Changelog

August 10, 2026 · View on GitHub

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

Fixed

Initialize active_set_up and active_set_low in dense Workspace (#476)

Added

Docker images ghcr.io/Simple-Robotics/proxsuite (#470)

Removed

CMake: remove unconditional DOXYGEN_USE_MATHJAX. You can turn it on if necessary with cmake -DDOXYGEN_USE_MATHJAX=ON. (#467)

0.7.3 - 2026-05-11

Added

Recursive stub generation for Python bindings (#419)

Changed

Redefine the load_qp function in the Maros-Meszaros unit tests (#433)
Change the default branch to devel (#395)
Change dual_feasibility test threshold in sparse_maros_meszaros unit test (#403)
replace std::numeric_limits<T>::infinity() by std::numeric_limits<T>::max() (#413)
Upgraded nanobind dependency version (submodule) to v2.9.2 (#418)
Better dynamic module handling (#419)
Fix SyntaxError on importing proxsuite.torch.qplayer caused by invalid escape sequences in the QPFunction docstring (#458)

Fixed

Correction of the status update for PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE (#432)
Use the right table to store configure-args cmeel argument (#403)
Allow project to be used as an external CMake project (FetchContent) (#408)
Fix -Wdeprecated-literal-operator warning (#420)
Fix compilation error with Apple Clang compiler (#431)
Fix settings.primal_infeasibility_solving documentation (#438)
Various fixes for equality comparisons for Results and Settings objects (#450
Fix doc generation with latex (#453)

Removed

Don't release PyPy package on GNU/Linux anymore (#403)

0.7.2 - 2025-03-12

Fixed

Fix an arcane compilation issue on Clang-19 (#379)
Replace != None with is not None in Python bindings (#375)
Fix Internal compiler error with Visual Studio 17.13 (#384)

Changed

Upgrade nanobind submodule to v2.5.0 (#378)
Switch to gersemi for formatting (#380)
Switch to ruff for formatting / linting (#376)

0.7.1 - 2025-01-28

Fixed

Fix Windows build with MSVC compiler and C++20 standard (#368)

0.7.0 - 2025-01-21

Fixed

CMake: Fix link to system cereal in tests (#353)
Fix windows build error related to template usage in veg (#357)

Added

Stub files for Python bindings, using nanobind's native support (#340)
Python 3.13 support on PyPI (#361)
Add solve_no_gil for dense backend (multithreading via python) (#363)
Add benchmarks for solve_no_gil vs solve_in_parallel (openmp) (#363)

Changed

Change Python bindings to use nanobind instead of pybind11 (#340)
Update setup-minicondav2 to v3 (#363)

0.6.7 - 2024-08-27

Added

Fix mu update function for PrimalLDLT backend (#349)
Allow use of installed pybind11, cereal and jrl-cmakemodules via cmake
Add compatibility with jrl-cmakemodules workspace (#339)
Specifically mention that timings are in microseconds (#342)
Fix cereal include directory in cmake (#342)
Extend doc with hint for conda installation from source (#342)

Fixed

Fix inequality constraints return in QPLayer (#343)

Changed

Refactor Python examples with a new "util.py" file (#347)

0.6.6 - 2024-06-15

Fixed

Fix infeasibility detection and add a unit test (#328)

0.6.5 - 2024-05-31

Added

Pip wheels for Python 3.12 and stop support Python 3.7 (#324)

Fixed

Fixes compilation issue with GCC 14 on Arch (#322)

What's Changed

Change from torch.Tensor to torch.empty or torch.tensor and specify type explicitly (#308)
Fix handling of batch of inequality constraints in QPFunctionFn_infeas. The derivations in qplayer was done for single-sided constraints, that's the reason for the concatenation but the expansion of batchsize dimension was not working properly (#308)
Switch from self-hosted runner for macos-14-ARM to runner from github (#306)
Fix missing cassert for some compilers (#316)

0.6.4 - 2024-03-01

What's Changed

Changed primal_infeasibility_solving to False for feasible QPs (#302)

0.6.3 - 2024-01-23

Fixed

Fix Python tests with scipy>=1.12 (#299)

0.6.2 - 2024-01-22

Fixed

Fix Windows build (#290)
Fix math formulae in documentation (#294)
Restore correc values for infeasibility (#292)
Handles CPU/GPU transfer in QPFunctionFn's backward function (#297)

0.6.1 - 2023-11-16

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#280)
Templating power iteration algorithm by matrix storage order by @quentinll (#279)

New Contributors

@quentinll made their first contribution (#279)

0.6.0 - 2023-11-13

We add the implementation of QPLayer. QPLayer enables to use a QP as a layer within standard learning architectures. QPLayer allows for parallelized calculus over CPUs, and is interfaced with PyTorch. QPLayer can also differentiate over LPs.

