osqp_interface.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    CasADi is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_OSQP_INTERFACE_HPP
#define CASADI_OSQP_INTERFACE_HPP
 
#include "casadi/core/conic_impl.hpp"
#include <casadi/interfaces/osqp/casadi_conic_osqp_export.h>
 
// OSQP header
extern "C" {
#include "osqp.h" // NOLINT(build/include)
}
 
namespace casadi {
 
  struct  OsqpMemory : public ConicMemory {
    // Structures
#ifdef WITH_OSQP_V1
    OSQPSolver* work;
#else
    OSQPWorkspace* work;
#endif
 
    OsqpMemory();
 
    ~OsqpMemory();
  };
 
  class  OsqpInterface : public Conic {
  public:
    explicit OsqpInterface(const std::string& name,
                             const std::map<std::string, Sparsity>& st);
 
    static Conic* creator(const std::string& name,
                                     const std::map<std::string, Sparsity>& st) {
      return new OsqpInterface(name, st);
    }
 
    ~OsqpInterface() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "osqp";}
 
    // Check if dependencies of the plugin have the correct version
    void deps_version_check(const std::string& stage) const override;
 
    // Get name of the class
    std::string class_name() const override { return "OsqpInterface";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new OsqpMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<OsqpMemory*>(mem);}
 
    int solve(const double** arg, double** res,
        casadi_int* iw, double* w, void* mem) const override;
 
    bool integer_support() const override { return true;}
 
    bool psd_support() const override { return true;}
 
    static const std::string meta_doc;
 
    Dict get_stats(void* mem) const override;
 
    // Number of nonzeros in upper part of Hessian
    casadi_int nnzHupp_, nnzA_;
 
    OSQPSettings settings_;
 
    // OSQP override settings.rho
    double rho_initial_;
 
    // If there is a version mismatch in osqp, default settings will spill over
    // into this variable. We use this to detect such a situation.
    double overrun_check_[10000];
 
    bool warm_start_primal_, warm_start_dual_;
 
    void codegen_body(CodeGenerator& g) const override;
 
    void codegen_init_mem(CodeGenerator& g) const override;
 
    void codegen_free_mem(CodeGenerator& g) const override;
 
#ifdef WITH_OSQP_V1
    std::string codegen_mem_type() const override { return "OSQPSolver*"; }
#else
    std::string codegen_mem_type() const override { return "OSQPWorkspace*"; }
#endif
    bool codegen_needs_mem() const override { return true; }
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new OsqpInterface(s); }
 
  protected:
    explicit OsqpInterface(DeserializingStream& e);
  };
 
} // namespace casadi
 
#endif // CASADI_OSQP_INTERFACE_HPP