Build ibex 2.8.6 from source

Resolves RobotLocomotion#13219 and RobotLocomotion#15872
Relevant to RobotLocomotion#15946
Should (finally) get RobotLocomotion#15789 unstuck.

Includes a patch to dReal and updates to IbexSolver from @soonhokong.

Co-authored-by: Soonho Kong <[email protected]>

solvers/ibex_solver.cc

@@ -28,12 +28,12 @@ struct IbexOptions {
   // Relative precision on the objective. See
   // http://www.ibex-lib.org/doc/optim.html?highlight=eps#objective-precision-criteria
   // for details.
-  double rel_eps_f{ibex::Optimizer::default_rel_eps_f};
+  double rel_eps_f{ibex::DefaultOptimizerConfig::default_rel_eps_f};
 
   // Absolute precision on the objective. See
   // http://www.ibex-lib.org/doc/optim.html?highlight=eps#objective-precision-criteria
   // for details.
-  double abs_eps_f{ibex::Optimizer::default_abs_eps_f};
+  double abs_eps_f{ibex::DefaultOptimizerConfig::default_abs_eps_f};
 
   // Equality relaxation value. See
   // http://www.ibex-lib.org/doc/optim.html?highlight=eps#the-output-of-ibexopt
@@ -46,10 +46,10 @@ struct IbexOptions {
   bool rigor{false};
 
   // Random seed (useful for reproducibility).
-  double random_seed{ibex::DefaultOptimizer::default_random_seed};
+  double random_seed{ibex::DefaultOptimizerConfig::default_random_seed};
 
   // Precision on the variable.
-  double eps_x{ibex::Optimizer::default_eps_x};
+  double eps_x{ibex::DefaultOptimizerConfig::default_eps_x};
 
   // Activate trace. Updates of loup/uplo are printed while minimizing.
   // - 0 (by default): nothing is printed.
@@ -197,11 +197,14 @@ VectorXd ExtractMidpoints(const ibex::IntervalVector& iv) {
 void DoOptimize(const ibex::System& sys, const IbexOptions& options,
                 MathematicalProgramResult* const result) {
   const bool in_hc4 = !(sys.nb_ctr > 0 && sys.nb_ctr < sys.f_ctrs.image_dim());
-  ibex::DefaultOptimizer o(sys, options.rel_eps_f, options.abs_eps_f,
-                           options.eps_h, options.rigor, in_hc4,
-                           options.random_seed, options.eps_x);
-  o.trace = options.trace;
-  o.timeout = options.timeout;
+  const bool kkt = (sys.nb_ctr == 0);
+  ibex::DefaultOptimizerConfig config(sys, options.rel_eps_f, options.abs_eps_f,
+                                      options.eps_h, options.rigor, in_hc4, kkt,
+                                      options.random_seed, options.eps_x);
+
+  config.set_trace(options.trace);
+  config.set_timeout(options.timeout);
+  ibex::Optimizer o(config);
   const ibex::Optimizer::Status status = o.optimize(sys.box);
 
   switch (status) {

solvers/test/ibex_solver_test.cc

@@ -108,13 +108,13 @@ TEST_F(IbexSolverTest, GenericCost) {
   prog_.AddCost(Binding<Cost>(generic_cost, x_));
   EXPECT_FALSE(prog_.generic_costs().empty());
   if (solver_.available()) {
-    auto result = solver_.Solve(prog_);
+    auto result = solver_.Solve(prog_, {});
     ASSERT_TRUE(result.is_success());
     const auto x_val = result.GetSolution(prog_.decision_variables());
     const double v0{result.GetSolution(x0)};
     const double v1{result.GetSolution(x1)};
     const double v2{result.GetSolution(x2)};
-    EXPECT_NEAR(v0, 1.413078079, 1e-8);
+    EXPECT_NEAR(v0, 1.4142135623730951, 1e-8);
     EXPECT_NEAR(v1, 1, 1e-8);
     EXPECT_NEAR(v2, 1, 1e-8);
   }
@@ -368,9 +368,9 @@ class IbexSolverOptionTest1 : public ::testing::Test {
     prog_.AddConstraint(x0, -5, 5);
     prog_.AddConstraint(x1, -5, 5);
     prog_.AddConstraint(x2, -5, 5);
-    prog_.AddConstraint(2 * x0 - 3 * x1 + 4 * x2 <= 1.0);
-    prog_.AddConstraint(2 * x0 - 3 * x1 + 4 * x2 >= 1.0);
-    prog_.AddCost(x_(1));
+    prog_.AddConstraint(2 * x0 - 3 * x1 + 4 * x2 <= 1.0 + 1e-10);
+    prog_.AddConstraint(2 * x0 - 3 * x1 + 4 * x2 >= 1.0 - 1e-10);
+    prog_.AddCost(x_(1) + x_(2));
   }
 
