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osqp / osqp-python

Python interface for OSQP

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Wrap generated C code with tiny python functionalities

bstellato opened this issue · comments

commented

Main idea:

  • Generate setup.py similarly to pre-1.0 versions
  • Wrap these functionalities with new pybind11-based code

    osqp-python/src/osqp/codegen/files_to_generate/emosqpmodule.c

    Lines 666 to 679 in f486931

    static PyMethodDef PYTHON_EXT_NAME_methods[] = {
    {"solve", (PyCFunction)OSQP_solve, METH_NOARGS, "Solve QP"},
    {"update_lin_cost", (PyCFunction)OSQP_update_lin_cost, METH_VARARGS, "Update linear cost"},
    {"update_lower_bound", (PyCFunction)OSQP_update_lower_bound, METH_VARARGS, "Update lower bound"},
    {"update_upper_bound", (PyCFunction)OSQP_update_upper_bound, METH_VARARGS, "Update upper bound"},
    {"update_bounds", (PyCFunction)OSQP_update_bounds, METH_VARARGS, "Update bounds"},
    #if EMBEDDED != 1
    {"update_P", (PyCFunction)OSQP_update_P, METH_VARARGS, "Update matrix P"},
    {"update_A", (PyCFunction)OSQP_update_A, METH_VARARGS, "Update matrix A"},
    {"update_P_A", (PyCFunction)OSQP_update_P_A, METH_VARARGS, "Update matrices P and A"},
    #endif
    {NULL, NULL, 0, NULL}
    };
    The update ones are combined now.
  • Simplify solution structure as in

    osqp-python/src/osqp/codegen/files_to_generate/emosqpmodule.c

    Lines 262 to 264 in f486931

    return Py_BuildValue("OOiid", x, y, (&workspace)->info->status_val,
    (&workspace)->info->iter, solve_time);
  • Compile python wrapper as in the pre-1.0 version
commented

This is complete now in develop-1.0