sleipnirgroup-jormungandr 0.0.1.dev474__tar.gz → 0.0.1.dev476__tar.gz

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/CMakeLists.txt

@@ -71,6 +71,11 @@ option(BUILD_BENCHMARKS "Build CasADi and Sleipnir benchmarks" OFF)
 option(BUILD_EXAMPLES "Build examples" OFF)
 option(BUILD_PYTHON "Build Python module" OFF)
 option(DISABLE_DIAGNOSTICS "Disable diagnostics support at compile-time" OFF)
+option(
+    ENABLE_BOUND_PROJECTION
+    "Enable projecting the state onto bound inequality constraints inside problem setup"
+    OFF
+)
 
 include(CompilerFlags)
 
@@ -104,6 +109,10 @@ if(DISABLE_DIAGNOSTICS)
     target_compile_definitions(Sleipnir PUBLIC SLEIPNIR_DISABLE_DIAGNOSTICS)
 endif()
 
+if(ENABLE_BOUND_PROJECTION)
+    target_compile_definitions(Sleipnir PUBLIC SLEIPNIR_ENABLE_BOUND_PROJECTION)
+endif()
+
 # Eigen dependency
 if(NOT USE_SYSTEM_EIGEN)
     set(EIGEN_BUILD_CMAKE_PACKAGE TRUE)
@@ -120,6 +129,17 @@ endif()
 
 target_link_libraries(Sleipnir PUBLIC Eigen3::Eigen)
 
+# small_vector dependency
+fetchcontent_declare(
+    small_vector
+    GIT_REPOSITORY https://github.com/gharveymn/small_vector.git
+    # main on 2025-05-15
+    GIT_TAG b19a9c477cad5e58f8aed59dbe9be1c30e4b9826
+)
+fetchcontent_makeavailable(small_vector)
+
+target_link_libraries(Sleipnir PUBLIC small_vector)
+
 if(BUILD_TESTING AND NOT CMAKE_CROSSCOMPILING)
     # Catch2 dependency
     fetchcontent_declare(
@@ -325,7 +345,10 @@ if(BUILD_PYTHON)
             ${CMAKE_CURRENT_SOURCE_DIR}/include
             ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp
     )
-    target_link_libraries(_jormungandr PUBLIC Threads::Threads Eigen3::Eigen)
+    target_link_libraries(
+        _jormungandr
+        PUBLIC Threads::Threads Eigen3::Eigen small_vector
+    )
 
     # Suppress compiler warnings in nanobind
     if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: sleipnirgroup-jormungandr
-Version: 0.0.1.dev474
+Version: 0.0.1.dev476
 Summary: A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method.
 License: Copyright (c) Sleipnir contributors
         
@@ -187,6 +187,7 @@ See the [examples](https://github.com/SleipnirGroup/Sleipnir/tree/main/examples)
   * On Linux, install via `sudo apt install python`
   * On macOS, install via `brew install python`
 * [Eigen](https://gitlab.com/libeigen/eigen)
+* [small_vector](https://github.com/gharveymn/small_vector)
 * [nanobind](https://github.com/wjakob/nanobind) (build only)
 * [Catch2](https://github.com/catchorg/Catch2) (tests only)
 
@@ -293,7 +294,7 @@ For quadratic problems, we compute the Lagrangian Hessian and constraint Jacobia
 
 #### Use a performant linear algebra library with fast sparse solvers
 
-[Eigen](https://gitlab.com/libeigen/eigen/) provides these. It also has no required dependencies, which makes cross compilation much easier.
+[Eigen](https://gitlab.com/libeigen/eigen) provides these. It also has no required dependencies, which makes cross compilation much easier.
 
