diff --git a/CMakeLists.txt b/CMakeLists.txt index 3fc57862b942..2161565d1a12 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -374,7 +374,7 @@ if(WITH_GUROBI) endif() endif() -option(WITH_MOSEK "Build with support for MOSEK" OFF) +option(WITH_MOSEK "Build with support for MOSEK™" OFF) if(WITH_MOSEK) list(APPEND BAZEL_CONFIGS --config=mosek) diff --git a/doc/_pages/apt.md b/doc/_pages/apt.md index 3f29e6184a4b..aa872d789055 100644 --- a/doc/_pages/apt.md +++ b/doc/_pages/apt.md @@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support. -Drake's apt packages do not support the Mosek nor Gurobi solvers. To use -Mosek or Gurobi, you will need to [build Drake from source](/from_source.html). +Drake's apt packages do not support the MOSEK™ nor Gurobi solvers. To use +MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html). ## Stable Releases diff --git a/doc/_pages/bazel.md b/doc/_pages/bazel.md index f69c4f330c5b..bb9a8c0e71e0 100644 --- a/doc/_pages/bazel.md +++ b/doc/_pages/bazel.md @@ -171,7 +171,7 @@ bazel build //tools/lint:buildifier The Drake Bazel build currently supports the following proprietary solvers: * Gurobi 9.0.2 -* MOSEK 9.2 +* MOSEK™ 9.2 * SNOPT 7.4 ## Gurobi 9.0.2 @@ -203,17 +203,17 @@ See [https://docs.bazel.build/versions/master/user-manual.html#bazelrc](https:// ## MOSEK -The Drake Bazel build system downloads MOSEK 9.2.33 automatically. No manual +The Drake Bazel build system downloads MOSEK™ 9.2.33 automatically. No manual installation is required. Set the location of your license file as follows: ```export MOSEKLM_LICENSE_FILE=/path/to/mosek.lic``` -To confirm that your setup was successful, run the tests that require MOSEK: +To confirm that your setup was successful, run the tests that require MOSEK™: ```bazel test --config mosek --test_tag_filters=mosek //...``` The default value of ``--test_tag_filters`` in Drake's ``bazel.rc`` excludes -these tests. If you will be developing with MOSEK regularly, you may wish +these tests. If you will be developing with MOSEK™ regularly, you may wish to specify a more convenient ``--test_tag_filters`` in a local ``.bazelrc``. See [https://docs.bazel.build/versions/master/user-manual.html#bazelrc](https://docs.bazel.build/versions/master/user-manual.html#bazelrc). diff --git a/doc/_pages/docker.md b/doc/_pages/docker.md index 84c4bbe2044b..a0cac55c3400 100644 --- a/doc/_pages/docker.md +++ b/doc/_pages/docker.md @@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support. -Drake's docker images do not support the Mosek nor Gurobi solvers. To use -Mosek or Gurobi, you will need to [build Drake from source](/from_source.html). +Drake's docker images do not support the MOSEK™ nor Gurobi solvers. To use +MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html). ## Stable Releases diff --git a/doc/_pages/from_binary.md b/doc/_pages/from_binary.md index f8c515f81810..ff7ffd828f2f 100644 --- a/doc/_pages/from_binary.md +++ b/doc/_pages/from_binary.md @@ -20,8 +20,8 @@ Drake binary releases incorporate a pre-compiled version of [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support. -Drake's binary releases do not support the Mosek nor Gurobi solvers. To use -Mosek or Gurobi, you will need to [build Drake from source](/from_source.html). +Drake's binary releases do not support the MOSEK™ nor Gurobi solvers. To use +MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html). ## Stable Releases diff --git a/doc/_pages/from_source.md b/doc/_pages/from_source.md index 051e04ceeafa..2afaf347b774 100644 --- a/doc/_pages/from_source.md +++ b/doc/_pages/from_source.md @@ -105,12 +105,12 @@ make -j Please note the additional CMake options which affect the Python bindings: * ``-DWITH_GUROBI={ON, [OFF]}`` - Build with Gurobi enabled. -* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK enabled. +* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK™ enabled. * ``-DWITH_SNOPT={ON, [OFF]}`` - Build with SNOPT enabled. ``{...