Version 0.6.0 (#55)

* Fix fval bound and activate equality constraints in setup_ldp (#46)

* Make fval_bound consistent with internal objective function

* Activate equality constraints inside update_ldp

* Update CI

* Fix python interface when blower and sense are not given (#47)

* Add function to remove redundant constraints in polyhedron (#48)

* Add minrep to Python interface (#49)

* Set target_include_directories and modify Cmake export (#53)

* Set target_include_directories

* Simulink Interface (#42)

* Correctly generate code for RinvD

* Do not explicitly store v and scaling in generated code

---------

Co-authored-by: Christopher Schulte <38617646+Don-Chris@users.noreply.github.com>

Author: darnstrom

.github/workflows/aarch64_wheels.yml

@@ -55,7 +55,7 @@ jobs:
         python -m pip install --upgrade twine
         twine upload wheelhouse/*
     - name: Upload artifacts to github
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v4
       with:
         name: wheels
         path: interfaces/daqp-python/wheelhouse

.github/workflows/arm64_wheels.yml

@@ -52,7 +52,7 @@ jobs:
         python -m pip install --upgrade twine
         twine upload wheelhouse/*
     - name: Upload artifacts to github
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v4
       with:
         name: wheels
         path: interfaces/daqp-python/wheelhouse

.github/workflows/ci_python.yml

@@ -11,7 +11,7 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       matrix:
         python-version: ["3.7", "3.8", "3.9", "3.10", "3.11", "3.12"]

.github/workflows/release.yml

@@ -45,13 +45,13 @@ jobs:
 
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Install MATLAB
-        uses: matlab-actions/setup-matlab@v1
+        uses: matlab-actions/setup-matlab@v2
 
       - name: Build and package MATLAB interface
-        uses: matlab-actions/run-command@v1
+        uses: matlab-actions/run-command@v2
         with:
           command: cd interfaces/daqp-matlab, make_daqp, make_daqp('package')
 

.github/workflows/wheels.yml

@@ -60,7 +60,7 @@ jobs:
         python -m pip install --upgrade twine
         twine upload wheelhouse/*
     - name: Upload artifacts to github
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v4
       with:
-        name: wheels
-        path: interfaces/daqp-python/wheelhouse
+        name: wheels-${{ matrix.os }}-${{ strategy.job-index }}
+        path: interfaces/daqp-python/wheelhouse/*.whl

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(daqp VERSION 0.5.0)
+project(daqp VERSION 0.6.0)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/codegen)
@@ -18,7 +18,16 @@ if(SOFT_WEIGHTS)
 endif()
 
 add_library(daqpstat STATIC ${daqp_src} ${daqp_headers} ${daqp_codegen_src} ${daqp_codegen_headers})
+target_include_directories(daqpstat PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
 add_library(daqp SHARED ${daqp_src} ${daqp_headers} ${daqp_codegen_src} ${daqp_codegen_headers})
+target_include_directories(daqp PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>
+)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_C_STANDARD_LIBRARIES "${CMAKE_C_STANDARD_LIBRARIES}") # math for C api
@@ -28,17 +37,17 @@ target_link_libraries(daqpstat daqp)
 
 # Install
 include(GNUInstallDirs)
-install(TARGETS daqpstat EXPORT  ${PROJECT_NAME}
+install(TARGETS daqpstat EXPORT  ${PROJECT_NAME}Config
   ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
   LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
   RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
-install(TARGETS daqp EXPORT  ${PROJECT_NAME}
+install(TARGETS daqp EXPORT  ${PROJECT_NAME}Config
   ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
   LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
   RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
 install(FILES ${daqp_headers} ${daqp_codegen_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/daqp")
 
-install(EXPORT ${PROJECT_NAME} DESTINATION cmake)
+install(EXPORT ${PROJECT_NAME}Config DESTINATION cmake)
 
 if(MATLAB)
   find_package(Matlab)

codegen/codegen.c

@@ -94,9 +94,9 @@ void write_daqp_workspace_h(FILE *f, DAQPWorkspace* work){
     fprintf(f, "extern c_float dupper[%d];\n", m);
     fprintf(f, "extern c_float dlower[%d];\n", m);
     fprintf(f, "extern c_float Rinv[%d];\n", n*(n+1)/2);
-    fprintf(f, "extern c_float v[%d];\n", n);
+    //fprintf(f, "extern c_float v[%d];\n", n);
     fprintf(f, "extern int sense[%d];\n\n", m);
-    fprintf(f, "extern c_float scaling[%d];\n\n", m);
+    //fprintf(f, "extern c_float scaling[%d];\n\n", m);
 
     fprintf(f, "extern c_float x[%d];\n", n+1);
     fprintf(f, "extern c_float xold[%d];\n\n", n+1);
@@ -134,7 +134,7 @@ void write_daqp_workspace_src(FILE* f, DAQPWorkspace* work){
     write_float_array(f,work->Rinv,n*(n+1)/2,"Rinv");
     //write_float_array(f,work->v,n, "v");
     write_int_array(f,work->sense, m,"sense");
-    write_float_array(f,work->scaling, m,"scaling");
+    //write_float_array(f,work->scaling, m,"scaling");
 
