casadi 3.6.5__cp38-none-win_amd64.whl → 3.6.7__cp38-none-win_amd64.whl

casadi/include/highs/ipm/ipx/model.h

@@ -0,0 +1,409 @@
+#ifndef IPX_MODEL_H_
+#define IPX_MODEL_H_
+
+#include <vector>
+#include "ipm/ipx/control.h"
+#include "ipm/ipx/sparse_matrix.h"
+
+namespace ipx {
+
+// Model provides the interface between an LP model given by the user,
+//
+//   minimize   obj'x                                                    (1)
+//   subject to A*x {=,<,>} rhs, lbuser <= x <= ubuser,
+//
+// and the computational form used by the solver,
+//
+//   minimize   c'x
+//   subject to AI*x = b,                              (dual: y)
+//              x-xl = lb, xl >= 0,                    (dual: zl >= 0)
+//              x+xu = ub, xu >= 0.                    (dual: zu >= 0)
+//
+// The matrix AI has m >= 0 rows and n+m columns, where n > 0 is the number of
+// "structural" variables. The last m columns of AI form the identity matrix.
+// The last m components of c do not need to be zero (can happen when the model
+// was dualized in preprocessing). Entries of -lb and ub can be infinity.
+//
+// The user model is translated into computational form in two steps:
+// (a) scaling, which consists of
+//     - applying an automatic scaling algorithm to A (optional), and
+//     - "flipping" variables for which lbuser[j] is infinite but ubuser[j] is
+//        finite by multiplying the column of A by -1.
+// (b) dualization if appropriate
+//
+// A Model object cannot be modified other than discarding the data and loading
+// a new user model.
+
+class Model {
+public:
+    // Constructs an empty model.
+    Model() = default;
+
+    // Initializes a Model object from the form (1).
+    // @num_constr: number of rows of A
+    // @num_var: number of columns of A
+    // @Ap, @Ai, @Ax: matrix A in CSC format, 0-based indexing
+    // @rhs: array of size num_constr
+    // @constr_type: array of size num_constr with entries '=', '<' or '>'
+    // @obj: array of size num_var
+    // @lbuser: array of size num_var, entries can be -INFINITY
+    // @ubuser: array of size num_var, entries can be +INFINITY
+    // If the input is invalid an error code is returned and the Model object
+    // becomes empty.
+    // Returns:
+    //  0
+    //  IPX_ERROR_argument_null
+    //  IPX_ERROR_invalid_dimension
+    //  IPX_ERROR_invalid_matrix
+    //  IPX_ERROR_invalid_vector
+    Int Load(const Control& control, Int num_constr, Int num_var,
+             const Int* Ap, const Int* Ai, const double* Ax,
+             const double* rhs, const char* constr_type, const double* obj,
+             const double* lbuser, const double* ubuser);
+    // Performs Flippo's test for deciding dualization
+    bool filippoDualizationTest() const;
+    // Writes statistics of input data and preprocessing to @info.
+    void GetInfo(Info* info) const;
+
+    // Returns true if the model is empty.
+    bool empty() const { return cols() == 0; }
+
+    // Deallocates all memory; the object becomes empty.
+    void clear();
+
+    // Returns the number of rows of AI.
+    Int rows() const { return num_rows_; }
+
+    // Returns the number of structural columns of AI (i.e. without the
+    // rightmost identity matrix).
+    Int cols() const { return num_cols_; }
+
+    // Returns the number of columns classified as dense.
+    Int num_dense_cols() const { return num_dense_cols_; }
+
+    // Returns true if column j is classified as dense (0 <= j < n+m).
+    bool IsDenseColumn(Int j) const {
+        return AI_.entries(j) >= nz_dense_;
+    }
+
+    // Returns true if the user model was dualized in preprocessing.
+    bool dualized() const { return dualized_; }
+
+    // Returns a reference to the matrix AI in CSC and CSR format.
