RobotLocomotion · SeanCurtis-TRI · Nov 6, 2023 · Nov 6, 2023
diff --git a/tools/workspace/clarabel_cpp_internal/BUILD.bazel b/tools/workspace/clarabel_cpp_internal/BUILD.bazel
@@ -2,10 +2,10 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:drake_cc.bzl", "drake_cc_test")
 
 drake_cc_test(
-    name = "clarabel_example_lp",
+    name = "clarabel_example_sdp",
     srcs = select({
         "//tools:with_clarabel": [
-            "test/clarabel_example_lp.cc",
+            "test/clarabel_example_sdp.cc",
         ],
         "//conditions:default": [
             "test/noop.cc",
@@ -21,7 +21,7 @@ drake_cc_test(
 
 add_lint_tests(
     cpplint_extra_srcs = [
-        "test/clarabel_example_lp.cc",
+        "test/clarabel_example_sdp.cc",
         "test/noop.cc",
     ],
 )
diff --git a/tools/workspace/clarabel_cpp_internal/package.BUILD.bazel b/tools/workspace/clarabel_cpp_internal/package.BUILD.bazel
@@ -24,17 +24,23 @@ rust_static_library(
     name = "clarabel_cpp_rust_wrapper",
     edition = "2021",
     srcs = glob(["rust_wrapper/src/**/*.rs"], allow_empty = False),
+    crate_features = ["sdp"],
     deps = all_crate_deps(),
 )
 
 # Combine the public headers with the object code.
 cc_library(
     name = "clarabel_cpp",
     linkstatic = True,
+    defines = [
+        "FEATURE_SDP",
+    ],
     deps = [
         ":hdrs",
         ":clarabel_cpp_rust_wrapper",
+        "@blas",
         "@eigen",
+        "@lapack",
     ],
     visibility = ["//visibility:public"],
 )

diff --git a/tools/workspace/clarabel_cpp_internal/patches/sdp.patch b/tools/workspace/clarabel_cpp_internal/patches/sdp.patch
@@ -0,0 +1,16 @@
+[Clarabel.cpp] Enable the SDP feature by default
+
+--- rust_wrapper/Cargo.toml
++++ rust_wrapper/Cargo.toml
+@@ -14,9 +14,10 @@ opt-level = 3
+ lto = true
+ codegen-units = 1
+
+ [features]
++default = ["sdp"]
+ # Define features for SDP support in Clarabel.rs
+-sdp = []
++sdp = ["clarabel/sdp"]
+ sdp-accelerate = ["sdp", "clarabel/sdp", "clarabel/sdp-accelerate"]
+ sdp-netlib     = ["sdp", "clarabel/sdp", "clarabel/sdp-netlib"]
+ sdp-openblas   = ["sdp", "clarabel/sdp", "clarabel/sdp-openblas"]
diff --git a/tools/workspace/clarabel_cpp_internal/repository.bzl b/tools/workspace/clarabel_cpp_internal/repository.bzl
@@ -11,6 +11,7 @@ def clarabel_cpp_internal_repository(
         build_file = ":package.BUILD.bazel",
         patches = [
             ":patches/git_submodule.patch",
+            ":patches/sdp.patch",
         ],
         mirrors = mirrors,
     )
diff --git a/..._cpp_internal/test/clarabel_example_lp.cc → ...cpp_internal/test/clarabel_example_sdp.cc b/..._cpp_internal/test/clarabel_example_lp.cc → ...cpp_internal/test/clarabel_example_sdp.cc
@@ -1,9 +1,8 @@
 // Copied from (Apache-2.0):
-// https://github.com/oxfordcontrol/Clarabel.cpp/blob/main/examples/cpp/example_lp.cpp
+// https://github.com/oxfordcontrol/Clarabel.cpp/blob/main/examples/cpp/example_sdp.cpp
 // https://github.com/oxfordcontrol/Clarabel.cpp/blob/main/examples/cpp/utils.h
 
