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Add bindings for update_vector_data and update_matrix_data. #4

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80 changes: 78 additions & 2 deletions src/bindings.cpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -140,8 +140,10 @@ public:
PyQOCOSolution &get_solution();

QOCOInt update_settings(const QOCOSettings &);
// QOCOInt update_vector_data(py::object, py::object, py::object);
// QOCOInt update_matrix_data(py::object, py::object, py::object);
//QOCOInt update_vector_data(py::object, py::object, py::object);
//QOCOInt update_matrix_data(py::object, py::object, py::object);
QOCOInt update_vector_data(py::object cnew, py::object bnew, py::object hnew);
QOCOInt update_matrix_data(py::object Pxnew, py::object Axnew, py::object Gxnew);

QOCOInt solve();

Expand Down Expand Up @@ -241,6 +243,78 @@ QOCOInt PyQOCOSolver::update_settings(const QOCOSettings &new_settings)
return qoco_update_settings(this->_solver, &new_settings);
}

QOCOInt PyQOCOSolver::update_vector_data(py::object cnew, py::object bnew, py::object hnew)
{
QOCOFloat *cnew_ptr = nullptr;
QOCOFloat *bnew_ptr = nullptr;
QOCOFloat *hnew_ptr = nullptr;

if (cnew != py::none())
{
auto cnew_arr = cnew.cast<py::array_t<QOCOFloat>>();
auto buf = cnew_arr.request();
if (buf.shape[0] != this->n)
throw std::runtime_error("cnew size must be n = " + std::to_string(this->n));
cnew_ptr = (QOCOFloat *)buf.ptr;
}

if (bnew != py::none())
{
auto bnew_arr = bnew.cast<py::array_t<QOCOFloat>>();
auto buf = bnew_arr.request();
if (buf.shape[0] != this->p)
throw std::runtime_error("bnew size must be p = " + std::to_string(this->p));
bnew_ptr = (QOCOFloat *)buf.ptr;
}

if (hnew != py::none())
{
auto hnew_arr = hnew.cast<py::array_t<QOCOFloat>>();
auto buf = hnew_arr.request();
if (buf.shape[0] != this->m)
throw std::runtime_error("hnew size must be m = " + std::to_string(this->m));
hnew_ptr = (QOCOFloat *)buf.ptr;
}

return qoco_update_vector_data(this->_solver, cnew_ptr, bnew_ptr, hnew_ptr);
}

QOCOInt PyQOCOSolver::update_matrix_data(py::object Pxnew, py::object Axnew, py::object Gxnew)
{
QOCOFloat *Pxnew_ptr = nullptr;
QOCOFloat *Axnew_ptr = nullptr;
QOCOFloat *Gxnew_ptr = nullptr;

if (Pxnew != py::none())
{
auto Pxnew_arr = Pxnew.cast<py::array_t<QOCOFloat>>();
auto buf = Pxnew_arr.request();
if (buf.ndim != 1)
throw std::runtime_error("Pxnew must be 1-D array");
Pxnew_ptr = (QOCOFloat *)buf.ptr;
}

if (Axnew != py::none())
{
auto Axnew_arr = Axnew.cast<py::array_t<QOCOFloat>>();
auto buf = Axnew_arr.request();
if (buf.ndim != 1)
throw std::runtime_error("Axnew must be 1-D array");
Axnew_ptr = (QOCOFloat *)buf.ptr;
}

if (Gxnew != py::none())
{
auto Gxnew_arr = Gxnew.cast<py::array_t<QOCOFloat>>();
auto buf = Gxnew_arr.request();
if (buf.ndim != 1)
throw std::runtime_error("Gxnew must be 1-D array");
Gxnew_ptr = (QOCOFloat *)buf.ptr;
}

return qoco_update_matrix_data(this->_solver, Pxnew_ptr, Axnew_ptr, Gxnew_ptr);
}

