Merge pull request #22 from olivier-roussel/allow-external-qpOASES-2

[config] Allow external qpOASES dependency

.github/workflows/ci-conda.yml

@@ -7,14 +7,15 @@ on:
 
 jobs:
   build-with-conda-and-test:
-    name: "[conda:${{ matrix.os }}:py${{ matrix.python_version }}]"
+    name: "[conda:${{ matrix.os }}:py${{ matrix.python_version }}:${{ matrix.qp_solver }}]"
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-22.04, macos-13, macos-14, windows-2022]
         python_version: ["3.13"]
         build_type: ["Release"]
+        qp_solver: ["qpOases", "proxQP"]
 
     steps:
     - name: Install miniconda [Linux & macOS & Windows]
@@ -57,7 +58,28 @@ jobs:
     - name: Install dependencies [Conda]
       shell: bash -l {0}
       run: |
-        conda install eigen libboost-headers pybind11 cxxopts  
+        conda install eigen libboost-headers pybind11 cxxopts
+
+    - name: Install QP solver dependencies [Conda / proxQP]
+      if: contains(matrix.qp_solver, 'proxQP')
+      shell: bash -l {0}
+      run: |
+        conda install proxsuite
+        echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=ON -DSOFTROBOTSINVERSE_ENABLE_QPOASES=OFF" >> "$GITHUB_ENV"
+
+    - name: Install QP solver dependencies [Conda / qpOases & not osx-arm64]
+      if: contains(matrix.qp_solver, 'qpOases') && !contains(matrix.os, 'macos-14')
+      shell: bash -l {0}
+      run: |
+        conda install qpoases
+        echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV"        
+
+      # Use embedded qpOases version as its conda package for python>3.10 under osx-arm64 platform is not supported anymore
+    - name: Install QP solver dependencies [Conda / qpOases & osx-arm64]
+      if: contains(matrix.qp_solver, 'qpOases') && contains(matrix.os, 'macos-14')
+      shell: bash -l {0}
+      run: |
+        echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV"        
 
     - name: Print environment [Conda]
       shell: bash -l {0}
@@ -72,7 +94,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake .. -GNinja \
+        cmake .. -GNinja $CMAKE_OPTS_QPSOLVER \
          -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
          -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/bin/python \
@@ -84,7 +106,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake .. -G"Visual Studio 17 2022" -T "v143"  \
+        cmake .. -G"Visual Studio 17 2022" -T "v143" $CMAKE_OPTS_QPSOLVER  \
          -DCMAKE_GENERATOR_PLATFORM=x64 \
          -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \

CMakeLists.txt

@@ -77,7 +77,6 @@ set(HEADER_FILES
     ${SRC_DIR}/component/solver/modules/NLCPSolver.h
     ${SRC_DIR}/component/solver/modules/QPInverseProblem.h
     ${SRC_DIR}/component/solver/modules/QPInverseProblemImpl.h
-    ${SRC_DIR}/component/solver/modules/QPInverseProblemQPOases.h
     ${SRC_DIR}/component/solver/modules/QPMechanicalAccumulateConstraint.h
     ${SRC_DIR}/component/solver/modules/QPMechanicalSetConstraint.h
     )
@@ -119,11 +118,9 @@ set(SOURCE_FILES
     ${SRC_DIR}/component/solver/QPInverseProblemSolver.cpp
     ${SRC_DIR}/component/solver/modules/ContactHandler.cpp
     ${SRC_DIR}/component/solver/modules/ConstraintHandler.cpp
-    ${SRC_DIR}/component/solver/modules/LCPQPSolver.cpp
     ${SRC_DIR}/component/solver/modules/NLCPSolver.cpp
     ${SRC_DIR}/component/solver/modules/QPInverseProblem.cpp
     ${SRC_DIR}/component/solver/modules/QPInverseProblemImpl.cpp
-    ${SRC_DIR}/component/solver/modules/QPInverseProblemQPOases.cpp
     ${SRC_DIR}/component/solver/modules/QPMechanicalAccumulateConstraint.cpp
     ${SRC_DIR}/component/solver/modules/QPMechanicalSetConstraint.cpp
     )
@@ -141,24 +138,33 @@ endif()
 set(DOC_FILES README.md)
 file(GLOB_RECURSE EXAMPLE_FILES examples "*.pyscn" "*.py" "*.md" "*.psl" "*.pslx" "*.scn" "*.xml")
 
