Expose full qpOASES Configuration options; add docs, type stubs, and pyright cleanliness - #4
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Extend the C++ `Configuration` struct and pybind11 bindings to expose every qpOASES `Options` field (35 options) plus the wrapper-specific fields, so the full qpOASES API is reachable from Python. Apply them all through a single `_to_qpoases_options()` helper. - `include/qpOASES_solver.h`: full, doxygen-documented `Configuration` with double-precision defaults; scoped `using` directives inside `namespace M3` (preserves the MSVC/`SparseMatrix` fix from #2). - `src/core_function.cpp`: map all options; use `std::vector` instead of a VLA for `xOpt` (preserves the MSVC fix from #2). - `src/core.cpp`: bind all new fields; expose `PrintLevel`, `SubjectToStatus`, and the full `HessianType` enum sets. Documentation & typing: - `README.md`: rewritten with quickstart, configuration reference (defaults + per-option tables), building-from-source, and type-checking notes. - `AGENTS.md`: added with build/test/lint commands and behavioural invariants. - `marinholab/solvers/qpoases/_core.pyi` + `py.typed`: type stub so the package is checkable by Pyright; `setup.py` ships both in the wheel. - `solver.py`, `__init__.py`, `example.py`, `example_kinematics.py`: added type annotations; `pyrightconfig.json` (py3.9, basic) makes `pyright` pass with 0 errors / 0 warnings. Behaviour is preserved: `enableRegularisation`/`enableNZCTests`/ `enableFlippingBounds` keep their fast/MPC defaults and `print_level` now defaults to `PL_LOW` (quiet) while remaining configurable. Co-authored-by: openhands <openhands@all-hands.dev>
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This PR was created by an AI agent (OpenHands) on behalf of @mmmarinho.
Summary
Extends the Python/C++ wrapper so
Configurationexposes the full qpOASESOptionsAPI (all 35 options), keeps prior solver behaviour, and adds Doxygen-style documentation plus complete Python type annotations.What changed
include/qpOASES_solver.h—Configurationnow carries every qpOASESOptionsfield (1:1, double-precision defaults), plus the wrapper-specificmaximum_working_set_recalculations,use_hotstart, andhessian_type. Each member is documented Doxygen-style.src/core_function.cpp— a single_to_qpoases_options()helper maps the wholeConfigurationonto qpOASESOptionsand is applied on thesolve_quadratic_programpath.src/core.cpp— pybind11 bindings for all new fields, and the fullHessianType,PrintLevel,SubjectToStatus, andBooleanTypeenum sets.Documentation & typing
README.md— rewritten: quickstart, a full configuration reference (per-option tables with defaults), building from source, and type-checking notes.AGENTS.md— new: build/test/lint commands and the behavioural invariants to preserve.marinholab/solvers/qpoases/_core.pyi+py.typed— a type stub so the package is checkable by Pyright/Pylance;setup.pyships both in the wheel.solver.py,__init__.py,example.py,example_kinematics.py— added type annotations;pyrightconfig.json(Python 3.9, basic mode) makespyrightpass with 0 errors / 0 warnings.Behaviour preserved
enableRegularisation,enableNZCTests,enableFlippingBoundskeep their fast/MPCBT_FALSEdefaults (the wrapper's historical effective behaviour);enableRegularisationin particular was corrected toBT_FALSErather than qpOASES'BT_TRUEso the semi-definite/indefinite examples keep working.print_levelnow defaults toPL_LOW(quiet, as before) and is genuinely honoured — setting it toPL_HIGH/PL_MEDIUMmakes qpOASES print its iteration trace.Verified
_coreplus the.pyistub andpy.typedmarker are all present in the installed package.qpoases_exampleruns (positive-definite, semi-definite,None-constraints, active-set paths) with no changes to prior results.print_level=PL_HIGHproduces qpOASES output,PL_LOWstays quiet; tolerance/Hessian options flow through to the solver.pyrightclean on the source tree and against the installed package (reveal_typeresolvesfloat/HessianType/PrintLeveletc.).Note (pre-existing, not caused by this change)
The locally built wheel reports a version derived from git history (
setuptools-git-versioning), which differs from the tagged version in a shallow clone. This is unrelated to the option-exposure change and is left untouched.