-#include <cstddef>
-#include <cstdio>
+#include <cmath>
 #include <vector>
 
 #include <Clarabel>
@@ -34,38 +33,47 @@ void print_solution(const clarabel::DefaultSolution<double>& solution) {
 
 }  // namespace
 
-int main() {
-  Eigen::MatrixXd P_dense = Eigen::MatrixXd::Zero(2, 2);
-  Eigen::SparseMatrix<double> P = P_dense.sparseView();
-  P.makeCompressed();
+int main(void) {
+  // SDP Example
+  int n = 3;
+  int nvec = (n * (n + 1)) >> 1;
 
-  Eigen::Vector<double, 2> q = {1.0, -1.0};
+  // 6 x 6 zero matrix
+  Eigen::SparseMatrix<double> P =
+      Eigen::MatrixXd::Zero(nvec, nvec).sparseView();
+  P.makeCompressed();
 
-  // a 2-d box constraint, separated into 4 inequalities.
-  // A = [I; -I]
-  Eigen::MatrixXd A_dense(4, 2);
-  A_dense << 1., 0., 0., 1., -1., 0., 0., -1.;
+  Eigen::Vector<double, 6> c{1, 0, 1, 0, 0, 1};
+
+  Eigen::MatrixXd A_dense(7, 6);
+  const double s = M_SQRT2;
+  // clang-format off
+  A_dense <<
+      -1, 0,  0,  0,  0,   0,
+      0,  -s, 0,  0,  0,   0,
+      0,  0,  -1, 0,  0,   0,
+      0,  0,  0,  -s, 0,   0,
+      0,  0,  0,  0,  -s,  0,
+      0,  0,  0,  0,  0,  -1,
+      1,  4,  3,  8,  10,  6;
+  // clang-format on
 
   Eigen::SparseMatrix<double> A = A_dense.sparseView();
   A.makeCompressed();
 
-  Eigen::Vector<double, 4> b = {1.0, 1.0, 1.0, 1.0};
+  Eigen::Vector<double, 7> b = {0, 0, 0, 0, 0, 0, 1};
 
   std::vector<clarabel::SupportedConeT<double>> cones{
-      clarabel::NonnegativeConeT<double>(4),
-      // {.tag = SupportedConeT<double>::Tag::NonnegativeConeT,
-      // .nonnegative_cone_t = {._0 = 4 }}
+      clarabel::PSDTriangleConeT<double>(n),
+      clarabel::ZeroConeT<double>(1),
   };
 
   // Settings
   clarabel::DefaultSettings<double> settings =
-      clarabel::DefaultSettingsBuilder<double>::default_settings()
-          .equilibrate_enable(true)
-          .equilibrate_max_iter(50)
-          .build();
+      clarabel::DefaultSettings<double>::default_settings();
 
   // Build solver
-  clarabel::DefaultSolver<double> solver(P, q, A, b, cones, settings);
+  clarabel::DefaultSolver<double> solver(P, c, A, b, cones, settings);
 
   // Solve
   solver.solve();

diff --git a/tools/workspace/crate_universe/BUILD.bazel b/tools/workspace/crate_universe/BUILD.bazel
@@ -1,14 +1,21 @@
 load("//tools/install:install.bzl", "install")
 load("//tools/workspace/crate_universe:lock/archives.bzl", "ARCHIVES")
 load("//tools/lint:lint.bzl", "add_lint_tests")
-load("@rules_rust//crate_universe:defs.bzl", "crates_vendor")
+load("@rules_rust//crate_universe:defs.bzl", "crate", "crates_vendor")
 
 exports_files(glob(["lock/**"]))
 
