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Add bindings for CsdpSolver (RobotLocomotion#13544)
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,41 @@ | ||
| #include "pybind11/eigen.h" | ||
| #include "pybind11/pybind11.h" | ||
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| #include "drake/bindings/pydrake/common/value_pybind.h" | ||
| #include "drake/bindings/pydrake/documentation_pybind.h" | ||
| #include "drake/bindings/pydrake/pydrake_pybind.h" | ||
| #include "drake/solvers/csdp_solver.h" | ||
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| namespace drake { | ||
| namespace pydrake { | ||
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| PYBIND11_MODULE(csdp, m) { | ||
| // NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace. | ||
| using namespace drake::solvers; | ||
| constexpr auto& doc = pydrake_doc.drake.solvers; | ||
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| m.doc() = "Csdp solver bindings for MathematicalProgram"; | ||
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| py::module::import("pydrake.common.value"); | ||
| py::module::import("pydrake.solvers.mathematicalprogram"); | ||
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| py::class_<CsdpSolver, SolverInterface>(m, "CsdpSolver", doc.CsdpSolver.doc) | ||
| .def(py::init<>(), doc.CsdpSolver.ctor.doc); | ||
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| py::class_<CsdpSolverDetails>( | ||
| m, "CsdpSolverDetails", doc.CsdpSolverDetails.doc) | ||
| .def_readonly("return_code", &CsdpSolverDetails::return_code, | ||
| doc.CsdpSolverDetails.return_code.doc) | ||
| .def_readonly("primal_objective", &CsdpSolverDetails::primal_objective, | ||
| doc.CsdpSolverDetails.primal_objective.doc) | ||
| .def_readonly("dual_objective", &CsdpSolverDetails::dual_objective, | ||
| doc.CsdpSolverDetails.dual_objective.doc) | ||
| .def_readonly( | ||
| "y_val", &CsdpSolverDetails::y_val, doc.CsdpSolverDetails.y_val.doc) | ||
| .def_readonly( | ||
| "Z_val", &CsdpSolverDetails::Z_val, doc.CsdpSolverDetails.Z_val.doc); | ||
| AddValueInstantiation<CsdpSolverDetails>(m); | ||
| } | ||
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| } // namespace pydrake | ||
| } // namespace drake |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
| import unittest | ||
| import warnings | ||
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| import numpy as np | ||
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| from pydrake.solvers import mathematicalprogram as mp | ||
| from pydrake.solvers.csdp import CsdpSolver | ||
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| class TestCsdpSolver(unittest.TestCase): | ||
| def _make_prog(self): | ||
| prog = mp.MathematicalProgram() | ||
| x1 = prog.NewSymmetricContinuousVariables(2, "x1") | ||
| x2 = prog.NewSymmetricContinuousVariables(3, "x2") | ||
| y = prog.NewContinuousVariables(2, "y") | ||
| prog.AddPositiveSemidefiniteConstraint(x1) | ||
| prog.AddPositiveSemidefiniteConstraint(x2) | ||
| prog.AddLinearConstraint(y[0] >= 0) | ||
| prog.AddLinearConstraint(y[1] >= 0) | ||
| prog.AddLinearEqualityConstraint(3*x1[0, 0] + 2*x1[0, 1] + 3*x1[1, 1] | ||
| + y[0] == 1) | ||
| prog.AddLinearEqualityConstraint(3*x2[0, 0] + 4*x2[1, 1] + 2*x2[0, 2] | ||
| + 5*x2[2, 2] + y[1] == 2) | ||
| prog.AddLinearCost(-(2*x1[0, 0] + 2*x1[0, 1] + 2*x1[1, 1] + 3*x2[0, 0] | ||
| + 2*x2[1, 1] + 2*x2[0, 2] + 3*x2[2, 2])) | ||
| x1_expected = 0.125 * np.ones((2, 2)) | ||
| return prog, x1, x1_expected | ||
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| def test_csdp_solver(self): | ||
| prog, x1, x1_expected = self._make_prog() | ||
| solver = CsdpSolver() | ||
| self.assertTrue(solver.available()) | ||
| self.assertEqual(solver.solver_id().name(), "CSDP") | ||
| self.assertEqual(solver.SolverName(), "CSDP") | ||
| self.assertEqual(solver.solver_type(), mp.SolverType.kCsdp) | ||
| result = solver.Solve(prog, None, None) | ||
| self.assertTrue(result.is_success()) | ||
| self.assertTrue(np.allclose(result.GetSolution(x1), x1_expected)) | ||
| self.assertEqual(result.get_solver_details().return_code, 0) | ||
| np.testing.assert_allclose( | ||
| result.get_solver_details().primal_objective, 2.75) | ||
| np.testing.assert_allclose( | ||
| result.get_solver_details().dual_objective, 2.75) | ||
| np.testing.assert_allclose( | ||
| result.get_solver_details().y_val, np.array([0.75, 1.])) | ||
| z_expected = np.zeros((7, 7)) | ||
| z_expected[0, :2] = [0.25, -0.25] | ||
| z_expected[1, :2] = [-0.25, 0.25] | ||
| z_expected[3:, 3:] = np.diag([2., 2., 0.75, 1.]) | ||
| np.testing.assert_allclose( | ||
| result.get_solver_details().Z_val.toarray(), z_expected, atol=1e-8) | ||
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| def unavailable(self): | ||
| """Per the BUILD file, this test is only run when CSDP is disabled.""" | ||
| solver = CsdpSolver() | ||
| self.assertFalse(solver.available()) |