Qp swift sparse bindings

.github/workflows/publish_to_pypi.yml

@@ -0,0 +1,68 @@
+name: Publish Python Package
+
+on: push
+
+jobs:
+  build:
+    name: Build distribution 📦
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: [ '3.8', '3.9', '3.10', '3.11', '3.12' ]
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install cibuildwheel
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install cibuildwheel
+
+      - name: Build wheels
+        env:
+          CIBW_BUILD: cp${{ matrix.python-version == '3.10' && '310' || matrix.python-version == '3.11' && '311' || matrix.python-version == '3.12' && '312' || matrix.python-version == '3.9' && '39' || '38' }}-manylinux_x86_64
+          CIBW_MANYLINUX_X86_64_IMAGE: manylinux2014
+          CIBW_BEFORE_BUILD: |
+            yum install -y eigen3-devel cmake3
+            pip install -r python/requirements.txt
+            cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+            cmake --build build --config Release
+          CIBW_REPAIR_WHEEL_COMMAND: auditwheel repair -w {dest_dir} {wheel}
+        run: |
+          python -m cibuildwheel python --output-dir wheelhouse
+
+      - name: Store the distribution packages
+        uses: actions/upload-artifact@v4
+        with:
+          name: python-package-distributions-${{ matrix.python-version }}
+          path: dist/
+
+  publish-to-pypi:
+    name: Publish Python 🐍 distribution 📦 to PyPI
+    if: startsWith(github.ref, 'refs/tags/')  # only publish to PyPI on tag pushes
+    needs:
+      - build
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/qpSWIFT_sparse_bindings
+    permissions:
+      id-token: write  # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          pattern: python-package-distributions-*
+          path: dist/
+          merge-multiple: true
+      - name: Publish distribution 📦 to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+#        with:
+#          repository-url: https://test.pypi.org/legacy/  # remove/comment line when publishing to actual repository
+#        user: __token__                                # used before setting up a trusted publisher
+#        password: ${{ secrets.PYPI_API_TOKEN }}

README.md

@@ -1,3 +1,13 @@
+# Python Bindings for qpSWIFT
+
+These are custom Python bindings for a sparse interface for the [qpSWIFT](https://github.com/qpSWIFT/qpSWIFT) QP solver.
+
+> qpSWIFT is developed and maintained by its original authors [here](https://github.com/qpSWIFT/qpSWIFT) and is licensed under the GNU General Public License v3.0 (GPL-3.0).  
+> This project provides Python bindings and is independently maintained.
+
+---
+
+## Original qpSWIFT README
 # qpSWIFT
 ![github_release](https://img.shields.io/github/release-date/qpSWIFT/qpSWIFT)
 ![license](https://img.shields.io/github/license/qpSWIFT/qpSWIFT)

python/pyqpSWIFT.cpp

@@ -601,8 +601,8 @@ QPOptions dict_to_options(const py::dict& options_dict) {
 static ThreadPool pool(std::max<unsigned>(1u, std::thread::hardware_concurrency() - 1));
 
 // Python module
-PYBIND11_MODULE(qpSWIFT, m) {
-    m.doc() = "Python bindings for qpSWIFT quadratic programming solver";
+PYBIND11_MODULE(qpSWIFT_sparse_bindings, m) {
+    m.doc() = "Custom sparse python bindings for the qpSWIFT solver";
 
     py::class_<QPSolution>(m, "QPSolution")
         .def_readonly("exit_flag", &QPSolution::exit_flag, "Exit flag (0: success, >0: error)")

python/requirements.txt

@@ -0,0 +1,3 @@
+pybind11
+scipy
+numpy

python/demoqp.py → python/scripts/demoqp.py

@@ -1,5 +1,5 @@
 import numpy as np 
-import qpSWIFT
+import qpSWIFT_sparse_bindings as qpSWIFT
 
 
 ###  Solver Options

python/demoqp_sparse.py → python/scripts/demoqp_sparse.py

@@ -1,6 +1,6 @@
 import numpy as np
 import scipy.sparse as sp
-import qpSWIFT
+import qpSWIFT_sparse_bindings as qpSWIFT
 
