Rust wrappers around preconditioning functions - Githubissues

alphaville / optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

https://alphaville.github.io/optimization-engine/

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Rust wrappers around preconditioning functions #290

Closed Arun-R-M closed 1 year ago

Arun-R-M commented 1 year ago

Main Changes

File templates/icasadi/icasadi_lib.rs: Implemented rust wrappers for preconditioning coefficients.
Rethinking the API: all those functions for computing the w's in interface.c are now static, that is, we don't need to expose this functionality. Instead, we can have a single function called preconditioning which does not return anything; it computes the scaling parameters (the w's) and stores them internally (in uxip_space).

Associated Issues

Addresses #106
Addresses #107

TODOs

[x] Documentation of all new functions
[x] All tests must pass
[x] Implementation of simple/neat API in interface.c
[x] Implementation of Rust wrapper for initialisation
[x] Implementation of Rust wrapper for preconditioning parameters
[x] Implementation of Rust wrapper for initial penalty
[x] ~Implementation of Rust wrapper for w_cost~ (won't do/removed)
[x] ~Implementation of Rust wrapper for w1~ (won't do/removed)
[x] ~Implementation of Rust wrapper for w2~ (won't do/removed)
[x] ~Implementation of Rust wrapper for initial_penalty~ (won't do/removed)
[x] Rust tests in icasadi_lib.rs for all of the above

alphaville commented 1 year ago

@Arun-R-M @smokinmirror I'll have another look later, but I believe we are close to merging this. Could you have a look? Any comments/doubts are welcome.