 # This is a maintainer-only tool for Drake Developers to manage our Rust
 # dependencies. See README.md for instructions on how to run `upgrade.sh`.
 crates_vendor(
     name = "crate",
+    annotations = {
+        "clarabel": [crate.annotation(
+            patches = [
+                "@drake//tools/workspace/crate_universe:patches/clarabel_blas.patch",  # noqa
+            ],
+        )],
+    },
     cargo_lockfile = ":lock/Cargo.toml.lock",
     manifests = [
         "@clarabel_cpp_internal//:rust_wrapper/Cargo.toml",

diff --git a/tools/workspace/crate_universe/lock/archives.bzl b/tools/workspace/crate_universe/lock/archives.bzl
@@ -16,6 +16,22 @@ ARCHIVES = [
         strip_prefix = "autocfg-1.1.0",
         build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.autocfg-1.1.0.bazel"),
     ),
+    dict(
+        name = "crate__blas-0.22.0",
+        sha256 = "ae980f75c3215bfe8203c349b28149b0f4130a262e072913ccb55f877cd239dc",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/blas/0.22.0/download"],
+        strip_prefix = "blas-0.22.0",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.blas-0.22.0.bazel"),
+    ),
+    dict(
+        name = "crate__blas-sys-0.7.1",
+        sha256 = "13b1b279ceb25d7c4faaea95a5f7addbe7d8c34f9462044bd8e630cebcfc2440",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/blas-sys/0.7.1/download"],
+        strip_prefix = "blas-sys-0.7.1",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.blas-sys-0.7.1.bazel"),
+    ),
     dict(
         name = "crate__cfg-if-1.0.0",
         sha256 = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd",
@@ -26,6 +42,9 @@ ARCHIVES = [
     ),
     dict(
         name = "crate__clarabel-0.6.0",
+        patches = [
+            "@drake//tools/workspace/crate_universe:patches/clarabel_blas.patch",
+        ],
         sha256 = "fb77b79847293795eb71eb995ea2222af9c67c6f13c8734bd56b02b8415164b6",
         type = "tar.gz",
         urls = ["https://crates.io/api/v1/crates/clarabel/0.6.0/download"],
@@ -120,6 +139,22 @@ ARCHIVES = [
         strip_prefix = "itertools-0.11.0",
         build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.itertools-0.11.0.bazel"),
     ),
+    dict(
+        name = "crate__lapack-0.19.0",
+        sha256 = "ad676a6b4df7e76a9fd80a0c50c619a3948d6105b62a0ab135f064d99c51d207",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/lapack/0.19.0/download"],
+        strip_prefix = "lapack-0.19.0",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.lapack-0.19.0.bazel"),
+    ),
+    dict(
+        name = "crate__lapack-sys-0.14.0",
+        sha256 = "447f56c85fb410a7a3d36701b2153c1018b1d2b908c5fbaf01c1b04fac33bcbe",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/lapack-sys/0.14.0/download"],
+        strip_prefix = "lapack-sys-0.14.0",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.lapack-sys-0.14.0.bazel"),
+    ),
     dict(
         name = "crate__lazy_static-1.4.0",
         sha256 = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646",
@@ -128,6 +163,22 @@ ARCHIVES = [
         strip_prefix = "lazy_static-1.4.0",
         build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.lazy_static-1.4.0.bazel"),
     ),
+    dict(
+        name = "crate__libc-0.2.149",
+        sha256 = "a08173bc88b7955d1b3145aa561539096c421ac8debde8cbc3612ec635fee29b",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/libc/0.2.149/download"],
+        strip_prefix = "libc-0.2.149",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.libc-0.2.149.bazel"),
+    ),
+    dict(
+        name = "crate__num-complex-0.4.4",
+        sha256 = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214",
+        type = "tar.gz",
+        urls = ["https://crates.io/api/v1/crates/num-complex/0.4.4/download"],
+        strip_prefix = "num-complex-0.4.4",
+        build_file = Label("@drake//tools/workspace/crate_universe/lock/details:BUILD.num-complex-0.4.4.bazel"),
+    ),
     dict(
         name = "crate__num-traits-0.2.17",
         sha256 = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c",