 # Solver Options
 # For information about Solver options please refer to qpSWIFT documentation

python/setup.py

@@ -1,128 +1,150 @@
-import os
-import sys
-import subprocess
-from setuptools import setup, Extension
-import pybind11
-import numpy as np
-
-# This setup.py builds the QP_SWIFT C sources inline, relative to this python/ folder
-here = os.path.abspath(os.path.dirname(__file__))
-project_root = os.path.abspath(os.path.join(here, os.pardir))
-
-# Paths for includes and sources
-include_dir = os.path.join(project_root, 'include')
-src_dir = os.path.join(project_root, 'src')
-
-# Verify directories
-if not os.path.isdir(include_dir):
-    sys.exit(f"ERROR: include directory not found: {include_dir}")
-if not os.path.isdir(src_dir):
-    sys.exit(f"ERROR: src directory not found: {src_dir}")
-
-
-# Function to find Eigen include directory
-def find_eigen():
-    # Common paths where Eigen might be installed
-    common_paths = [
-        "/usr/include/eigen3",
-        "/usr/local/include/eigen3",
-        "/opt/homebrew/include/eigen3",
-        "/usr/include",
-        "/usr/local/include",
-        "/opt/local/include/eigen3",
-        "/opt/local/include",
-    ]
-
-    # Try to find Eigen/Core header in common paths
-    for path in common_paths:
-        if os.path.exists(os.path.join(path, "Eigen", "Core")):
-            return path
-
-    # Try using pkg-config if available
-    try:
-        eigen_cflags = subprocess.check_output(["pkg-config", "--cflags", "eigen3"],
-                                               universal_newlines=True).strip()
-        for item in eigen_cflags.split():
-            if item.startswith("-I"):
-                path = item[2:]
-                if os.path.exists(os.path.join(path, "Eigen", "Core")):
-                    return path
-    except (subprocess.SubprocessError, FileNotFoundError):
-        pass
-
-    # Try using find command if available (Unix-like systems)
-    try:
-        find_output = subprocess.check_output(
-            ["find", "/usr", "-name", "Eigen", "-type", "d", "-path", "*/eigen3/Eigen"],
-            universal_newlines=True
-        ).strip()
-
-        if find_output:
-            # Take the first result and get its parent directory
-            eigen_dir = os.path.dirname(find_output.split('\n')[0])
-            if os.path.exists(os.path.join(eigen_dir, "Eigen", "Core")):
-                return eigen_dir
-    except (subprocess.SubprocessError, FileNotFoundError):
-        pass
-
-    return None
-
-
-# Find Eigen include directory
-eigen_include_dir = find_eigen()
-
-if eigen_include_dir is None:
-    print("WARNING: Eigen headers not found automatically. Building might fail.")
-    print("You may need to install Eigen with: apt install libeigen3-dev (Debian/Ubuntu),")
-    print("brew install eigen (macOS), or download from http://eigen.tuxfamily.org/")
-else:
-    print(f"Found Eigen headers at: {eigen_include_dir}")
-
-# Collect all C source files
-c_sources = [
-    os.path.join(src_dir, f)
-    for f in [
-        'amd_1.c', 'amd_2.c', 'amd_aat.c', 'amd_control.c', 'amd_defaults.c',
-        'amd_dump.c', 'amd_global.c', 'amd_info.c', 'amd_order.c',
-        'amd_post_tree.c', 'amd_postorder.c', 'amd_preprocess.c', 'amd_valid.c',
-        'Auxilary.c', 'ldl.c', 'timer.c', 'qpSWIFT.c'
-    ]
-]
-
-# Add the pybind11 wrapper
-wrapper_cpp = os.path.join(here, 'pyqpSWIFT.cpp')
-c_sources.append(wrapper_cpp)
-
-# Setup include directories
-include_dirs = [
-    include_dir,
-    pybind11.get_include(),
-    pybind11.get_include(user=True),
-    np.get_include(),
-]
-
-# Add Eigen include directory if found
-if eigen_include_dir:
-    include_dirs.append(eigen_include_dir)
-
-# Prepare extra compile args
-extra_compile_args = ["-O3", "-std=c++11"]
-
-ext_modules = [
-    Extension(
-        name="qpSWIFT",
-        sources=c_sources,
-        include_dirs=include_dirs,
-        language="c++",
-        extra_compile_args=extra_compile_args,
-    ),
-]
-
-setup(
-    name="qpSWIFT",
-    version="0.1.0",
-    description="Python bindings for the QP_SWIFT solver",
-    ext_modules=ext_modules,
-    install_requires=["numpy", "scipy", "pybind11"],
-    zip_safe=False,
-)
+import os
+import sys
+import subprocess
+from setuptools import setup, Extension
+import pybind11
+import numpy as np
+
+# This setup.py builds the QP_SWIFT C sources inline, relative to this python/ folder
+here = os.path.abspath(os.path.dirname(__file__))
+project_root = os.path.abspath(os.path.join(here, os.pardir))
+
+# Paths for includes and sources
+include_dir = os.path.join(project_root, 'include')
+src_dir = os.path.join(project_root, 'src')
+
+# Verify directories
+if not os.path.isdir(include_dir):
+    sys.exit(f"ERROR: include directory not found: {include_dir}")
+if not os.path.isdir(src_dir):
