ψ(x)
-    real_t L_0 = 0;
-    /// Relative step size for initial finite difference Lipschitz estimate.
-    real_t ε = real_t(1e-6);
-    /// Minimum step size for initial finite difference Lipschitz estimate.
-    real_t δ = real_t(1e-12);
-    /// Factor that relates step size γ and Lipschitz constant.
-    /// Parameter α in Algorithm 2 of @cite de_marchi_proximal_2022.
-    /// @f$ 0 < \alpha < 1 @f$
-    real_t Lγ_factor = real_t(0.95);
-
-    void verify() const {
-        // TODO
-    }
-};
-
-} // namespace alpaqa

casadi/include/alpaqa/inner/internal/panoc-helpers.hpp

@@ -1,10 +0,0 @@
-#pragma once
-
-#include <alpaqa/config/config.hpp>
-
-namespace alpaqa::detail {
-
-template <Config Conf>
-struct PANOCHelpers;
-
-} // namespace alpaqa::detail

casadi/include/alpaqa/inner/internal/panoc-stop-crit.hpp

@@ -1,124 +0,0 @@
-#pragma once
-
-#include <iosfwd>
-#include <stdexcept>
-
-namespace alpaqa {
-
-enum class PANOCStopCrit {
-    /// Find an ε-approximate KKT point in the ∞-norm:
-    /// @f[
-    ///     \varepsilon = \left\| \gamma_k^{-1} (x^k - \hat x^k) +
-    ///     \nabla \psi(\hat x^k) - \nabla \psi(x^k) \right\|_\infty
-    /// @f]
-    ApproxKKT = 0,
-    /// Find an ε-approximate KKT point in the 2-norm:
-    /// @f[
-    ///     \varepsilon = \left\| \gamma_k^{-1} (x^k - \hat x^k) +
-    ///     \nabla \psi(\hat x^k) - \nabla \psi(x^k) \right\|_2
-    /// @f]
-    ApproxKKT2,
-    /// ∞-norm of the projected gradient with step size γ:
-    /// @f[
-    ///     \varepsilon = \left\| x^k -
-    ///     \Pi_C\left(x^k - \gamma_k \nabla \psi(x^k)\right) \right\|_\infty
-    /// @f]
-    ProjGradNorm,
-    /// 2-norm of the projected gradient with step size γ:
-    /// @f[
-    ///     \varepsilon = \left\| x^k -
-    ///     \Pi_C\left(x^k - \gamma_k \nabla \psi(x^k)\right) \right\|_2
-    /// @f]
-    /// This is the same criterion as used by
-    /// [OpEn](https://alphaville.github.io/optimization-engine/).
-    ProjGradNorm2,
-    /// ∞-norm of the projected gradient with unit step size:
-    /// @f[
-    ///     \varepsilon = \left\| x^k -
-    ///     \Pi_C\left(x^k - \nabla \psi(x^k)\right) \right\|_\infty
-    /// @f]
-    ProjGradUnitNorm,
-    /// 2-norm of the projected gradient with unit step size:
-    /// @f[
-    ///     \varepsilon = \left\| x^k -
-    ///     \Pi_C\left(x^k - \nabla \psi(x^k)\right) \right\|_2
-    /// @f]
-    ProjGradUnitNorm2,
-    /// ∞-norm of fixed point residual:
-    /// @f[
-    ///     \varepsilon = \gamma_k^{-1} \left\| x^k -
-    ///     \Pi_C\left(x^k - \gamma_k \nabla \psi(x^k)\right) \right\|_\infty
-    /// @f]
-    FPRNorm,
-    /// 2-norm of fixed point residual:
-    /// @f[
-    ///     \varepsilon = \gamma_k^{-1} \left\| x^k -
-    ///     \Pi_C\left(x^k - \gamma_k \nabla \psi(x^k)\right) \right\|_2
-    /// @f]
-    FPRNorm2,
-    /// The stopping criterion used by Ipopt, see
-    /// https://link.springer.com/article/10.1007/s10107-004-0559-y equation (5).