}`` means a list of options, and the option surrounded by ``[...]`` is the default option. An example of building ``pydrake`` with both Gurobi and -MOSEK, without building tests: +MOSEK™, without building tests: ```bash cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake diff --git a/doc/_pages/installation.md b/doc/_pages/installation.md index 842caf7eb9b0..1ebab52c0fa0 100644 --- a/doc/_pages/installation.md +++ b/doc/_pages/installation.md @@ -83,8 +83,8 @@ All other packages support both C++ and/or Python. Alternatively, you can skip the pre-compiled binaries and [build Drake from source](/from_source.html). -Drake's binary releases do not support the Mosek nor Gurobi solvers. -To use Mosek or Gurobi, you must build Drake from source. +Drake's binary releases do not support the MOSEK™ nor Gurobi solvers. +To use MOSEK™ or Gurobi, you must build Drake from source. We're considering adding macOS support for Homebrew, i.e., ``brew install drake``. Please upvote or comment on diff --git a/doc/_pages/pip.md b/doc/_pages/pip.md index f073411c3191..b41787565129 100644 --- a/doc/_pages/pip.md +++ b/doc/_pages/pip.md @@ -21,8 +21,8 @@ Drake binary releases incorporate a pre-compiled version of [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support. -Drake's pip packages do not support the Mosek nor Gurobi solvers. To use -Mosek or Gurobi, you will need to [build Drake from source](/from_source.html). +Drake's pip packages do not support the MOSEK™ nor Gurobi solvers. To use +MOSEK™ or Gurobi, you will need to [build Drake from source](/from_source.html). ## Stable Releases diff --git a/doc/_pages/tm.md b/doc/_pages/tm.md new file mode 100644 index 000000000000..6f82eae59cf1 --- /dev/null +++ b/doc/_pages/tm.md @@ -0,0 +1,9 @@ +--- +title: Trademarks +--- + +All trademarks, logos and brand names are the property of their respective +owners. + +MOSEK™ is a trademark of [MOSEK](https://www.mosek.com/) and is mentioned in +Drake's documentation under a license from [MOSEK](https://www.mosek.com/). diff --git a/doc/_release-notes/v0.13.0.md b/doc/_release-notes/v0.13.0.md index f363a7fac626..6d7501b911eb 100644 --- a/doc/_release-notes/v0.13.0.md +++ b/doc/_release-notes/v0.13.0.md @@ -121,7 +121,7 @@ Newly bound ## Build system and dependencies * Provide nightly binary docker images ([#10554][_#10554], [#12364][_#12364], [#12367][_#12367], [#12446][_#12446]) -* Fix missing pthread linkopts for MOSEK ([#12337][_#12337]) +* Fix missing pthread linkopts for MOSEK™ ([#12337][_#12337]) * Fix variable name in FindTinyXML2 ([#12339][_#12339]) * Fix ByteSizeLong for Protobuf 3.11.0 or above ([#12425][_#12425]) * Fix linters' find_all_sources --all commands ([#12369][_#12369], [#12385][_#12385], [#12424][_#12424]) diff --git a/doc/_release-notes/v0.25.0.md b/doc/_release-notes/v0.25.0.md index c8fb7644e329..3b06fa133fd0 100644 --- a/doc/_release-notes/v0.25.0.md +++ b/doc/_release-notes/v0.25.0.md @@ -59,8 +59,8 @@ New features Fixes * Throw an error when getting dual solution for a QCP in Gurobi (`[#14285][_#14285]) -* Only retrieve Mosek dual solution when there are no integer variables ([#14338][_#14338]`) -* Retrieve linear constraint dual from Mosek result ([#14348][_#14348]) +* Only retrieve MOSEK™ dual solution when there are no integer variables ([#14338][_#14338]`) +* Retrieve linear constraint dual from MOSEK™ result ([#14348][_#14348]) * Ensure IPOPT uses MUMPS as its linear solver ([#14446][_#14446], [#14288][_#14288]) ## Multibody Dynamics diff --git a/doc/_release-notes/v0.26.0.md