+    sys.exit(f"ERROR: src directory not found: {src_dir}")
+
+
+# Function to find Eigen include directory
+def find_eigen():
+    # Common paths where Eigen might be installed
+    common_paths = [
+        "/usr/include/eigen3",
+        "/usr/local/include/eigen3",
+        "/opt/homebrew/include/eigen3",
+        "/usr/include",
+        "/usr/local/include",
+        "/opt/local/include/eigen3",
+        "/opt/local/include",
+    ]
+
+    # Try to find Eigen/Core header in common paths
+    for path in common_paths:
+        if os.path.exists(os.path.join(path, "Eigen", "Core")):
+            return path
+
+    # Try using pkg-config if available
+    try:
+        eigen_cflags = subprocess.check_output(["pkg-config", "--cflags", "eigen3"],
+                                               universal_newlines=True).strip()
+        for item in eigen_cflags.split():
+            if item.startswith("-I"):
+                path = item[2:]
+                if os.path.exists(os.path.join(path, "Eigen", "Core")):
+                    return path
+    except (subprocess.SubprocessError, FileNotFoundError):
+        pass
+
+    # Try using find command if available (Unix-like systems)
+    try:
+        find_output = subprocess.check_output(
+            ["find", "/usr", "-name", "Eigen", "-type", "d", "-path", "*/eigen3/Eigen"],
+            universal_newlines=True
+        ).strip()
+
+        if find_output:
+            # Take the first result and get its parent directory
+            eigen_dir = os.path.dirname(find_output.split('\n')[0])
+            if os.path.exists(os.path.join(eigen_dir, "Eigen", "Core")):
+                return eigen_dir
+    except (subprocess.SubprocessError, FileNotFoundError):
+        pass
+
+    return None
+
+
+# Find Eigen include directory
+eigen_include_dir = find_eigen()
+
+if eigen_include_dir is None:
+    print("WARNING: Eigen headers not found automatically. Building might fail.")
+    print("You may need to install Eigen with: apt install libeigen3-dev (Debian/Ubuntu),")
+    print("brew install eigen (macOS), or download from http://eigen.tuxfamily.org/")
+else:
+    print(f"Found Eigen headers at: {eigen_include_dir}")
+
+# Collect all C source files
+c_sources = [
+    os.path.join(src_dir, f)
+    for f in [
+        'amd_1.c', 'amd_2.c', 'amd_aat.c', 'amd_control.c', 'amd_defaults.c',
+        'amd_dump.c', 'amd_global.c', 'amd_info.c', 'amd_order.c',
+        'amd_post_tree.c', 'amd_postorder.c', 'amd_preprocess.c', 'amd_valid.c',
+        'Auxilary.c', 'ldl.c', 'timer.c', 'qpSWIFT.c'
+    ]
+]
+
+# Add the pybind11 wrapper
+wrapper_cpp = os.path.join(here, 'pyqpSWIFT.cpp')
+c_sources.append(wrapper_cpp)
+
+# Setup include directories
+include_dirs = [
+    include_dir,
+    pybind11.get_include(),
+    np.get_include(),
+]
+
+# Add Eigen include directory if found
+if eigen_include_dir:
+    include_dirs.append(eigen_include_dir)
+
+# Prepare extra compile args
+extra_compile_args = ["-O3", "-std=c++11"]
+
+ext_modules = [
+    Extension(
+        name="qpSWIFT_sparse_bindings",
+        sources=c_sources,
+        include_dirs=include_dirs,
+        language="c++",
+        extra_compile_args=extra_compile_args,
+    ),
+]
+
+setup(
+    name="qpSWIFT_sparse_bindings",
+    version="1.0.0",
+    description="Custom sparse python bindings for the qpSWIFT solver",
+    long_description_content_type="text/markdown",
+    python_requires='>=3.8, <3.13',
+    long_description='qpSWIFT is light-weight sparse Quadratic Programming solver targeted for embedded and robotic applications. '
+                     'It employs Primal-Dual Interioir Point method with Mehrotra Predictor corrector step and Nesterov Todd scaling. '
+                     'For solving the linear system of equations, sparse LDL\' factorization is used along with approximate minimum '
+                     'degree heuristic to minimize fill-in of the factorizations.\n '
+                     'This is a fork of the official qpSWIFT project (https://github.com/qpSWIFT/qpSWIFT) adapted for use with Giskard(py)',
+    ext_modules=ext_modules,
+    url="https://github.com/SemRoCo/qpSWIFT",
+    author="Simon Stelter",
+    install_requires=["numpy", "scipy", "pybind11"],
+    license='GPLv3',
+    license_files=('LICENSE',),
+    classifiers=[
+        'Development Status :: 5 - Production/Stable',
+        'License :: OSI Approved :: GNU General Public License v3 (GPLv3)',
+        'Operating System :: POSIX :: Linux',
+        'Intended Audience :: Science/Research',
+        "Programming Language :: Python",
+        'Programming Language :: Python :: 3.8',
+        'Programming Language :: Python :: 3.9',
+        'Programming Language :: Python :: 3.10',
+        'Programming Language :: Python :: 3.11',
+        'Programming Language :: Python :: 3.12',
+    ],
+    zip_safe=False,
+)