Fixes for osqp > 0.6.0

.gitignore

@@ -102,3 +102,6 @@ results_bak/
 
 # Vim backup files
 *.swp
+*.csv
+*.tex
+*.pdf

miosqp/node.py

@@ -1,4 +1,5 @@
 import numpy as np
+import osqp
 
 
 class Node(object):
@@ -84,7 +85,7 @@ def __init__(self, data, l, u, solver, depth=0, lower=None,
         self.y = y0
 
         # Set QP solver return status
-        self.status = self.solver.constant('OSQP_UNSOLVED')
+        self.status = osqp.constant('OSQP_UNSOLVED')
 
         # Add next variable elements
         self.nextvar_idx = None   # Index of next variable within solution x
@@ -110,8 +111,8 @@ def solve(self):
         self.status = results.info.status_val
 
         # DEBUG: Problems that hit max_iter are infeasible
-        # if self.status == self.solver.constant('OSQP_MAX_ITER_REACHED'):
-        #     self.status = self.solver.constant('OSQP_PRIMAL_INFEASIBLE')
+        # if self.status == osqp.constant('OSQP_MAX_ITER_REACHED'):
+        #     self.status = osqp.constant('OSQP_PRIMAL_INFEASIBLE')
 
         # Store number of iterations
         self.num_iter = results.info.iter
@@ -124,8 +125,8 @@ def solve(self):
         self.y = results.y
 
         # Enforce integer variables to be exactly within the bounds
-        if self.status == self.solver.constant('OSQP_SOLVED') or \
-                self.status == self.solver.constant('OSQP_MAX_ITER_REACHED'):
+        if self.status == osqp.constant('OSQP_SOLVED') or \
+                self.status == osqp.constant('OSQP_MAX_ITER_REACHED'):
             #  import ipdb; ipdb.set_trace()
             n_int = self.data.n_int
             i_idx = self.data.i_idx

miosqp/workspace.py

@@ -96,7 +96,7 @@ def set_x0(self, x0):
         Set initial condition
         """
 
-        # Suppose that algorithm hasn't been run yet. 
+        # Suppose that algorithm hasn't been run yet.
         # Tree has only one leaf (root)
         root = self.leaves[0]
 
@@ -193,7 +193,7 @@ def add_right(self, leaf):
         # DEBUG:
         if any(l_right > u_right):
             import ipdb; ipdb.set_trace()
-        
+
         # Create new leaf
         new_leaf = Node(self.data, l_right, u_right, self.solver,
                         depth=leaf.depth + 1, lower=leaf.lower,
@@ -291,8 +291,8 @@ def bound_and_branch(self, leaf):
         self.osqp_solve_time += leaf.osqp_solve_time
 
         # 1) If infeasible or unbounded, then return (prune)
-        if leaf.status == self.solver.constant('OSQP_PRIMAL_INFEASIBLE') or \
-                leaf.status == self.solver.constant('OSQP_DUAL_INFEASIBLE'):
+        if leaf.status == osqp.constant('OSQP_PRIMAL_INFEASIBLE') or \
+                leaf.status == osqp.constant('OSQP_DUAL_INFEASIBLE'):
             return
 
         # 2) If lower bound is greater than upper bound, then return (prune)
@@ -400,8 +400,8 @@ def print_progress(self, leaf):
             gap = "%8.2f%%" % \
                 ((self.upper_glob - self.lower_glob)/abs(self.lower_glob)*100)
 
-        if leaf.status == self.solver.constant('OSQP_PRIMAL_INFEASIBLE') or \
-                leaf.status == self.solver.constant('OSQP_DUAL_INFEASIBLE'):
+        if leaf.status == osqp.constant('OSQP_PRIMAL_INFEASIBLE') or \
+                leaf.status == osqp.constant('OSQP_DUAL_INFEASIBLE'):
             obj = np.inf
         else:
             obj = leaf.lower
@@ -416,7 +416,7 @@ def print_progress(self, leaf):
                leaf.depth, intinf, self.lower_glob,
                self.upper_glob, gap, leaf.num_iter), end='')
 
-        if leaf.status == self.solver.constant('OSQP_MAX_ITER_REACHED'):
+        if leaf.status == osqp.constant('OSQP_MAX_ITER_REACHED'):
             print("!")
         else:
             print("")