Merge pull request #243 from jcarpent/devel

Fix warning and clean // solvers API

Author: jcarpent

bindings/python/src/expose-all.cpp

@@ -33,7 +33,7 @@ exposeSparseAlgorithms(pybind11::module_ m)
 {
   sparse::python::exposeSparseModel<T, I>(m);
   sparse::python::exposeQpObjectSparse<T, I>(m);
-  sparse::python::exposeQpVectorSparse<T, I>(m);
+  sparse::python::exposeQPVectorSparse<T, I>(m);
   sparse::python::solveSparseQp<T, I>(m);
 }
 
@@ -43,7 +43,7 @@ exposeDenseAlgorithms(pybind11::module_ m)
 {
   dense::python::exposeDenseModel<T>(m);
   dense::python::exposeQpObjectDense<T>(m);
-  dense::python::exposeQpVectorDense<T>(m);
+  dense::python::exposeQPVectorDense<T>(m);
   dense::python::solveDenseQp<T>(m);
 }
 

bindings/python/src/expose-qpvector.hpp

@@ -13,7 +13,7 @@ namespace python {
 
 template<typename T>
 void
-exposeQpVectorDense(pybind11::module_ m)
+exposeQPVectorDense(pybind11::module_ m)
 {
 
   ::pybind11::class_<dense::BatchQP<T>>(m, "BatchQP")
@@ -29,7 +29,8 @@ exposeQpVectorDense(pybind11::module_ m)
          &dense::BatchQP<T>::insert,
          "inserts a qp at the end of the vector of qps.")
     .def("get",
-         &dense::BatchQP<T>::get,
+         (dense::QP<T> & (dense::BatchQP<T>::*)(isize)) &
+           dense::BatchQP<T>::get,
          pybind11::return_value_policy::reference,
          "get the qp.");
 }
@@ -41,7 +42,7 @@ namespace python {
 
 template<typename T, typename I>
 void
-exposeQpVectorSparse(pybind11::module_ m)
+exposeQPVectorSparse(pybind11::module_ m)
 {
 
   ::pybind11::class_<sparse::BatchQP<T, I>>(m, "BatchQP")
@@ -54,7 +55,8 @@ exposeQpVectorSparse(pybind11::module_ m)
          pybind11::return_value_policy::reference,
          "init a sparse QP in place and return a reference to it.")
     .def("get",
-         &sparse::BatchQP<T, I>::get,
+         (sparse::QP<T, I> & (sparse::BatchQP<T, I>::*)(isize)) &
+           sparse::BatchQP<T, I>::get,
          pybind11::return_value_policy::reference,
          "get the qp.");
 }

include/proxsuite/proxqp/dense/wrapper.hpp

@@ -1201,14 +1201,14 @@ struct BatchQP
    * A vector of QP aligned of size BatchSize
    * specified by the user.
    */
-  std::vector<QP<T>> vector_qp;
+  std::vector<QP<T>> qp_vector;
   dense::isize m_size;
 
   explicit BatchQP(size_t batch_size)
   {
-    if (vector_qp.max_size() != batch_size) {
-      vector_qp.clear();
-      vector_qp.reserve(batch_size);
+    if (qp_vector.max_size() != batch_size) {
+      qp_vector.clear();
+      qp_vector.reserve(batch_size);
     }
     m_size = 0;
   }
@@ -1220,26 +1220,36 @@ struct BatchQP
                           dense::isize n_eq,
                           dense::isize n_in)
   {
-    vector_qp.emplace_back(dim, n_eq, n_in);
-    auto& qp = vector_qp.back();
+    qp_vector.emplace_back(dim, n_eq, n_in);
+    auto& qp = qp_vector.back();
     m_size++;
     return qp;
   };
 
   /*!
-   * Inserts a qp to the end of vector_qp
+   * Inserts a QP to the end of qp_vector
    */
-  void insert(QP<T>& qp) { vector_qp.emplace_back(qp); };
+  void insert(const QP<T>& qp) { qp_vector.emplace_back(qp); };
 
   /*!
-   * Access qp at position i
+   * Access QP at position i
    */
-  QP<T>& get(isize i) { return vector_qp.at(i); };
+  QP<T>& get(isize i) { return qp_vector.at(size_t(i)); };
 
