sleipnirgroup-jormungandr 0.6.7.dev20__tar.gz → 0.6.7.dev22__tar.gz

{sleipnirgroup_jormungandr-0.6.7.dev20 → sleipnirgroup_jormungandr-0.6.7.dev22}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.7.dev20
+Version: 0.6.7.dev22
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.7.dev20 → sleipnirgroup_jormungandr-0.6.7.dev22}/include/sleipnir/optimization/solver/util/feasibility_restoration.hpp

@@ -167,11 +167,13 @@ ExitStatus feasibility_restoration(
   DenseVector fr_x{num_vars + 2 * num_eq};
   fr_x << x, p_e_0, n_e_0;
 
-  DenseVector fr_s = DenseVector::Ones(2 * num_eq);
+  // Start the constraints pₑ, nₑ ≥ 0 with zero violation
+  DenseVector fr_s{2 * num_eq};
+  fr_s << p_e_0, n_e_0;
 
   DenseVector fr_y = DenseVector::Zero(num_eq);
 
-  // Force the duals to start with perfect complementarity with the slacks
+  // Start the duals with perfect complementarity with respect to the slacks
   DenseVector fr_z{2 * num_eq};
   fr_z << fr_μ * p_e_0.cwiseInverse(), fr_μ * n_e_0.cwiseInverse();
 
@@ -428,13 +430,18 @@ ExitStatus feasibility_restoration(
   DenseVector fr_x{num_vars + 2 * num_eq + 2 * num_ineq};
   fr_x << x, p_e_0, n_e_0, p_i_0, n_i_0;
 
+  // Use the original problem's slacks for cᵢ(x) − pᵢ + nᵢ ≥ 0 since
+  // cᵢ(x) − pᵢ + nᵢ = s by construction.
+  //
+  // Start the constraints pₑ, nₑ, pᵢ, nᵢ ≥ 0 with zero violation.
   DenseVector fr_s{s.rows() + 2 * num_eq + 2 * num_ineq};
   fr_s.segment(0, s.rows()) = s;
-  fr_s.segment(s.rows(), 2 * num_eq + 2 * num_ineq).setOnes();
+  fr_s.segment(s.rows(), 2 * num_eq + 2 * num_ineq) << p_e_0, n_e_0, p_i_0,
+      n_i_0;
 
   DenseVector fr_y = DenseVector::Zero(c_e.rows());
 
-  // Force the duals to start with perfect complementarity with the slacks
+  // Start the duals with perfect complementarity with respect to the slacks
   DenseVector fr_z{c_i.rows() + 2 * num_eq + 2 * num_ineq};
   fr_z << fr_μ * s.cwiseInverse(), fr_μ * p_e_0.cwiseInverse(),
       fr_μ * n_e_0.cwiseInverse(), fr_μ * p_i_0.cwiseInverse(),

{sleipnirgroup_jormungandr-0.6.7.dev20 → sleipnirgroup_jormungandr-0.6.7.dev22}/python/src/sleipnir/__init__.py

@@ -2,4 +2,4 @@
 
 from ._sleipnir import *
 
-__version__ = "0.6.7.dev20"
+__version__ = "0.6.7.dev22"

{sleipnirgroup_jormungandr-0.6.7.dev20 → sleipnirgroup_jormungandr-0.6.7.dev22}/python/test/optimization/flywheel_ocp_test.py

@@ -3,6 +3,7 @@ from collections.abc import Callable
 
 import numpy as np
 import pytest
+from near import near
 from sleipnir.autodiff import ExpressionType, VariableMatrix
 from sleipnir.optimization import (
     OCP,
@@ -13,10 +14,6 @@ from sleipnir.optimization import (
 )
 
 
-def near(expected, actual, tolerance):
-    return abs(expected - actual) < tolerance
-
-
 def flywheel_test(
     test_name: str,
     A: float,

{sleipnirgroup_jormungandr-0.6.7.dev20 → sleipnirgroup_jormungandr-0.6.7.dev22}/python/test/optimization/flywheel_problem_test.py

@@ -2,14 +2,11 @@ import math
 
 import numpy as np
 import pytest
+from near import near
 from sleipnir.autodiff import ExpressionType
 from sleipnir.optimization import ExitStatus, Problem, bounds
 
 
-def near(expected, actual, tolerance):
-    return abs(expected - actual) < tolerance
-
-
 def test_flywheel_problem():
     TOTAL_TIME = 5.0
     dt = 0.005

sleipnirgroup_jormungandr-0.6.7.dev22/python/test/optimization/near.py

@@ -0,0 +1,2 @@
+def near(expected, actual, tolerance):
+    return abs(expected - actual) < tolerance