 #### Use a pool allocator for autodiff expression nodes
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/README.md

@@ -165,6 +165,7 @@ See the [examples](https://github.com/SleipnirGroup/Sleipnir/tree/main/examples)
   * On Linux, install via `sudo apt install python`
   * On macOS, install via `brew install python`
 * [Eigen](https://gitlab.com/libeigen/eigen)
+* [small_vector](https://github.com/gharveymn/small_vector)
 * [nanobind](https://github.com/wjakob/nanobind) (build only)
 * [Catch2](https://github.com/catchorg/Catch2) (tests only)
 
@@ -271,7 +272,7 @@ For quadratic problems, we compute the Lagrangian Hessian and constraint Jacobia
 
 #### Use a performant linear algebra library with fast sparse solvers
 
-[Eigen](https://gitlab.com/libeigen/eigen/) provides these. It also has no required dependencies, which makes cross compilation much easier.
+[Eigen](https://gitlab.com/libeigen/eigen) provides these. It also has no required dependencies, which makes cross compilation much easier.
 
 #### Use a pool allocator for autodiff expression nodes
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/cmake/modules/Pybind11Mkdoc.cmake

@@ -32,13 +32,22 @@ function(pybind11_mkdoc target headers)
     list(FILTER eigen_dirs INCLUDE REGEX "\\$<BUILD_INTERFACE:.*>")
     list(TRANSFORM eigen_dirs PREPEND "-I")
 
+    get_target_property(
+        small_vector_dirs
+        small_vector
+        INTERFACE_INCLUDE_DIRECTORIES
+    )
+    list(FILTER small_vector_dirs INCLUDE REGEX "\\$<BUILD_INTERFACE:.*>")
+    list(TRANSFORM small_vector_dirs PREPEND "-I")
+
     add_custom_command(
         OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp/docstrings.hpp
         COMMAND
             ${env_vars} ${Python3_EXECUTABLE} -m pybind11_mkdoc ${headers} -o
             ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp/docstrings.hpp
             -I/usr/lib/clang/`clang++ --version | grep -E -o '[0-9]+' | head
-            -1`/include ${target_dirs} ${eigen_dirs} -std=c++23
+            -1`/include ${target_dirs} ${eigen_dirs} ${small_vector_dirs}
+            -std=c++23
         DEPENDS ${headers}
         USES_TERMINAL
     )

{sleipnirgroup_jormungandr-0.0.1.dev474/src → sleipnirgroup_jormungandr-0.0.1.dev476/include}/.styleguide

@@ -8,4 +8,5 @@ cppSrcFileInclude {
 
 includeOtherLibs {
   ^Eigen/
+  ^gch/
 }

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/adjoint_expression_graph.hpp

@@ -6,11 +6,11 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -101,8 +101,9 @@ class AdjointExpressionGraph {
    * @param wrt Vector of variables with respect to which to compute the
    *   Jacobian.
    */
-  void append_adjoint_triplets(small_vector<Eigen::Triplet<double>>& triplets,
-                               int row, const VariableMatrix& wrt) const {
+  void append_adjoint_triplets(
+      gch::small_vector<Eigen::Triplet<double>>& triplets, int row,
+      const VariableMatrix& wrt) const {
     // Read docs/algorithms.md#Reverse_accumulation_automatic_differentiation
     // for background on reverse accumulation automatic differentiation.
 
@@ -165,10 +166,10 @@ class AdjointExpressionGraph {
 
  private:
   // Topological sort of graph from parent to child
-  small_vector<Expression*> m_top_list;
+  gch::small_vector<Expression*> m_top_list;
 
   // List that maps nodes to their respective column
-  small_vector<int> m_col_list;
+  gch::small_vector<int> m_col_list;
 };
 
