openscvx 2.dev6__py3-none-any.whl → 2.dev7__py3-none-any.whl

openscvx/symbolic/lower.py

@@ -830,16 +830,15 @@ def lower_symbolic_problem(
 
     _augment_impulsive_constraints(problem.constraints, problem.controls, problem.N)
 
-    # Lower convex constraints using solver's variables
-    lowered_cvxpy_constraint_list, cvxpy_params = lower_cvxpy_constraints(
+    # Each solver owns its convex-lowering policy. The default
+    # implementation on ConvexSolver refuses user .convex() constraints
+    # (right for QP-only backends like QPAXPTRSolver); CVXPyPTRSolver
+    # overrides to actually lower. No branching on solver type here.
+    lowered_cvxpy_constraint_list, cvxpy_params = solver.lower_convex_constraints(
         problem.constraints,
-        solver.ocp_vars.x_nonscaled,
-        solver.ocp_vars.u_nonscaled,
         problem.parameters,
     )
-    cvxpy_constraints = LoweredCvxpyConstraints(
-        constraints=lowered_cvxpy_constraint_list,
-    )
+    cvxpy_constraints = LoweredCvxpyConstraints(constraints=lowered_cvxpy_constraint_list)
 
     # Lower algebraic outputs to vmapped JAX functions
     algebraic_prop_lowered = {}

openscvx/utils/printing.py

@@ -232,6 +232,14 @@ def print_problem_summary(
     autotuner_name = type(autotuner).__name__ if autotuner is not None else "N/A"
     discretization_name = type(discretizer).__name__
 
+    solver_name = type(solver).__name__
+    cvx_solver_label = getattr(solver, "cvx_solver", None)
+    solver_line = (
+        f"Solver: {solver_name} ({cvx_solver_label})"
+        if cvx_solver_label is not None
+        else f"Solver: {solver_name}"
+    )
+
     lines = [
         "Problem Summary",
         (
@@ -248,7 +256,7 @@ def print_problem_summary(
         f"Autotuner: {autotuner_name}",
         f"Discretizer: {discretization_name} ({discretizer.ode_solver})",
         "SEP",
-        f"CVX Solver: {solver.cvx_solver}",
+        solver_line,
         f"Float Dtype: {float_dtype}",
         f"JAX Backend: {jax_backend} (v{jax_version})",
     ]

{openscvx-2.dev6.dist-info → openscvx-2.dev7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 2.dev6
+Version: 2.dev7
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Author-email: Chris Hayner and Griffin Norris <haynec@uw.edu>
 License: Apache Software License
@@ -26,6 +26,8 @@ Requires-Dist: pydantic>=2.0
 Provides-Extra: cvxpygen
 Requires-Dist: cvxpygen; extra == "cvxpygen"
 Requires-Dist: qocogen; extra == "cvxpygen"
+Provides-Extra: qpax
+Requires-Dist: qpax>=0.1.1; extra == "qpax"
 Provides-Extra: stl
 Requires-Dist: stljax; extra == "stl"
 Provides-Extra: lie