What's Changed

QPLayer: efficient differentiation of convex quadratic optimization by @fabinsch, @Bambade and @quentinll (#264)

0.5.1 - 2023-11-09

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#265)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#268)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#269)
Check model is_valid up to eps by @fabinsch (#272)

0.5.0 - 2023-09-26

This release adds support for nonconvex QPs, along with healthy fixes.

What's Changed

Fix compilation (veg/memory) for gcc 7 and clang 7 by @costashatz (#255)
Estimate minimal eigenvalue of quadratic cost hessian by @Bambade (#257)
Fix typo #254 by @Bambade (#258)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#260)
Sync submodule cmake by @jcarpent (#261)

New Contributors

@costashatz made their first contribution (#255)

0.4.1 - 2023-08-02

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#247)
Add Iros on ROS CI by @jcarpent (#248)
Update default value for update_preconditioner by @jcarpent (#250)

0.4.0 - 2023-07-10

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#225)
add generalized primal dual augmented Lagrangian (gpdal) for dense backend by @Bambade (#228)
optimize dense iterative refinement by @Bambade (#230)
Add dense LP interface by @Bambade (#231)
Enable solving QP ([#229](parallel with ProxQP by @Bambade in https://github.com/Simple-Robotics/proxsuite/pull/229))
Add small dense LP Python example by @stephane-caron (#235)
Fix typo ([#234](dense lp interface by @Bambade in https://github.com/Simple-Robotics/proxsuite/pull/234))
ci check all jobs pass by @fabinsch (#236)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#232)
Add box constraint interface for dense backend by @Bambade (#238)
Improve dense backend and simplify calculus when using a Diagonal Hessian by @Bambade (#239)
Add infeasibility solving feature for dense and sparse backends by @Bambade (#241)
cmake: fix path to find-external/OpenMP by @fabinsch (#240)
More information ([#242](debug mode by @fabinsch in https://github.com/Simple-Robotics/proxsuite/pull/242))
Fix warning and clean // solvers API by @jcarpent (#243)

0.3.7 - 2023-05-05

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#206)
Define PROXSUITE_AS_SUBPROJECT as ON by @amiller27 (#207)
Sync submodule cmake by @jcarpent (#208)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#210)
Set default CMAKE_BUILD_TYPE value by @jcarpent (#211)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#214)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#215)
Set simde dependency for ROS2 Iron as well by @wxmerkt (#218)
Sync submodule CMake by @jcarpent (#219)

New Contributors

@amiller27 made their first contribution (#207)

0.3.6 - 2023-03-14

What's Changed

ci/linux-wheels: fix naming for artifacts by @fabinsch (#198)
pip wheels for aarch64 by @fabinsch (#202)

0.3.5 - 2023-03-06

What's Changed

doc: pip install available on windows by @fabinsch (#189)
set compute_timings = true by @fabinsch (#191)
[minor] Clean up invalid link from pyproject.toml by @stephane-caron (#193)
ci/linux: fix linux wheel compatibility by @fabinsch (#196)

0.3.4 - 2023-03-01

What's Changed

CI: pip wheels on windows by @fabinsch (#185)
[CI] ROS: Add friendly names; add TSID on Rolling as downstream test by @wxmerkt (#184)
CI: simplify workflow on self-hosted M1 by @fabinsch (#187)

[0.3.3] - 2023-02-25

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#172)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#174)
cmake: add option BUILD_DOCUMENTATION by @fabinsch (#177)
linalg/ldlt : mark p() and pt() permutation matrix getters const by @ManifoldFR (#180)
feat: enable simde ([#21](package.xml by @wep21)))) (#178)
[CI] ROS: Activate prerelease by @wxmerkt (#181)

New Contributors

@ManifoldFR made their first contribution (#180)
@wep21 made their first contribution (#178)

0.3.2 - 2023-01-17

What's Changed

Expose check_duality_gap ([#167](Python settings by @stephane-caron in https://github.com/Simple-Robotics/proxsuite/pull/167))
Add duality-gap thresholds by @stephane-caron (#169)

New Contributors

@stephane-caron made their first contribution (#167)

0.3.1 - 2023-01-09

What's Changed

Fix package.xml and add ROS-CI by @wxmerkt (#158)
ROS-CI: Debug and Release builds, fix warnings by @wxmerkt (#159)
Fix computation of duality gap quantity by @jcarpent (#163)
Sync submodule cmake by @jcarpent (#164)

New Contributors

@wxmerkt made their first contribution (#158)

0.3.0 - 2022-12-26

What's Changed

Add serialization of dense qp model using cereal by @fabinsch (#152)
transposeInPlace only if eigen >= 3.4.0 by @fabinsch (#153)
Fix Windows C++20 compatibility by @jcarpent (#155)