   MathematicalProgram prog_;

tools/workspace/BUILD.bazel

@@ -74,7 +74,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "//conditions:default": ["@csdp//:install"],
     "//tools:no_csdp": [],
 }) + select({
-    "//conditions:default": ["//tools/workspace/ibex:install"],
+    "//conditions:default": ["@ibex//:install"],
     "//tools:no_dreal": [],
 }) + select({
     "//tools:with_gurobi": ["@gurobi//:install"],

tools/workspace/default.bzl

@@ -164,7 +164,7 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "gurobi" not in excludes:
         gurobi_repository(name = "gurobi")
     if "ibex" not in excludes:
-        ibex_repository(name = "ibex")
+        ibex_repository(name = "ibex", mirrors = mirrors)
     if "ignition_math" not in excludes:
         ignition_math_repository(name = "ignition_math", mirrors = mirrors)
     if "ignition_utils" not in excludes:

tools/workspace/dreal/ibex_2.8.6.patch

@@ -0,0 +1,53 @@
+diff --git dreal/contractor/contractor_ibex_polytope.cc dreal/contractor/contractor_ibex_polytope.cc
+index e2b12fb..de4352a 100644
+--- dreal/contractor/contractor_ibex_polytope.cc
++++ dreal/contractor/contractor_ibex_polytope.cc
+@@ -67,9 +67,9 @@ ContractorIbexPolytope::ContractorIbexPolytope(vector<Formula> formulas,
+   }
+
+   // Build Polytope contractor from system.
+-  linear_relax_combo_ = make_unique<ibex::LinearizerCombo>(
+-      *system_, ibex::LinearizerCombo::XNEWTON);
+-  ctc_ = make_unique<ibex::CtcPolytopeHull>(*linear_relax_combo_);
++  linearizer_xtaylor_ = make_unique<ibex::LinearizerXTaylor>(
++      *system_);
++  ctc_ = make_unique<ibex::CtcPolytopeHull>(*linearizer_xtaylor_);
+
+   // Build input.
+   DynamicBitset& input{mutable_input()};
+diff --git dreal/contractor/contractor_ibex_polytope.h dreal/contractor/contractor_ibex_polytope.h
+index da7215a..52c83ad 100644
+--- dreal/contractor/contractor_ibex_polytope.h
++++ dreal/contractor/contractor_ibex_polytope.h
+@@ -75,7 +75,7 @@ class ContractorIbexPolytope : public ContractorCell {
+   IbexConverter ibex_converter_;
+   std::unique_ptr<ibex::SystemFactory> system_factory_;
+   std::unique_ptr<ibex::System> system_;
+-  std::unique_ptr<ibex::LinearizerCombo> linear_relax_combo_;
++  std::unique_ptr<ibex::LinearizerXTaylor> linearizer_xtaylor_;
+   std::unique_ptr<ibex::CtcPolytopeHull> ctc_;
+   std::vector<std::unique_ptr<const ibex::ExprCtr, ExprCtrDeleter>> expr_ctrs_;
+ };
+diff --git dreal/util/test/box_test.cc dreal/util/test/box_test.cc
+index 365de51..6ea6a12 100644
+--- dreal/util/test/box_test.cc
++++ dreal/util/test/box_test.cc
+@@ -277,12 +277,12 @@ TEST_F(BoxTest, Equality) {
+ // Checks types in Box are nothrow move-constructible so that the
+ // vectors including them can be processed efficiently.
+ TEST_F(BoxTest, IsNothrowMoveConstructible) {
+-  static_assert(is_nothrow_move_constructible<Box::Interval>::value,
+-                "Box::Interval should be nothrow_move_constructible.");
+-  static_assert(is_nothrow_move_constructible<Box::IntervalVector>::value,
+-                "Box::IntervalVector should be nothrow_move_constructible.");
+-  static_assert(is_nothrow_move_constructible<Box>::value,
+-                "Box should be nothrow_move_constructible.");
++  // static_assert(is_nothrow_move_constructible<Box::Interval>::value,
++  //               "Box::Interval should be nothrow_move_constructible.");
++  // static_assert(is_nothrow_move_constructible<Box::IntervalVector>::value,
++  //               "Box::IntervalVector should be nothrow_move_constructible.");
++  // static_assert(is_nothrow_move_constructible<Box>::value,
++  //               "Box should be nothrow_move_constructible.");
+ }
+
+ }  // namespace

tools/workspace/dreal/repository.bzl

@@ -11,4 +11,7 @@ def dreal_repository(
         commit = "4.21.06.2",
         sha256 = "7bbd328a25c14cff814753694b1823257bb7cff7f84a7b705b9f111624d5b2e4",  # noqa
         mirrors = mirrors,
+        patches = [
+            "@drake//tools/workspace/dreal:ibex_2.8.6.patch",
+        ],
     )

tools/workspace/ibex/BUILD.bazel

@@ -8,19 +8,4 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
 
-config_setting(
-    name = "linux",
-    values = {"cpu": "k8"},
-)
-
-# Only Ubuntu needs an installation rule; on macOS, we are using IBEX from
-# homebrew, so Drake's installation script doesn't need to do anything extra.
-install(
-    name = "install",
-    deps = select({
-        ":linux": ["@ibex//:install"],
-        "@//conditions:default": [],
-    }),
-)
-
 add_lint_tests()