{openscvx-2.dev6.dist-info → openscvx-2.dev7.dist-info}/RECORD

@@ -1,9 +1,9 @@
-openscvx/__init__.py,sha256=a_aE1InLyrFrx4mrOAsvBvnxbExXjZOSNK9UdfRgz_g,3746
+openscvx/__init__.py,sha256=7uj7WjaK6bDWNkyBnefnADcOIHgQrEa51S7k8Jxixw0,4262
 openscvx/__main__.py,sha256=Hwm7mtVg3tLdvoUPkpcQv8KF3wxl72PNLBp9axFu8GY,2991
-openscvx/_version.py,sha256=_vMjYm42122ybxhtL6w7zoTQ8XvZX87uR27CauIPs7I,523
+openscvx/_version.py,sha256=Uut-XS6yaMHRtH_hOvjjwpwI1TOf-QSeMS9gCugRZq0,523
 openscvx/config.py,sha256=qfDDYoCe6WqJglKsx5b2W48YOglXenKr-PVRRdCFhYE,9898
-openscvx/loader.py,sha256=FvKLkkXd4ihd5FqLFF8Cd9VnPbPwTV_azBRnEipi28c,7654
-openscvx/problem.py,sha256=GlCxYFhpacIt6Sxte3-K-d_GbGxVL9F9Qzy4y8-hrGc,47675
+openscvx/loader.py,sha256=5WDLVA6CQxnyi1pRBfP8jQQc0r8RiAM2O_ItKgMXxAk,7660
+openscvx/problem.py,sha256=bqhu7btVrjO3k58hnVa1o1ePeNquybkGOYC6KEjX5oI,48048
 openscvx/algorithms/__init__.py,sha256=_jbRLwhiHQGCqs3mide1UTj7AzxJlELnDkqSySNCTIM,5688
 openscvx/algorithms/base.py,sha256=JsaVfS-hyHeGU1GUuQV9i-EpKQ1HBE0RHABIBGrEonM,30205
 openscvx/algorithms/optimization_results.py,sha256=Fk7tiW8IuMZa8Ri9-SHq9kmw3BPxXl1mc0yXy11w_-c,13416
@@ -38,7 +38,7 @@ openscvx/integrators/__init__.py,sha256=easV2-ruQLif5e8UBqE-xP5mpslYCN84gzT3OfZG
 openscvx/integrators/diffrax.py,sha256=5RWNtaAUSGAWeHvX897fBxWjjJLVM4ORhqC12gdFVIA,4215
 openscvx/integrators/runge_kutta.py,sha256=yMf_JLVToPgdwayFP7ZZ-w-grf_ch9UgyPsZu3mYRb0,2972
 openscvx/lowered/__init__.py,sha256=P1xtMVkXWa3uz4tiJeTllurwGFeugdwxqU8h0Mt6uTo,942
-openscvx/lowered/cvxpy_constraints.py,sha256=Duuvs7OPcG_mCoTtd4FGLhDSpxCj2d2Vy8pR-nkQxdw,642
+openscvx/lowered/cvxpy_constraints.py,sha256=CcgJLweSJEeNGfD21HUjHdNbBcvHhNejhq0gncU7lP0,846
 openscvx/lowered/cvxpy_variables.py,sha256=CO_J-930lnBQuyt4zgZfnonav5P34h8FRmAFDM5031g,5888
 openscvx/lowered/dynamics.py,sha256=EzgzQmOnFJoBUC6sMPJSJo_9Nb1IO8D51bsb6prZSSk,2400
 openscvx/lowered/jax_constraints.py,sha256=9h96qKx_ZbK35S6OpvmthsI55FAk3-kdx3TVjSKiCVk,6063
@@ -58,15 +58,17 @@ openscvx/plotting/viser/server.py,sha256=rRRHDejVTcqWCkKO1EgwezEcmFktiqqx1YwAE3W
 openscvx/propagation/__init__.py,sha256=XjlOoEwgo2Vow0uW0mMCcLIN53VzFBnSuer3ZzPqnbk,1851
 openscvx/propagation/post_processing.py,sha256=zunqYinzhrLWvTtylZZ3KdQuyng_nyl69dFCSv5d8zo,7197
 openscvx/propagation/propagation.py,sha256=RZlAKBSHfp4XLMxHbzk6YXGgyBFv8sxsyBqdhzvwRF0,10994
-openscvx/solvers/__init__.py,sha256=QWhKSsScDnghleuiejblmairj13ufXgijRJtRv8Vf6s,2433
-openscvx/solvers/base.py,sha256=MF9nep-9eYUoX5SsbOsEMrN0KY75XtkwtDrOx3M-Mus,9928
-openscvx/solvers/ptr_solver.py,sha256=Zs7uwPOXI-0Ie3ZlDfH-CqEwMY5Gv8Pi1AzYs9EDSVY,38107
+openscvx/solvers/__init__.py,sha256=CqnRRfP4bFhxuFdaLMw14OuZ71og5_SkLD-8OJm80yk,3229
+openscvx/solvers/base.py,sha256=EjFWy9wSksIL5ImEo6UZxcBz_OuCXtd3JY5Aomqk8U8,13618