0.2.16 - 2022-12-21

What's Changed

Fix default parameter values for compute_timings by @jcarpent (#146)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#147)
Fix packaging issue on Windows by @jcarpent (#149)

0.2.15 - 2022-12-15

What's Changed

cmake/python: update library output paths by @fabinsch (#144)

0.2.14 - 2022-12-14

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#134)
update benchmarks random mixed qp by @fabinsch (#137)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#138)
add is_valid function for dense model and fix example + unittest by @fabinsch (#139)

0.2.13 - 2022-11-29

What's Changed

Enforce check for other architectures by @jcarpent (#132)
Fix support for POWERPC by @jcarpent (#133)

0.2.12 - 2022-11-26

What's Changed

Fix compilation with mingw by @jgillis (#130)

New Contributors

@jgillis made their first contribution (#130)

0.2.11 - 2022-11-25

What's Changed

Fix dimension check issues by @jcarpent (#125)
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#124)
Add is_initialized safeguard to workspace by @fabinsch (#126)
Add simple cpp example by @fabinsch (#127)

0.2.10 - 2022-11-17

What's Changed

Allow macOS Debug pipeline to fail -> checking for memory alloc by @fabinsch (#117)
Devel by @jcarpent (#118)
fix instructionset import by @fabinsch (#120)

0.2.9 - 2022-11-14

What's Changed

Enforce robustness computation of duality gap by @jcarpent (#114)
Assert primal/dual residual and dual gap != nan + add unittest by @fabinsch (#115)

0.2.8 - 2022-11-12

What's Changed

Enforce constness and clean CMake by @jcarpent (#106)
Add details on using ProxSuite with CMake projects by @jcarpent (#111)
Add duality gap measure by @Bambade (#110)

0.2.7 - 2022-11-10

What's Changed

CMakeLists: fix INTERFACE target compile definitions by @fabinsch (#97)
sync submodule by @fabinsch (#98)
Fixed temporaries ([#100](update() of dense wrapper by @fennel-labs in https://github.com/Simple-Robotics/proxsuite/pull/100))
Additional option to check eigen runtime malloc by @fabinsch (#93)

New Contributors

@fennel-labs made their first contribution (#100)

0.2.6 - 2022-11-08

What's Changed

User option sparse backend by @fabinsch (#84)
CI for c++14 compatibility by @fabinsch (#88)
Update README.md by @fabinsch (#89)
CI: use v1.2 also for windows, add cxx_std to key by @fabinsch (#90)
Fix heap allocation ([#92](dense solver by @jcarpent in https://github.com/Simple-Robotics/proxsuite/pull/92))

0.2.5 - 2022-11-06

What's Changed

C++14 compliant implementation of optional by @fabinsch (#78)
C++14 compliant implementation of aligned_alloc by @fabinsch (#79)
unittest/sparse-ruiz: replace checks with isApprox by @fabinsch (#83)
Fix packaging for pip by @jcarpent (#82)
Move optional.hpp to the right place by @jcarpent (#81)
Fix logic and bug ([#85](warm_start by @jcarpent in https://github.com/Simple-Robotics/proxsuite/pull/85))

0.2.4 - 2022-11-01

What's Changed

Change eps_abs to a reasonable value by @jcarpent (#70)
sparse/solver: use refactorize for matrix free solver by @fabinsch (#73)
Enhance API by @jcarpent (#71)
Correct documentation of bindings by @fabinsch (#72)
Add pipeline with MSVC compiler by @fabinsch (#49)

[0.2.3] - 2022-10-29

What's Changed

Fix epsilon relative stopping criteria by @fabinsch (#58)
Handle empty inputs by @fabinsch (#59)
Fix calculation of objection function value by @fabinsch (#60)
Doc: matio link by @fabinsch (#61)
Fix packaging issue by @jcarpent (#64)
Change default model upper and lower bounds by @Bambade (#66)
Fix API for bounds on the inequality constraints by @jcarpent (#67)

0.2.2 - 2022-10-19

What's Changed

release: wheels for macos arm64 by @fabinsch (#53)
Don't compile AVX Python bindings on non X86_64 arch by @jcarpent (#54)
Fix existence of std::aligned_alloc on APPLE by @jcarpent (#55)

0.2.1 - 2022-10-18

What's Changed

[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci (#43)
Sync ma([#42](with devel by @jcarpent in https://github.com/Simple-Robotics/proxsuite/pull/42))
Fix compile options export for Windows by @jcarpent (#44)
benchmark: document speed up by vectorization by @fabinsch (#48)
Support ARM64 architecture by @fabinsch (#50)

0.2.0 - 2022-10-08

This release introduces a notable change ([#](the order of bounds constraints.)) As the API is not yet totally fixed, we have only increased the minor release version.

More to come ([#](a forthcoming release.))