 }  // namespace slp::detail

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/expression.hpp

@@ -11,10 +11,11 @@
 #include <numbers>
 #include <utility>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/autodiff/expression_type.hpp"
 #include "sleipnir/util/intrusive_shared_ptr.hpp"
 #include "sleipnir/util/pool.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -694,7 +695,7 @@ inline constexpr void dec_ref_count(Expression* expr) {
   // Expression destructor when expr's refcount reaches zero can cause a stack
   // overflow. Instead, we iterate over its children to decrement their
   // refcounts and deallocate them.
-  small_vector<Expression*> stack;
+  gch::small_vector<Expression*> stack;
   stack.emplace_back(expr);
 
   while (!stack.empty()) {

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/expression_graph.hpp

@@ -4,8 +4,9 @@
 
 #include <ranges>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/autodiff/expression.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -16,8 +17,9 @@ namespace slp::detail {
  *
  * @param root The root node of the expression.
  */
-inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
-  small_vector<Expression*> list;
+inline gch::small_vector<Expression*> topological_sort(
+    const ExpressionPtr& root) {
+  gch::small_vector<Expression*> list;
 
   // If the root type is a constant, Update() is a no-op, so there's no work
   // to do
@@ -26,7 +28,7 @@ inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
   }
 
   // Stack of nodes to explore
-  small_vector<Expression*> stack;
+  gch::small_vector<Expression*> stack;
 
   // Enumerate incoming edges for each node via depth-first search
   stack.emplace_back(root.get());
@@ -73,7 +75,7 @@ inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
  *
  * @param list Topological sort of graph from parent to child.
  */
-inline void update_values(const small_vector<Expression*>& list) {
+inline void update_values(const gch::small_vector<Expression*>& list) {
   // Traverse graph from child to parent and update values
   for (auto& node : list | std::views::reverse) {
     auto& lhs = node->args[0];

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/hessian.hpp

@@ -5,12 +5,12 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/adjoint_expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -154,16 +154,16 @@ class SLEIPNIR_DLLEXPORT Hessian {
   VariableMatrix m_variables;
   VariableMatrix m_wrt;
 
-  small_vector<detail::AdjointExpressionGraph> m_graphs;
+  gch::small_vector<detail::AdjointExpressionGraph> m_graphs;
 
   Eigen::SparseMatrix<double> m_H{m_variables.rows(), m_wrt.rows()};
 
   // Cached triplets for gradients of linear rows
-  small_vector<Eigen::Triplet<double>> m_cached_triplets;
+  gch::small_vector<Eigen::Triplet<double>> m_cached_triplets;
 
   // List of row indices for nonlinear rows whose graients will be computed in
   // Value()
-  small_vector<int> m_nonlinear_rows;
+  gch::small_vector<int> m_nonlinear_rows;
 };
 
 }  // namespace slp

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/jacobian.hpp

@@ -5,12 +5,12 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/adjoint_expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -143,16 +143,16 @@ class SLEIPNIR_DLLEXPORT Jacobian {
   VariableMatrix m_variables;
   VariableMatrix m_wrt;
 
-  small_vector<detail::AdjointExpressionGraph> m_graphs;
+  gch::small_vector<detail::AdjointExpressionGraph> m_graphs;
 
   Eigen::SparseMatrix<double> m_J{m_variables.rows(), m_wrt.rows()};
 
   // Cached triplets for gradients of linear rows
-  small_vector<Eigen::Triplet<double>> m_cached_triplets;
+  gch::small_vector<Eigen::Triplet<double>> m_cached_triplets;
 
   // List of row indices for nonlinear rows whose graients will be computed in
   // Value()
-  small_vector<int> m_nonlinear_rows;
+  gch::small_vector<int> m_nonlinear_rows;
 };
 
 }  // namespace slp

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/variable.hpp

@@ -11,12 +11,12 @@
 #include <vector>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression.hpp"
 #include "sleipnir/autodiff/expression_graph.hpp"
 #include "sleipnir/util/assert.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 #ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
@@ -256,7 +256,7 @@ class SLEIPNIR_DLLEXPORT Variable {
 
   /// Used to update the value of this variable based on the values of its
   /// dependent variables
-  small_vector<detail::Expression*> m_graph;
+  gch::small_vector<detail::Expression*> m_graph;
 