   /*!
-   * Access qp at position i
+   * Access QP at position i
    */
-  QP<T>& operator[](isize i) { return vector_qp.at(i); };
+  const QP<T>& get(isize i) const { return qp_vector.at(size_t(i)); };
+
+  /*!
+   * Access QP at position i
+   */
+  QP<T>& operator[](isize i) { return get(i); };
+
+  /*!
+   * Access QP at position i
+   */
+  const QP<T>& operator[](isize i) const { return get(i); };
 
   dense::isize size() { return m_size; };
 };

include/proxsuite/proxqp/parallel/qp_solve.hpp

@@ -27,8 +27,8 @@ solve_in_parallel(std::vector<proxqp::dense::QP<T>>& qps,
   set_default_omp_options(NUM_THREADS);
 
   typedef proxqp::dense::QP<T> qp_dense;
-  const Eigen::DenseIndex batch_size = qps.size();
-  Eigen::DenseIndex i = 0;
+  const long batch_size = long(qps.size());
+  long i = 0;
 #pragma omp parallel for schedule(dynamic)
   for (i = 0; i < batch_size; i++) {
     qp_dense& qp = qps[i];
@@ -49,8 +49,8 @@ solve_in_parallel(proxqp::dense::BatchQP<T>& qps,
   set_default_omp_options(NUM_THREADS);
 
   typedef proxqp::dense::QP<T> qp_dense;
-  const Eigen::DenseIndex batch_size = qps.size();
-  Eigen::DenseIndex i = 0;
+  const long batch_size = long(qps.size());
+  long i = 0;
 #pragma omp parallel for schedule(dynamic)
   for (i = 0; i < batch_size; i++) {
     qp_dense& qp = qps[i];

include/proxsuite/proxqp/sparse/wrapper.hpp

@@ -775,14 +775,14 @@ struct BatchQP
    * A vector of QP aligned of size BatchSize
    * specified by the user.
    */
-  std::vector<QP<T, I>> vector_qp;
+  std::vector<QP<T, I>> qp_vector;
   sparse::isize m_size;
 
   BatchQP(long unsigned int batchSize)
   {
-    if (vector_qp.max_size() != batchSize) {
-      vector_qp.clear();
-      vector_qp.reserve(batchSize);
+    if (qp_vector.max_size() != batchSize) {
+      qp_vector.clear();
+      qp_vector.reserve(batchSize);
     }
     m_size = 0;
   }
@@ -794,8 +794,8 @@ struct BatchQP
                              sparse::isize n_eq,
                              sparse::isize n_in)
   {
-    vector_qp.emplace_back(dim, n_eq, n_in);
-    auto& qp = vector_qp.back();
+    qp_vector.emplace_back(dim, n_eq, n_in);
+    auto& qp = qp_vector.back();
     m_size++;
     return qp;
   };
@@ -807,26 +807,36 @@ struct BatchQP
   //                            const sparse::SparseMat<bool, I>& A,
   //                            const sparse::SparseMat<bool, I>& C)
   // {
-  //   vector_qp.emplace_back(H.rows(), A.rows(), C.rows());
-  //   auto& qp = vector_qp.back();
+  //   qp_vector.emplace_back(H.rows(), A.rows(), C.rows());
+  //   auto& qp = qp_vector.back();
   //   m_size++;
   //   return qp;
   // };
 
   /*!
-   * Inserts a qp to the end of vector_qp
+   * Inserts a qp to the end of qp_vector
    */
-  void insert(QP<T, I>& qp) { vector_qp.emplace_back(qp); };
+  void insert(QP<T, I>& qp) { qp_vector.emplace_back(qp); };
 
   /*!
-   * Access qp at position i
+   * Access QP at position i
    */
-  QP<T, I>& get(isize i) { return vector_qp.at(i); };
+  QP<T, I>& get(isize i) { return qp_vector.at(size_t(i)); };
 
   /*!
-   * Access qp at position i
+   * Access QP at position i
    */
-  QP<T, I>& operator[](isize i) { return vector_qp.at(i); };
+  const QP<T, I>& get(isize i) const { return qp_vector.at(size_t(i)); };
+
+  /*!
+   * Access QP at position i
+   */
+  QP<T, I>& operator[](isize i) { return get(i); };
+
+  /*!
+   * Access QP at position i
+   */
+  const QP<T, I>& operator[](isize i) const { return get(i); };
 
   sparse::isize size() { return m_size; };
 };