-set(OASES_LIBRARY_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/extlibs/qpOASES-3.2.0/")
-add_subdirectory(${OASES_LIBRARY_DIRECTORY} extlibs/libqpOASES)
-find_package(libqpOASES REQUIRED)
-message("libqpOASES_INCLUDE_DIRS = ${libqpOASES_INCLUDE_DIRS}")
-include_directories(${libqpOASES_INCLUDE_DIRS})
-set(QPOASES_INCLUDE_DIR ${libqpOASES_INCLUDE_DIRS} CACHE INTERNAL "")
-sofa_install_libraries(PATHS ${libqpOASES_LIBRARY})
 
 option(SOFTROBOTSINVERSE_ENABLE_PROXQP "Build proxQP wrapper for inverse problems" OFF)
-if(SOFTROBOTSINVERSE_ENABLE_PROXQP)
-    find_package(proxsuite REQUIRED)
-    message("Sofa.SoftRobots.Inverse: proxsuite FOUND. Will build with proxsuite support.")
+option(SOFTROBOTSINVERSE_ENABLE_QPOASES "Build qpOASES wrapper for inverse problems" ON)
+
+if(NOT SOFTROBOTSINVERSE_ENABLE_PROXQP AND NOT SOFTROBOTSINVERSE_ENABLE_QPOASES)
+    message(FATAL_ERROR "Both proxQP and qpOASES solvers are disabled. Please enable at least one solver.")
+endif()
 
+if(SOFTROBOTSINVERSE_ENABLE_PROXQP)
     list(APPEND HEADER_FILES
         ${SRC_DIR}/component/solver/modules/QPInverseProblemProxQP.h
+        ${SRC_DIR}/component/solver/modules/LCPQPSolverProxQP.h
         )
     list(APPEND SOURCE_FILES
         ${SRC_DIR}/component/solver/modules/QPInverseProblemProxQP.cpp
+        ${SRC_DIR}/component/solver/modules/LCPQPSolverProxQP.cpp
+        )
+endif()
+
+if(SOFTROBOTSINVERSE_ENABLE_QPOASES)
+    list(APPEND HEADER_FILES
+        ${SRC_DIR}/component/solver/modules/QPInverseProblemQPOases.h
+        ${SRC_DIR}/component/solver/modules/LCPQPSolverQPOases.h
+        )
+    list(APPEND SOURCE_FILES
+        ${SRC_DIR}/component/solver/modules/QPInverseProblemQPOases.cpp
+        ${SRC_DIR}/component/solver/modules/LCPQPSolverQPOases.cpp
         )
 endif()
 
@@ -169,7 +175,11 @@ else()
     add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${DOC_FILES} ${EXAMPLE_FILES} "${SRC_DIR}/component/config.h.in")
 endif()
 
+
 if(SOFTROBOTSINVERSE_ENABLE_PROXQP)
+    find_package(proxsuite REQUIRED)
+    message("Sofa.SoftRobots.Inverse: proxsuite FOUND. Will build with proxsuite support.")
+
     target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite::proxsuite)
     # XXX proxsuite vectorization support via SIMDE and activated by the compilation options '-march=native' or `-mavx2 -mavx512f`
     # This will not be available if proxsuite has been fetched
@@ -178,11 +188,31 @@ if(SOFTROBOTSINVERSE_ENABLE_PROXQP)
     target_compile_definitions(${PROJECT_NAME} PUBLIC SOFTROBOTSINVERSE_ENABLE_PROXQP)
 endif()
 
+if(SOFTROBOTSINVERSE_ENABLE_QPOASES)
+    find_package(qpOASES QUIET)
+
+    if(qpOASES_FOUND)
+        message("Sofa.SoftRobots.Inverse: external qpOASES FOUND. Will build with qpOASES support.")
+        include_directories(${qpOASES_INCLUDE_DIRS})
+        target_link_libraries(${PROJECT_NAME} PUBLIC ${qpOASES_LIBRARIES})
+        set(QPOASES_INCLUDE_DIR ${qpOASES_INCLUDE_DIRS} CACHE INTERNAL "")
+    else()
+        message("External package qpOASES not found, using embedded version for qpOASES support")
+        set(OASES_LIBRARY_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/extlibs/qpOASES-3.2.0/")
+        add_subdirectory(${OASES_LIBRARY_DIRECTORY} extlibs/libqpOASES)
+        find_package(libqpOASES REQUIRED)
+        include_directories(${libqpOASES_INCLUDE_DIRS})
+        set(QPOASES_INCLUDE_DIR ${libqpOASES_INCLUDE_DIRS} CACHE INTERNAL "")
+        sofa_install_libraries(PATHS ${libqpOASES_LIBRARY})
+        target_link_libraries(${PROJECT_NAME} PUBLIC ${libqpOASES_LIBRARY})
+    endif()
+    target_compile_definitions(${PROJECT_NAME} PUBLIC SOFTROBOTSINVERSE_ENABLE_QPOASES)
+  endif()
+
 target_link_libraries(${PROJECT_NAME} PUBLIC
     SoftRobots
     Sofa.Component.Constraint.Lagrangian.Solver
     Sofa.Component.Collision.Response.Contact)
-target_link_libraries(${PROJECT_NAME} PUBLIC ${libqpOASES_LIBRARY})
 
