{"id":27180730,"url":"https://github.com/zanellia/feasible_sqp","last_synced_at":"2026-02-07T19:01:43.185Z","repository":{"id":37472434,"uuid":"290163661","full_name":"zanellia/feasible_sqp","owner":"zanellia","description":"A solver for nonlinear programming based on a sequential quadratic programming strategy with feasible intermediate iterates.","archived":false,"fork":false,"pushed_at":"2025-02-20T13:23:08.000Z","size":37524,"stargazers_count":20,"open_issues_count":0,"forks_count":2,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-07-06T23:37:51.839Z","etag":null,"topics":["high-performance-computing","model-predictive-control","nonlinear-programming","numerical-optimal-control","numerical-optimization","optimal-control"],"latest_commit_sha":null,"homepage":"","language":"NMODL","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/zanellia.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2020-08-25T08:50:17.000Z","updated_at":"2025-05-06T13:47:09.000Z","dependencies_parsed_at":"2025-07-06T23:41:54.941Z","dependency_job_id":null,"html_url":"https://github.com/zanellia/feasible_sqp","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/zanellia/feasible_sqp","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zanellia%2Ffeasible_sqp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zanellia%2Ffeasible_sqp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zanellia%2Ffeasible_sqp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zanellia%2Ffeasible_sqp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/zanellia","download_url":"https://codeload.github.com/zanellia/feasible_sqp/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/zanellia%2Ffeasible_sqp/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29204948,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-07T17:44:10.191Z","status":"ssl_error","status_checked_at":"2026-02-07T17:44:07.936Z","response_time":63,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["high-performance-computing","model-predictive-control","nonlinear-programming","numerical-optimal-control","numerical-optimization","optimal-control"],"created_at":"2025-04-09T14:39:28.659Z","updated_at":"2026-02-07T19:01:43.157Z","avatar_url":"https://github.com/zanellia.png","language":"NMODL","readme":"[![Build Status](https://travis-ci.com/zanellia/feasible_sqp.svg?branch=testing)](https://travis-ci.com/zanellia/feasible_sqp)\n# A feasible sequential quadratic programming strategy with iterated second-order corrections\nThis package provides a solver for parametric nonconvex programs of the form\n\n\u003cimg src=\"https://github.com/zanellia/feasible_sqp/blob/master/figures/nlp_description.png\"\n     width=\"296\" height=\"160\"\u003e\n## dependencies \n`feasible_sqp` uses the sparse implementation of the QP solver `qpOASES` which depends on MA57. Unfortunately, this complicates installation a bit. You need to obtain a valid license for HSL and its source code (see [this page](https://www.hsl.rl.ac.uk/download/MA57/3.11.0/)). After obtaining the source code for HSL, you'll need to download the METIS package (version 4.3 is required) [here](http://glaros.dtc.umn.edu/gkhome/fetch/sw/metis/OLD/metis-4.0.3.tar.gz), extract the code and place it inside the root folder of coinhsl. Proceed then with the installation instructions of HSL, i.e., run `./configure`, `make` and `make install`.\n## installation\n- clone the repo: \n```bash\ngit clone https://github.com/zanellia/feasible_sqp.git\n```\n- init submodules (qpOASES, CasADi):\n```\ngit submodule update --init\n```\n- install the Python package:\n```bash\ncd feasible_sqp\npip install -e .\n```\n- build and install the dependencies:\n```python\nimport feasible_sqp\nfeasible_sqp.install_dependencies(hsl_lib_path=\u003c...\u003e)\n```\n\n## usage\n```python\nfrom feasible_sqp import *\n\nhsl_lib_path =     \u003c...\u003e # e.g., '/usr/local/lib/libcoinhsl.so'\n\ninstall_dependencies(hsl_lib_path=hsl_lib_path)\n\n# number of primal variables\nnv = 2\n\n# create solver\nsolver = feasible_sqp(nv)\n\n# get primal variables\ny = solver.y\n\n# define cost\nf = 1.0/2.0*ca.dot(y-10,y-10)\n\n# define constraints\ng = ca.vertcat(ca.sin(y[1]) - y[0])\n\n# define bounds\nlby = -np.ones((nv,1))\nuby = np.ones((nv,1))\n\n# generate solver\nsolver.generate_solver(f, f, g, lby = lby, uby = uby)\n\n# solve NLP\nsolver.solve()\n```\nnotice: a call to\n`solver.generate_solver()` generates a script called `set_LD_LIBRARY_PATH.sh` which can be sourced in order to update the `LD_LIBRARY_PATH` environment variable such that the shared libraries needed by the solver can be located.\n\n## Citing\n[Zanelli2021, Chapter 4.1](https://publications.syscop.de/Zanelli2021c.pdf)\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzanellia%2Ffeasible_sqp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzanellia%2Ffeasible_sqp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzanellia%2Ffeasible_sqp/lists"}