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osqp / osqp-python

Python interface for OSQP
https://osqp.org/
Apache License 2.0
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FLOAT codegen argument doesn't work as expected #114

Open kirkrudolph opened 1 year ago

kirkrudolph commented 1 year ago

Issue

Using the following code in Python, I'm expecting the resulting generated code to use floats because of FLOAT='True'. Instead, it looks like the generated code is still using doubles.

prob.codegen('osqp_gen',parameters='vectors', FLOAT='True')

Outputs the following to the console along with the generated files.

-----------------------------------------------------------------
           OSQP v0.6.3  -  Operator Splitting QP Solver
              (c) Bartolomeo Stellato,  Goran Banjac
        University of Oxford  -  Stanford University 2021
-----------------------------------------------------------------
problem:  variables n = 172, constraints m = 304
          nnz(P) + nnz(A) = 1161
settings: linear system solver = qdldl,
          eps_abs = 1.0e-03, eps_rel = 1.0e-03,
          eps_prim_inf = 1.0e-04, eps_dual_inf = 1.0e-04,
          rho = 1.00e-01 (adaptive),
          sigma = 1.00e-06, alpha = 1.60, max_iter = 4000
          check_termination: on (interval 25),
          scaling: on, scaled_termination: off
          warm start: on, polish: off, time_limit: off

Getting workspace from OSQP object...                           [done]
Creating target directories...                                  [done]
Copying OSQP sources...                                         [done]
Generating customized code...                                   [done]
Compiling Python wrapper...                                     [done]
Copying code-generated Python solver to current directory...    [done]

In osqp_gen > include > osqp_configure.h I see:

/* DFLOAT */
/* #undef DFLOAT */

/* DLONG */
#define DLONG

In osqp_gen > include > qdldl_types.h I see:

// QDLDL integer and float types
typedef long long    QDLDL_int;   /* for indices */
typedef double  QDLDL_float; /* for numerical values  */
typedef unsigned char   QDLDL_bool;  /* for boolean values  */

Compiling

Running the CMakeLists.txt file, it also shows Floats are still disabled.

-- We are on a Generic system
-- Embedded is 1
-- Passing EMBEDDED flag to compiler
-- Disabling printing for embedded
-- Printing is OFF
-- Disabling profiling for embedded
-- Profiling is OFF
-- Floats are OFF
-- Disabling long integers (64bit) on 32bit machine
-- Long integers (64bit) are OFF