b/doc/_release-notes/v0.26.0.md index 029571d722c4..a0eedf3ae2fa 100644 --- a/doc/_release-notes/v0.26.0.md +++ b/doc/_release-notes/v0.26.0.md @@ -39,7 +39,7 @@ Fixes New features -* Retrieve dual solution for conic constraint in Mosek ([#14383][_#14383]) +* Retrieve dual solution for conic constraint in MOSEK™ ([#14383][_#14383]) * Allow for incomplete symbolic derivatives ([#14514][_#14514]) Fixes @@ -87,7 +87,7 @@ Newly bound * Downgrade spdlog to release 5.1.0 ([#14427][_#14427]) * Upgrade fcl to latest commit ([#14497][_#14497]) * Upgrade ghc_filesystem to latest release 1.4.0 ([#14504][_#14504]) -* Upgrade mosek to latest release 9.2 ([#14484][_#14484]) +* Upgrade MOSEK™ to latest release 9.2 ([#14484][_#14484]) * Upgrade optitrack_driver to latest commit ([#14451][_#14451]) * Allow sphinx-build to be missing during bazel fetch ([#14528][_#14528]) * Add dependency on TRI common_robotics_utilities; for now this is only used by test code, but in a future release will be used by a forthcoming new drake/planning/... library ([#14437][_#14437], [#14530][_#14530]) diff --git a/doc/_release-notes/v0.39.0.md b/doc/_release-notes/v0.39.0.md index 93f6bdbd8288..6fde11b5e908 100644 --- a/doc/_release-notes/v0.39.0.md +++ b/doc/_release-notes/v0.39.0.md @@ -59,7 +59,7 @@ New features Fixes * Improve performance while adding variables ([#16472][_#16472]) -* Mosek's debug printing includes the solution summary ([#16528][_#16528]) +* MOSEK™ debug printing includes the solution summary ([#16528][_#16528]) ## Multibody Dynamics and Geometry diff --git a/doc/defs.py b/doc/defs.py index 1f8d72966edc..3b542275ad18 100644 --- a/doc/defs.py +++ b/doc/defs.py @@ -81,6 +81,35 @@ def check_call(args, *, cwd=None): proc.check_returncode() +def perl_cleanup_html_output(*, out_dir, extra_perl_statements=None): + """Runs a cleanup pass over all HTML output files, using a set of built-in + fixups. Calling code may pass its own extra statements, as well. + """ + # Collect the list of all HTML output files. + html_files = [] + for dirpath, _, filenames in os.walk(out_dir): + for filename in filenames: + if filename.endswith(".html"): + html_files.append(os.path.relpath( + os.path.join(dirpath, filename), out_dir)) + + # Figure out what to do. + default_perl_statements = [ + # Add trademark hyperlink. + r's#™#™#g;', + ] + perl_statements = default_perl_statements + (extra_perl_statements or []) + for x in perl_statements: + assert x.endswith(';'), x + + # Do it. + while html_files: + # Work in batches of 100, so we don't overflow the argv limit. + first, html_files = html_files[:100], html_files[100:] + check_call(["perl", "-pi", "-e", "".join(perl_statements)] + first, + cwd=out_dir) + + def _call_build(*, build, out_dir): """Calls build() into out_dir, while also supplying a temp_dir.""" with tempfile.TemporaryDirectory( diff --git a/doc/doxygen_cxx/build.py b/doc/doxygen_cxx/build.py index c8f2c427aa66..f5111841e533 100644 --- a/doc/doxygen_cxx/build.py +++ b/doc/doxygen_cxx/build.py @@ -12,7 +12,13 @@ from bazel_tools.tools.python.runfiles import runfiles -from drake.doc.defs import check_call, main, symlink_input, verbose +from drake.doc.defs import ( + check_call, + main, + perl_cleanup_html_output, + symlink_input, + verbose, +) def _symlink_headers(*, drake_workspace, temp_dir, modules): @@ -246,15 +252,8 @@ def _build(*, out_dir, temp_dir, modules, quick): ] _postprocess_doxygen_log(lines, check_for_errors) - # Collect the list of all HTML output files. - html_files = [] - for dirpath, _, filenames in os.walk(out_dir): - for filename in filenames: - if filename.endswith(".html"): - html_files.append(relpath(join(dirpath, filename), out_dir)) - # Fix the formatting of deprecation text (see drake#15619 for an example). - perl_statements = [ + extra_perl_statements = [ # Remove quotes around the removal date. r's#(removed from Drake on or after) "(....-..-..)" *\.#\1 \2.#;', # Remove all quotes within the explanation text, i.e., the initial and @@ -267,11 +266,9 @@ def _build(*, out_dir, temp_dir, modules, quick): #
