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Add option for enabling/disabling debug error output to cerr #75

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merged 5 commits into from
Dec 10, 2020
Merged

Add option for enabling/disabling debug error output to cerr #75

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a771b0e
Add option for enabling/disabling debug error output to cerr
kalj Nov 30, 2020
782b400
fixes from PR feedback
kalj Dec 3, 2020
1c6ae06
use spaces instead of tabs
kalj Dec 3, 2020
a4341c5
add missing parentheses
kalj Dec 3, 2020
0423097
use standard include path format
kalj Dec 4, 2020
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12 changes: 10 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ endif()
option(BUILD_TESTING "Create tests using CMake" OFF)
include(CTest)

option(OSQP_EIGEN_DEBUG_OUTPUT "Print debug error messages to cerr" ON)

# Check OsqpEigen dependencies, find necessary libraries.
include(OsqpEigenDependencies)

Expand All @@ -78,7 +80,8 @@ set(LIBRARY_TARGET_NAME OsqpEigen)
set(${LIBRARY_TARGET_NAME}_SRC
src/Data.cpp
src/Settings.cpp
src/Solver.cpp)
src/Solver.cpp
src/Debug.cpp)
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set(${LIBRARY_TARGET_NAME}_HDR
include/OsqpEigen/OsqpEigen.h
Expand All @@ -89,7 +92,8 @@ set(${LIBRARY_TARGET_NAME}_HDR
include/OsqpEigen/Data.tpp
include/OsqpEigen/Settings.hpp
include/OsqpEigen/Solver.hpp
include/OsqpEigen/Solver.tpp)
include/OsqpEigen/Solver.tpp
include/OsqpEigen/Debug.hpp)

add_library(${LIBRARY_TARGET_NAME} ${${LIBRARY_TARGET_NAME}_SRC} ${${LIBRARY_TARGET_NAME}_HDR})
target_include_directories(${LIBRARY_TARGET_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
Expand All @@ -105,6 +109,10 @@ set_target_properties(${LIBRARY_TARGET_NAME} PROPERTIES

target_compile_features(${LIBRARY_TARGET_NAME} PUBLIC cxx_std_14)

if(OSQP_EIGEN_DEBUG_OUTPUT)
target_compile_definitions(${LIBRARY_TARGET_NAME} PRIVATE "OSQP_EIGEN_DEBUG_OUTPUT")
endif()

# List exported CMake package dependencies
set(OSQP_EIGEN_EXPORTED_DEPENDENCIES "")
list(APPEND OSQP_EIGEN_EXPORTED_DEPENDENCIES osqp "Eigen3 CONFIG")
Expand Down
20 changes: 11 additions & 9 deletions include/OsqpEigen/Data.tpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,26 +7,28 @@

#include <iostream>

#include <OsqpEigen/Debug.hpp>

template<typename Derived>
bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseCompressedBase<Derived> &hessianMatrix)
{
if(m_isHessianMatrixSet){
std::cerr << "[OsqpEigen::Data::setHessianMatrix] The hessian matrix was already set. "
debugStream() << "[OsqpEigen::Data::setHessianMatrix] The hessian matrix was already set. "
<< "Please use clearHessianMatrix() method to deallocate memory."
<< std::endl;
return false;
}

if(!m_isNumberOfVariablesSet){
std::cerr << "[OsqpEigen::Data::setHessianMatrix] Please set the number of variables before "
debugStream() << "[OsqpEigen::Data::setHessianMatrix] Please set the number of variables before "
<< "add the hessian matrix."
<< std::endl;
return false;
}

