Code generation for AffineSpace

About:
- Support for AffineSpace in opengen (issue #333)
- Print support for SolverStatus
- Add .jinja extension to some jinja files (issue #343)
- Change hard coding of file names in builder
- Fix typo in icasadi_lib.rs

Issues:
- Addresses #333 #343

open-codegen/opengen/builder/optimizer_builder.py

@@ -26,6 +26,11 @@
 _ICASADI_PREFIX = 'icasadi_'
 _ROS_PREFIX = 'ros_node_'
 
+# Template files
+_OPTIMIZER_RS = "optimizer.rs.jinja"
+_OPTIMIZER_CARGO_TOML = "optimizer_cargo.toml.jinja"
+_OPTIMIZER_BUILD_RS = "optimizer_build.rs.jinja"
+
 
 def make_dir_if_not_exists(directory):
     if not os.path.exists(directory):
@@ -243,7 +248,7 @@ def __generate_cargo_toml(self):
         self.__logger.info("Generating Cargo.toml for target optimizer")
         target_dir = self.__target_dir()
         cargo_template = OpEnOptimizerBuilder.__get_template(
-            'optimizer_cargo.toml')
+            _OPTIMIZER_CARGO_TOML)
         cargo_output_template = cargo_template.render(
             meta=self.__meta,
             build_config=self.__build_config,
@@ -540,7 +545,7 @@ def __generate_main_project_code(self):
             "Generating main code for target optimizer (lib.rs)")
         target_dir = self.__target_dir()
         optimizer_rs_template = OpEnOptimizerBuilder.__get_template(
-            'optimizer.rs')
+            _OPTIMIZER_RS)
         optimizer_rs_output_template = optimizer_rs_template.render(
             solver_config=self.__solver_config,
             meta=self.__meta,
@@ -557,7 +562,7 @@ def __generate_build_rs(self):
         self.__logger.info("Generating build.rs for target optimizer")
         target_dir = self.__target_dir()
         build_rs_template = OpEnOptimizerBuilder.__get_template(
-            'optimizer_build.rs')
+            _OPTIMIZER_BUILD_RS)
         build_rs_output_template = build_rs_template.render(
             meta=self.__meta,
             activate_clib_generation=self.__build_config.build_c_bindings)

open-codegen/opengen/constraints/__init__.py

@@ -11,3 +11,4 @@
 from .finite_set import *
 from .halfspace import *
 from .simplex import *
+from .affine_space import *

open-codegen/opengen/constraints/affine_space.py

@@ -0,0 +1,40 @@
+import casadi.casadi as cs
+import numpy as np
+from .constraint import Constraint
+import opengen.functions as fn
+
+
+class AffineSpace(Constraint):
+    """An affine constraint
+
+    A constraint of the form :math:`Ax = b`, where :math:`A` and :math:`b` are 
+    a matrix and a vector of appropriate dimensions
+    """
+
+    def __init__(self, A, b):
+        """Constructor for an affine space
+
+        :return: new instance of AffineSpace
+        """
+        self.__A = A.flatten('C')
+        self.__b = b
+
+    @property
+    def matrix_a(self):
+        return self.__A
+
+    @property
+    def vector_b(self):
+        return self.__b
+
+    def distance_squared(self, u):
+        raise NotImplementedError()
+
+    def project(self, u):
+        raise NotImplementedError()
+
+    def is_convex(self):
+        return True
+
+    def is_compact(self):
+        return False

open-codegen/opengen/tcp/solver_status.py

@@ -115,3 +115,15 @@ def cost(self):
         :return: Value of cost function at the solution
         """
         return self.__dict__["__cost"]
+
+    def __repr__(self):
+        return "Solver Status Report:\n" + \
+            f"Exit status....... {self.exit_status}\n" + \
+            f"Num Outer Iters... {self.num_outer_iterations}\n" + \
+            f"Num Inner Iters... {self.num_inner_iterations}\n" + \
+            f"FPR............... {self.last_problem_norm_fpr}\n" + \
+            "Infeasibility\n" + \
+            f"  L  F1............ {self.f1_infeasibility}\n" + \
+            f"  L  Fw............ {self.f2_norm}\n" + \
+            f"Penalty............ {self.penalty}\n" + \
+            f"Time............... {self.solve_time_ms} ms\n"

open-codegen/opengen/templates/icasadi/icasadi_lib.rs

@@ -268,7 +268,7 @@ pub fn precondition(
 
 /// Computes the initial penalty
 ///
-/// Make sure that you have called init_
+/// Make sure that you have called init_{{ meta.optimizer_name }}
 pub fn initial_penalty(
     u: &[f64],
     static_params: &[f64],

open-codegen/opengen/templates/optimizer.rs → open-codegen/opengen/templates/optimizer.rs.jinja