   /// Used for lazy initialization of m_graph
   bool m_graph_initialized = false;
@@ -495,8 +495,8 @@ template <typename LHS, typename RHS>
   requires(ScalarLike<LHS> || MatrixLike<LHS>) &&
           (ScalarLike<RHS> || MatrixLike<RHS>) &&
           (SleipnirType<LHS> || SleipnirType<RHS>)
-small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
-  small_vector<Variable> constraints;
+gch::small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
+  gch::small_vector<Variable> constraints;
 
   if constexpr (ScalarLike<LHS> && ScalarLike<RHS>) {
     constraints.emplace_back(lhs - rhs);
@@ -558,7 +558,7 @@ small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
  */
 struct SLEIPNIR_DLLEXPORT EqualityConstraints {
   /// A vector of scalar equality constraints.
-  small_vector<Variable> constraints;
+  gch::small_vector<Variable> constraints;
 
   /**
    * Concatenates multiple equality constraints.
@@ -619,7 +619,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
  */
 struct SLEIPNIR_DLLEXPORT InequalityConstraints {
   /// A vector of scalar inequality constraints.
-  small_vector<Variable> constraints;
+  gch::small_vector<Variable> constraints;
 
   /**
    * Concatenates multiple inequality constraints.

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/autodiff/variable_matrix.hpp

@@ -11,6 +11,7 @@
 #include <vector>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/slice.hpp"
 #include "sleipnir/autodiff/variable.hpp"
@@ -18,7 +19,6 @@
 #include "sleipnir/util/assert.hpp"
 #include "sleipnir/util/concepts.hpp"
 #include "sleipnir/util/function_ref.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -1029,7 +1029,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
 
     constexpr iterator() noexcept = default;
 
-    explicit constexpr iterator(small_vector<Variable>::iterator it) noexcept
+    explicit constexpr iterator(
+        gch::small_vector<Variable>::iterator it) noexcept
         : m_it{it} {}
 
     constexpr iterator& operator++() noexcept {
@@ -1048,7 +1049,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr reference operator*() const noexcept { return *m_it; }
 
    private:
-    small_vector<Variable>::iterator m_it;
+    gch::small_vector<Variable>::iterator m_it;
   };
 
   class const_iterator {
@@ -1062,7 +1063,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr const_iterator() noexcept = default;
 
     explicit constexpr const_iterator(
-        small_vector<Variable>::const_iterator it) noexcept
+        gch::small_vector<Variable>::const_iterator it) noexcept
         : m_it{it} {}
 
     constexpr const_iterator& operator++() noexcept {
@@ -1081,7 +1082,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr const_reference operator*() const noexcept { return *m_it; }
 
    private:
-    small_vector<Variable>::const_iterator m_it;
+    gch::small_vector<Variable>::const_iterator m_it;
   };
 
 #endif  // DOXYGEN_SHOULD_SKIP_THIS
@@ -1170,7 +1171,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
   }
 
  private:
-  small_vector<Variable> m_storage;
+  gch::small_vector<Variable> m_storage;
   int m_rows = 0;
   int m_cols = 0;
 };

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/optimization/multistart.hpp

@@ -6,9 +6,10 @@
 #include <future>
 #include <span>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/optimization/solver/exit_status.hpp"
 #include "sleipnir/util/function_ref.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp {
 
@@ -48,14 +49,14 @@ MultistartResult<DecisionVariables> Multistart(
         const DecisionVariables& initial_guess)>
         solve,
     std::span<const DecisionVariables> initial_guesses) {
-  small_vector<std::future<MultistartResult<DecisionVariables>>> futures;
+  gch::small_vector<std::future<MultistartResult<DecisionVariables>>> futures;
   futures.reserve(initial_guesses.size());
 
   for (const auto& initial_guess : initial_guesses) {
     futures.emplace_back(std::async(std::launch::async, solve, initial_guess));
   }
 