// check if the number of row and columns are equal to the number of the optimization variables
if ((hessianMatrix.rows() != m_data->n) || (hessianMatrix.cols()!= m_data->n)){
std::cerr << "[OsqpEigen::Data::setHessianMatrix] The Hessian matrix has to be a n x n size matrix."
debugStream() << "[OsqpEigen::Data::setHessianMatrix] The Hessian matrix has to be a n x n size matrix."
<< std::endl;
return false;
}
Expand All @@ -35,7 +37,7 @@ bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseCompressedBase<Derived
// osqp 0.6.0 required only the upper triangular part of the hessian matrix
Derived hessianMatrixUpperTriangular = hessianMatrix.template triangularView<Eigen::Upper>();
if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){
std::cerr << "[OsqpEigen::Data::setHessianMatrix] Unable to instantiate the osqp sparse matrix."
debugStream() << "[OsqpEigen::Data::setHessianMatrix] Unable to instantiate the osqp sparse matrix."
<< std::endl;
return false;
}
Expand All @@ -47,34 +49,34 @@ template<typename Derived>
bool OsqpEigen::Data::setLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived> &linearConstraintsMatrix)
{
if(m_isLinearConstraintsMatrixSet){
std::cerr << "[OsqpEigen::Data::setLinearConstraintsMatrix] The linear constraint matrix was already set. "
debugStream() << "[OsqpEigen::Data::setLinearConstraintsMatrix] The linear constraint matrix was already set. "
<< "Please use clearLinearConstraintsMatrix() method to deallocate memory."
<< std::endl;
return false;
}

if(!m_isNumberOfConstraintsSet){
std::cerr << "[OsqpEigen::Data::setLinearConstraintsMatrix] Please set the number of constraints before add the constraint matrix."
debugStream() << "[OsqpEigen::Data::setLinearConstraintsMatrix] Please set the number of constraints before add the constraint matrix."
<< std::endl;
return false;
}

if(!m_isNumberOfVariablesSet){
std::cerr << "[OsqpEigen::Data::setLinearConstraintsMatrix] Please set the number of variables before add the constraint matrix."
debugStream() << "[OsqpEigen::Data::setLinearConstraintsMatrix] Please set the number of variables before add the constraint matrix."
<< std::endl;
return false;
}

if ((linearConstraintsMatrix.rows() != m_data->m) || (linearConstraintsMatrix.cols()!= m_data->n)){
std::cerr << "[OsqpEigen::Data::setLinearConstraintsMatrix] The Linear constraints matrix has to be a m x n size matrix."
debugStream() << "[OsqpEigen::Data::setLinearConstraintsMatrix] The Linear constraints matrix has to be a m x n size matrix."
<< std::endl;
return false;
}

// set the hessian matrix
if(!OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(linearConstraintsMatrix,
m_data->A)){
std::cerr << "[OsqpEigen::Data::setLinearConstraintsMatrix] osqp sparse matrix not created."
debugStream() << "[OsqpEigen::Data::setLinearConstraintsMatrix] osqp sparse matrix not created."
<< std::endl;
return false;
}
Expand Down
10 changes: 10 additions & 0 deletions include/OsqpEigen/Debug.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
#ifndef OSQPEIGEN_DEBUG_HPP
#define OSQPEIGEN_DEBUG_HPP

#include <iostream>

namespace OsqpEigen {
std::ostream &debugStream();
}

#endif /* OSQPEIGEN_DEBUG_HPP */
58 changes: 30 additions & 28 deletions include/OsqpEigen/Solver.tpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,20 @@
#include <auxil.h>
#include <scaling.h>

#include "Debug.hpp"

template<typename Derived>
bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<Derived> &hessianMatrix)
{
if(!m_isSolverInitialized){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] The solver has not been initialized."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] The solver has not been initialized."
<< std::endl;
return false;
}

