From 1404393d506d3b492257274dc0320ee9b86062a3 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sun, 1 Sep 2019 02:33:24 +0200 Subject: [PATCH 1/3] osqp_setup now returns an exit flag instead of OSQPWorkspace* --- src/Solver.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/Solver.cpp b/src/Solver.cpp index a3b7b30..7001851 100644 --- a/src/Solver.cpp +++ b/src/Solver.cpp @@ -78,10 +78,8 @@ bool OsqpEigen::Solver::initSolver() return false; } - m_workspace = osqp_setup(m_data->getData(), - m_settings->getSettings()); - - if(m_workspace == OSQP_NULL){ + if(osqp_setup(&m_workspace, m_data->getData(), + m_settings->getSettings()) != 0 ){ std::cerr << "[OsqpEigen::Solver::initSolver] Unable to setup the workspace." << std::endl; return false; From 2369d49862a487ba50fec438f9d55aa6f69ccdbc Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sun, 1 Sep 2019 02:34:44 +0200 Subject: [PATCH 2/3] osqp now accepts only upper triangular Hessian matrices --- include/OsqpEigen/Data.tpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/include/OsqpEigen/Data.tpp b/include/OsqpEigen/Data.tpp index 01d0dbe..ac18340 100644 --- a/include/OsqpEigen/Data.tpp +++ b/include/OsqpEigen/Data.tpp @@ -32,7 +32,9 @@ bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseMatrix &hessianMatr } //set the hessian matrix - if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(hessianMatrix, m_data->P)){ + // osqp 0.6.0 required only the upper triangular part of the hessian matrix + Eigen::SparseMatrix hessianMatrixUpperTriangular = hessianMatrix.template triangularView(); + if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){ std::cerr << "[OsqpEigen::Data::setHessianMatrix] Unable to instantiate the osqp sparse matrix." << std::endl; return false; From ac2a55166e5b72f9d092e5988b1b4a0c7f7d6554 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 23 Sep 2019 15:58:13 +0200 Subject: [PATCH 3/3] - bump version from 0.4.1->0.5.0 - upload a custom version of BasicConfigVersion-SameMinorVersion.cmake.in and WriteBasicConfigVersionFile.cmake to guarantee compatibility with cmake < 3.11 - compatibility ensured only if the required version is 0.5.* --- CMakeLists.txt | 4 +- ...sicConfigVersion-SameMinorVersion.cmake.in | 55 +++++++++++++++++++ cmake/InstallBasicPackageFiles.cmake | 3 + cmake/WriteBasicConfigVersionFile.cmake | 51 +++++++++++++++++ 4 files changed, 111 insertions(+), 2 deletions(-) create mode 100644 cmake/BasicConfigVersion-SameMinorVersion.cmake.in create mode 100644 cmake/WriteBasicConfigVersionFile.cmake diff --git a/CMakeLists.txt b/CMakeLists.txt index 119f266..5ea7135 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,7 +27,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED 11) project(OsqpEigen LANGUAGES CXX - VERSION 0.4.1) + VERSION 0.5.0) # add GNU dirs include(GNUInstallDirs) @@ -102,7 +102,7 @@ install(TARGETS ${LIBRARY_TARGET_NAME} include(InstallBasicPackageFiles) install_basic_package_files(${PROJECT_NAME} VERSION ${${PROJECT_NAME}_VERSION} - COMPATIBILITY AnyNewerVersion + COMPATIBILITY SameMinorVersion VARS_PREFIX ${PROJECT_NAME} NO_CHECK_REQUIRED_COMPONENTS_MACRO CONFIG_TEMPLATE ${CMAKE_SOURCE_DIR}/cmake/OsqpEigenConfig.cmake.in) diff --git a/cmake/BasicConfigVersion-SameMinorVersion.cmake.in b/cmake/BasicConfigVersion-SameMinorVersion.cmake.in new file mode 100644 index 0000000..e2030d2 --- /dev/null +++ b/cmake/BasicConfigVersion-SameMinorVersion.cmake.in @@ -0,0 +1,55 @@ +# This is a basic version file for the Config-mode of find_package(). +# It is used by write_basic_package_version_file() as input file for configure_file() +# to create a version-file which can be installed along a config.cmake file. +# +# The created file sets PACKAGE_VERSION_EXACT if the current version string and +# the requested version string are exactly the same and it sets +# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version, +# but only if the requested major and minor versions are the same as the current +# one. +# The variable CVF_VERSION must be set before calling configure_file(). + + +set(PACKAGE_VERSION "@CVF_VERSION@") + +if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) + set(PACKAGE_VERSION_COMPATIBLE FALSE) +else() + + if("@CVF_VERSION@" MATCHES "^([0-9]+)\\.