Expose all OSQP settings in marinholab::solvers::osqp (C++ & Python) - #1
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Mirror the marinholab-solvers-qpoases wrapper structure for the OSQP wrapper: - Move the C++ API into namespace marinholab::solvers::osqp under include/marinholab/solvers/osqp.h (was M3 / include/OSQP_solver.h). - Expose every OSQPSettings field in Configuration (all 31, native snake_case, defaults from osqp_set_default_settings()) plus the wrapper-specific use_hotstart option; also expose the OSQP enums (LinsysSolverType, PreconditionerType, Status) to Python. - CMake: build a marinholab_osqp static lib + _core pybind11 module, and an optional standalone C++ example behind BUILD_EXAMPLES=ON (example/example.cpp, target example_osqp). - Python: add a _core.pyi type stub, py.typed, pyrightconfig.json and package_data so the stub ships in the wheel; fully type-annotate the wrapper (pyright clean, 0/0). - Docs: expand README (C++ API, all config tables, C++ example, pyright section) and add AGENTS.md. Verified: CMake build, pyright (0 errors / 0 warnings), doxygen (0 warnings), and the Python + C++ examples all run. Co-authored-by: openhands <openhands@all-hands.dev>
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Summary
Mirrors the
marinholab-solvers-qpoaseswrapper structure for the OSQP wrapper, exposing all OSQP configuration parameters in both C++ and Python.Note
This PR was created by an AI agent (OpenHands) on behalf of the repository maintainer.
What changed
C++ API — new namespace & full settings
marinholab::solvers::osqpunderinclude/marinholab/solvers/osqp.h(previouslynamespace M3ininclude/OSQP_solver.h, now removed).Configurationnow exposes all 31OSQPSettingsfields (native snake_case, defaults fromosqp_set_default_settings()) plus the wrapper-specificuse_hotstartoption.src/core_function.cppmaps the fullConfigurationinto OSQP settings via_to_osqp_settings().Python bindings
src/core.cppexposes every config field plus the three OSQP enums (LinsysSolverType,PreconditionerType,Status)._core.pyitype stub,py.typedmarker,pyrightconfig.json, andpackage_datainsetup.pyso the stub ships in the wheel.Build system (matches the qpoases convention)
marinholab_osqpstatic lib +_corepybind11 module.BUILD_EXAMPLES=ON(example/example.cpp, targetexample_osqp).Docs
README.md(C++ API usage, all configuration tables, C++ example, pyright section).AGENTS.mdwith project conventions.Verification
pyright— 0 errors / 0 warningsdoxygen— 0 warnings (C++ code is doxygen-compliant)python -m marinholab.solvers.osqp.example) and C++ example (example_osqp) both run and produce the expected solutionx ≈ [0.2, 1.0].Notes
max_iter,eps_abs,eps_rel,eps_prim_inf,eps_dual_inf). This is breaking for any existing Python callers that used the previous names (maximum_iterations,eps_absolute,eps_relative, …) — they've been updated in the examples/evaluation script.