Move the warning on small-size PSD matrix to each solver backend. #22136
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+@AlexandreAmice for feature review please, thanks!
Reviewable status: LGTM missing from assignee AlexandreAmice, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @hongkai-dai)
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Does Csdp go through the aggregate_constraints code path? If not I think you are missing the warn for that solver.
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Reviewable status: LGTM missing from assignee AlexandreAmice, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @hongkai-dai)
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I don't think we should warn for CSDP. CSDP doesn't have a special path for scalar bounding box constraint or second order cone constraint. Instead it just treat them as small-size PSD constraint.
Reviewable status: LGTM missing from assignee AlexandreAmice, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @hongkai-dai)
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+@sherm1 for platform review please, thanks!
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solvers/constraint.cc line 822 at r1 (raw file):
} else if (matrix_rows_ == 2) { drake::log()->warn( "PositiveSemidefiniteConstraint: rows==2, please consider to "
nit: to
solvers/constraint.cc line 896 at r1 (raw file):
"consider " "reformulating this as a rotated Lorentz cone constraint for better " "speed/numerics.");
nit: reflow these two messages to reduce the blank space
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Merge remote-tracking branch 'upstream/master' into gcs-preprocessing-parallel [tools] Suppress more Valgrind false positives in MOSEK (RobotLocomotion#22140) Update parsing infrastructure (RobotLocomotion#22102) 1. MultibodyPlant::RegisterVisualGeometry() can now take a GeometryInstance. - Clean up documentation. - Extend tests to include what is *actually* done. 2. SDF parser makes use of new API. - Stop returning optional<unique_ptr<>> (simply return the unique ptr). - Instead of constructing, deconstructing, and reconstructing geometry instances, we just pass the instance. [schema] Add Rotation::Sample (RobotLocomotion#22113) This bring it on par with Transform::Sample. Move the warning on small-size PSD matrix to each solver backend. (RobotLocomotion#22136) [solvers] Fix Gurobi console logging config to happen first (RobotLocomotion#22134) [bindings] Re-enable some gym test cases on macOS (RobotLocomotion#22112) [drake_gym] Add info_handler callback (RobotLocomotion#21900) Set gradient sparsity pattern in LorentzConeConstraint and RotatedLorentzConeConstraint. (RobotLocomotion#22125) Merge master. Drop a TODO. Fix bug when inadvertantly trying to preprocess edges into the start and goal vertex. Hold a limited number of programs in memory at one time. Move the construction of the preprocessing program to a separate function for better portability. Merge up-to-date version of SolveInParallel. Merge in preprocessing solver options behavior from branch. wip lint Use the preprocessing solver options even if a specific preprocessing solver is not specified. Fix another segfault. Bring back the parallelization, revealing the segfault. Update this test to reflect the new error message. First pass at parallelizing PreprocessShortestPath. Fix a segfault when initial_guesses is unset. Temporarily disable the parallelism for debugging. finalize interface wip
Since I am going to change each solver (Mosek, SCS, Clarabel) such that they handle the special-case small-size PSD matrix constraint, I move the warning to each solver. So in the future when the specific solver (like MosekSolver) can handle these small-size PSD constraint, I will only remove the warning for that single solver.
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