sleipnirgroup-jormungandr 0.6.6.dev30__tar.gz → 0.6.6.dev32__tar.gz

{sleipnirgroup_jormungandr-0.6.6.dev30 → sleipnirgroup_jormungandr-0.6.6.dev32}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.6.dev30
+Version: 0.6.6.dev32
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.6.dev30 → sleipnirgroup_jormungandr-0.6.6.dev32}/include/sleipnir/optimization/problem.hpp

@@ -25,8 +25,8 @@
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
 #include "sleipnir/optimization/solver/exit_status.hpp"
-#include "sleipnir/optimization/solver/interior_point.hpp"
-#include "sleipnir/optimization/solver/interior_point_matrix_callbacks.hpp"
+#include "sleipnir/optimization/solver/ipm.hpp"
+#include "sleipnir/optimization/solver/ipm_matrix_callbacks.hpp"
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/newton.hpp"
 #include "sleipnir/optimization/solver/newton_matrix_callbacks.hpp"
@@ -619,7 +619,7 @@ class Problem {
       x_ad.set_value(x);
       const ProblemScaling<Scalar> scaling{g.value(), A_e.value(), A_i.value()};
 
-      InteriorPointMatrixCallbacks<Scalar> matrix_callbacks{
+      IPMMatrixCallbacks<Scalar> matrix_callbacks{
           num_decision_variables,
           num_equality_constraints,
           num_inequality_constraints,
@@ -664,12 +664,11 @@ class Problem {
           scaling};
 
       // Invoke interior-point method solver
-      status =
-          interior_point<Scalar>(matrix_callbacks, iteration_callbacks, options,
+      status = ipm<Scalar>(matrix_callbacks, iteration_callbacks, options,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-                                 bound_constraint_mask,
+                           bound_constraint_mask,
 #endif
-                                 x);
+                           x);
     }
 
     if (options.diagnostics) {
@@ -753,7 +752,7 @@ class Problem {
   gch::small_vector<std::function<bool(const IterationInfo<Scalar>& info)>>
       m_persistent_iteration_callbacks;
 
-  void print_exit_conditions([[maybe_unused]] const Options& options) {
+  void print_exit_conditions(const Options& options) {
     // Print possible exit conditions
     slp::println("User-configured exit conditions:");
     slp::println("  ↳ error below {}", options.tolerance);

sleipnirgroup_jormungandr-0.6.6.dev30/include/sleipnir/optimization/solver/interior_point.hpp → sleipnirgroup_jormungandr-0.6.6.dev32/include/sleipnir/optimization/solver/ipm.hpp

@@ -13,7 +13,7 @@
 #include <gch/small_vector.hpp>
 
 #include "sleipnir/optimization/solver/exit_status.hpp"
-#include "sleipnir/optimization/solver/interior_point_matrix_callbacks.hpp"
+#include "sleipnir/optimization/solver/ipm_matrix_callbacks.hpp"
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
 #include "sleipnir/optimization/solver/util/all_finite.hpp"
@@ -59,15 +59,14 @@ namespace slp {
 ///     variables.
 /// @return The exit status.
 template <typename Scalar>
-ExitStatus interior_point(
-    const InteriorPointMatrixCallbacks<Scalar>& matrix_callbacks,
-    std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
-        iteration_callbacks,
-    const Options& options,
+ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
+               std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
+                   iteration_callbacks,
+               const Options& options,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-    const Eigen::ArrayX<bool>& bound_constraint_mask,
+               const Eigen::ArrayX<bool>& bound_constraint_mask,
 #endif
-    Eigen::Vector<Scalar, Eigen::Dynamic>& x) {
+               Eigen::Vector<Scalar, Eigen::Dynamic>& x) {
   using DenseVector = Eigen::Vector<Scalar, Eigen::Dynamic>;
 
   DenseVector s =
@@ -78,11 +77,11 @@ ExitStatus interior_point(
   Scalar μ = Scalar(0.1) * matrix_callbacks.scaling.f;
   int iterations = 0;
 
-  return interior_point(matrix_callbacks, iteration_callbacks, options, false,
+  return ipm(matrix_callbacks, iteration_callbacks, options, false,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-                        bound_constraint_mask,
+             bound_constraint_mask,
 #endif
-                        x, s, y, z, μ, iterations);
+             x, s, y, z, μ, iterations);
 }
 
