Add MadNLP pass-through fields (linear_solver, array_type, etc.)#74
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jack-champagne wants to merge 15 commits intomainfrom
Open
Add MadNLP pass-through fields (linear_solver, array_type, etc.)#74jack-champagne wants to merge 15 commits intomainfrom
jack-champagne wants to merge 15 commits intomainfrom
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Sets up benchmark/ with Project.toml, .gitignore, and three @testitem benchmarks: evaluator micro-benchmarks, Ipopt vs MadNLP comparison, and memory scaling sweep (N × state_dim grid). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Specs for: - Overall HarmoniqsBenchmarks.jl architecture - Altissimo GPU benchmarks (3-way: Ipopt CPU / MadNLP-GPU / Altissimo-GPU) - Implementation plan for DirectTrajOpt + HarmoniqsBenchmarks tasks
- Add .github/workflows/benchmark.yml that runs on PRs touching src/ or benchmark/ - Uses Pkg.add(url=...) to install HarmoniqsBenchmarks (unregistered) - Uploads JLD2 artifacts for 90 days - Add benchmark/README.md with run instructions - Remove empty BenchmarkUtils.jl leftover - Ignore Manifest.toml (regenerated on each CI run)
Uses Julia 1.11+ [sources] section to resolve: - DirectTrajOpt from local path (parent dir) - HarmoniqsBenchmarks from public GitHub URL CI workflow simplified to just Pkg.instantiate (no manual Pkg.add needed).
Remove docs/superpowers/ (specs and plans) from this PR to keep the diff focused on benchmarks and MadNLP integration. Fix stale Pkg.add instruction in benchmark README — deps resolve via [sources] now. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
The benchmark @testItems require HarmoniqsBenchmarks which is only available in the benchmark/ project environment, not the test extras. Filter them out so `Pkg.test()` / julia-runtest CI doesn't pick them up. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Restores pass-throughs consumed by MadNLP's MOI layer so users can select CUDSSSolver, CuArray, KKT variants, and cuDSS ordering through the MadNLPOptions struct (required for MadNLPGPU/cuDSS-on-GPU flows). set_options! now skips fields left as `nothing` so MadNLP's own defaults stand.
Codecov Report✅ All modified and coverable lines are covered by tests. 📢 Thoughts on this report? Let us know! |
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I like this approach @jack-champagne; re-running tests right now. Let me think for a few mins if there's anything else we could easily include here; otherwise I say we get this merged in! |
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This reverts commit 6b50bc7.
….9.1 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
benchmarks: Initial DirectTrajOpt benchmark suite (Ipopt vs MadNLP)
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Summary
MadNLPOptionsthat were dropped during the v0.9 stub refactor:linear_solver::Any = nothing— e.g.MadNLPGPU.CUDSSSolverarray_type::Any = nothing— e.g.CUDA.CuArraykkt_system::Any = nothing— e.g.MadNLP.SparseUnreducedKKTSystemcudss_ordering::Any = nothingset_options!now skips fields left asnothing, so MadNLP's own defaults stand for anything the user didn't explicitly set.Required for the MadNLPGPU / cuDSS flows. Defaults are unchanged, so CPU callers see no behavior diff.
Test plan