PYBIND11_MODULE(@QOCO_EXT_MODULE_NAME@, m)
{
// Enums.
Expand Down Expand Up @@ -308,6 +382,8 @@ PYBIND11_MODULE(@QOCO_EXT_MODULE_NAME@, m)
.def(py::init<QOCOInt, QOCOInt, QOCOInt, const CSC &, const py::array_t<QOCOFloat>, const CSC &, const py::array_t<QOCOFloat>, const CSC &, const py::array_t<QOCOFloat>, QOCOInt, QOCOInt, const py::array_t<QOCOInt>, QOCOSettings *>(), "n"_a, "m"_a, "p"_a, "P"_a, "c"_a.noconvert(), "A"_a, "b"_a.noconvert(), "G"_a, "h"_a.noconvert(), "l"_a, "nsoc"_a, "q"_a.noconvert(), "settings"_a)
.def_property_readonly("solution", &PyQOCOSolver::get_solution, py::return_value_policy::reference)
.def("update_settings", &PyQOCOSolver::update_settings)
.def("update_vector_data", &PyQOCOSolver::update_vector_data, "cnew"_a=py::none(), "bnew"_a=py::none(), "hnew"_a=py::none())
.def("update_matrix_data", &PyQOCOSolver::update_matrix_data, "Pxnew"_a=py::none(), "Axnew"_a=py::none(), "Gxnew"_a=py::none())
.def("solve", &PyQOCOSolver::solve)
.def("get_settings", &PyQOCOSolver::get_settings, py::return_value_policy::reference);
}
95 changes: 95 additions & 0 deletions src/qoco/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,101 @@ def update_settings(self, **kwargs):
if settings_changed and self._solver is not None:
self._solver.update_settings(self.settings)

def update_vector_data(self, c=None, b=None, h=None):
"""
Update data vectors.

Parameters
----------
c : np.ndarray, optional
New c vector of size n. If None, c is not updated. Default is None.
b : np.ndarray, optional
New b vector of size p. If None, b is not updated. Default is None.
h : np.ndarray, optional
New h vector of size m. If None, h is not updated. Default is None.

Returns
-------
int
Status code from the solver
"""
cnew_ptr = None
bnew_ptr = None
hnew_ptr = None

if c is not None:
if not isinstance(c, np.ndarray):
c = np.array(c)
c = c.astype(np.float64)
if c.shape[0] != self.n:
raise ValueError(f"c size must be n = {self.n}")
cnew_ptr = c

if b is not None:
if not isinstance(b, np.ndarray):
b = np.array(b)
b = b.astype(np.float64)
if b.shape[0] != self.p:
raise ValueError(f"b size must be p = {self.p}")
bnew_ptr = b

if h is not None:
if not isinstance(h, np.ndarray):
h = np.array(h)
h = h.astype(np.float64)
if h.shape[0] != self.m:
raise ValueError(f"h size must be m = {self.m}")
hnew_ptr = h

return self._solver.update_vector_data(cnew_ptr, bnew_ptr, hnew_ptr)

def update_matrix_data(self, P=None, A=None, G=None):
"""
Update sparse matrix data.

The new matrices must have the same sparsity structure as the original ones.

Parameters
----------
P : np.ndarray, optional
New data for P matrix (only the nonzero values). If None, P is not updated.
Default is None.
A : np.ndarray, optional
New data for A matrix (only the nonzero values). If None, A is not updated.
Default is None.
G : np.ndarray, optional
New data for G matrix (only the nonzero values). If None, G is not updated.
Default is None.

Returns
-------
int
Status code from the solver
"""
Pxnew_ptr = None
Axnew_ptr = None
Gxnew_ptr = None

if P is not None:
if not isinstance(P, np.ndarray):
P = np.array(P)
P = P.astype(np.float64)
Pxnew_ptr = P

if A is not None:
if not isinstance(A, np.ndarray):
A = np.array(A)
A = A.astype(np.float64)
Axnew_ptr = A

if G is not None:
if not isinstance(G, np.ndarray):
G = np.array(G)
G = G.astype(np.float64)
Gxnew_ptr = G

return self._solver.update_matrix_data(Pxnew_ptr, Axnew_ptr, Gxnew_ptr)

def setup(self, n, m, p, P, c, A, b, G, h, l, nsoc, q, **settings):
self.m = m
self.n = n
Expand Down