casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/superscs/cs.h

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+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * 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.
+ * 
+ */
+#ifndef SCS_CS_H_GUARD
+#define SCS_CS_H_GUARD
+
+#include "glbopts.h"
+
+/**
+ * \brief Matrix in compressed-column or triplet form.
+ * 
+ * This is a subset of the routines in the CSPARSE package by
+ * Tim Davis et. al. For the full package please visit
+ * http://www.cise.ufl.edu/research/sparse/CSparse/.
+ * 
+ * \note In order to avoid conflicts in case some users want to load
+ *       both SuperSCS and CSPARSE in their project, we have prepended
+ *       the prefix scs_ in all function names here (although not
+ *       necessary, we did it in static functions for uniformity. 
+ *
+ */
+typedef struct scs_cs_sparse {
+    scs_int nzmax; /**< \brief maximum number of entries */
+    scs_int m; /**< \brief number of rows */
+    scs_int n; /**< \brief number of columns */
+    scs_int *p; /**< \brief column pointers (size n+1) or col indices (size nzmax) */
+    scs_int *i; /**< \brief row indices, size nzmax */
+    scs_float *x; /**< \brief numerical values, size nzmax */
+    scs_int nz; /**< \brief Number of entries in triplet matrix, -1 for compressed-col */
+} scs_cs;
+
+/**
+ * \brief Compress a triplet matrix into a column-packed representation.
+ */
+scs_cs *scs_cs_compress(const scs_cs *T);
+
+
+/**
+ * \brief Frees the memory of <code>x</code> and <code>w></code>.
+ * 
+ * If <code>ok</code> is nonzero, it returns <code>C</code>, otherwise
+ * it frees <code>C</code> (it calls ::scs_cs_spfree) and returns ::SCS_NULL.
+ * 
+ * @param C
+ * @param w
+ * @param x
+ * @param ok
+ * @return 
+ */
+scs_cs *scs_cs_done(scs_cs *C, void *w, void *x, scs_int ok);
+
+/**
+ * \brief Allocates a sparse matrix of given dimensions.
+ * 
+ * @param m number of rows
+ * @param n number of columns
+ * @param nzmax maximum number of nonzero elements
+ * @param values whether to allocate memory for the matrix values
+ * @param triplet whether the triplet representation is used
+ * @return 
+ */
+scs_cs *scs_cs_spalloc(
+        scs_int m, 
+        scs_int n, 
+        scs_int nzmax, 
+        scs_int values,
+        scs_int triplet);
+
+scs_cs *scs_cs_spfree(scs_cs *A);
+
+scs_float scs_cs_cumsum(
+        scs_int *p, 
+        scs_int *c, 
+        scs_int n);
+
+scs_int *scs_cs_pinv(
+        scs_int const *p, 
+        scs_int n);
+
+scs_cs *scs_cs_symperm(
+        const scs_cs *A, 
+        const scs_int *pinv, 
+        scs_int values);
+
+#endif

casadi/include/superscs/ctrlc.h

@@ -0,0 +1,77 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * 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.
+ * 
+ */
+
+/*
+ * Interface for SCS signal handling.
+ */
+
+#ifndef CTRLC_H_GUARD
+#define CTRLC_H_GUARD
+
+#if !(defined _WIN32 || defined _WIN64 || defined _WINDLL || defined __APPLE__)
+#ifdef _POSIX_C_SOURCE
+#undef _POSIX_C_SOURCE
+#endif
+#define _POSIX_C_SOURCE 199309L
+#endif
+
+#if CTRLC > 0
+
+#if defined MATLAB_MEX_FILE
+
+/* No header file available here; define the prototypes ourselves */
+extern int utIsInterruptPending();
+extern int utSetInterruptEnabled(int);
+
+#elif(defined _WIN32 || defined _WIN64 || defined _WINDLL)
+
+/* Use Windows SetConsoleCtrlHandler for signal handling */
+#include <windows.h>
+
+#else
+
+/* Use POSIX clocl_gettime() for timing on non-Windows machines */
+#include <signal.h>
+
+#endif
+
+/* METHODS are the same for both */
+void startInterruptListener(void);
+void endInterruptListener(void);
+int isInterrupted(void);
+
+#else /* CTRLC = 0 */
+
+/* No signal handling. */
+#define startInterruptListener()
+#define endInterruptListener()
+#define isInterrupted() 0
+
+#endif /* END IF CTRLC > 0 */
+
+#endif /* END IFDEF __TIMER_H__ */