+    const SparseMatrix& AI() const { return AI_; }
+    const SparseMatrix& AIt() const { return AIt_; }
+
+    // Returns a reference to a model vector.
+    const Vector& b() const { return b_; }
+    const Vector& c() const { return c_; }
+    const Vector& lb() const { return lb_; }
+    const Vector& ub() const { return ub_; }
+
+    // Returns an entry of a model vector.
+    double b(Int i) const { return b_[i]; }
+    double c(Int j) const { return c_[j]; }
+    double lb(Int j) const { return lb_[j]; }
+    double ub(Int j) const { return ub_[j]; }
+
+    // Returns the infinity norm of [b; lb; ub], ignoring infinite entries.
+    double norm_bounds() const { return norm_bounds_; }
+
+    // Returns the infinity norm of c.
+    double norm_c() const { return norm_c_; }
+
+    // Transforms point from user model to solver model. Each of the pointer
+    // arguments can be NULL, in which case its components are assumed 0.0.
+    void PresolveStartingPoint(const double* x_user, const double* slack_user,
+                               const double* y_user, const double* z_user,
+                               Vector& x_solver, Vector& y_solver,
+                               Vector& z_solver) const;
+
+    // Performs the inverse operations to PostsolveInteriorSolution().
+    // The user vectors must all be given and must satisfy the sign conditions
+    // given in the reference documentation. Otherwise an error code will be
+    // returned. At the moment PresolveIPMStartingPoint() is not implemented
+    // for the case that the model was dualized in preprocessing.
+    // Returns:
+    //  0
+    //  IPX_ERROR_argument_null
+    //  IPX_ERROR_invalid_vector if a sign condition is violated
+    //  IPX_ERROR_not_implemented if the model was dualized in preprocessing.
+    Int PresolveIPMStartingPoint(const double* x_user,
+                                 const double* xl_user,
+                                 const double* xu_user,
+                                 const double* slack_user,
+                                 const double* y_user,
+                                 const double* zl_user,
+                                 const double* zu_user,
+                                 Vector& x_solver,
+                                 Vector& xl_solver,
+                                 Vector& xu_solver,
+                                 Vector& y_solver,
+                                 Vector& zl_solver,
+                                 Vector& zu_solver) const;
+
+    // Given an IPM iterate, recovers the solution to the user model (see the
+    // reference documentation). Each of the pointer arguments can be NULL, in
+    // which case the quantity is not returned. The sign conditions on the dual
+    // variables and those on the primal slack variables are staisfied if
+    // xl_solver, xu_solver, zl_solver and zu_solver are nonnegative.
+    void PostsolveInteriorSolution(const Vector& x_solver,
+                                   const Vector& xl_solver,
+                                   const Vector& xu_solver,
+                                   const Vector& y_solver,
+                                   const Vector& zl_solver,
+                                   const Vector& zu_solver,
+                                   double* x_user,
+                                   double* xl_user, double* xu_user,
+                                   double* slack_user,
+                                   double* y_user,
+                                   double* zl_user, double* zu_user) const;
+
+    // Evaluates the solution to the user model obtained from postsolving the
+    // IPM iterate. The following info members are set:
+    // abs_presidual, abs_dresidual, rel_presidual, rel_dresidual,
+    // pobjval, dobjval, rel_objgap, complementarity, normx, normy, normx.
+    void EvaluateInteriorSolution(const Vector& x_solver,
+                                  const Vector& xl_solver,
+                                  const Vector& xu_solver,
+                                  const Vector& y_solver,
+                                  const Vector& zl_solver,
+                                  const Vector& zu_solver,
+                                  Info* info) const;
+
+    // Given a basic solution to the solver model, recovers the basic solution
+    // to the user model. Each of the pointer arguments can be NULL.
