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Unified C++ interface for quadratic programming solvers

Home Page: https://isri-aist.github.io/QpSolverCollection/

License: BSD 2-Clause "Simplified" License

CMake 13.61% C++ 84.78% Shell 1.61%
quadratic-programming optimization qp cpp ros

qpsolvercollection's Issues

Two apt packages

There are two apt packages, libqpsolvercollection-dev and qpsolvercollection. Is this correct? For the other packages (nmpc, centroidalcontrolcollection) there is only one apt package for each.

root@f2827b5e3e34:~# aptitude search qpsolvercollection
i A libqpsolvercollection-dev                                                   - Unified C++ interface for quadratic programming solvers
p   qpsolvercollection                                                          - Unified C++ interface for quadratic programming solvers
root@f2827b5e3e34:~# aptitude search nmpc
i A libnmpc-dev                                                                 - Non-linear model predictive control (NMPC) library
root@f2827b5e3e34:~# aptitude search centroidal
i   libcentroidalcontrolcollection-dev

Build failure in osqp-eigen

https://github.com/isri-aist/QpSolverCollection/actions/runs/5166259421/jobs/9306237589

...
2023-06-04T00:07:18.4057886Z /home/runner/work/QpSolverCollection/QpSolverCollection/robotology/osqp-eigen/src/Data.cpp:143:84: error: template argument 3 is invalid
2023-06-04T00:07:18.4068722Z /home/runner/work/QpSolverCollection/QpSolverCollection/robotology/osqp-eigen/src/Data.cpp:144:58: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
2023-06-04T00:07:18.4069258Z   144 |                                 Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
2023-06-04T00:07:18.4069575Z       |                                                          ^~~~~~~
2023-06-04T00:07:18.4069827Z       |                                                          float
2023-06-04T00:07:18.4070385Z /home/runner/work/QpSolverCollection/QpSolverCollection/robotology/osqp-eigen/src/Data.cpp:144:83: error: template argument 1 is invalid
2023-06-04T00:07:18.4070848Z   144 |                                 Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
2023-06-04T00:07:18.4071165Z       |                                                                                   ^
2023-06-04T00:07:18.4071723Z /home/runner/work/QpSolverCollection/QpSolverCollection/robotology/osqp-eigen/src/Data.cpp:144:84: error: template argument 1 is invalid
2023-06-04T00:07:18.4072184Z   144 |                                 Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
2023-06-04T00:07:18.4072712Z       |                                                                                    ^~
2023-06-04T00:07:18.4073271Z /home/runner/work/QpSolverCollection/QpSolverCollection/robotology/osqp-eigen/src/Data.cpp:144:84: error: template argument 3 is invalid
2023-06-04T00:07:18.4489804Z make[2]: *** [CMakeFiles/OsqpEigen.dir/build.make:76: CMakeFiles/OsqpEigen.dir/src/Data.cpp.o] Error 1
2023-06-04T00:07:18.4496198Z make[1]: *** [CMakeFiles/Makefile2:101: CMakeFiles/OsqpEigen.dir/all] Error 2
2023-06-04T00:07:18.4518879Z make: *** [Makefile:136: all] Error 2
2023-06-04T00:07:18.4547986Z ##[error]The process '/usr/local/bin/cmake' failed with exit code 2

Maybe related to robotology/osqp-eigen#131

JRL_QP cmake option makes build error...?

Hello, this is Tsuru.

I am trying to use JRL-QP, especially for differentiable_rmap,
and caught an error when I run catkin build.

Originally, I have been using QLD solver only with -DENABLE_QLD=ON for a long time.
Today, I wanted to try Murooka-sensei's reachability map, so that I enabled " JRL-QP" flag in catkin conf and I met this error.

I can see qp_solver_collection tried to find eigen-lssolConfig.
I thought it may be coming from benchmark comparison, then I tried with -DBUILD_TESTING=OFF -DBUILD_BENCHMARKS=OFF options. Even though, it didn't work...

Does anyone know why it always goes to find eigen lssol?

I will start to look into the codes from this noon by myself, but please let me rise this issue at the beginning.

Thank you in advance.

Screenshot from 2023-01-26 11-40-18

Errors     << qp_solver_collection:check /home/masato/src/catkin_motion6DoF_ws/logs/qp_solver_collection/build.check.1152.log                                                                              
- ENABLE_QLD: ON
- ENABLE_QUADPROG: OFF
- ENABLE_LSSOL: OFF
CMake Error at /usr/share/cmake-3.25/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
  By not providing "Findeigen-lssol.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "eigen-lssol", but CMake did not find one.

  Could not find a package configuration file provided by "eigen-lssol" with
  any of the following names:

    eigen-lssolConfig.cmake
    eigen-lssol-config.cmake

  Add the installation prefix of "eigen-lssol" to CMAKE_PREFIX_PATH or set
  "eigen-lssol_DIR" to a directory containing one of the above files.  If
  "eigen-lssol" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  /home/masato/openrtp/lib/cmake/jrl-qp/jrl-qpConfig.cmake:109 (find_dependency)
  CMakeLists.txt:34 (find_package)
  CMakeLists.txt:50 (add_qp_solver)


make: *** [cmake_check_build_system] Error 1
cd /home/masato/src/catkin_motion6DoF_ws/build/qp_solver_collection; catkin build --get-env qp_solver_collection | catkin env -si  /usr/bin/make cmake_check_build_system; cd -

Option to disable ROS dependency?

Hello @mmurooka, and thanks a lot for your work in this repo, it is quite useful!

I was wondering if you would be open to PR that introduced a CMake option by default off, to permit to compile the library without roscpp and catkin? The option could be call something like QP_SOLVER_COLLECTION_STANDALONE or QP_SOLVER_COLLECTION_WITHOUT_ROS. This would be quite helpful in contexts where a ROS dependency is not desirable, for example because ROS is not available or use of the library in ROS2. If you are ok with this, I would be happy to provide such a PR.

Thanks again in any case.

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