casadi/include/superscs/directions.h

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+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ *
+ * 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.
+ * 
+ */
+#ifndef SCS_DIRECTIONS_H
+#define SCS_DIRECTIONS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "scs.h"
+
+    /**
+     * The cache has been incremented.
+     */
+#define SCS_DIRECTION_CACHE_INCREMENT 101
+    /** 
+     * The cursor of the cache has been reset to \c 0.
+     */
+#define SCS_DIRECTION_CACHE_RESET 100
+    /**
+     * The direction could not be computed due to an error.
+     */
+#define SCS_DIRECTION_ERROR -1
+    /**
+     * The direction was computed successfully.
+     * 
+     * All nonnegative status codes denote success.
+     */
+#define SCS_DIRECTION_SUCCESS 0
+
+    /**
+     * Resets the cache. This methods does not free the memory allocated by the 
+     * cache, nor does it overwrite the previously cached data. It simply sets the 
+     * parameters `mem_current` and `mem_idx` to 0.
+     * 
+     * @param cache the cache to be reset 
+     * 
+     * @return status code (returns #SCS_DIRECTION_CACHE_RESET)
+     */
+    scs_int scs_reset_direction_cache(ScsDirectionCache * cache);
+
+    /**
+     * Restarted Broyden (as it is reported in the paper).
+     * 
+     * @param work Work structure with all available information about the current
+     * iteration (current FPR, values of \f$s_k\f$, \f$y_k\f$ etc).
+     * 
+     * @return status code of the method.
+     * 
+     * @see \ref sec-restarted-broyden "Restarted Broyden Algorithm"
+     */
+    scs_int scs_compute_dir_restarted_broyden(ScsWork *work);
+    
+    /**
+     * Anderson's acceleration
+     * 
+     * @param work Work structure with all available information about the current
+     * iteration (current FPR, values of \f$s_k\f$, \f$y_k\f$ etc).
+     * 
+     * @return status code of the method.
+     */
+    scs_int scs_compute_dir_anderson(ScsWork *work);
+
+    /**
+     * Full Broyden method.
+     * 
+     * @param work
+     * @param i
+     * 
+     * @return status code of the method.
+     * 
+     * @see \ref sec-full-broyden "Full Broyden Algorithm"
+     * 
+     * \warning Not implemented yet
+     */
+    scs_int scs_compute_dir_full_broyden(ScsWork *work, scs_int i);
+
+    /**
+     * Frees memory allocated for the full Broyden method.
+     */
+    void scs_free_full_broyden(void);
+
+    /**
+     * Computes a direction according to the value of 
+     * <code>work->stgs->direction</code>.
+     * 
+     * @param work workspace structure
+     * @param i iteration count
+     * @return status code; negative status corresponds to error. 
+     * 
+     * @see ScsDirectionType
+     */
+    scs_int scs_compute_direction(ScsWork *work, scs_int i);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DIRECTIONS_H */
+

