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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 7227a8b7bee47beda92f7ee084f9abec40a59d6c / . / third_party / osqp / docs / codegen / python.rst
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Austin Schuh9049e202022-02-20 17:34:16 -0800[diff] [blame]1Python
2======
3
4Before generating code for a parametric problem, the problem should be first
5specified in the setup phase. See :ref:`python_setup` for more details.
6
7
8Codegen
9-------
10The code is generated by running
11
12.. code:: python
13
14 m.codegen(dir_name, **opts)
15
16The argument :code:`dir_name` is the name of a directory where the generated
17code is stored.
18Additional codegen options are shown in the following table
19
20+-------------------------+---------------------------------------------------+--------------------------------+
21| Option | Description | Allowed values |
22+=========================+===================================================+================================+
23| :code:`project_type` | Build environment | | :code:`''` (default) |
24| | | | :code:`'Makefile'` |
25| | | | :code:`'MinGW Makefiles'` |
26| | | | :code:`'Unix Makefiles'` |
27| | | | :code:`'CodeBlocks'` |
28| | | | :code:`'Xcode'` |
29+-------------------------+---------------------------------------------------+--------------------------------+
30| :code:`parameters` | Problem parameters | | :code:`'vectors'` (default) |
31| | | | :code:`'matrices'` |
32+-------------------------+---------------------------------------------------+--------------------------------+
33| :code:`python_ext_name` | Name of the generated Python module | | :code:`'emosqp'` (default) |
34| | | | Nonempty string |
35+-------------------------+---------------------------------------------------+--------------------------------+
36| :code:`force_rewrite` | Rewrite existing directory | | :code:`False` (default) |
37| | | | :code:`True` |
38+-------------------------+---------------------------------------------------+--------------------------------+
39| :code:`FLOAT` | Use :code:`float` type instead of :code:`double` | | :code:`False` (default) |
40| | | | :code:`True` |
41+-------------------------+---------------------------------------------------+--------------------------------+
42| :code:`LONG` | Use :code:`long long` type instead of :code:`int` | | :code:`True` (default) |
43| | | | :code:`False` |
44+-------------------------+---------------------------------------------------+--------------------------------+
45
46The options are passed using named arguments, e.g.,
47
48.. code:: python
49
50 m.codegen('code', parameters='matrices', python_ext_name='emosqp')
51
52If the :code:`project_type` argument is not passed or is set to :code:`''`,
53then no build files are generated.
54
55
56
57Extension module API
58--------------------
59Once the code is generated, you can import a light python wrapper with
60
61.. code:: python
62
63 import emosqp
64
65where :code:`emosqp` is the extension name given in the previous section. The module imports the following functions
66
67.. py:function:: solve()
68 :noindex:
69
70 Solve the problem.
71
72 :returns: tuple (x, y, status_val, iter, run_time)
73
74 - **x** (*ndarray*) - Primal solution
75 - **y** (*ndarray*) - Dual solution
76 - **status_val** (*int*) - Status value as in :ref:`status_values`
77 - **iter** (*int*) - Number of iterations
78 - **run_time** (*double*) - Run time
79
80
81
82
83
84.. py:function:: update_lin_cost(q_new)
85 :noindex:
86
87 Update linear cost.
88
89 :param ndarray q_new: New linear cost vector
90
91
92.. py:function:: update_lower_bound(l_new)
93 :noindex:
94
95 Update lower bound in the constraints.
96
97 :param ndarray l_new: New lower bound vector
98
99
100.. py:function:: update_upper_bound(u_new)
101 :noindex:
102
103 Update upper bound in the constraints.
104
105 :param ndarray u_new: New upper bound vector
106
107
108.. py:function:: update_bounds(l_new, u_new)
109 :noindex:
110
111 Update lower and upper bounds in the constraints.
112
113 :param ndarray l_new: New lower bound vector
114 :param ndarray u_new: New upper bound vector
115
116
117If the code is generated with the option :code:`parameters` set to
118:code:`'matrices'`, the following functions are also provided
119
120
121.. py:function:: update_P(Px, Px_idx, Px_n)
122 :noindex:
123
124 Update nonzero entries of the quadratic cost matrix (only upper triangular) without changing sparsity structure.
125
126 :param ndarray Px: Values of entries to be updated
127 :param ndarray Px_idx: Indices of entries to be updated. Pass :code:`None` if
128 all the indices are to be updated
129 :param int Px_n: Number of entries to be updated. Used only if Px_idx is not
130 :code:`None`.
131
132
133.. py:function:: update_A(Ax, Ax_idx, Ax_n)
134 :noindex:
135
136 Update nonzero entries of the constraint matrix.
137
138 :param ndarray Ax: Values of entries to be updated
139 :param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`None` if
140 all the indices are to be updated
141 :param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
142 :code:`None`.
143
144
145.. py:function:: update_P_A(Px, Px_idx, Px_n, Ax, Ax_idx, Ax_n)
146 :noindex:
147
148 Update nonzero entries of the quadratic cost and constraint matrices. It considers only the upper-triangular part of P.
149
150 :param ndarray Px: Values of entries to be updated
151 :param ndarray Px_idx: Indices of entries to be updated. Pass :code:`None` if
152 all the indices are to be updated
153 :param int Px_n: Number of entries to be updated. Used only if Px_idx is not
154 :code:`None`.
155 :param ndarray Ax: Values of entries to be updated
156 :param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`None` if
157 all the indices are to be updated
158 :param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
159 :code:`None`.
160
161
162You can update all the nonzero entries in matrix :math:`A` by running
163
164.. code:: python
165
166 emosqp.update_A(Ax_new, None, 0);
167
168See C :ref:`C_sublevel_API` for more details on the input arguments.