+openscvx/solvers/cvxpy_ptr_solver.py,sha256=H1O-EzfHA-F-oWMns6VWkYvFnyfdrc3xmKdUHpVFxSM,36821
+openscvx/solvers/ptr_solver.py,sha256=ghdnyerCcbCnxgO87Z11f6GFKNDb142D9hVaspQfEJk,7644
+openscvx/solvers/qpax_ptr_solver.py,sha256=ff5CWKapXW84cHdt1F2j2tGJUi1x-BtkGXmWcdVdot0,32248
 openscvx/symbolic/__init__.py,sha256=aBwrKg6OnmbDL9pma9k4G009QWCOjM2Lmt_6MZPF7I4,294
 openscvx/symbolic/augmentation.py,sha256=qZWpcFenJawRM_VIRZmoJtYOLErx0jmb8eLvSf_xCvI,29555
 openscvx/symbolic/builder.py,sha256=ivkPY9tecg6KEgguEuOHknh_FRabWXlCUjXrnWuiwe0,24631
 openscvx/symbolic/constraint_set.py,sha256=HtLKmXvji9B47l1jzd5fEJSAFAKX93vyzDwux1xxayM,3476
 openscvx/symbolic/hashing.py,sha256=OLSwuqFal9tKKtMxLAM9HBGb1bo5vzo-DG7srSy21lI,4686
-openscvx/symbolic/lower.py,sha256=zGMVRduOqzC-u3cU3Rw1y61EG-86waHdc-hP0XDh5io,31790
+openscvx/symbolic/lower.py,sha256=y0nhPxZnXJxJvGwCGx4N4oQL3wWPjRVpS-lyjalh73g,31927
 openscvx/symbolic/preprocessing.py,sha256=Sqy_i5ntGWXdxcJCvql_034ZWoYU-kBRPEX34wgB344,36318
 openscvx/symbolic/problem.py,sha256=TblK3Z0orLaI_6_uPBVZP4SMxTSFXnUfNb0SICR-vFg,4853
 openscvx/symbolic/sparsity.py,sha256=9CVvvOz3FiBSMKL7TAcrq9FzMIis8m3iOq0URXWO0F8,5973
@@ -138,12 +140,12 @@ openscvx/symbolic/parser/tokenizer.py,sha256=Q7NzkNM6XjxZedflDq7J-4sagsFfA0Wumn3
 openscvx/utils/__init__.py,sha256=jO7gVvPklDsQXg_AwL929DcY2jLp2ZbNeyjYETOtEWY,402
 openscvx/utils/cache.py,sha256=_LExCrntPw5mp0BPS9okgCc6ad_AMddWdQzft2vbnOs,3612
 openscvx/utils/caching.py,sha256=BPkT_IbmYT-i-BZ-himdWUc_4oBcwXWJxeUMwQWnSNc,9341
-openscvx/utils/printing.py,sha256=zl3IxnKhwITqB5dK0Ru2IlORPqB61Y3DgsTryqMNu9M,13360
+openscvx/utils/printing.py,sha256=4dx9MYV9I2RoJtxDTdVLpkYIoNEosEBpwxrIgH5rgWo,13595
 openscvx/utils/profiling.py,sha256=k2x-i0CpG_kRe6dNcNBGu-ylrOtQw4B4C1UaOTjUMfU,1678
 openscvx/utils/utils.py,sha256=M25RHE_7DSr3Reaca0xCXnDSY9KHuqYvXdh5m1ZotEc,3047
-openscvx-2.dev6.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-openscvx-2.dev6.dist-info/METADATA,sha256=oVbcoS-ikeTajYCE_jmyk9xoAsTwQ5v39Zc6qsAOxC4,10662
-openscvx-2.dev6.dist-info/WHEEL,sha256=aeYiig01lYGDzBgS8HxWXOg3uV61G9ijOsup-k9o1sk,91
-openscvx-2.dev6.dist-info/entry_points.txt,sha256=1Oqek8Sy28hmAZFgZXDxFXYVf56YLYWlHjhh9RYJ7wE,52
-openscvx-2.dev6.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
-openscvx-2.dev6.dist-info/RECORD,,
+openscvx-2.dev7.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+openscvx-2.dev7.dist-info/METADATA,sha256=khpD8n2FLEdAq1V0UeWIVVif1qZ6NZJlOPe4BWUgLlY,10727
+openscvx-2.dev7.dist-info/WHEEL,sha256=aeYiig01lYGDzBgS8HxWXOg3uV61G9ijOsup-k9o1sk,91
+openscvx-2.dev7.dist-info/entry_points.txt,sha256=1Oqek8Sy28hmAZFgZXDxFXYVf56YLYWlHjhh9RYJ7wE,52
+openscvx-2.dev7.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
+openscvx-2.dev7.dist-info/RECORD,,