casadi/include/superscs/glbopts.h

@@ -0,0 +1,240 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * 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.
+ * 
+ */
+#ifndef SCS_GLB_H_GUARD
+#define SCS_GLB_H_GUARD
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <math.h>
+
+#ifdef RESTRICT
+#undef RESTRICT
+#endif
+
+#if(defined _WIN32 || defined _WIN64 || defined _WINDLL)
+#define RESTRICT 
+#else
+#define RESTRICT __restrict
+#endif
+
+    /* redefine printfs and memory allocators as needed */
+#ifdef MATLAB_MEX_FILE
+#include "mex.h"
+#define scs_printf mexPrintf
+#define scs_free_ mxFree
+#define scs_malloc_ mxMalloc
+#define scs_calloc_ mxCalloc
+#elif defined PYTHON
+#include <Python.h>
+#include <stdlib.h>
+#define scs_printf(...)                                                        \
+    {                                                                          \
+        PyGILState_STATE gilstate = PyGILState_Ensure();                       \
+        PySys_WriteStdout(__VA_ARGS__);                                        \
+        PyGILState_Release(gilstate);                                          \
+    }
+#define scs_free_ free
+#define scs_malloc_ malloc
+#define scs_calloc_ calloc
+#elif(defined(USING_R))
+#include <stdlib.h>
+#include <stdio.h>
+#include <R_ext/Print.h> /* Rprintf etc */
+#define scs_printf Rprintf
+#define scs_free_ free
+#define scs_malloc_ malloc
+#define scs_calloc_ calloc
+#elif defined CASADI
+#include <stdio.h>
+#include <stdlib.h>
+extern int casadi_printf(const char  *fmt, ...);
+#define printf casadi_printf
+#define scs_printf casadi_printf
+#define scs_free_ free
+#define scs_malloc_ malloc
+#define scs_calloc_ calloc
+#else
+#include <stdio.h>
+#include <stdlib.h>
+#define scs_printf printf
+#define scs_free_ free
+#define scs_malloc_ malloc
+#define scs_calloc_ calloc
+#endif
+
+#define scs_free(x)  if ((x)!=NULL) {  scs_free_(x); x = SCS_NULL; }
+#define scs_malloc(x) (((x) > 0) ? scs_malloc_(x) : SCS_NULL)
+#define scs_calloc(x, y) scs_calloc_(x, y)
+
+#ifdef DLONG
+#ifdef _WIN64
+    typedef __int64 scs_int;
+    /* #define scs_int __int64 */
+#else
+    typedef long scs_int;
+    /* #define scs_int long */
+#endif
+#else
+    typedef long long int scs_int;
+#endif
+
+#ifndef FLOAT
+    typedef double scs_float;
+#ifndef NAN
+#define NAN ((scs_float)0x7ff8000000000000)
+#endif
+#ifndef INFINITY
+#define INFINITY NAN
+#endif
+#else
+    typedef float scs_float;
+#ifndef NAN
+#define NAN ((float)0x7fc00000)
+#endif
+#ifndef INFINITY
+#define INFINITY NAN
+#endif
+#endif
+
+#define SCS_NULL 0
+
+#ifndef MAX
+    /**
+     * Maximum value of two scalars
+     */
+#define MAX(a, b) (((a) > (b)) ? (a) : (b))
+#endif
+
+#ifndef MIN
+    /**
+     * Minimum value of two scalars
+     */
+#define MIN(a, b) (((a) < (b)) ? (a) : (b))
+#endif
+
+#ifndef ABS
+    /**
+     * Absolute value of a number
+     */
+#define ABS(x) (((x) < 0) ? -(x) : (x))
+#endif
+
+#ifndef SGN
+    /**
+     * Sign of a number
+     */
+#define SGN(x) (((x) >= 0) ? 1.0 : -1.0) 
+#endif
+
+#ifndef POWF
+#ifdef FLOAT
+#define POWF powf
+#else
+#define POWF pow
+#endif
+#endif
+
+#ifndef SQRTF
+#ifdef FLOAT
+#define SQRTF sqrtf
+#else
+#define SQRTF sqrt
+#endif
+#endif
+
+
+    /**
+     * \brief Data of a conic optimization problem
+     * 
+     * Problem dimensions, matrix \f$A\f$, vectors \f$b\f$ and \f$c\f$ and
+     * settings.
+     */
+    typedef struct scs_data ScsData;
+    /**
+     * \brief Solver settings
+     */
+    typedef struct scs_settings ScsSettings;
+    /**
+     * \brief Primal and dual solution.
+     */
+    typedef struct scs_solution ScsSolution;
+    /**
+     * \brief Solver statistics and information.
+     */
+    typedef struct scs_info ScsInfo;
+    /**
+     * \brief Scaling/normalization matrices.
+     */
+    typedef struct scs_scaling ScsScaling;
+    /**
+     * \brief SuperSCS Workspace structure.
+     */
+    typedef struct scs_work ScsWork;
+    /**
+     * \brief Cartesian product of cones.
+     * 
+     * \sa \ref page_cones "Cones documentation"
+     */
+    typedef struct scs_cone ScsCone;
+    /**
+     * A finite-memory cache where \f$(Y, U)\f$ are stored.
+     */
+    typedef struct scs_direction_cache ScsDirectionCache;
+
+    /**
+     * \brief Direction computation method (in SuperSCS)
+     * 
+     * See \ref page_directions "Documentation on directions"
+     */
+    typedef
+    enum direction_enum {
+        /**
+         * Restarted Broyden method
+         */
+        restarted_broyden = 100,
+        /**
+         * Anderson's acceleration
+         */
+        anderson_acceleration = 150,
+        /**
+         * Using \f$d_k = - R_k\f$
+         */
+        fixed_point_residual = 200,
+        /**
+         * Full Broyden method
+         */
+        full_broyden = 300
+    }
+    ScsDirectionType;
+
+#ifdef __cplusplus
+}
+#endif
+#endif