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CHANGELOG.md

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Version 1.0.0.beta0 (May 31, 2021)

First beta release of OSQP v1.0

New features:

  • Introduced new linear algebra backend system allowing compute framework to be changed at compile time.
  • Merged cuOSQP project into main OSQP project (inside algebra/cuda directory).
  • Introduced an Intel MKL-based algebra backend using the MKL sparse BLAS API, Vector Math Library. This backend contains both the Pardiso solver and an RCI conjugate gradient implementation.
  • Added code generation capabilities to the C-level API (note, only problem export is in the C API, no file copying is done).
  • Added initial adjoint derivative computation to the C-level API.

Main changes:

  • Updated QDLDL to 0.1.7.
  • Changed QDLDL to be included through CMake FetchContent instead of a git submodule.
  • The MKL Pardiso solver is only available with the MKL backend.
  • CMake installs CMake config files for consuming applications to use.
  • All of OSQP's API is contained inside the public include files (there should be no need for users to include anything in private).
  • All OSQP functions, defines and types are prefixed with OSQP (in some capitalization) to namespace the API.

Developer-centric changes:

  • Test suite switched to Catch2 and now incorporates modern C++ for memory management and organization.
  • ASAN flags integrated into main OSQP CMake build system.

Version 0.6.3 (25 May 2023)

  • Fix MKL function prototypes (required for CRAN compilation) (PR #487)
  • Use a constant interval for adaptive rho when in embedded=2 mode (PR #347)
  • Include version.h in the OSQP installed headers (Fixes #323)
  • Switch unit testing to use Catch2
  • Switch to GitHub actions CI system
  • Switched binary distribution from bintray to GitHub releases
  • Various documentation fixes and improvements

Version 0.6.2 (6 January 2021)

  • Fix segfault python multithreading
  • Compatibility python 3.9
  • Updated QDLDL to version 0.1.5
  • Drop Python 2.7 support

Version 0.6.0 (30 August 2019)

  • Added meaningful return values to internal functions. Changed syntax of osqp_setup function. It now returns an exitflag.
  • osqp_setup function requires P to be upper triangular. It returns a nonzero exitflag otherwise.
  • Custom memory allocators via cmake and the configure file.
  • Changed interfaces to linsys solver functions. The solve function now computes (x_tilde,z_tilde) instead of (x_tilde,nu). This allows to implement custom linear system solvers (also indirect).
  • Added solve function in Python interface that performs setup solve and cleanup for you directly and disables GIL.
  • Improved code generation folder structure.

Version 0.5.0 (10 December 2018)

  • Added update_time to the info structure.
  • Fixed #101.

Version 0.4.1 (25 September 2018)

  • Updated QDLDL to version 0.1.3.
  • Added check for nonconvex cost function (non-positive semidefinite P) after factorization is performed.
  • Added complete sources distribution on bintray.com (including QDLDL).

Version 0.4.0 (23 July 2018)

  • Added check for nonconvex cost function (non-positive semidefinite P).
  • Removed SuiteSparse LDL in favor of QDLDL.
  • Static library libosqpstatic now renamed as libosqp.

Version 0.3.1 (10 June 2018)

  • Fixed #62.
  • Moved interfaces to separate repositories
  • Fixed #54.
  • Changes to support Matlab 2018a
  • Added support for new interface in R

Version 0.3.0 (5 March 2018)

  • Added time_limit option
  • Added CUTEst interface
  • Fixed bug in upper triangular P extraction. Now the solver can accept both complete P matrix or just the upper triangular part.
  • Fixed #33
  • Fixed #34
  • Allow eps_rel=0 #40
  • Fixed bug when calling osqp_solve or osqp_cleanup after failed linear system initialization
  • Add "install" CMake target and installation of CMake configuration files
  • Fixed potential name conflict with SCS 47
  • Changed set_default_settings to osqp_set_default_settings and brought function to main API header osqp.h
  • Fixed #49

Version 0.2.1 (25 November 2017)

  • Fixed problem with code generation and pypi data_files (everything now in MANIFEST.in)

Version 0.2.0 (23 November 2017)

  • Added adaptive rho -> Much more reliable convergence!
  • Simplified several settings
    • "early_terminate" and "early_terminate_interval" -> "check_termination"
    • "scaling_iter" removed and put inside "scaling" parameter
  • Julia interface OSQP.jl
  • Shared libraries available on bintray.com
  • Added inaccurate return statuses
  • Added new object-oriented structure for linear system solvers
  • Added MKL Pardiso interface using shared dynamic library loader
  • Added diagonal rho vector with different values for equality/inequality constraints (interface still have scalar rho)
  • Return certificates of infeasibility in results structure
  • Now code generation produces a static library

Version 0.1.3 (21 September 2017)

  • Fixed sources distribution on Python

Version 0.1.2 (20 July 2017)

  • Added option to terminate with scaled or unscaled residual
  • Now Matlab interface does support logical entries for the settings
  • Fixed bug in index ordering of sparse matrices of Python interface
  • Changed 2-norms to inf-norms
  • Fixed code generation bug when scaling is disabled #7
  • Removed warnings in code-generation for standard <= C99
  • Fixed MATLAB 2015b compatibility #6

Version 0.1.1 (11 April 2017)

  • Fixed crashes during polishing when factorization fails
  • Added package to Pypi
  • Fixed relative paths Matlab

Version 0.1.0 (10 April 2017)

  • Linux, Mac and Windows
  • Interface to Python 2.7, 3.5+
  • Interface to Matlab 2015b+
  • Embedded code generation