+    void PostsolveBasicSolution(const Vector& x_solver,
+                                const Vector& y_solver,
+                                const Vector& z_solver,
+                                const std::vector<Int>& basic_status_solver,
+                                double* x_user, double* slack_user,
+                                double* y_user, double* z_user) const;
+
+    // Evaluates the solution to the user model obtained from postsolving the
+    // basic solution from the solver. The following info members are set:
+    // primal_infeas, dual_infeas, objval
+    void EvaluateBasicSolution(const Vector& x_solver,
+                               const Vector& y_solver,
+                               const Vector& z_solver,
+                               const std::vector<Int>& basic_status_solver,
+                               Info* info) const;
+
+    // Given a basic status for each variable in the solver model, recovers the
+    // basic statuses for constraints and variables in the user model. Each
+    // of the pointer arguments can be NULL.
+    void PostsolveBasis(const std::vector<Int>& basic_status_solver,
+                        Int* cbasis, Int* vbasis) const;
+
+private:
+    // Checks that the input is valid, and if so copies into the members below
+    // (see "User model after scaling"). If the input is invalid, an error code
+    // is returned and the object remains unchanged.
+    // Returns:
+    //  0
+    //  IPX_ERROR_argument_null
+    //  IPX_ERROR_invalid_dimension
+    //  IPX_ERROR_invalid_matrix
+    //  IPX_ERROR_invalid_vector
+    Int CopyInput(Int num_constr, Int num_var, const Int* Ap, const Int* Ai,
+                  const double* Ax, const double* rhs, const char* constr_type,
+                  const double* obj, const double* lbuser,
+                  const double* ubuser);
+
+    // Scales A_, scaled_obj_, scaled_rhs_, scaled_lbuser_ and scaled_ubuser_
+    // according to parameter control.scale(). The scaling factors are stored in
+    // colscale_ and rowscale_. If all factors are 1.0 (either because scaling
+    // was turned off or because the algorithm did nothing), rowscale_ and
+    // colscale_ have size 0.
+    // In any case, variables for which lbuser is infinite but ubbuser is finite
+    // are "flipped" and their indices are kept in flipped_vars_.
+    void ScaleModel(const Control& control);
+
+    // Builds computational form without dualization. In Julia notation:
+    // num_rows = nc
+    // num_cols = nv
+    // AI       = [A eye(nc)]
+    // b        = rhs
+    // c        = [obj    ; zeros(nc)                      ]
+    // lb       = [lbuser ; constr_type_ .== '>' ? -Inf : 0]
+    // ub       = [ubuser ; constr_type_ .== '<' ? +Inf : 0]
+    // dualized = false
+    // Here nc = num_constr and nv = num_var. The data must have been loaded
+    // into the class member below ("User model after scaling") before calling
+    // this method.
+    void LoadPrimal();
+
+    // Builds computational form with dualization. In Julia notation:
+    // num_rows = nv
+    // num_cols = nc + nb
+    // AI       = [A' -eye(nv)[:,jboxed] eye(nv)]
+    // b        = obj
+    // c        = [-rhs                          ; ubuser[jb]  ; -lbuser     ]
+    // lb       = [constr_type .== '>' ? 0 : -Inf; zeros(nb)   ; zeros(nv)   ]
+    // ub       = [constr_type .== '<' ? 0 : +Inf; Inf*ones(nb); Inf*ones(nv)]
+    // dualized = true
+    // Here nc = num_constr, nv = num_var, nb is the number of boxed variables
+    // and jboxed are their indices. Every variable with a finite upper bound
+    // must have a finite lower bound (this is ensured after scaling). If a
+    // variable j of the input LP is a free variable, then the j-th slack
+    // variable of the model gets a zero upper bound (i.e. it is fixed at zero)
+    // and its objective coefficient is set to zero.
+    void LoadDual();
+
+    // Recursively equilibrates A_ in infinity norm using the algorithm from
+    // [1]. The scaling factors are truncated to powers of 2. Terminates when
+    // the entries of A_ are within the range [0.5,8).
+    // [1] P. A. Knight, D. Ruiz, B. Ucar, "A symmetry preserving algorithm for
+    //     matrix scaling", SIAM J. Matrix Anal., 35(3), 2014.
