Add proxQP solver support#49
Merged
olivier-roussel merged 9 commits intoSofaDefrost:mainfrom Jan 2, 2025
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR adds the possibility to switch the QP solver used and to select proxQP from proxsuite, taking advantage of the existing abstraction layer already in place, so it does add overhead for conversions types.
The idea is to have a smooth transition to switch to proxQP solver as qpOASES is not maintened anymore. Having both solvers will enable to perform some benchmarking to validate or not the switch.
This PR is mainly motivated due to the presence of bugs with qpOASES when coupling SoftRobots.Inverse with the Sofa.RigidBodyDynamics plugin.
Another motivation is to facilitate integration of SoftRobots.Inverse in modern packagings tool (such Conda) as qpOASES (and its packages) is not properly maintained anymore.
The support for proxQP must be enabled by setting the cmake variable
SOFTROBOTSINVERSE_ENABLE_PROXQPtoON. Proxsuite can be already installed externally or it will be fetched ("find or fetch" mechanism).Then, the type of QP solver can be set using the attribute
qpSolverby setting the valueproxQP(default isqpOASES). See unit tests for example.