-    ///
-    /// Given a candidate iterate @f$ \hat x^k @f$ and the corresponding
-    /// candidate Lagrange multipliers @f$ \hat y^k @f$ for the general
-    /// constraints @f$ g(x)\in D @f$,
-    /// the multipliers @f$ w @f$ for the box constraints @f$ x\in C @f$
-    /// (that are otherwise not computed explicitly) are given by
-    /// @f[
-    /// w^k = v^k - \Pi_C(v^k),
-    /// @f]
-    /// where
-    /// @f[ \begin{aligned}
-    /// v^k &\triangleq
-    /// \hat x^k - \nabla f(\hat x^k) - \nabla g(\hat x^k)\, \hat y^k \\ &=
-    /// \hat x^k - \nabla \psi(\hat x^k)
-    /// \end{aligned} @f]
-    /// The quantity that is compared to the (scaled) tolerance is then given by
-    /// @f[ \begin{aligned}
-    /// \varepsilon' &=
-    /// \left\|
-    ///     \nabla f(\hat x^k) + \nabla g(\hat x^k)\, \hat y^k + w^k
-    /// \right\|_\infty \\ &=
-    /// \left\|
-    /// \hat x^k - \Pi_C\left(v^k\right)
-    /// \right\|_\infty
-    /// \end{aligned} @f]
-    /// Finally, the quantity is scaled by the factor
-    /// @f[
-    /// s_d \triangleq \max\left\{
-    /// s_\text{max},\;\frac{\|\hat y^k\|_1 + \|w^k\|_1}{2m + 2n}
-    /// \right\} / s_\text{max},
-    /// @f]
-    /// i.e. @f$ \varepsilon = \varepsilon' / s_d @f$.
-    Ipopt,
-    /// The stopping criterion used by LBFGS++, see
-    /// https://lbfgspp.statr.me/doc/classLBFGSpp_1_1LBFGSBParam.html#afb20e8fd6c6808c1f736218841ba6947
-    ///
-    /// @f[
-    ///     \varepsilon = \frac{\left\| x^k -
-    ///     \Pi_C\left(x^k - \nabla \psi(x^k)\right) \right\|_\infty}
-    ///     {\max\left\{1, \|x\|_2 \right\}}
-    /// @f]
-    LBFGSBpp,
-};
-
-inline constexpr const char *enum_name(PANOCStopCrit s) {
-    switch (s) {
-        case PANOCStopCrit::ApproxKKT: return "ApproxKKT";
-        case PANOCStopCrit::ApproxKKT2: return "ApproxKKT2";
-        case PANOCStopCrit::ProjGradNorm: return "ProjGradNorm";
-        case PANOCStopCrit::ProjGradNorm2: return "ProjGradNorm2";
-        case PANOCStopCrit::ProjGradUnitNorm: return "ProjGradUnitNorm";
-        case PANOCStopCrit::ProjGradUnitNorm2: return "ProjGradUnitNorm2";
-        case PANOCStopCrit::FPRNorm: return "FPRNorm";
-        case PANOCStopCrit::FPRNorm2: return "FPRNorm2";
-        case PANOCStopCrit::Ipopt: return "Ipopt";
-        case PANOCStopCrit::LBFGSBpp: return "LBFGSBpp";
-        default:;
-    }
-    throw std::out_of_range("invalid value for alpaqa::PANOCStopCrit");
-}
-
-std::ostream &operator<<(std::ostream &os, PANOCStopCrit s);
-
-} // namespace alpaqa

casadi/include/alpaqa/inner/internal/solverstatus.hpp

@@ -1,42 +0,0 @@
-#pragma once
-
-#include <alpaqa/export.h>
-
-#include <iosfwd>
-#include <stdexcept>
-
-namespace alpaqa {
-
-/// Exit status of a numerical solver such as ALM or PANOC.