-  small_vector<MultistartResult<DecisionVariables>> results;
+  gch::small_vector<MultistartResult<DecisionVariables>> results;
   results.reserve(futures.size());
 
   for (auto& future : futures) {

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/optimization/problem.hpp

@@ -11,6 +11,7 @@
 #include <utility>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression_type.hpp"
 #include "sleipnir/autodiff/variable.hpp"
@@ -18,7 +19,6 @@
 #include "sleipnir/optimization/solver/exit_status.hpp"
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -320,19 +320,19 @@ class SLEIPNIR_DLLEXPORT Problem {
  private:
   // The list of decision variables, which are the root of the problem's
   // expression tree
-  small_vector<Variable> m_decision_variables;
+  gch::small_vector<Variable> m_decision_variables;
 
   // The cost function: f(x)
   std::optional<Variable> m_f;
 
   // The list of equality constraints: cₑ(x) = 0
-  small_vector<Variable> m_equality_constraints;
+  gch::small_vector<Variable> m_equality_constraints;
 
   // The list of inequality constraints: cᵢ(x) ≥ 0
-  small_vector<Variable> m_inequality_constraints;
+  gch::small_vector<Variable> m_inequality_constraints;
 
   // The iteration callbacks
-  small_vector<std::function<bool(const IterationInfo& info)>>
+  gch::small_vector<std::function<bool(const IterationInfo& info)>>
       m_iteration_callbacks;
 
   void print_exit_conditions([[maybe_unused]] const Options& options);

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/optimization/solver/exit_status.hpp

@@ -22,21 +22,24 @@ enum class ExitStatus : int8_t {
   TOO_FEW_DOFS = -1,
   /// The solver determined the problem to be locally infeasible and gave up.
   LOCALLY_INFEASIBLE = -2,
+  /// The problem setup frontend determined the problem to have an empty
+  /// feasible region.
+  GLOBALLY_INFEASIBLE = -3,
   /// The linear system factorization failed.
-  FACTORIZATION_FAILED = -3,
+  FACTORIZATION_FAILED = -4,
   /// The backtracking line search failed, and the problem isn't locally
   /// infeasible.
-  LINE_SEARCH_FAILED = -4,
+  LINE_SEARCH_FAILED = -5,
   /// The solver encountered nonfinite initial cost or constraints and gave up.
-  NONFINITE_INITIAL_COST_OR_CONSTRAINTS = -5,
+  NONFINITE_INITIAL_COST_OR_CONSTRAINTS = -6,
   /// The solver encountered diverging primal iterates xₖ and/or sₖ and gave up.
-  DIVERGING_ITERATES = -6,
+  DIVERGING_ITERATES = -7,
   /// The solver returned its solution so far after exceeding the maximum number
   /// of iterations.
-  MAX_ITERATIONS_EXCEEDED = -7,
+  MAX_ITERATIONS_EXCEEDED = -8,
   /// The solver returned its solution so far after exceeding the maximum
   /// elapsed wall clock time.
-  TIMEOUT = -8
+  TIMEOUT = -9,
 };
 
 /**
@@ -57,6 +60,8 @@ SLEIPNIR_DLLEXPORT constexpr std::string_view to_message(
       return "too few degrees of freedom";
     case LOCALLY_INFEASIBLE:
       return "locally infeasible";
+    case GLOBALLY_INFEASIBLE:
+      return "globally infeasible";
     case FACTORIZATION_FAILED:
       return "factorization failed";
     case LINE_SEARCH_FAILED:

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/optimization/solver/interior_point.hpp

@@ -223,6 +223,10 @@ SLEIPNIR_DLLEXPORT ExitStatus
 interior_point(const InteriorPointMatrixCallbacks& matrix_callbacks,
                std::span<std::function<bool(const IterationInfo& info)>>
                    iteration_callbacks,
-               const Options& options, Eigen::VectorXd& x);
+               const Options& options,
+#ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
+               const Eigen::ArrayX<bool>& bound_constraint_mask,
+#endif
+               Eigen::VectorXd& x);
 
 }  // namespace slp

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/include/sleipnir/util/pool.hpp

