first steps towards removing suitesparse

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "lin_sys/direct/qdldl/qdldl_sources"]
+	path = lin_sys/direct/qdldl/qdldl_sources
+	url = https://github.com/oxfordcontrol/qdldl.git

CMakeLists.txt

@@ -291,6 +291,7 @@ add_subdirectory(lin_sys)
 
 # Static library
 add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
+target_link_libraries(osqpstatic qdldlstatic)
 
 # Include directories for linear system solvers
 target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
@@ -331,6 +332,9 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG)
     # NB: Add all the linear system solvers here
     add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
 
+    # Link against linear system solver libraries
+    target_link_libraries(osqp qdldlstatic)
+
     # Include directories for linear system solvers
     target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
 

NOTICE

@@ -7,8 +7,8 @@ This product includes software developed at Stanford University and at the Unive
 The following external modules are included from SuiteSparse: http://www.suitesparse.com
 
 AMD
-Copyright (c) 1996-2015, Timothy A. Davis, Patrick R. Amestoy, and Iain S. Duff.  
+Copyright (c) 1996-2015, Timothy A. Davis, Patrick R. Amestoy, and Iain S. Duff.
 
-LDL
-Copyright (c) 2005-2013, Timothy A. Davis.
+QDLDL
+Copyright (c) 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac.
 

ci/travis/script.sh

@@ -45,9 +45,8 @@ if [[ $TRAVIS_OS_NAME == "linux" ]]; then
     cd ${TRAVIS_BUILD_DIR}/build
     lcov --directory . --capture -o coverage.info # capture coverage info
     lcov --remove coverage.info "${TRAVIS_BUILD_DIR}/tests/*" \
-        "${TRAVIS_BUILD_DIR}/lin_sys/direct/suitesparse/amd/*" \
-        "${TRAVIS_BUILD_DIR}/lin_sys/direct/suitesparse/ldl/*" \
-        "${TRAVIS_BUILD_DIR}/lin_sys/direct/suitesparse/SuiteSparse_config*" \
+        "${TRAVIS_BUILD_DIR}/lin_sys/direct/qdldl/amd/*" \
+        "${TRAVIS_BUILD_DIR}/lin_sys/direct/qdldl/qdldl_sources/*" \
         "/usr/include/x86_64-linux-gnu/**/*" \
         -o coverage.info # filter out tests and unnecessary files
     lcov --list coverage.info # debug before upload

docs/get_started/linear_system_solvers.rst

@@ -26,11 +26,11 @@ The only requirement is that the shared library related to the solver is in the
 
 
 
-SuiteSparse LDL
+QDLDL
 ---------------
-OSQP comes with `SuiteSparse LDL <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_ internally installed.
+OSQP comes with `QDLDL <https://github.com/oxfordcontrol/qdldl>`_ internally installed.
 It does not require any external shared library.
-SuiteSparse LDL is a sparse direct solver that works well for most small to medium sized problems.
+QDLDL is a sparse direct solver that works well for most small to medium sized problems.
 However, its becomes not really efficient for large scale problems since it is not multi-threaded.
 
 
@@ -42,7 +42,7 @@ Intel offers `free lincenses <https://software.intel.com/en-us/articles/free-mkl
 Install with MKL
 ^^^^^^^^^^^^^^^^
 We can install MKL Pardiso by using the standard `MKL installer <https://software.intel.com/en-us/mkl>`_.
-The main library to be loaded is called :code:`libmkl_rt`. 
+The main library to be loaded is called :code:`libmkl_rt`.
 To add it, together with its dependencies, to your path, just execute the automatic MKL script.
 
 +------------------+------------------------------------------------+

docs/interfaces/linear_systems_solvers.rst

@@ -9,7 +9,7 @@ In C/C++ it corresponds to an integer :code:`c_int` (see :ref:`c_cpp_data_types`
 +-----------------+-------------------+--------------------------------+---------------+
 | Solver          | String option     | C/C++ Constant                 | Integer value |
 +=================+===================+================================+===============+
-| SuiteSparse LDL | "suitesparse ldl" | :code:`SUITESPARSE_LDL_SOLVER` | :code:`0`     |
+| QDLDL           | "qdldl"           | :code:`QDLDL_SOLVER`           | :code:`0`     |
 +-----------------+-------------------+--------------------------------+---------------+
 | MKL Pardiso     | "mkl pardiso"     | :code:`MKL_PARDISO_SOLVER`     | :code:`1`     |
 +-----------------+-------------------+--------------------------------+---------------+

docs/interfaces/solver_settings.rst

@@ -26,7 +26,7 @@ The solver settings are displayed in the following table. The settings marked wi
 +--------------------------------+-------------------------------------------------------------+--------------------------------------------------------------+-----------------+
 | :code:`alpha` *                | ADMM overrelaxation parameter                               | 0 < :code:`alpha` < 2                                        | 1.6             |
 +--------------------------------+-------------------------------------------------------------+--------------------------------------------------------------+-----------------+
-| :code:`linsys_solver`          | Linear systems solver type                                  | See :ref:`linear_system_solvers_setting`                     | suitesparse ldl |
+| :code:`linsys_solver`          | Linear systems solver type                                  | See :ref:`linear_system_solvers_setting`                     | qdldl           |
 +--------------------------------+-------------------------------------------------------------+--------------------------------------------------------------+-----------------+
 | :code:`delta` *                | Polishing regularization parameter                          | 0 < :code:`delta`                                            | 1e-06           |
 +--------------------------------+-------------------------------------------------------------+--------------------------------------------------------------+-----------------+

include/constants.h

@@ -34,9 +34,9 @@ extern "C" {
 /*************************
 * Linear System Solvers *
 *************************/
-enum linsys_solver_type { SUITESPARSE_LDL_SOLVER, MKL_PARDISO_SOLVER };
+enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER };
 static const char *LINSYS_SOLVER_NAME[] = {
-  "suitesparse ldl", "mkl pardiso"
+  "qdldl", "mkl pardiso"
 };
 