-enum class SolverStatus {
-    Busy = 0,    ///< In progress.
-    Converged,   ///< Converged and reached given tolerance.
-    MaxTime,     ///< Maximum allowed execution time exceeded.
-    MaxIter,     ///< Maximum number of iterations exceeded.
-    NotFinite,   ///< Intermediate results were infinite or not-a-number.
-    NoProgress,  ///< No progress was made in the last iteration.
-    Interrupted, ///< Solver was interrupted by the user.
-    Exception,   ///< An unexpected exception was thrown.
-};
-
-/// @related    SolverStatus
-inline constexpr const char *enum_name(SolverStatus s) {
-    using Status = SolverStatus;
-    switch (s) {
-        case Status::Busy: return "Busy";
-        case Status::Converged: return "Converged";
-        case Status::MaxTime: return "MaxTime";
-        case Status::MaxIter: return "MaxIter";
-        case Status::NotFinite: return "NotFinite";
-        case Status::NoProgress: return "NoProgress";
-        case Status::Interrupted: return "Interrupted";
-        case Status::Exception: return "Exception";
-        default:;
-    }
-    throw std::out_of_range("invalid value for alpaqa::SolverStatus");
-}
-
-/// @related    SolverStatus
-ALPAQA_EXPORT std::ostream &operator<<(std::ostream &, SolverStatus);
-
-} // namespace alpaqa

casadi/include/alpaqa/inner/panoc-ocp.hpp

@@ -1,302 +0,0 @@
-#pragma once
-
-#include <alpaqa/accelerators/lbfgs.hpp>
-#include <alpaqa/inner/panoc.hpp>
-#include <alpaqa/problem/ocproblem.hpp>
-
-#include <chrono>
-#include <iostream>
-#include <limits>
-#include <string>
-
-namespace alpaqa {
-
-/// Tuning parameters for the PANOC algorithm.
-template <Config Conf = DefaultConfig>
-struct PANOCOCPParams {
-    USING_ALPAQA_CONFIG(Conf);
-
-    /// Parameters related to the Lipschitz constant estimate and step size.
-    LipschitzEstimateParams<config_t> Lipschitz;
-    /// Maximum number of inner PANOC iterations.
-    unsigned max_iter = 100;
-    /// Maximum duration.
-    std::chrono::nanoseconds max_time = std::chrono::minutes(5);
-    /// Minimum weight factor between Newton step and projected gradient step,
-    /// line search parameter.
-    real_t min_linesearch_coefficient = real_t(1. / 256);
-    /// Parameter β used in the line search (see Algorithm 2 in
-    /// @cite de_marchi_proximal_2022). @f$ 0 < \beta < 1 @f$
-    real_t linesearch_strictness_factor = real_t(0.95);
-    /// Minimum Lipschitz constant estimate.
-    real_t L_min = real_t(1e-5);
-    /// Maximum Lipschitz constant estimate.
-    real_t L_max = real_t(1e20);
-    /// Maximum number of times to double the Lipschitz constant estimate per
-    /// iteration.
-    unsigned L_max_inc = 16;
-    /// What stopping criterion to use.
-    PANOCStopCrit stop_crit = PANOCStopCrit::ApproxKKT;
-    /// Maximum number of iterations without any progress before giving up.
-    unsigned max_no_progress = 10;
-    /// How often to use a Gauss-Newton step. Zero to disable GN entirely.
-    unsigned gn_interval        = 1;
-    bool gn_sticky              = true;
-    bool reset_lbfgs_on_gn_step = false;
-    bool lqr_factor_cholesky    = true;
-
-    /// L-BFGS parameters (e.g. memory).
-    LBFGSParams<config_t> lbfgs_params;
-
-    /// When to print progress. If set to zero, nothing will be printed.