     // Iteratates
     fprintf(f, "c_float x[%d];\n", n+1);
@@ -155,8 +155,9 @@ void write_daqp_workspace_src(FILE* f, DAQPWorkspace* work){
     fprintf(f, "DAQPWorkspace daqp_work= {\n");
     fprintf(f, "NULL,\n"); // DAQPProblem
     fprintf(f, "%d, %d, %d,\n",n,m,ms); // dimensions 
-    fprintf(f, "M, dupper, dlower, Rinv, NULL, NULL, sense,\n"); //LDP 
-    fprintf(f, "scaling,\n"); // scaling
+    fprintf(f, "M, dupper, dlower, Rinv, NULL, sense,\n"); //LDP
+    fprintf(f, "NULL,\n"); // scaling
+    fprintf(f, "NULL,\n"); // RinvD
     fprintf(f, "x, xold,\n");
     fprintf(f, "lam, lam_star, u, %d,\n",-1); // fval
     fprintf(f, "L, D, xldl,zldl,%d,\n",0); // reuse_ind

docs/docs/install.md

@@ -56,3 +56,12 @@ In the REPL run the command
 ```shell
 pip install daqp 
 ```
+
+## Installing the Simulink interface
+The Simulink interface can be installed directly by running the following commands in MATLAB in the directory where you want to store interface:
+```shell
+websave('daqp.tar.gz','https://github.com/darnstrom/daqp/archive/refs/heads/master.tar.gz')
+untar('daqp.tar.gz')
+cd(fullfile('daqp-master','interfaces','daqp-simulink'))
+make_sfunc
+```

docs/docs/simulink.md

@@ -0,0 +1,50 @@
+---
+layout: page
+title: Simulink 
+permalink: /start/simulink
+nav: 3 
+parent: Interfaces 
+grand_parent: Getting started 
+math: mathjax3
+---
+
+
+## Setting up the problem
+
+In Simulink, an s-function block can be used to solve a quadratic program. The s-function needs to link to the compiled c-code called "daqp_sfunc". To compile the c-code, the following matlab-script can be used in the terminal:
+
+```matlab
+make_sfunc()
+```
+
+_Note_: Please make sure to have a C-compiler installed on your system and linked in matlab. This can be checked by running ``mex -setup`` in the terminal:
+
+After the c-code has been compiled, a new file called ``daqp_sfunc.mexw64`` (windows) or ``daqp_sfunc.mexa64`` (linux, mac) should be found.
+
+The corresponding S-function block has the following inputs:
+| Inputs | Description | Size | 
+| --- | --- | --- |
+| $H$ | The Hessian matrix of the quadratic objective function | [$n$ x $n$] |
+| $f$ | The linear part of the objective function | [$n$ x 1]
+| $A$ | The matrix of linear constraints | [$m_g$ x $n$]
+| $b_l$ | The lower bound of the linear constraints | [$m$ x 1]
+| $b_u$ | The upper bound of the linear constraints | [$m$ x 1]
+| sense | The type of the constraints | [$m$ x 1]
+
+_Note_: When $b_u$ and $b_l$ have more elements than the number of rows in $A$, the first elements in $b_u$ and $b_l$ are interpreted as simple bounds. 
+
+The following parameters are used to set up the problem and need to be set in the mask of the s-function block:
+
+| Parameters | Description | Size |
+| --- | --- | --- |
+| maxIter | Maximum number of iterations | 1 |
+
+The block has the following outputs:
+
+| Outputs | Description | Size |
+| --- | --- | --- |
+| $x$ | The optimal solution | [$n$ x 1] |
+| $\lambda$ | The optimal Lagrange multipliers | [$m$ x 1] |
+| $f_{val}$ | The optimal value of the objective function | 1 |
+| exitflag | The exit flag of the solver | 1 |
+| iter | The number of iterations used by the solver | 1 |

include/api.h

@@ -38,6 +38,7 @@ void free_daqp_bnb(DAQPWorkspace* work);
 
 void daqp_extract_result(DAQPResult* res, DAQPWorkspace* work);
 void daqp_default_settings(DAQPSettings *settings);
+void daqp_minrep(int* is_redundant, c_float* A, c_float* b, int n, int m, int ms);
 
 # ifdef __cplusplus
 }