PR [solvers] Flag unsupported clarabel options in the header

This simplifies the code necessary for the Visit operation.
RobotLocomotion · Sep 13, 2024 · 79aa37e · 79aa37e
1 parent 2ed7bed
commit 79aa37e
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Showing 3 changed files with 12 additions and 14 deletions.
diff --git a/solvers/clarabel_solver.cc b/solvers/clarabel_solver.cc
@@ -215,17 +215,6 @@ class SettingsConverter {
     }
     this->SetFromIntMap(x.name(), x.value());
   }
-  void Visit(const NameValue<clarabel::ClarabelDirectSolveMethods>& x) {
-    DRAKE_THROW_UNLESS(x.name() == std::string{"direct_solve_method"});
-    // TODO(jwnimmer-tri) Add support for this option.
-    // For now it is unsupported and will throw (as an unknown name, below).
-  }
-  void Visit(const NameValue<clarabel::ClarabelCliqueMergeMethods>& x) {
-    DRAKE_THROW_UNLESS(x.name() ==
-                       std::string{"chordal_decomposition_merge_method"});
-    // TODO(jwnimmer-tri) Add support for this option.
-    // For now it is unsupported and will throw (as an unknown name, below).
-  }
 
  private:
   void SetFromDoubleMap(const char* name, double* clarabel_value) {

diff --git a/tools/workspace/clarabel_cpp_internal/gen_serialize.py b/tools/workspace/clarabel_cpp_internal/gen_serialize.py
@@ -7,6 +7,12 @@
 
 from python import runfiles
 
+_FIELDS_TO_SKIP = {
+    # These are enums, which we don't support yet.
+    "chordal_decomposition_merge_method",
+    "direct_solve_method",
+}
+
 _PROLOGUE = """\
 #pragma once
 
@@ -75,7 +81,10 @@ def _settings_names():
 def _create_header_text():
     result = _PROLOGUE
     for name in _settings_names():
-        result += f"  DRAKE_VISIT({name});\n"
+        if name in _FIELDS_TO_SKIP:
+            result += f"  // skipped: {name}\n"
+        else:
+            result += f"  DRAKE_VISIT({name});\n"
     result += _EPILOGUE
     return result
 

diff --git a/tools/workspace/clarabel_cpp_internal/serialize.h b/tools/workspace/clarabel_cpp_internal/serialize.h
@@ -38,7 +38,7 @@ void Serialize(Archive* a, DefaultSettings<double>& settings) {
   DRAKE_VISIT(min_switch_step_length);
   DRAKE_VISIT(min_terminate_step_length);
   DRAKE_VISIT(direct_kkt_solver);
-  DRAKE_VISIT(direct_solve_method);
+  // skipped: direct_solve_method
   DRAKE_VISIT(static_regularization_enable);
   DRAKE_VISIT(static_regularization_constant);
   DRAKE_VISIT(static_regularization_proportional);
@@ -52,7 +52,7 @@ void Serialize(Archive* a, DefaultSettings<double>& settings) {
   DRAKE_VISIT(iterative_refinement_stop_ratio);
   DRAKE_VISIT(presolve_enable);
   DRAKE_VISIT(chordal_decomposition_enable);
-  DRAKE_VISIT(chordal_decomposition_merge_method);
+  // skipped: chordal_decomposition_merge_method
   DRAKE_VISIT(chordal_decomposition_compact);
   DRAKE_VISIT(chordal_decomposition_complete_dual);
 #undef DRAKE_VISIT