isri-aist / qpsolvercollection Goto Github PK
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Home Page: https://isri-aist.github.io/QpSolverCollection/
License: BSD 2-Clause "Simplified" License
Unified C++ interface for quadratic programming solvers
Home Page: https://isri-aist.github.io/QpSolverCollection/
License: BSD 2-Clause "Simplified" License
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
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
qpmad
support may be worth adding:
https://github.com/mmurooka/QpSolverCollection/actions/runs/3667418654/jobs/6199881734#step:3:65
I think it should be disabled.
After merging #5, CI starts to failed.
https://github.com/isri-aist/QpSolverCollection/actions/runs/3528567667
git alias does not seem to work.
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.
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 -
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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