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Qplayer - infeasible case - dimensional typo fix for the inequality constraints#343

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jcarpent merged 3 commits intoSimple-Robotics:develfrom
Bambade:qplayer-fix
Aug 25, 2024
Merged

Qplayer - infeasible case - dimensional typo fix for the inequality constraints#343
jcarpent merged 3 commits intoSimple-Robotics:develfrom
Bambade:qplayer-fix

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@Bambade Bambade commented Jul 29, 2024

When considering no structural feasibility, QPLayer outputted in the forward and backward passes inequality multipliers and inequality Jacobians of the equivalent uni-sided inequality constrained QP (whereas the input considers QP with lower and upper inequality constraints).

This PR fixes this typo by performing the necessary internal changes (i.e., the transformations from one formulation to the other).

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@Bambade Bambade requested a review from fabinsch July 29, 2024 14:43
jcarpent
jcarpent previously approved these changes Aug 7, 2024
@jcarpent jcarpent enabled auto-merge August 24, 2024 16:09
@jcarpent jcarpent disabled auto-merge August 25, 2024 05:48
@jcarpent jcarpent merged commit 6d708e6 into Simple-Robotics:devel Aug 25, 2024
nim65s added a commit to nim65s/robotpkg that referenced this pull request Feb 3, 2026
upstream changes:

    ## [0.7.2] - 2025-03-12

    ### Fixed
    * Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
    * Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
    * Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)

    ### Changed
    * Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
    * Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
    * Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)

    ## [0.7.1] - 2025-01-28

    ### Fixed
    * Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)

    ## [0.7.0] - 2025-01-21

    ### Fixed
    * CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
    * Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)

    ### Added
    * Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
    * Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
    * Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
    * Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)

    ### Changed
    * Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
    * Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)

    ## [0.6.7] - 2024-08-27

    ### Added
    * Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
    * Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
    * Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
    * Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
    * Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
    * Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)

    ### Fixed
    * Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)

    ### Changed

    * Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)

    ## [0.6.6] - 2024-06-15

    ### Fixed
    * Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)

packaging changes:

- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s added a commit to nim65s/robotpkg that referenced this pull request Feb 3, 2026
upstream changes:

    ## [0.7.2] - 2025-03-12

    ### Fixed
    * Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
    * Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
    * Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)

    ### Changed
    * Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
    * Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
    * Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)

    ## [0.7.1] - 2025-01-28

    ### Fixed
    * Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)

    ## [0.7.0] - 2025-01-21

    ### Fixed
    * CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
    * Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)

    ### Added
    * Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
    * Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
    * Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
    * Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)

    ### Changed
    * Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
    * Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)

    ## [0.6.7] - 2024-08-27

    ### Added
    * Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
    * Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
    * Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
    * Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
    * Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
    * Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)

    ### Fixed
    * Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)

    ### Changed

    * Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)

    ## [0.6.6] - 2024-06-15

    ### Fixed
    * Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)

packaging changes:

- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s added a commit to nim65s/robotpkg that referenced this pull request Feb 3, 2026
upstream changes:

    ## [0.7.2] - 2025-03-12

    ### Fixed
    * Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
    * Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
    * Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)

    ### Changed
    * Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
    * Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
    * Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)

    ## [0.7.1] - 2025-01-28

    ### Fixed
    * Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)

    ## [0.7.0] - 2025-01-21

    ### Fixed
    * CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
    * Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)

    ### Added
    * Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
    * Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
    * Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
    * Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)

    ### Changed
    * Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
    * Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)

    ## [0.6.7] - 2024-08-27

    ### Added
    * Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
    * Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
    * Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
    * Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
    * Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
    * Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)

    ### Fixed
    * Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)

    ### Changed

    * Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)

    ## [0.6.6] - 2024-06-15

    ### Fixed
    * Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)

packaging changes:

- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
nim65s added a commit to nim65s/robotpkg that referenced this pull request Feb 10, 2026
upstream changes:

    ## [0.7.2] - 2025-03-12

    ### Fixed
    * Fix an arcane compilation issue on Clang-19 (Simple-Robotics/proxsuite#379)
    * Replace `!= None` with `is not None` in Python bindings (Simple-Robotics/proxsuite#375)
    * Fix Internal compiler error with Visual Studio 17.13 (Simple-Robotics/proxsuite#384)

    ### Changed
    * Upgrade nanobind submodule to v2.5.0 (Simple-Robotics/proxsuite#378)
    * Switch to gersemi for formatting (Simple-Robotics/proxsuite#380)
    * Switch to ruff for formatting / linting (Simple-Robotics/proxsuite#376)

    ## [0.7.1] - 2025-01-28

    ### Fixed
    * Fix Windows build with MSVC compiler and C++20 standard (Simple-Robotics/proxsuite#368)

    ## [0.7.0] - 2025-01-21

    ### Fixed
    * CMake: Fix link to system cereal in tests (Simple-Robotics/proxsuite#352)
    * Fix windows build error related to template usage in veg (Simple-Robotics/proxsuite#357)

    ### Added
    * Stub files for Python bindings, using [nanobind's native support](https://nanobind.readthedocs.io/en/latest/typing.html#stub-generation) (Simple-Robotics/proxsuite#340)
    * Python 3.13 support on PyPI (Simple-Robotics/proxsuite#361)
    * Add `solve_no_gil` for dense backend (multithreading via python) (Simple-Robotics/proxsuite#363)
    * Add benchmarks for `solve_no_gil` vs `solve_in_parallel` (openmp) (Simple-Robotics/proxsuite#363)

    ### Changed
    * Change Python bindings to use nanobind instead of pybind11 (Simple-Robotics/proxsuite#340)
    * Update setup-minicondav2 to v3 (Simple-Robotics/proxsuite#363)

    ## [0.6.7] - 2024-08-27

    ### Added
    * Fix mu update function for PrimalLDLT backend (Simple-Robotics/proxsuite#349)
    * Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
    * Add compatibility with jrl-cmakemodules workspace (Simple-Robotics/proxsuite#339)
    * Specifically mention that timings are in microseconds (Simple-Robotics/proxsuite#342)
    * Fix cereal include directory in cmake (Simple-Robotics/proxsuite#342)
    * Extend doc with hint for conda installation from source (Simple-Robotics/proxsuite#342)

    ### Fixed
    * Fix inequality constraints return in QPLayer (Simple-Robotics/proxsuite#343)

    ### Changed

    * Refactor Python examples with a new "util.py" file (Simple-Robotics/proxsuite#347)

    ## [0.6.6] - 2024-06-15

    ### Fixed
    * Fix infeasibility detection and add a unit test (Simple-Robotics/proxsuite#328)

packaging changes:

- added cereal dependency
- updated patches aa, ae
- removed patch-ab, applied upstream
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3 participants