@@ -61,17 +61,18 @@ pub const {{meta.optimizer_name|upper}}_N1: usize = {{problem.dim_constraints_au
 /// Number of penalty constraints
 pub const {{meta.optimizer_name|upper}}_N2: usize = {{problem.dim_constraints_penalty() or 0}};
 
-{% include "c/optimizer_cinterface.rs" %}
+{% include "c/optimizer_cinterface.rs.jinja" %}
 
 // ---Parameters of the constraints----------------------------------------------------------------------
-
+{# CASE I: Ball* or Sphere #}
 {% if 'Ball1' == problem.constraints.__class__.__name__ or 'Ball2' == problem.constraints.__class__.__name__ or 'BallInf' == problem.constraints.__class__.__name__ or 'Sphere2' == problem.constraints.__class__.__name__ -%}
 /// Constraints: Centre of Ball
 const CONSTRAINTS_BALL_XC: Option<&[f64]> = {% if problem.constraints.center is not none %}Some(&[{{problem.constraints.center | join(', ')}}]){% else %}None{% endif %};
-
 /// Constraints: Radius of Ball
 const CONSTRAINTS_BALL_RADIUS : f64 = {{problem.constraints.radius}};
-{% elif 'Rectangle' == problem.constraints.__class__.__name__ -%}
+{% endif %}
+{# CASE II: Rectangle #}
+{% if 'Rectangle' == problem.constraints.__class__.__name__ -%}
 const CONSTRAINTS_XMIN :Option<&[f64]> = {% if problem.constraints.xmin is not none %}Some(&[
 {%- for xmini in problem.constraints.xmin -%}
 {%- if float('-inf') == xmini -%}std::f64::NEG_INFINITY{%- else -%}{{xmini}}{%- endif -%},
@@ -85,7 +86,6 @@ const CONSTRAINTS_XMAX :Option<&[f64]> = {% if problem.constraints.xmax is not n
 {% endif %}
 
 
-
 {% if problem.alm_set_c is not none %}
 // ---Parameters of ALM-type constraints (Set C)---------------------------------------------------------
 {% if 'Ball2' == problem.alm_set_c.__class__.__name__ or 'BallInf' == problem.alm_set_c.__class__.__name__ -%}
@@ -150,6 +150,10 @@ fn make_constraints() -> impl Constraint {
     {% elif 'Rectangle' == problem.constraints.__class__.__name__ -%}
     // - Rectangle:
     Rectangle::new(CONSTRAINTS_XMIN, CONSTRAINTS_XMAX)
+    {% elif 'AffineSpace' == problem.constraints.__class__.__name__ -%}
+    let constraints_affine_a = vec![{{problem.constraints.matrix_a | join(', ')}}];
+    let constraints_affine_b  = vec![{{problem.constraints.vector_b | join(', ')}}];
+    AffineSpace::new(constraints_affine_a, constraints_affine_b)
     {% elif 'FiniteSet' == problem.constraints.__class__.__name__ -%}
     // - Finite Set:
     let data: &[&[f64]] = &[
@@ -192,6 +196,11 @@ fn make_constraints() -> impl Constraint {
         let center_{{loop.index}}: Option<&[f64]> = {% if set_i.center is not none %}Some(&[{{set_i.center | join(', ')}}]){% else %}None{% endif %};
         let set_{{loop.index}} = Sphere2::new(center_{{loop.index}}, radius_{{loop.index}});
         let bounds = bounds.add_constraint(idx_{{loop.index}}, set_{{loop.index}});
+        {% elif 'AffineSpace' == set_i.__class__.__name__ -%}
+        let constraints_affine_a = vec![{{problem.constraints.matrix_a | join(', ')}}];
+        let constraints_affine_b  = vec![{{problem.constraints.vector_b | join(', ')}}];
+        let set_{{loop.index}} = AffineSpace::new(constraints_affine_a, constraints_affine_b)
+        let bounds = bounds.add_constraint(idx_{{loop.index}}, set_{{loop.index}});
         {% elif 'Simplex' == set_i.__class__.__name__ -%}
         let alpha_{{loop.index}} = {{set_i.alpha}};        
         let set_{{loop.index}} = Simplex::new(alpha_{{loop.index}});