-    /// If set to N != 0, progress is printed every N iterations.
-    unsigned print_interval = 0;
-    /// The precision of the floating point values printed by the solver.
-    int print_precision = std::numeric_limits<real_t>::max_digits10 / 2;
-
-    real_t quadratic_upperbound_tolerance_factor =
-        real_t(1e2) * std::numeric_limits<real_t>::epsilon();
-    real_t linesearch_tolerance_factor =
-        real_t(1e2) * std::numeric_limits<real_t>::epsilon();
-
-    bool disable_acceleration = false;
-};
-
-template <Config Conf = DefaultConfig>
-struct PANOCOCPProgressInfo {
-    USING_ALPAQA_CONFIG(Conf);
-
-    unsigned k;
-    SolverStatus status;
-    crvec xu;
-    crvec p;
-    real_t norm_sq_p;
-    crvec x̂u;
-    real_t φγ;
-    real_t ψ;
-    crvec grad_ψ;
-    real_t ψ_hat;
-    crvec q;
-    bool gn;
-    length_t nJ;
-    real_t lqr_min_rcond;
-    real_t L;
-    real_t γ;
-    real_t τ;
-    real_t ε;
-    unsigned outer_iter;
-    const TypeErasedControlProblem<config_t> *problem;
-    const PANOCOCPParams<config_t> *params;
-
-    [[nodiscard]] vec u() const;
-    [[nodiscard]] vec û() const;
-    [[nodiscard]] vec x() const;
-    [[nodiscard]] vec x̂() const;
-};
-
-template <Config Conf = DefaultConfig>
-struct PANOCOCPStats {
-    USING_ALPAQA_CONFIG(Conf);
-
-    SolverStatus status = SolverStatus::Busy;
-    real_t ε            = inf<config_t>;
-    std::chrono::nanoseconds elapsed_time{};
-    std::chrono::nanoseconds time_prox{};
-    std::chrono::nanoseconds time_forward{};
-    std::chrono::nanoseconds time_backward{};
-    std::chrono::nanoseconds time_jacobians{};
-    std::chrono::nanoseconds time_hessians{};
-    std::chrono::nanoseconds time_indices{};
-    std::chrono::nanoseconds time_lqr_factor{};
-    std::chrono::nanoseconds time_lqr_solve{};
-    std::chrono::nanoseconds time_lbfgs_indices{};
-    std::chrono::nanoseconds time_lbfgs_apply{};
-    std::chrono::nanoseconds time_lbfgs_update{};
-    std::chrono::nanoseconds time_progress_callback{};
-    unsigned iterations            = 0;
-    unsigned linesearch_failures   = 0;
-    unsigned linesearch_backtracks = 0;
-    unsigned stepsize_backtracks   = 0;
-    unsigned lbfgs_failures        = 0;
-    unsigned lbfgs_rejected        = 0;
-    unsigned τ_1_accepted          = 0;
-    unsigned count_τ               = 0;
-    real_t sum_τ                   = 0;
-    real_t final_γ                 = 0;
-    real_t final_ψ                 = 0;
-    real_t final_h                 = 0;
-    real_t final_φγ                = 0;
-};
-
-template <Config Conf>
-class PANOCOCPSolver {
-  public:
-    USING_ALPAQA_CONFIG(Conf);
-
-    using Problem      = alpaqa::TypeErasedControlProblem<config_t>;
-    using Params       = PANOCOCPParams<config_t>;
-    using Stats        = PANOCOCPStats<config_t>;
-    using ProgressInfo = PANOCOCPProgressInfo<config_t>;
-    using SolveOptions = InnerSolveOptions<config_t>;
-
-    PANOCOCPSolver(const Params &params) : params(params) {}
-
-    Stats operator()(const Problem &problem,   // in
-                     const SolveOptions &opts, // in
-                     rvec u,                   // inout
-                     rvec y,                   // in
-                     crvec μ,                  // in
-                     rvec err_z);              // out
-
-    template <class P>
-    Stats operator()(const P &problem, const SolveOptions &opts, rvec u, rvec y,
-                     crvec μ, rvec e) {
-        return operator()(Problem::template make<P>(problem), opts, u, y, μ, e);
-    }
-
-    template <class P>
-    Stats operator()(const P &problem, const SolveOptions &opts, rvec u) {
-        if (problem.get_m() != 0)
-            throw std::invalid_argument("Missing arguments y, Σ, e");
-        mvec y{nullptr, 0}, Σ{nullptr, 0}, e{nullptr, 0};
-        return operator()(problem, opts, u, y, Σ, e);
-    }
-
-    /// Specify a callable that is invoked with some intermediate results on
-    /// each iteration of the algorithm.