 /// Finds the optimal solution to a nonlinear program using the interior-point
@@ -119,18 +118,18 @@ ExitStatus interior_point(
 /// @param[in,out] iterations The iteration counter.
 /// @return The exit status.
 template <typename Scalar>
-ExitStatus interior_point(
-    const InteriorPointMatrixCallbacks<Scalar>& matrix_callbacks,
-    std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
-        iteration_callbacks,
-    const Options& options, bool in_feasibility_restoration,
+ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
+               std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
+                   iteration_callbacks,
+               const Options& options, bool in_feasibility_restoration,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-    const Eigen::ArrayX<bool>& bound_constraint_mask,
+               const Eigen::ArrayX<bool>& bound_constraint_mask,
 #endif
-    Eigen::Vector<Scalar, Eigen::Dynamic>& x,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& s,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& y,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& z, Scalar& μ, int& iterations) {
+               Eigen::Vector<Scalar, Eigen::Dynamic>& x,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& s,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& y,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& z, Scalar& μ,
+               int& iterations) {
   using DenseVector = Eigen::Vector<Scalar, Eigen::Dynamic>;
   using SparseMatrix = Eigen::SparseMatrix<Scalar>;
   using SparseVector = Eigen::SparseVector<Scalar>;
@@ -193,7 +192,7 @@ ExitStatus interior_point(
   auto& c_i_prof = solve_profilers[16];
   auto& A_i_prof = solve_profilers[17];
 
-  InteriorPointMatrixCallbacks<Scalar> matrices{
+  IPMMatrixCallbacks<Scalar> matrices{
       matrix_callbacks.num_decision_variables,
       matrix_callbacks.num_equality_constraints,
       matrix_callbacks.num_inequality_constraints,
@@ -847,13 +846,13 @@ ExitStatus interior_point(
 }
 
 extern template SLEIPNIR_DLLEXPORT ExitStatus
-interior_point(const InteriorPointMatrixCallbacks<double>& matrix_callbacks,
-               std::span<std::function<bool(const IterationInfo<double>& info)>>
-                   iteration_callbacks,
-               const Options& options,
+ipm(const IPMMatrixCallbacks<double>& matrix_callbacks,
+    std::span<std::function<bool(const IterationInfo<double>& info)>>
+        iteration_callbacks,
+    const Options& options,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-               const Eigen::ArrayX<bool>& bound_constraint_mask,
+    const Eigen::ArrayX<bool>& bound_constraint_mask,
 #endif
-               Eigen::Vector<double, Eigen::Dynamic>& x);
+    Eigen::Vector<double, Eigen::Dynamic>& x);
 
 }  // namespace slp

sleipnirgroup_jormungandr-0.6.6.dev30/include/sleipnir/optimization/solver/interior_point_matrix_callbacks.hpp → sleipnirgroup_jormungandr-0.6.6.dev32/include/sleipnir/optimization/solver/ipm_matrix_callbacks.hpp

@@ -15,7 +15,7 @@ namespace slp {
 ///
 /// @tparam Scalar Scalar type.
 template <typename Scalar>
-struct InteriorPointMatrixCallbacks {
+struct IPMMatrixCallbacks {
   /// Type alias for dense vector.
   using DenseVector = Eigen::Vector<Scalar, Eigen::Dynamic>;
   /// Type alias for sparse matrix.

{sleipnirgroup_jormungandr-0.6.6.dev30 → sleipnirgroup_jormungandr-0.6.6.dev32}/include/sleipnir/optimization/solver/util/feasibility_restoration.hpp

@@ -14,7 +14,7 @@
 #include <gch/small_vector.hpp>
 
 #include "sleipnir/optimization/solver/exit_status.hpp"
-#include "sleipnir/optimization/solver/interior_point_matrix_callbacks.hpp"
+#include "sleipnir/optimization/solver/ipm_matrix_callbacks.hpp"
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
 #include "sleipnir/optimization/solver/sqp_matrix_callbacks.hpp"
@@ -26,18 +26,18 @@
 namespace slp {
 
 template <typename Scalar>
-ExitStatus interior_point(
-    const InteriorPointMatrixCallbacks<Scalar>& matrix_callbacks,
-    std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
-        iteration_callbacks,
-    const Options& options, bool in_feasibility_restoration,
+ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
+               std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
+                   iteration_callbacks,
+               const Options& options, bool in_feasibility_restoration,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-    const Eigen::ArrayX<bool>& bound_constraint_mask,
+               const Eigen::ArrayX<bool>& bound_constraint_mask,
 #endif
-    Eigen::Vector<Scalar, Eigen::Dynamic>& x,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& s,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& y,
-    Eigen::Vector<Scalar, Eigen::Dynamic>& z, Scalar& μ, int& iterations);
+               Eigen::Vector<Scalar, Eigen::Dynamic>& x,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& s,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& y,
+               Eigen::Vector<Scalar, Eigen::Dynamic>& z, Scalar& μ,
+               int& iterations);
 
