mosek_interface.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2026 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_MOSEK_INTERFACE_HPP
#define CASADI_MOSEK_INTERFACE_HPP
 
#include "casadi/core/conic_impl.hpp"
#include <casadi/interfaces/mosek/casadi_conic_mosek_export.h>
 
#include <mosek.h>
#include <string>
 
namespace casadi {
  #include "mosek_runtime.hpp"
}
 
 
namespace casadi {
 
  struct CASADI_CONIC_MOSEK_EXPORT MosekMemory : public ConicMemory {
    // Problem data structure
    casadi_mosek_data<double> d;
  };
 
  class CASADI_CONIC_MOSEK_EXPORT MosekInterface : public Conic {
  public:
    static Conic* creator(const std::string& name,
                          const std::map<std::string, Sparsity>& st) {
      return new MosekInterface(name, st);
    }
 
    explicit MosekInterface(const std::string& name,
                            const std::map<std::string, Sparsity>& st);
 
    ~MosekInterface() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "mosek";}
 
    // Get name of the class
    std::string class_name() const override { return "MosekInterface";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void set_mosek_prob();
    void set_mosek_prob(CodeGenerator& g) const;
 
    void codegen_body(CodeGenerator& g) const override;
 
    void codegen_init_mem(CodeGenerator& g) const override;
 
    void codegen_free_mem(CodeGenerator& g) const override;
 
    std::string codegen_mem_type() const override { return "struct casadi_mosek_data"; }
 
    bool codegen_needs_mem() const override { return true; }
 
    // Initialize the solver
    void init(const Dict& opts) override;
 
    // Initialize dependant read-only members of class
    void init_dependent();
 
    void* alloc_mem() const override { return new MosekMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override;
 
    void set_work(void* mem, const double**& arg, double**& res,
                          casadi_int*& iw, double*& w) const override;
 
    Dict get_stats(void* mem) const override;
 
    // Solve the QP
    int solve(const double** arg, double** res,
      casadi_int* iw, double* w, void* mem) const override;
 
    static const std::string meta_doc;
 
    Dict opts_;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new MosekInterface(s); }
 
    bool integer_support() const override { return true; }
 
    bool psd_support() const override { return true; }
 
  protected:
    explicit MosekInterface(DeserializingStream& s);
 
  private:
 
    // Memory structure
    casadi_mosek_prob<double> p_;
 
    // Linear constraint matrix in CSC form (as int, since Mosek takes int)
    std::vector<int> colinda_, rowa_;
 
    // Lower-triangular triplet form of the symmetric Hessian H_.
    // qobj_nz_idx_[k] gives the H_ nz index for the k-th triplet.
    std::vector<int> qobj_row_, qobj_col_;
    std::vector<int> qobj_nz_idx_;
 
    // Per-column type ('I' for integer/discrete, 'C' for continuous).
    // Empty if no discrete variables.
    std::vector<char> coltype_;
 
    // SOCP support: precomputed mapping between CasADi's Q/P input pair and
    // per-cone constraint blocks.  Populated when Q_.nnz() > 0.
    bool has_socp_;
    casadi_socp_prob<double> socp_;
    // Backing storage for socp_ (must outlive socp_)
    std::vector<casadi_int> socp_r_;
    std::vector<casadi_int> socp_mq_colind_, socp_mq_row_, socp_mq_data_;
    std::vector<casadi_int> socp_map_P_;
 
    // Build socp_ from the result of Conic::sdp_to_socp_init
    void build_socp_config();
  };
} // end namespace casadi
#endif // CASADI_MOSEK_INTERFACE_HPP