-    /// @see @ref ProgressInfo
-    PANOCOCPSolver &
-    set_progress_callback(std::function<void(const ProgressInfo &)> cb) {
-        this->progress_cb = cb;
-        return *this;
-    }
-
-    std::string get_name() const;
-
-    void stop() { stop_signal.stop(); }
-
-    const Params &get_params() const { return params; }
-
-  private:
-    Params params;
-    AtomicStopSignal stop_signal;
-    std::function<void(const ProgressInfo &)> progress_cb;
-    using Helpers = detail::PANOCHelpers<config_t>;
-
-  public:
-    std::ostream *os = &std::cout;
-};
-
-template <Config Conf>
-struct InnerStatsAccumulator<PANOCOCPStats<Conf>> {
-    USING_ALPAQA_CONFIG(Conf);
-
-    /// Total elapsed time in the inner solver.
-    std::chrono::nanoseconds elapsed_time{};
-    /// Total time spent computing proximal mappings.
-    std::chrono::nanoseconds time_prox{};
-    /// Total time spent doing forward simulations.
-    std::chrono::nanoseconds time_forward{};
-    /// Total time spent doing backward gradient evaluations.
-    std::chrono::nanoseconds time_backward{};
-    /// Total time spent computing dynamics Jacobians.
-    std::chrono::nanoseconds time_jacobians{};
-    /// Total time spent computing cost Hessians and Hessian-vector products.
-    std::chrono::nanoseconds time_hessians{};
-    /// Total time spent determining active indices.
-    std::chrono::nanoseconds time_indices{};
-    /// Total time spent performing LQR factorizations.
-    std::chrono::nanoseconds time_lqr_factor{};
-    /// Total time spent solving the (factorized) LQR problem.
-    std::chrono::nanoseconds time_lqr_solve{};
-    /// Total time spent determining active indices for L-BFGS applications.
-    std::chrono::nanoseconds time_lbfgs_indices{};
-    /// Total time spent applying L-BFGS estimates.
-    std::chrono::nanoseconds time_lbfgs_apply{};
-    /// Total time spent updating the L-BFGS estimate.
-    std::chrono::nanoseconds time_lbfgs_update{};
-    /// Total time spent in the user-provided progress callback.
-    std::chrono::nanoseconds time_progress_callback{};
-    /// Total number of inner PANOC iterations.
-    unsigned iterations = 0;
-    /// Total number of PANOC line search failures.
-    unsigned linesearch_failures = 0;
-    /// Total number of PANOC line search backtracking steps.
-    unsigned linesearch_backtracks = 0;
-    /// Total number of PANOC step size reductions.
-    unsigned stepsize_backtracks = 0;
-    /// Total number of times that the L-BFGS direction was not finite.
-    unsigned lbfgs_failures = 0;
-    /// Total number of times that the L-BFGS update was rejected (i.e. it
-    /// could have resulted in a non-positive definite Hessian estimate).
-    unsigned lbfgs_rejected = 0;
-    /// Total number of times that a line search parameter of @f$ \tau = 1 @f$
-    /// was accepted (i.e. no backtracking necessary).
