Version 1.3.0

.github/workflows/publish-to-pypi.yml

@@ -14,7 +14,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
-        python-version: "3.x"
+        python-version: '>=3.9 <3.12'
     - name: Install pypa/build
       run: >-
         python3 -m

.github/workflows/publish-to-test-pypi.yml

@@ -14,7 +14,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
-        python-version: "3.x"
+        python-version: '>=3.9 <3.12'
     - name: Install pypa/build
       run: >-
         python3 -m

README.md

@@ -2,6 +2,8 @@
 ![L4CasADi CI](https://github.com/Tim-Salzmann/l4casadi/actions/workflows/ci.yaml/badge.svg)
 ![Downloads](https://img.shields.io/pypi/dm/l4casadi.svg)
 
+**Due to a bug, Hessians for functions with non-scalar outputs were wrong prior to version 1.3.0*
+
 ---
 # Learning 4 CasADi Framework
 

l4casadi/l4casadi.py

@@ -144,7 +144,8 @@ def _load_built_library_as_external_cs_fun(self):
 
     def _generate_cpp_function_template(self, rows: int, cols: int, has_jac: bool, has_hess: bool):
         if self.has_batch:
-            rows_out = self.model(torch.zeros(1, rows).to(self.device)).shape[-1]
+            out_shape = self.model(torch.zeros(1, rows).to(self.device)).shape
+            rows_out = out_shape[-1]
             cols_out = 1
         else:
             out_shape = self.model(torch.zeros(rows, cols).to(self.device)).shape
@@ -153,6 +154,10 @@ def _generate_cpp_function_template(self, rows: int, cols: int, has_jac: bool, h
                 cols_out = 1
             else:
                 rows_out, cols_out = out_shape[-2:]
+        if len(out_shape) != 2:
+            raise ValueError(f"""L4CasADi requires the model output to be a matrix (2 dimensions) but has 
+                              {len(out_shape)} dimensions. For models which expects a batch dimension, 
+                              the output should be a matrix of [1, d].""")
 
         model_path = (self.build_dir.absolute().as_posix()
                       if self._model_search_path is None

pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "l4casadi"
-version = "1.2.0"
+version = "1.3.0"
 authors = [
   { name="Tim Salzmann", email="Tim.Salzmann@tum.de" },
 ]