"Use RotationMatrix::MakeFromOneVector()."
# noqa r'while (s#(?<=_deprecated\d{6}")([^"]*)"(.*? * * - * Mosek † + * MOSEK™ † * ♦ * ♦ * ♦ @@ -182,7 +182,7 @@ * * * - * Mosek † + * MOSEK™ † * ♦ * ♦ * ♦ diff --git a/solvers/mathematical_program_result.h b/solvers/mathematical_program_result.h index 6c3cec3ea68e..30d635006acc 100644 --- a/solvers/mathematical_program_result.h +++ b/solvers/mathematical_program_result.h @@ -300,7 +300,7 @@ class MathematicalProgramResult final { * 2. For nonlinear solvers like IPOPT, the dual solution for Lorentz cone * constraint (with EvalType::kConvex) is the shadow price for * z₀ - sqrt(z₁² + ... +zₙ²) ≥ 0, where z = Ax+b. - * 3. For other convex conic solver such as SCS, Mosek, CSDP, etc, the dual + * 3. For other convex conic solver such as SCS, MOSEK™, CSDP, etc, the dual * solution to the (rotated) Lorentz cone constraint doesn't have the * "shadow price" interpretation, but should lie in the dual cone, and * satisfy the KKT condition. For more information, refer to @@ -310,7 +310,7 @@ class MathematicalProgramResult final { * The interpretation for the dual variable to conic constraint x ∈ K can be * different. Here K is a convex cone, including exponential cone, power * cone, PSD cone, etc. When the problem is solved by a convex solver (like - * SCS, Mosek, CSDP, etc), often it has a dual variable z ∈ K*, where K* is + * SCS, MOSEK™, CSDP, etc), often it has a dual variable z ∈ K*, where K* is * the dual cone. Here the dual variable DOESN'T have the interpretation of * "shadow price", but should satisfy the KKT condition, while the dual * variable stays inside the dual cone. diff --git a/solvers/mosek_solver.h b/solvers/mosek_solver.h index 240302a8d853..d22c721969d5 100644 --- a/solvers/mosek_solver.h +++ b/solvers/mosek_solver.h @@ -12,15 +12,15 @@ namespace drake { namespace solvers { /** - * The Mosek solver details after calling Solve() function. The user can call + * The MOSEK™ solver details after calling Solve() function. The user can call * MathematicalProgramResult::get_solver_details() to obtain the * details. */ struct MosekSolverDetails { - /// The mosek optimization time. Please refer to MSK_DINF_OPTIMIZER_TIME in + /// The MOSEK™ optimization time. Please refer to MSK_DINF_OPTIMIZER_TIME in /// https://docs.mosek.com/9.2/capi/constants.html?highlight=msk_dinf_optimizer_time double optimizer_time{}; - /// The response code returned from mosek solver. Check + /// The response code returned from MOSEK™ solver. Check /// https://docs.mosek.com/9.2/capi/response-codes.html for the meaning on the /// response code. int rescode{}; @@ -32,32 +32,32 @@ struct MosekSolverDetails { }; /** - * An implementation of SolverInterface for the commercially-licensed MOSEK + * An implementation of SolverInterface for the commercially-licensed MOSEK™ * solver (https://www.mosek.com/). * - * The default build of Drake is not configured to use MOSEK, so therefore + * The default build of Drake is not configured to use MOSEK™, so therefore * SolverInterface::available() will return false. You must compile Drake - * from source in order to link against MOSEK. For details, refer to the + * from source in order to link against MOSEK™. For details, refer to the * documentation at https://drake.mit.edu/bazel.html#mosek. * * The MOSEKLM_LICENSE_FILE environment variable controls whether or not * SolverInterface::enabled() returns