+    void EquilibrateMatrix();
+
+    // Initializes num_dense_cols_ and nz_dense_. We classify the maximum #
+    // columns as "dense" which have more than 40 nonzeros and more than 10
+    // times the # nonzeros than any column that is not "dense". If this yields
+    // more than 1000 dense columns, then no columns are classified as dense.
+    void FindDenseColumns();
+
+    // Prints the coefficient ranges of input data via
+    // control.hLog(). Must be called after CopyInput() and before
+    // ScaleModel().
+    void PrintCoefficientRange(const Control& control) const;
+
+    // Prints preprocessing operations via control.hLog().
+    void PrintPreprocessingLog(const Control& control) const;
+
+    // Applies the operations from ScaleModel() to a primal-dual point.
+    void ScalePoint(Vector& x, Vector& slack, Vector& y, Vector& z) const;
+    void ScalePoint(Vector& x, Vector& xl, Vector& xu, Vector& slack,
+                    Vector& y, Vector& zl, Vector& zu) const;
+
+    // ScaleBack*() do the reverse operation of ScaleModel().
+    void ScaleBackInteriorSolution(Vector& x, Vector& xl, Vector& xu,
+                                   Vector& slack, Vector& y, Vector& zl,
+                                   Vector& zu) const;
+    void ScaleBackResiduals(Vector& rb, Vector& rc, Vector& rl,
+                            Vector& ru) const;
+    void ScaleBackBasicSolution(Vector& x, Vector& slack, Vector& y,
+                                Vector& z) const;
+    void ScaleBackBasis(std::vector<Int>& cbasis,
+                        std::vector<Int>& vbasis) const;
+
+    // Applies the operations of LoadPrimal() or LoadDual() to a primal-dual
+    // point.
+    void DualizeBasicSolution(const Vector& x_user, const Vector& slack_user,
+                              const Vector& y_user, const Vector& z_user,
+                              Vector& x_solver, Vector& y_solver,
+                              Vector& z_solver) const;
+
+    // Applies the operations of LoadPrimal() or LoadDual() to a primal-dual
+    // point. Currently only implemented for dualized_ == false. Otherwise an
+    // assertion will fail.
+    void DualizeIPMStartingPoint(const Vector& x_user,
+                                 const Vector& xl_user,
+                                 const Vector& xu_user,
+                                 const Vector& slack_user,
+                                 const Vector& y_user,
+                                 const Vector& zl_user,
+                                 const Vector& zu_user,
+                                 Vector& x_solver,
+                                 Vector& xl_solver,
+                                 Vector& xu_solver,
+                                 Vector& y_solver,
+                                 Vector& zl_solver,
+                                 Vector& zu_solver) const;
+
+    // DualizeBack*() do the reverse operations of LoadPrimal() or LoadDual().
+    // Given the solution from the solver, they recover the solution to the
+    // scaled user model.
+    void DualizeBackInteriorSolution(const Vector& x_solver,
+                                     const Vector& xl_solver,
+                                     const Vector& xu_solver,
+                                     const Vector& y_solver,
+                                     const Vector& zl_solver,
+                                     const Vector& zu_solver,
+                                     Vector& x_user,
+                                     Vector& xl_user,
+                                     Vector& xu_user,
+                                     Vector& slack_user,
+                                     Vector& y_user,
+                                     Vector& zl_user,
+                                     Vector& zu_user) const;
+    void DualizeBackBasicSolution(const Vector& x_solver,
+                                  const Vector& y_solver,
+                                  const Vector& z_solver,
+                                  Vector& x_user,
+                                  Vector& slack_user,
+                                  Vector& y_user,
+                                  Vector& z_user) const;
+    void DualizeBackBasis(const std::vector<Int>& basic_status_solver,
+                          std::vector<Int>& cbasis_user,
+                          std::vector<Int>& vbasis_user) const;
+
+    void CorrectScaledBasicSolution(Vector& x, Vector& slack, Vector& y,
+                                    Vector& z,
+                                    const std::vector<Int> cbasis,
+                                    const std::vector<Int> vbasis) const;
+
+    // Performs lhs += alpha*A*rhs or lhs += alpha*A'rhs, where A is the user
+    // matrix after scaling. This matrix is not stored explicitly, but is used
+    // implicitly through AI.