-    unsigned τ_1_accepted = 0;
-    /// The total number of line searches performed (used for computing the
-    /// average value of @f$ \tau @f$).
-    unsigned count_τ = 0;
-    /// The sum of the line search parameter @f$ \tau @f$ in all iterations
-    /// (used for computing the average value of @f$ \tau @f$).
-    real_t sum_τ = 0;
-    /// The final PANOC step size γ.
-    real_t final_γ = 0;
-    /// Final value of the smooth cost @f$ \psi(\hat x) @f$.
-    real_t final_ψ = 0;
-    /// Final value of the nonsmooth cost @f$ h(\hat x) @f$.
-    real_t final_h = 0;
-    /// Final value of the forward-backward envelope, @f$ \varphi_\gamma(x) @f$
-    /// (note that this is in the point @f$ x @f$, not @f$ \hat x @f$).
-    real_t final_φγ = 0;
-};
-
-template <Config Conf>
-InnerStatsAccumulator<PANOCOCPStats<Conf>> &
-operator+=(InnerStatsAccumulator<PANOCOCPStats<Conf>> &acc,
-           const PANOCOCPStats<Conf> &s) {
-    acc.iterations += s.iterations;
-    acc.elapsed_time += s.elapsed_time;
-    acc.time_prox += s.time_prox;
-    acc.time_forward += s.time_forward;
-    acc.time_backward += s.time_backward;
-    acc.time_jacobians += s.time_jacobians;
-    acc.time_hessians += s.time_hessians;
-    acc.time_indices += s.time_indices;
-    acc.time_lqr_factor += s.time_lqr_factor;
-    acc.time_lqr_solve += s.time_lqr_solve;
-    acc.time_lbfgs_indices += s.time_lbfgs_indices;
-    acc.time_lbfgs_apply += s.time_lbfgs_apply;
-    acc.time_lbfgs_update += s.time_lbfgs_update;
-    acc.time_progress_callback += s.time_progress_callback;
-    acc.linesearch_failures += s.linesearch_failures;
-    acc.linesearch_backtracks += s.linesearch_backtracks;
-    acc.stepsize_backtracks += s.stepsize_backtracks;
-    acc.lbfgs_failures += s.lbfgs_failures;
-    acc.lbfgs_rejected += s.lbfgs_rejected;
-    acc.τ_1_accepted += s.τ_1_accepted;
-    acc.count_τ += s.count_τ;
-    acc.sum_τ += s.sum_τ;
-    acc.final_γ  = s.final_γ;
-    acc.final_ψ  = s.final_ψ;
-    acc.final_h  = s.final_h;
-    acc.final_φγ = s.final_φγ;
-    return acc;
-}
-
-ALPAQA_EXPORT_EXTERN_TEMPLATE(struct, PANOCOCPProgressInfo, DefaultConfig);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(struct, PANOCOCPProgressInfo, EigenConfigf);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(struct, PANOCOCPProgressInfo, EigenConfigd);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(struct, PANOCOCPProgressInfo, EigenConfigl);
-#ifdef ALPAQA_WITH_QUAD_PRECISION
-ALPAQA_EXPORT_EXTERN_TEMPLATE(struct, PANOCOCPProgressInfo, EigenConfigq);
-#endif
-
-ALPAQA_EXPORT_EXTERN_TEMPLATE(class, PANOCOCPSolver, DefaultConfig);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(class, PANOCOCPSolver, EigenConfigf);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(class, PANOCOCPSolver, EigenConfigd);
-ALPAQA_EXPORT_EXTERN_TEMPLATE(class, PANOCOCPSolver, EigenConfigl);
-#ifdef ALPAQA_WITH_QUAD_PRECISION
-ALPAQA_EXPORT_EXTERN_TEMPLATE(class, PANOCOCPSolver, EigenConfigq);
-#endif
-
-} // namespace alpaqa