 /**********************************
@@ -51,7 +51,7 @@ static const char *LINSYS_SOLVER_NAME[] = {
 # define EPS_PRIM_INF (1E-4)
 # define EPS_DUAL_INF (1E-4)
 # define ALPHA (1.6)
-# define LINSYS_SOLVER (SUITESPARSE_LDL_SOLVER)
+# define LINSYS_SOLVER (QDLDL_SOLVER)
 
 # define RHO_MIN (1e-06)
 # define RHO_MAX (1e06)

include/cs.h

@@ -1,7 +1,3 @@
-/* NB: this is a subset of the routines in the CSPARSE package by
-   Tim Davis et. al., for the full package please visit
-   http://www.cise.ufl.edu/research/sparse/CSparse/ */
-
 #ifndef CS_H
 # define CS_H
 

lin_sys/CMakeLists.txt

@@ -36,3 +36,8 @@ set(linsys_solvers
 set(linsys_solvers_includes
     ${direct_linsys_solvers_includes}
     PARENT_SCOPE)
+
+# Combine solvers external libraries
+set(linsys_solvers_libraries
+    ${direct_linsys_solvers_libraries}
+    PARENT_SCOPE)

lin_sys/direct/CMakeLists.txt

@@ -1,18 +1,12 @@
 # Add direct linear systems solvers
 
-# Suitesparse LDL (Default)
+# QDLDL (Default)
 # -------------------------
-# suitesparse
-add_subdirectory(suitesparse)
+add_subdirectory(qdldl)
 
-# create suitesparse ldl object library
-add_library(linsys_suitesparse_ldl OBJECT ${suitesparse_ldl_sources})
+set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl>)
 
-target_include_directories(linsys_suitesparse_ldl PRIVATE ${suitesparse_ldl_includes}  ${PROJECT_SOURCE_DIR}/include)
-
-set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_suitesparse_ldl>)
-
-set(direct_linsys_solvers_includes "${CMAKE_CURRENT_SOURCE_DIR}/suitesparse/")
+set(direct_linsys_solvers_includes "${CMAKE_CURRENT_SOURCE_DIR}/qdldl/")
 
 
 # Add other solvers if embedded option is false
@@ -27,7 +21,7 @@ if (ENABLE_MKL_PARDISO)
 
 	add_library(linsys_pardiso OBJECT ${pardiso_sources})
 
-  # Add parent directory for library handler
+	# Add parent directory for library handler
 	target_include_directories(linsys_pardiso PRIVATE  ${pardiso_includes} ${PROJECT_SOURCE_DIR}/include)
 
 	set(direct_linsys_solvers ${direct_linsys_solvers} $<TARGET_OBJECTS:linsys_pardiso>)

lin_sys/direct/pardiso/CMakeLists.txt

@@ -6,8 +6,8 @@ set(pardiso_includes
 # Set source files
 set(
     pardiso_sources
-    ${CMAKE_CURRENT_SOURCE_DIR}/pardiso.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/pardiso.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/pardiso_interface.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/pardiso_interface.c
     ${CMAKE_CURRENT_SOURCE_DIR}/pardiso_loader.h
     ${CMAKE_CURRENT_SOURCE_DIR}/pardiso_loader.c
     PARENT_SCOPE

lin_sys/direct/pardiso/pardiso.c → lin_sys/direct/pardiso/pardiso_interface.c

@@ -1,4 +1,4 @@
-#include "pardiso.h"
+#include "pardiso_interface.h"
 
 #define MKL_INT c_int
 #define PARDISOLIBNAME "mkl_rt." SHAREDLIBEXT

lin_sys/direct/qdldl/CMakeLists.txt

@@ -0,0 +1,41 @@
+# Add qdldl
+add_subdirectory(qdldl_sources)
+
+
+if(NOT DEFINED EMBEDDED)
+set(
+    amd_sources
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/include/amd_internal.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/include/amd.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/include/SuiteSparse_config.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_1.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_aat.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_control.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_defaults.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_info.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_order.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_post_tree.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_postorder.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_preprocess.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/amd_valid.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/src/SuiteSparse_config.c
+)
+endif()
+
+
+set(qdldl_includes
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/amd/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/qdldl_sources/include
+)
+
+set(qdldl_src
+    ${amd_sources}
+    ${CMAKE_CURRENT_SOURCE_DIR}/qdldl_interface.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/qdldl_interface.c
+)
+
+# Create object library for linear system solver interface
+add_library(linsys_qdldl OBJECT ${qdldl_src})
+target_include_directories(linsys_qdldl PRIVATE ${qdldl_includes} ${PROJECT_SOURCE_DIR}/include)