Merge pull request #39 from Bambade/devel

change qp.init(H,g,A,b,C,u,l) into qp.init(H,g,A,b,C,l,u)

Author: jcarpent

bindings/python/src/expose-model.hpp

@@ -26,8 +26,8 @@ exposeDenseModel(pybind11::module_ m)
     .def_readonly("A", &Model<T>::A)
     .def_readonly("b", &Model<T>::b)
     .def_readonly("C", &Model<T>::C)
-    .def_readonly("u", &Model<T>::u)
     .def_readonly("l", &Model<T>::l)
+    .def_readonly("u", &Model<T>::u)
     .def_readonly("dim", &Model<T>::dim)
     .def_readonly("n_eq", &Model<T>::n_eq)
     .def_readonly("n_in", &Model<T>::n_in)
@@ -50,8 +50,8 @@ exposeSparseModel(pybind11::module_ m)
          "Constructor using QP model dimensions.") // constructor)
     .def_readonly("g", &Model<T, I>::g)
     .def_readonly("b", &Model<T, I>::b)
-    .def_readonly("u", &Model<T, I>::u)
     .def_readonly("l", &Model<T, I>::l)
+    .def_readonly("u", &Model<T, I>::u)
     .def_readonly("dim", &Model<T, I>::dim)
     .def_readonly("n_eq", &Model<T, I>::n_eq)
     .def_readonly("n_in", &Model<T, I>::n_in)

bindings/python/src/expose-qpobject.hpp

@@ -60,8 +60,8 @@ exposeQpObjectDense(pybind11::module_ m)
       pybind11::arg_v("A", std::nullopt, "equality constraint matrix"),
       pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
       pybind11::arg_v("C", std::nullopt, "inequality constraint matrix"),
-      pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-      pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+      pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+      pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
       pybind11::arg_v("compute_preconditioner",
                       true,
                       "execute the preconditioner for reducing "
@@ -102,8 +102,8 @@ exposeQpObjectDense(pybind11::module_ m)
       pybind11::arg_v("A", std::nullopt, "equality constraint matrix"),
       pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
       pybind11::arg_v("C", std::nullopt, "inequality constraint matrix"),
-      pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-      pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+      pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+      pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
       pybind11::arg_v(
         "update_preconditioner",
         true,
@@ -168,8 +168,8 @@ exposeQpObjectSparse(pybind11::module_ m)
       pybind11::arg_v("A", std::nullopt, "equality constraint matrix"),
       pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
       pybind11::arg_v("C", std::nullopt, "inequality constraint matrix"),
-      pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-      pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+      pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+      pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
       pybind11::arg_v("compute_preconditioner",
                       true,
                       "execute the preconditioner for reducing "
@@ -190,8 +190,8 @@ exposeQpObjectSparse(pybind11::module_ m)
       pybind11::arg_v("A", std::nullopt, "equality constraint matrix"),
       pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
       pybind11::arg_v("C", std::nullopt, "inequality constraint matrix"),
-      pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-      pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+      pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+      pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
       pybind11::arg_v(
         "update_preconditioner",
         true,

bindings/python/src/expose-solve.hpp

@@ -53,8 +53,8 @@ solveDenseQp(pybind11::module_ m)
     pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
     pybind11::arg_v(
       "C", std::nullopt, "inequality constraint matrix with dense format."),
-    pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-    pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+    pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+    pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
     pybind11::arg_v("x", std::nullopt, "primal warm start"),
     pybind11::arg_v("y", std::nullopt, "dual equality warm start"),
     pybind11::arg_v("z", std::nullopt, "dual inequality warm start"),
@@ -112,8 +112,8 @@ solveSparseQp(pybind11::module_ m)
     pybind11::arg_v("b", std::nullopt, "equality constraint vector"),
     pybind11::arg_v(
       "C", std::nullopt, "inequality constraint matrix with dense format."),
-    pybind11::arg_v("u", std::nullopt, "upper inequality constraint vector"),
-    pybind11::arg_v("l", std::nullopt, "lower inequality constraint vector"),
+    pybind11::arg_v("l", std::nullopt, "upper inequality constraint vector"),
+    pybind11::arg_v("u", std::nullopt, "lower inequality constraint vector"),
     pybind11::arg_v("x", std::nullopt, "primal warm start"),
     pybind11::arg_v("y", std::nullopt, "dual equality warm start"),
     pybind11::arg_v("z", std::nullopt, "dual inequality warm start"),

examples/cpp/init_dense_qp.cpp

@@ -22,6 +22,6 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
-          qp_random.l); // initialize the model
+          qp_random.l,
+          qp_random.u); // initialize the model
 }

examples/cpp/init_dense_qp_with_other_options.cpp

@@ -23,8 +23,8 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
           qp_random.l,
+          qp_random.u,
           true,
           /*rho*/ 1.e-7);
   // in c++ you must follow the order speficied in the API for the parameters

examples/cpp/init_dense_qp_with_timings.cpp

@@ -22,6 +22,6 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
-          qp_random.l); // initialize the model
+          qp_random.l,
+          qp_random.u); // initialize the model
 }

examples/cpp/init_with_default_options.cpp

@@ -24,8 +24,8 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
           qp_random.l,
+          qp_random.u,
           true,
           /*rho*/ 1.e-7,
           /*mu_eq*/ 1.e-4);

examples/cpp/initializing_with_none.cpp

@@ -23,8 +23,8 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
-          qp_random.l); // initialization with zero shape matrices
+          qp_random.l,
+          qp_random.u); // initialization with zero shape matrices
   // it is equivalent to do qp.init(qp_random.H, qp_random.g,
   // std::nullopt,std::nullopt,std::nullopt,std::nullopt,std::nullopt);
   qp.solve();

examples/cpp/initializing_with_none_without_api.cpp

@@ -23,8 +23,8 @@ main()
                     qp_random.A,
                     qp_random.b,
                     qp_random.C,
-                    qp_random.u,
-                    qp_random.l); // initialization with zero shape matrices
+                    qp_random.l,
+                    qp_random.u); // initialization with zero shape matrices
   // it is equivalent to do dense::solve<T>(qp_random.H, qp_random.g,
   // std::nullopt,std::nullopt,std::nullopt,std::nullopt,std::nullopt);
   //  print an optimal solution x,y and z

examples/cpp/overview-simple.cpp

@@ -26,8 +26,8 @@ main()
           qp_random.A,
           qp_random.b,
           qp_random.C,
-          qp_random.u,
-          qp_random.l);
+          qp_random.l,
+          qp_random.u);
   qp.solve();
   // print an optimal solution x,y and z
   std::cout << "optimal x: " << qp.results.x << std::endl;