([0-9]+)") + set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}") + set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}") + else() + set(CVF_VERSION_MAJOR "@CVF_VERSION@") + set(CVF_VERSION_MINOR "") + endif() + + if((PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR) AND + (PACKAGE_FIND_VERSION_MINOR STREQUAL CVF_VERSION_MINOR)) + set(PACKAGE_VERSION_COMPATIBLE TRUE) + else() + set(PACKAGE_VERSION_COMPATIBLE FALSE) + endif() + + if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) + set(PACKAGE_VERSION_EXACT TRUE) + endif() +endif() + + +# if the installed project requested no architecture check, don't perform the check +if("@CVF_ARCH_INDEPENDENT@") + return() +endif() + +# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it: +if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "@CMAKE_SIZEOF_VOID_P@" STREQUAL "") + return() +endif() + +# check that the installed version has the same 32/64bit-ness as the one which is currently searching: +if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "@CMAKE_SIZEOF_VOID_P@") + math(EXPR installedBits "@CMAKE_SIZEOF_VOID_P@ * 8") + set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)") + set(PACKAGE_VERSION_UNSUITABLE TRUE) +endif() diff --git a/cmake/InstallBasicPackageFiles.cmake b/cmake/InstallBasicPackageFiles.cmake index aa216a7..fc03ea7 100644 --- a/cmake/InstallBasicPackageFiles.cmake +++ b/cmake/InstallBasicPackageFiles.cmake @@ -233,6 +233,9 @@ include(GNUInstallDirs) include(CMakePackageConfigHelpers) include(CMakeParseArguments) +# custom version of the write_basic_package_version_file +# available only from cmake 3.11 +include(WriteBasicConfigVersionFile) function(INSTALL_BASIC_PACKAGE_FILES _Name) diff --git a/cmake/WriteBasicConfigVersionFile.cmake b/cmake/WriteBasicConfigVersionFile.cmake new file mode 100644 index 0000000..9522ce1 --- /dev/null +++ b/cmake/WriteBasicConfigVersionFile.cmake @@ -0,0 +1,51 @@ +# Distributed under the OSI-approved BSD 3-Clause License. See accompanying +# file Copyright.txt or https://cmake.org/licensing for details. + +#[=======================================================================[.rst: +WriteBasicConfigVersionFile +--------------------------- + +.. deprecated:: 3.0 + + Use the identical command :command:`write_basic_package_version_file()` + from module :module:`CMakePackageConfigHelpers`. + +:: + + WRITE_BASIC_CONFIG_VERSION_FILE( filename + [VERSION major.minor.patch] + COMPATIBILITY (AnyNewerVersion|SameMajorVersion|SameMinorVersion|ExactVersion) + [ARCH_INDEPENDENT] + ) + + +#]=======================================================================] + +function(WRITE_BASIC_CONFIG_VERSION_FILE _filename) + + set(options ARCH_INDEPENDENT ) + set(oneValueArgs VERSION COMPATIBILITY ) + set(multiValueArgs ) + + cmake_parse_arguments(CVF "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + if(CVF_UNPARSED_ARGUMENTS) + message(FATAL_ERROR "Unknown keywords given to WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_UNPARSED_ARGUMENTS}\"") + endif() + + set(versionTemplateFile "${CMAKE_CURRENT_SOURCE_DIR}/cmake/BasicConfigVersion-${CVF_COMPATIBILITY}.cmake.in") + if(NOT EXISTS "${versionTemplateFile}") + message(FATAL_ERROR "Bad COMPATIBILITY value used for WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_COMPATIBILITY}\"") + endif() + + if("${CVF_VERSION}" STREQUAL "") + if ("${PROJECT_VERSION}" STREQUAL "") + message(FATAL_ERROR "No VERSION specified for WRITE_BASIC_CONFIG_VERSION_FILE()") + else() + set(CVF_VERSION "${PROJECT_VERSION}") + endif() + endif() + + configure_file("${versionTemplateFile}" "${_filename}" @ONLY) + +endfunction()