 /// Computes initial values for p and n in feasibility restoration.
 ///
@@ -181,7 +181,7 @@ ExitStatus feasibility_restoration(
   const ProblemScaling<Scalar> fr_scaling{Scalar(1), matrices.scaling.c_e,
                                           DenseVector::Ones(2 * num_eq)};
 
-  InteriorPointMatrixCallbacks<Scalar> fr_matrix_callbacks{
+  IPMMatrixCallbacks<Scalar> fr_matrix_callbacks{
       static_cast<int>(fr_x.rows()),
       static_cast<int>(fr_y.rows()),
       static_cast<int>(fr_z.rows()),
@@ -302,12 +302,12 @@ ExitStatus feasibility_restoration(
       },
       fr_scaling};
 
-  auto status = interior_point<Scalar>(
-      fr_matrix_callbacks, iteration_callbacks, options, true,
+  auto status =
+      ipm<Scalar>(fr_matrix_callbacks, iteration_callbacks, options, true,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-      Eigen::ArrayX<bool>::Constant(2 * num_eq, true),
+                  Eigen::ArrayX<bool>::Constant(2 * num_eq, true),
 #endif
-      fr_x, fr_s, fr_y, fr_z, fr_μ, iterations);
+                  fr_x, fr_s, fr_y, fr_z, fr_μ, iterations);
 
   x = fr_x.segment(0, x.rows());
 
@@ -365,7 +365,7 @@ ExitStatus feasibility_restoration(
 /// @return The exit status.
 template <typename Scalar>
 ExitStatus feasibility_restoration(
-    const InteriorPointMatrixCallbacks<Scalar>& matrix_callbacks,
+    const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
     std::span<std::function<bool(const IterationInfo<Scalar>& info)>>
         iteration_callbacks,
     const Options& options,
@@ -449,7 +449,7 @@ ExitStatus feasibility_restoration(
   const ProblemScaling<Scalar> fr_scaling{Scalar(1), matrices.scaling.c_e,
                                           fr_d_c_i};
 
-  InteriorPointMatrixCallbacks<Scalar> fr_matrix_callbacks{
+  IPMMatrixCallbacks<Scalar> fr_matrix_callbacks{
       static_cast<int>(fr_x.rows()),
       static_cast<int>(fr_y.rows()),
       static_cast<int>(fr_z.rows()),
@@ -619,12 +619,12 @@ ExitStatus feasibility_restoration(
   fr_bound_constraint_mask.segment(num_ineq, 2 * num_eq + 2 * num_ineq) = true;
 #endif
 
-  auto status = interior_point<Scalar>(
-      fr_matrix_callbacks, iteration_callbacks, options, true,
+  auto status =
+      ipm<Scalar>(fr_matrix_callbacks, iteration_callbacks, options, true,
 #ifdef SLEIPNIR_ENABLE_BOUND_PROJECTION
-      fr_bound_constraint_mask,
+                  fr_bound_constraint_mask,
 #endif
-      fr_x, fr_s, fr_y, fr_z, fr_μ, iterations);
+                  fr_x, fr_s, fr_y, fr_z, fr_μ, iterations);
 
   x = fr_x.segment(0, x.rows());
   s = fr_s.segment(0, s.rows());
@@ -687,4 +687,4 @@ ExitStatus feasibility_restoration(
 
 }  // namespace slp
 
-#include "sleipnir/optimization/solver/interior_point.hpp"
+#include "sleipnir/optimization/solver/ipm.hpp"

{sleipnirgroup_jormungandr-0.6.6.dev30 → sleipnirgroup_jormungandr-0.6.6.dev32}/python/src/sleipnir/__init__.py

@@ -2,4 +2,4 @@
 
 from ._sleipnir import *
 
-__version__ = "0.6.6.dev30"
+__version__ = "0.6.6.dev32"

sleipnirgroup_jormungandr-0.6.6.dev30/src/optimization/solver/interior_point.cpp → sleipnirgroup_jormungandr-0.6.6.dev32/src/optimization/solver/ipm.cpp

@@ -1,11 +1,11 @@
 // Copyright (c) Sleipnir contributors
 
-#include "sleipnir/optimization/solver/interior_point.hpp"
+#include "sleipnir/optimization/solver/ipm.hpp"
 
 #include "sleipnir/util/symbol_exports.hpp"
 
-template SLEIPNIR_DLLEXPORT slp::ExitStatus slp::interior_point(
-    const InteriorPointMatrixCallbacks<double>& matrix_callbacks,
+template SLEIPNIR_DLLEXPORT slp::ExitStatus slp::ipm(
+    const IPMMatrixCallbacks<double>& matrix_callbacks,
     std::span<std::function<bool(const IterationInfo<double>& info)>>
         iteration_callbacks,
     const Options& options,