 sofa_find_package(Sofa.Component.SolidMechanics.FEM.Elastic)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.SolidMechanics.FEM.Elastic)

cmake/Modules/FindqpOASES.cmake

@@ -0,0 +1,23 @@
+# Find the qpOASES includes and libraries.
+# The following variables are set if qpOASES is found.  If qpOASES is not
+# found, qpOASES_FOUND is set to false.
+#  qpOASES_FOUND        - True when the qpOASES include directory is found.
+#  qpOASES_INCLUDE_DIRS - the path to where the qpOASES include files are.
+#  qpOASES_LIBRARIES    - The libraries to link against qpOASES
+
+include(FindPackageHandleStandardArgs)
+
+find_path(qpOASES_INCLUDE_DIR
+  NAMES qpOASES.hpp
+  PATH_SUFFIXES include
+)
+
+find_library(qpOASES_LIBRARY
+  NAMES qpOASES
+  PATH_SUFFIXES lib
+)
+
+set(qpOASES_INCLUDE_DIRS ${qpOASES_INCLUDE_DIR})
+set(qpOASES_LIBRARIES ${qpOASES_LIBRARY})
+
+find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARIES qpOASES_INCLUDE_DIRS)

src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp

@@ -52,7 +52,10 @@
 #include <SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h>
 #include <SoftRobots.Inverse/component/solver/modules/QPMechanicalSetConstraint.h>
 #include <SoftRobots.Inverse/component/solver/modules/QPMechanicalAccumulateConstraint.h>
+
+#ifdef SOFTROBOTSINVERSE_ENABLE_QPOASES
 #include <SoftRobots.Inverse/component/solver/modules/QPInverseProblemQPOases.h>
+#endif
 
 #ifdef SOFTROBOTSINVERSE_ENABLE_PROXQP
 #include <SoftRobots.Inverse/component/solver/modules/QPInverseProblemProxQP.h>
@@ -161,7 +164,12 @@ QPInverseProblemSolver::QPInverseProblemSolver()
     , m_CP3(nullptr)
 {
     sofa::helper::OptionsGroup qpSolvers{"qpOASES" , "proxQP"};
+#if defined SOFTROBOTSINVERSE_ENABLE_PROXQP && !defined SOFTROBOTSINVERSE_ENABLE_QPOASES
+    qpSolvers.setSelectedItem(QPSolverImpl::PROXQP);
+#else
     qpSolvers.setSelectedItem(QPSolverImpl::QPOASES);
+#endif
+
     d_qpSolver.setValue(qpSolvers);
 
     d_graph.setWidget("graph");
@@ -181,19 +189,24 @@ void QPInverseProblemSolver::createProblems()
     {
 #ifdef SOFTROBOTSINVERSE_ENABLE_PROXQP
     case QPSolverImpl::PROXQP :
-        // TODO conditionnal compilation w.r.t. optionnal proxQP dependency
         msg_info() << "Using proxQP solver";
         m_CP1 = new module::QPInverseProblemProxQP();
         m_CP2 = new module::QPInverseProblemProxQP();
         m_CP3 = new module::QPInverseProblemProxQP();
         break;
 #endif
-    default : // QPSolverImpl::QPOASES
+#ifdef SOFTROBOTSINVERSE_ENABLE_QPOASES
+    case QPSolverImpl::QPOASES :
         msg_info() << "Using qpOASES solver";
         m_CP1 = new module::QPInverseProblemQPOases();
         m_CP2 = new module::QPInverseProblemQPOases();
         m_CP3 = new module::QPInverseProblemQPOases();
         break;
+#endif
+    default :
+        msg_error() << "Unkown specified solved: " << d_qpSolver.getValue();
+        sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        break;
     }
 
 

src/SoftRobots.Inverse/component/solver/modules/LCPQPSolver.h

@@ -28,24 +28,17 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/type/vector.h>
-
 // LCP solver using qpOASES QP solver
 // QP formulation for solving a LCP with a symmetric matrix M.
 
 namespace softrobotsinverse::solver::module {
 
-using sofa::type::vector;
-
 class LCPQPSolver
 {
-
 public:
+    virtual ~LCPQPSolver() = default;
 
-    LCPQPSolver(){}
-    ~LCPQPSolver(){}
-
-    void solve(int dim, double*q, double**M, double*res);
+    virtual void solve(int dim, double*q, double**M, double*res) = 0;
 };
 
 } // namespace