+    // @trans: 't' or 'T' for multiplication with A'.
+    void MultiplyWithScaledMatrix(const Vector& rhs, double alpha, Vector& lhs,
+                                  char trans) const;
+
+    // Computational form model.
+    bool dualized_{false};        // model was dualized in preprocessing?
+    Int num_rows_{0};             // # rows of AI
+    Int num_cols_{0};             // # structural columns of AI
+    Int num_dense_cols_{0};       // # columns classified as dense
+    Int nz_dense_{0};             // minimum # nonzeros in a dense column
+    SparseMatrix AI_;             // matrix AI columnwise
+    SparseMatrix AIt_;            // matrix AI rowwise
+    Vector b_;
+    Vector c_;
+    Vector lb_;
+    Vector ub_;
+    double norm_bounds_{0.0};     // infinity norm of [b;lb;ub]
+    double norm_c_{0.0};          // infinity norm of c
+
+    // User model after scaling. The data members are first initialized by
+    // CopyInput() and the vectors and matrix are then modified by ScaleModel().
+    Int num_constr_{0};           // # constraints
+    Int num_eqconstr_{0};         // # equality constraints
+    Int num_var_{0};              // # variables
+    Int num_free_var_{0};         // # free variables
+    Int num_entries_{0};          // # entries in input matrix
+    std::vector<Int> boxed_vars_; // indices of boxed variables
+    std::vector<char> constr_type_;
+    double norm_obj_{0.0};        // Infnorm(obj) as given by user
+    double norm_rhs_{0.0};        // Infnorm(rhs,lb,ub) as given by user
+    Vector scaled_obj_;
+    Vector scaled_rhs_;
+    Vector scaled_lbuser_;
+    Vector scaled_ubuser_;
+    SparseMatrix A_;              // is cleared after preprocessing
+
+    // Data from ScaleModel() that is required by ScaleBack*().
+    std::vector<Int> flipped_vars_;
+    Vector colscale_;
+    Vector rowscale_;
+};
+
+// Returns the maximum violation of lb <= x <= ub.
+double PrimalInfeasibility(const Model& model, const Vector& x);
+
+// Returns the maximum violation of the dual feasibility condition
+//   z[j] <= 0 if x[j] > lb[j],
+//   z[j] >= 0 if x[j] < ub[j].
+// Note that dual feasibility implies complementarity, i.e.
+//   x[j] == lb[j] || x[j] == ub[j] || z[j] == 0.
+double DualInfeasibility(const Model& model, const Vector& x, const Vector& z);
+
+// Returns the maximum violation of Ax=b.
+double PrimalResidual(const Model& model, const Vector& x);
+
+// Returns the maximum violation of A'y+z=c.
+double DualResidual(const Model& model, const Vector& y, const Vector& z);
+
+}  // namespace ipx
+
+#endif  // IPX_MODEL_H_

casadi/include/highs/ipm/ipx/multistream.h

@@ -0,0 +1,52 @@
+#ifndef IPX_MULTISTREAM_H_
+#define IPX_MULTISTREAM_H_
+
+#include <ostream>
+#include <vector>
+
+namespace ipx {
+
+// Multistream allows redirecting output to multiple std::ostreams. It is used
+// from Control (see control.h) for printing log messages simultaneously to
+// standard output and a logfile.