true. Iff it is set to any non-empty * value, then the solver is enabled; otherwise, the solver is not enabled. * - * @note Mosek only cares about the initial guess of integer variables. The - * initial guess of continuous variables are not passed to MOSEK. If all the - * integer variables are set to some integer values, then MOSEK will be forced + * @note MOSEK™ only cares about the initial guess of integer variables. The + * initial guess of continuous variables are not passed to MOSEK™. If all the + * integer variables are set to some integer values, then MOSEK™ will be forced * to compute the remaining continuous variable values as the initial guess. - * (Mosek might change the values of the integer/binary variables in the + * (MOSEK™ might change the values of the integer/binary variables in the * subsequent iterations.) If the specified integer solution is infeasible or - * incomplete, MOSEK will simply ignore it. For more details, check + * incomplete, MOSEK™ will simply ignore it. For more details, check * https://docs.mosek.com/9.2/capi/tutorial-mio-shared.html?highlight=initial * - * Mosek supports many solver parameters. You can refer to the full list of + * MOSEK™ supports many solver parameters. You can refer to the full list of * parameters in * https://docs.mosek.com/9.2/capi/param-groups.html#doc-param-groups. On top of * these parameters, we also provide the following additional parameters - * 1. "writedata", set to a file name so that Mosek solver will write the + * 1. "writedata", set to a file name so that MOSEK™ solver will write the * optimization model to this file. check * https://docs.mosek.com/9.2/capi/solver-io.html#saving-a-problem-to-a-file * for more details. The supported file extensions are listed in @@ -82,16 +82,16 @@ class MosekSolver final : public SolverBase { class License; /** - * This acquires a MOSEK license environment shared among all MosekSolver + * This acquires a MOSEK™ license environment shared among all MosekSolver * instances; the environment will stay valid as long as at least one * shared_ptr returned by this function is alive. * Call this ONLY if you must use different MathematicalProgram * instances at different instances in time, and repeatedly acquiring the * license is costly (e.g., requires contacting a license server). * @return A shared pointer to a license environment that will stay valid - * as long as any shared_ptr returned by this function is alive. If MOSEK is + * as long as any shared_ptr returned by this function is alive. If MOSEK™ is * not available in your build, this will return a null (empty) shared_ptr. - * @throws std::exception if MOSEK is available but a license cannot be + * @throws std::exception if MOSEK™ is available but a license cannot be * obtained. */ static std::shared_ptr AcquireLicense(); @@ -115,7 +115,7 @@ class MosekSolver final : public SolverBase { const SolverOptions&, MathematicalProgramResult*) const final; // Note that this is mutable to allow latching the allocation of mosek_env_ - // during the first call of Solve() (which avoids grabbing a Mosek license + // during the first call of Solve() (which avoids grabbing a MOSEK™ license // before we know that we actually want one). mutable std::shared_ptr license_; }; diff --git a/solvers/solver_options.h b/solvers/solver_options.h index 6ccef7aa9840..a1483f45c476 100644 --- a/solvers/solver_options.h +++ b/solvers/solver_options.h @@ -41,7 +41,7 @@ namespace solvers { * Note that the SCS code on github master might be more up-to-date than the * version used in Drake. * - * "MOSEK" -- Parameter name and values as specified in Mosek Reference + * "MOSEK™" -- Parameter name and values as specified in Mosek Reference * https://docs.mosek.com/9.2/capi/parameters.html * * "OSQP" -- Parameter name and values as specified in OSQP Reference diff --git a/tools/bazel.rc b/tools/bazel.rc index 6355785383a9..010bfdd2a072 100644 --- a/tools/bazel.rc +++ b/tools/bazel.rc @@ -59,13 +59,13 @@ test --test_env=MPLBACKEND=Template # -- If Gurobi is optional, set gurobi_required=False. build:gurobi --define=WITH_GUROBI=ON -### A configuration that enables MOSEK. ### +### A configuration that enables MOSEK™. ### # -- To use this config, the MOSEKLM_LICENSE_FILE environment variable must be # -- set to the location of the MOSEK license file. # -# -- To run tests where MOSEK is used, ensure that you include +# -- To run tests where MOSEK™ is used, ensure that you include # -- "mosek_test_tags()" from //tools/skylark:test_tags.bzl. -# -- If MOSEK is optional, set mosek_required=False. +# -- If MOSEK™ is optional, set mosek_required=False. build:mosek --define=WITH_MOSEK=ON ### A configuration that enables SNOPT. ### diff --git a/tools/install/check_licenses.bzl b/tools/install/check_licenses.bzl index b3a6b98446e6..67c741065afb 100644 --- a/tools/install/check_licenses.bzl +++ b/tools/install/check_licenses.bzl @@ -4,12 +4,12 @@ load("@drake//tools/install:install.bzl", "InstallInfo") # List of exact file names of license files LICENSE_LITERALS = [ - "BSD-LICENSE", # ccd + "BSD-LICENSE", # @ccd "COPYING", - "Copyright.txt", # vtk - "EULA.pdf", # gurobi + "Copyright.txt", # @vtk + "EULA.pdf", # @gurobi "LICENSE", - "mosek-eula.pdf", # mosek + "mosek-eula.pdf", # @mosek ] # List of file name prefixes of license files diff --git a/tools/skylark/test_tags.bzl b/tools/skylark/test_tags.bzl index 088872580ff9..5862d7ac8c2d 100644 --- a/tools/skylark/test_tags.bzl +++ b/tools/skylark/test_tags.bzl @@ -28,13 +28,13 @@ def gurobi_test_tags(gurobi_required = True): return nominal_tags def mosek_test_tags(mosek_required = True): - """Returns the test tags necessary for properly running MOSEK tests. + """Returns the test tags necessary for properly running MOSEK™ tests. By default, sets mosek_required=True, which will require that the supplied tag filters include "mosek". - MOSEK checks a license file outside the workspace, so tests that use MOSEK - must have the tag "no-sandbox". + MOSEK™ checks a license file outside the workspace, so tests that use + MOSEK™ must have the tag "no-sandbox". """ nominal_tags = [ "no-sandbox", diff --git a/tools/workspace/mosek/repository.bzl b/tools/workspace/mosek/repository.bzl index eda055dc64d2..cf9a47aa2bb6 100644 --- a/tools/workspace/mosek/repository.bzl +++ b/tools/workspace/mosek/repository.bzl @@ -2,7 +2,7 @@ # vi: set ft=python : """ -Downloads and unpacks a MOSEK archive and makes its headers and +Downloads and unpacks a MOSEK™ archive and makes its headers and precompiled shared libraries available to be used as a C/C++ dependency. @@ -108,9 +108,9 @@ def _impl(repository_ctx): ] else: files = [ - # N.B. We are using and installing MOSEK's copy of libcilkrts.so.5, + # N.B. We are using and installing the MOSEK™ copy of libcilkrts, # even though Ubuntu installs the same shared library by default on - # all systems already. For some reason, Mosek fails when used with + # all systems already. For some reason, MOSEK™ fails when used with # Ubuntu's shared library. If Drake users have other third-party # code that assumes use of Ubuntu's libcilkrts, there could be # runtime conflicts; however, this risk seems low. diff --git a/tutorials/linear_program.ipynb b/tutorials/linear_program.ipynb index e5fcdabd3f9c..bbea4b9db312 100644 --- a/tutorials/linear_program.ipynb +++ b/tutorials/linear_program.ipynb @@ -25,7 +25,7 @@ "\n", "$\\begin{aligned} \\min_x \\;c^Tx + d\\\\ \\text{subject to } Ax\\leq b \\end{aligned}$\n", "\n", - "A