3.1.10. horton.quadprog
– A lightweight quadratic programming solver¶
Problems of the following type can be solved:
This is not the most general type of quadratic programming but it is sufficient for the needs in HORTON.
The equality constraints are optional. When A is positive definite, a
polynomialscaling interior point algorithm can be used:
QPSolver.find_local
. If A has negative eigenvalues, only the brute force
solver is reliable but it’s cost scales exponentially with problem size.
No a priori feasibility tests are carried out and it is assumed that in
QPSolver.find_local
one is able to provide a feasible initial guess. The
routine QPSolver.find_brute
will complain a posteriori if the problem
is infeasible.
When A is negative definite, the solution may be unbounded. In the
QPSolver.find_local
algorithm, this will lead to a convergence failure
in a limited number of steps. In QPSolver.find_brute`, this situation is
properly detected.
In summary, it is assumed that one only works with wellbehaved problems. Issues with feasibilty and boundedness are not always handled smoothly.
3.1.10.1. Notation¶
The following naming conventions are used in the quadprog code:
 free
 Refers to the components of the solution that is not constrained to zero. The variable free is always an array with booleans indicating which components are free (True) or frozen (False).
 frozen
 Opposite of free.
 x
 A solution vector
 nx
 The dimension of the solution vector
 nl
 The number of constraints

class
horton.quadprog.
QPSolver
(a, b, r=None, s=None, eps=1e10)¶ Bases:
object
The problem is defined as follows;
\[\begin{split}\min_x \frac{1}{2} x^T A x  b^T x \\ R x = s \\ x \ge 0\end{split}\]Parameters:  a (np.ndarray) – The symmetric matrix \(A \in \mathbb{R}^{n \times n}\)
 b (np.ndarray) – The column vector \(b \in \mathbb{R}^n\).
 r (np.ndarray or None) – The matrix with constraint coefficients, \(R \in \mathbb{R}^{l \times n}\).
 s (np.ndarray or None) – The matrix with constraint targets, \(s \in \mathbb{R}^l\).
 eps (float) – A general threshold used for several purposes, e.g. the validity of a solution.

check_feasible
(x, free=None)¶ Check if a solution, x, matches the constraints
Arguments:
 x
 The solution to test
Optional arguments:
 free
 When given, it is assumed that the fixed variables must be zero and that the rest can be anything (also negative). When not given, all components of x must be zero or positive.

check_solution
(x)¶ Check if a solution, x, is a valid local minimum

compute_cn
(free)¶ Compute the condition number of the problem.
Arguments:
 free
 Boolean array with the free components.

compute_cost
(x)¶ Compute the function to be minimized for the given x

find_brute
()¶ Brute force solution of the quadratic programming problem
Returns:
 cost
 The value of the cost function at the solution
 x
 The solution vector

find_local
(x, trust_radius, maxiter=None)¶ A local solver for the quadratic programming problem
Arguments:
 x
 The initial guess for the solution. This must be a feasible point.
 trust_radius
 The maximum step size. This can be fairly large.
Optional arguments:
 maxiter
 The maximum number of iterations, this is 10*nx by default.
Returns:
 cost
 The value of the cost function at the solution
 x
 The solution vector
Note that this local search will always lead to the global optimum if the matrix \(A\) is positive definite.

get_free_problem
(free)¶ Return the matrix a, b, r and s without the frozen columns/rows
Arguments:
 free
 Boolean array with the free components
Returns:
 a2
 The coefficients of the free system, including rows and colums for the lagrange multipliers.
 b2
 The righthand side of the equations, including the targets of the equations.
 nfree
 The number of equations due to free components of x.

get_rmsds
(x)¶ Quantify how far x deviates from a local solution
Returns:
 gradient
 The gradient projected onto the equality constraints, if any.
 rmsd_free
 The gradient RMSD for the nonzero components
 rmsd_frozen
 The gradient RMSD for the zero components. Only contributions from negative components are included.
 rmsd_neg
 The rmsd of the negative components of the solution.

log
(x=None)¶ Print out the qps for debugging purposes
Optional arguments:
 x
 An solution vector (that causes problems).

solve
(free)¶ Solve the problem, keeping certain components fixed at zero
The equality constraints are honored. However, free components may become negative. Fixed components are internally excluded from the equations and their result is manually set to zero.
Arguments:
 free
 Boolean array with the free components

solve_radius
(free, center, radius)¶ Solve the equations, keeping certain components fixed at zero, with maximum radius.
The equality constraints are honored. However, free components may become negative. Fixed components are internally excluded from the equations and their result is manually set to zero.
Arguments:
 free
 Boolean array with the free components
 center
 The center of the restraint, a vector with length nx. (\(x_0\))
 radius
 The maximum Euclidean distance of the returned solution x from the given center

nl
¶ The number of constraints

nx
¶ The number of unkowns