diff --git a/tools/workspace/crate_universe/lock/details/BUILD.blas-0.22.0.bazel b/tools/workspace/crate_universe/lock/details/BUILD.blas-0.22.0.bazel
@@ -0,0 +1,88 @@
+###############################################################################
+# @generated
+# DO NOT MODIFY: This file is auto-generated by a crate_universe tool. To
+# regenerate this file, run the following:
+#
+#     tools/workspace/crate_universe/upgrade.sh
+###############################################################################
+
+load("@rules_rust//rust:defs.bzl", "rust_library")
+
+package(default_visibility = ["//visibility:public"])
+
+# licenses([
+#     "TODO",  # Apache-2.0/MIT
+# ])
+filegroup(
+    name = "license_glob",
+    srcs = glob(
+        ["LICENSE*"],
+        allow_empty = False,
+    ),
+)
+
+rust_library(
+    name = "blas",
+    srcs = glob(["**/*.rs"]),
+    compile_data = glob(
+        include = ["**"],
+        exclude = [
+            "**/* *",
+            ".tmp_git_root/**/*",
+            "BUILD",
+            "BUILD.bazel",
+            "WORKSPACE",
+            "WORKSPACE.bazel",
+        ],
+    ),
+    crate_root = "src/lib.rs",
+    edition = "2015",
+    rustc_flags = ["--cap-lints=allow"],
+    tags = [
+        "cargo-bazel",
+        "crate-name=blas",
+        "manual",
+        "noclippy",
+        "norustfmt",
+    ],
+    target_compatible_with = select({
+        "@rules_rust//rust/platform:aarch64-apple-darwin": [],
+        "@rules_rust//rust/platform:aarch64-apple-ios": [],
+        "@rules_rust//rust/platform:aarch64-apple-ios-sim": [],
+        "@rules_rust//rust/platform:aarch64-fuchsia": [],
+        "@rules_rust//rust/platform:aarch64-linux-android": [],
+        "@rules_rust//rust/platform:aarch64-pc-windows-msvc": [],
+        "@rules_rust//rust/platform:aarch64-unknown-linux-gnu": [],
+        "@rules_rust//rust/platform:arm-unknown-linux-gnueabi": [],
+        "@rules_rust//rust/platform:armv7-linux-androideabi": [],
+        "@rules_rust//rust/platform:armv7-unknown-linux-gnueabi": [],
+        "@rules_rust//rust/platform:i686-apple-darwin": [],
+        "@rules_rust//rust/platform:i686-linux-android": [],
+        "@rules_rust//rust/platform:i686-pc-windows-msvc": [],
+        "@rules_rust//rust/platform:i686-unknown-freebsd": [],
+        "@rules_rust//rust/platform:i686-unknown-linux-gnu": [],
+        "@rules_rust//rust/platform:powerpc-unknown-linux-gnu": [],
+        "@rules_rust//rust/platform:riscv32imc-unknown-none-elf": [],
+        "@rules_rust//rust/platform:riscv64gc-unknown-none-elf": [],
+        "@rules_rust//rust/platform:s390x-unknown-linux-gnu": [],
+        "@rules_rust//rust/platform:thumbv7em-none-eabi": [],
+        "@rules_rust//rust/platform:thumbv8m.main-none-eabi": [],
+        "@rules_rust//rust/platform:wasm32-unknown-unknown": [],
+        "@rules_rust//rust/platform:wasm32-wasi": [],
+        "@rules_rust//rust/platform:x86_64-apple-darwin": [],
+        "@rules_rust//rust/platform:x86_64-apple-ios": [],
+        "@rules_rust//rust/platform:x86_64-fuchsia": [],
+        "@rules_rust//rust/platform:x86_64-linux-android": [],
+        "@rules_rust//rust/platform:x86_64-pc-windows-msvc": [],
+        "@rules_rust//rust/platform:x86_64-unknown-freebsd": [],
+        "@rules_rust//rust/platform:x86_64-unknown-linux-gnu": [],
+        "@rules_rust//rust/platform:x86_64-unknown-none": [],
+        "//conditions:default": ["@platforms//:incompatible"],
+    }),
+    version = "0.22.0",
+    deps = [
+        "@crate__blas-sys-0.7.1//:blas_sys",
+        "@crate__libc-0.2.149//:libc",
+        "@crate__num-complex-0.4.4//:num_complex",
+    ],
+)