+
+class Multistream : public std::ostream {
+public:
+    Multistream() : std::ostream(nullptr) {
+        std::ostream::rdbuf(&mbuffer_);
+    }
+
+    // adds a new stream to the object
+    void add(std::ostream& os) {
+        os.flush();
+        mbuffer_.add(os.rdbuf());
+    }
+
+    // discards all streams
+    void clear() {
+        mbuffer_.clear();
+    }
+
+private:
+    struct multibuffer : public std::streambuf {
+        void add(std::streambuf* b) {
+            buffers.push_back(b);
+        }
+        void clear() {
+            buffers.clear();
+        }
+        int overflow(int c) override {
+            for (std::streambuf* b : buffers)
+                b->sputc(static_cast<char>(c));
+            return c;
+        }
+    private:
+        std::vector<std::streambuf*> buffers;
+    };
+
+    multibuffer mbuffer_;
+};
+
+}  // namespace ipx
+
+#endif  // IPX_MULTISTREAM_H_

casadi/include/highs/ipm/ipx/normal_matrix.h

@@ -0,0 +1,44 @@
+#ifndef IPX_NORMAL_MATRIX_H_
+#define IPX_NORMAL_MATRIX_H_
+
+#include "ipm/ipx/linear_operator.h"
+#include "ipm/ipx/model.h"
+
+namespace ipx {
+
+// NormalMatrix provides matrix-vector operations with the matrix
+//
+//   AI*W*AI',
+//
+// where AI is the m-by-(n+m) matrix defined by the model, and W is a diagonal
+// (weight) matrix defined by the user.
+
+class NormalMatrix : public LinearOperator {
+public:
+    // Constructor stores a reference to the model. No data is copied. The model
+    // must be valid as long as the object is used.
+    explicit NormalMatrix(const Model& model);
+
+    // Prepares normal matrix for subsequent calls to Apply(). If W is not NULL,
+    // then W must hold n+m entries. No data is copied. The array must be valid
+    // in each subsequent call to Apply(). If W is NULL, then the first n
+    // entries are assumed 1.0 and the last m entries are assumed 0.0.
+    void Prepare(const double* W);
+
+    // Returns computation time for calls to Apply() since last reset_time().
+    double time() const;
+    void reset_time();
+
+private:
+    void _Apply(const Vector& rhs, Vector& lhs, double* rhs_dot_lhs) override;
+
+    const Model& model_;
+    const double* W_{nullptr};
+    bool prepared_{false};
+    Vector work_;            // size n+m workspace (2-pass matvec products only)
+    double time_{0.0};
+};
+
+}  // namespace ipx
+
+#endif  // IPX_NORMAL_MATRIX_H_

casadi/include/highs/ipm/ipx/power_method.h

@@ -0,0 +1,44 @@
+#ifndef IPX_POWER_METHOD_H_
+#define IPX_POWER_METHOD_H_
+
+#include <cmath>
+#include "ipm/ipx/ipx_internal.h"
+#include "ipm/ipx/utils.h"
+
+namespace ipx {
+
+// Power method for estimating the maximum eigenvalue of a linear operator f.
+// @func: function object that is called by func(v,fv) to evaluate fv=f(v).
+// @v: vector of dimension of the linear operator. On return holds an
+//     approximate eigenvector corresponding to the maximum eigenvalue of f.
+// Returns an estimate for the maximum eigenvalue of f.
+
+template <typename F>
+double PowerMethod(F func, Vector& v) {
+    const Int maxiter = 100;
+    const double tol = 1e-3;
+    const Int dim = v.size();
+    Vector fv(dim);
+
+    // Construct starting vector and normalize.
+    for (Int i = 0; i < dim; i++)
+        v[i] = 1.0 + 1.0/(i+1);
+    v /= Twonorm(v);
+
+    // Run power method
+    double lambda = 0.0;
+    Int iter = 0;
+    while (iter++ < maxiter) {
+        func(v, fv);
+        double lambda_old = lambda;
+        lambda = Twonorm(fv);
+        v = fv/lambda;
+        if (std::abs(lambda-lambda_old) <= tol*lambda)
+            break;
+    }
+    return lambda;
+}
+
+}  // namespace ipx
+
+#endif // IPX_POWER_METHOD_H_