@@ -5,7 +5,8 @@
 #include <cstddef>
 #include <memory>
 
-#include "sleipnir/util/small_vector.hpp"
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -103,8 +104,8 @@ class SLEIPNIR_DLLEXPORT PoolResource {
   }
 
  private:
-  small_vector<std::unique_ptr<std::byte[]>> m_buffer;
-  small_vector<void*> m_free_list;
+  gch::small_vector<std::unique_ptr<std::byte[]>> m_buffer;
+  gch::small_vector<void*> m_free_list;
   size_t blocks_per_chunk;
 
   /**

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/jormungandr/cpp/docstrings.hpp

@@ -78,6 +78,10 @@ up.)doc";
 
 static const char *__doc_slp_ExitStatus_FACTORIZATION_FAILED = R"doc(The linear system factorization failed.)doc";
 
+static const char *__doc_slp_ExitStatus_GLOBALLY_INFEASIBLE =
+R"doc(The problem setup frontend determined the problem to have an empty
+feasible region.)doc";
+
 static const char *__doc_slp_ExitStatus_LINE_SEARCH_FAILED =
 R"doc(The backtracking line search failed, and the problem isn't locally
 infeasible.)doc";

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/jormungandr/cpp/optimization/solver/bind_exit_status.cpp

@@ -17,6 +17,8 @@ void bind_exit_status(nb::enum_<ExitStatus>& e) {
           DOC(slp, ExitStatus, TOO_FEW_DOFS));
   e.value("LOCALLY_INFEASIBLE", ExitStatus::LOCALLY_INFEASIBLE,
           DOC(slp, ExitStatus, LOCALLY_INFEASIBLE));
+  e.value("GLOBALLY_INFEASIBLE", ExitStatus::GLOBALLY_INFEASIBLE,
+          DOC(slp, ExitStatus, GLOBALLY_INFEASIBLE));
   e.value("FACTORIZATION_FAILED", ExitStatus::FACTORIZATION_FAILED,
           DOC(slp, ExitStatus, FACTORIZATION_FAILED));
   e.value("LINE_SEARCH_FAILED", ExitStatus::LINE_SEARCH_FAILED,

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/jormungandr/test/optimization/nonlinear_problem_test.py

@@ -116,6 +116,25 @@ def test_minimum_2d_distance_with_linear_constraint():
     assert y.value() == pytest.approx(2.5, abs=1e-2)
 
 
+def test_conflicting_bounds():
+    problem = Problem()
+
+    x = problem.decision_variable()
+    y = problem.decision_variable()
+
+    problem.minimize(autodiff.hypot(x, y))
+
+    problem.subject_to(autodiff.hypot(x, y) <= 1)
+    problem.subject_to(x >= 0.5)
+    problem.subject_to(x <= -0.5)
+
+    assert problem.cost_function_type() == ExpressionType.NONLINEAR
+    assert problem.equality_constraint_type() == ExpressionType.NONE
+    assert problem.inequality_constraint_type() == ExpressionType.NONLINEAR
+
+    assert problem.solve(diagnostics=True) == ExitStatus.GLOBALLY_INFEASIBLE
+
+
 def test_wachter_and_biegler_line_search_failure():
     # See example 19.2 of [1]
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev476}/pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "sleipnirgroup-jormungandr"
 description = "A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method."
-version = "0.0.1.dev474"
+version = "0.0.1.dev476"
 readme = "README.md"
 requires-python = ">=3.9"
 dependencies = [ "matplotlib", "numpy", "scipy" ]

{sleipnirgroup_jormungandr-0.0.1.dev474/include → sleipnirgroup_jormungandr-0.0.1.dev476/src}/.styleguide

@@ -6,10 +6,7 @@ cppSrcFileInclude {
   \.cpp$
 }
 
-licenseUpdateExclude {
-  include/sleipnir/util/small_vector\.hpp$
-}
-
 includeOtherLibs {
   ^Eigen/
+  ^gch/
 }