if(((c_int)hessianMatrix.rows() != m_workspace->data->n)||
((c_int)hessianMatrix.cols() != m_workspace->data->n)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] The hessian matrix has to be a nxn matrix"
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] The hessian matrix has to be a nxn matrix"
<< std::endl;
return false;
}
Expand All @@ -29,13 +31,13 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De
// evaluate the triplets from old and new hessian sparse matrices
if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->P,
m_oldHessianTriplet)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to evaluate triplets from the old hessian matrix."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to evaluate triplets from the old hessian matrix."
<< std::endl;
return false;
}
if(!OsqpEigen::SparseMatrixHelper::eigenSparseMatrixToTriplets(hessianMatrix,
m_newHessianTriplet)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to evaluate triplets from the old hessian matrix."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to evaluate triplets from the old hessian matrix."
<< std::endl;
return false;
}
Expand All @@ -50,7 +52,7 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De
m_hessianNewIndices, m_hessianNewValues)){
if (m_hessianNewValues.size() > 0) {
if(osqp_update_P(m_workspace.get(), m_hessianNewValues.data(), m_hessianNewIndices.data(), m_hessianNewIndices.size()) != 0){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update hessian matrix."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update hessian matrix."
<< std::endl;
return false;
}
Expand All @@ -63,13 +65,13 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De
// get the primal and the dual variables

if(!getPrimalVariable(m_primalVariables)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to get the primal variable."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to get the primal variable."
<< std::endl;
return false;
}

if(!getDualVariable(m_dualVariables)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to get the dual variable."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to get the dual variable."
<< std::endl;
return false;
}
Expand All @@ -79,7 +81,7 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De

// set new hessian matrix
if(!m_data->setHessianMatrix(hessianMatrix)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update the hessian matrix in "
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to update the hessian matrix in "
<< "OptimizaroData object."
<< std::endl;
return false;
Expand All @@ -90,20 +92,20 @@ bool OsqpEigen::Solver::updateHessianMatrix(const Eigen::SparseCompressedBase<De

// initialize a new solver
if(!initSolver()){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to Initialize the solver."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to Initialize the solver."
<< std::endl;
return false;
}

// set the old primal and dual variables
if(!setPrimalVariable(m_primalVariables)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to set the primal variable."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to set the primal variable."
<< std::endl;
return false;
}

if(!setDualVariable(m_dualVariables)){
std::cerr << "[OsqpEigen::Solver::updateHessianMatrix] Unable to set the dual variable."
debugStream() << "[OsqpEigen::Solver::updateHessianMatrix] Unable to set the dual variable."
<< std::endl;
return false;
}
Expand All @@ -115,14 +117,14 @@ template<typename Derived>
bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived> &linearConstraintsMatrix)
{
if(!m_isSolverInitialized){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The solver has not been initialized."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The solver has not been initialized."
<< std::endl;
return false;
}

if(((c_int)linearConstraintsMatrix.rows() != m_workspace->data->m)||
((c_int)linearConstraintsMatrix.cols() != m_workspace->data->n)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The constraints matrix has to be a mxn matrix"
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] The constraints matrix has to be a mxn matrix"
<< std::endl;
return false;
}
Expand All @@ -131,13 +133,13 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres

if(!OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(m_workspace->data->A,
m_oldLinearConstraintsTriplet)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to evaluate triplets from the old hessian matrix."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to evaluate triplets from the old hessian matrix."
<< std::endl;
return false;
}
if(!OsqpEigen::SparseMatrixHelper::eigenSparseMatrixToTriplets(linearConstraintsMatrix,
m_newLinearConstraintsTriplet)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to evaluate triplets from the old hessian matrix."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to evaluate triplets from the old hessian matrix."
<< std::endl;
return false;
}
Expand All @@ -150,7 +152,7 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres
m_constraintsNewIndices, m_constraintsNewValues)){
if (m_constraintsNewValues.size() > 0) {
if(osqp_update_A(m_workspace.get(), m_constraintsNewValues.data(), m_constraintsNewIndices.data(), m_constraintsNewIndices.size()) != 0){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update linear constraints matrix."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update linear constraints matrix."
<< std::endl;
return false;
}
Expand All @@ -163,13 +165,13 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres
// get the primal and the dual variables

if(!getPrimalVariable(m_primalVariables)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to get the primal variable."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to get the primal variable."
<< std::endl;
return false;
}

if(!getDualVariable(m_dualVariables)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to get the dual variable."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to get the dual variable."
<< std::endl;
return false;
}
Expand All @@ -179,7 +181,7 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres

// set new linear constraints matrix
if(!m_data->setLinearConstraintsMatrix(linearConstraintsMatrix)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update the hessian matrix in "
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to update the hessian matrix in "
<< "Data object."
<< std::endl;
return false;
Expand All @@ -189,20 +191,20 @@ bool OsqpEigen::Solver::updateLinearConstraintsMatrix(const Eigen::SparseCompres
clearSolver();

if(!initSolver()){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to Initialize the solver."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to Initialize the solver."
<< std::endl;
return false;
}

// set the old primal and dual variables
if(!setPrimalVariable(m_primalVariables)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to set the primal variable."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to set the primal variable."
<< std::endl;
return false;
}

if(!setDualVariable(m_dualVariables)){
std::cerr << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to set the dual variable."
debugStream() << "[OsqpEigen::Solver::updateLinearConstraintsMatrix] Unable to set the dual variable."
<< std::endl;
return false;
}
Expand All @@ -215,14 +217,14 @@ bool OsqpEigen::Solver::setWarmStart(const Eigen::Matrix<T, n, 1> &primalVariabl
const Eigen::Matrix<T, m, 1> &dualVariable)
{
if(primalVariable.rows() != m_workspace->data->n){
std::cerr << "[OsqpEigen::Solver::setWarmStart] The size of the primal variable vector has to be equal to "
debugStream() << "[OsqpEigen::Solver::setWarmStart] The size of the primal variable vector has to be equal to "
<< " the number of variables."
<< std::endl;
return false;
}

if(dualVariable.rows() != m_workspace->data->m){
std::cerr << "[OsqpEigen::Solver::setWarmStart] The size of the dual variable vector has to be equal to "
debugStream() << "[OsqpEigen::Solver::setWarmStart] The size of the dual variable vector has to be equal to "
<< " the number of constraints."
<< std::endl;
return false;
Expand All @@ -239,7 +241,7 @@ template<typename T, int n>
bool OsqpEigen::Solver::setPrimalVariable(const Eigen::Matrix<T, n, 1> &primalVariable)
{
if(primalVariable.rows() != m_workspace->data->n){
std::cerr << "[OsqpEigen::Solver::setPrimalVariable] The size of the primal variable vector has to be equal to "
debugStream() << "[OsqpEigen::Solver::setPrimalVariable] The size of the primal variable vector has to be equal to "
<< " the number of variables."
<< std::endl;
return false;
Expand All @@ -255,7 +257,7 @@ template<typename T, int m>
bool OsqpEigen::Solver::setDualVariable(const Eigen::Matrix<T, m, 1> &dualVariable)
{
if(dualVariable.rows() != m_workspace->data->m){
std::cerr << "[OsqpEigen::Solver::setDualVariable] The size of the dual variable vector has to be equal to "
debugStream() << "[OsqpEigen::Solver::setDualVariable] The size of the dual variable vector has to be equal to "
<< " the number of constraints."
<< std::endl;
return false;
Expand All @@ -274,7 +276,7 @@ bool OsqpEigen::Solver::getPrimalVariable(Eigen::Matrix<T, n, 1> &primalVariable
}
else{
if (n != m_workspace->data->n){
std::cerr << "[OsqpEigen::Solver::getPrimalVariable] The size of the vector has to be equal to the number of "
debugStream() << "[OsqpEigen::Solver::getPrimalVariable] The size of the vector has to be equal to the number of "
<< "variables. (You can use an eigen dynamic vector)"
<< std::endl;
return false;
Expand All @@ -294,7 +296,7 @@ bool OsqpEigen::Solver::getDualVariable(Eigen::Matrix<T, m, 1> &dualVariable)
}
else{
if (m != m_workspace->data->m){
std::cerr << "[OsqpEigen::Solver::getDualVariable] The size of the vector has to be equal to the number of "
debugStream() << "[OsqpEigen::Solver::getDualVariable] The size of the vector has to be equal to the number of "
<< "constraints. (You can use an eigen dynamic vector)"
<< std::endl;
return false;
Expand Down
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