sleipnirgroup-jormungandr 0.6.7.dev4__tar.gz → 0.6.7.dev6__tar.gz

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/CMakeLists.txt

@@ -276,7 +276,7 @@ if(SLEIPNIR_BUILD_PYTHON)
         FetchContent_Declare(
             nanobind
             GIT_REPOSITORY https://github.com/wjakob/nanobind.git
-            GIT_TAG v3.0.1
+            GIT_TAG v3.1.0
             GIT_SHALLOW ON
             EXCLUDE_FROM_ALL
             SYSTEM

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.7.dev4
+Version: 0.6.7.dev6
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/include/sleipnir/optimization/solver/ipm.hpp

@@ -375,6 +375,13 @@ ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
     }
   }};
 
+  // Print initial iterate diagnostics
+  if (options.diagnostics) {
+    print_initial_iterate_diagnostics(
+        E_0, f, c_e.template lpNorm<1>() + (c_i - s).template lpNorm<1>(),
+        s.dot(z), μ);
+  }
+
   while (E_0 > Scalar(options.tolerance)) {
     ScopedProfiler inner_iter_profiler{inner_iter_prof};
 

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/include/sleipnir/optimization/solver/newton.hpp

@@ -156,6 +156,11 @@ ExitStatus newton(
     }
   }};
 
+  // Print initial iterate diagnostics
+  if (options.diagnostics) {
+    print_initial_iterate_diagnostics(E_0, f, Scalar(0), Scalar(0), Scalar(0));
+  }
+
   while (E_0 > Scalar(options.tolerance)) {
     ScopedProfiler inner_iter_profiler{inner_iter_prof};
 

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/include/sleipnir/optimization/solver/sqp.hpp

@@ -253,6 +253,12 @@ ExitStatus sqp(const SQPMatrixCallbacks<Scalar>& matrix_callbacks,
     }
   }};
 
+  // Print initial iterate diagnostics
+  if (options.diagnostics) {
+    print_initial_iterate_diagnostics(E_0, f, c_e.template lpNorm<1>(),
+                                      Scalar(0), Scalar(0));
+  }
+
   while (E_0 > Scalar(options.tolerance)) {
     ScopedProfiler inner_iter_profiler{inner_iter_prof};
 

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/include/sleipnir/util/print_diagnostics.hpp

@@ -175,6 +175,35 @@ inline void print_bound_constraint_global_infeasibility_error(
 #define print_bound_constraint_global_infeasibility_error(...)
 #endif
 
+#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+/// Prints diagnostics for the initial iterate.
+///
+/// @tparam Scalar Scalar type.
+/// @param error The error.
+/// @param cost The cost.
+/// @param infeasibility The infeasibility.
+/// @param complementarity The complementarity.
+/// @param μ The barrier parameter.
+template <typename Scalar>
+void print_initial_iterate_diagnostics(Scalar error, Scalar cost,
+                                       Scalar infeasibility,
+                                       Scalar complementarity, Scalar μ) {
+  slp::println("┏{:━^119}┓", "");
+  slp::println(
+      "┃{:^4}   {:^9} {:^10} {:^11} {:^10} {:^8} {:^8} {:^5} {:^5} {:^8} {:^8} "
+      "{:^8} {:^8} {:^2}┃",
+      "iter", "duration", "error", "cost", "infeas.", "complem.", "μ", "δ", "γ",
+      "|p_pr|", "|p_du|", "α_pr", "α_du", "↩");
+  slp::println("┡{:━^119}┩", "");
+
+  slp::println(
+      "│init   {:^9} {:10.4e} {:11.4e} {:10.4e} {:8.2e} {:8.2e} {:^50}│", "",
+      error, cost, infeasibility, complementarity, μ, "");
+}
+#else
+#define print_initial_iterate_diagnostics(...)
+#endif
+
 #ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
 /// Prints diagnostics for the current iteration.
 ///
@@ -206,12 +235,8 @@ void print_iteration_diagnostics(int iterations, IterationType type,
                                  Scalar full_dual_step_inf_norm,
                                  Scalar primal_α, Scalar primal_α_max,
                                  Scalar α_reduction_factor, Scalar dual_α) {
-  if (iterations % 20 == 0) {
-    if (iterations == 0) {
-      slp::println("┏{:━^119}┓", "");
-    } else {
-      slp::println("┢{:━^119}┪", "");
-    }
+  if (iterations > 0 && iterations % 20 == 0) {
+    slp::println("┢{:━^119}┪", "");
     slp::println(
         "┃{:^4}   {:^9} {:^10} {:^11} {:^10} {:^8} {:^8} {:^5} {:^5} {:^8} "
         "{:^8} {:^8} {:^8} {:^2}┃",

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/pyproject.toml

@@ -13,7 +13,7 @@ license-files = ["LICENSE.txt"]
 
 [build-system]
 requires = [
-  "nanobind~=3.0.1",
+  "nanobind~=3.1.0",
   "py-build-cmake~=0.5.1",
   "pybind11-mkdoc~=3.0.0",
 ]

{sleipnirgroup_jormungandr-0.6.7.dev4 → sleipnirgroup_jormungandr-0.6.7.dev6}/python/src/sleipnir/__init__.py

@@ -2,4 +2,4 @@
 
 from ._sleipnir import *
 
-__version__ = "0.6.7.dev4"
+__version__ = "0.6.7.dev6"