linear program can be solved by many open source or commercial solvers. Drake supports some solvers including SCS, Gurobi, Mosek, etc. Please see our [Doxygen page]( https://drake.mit.edu/doxygen_cxx/group__solvers.html) for a complete list of supported solvers. Note that some commercial solvers (such as Gurobi and Mosek) are not included in the pre-compiled Drake binaries, and therefore not on Binder/Colab. \n", + "A linear program can be solved by many open source or commercial solvers. Drake supports some solvers including SCS, Gurobi, MOSEK™, etc. Please see our [Doxygen page]( https://drake.mit.edu/doxygen_cxx/group__solvers.html) for a complete list of supported solvers. Note that some commercial solvers (such as Gurobi and MOSEK™) are not included in the pre-compiled Drake binaries, and therefore not on Binder/Colab. \n", " \n", "Drake's API supports multiple functions to add linear cost and constraints. We briefly go through some of the functions in this tutorial. For a complete list of functions, please check our [Doxygen](https://drake.mit.edu/doxygen_cxx/classdrake_1_1solvers_1_1_mathematical_program.html).\n", "\n", diff --git a/tutorials/quadratic_program.ipynb b/tutorials/quadratic_program.ipynb index 4384763af553..c9d8a057a320 100644 --- a/tutorials/quadratic_program.ipynb +++ b/tutorials/quadratic_program.ipynb @@ -30,7 +30,7 @@ "\n", "where `Q` is a positive semidefinite matrix.\n", "\n", - "A quadratic program can be solved by many different solvers. Drake supports some solvers including OSQP, SCS, Gurobi, Mosek, etc. Please see our [Doxygen page]( https://drake.mit.edu/doxygen_cxx/group__solvers.html) for a complete list of supported solvers. Note that some commercial solvers (such as Gurobi and Mosek) are not included in the pre-compiled Drake binaries, and therefore not on Binder/Colab. \n", + "A quadratic program can be solved by many different solvers. Drake supports some solvers including OSQP, SCS, Gurobi, MOSEK™, etc. Please see our [Doxygen page]( https://drake.mit.edu/doxygen_cxx/group__solvers.html) for a complete list of supported solvers. Note that some commercial solvers (such as Gurobi and MOSEK™) are not included in the pre-compiled Drake binaries, and therefore not on Binder/Colab. \n", " \n", "Drake's API supports multiple functions to add quadratic cost and linear constraints. We briefly go through some of the functions in this tutorial. For a complete list of functions, please check our [Doxygen](https://drake.mit.edu/doxygen_cxx/classdrake_1_1solvers_1_1_mathematical_program.html).\n", "\n", @@ -212,7 +212,7 @@ "metadata": {}, "source": [ "## Convexity of the cost\n", - "Drake checks the convexity of every added quadratic cost, by checking whether the Hessian of each quadratic cost is positive semidefinite or not. Currently the user can solve a QP with a convex solver (Gurobi/Mosek/OSQP/CLP/SCS etc) only if every quadratic cost is convex.\n", + "Drake checks the convexity of every added quadratic cost, by checking whether the Hessian of each quadratic cost is positive semidefinite or not. Currently the user can solve a QP with a convex solver (Gurobi/MOSEK™/OSQP/CLP/SCS etc) only if every quadratic cost is convex.\n", "\n", "It takes some computation to check if a quadratic cost is convex. If your application requires solving the QP as fast as possible (for example, solving a QP within the robot control loop), then it makes sense to bypass this convexity check. To do so, if you know the convexity of your quadratic cost, you can set the `is_convex` flag in `AddQuadraticCost` function; Drake won't compute whether the cost is convex or not when the `is_convex` flag is set. In the following example we show how to set this `is_convex` flag." ]