pyqpmad

A fast Python wrapper for qpmad, a C++ Quadratic Programming (QP) solver based on Goldfarb-Idnani's active-set method. pyqpmad is built using nanobind for high-performance Python bindings and Eigen for efficient linear algebra.

Features

Solves Unconstrained, Constrained, and Bounded Quadratic Programs.
Lightweight and fast wrapper utilizing nanobind.
Automatic compilation of dependencies (qpmad, eigen, nanobind) from source via CMake.

Examples

Comprehensive Example

Here is a complete example demonstrating how to configure solver parameters and solve a QP problem with simple bounds and general linear constraints, utilizing the full API.

import pyqpmad
import numpy as np

solver = pyqpmad.Solver()

# Problem definition (2 variables)
primal = np.zeros(2)

# Define the Hessian matrix (H) and linear term (h)
H = np.array([[2.0, 0.0], 
              [0.0, 2.0]], order='F')
h = np.array([-2.0, -2.0]) # Unconstrained minimum at [1.0, 1.0]

# Define simple bounds: 0.0 <= x_i <= 0.8
lb = np.array([0.0, 0.0])
ub = np.array([0.8, 0.8])

# Define the linear constraint: 1.0 <= x_0 + x_1 <= 1.5
A = np.array([[1.0, 1.0]], order='F')
Alb = np.array([1.0])
Aub = np.array([1.5])

# Configure solver parameters
params = pyqpmad.SolverParameters()
params.tolerance = 1e-8
params.max_iter = 100

# Solve with all constraints and parameters
status = solver.solve(primal, H, h, lb=lb, ub=ub, A=A, Alb=Alb, Aub=Aub, params=params)

if status == pyqpmad.ReturnStatus.OK:
    print(f"Optimal solution found: {primal}")
    print(f"Iterations: {solver.get_num_iterations()}")
    
    # Get active inequality duals
    duals = solver.get_inequality_dual()
    print(f"Active dual values: {duals.dual}")
    print(f"Active constraint indices: {duals.indices}")
else:
    print(f"Failed to solve. Status: {status}")

Control Loop Example (Zero Allocation & Hessian Reuse)

In high-frequency control loops (e.g., Model Predictive Control), you can pre-allocate the solver's internal workspace using reserve() and reuse arrays to avoid memory allocations. If the Hessian matrix $H$ is constant, you can also avoid re-factorizing it at every step by keeping its inverted Cholesky factor.

import pyqpmad
import numpy as np

num_variables = 2
num_simple_bounds = 2 # Length of lb/ub (must be 0 or num_variables)
num_general_constraints = 1 # Number of rows in A

solver = pyqpmad.Solver()
# Reserve memory: (primal_size, num_simple_bounds, num_general_constraints)
solver.reserve(num_variables, num_simple_bounds, num_general_constraints)

# Pre-allocate output array
primal = np.zeros(num_variables)

# Define constant terms
H = np.array([[2.0, 0.0], [0.0, 2.0]], order='F')
lb = np.array([-1.0, -1.0])
ub = np.array([1.0, 1.0])
A = np.array([[1.0, 1.0]], order='F')
Alb = np.array([-1.5])
Aub = np.array([1.5])

# Ask the solver to factorize H and return the inverted Cholesky factor 
# (this overwrites H with the factorization)
params = pyqpmad.SolverParameters()
params.return_inverted_cholesky_factor = True

# First solve to compute and store the factorization
h_initial = np.array([0.0, 0.0])
status = solver.solve(primal, H, h_initial, lb=lb, ub=ub, A=A, Alb=Alb, Aub=Aub, params=params)

# For subsequent solves, we tell the solver that H already contains the inverted Cholesky factor
params.hessian_type = pyqpmad.HessianType.HESSIAN_INVERTED_CHOLESKY_FACTOR
params.return_inverted_cholesky_factor = False # No need to factorize again

# Control loop (e.g., 1000 iterations)
h = np.zeros(num_variables)
for i in range(1000):
    # Only the linear term h (e.g., tracking error) changes in this control loop
    h[0] = np.sin(i * 0.01)
    h[1] = np.cos(i * 0.01)
    
    # Solve without memory allocation and without re-factorizing H
    status = solver.solve(primal, H, h, lb=lb, ub=ub, A=A, Alb=Alb, Aub=Aub, params=params)
    
    if status == pyqpmad.ReturnStatus.OK:
        # Apply optimal control action
        action = primal
    else:
        # Handle failure
        pass

Installation

You can install the package directly from PyPI using pip:

pip install qpmad

Building from Source

If you want to build the package from source, you can use uv or pip.

Using `uv` (Recommended)

You can easily build and install this package using uv, an extremely fast Python package installer and resolver.

To install it directly:

uv pip install .

To run the tests:

uv run --with pytest test_qpmad.py

Using `pip`

pip install .

To run tests with pip:

pip install pytest
pytest test_qpmad.py

Build Explanation

The build process is managed entirely by CMake. When you install the package from source (via pip or uv), CMake's FetchContent module is triggered to automatically download the required dependencies:

nanobind
eigen
qpmad

CMake then configures qpmad as an interface library linked with Eigen, and compiles the Python wrapper (qpmad_pywrap.cpp) using nanobind. Finally, Python type stubs (.pyi) are generated for IDE type hinting.

Release Pipeline

This project uses cibuildwheel integrated via GitHub Actions to automatically build wheels for Linux, macOS, and Windows.

Triggering a Release

To publish a new release to PyPI, tag the main branch with a version number starting with v (e.g., v1.0.0) and push the tag to GitHub:

git tag v1.0.0
git push origin v1.0.0

The GitHub Actions workflow will:

Build sdist and wheels for all major platforms.
Run tests on the generated wheels.
Automatically publish the artifacts to PyPI.

Metadata

Release files for pyqpmad 1.4.1

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for pyqpmad 1.4.1
File	Size	Uploaded
pyqpmad-1.4.1.tar.gz	8.3 kB	Mar 9, 2026	Details

Built distributions (wheels)

Table of built distributions (wheels) for pyqpmad 1.4.1
File	Interpreter	ABI	Platform	Reset
pyqpmad-1.4.1-cp314-cp314t-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14 free-threading	Windows x86-64	Details
pyqpmad-1.4.1-cp314-cp314t-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.14	CPython 3.14 free-threading	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
pyqpmad-1.4.1-cp314-cp314t-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14 free-threading	macOS 11.0+ ARM64	Details
pyqpmad-1.4.1-cp314-cp314-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14	Windows x86-64	Details
pyqpmad-1.4.1-cp314-cp314-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.14	CPython 3.14	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
pyqpmad-1.4.1-cp314-cp314-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.14	CPython 3.14	macOS 11.0+ ARM64	Details
pyqpmad-1.4.1-cp313-cp313-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.13	CPython 3.13	Windows x86-64	Details
pyqpmad-1.4.1-cp313-cp313-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.13	CPython 3.13	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
pyqpmad-1.4.1-cp313-cp313-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.13	CPython 3.13	macOS 11.0+ ARM64	Details
pyqpmad-1.4.1-cp312-cp312-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.12	CPython 3.12	Windows x86-64	Details
pyqpmad-1.4.1-cp312-cp312-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.12	CPython 3.12	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
pyqpmad-1.4.1-cp312-cp312-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.12	CPython 3.12	macOS 11.0+ ARM64	Details
pyqpmad-1.4.1-cp311-cp311-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.11	CPython 3.11	Windows x86-64	Details
pyqpmad-1.4.1-cp311-cp311-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.11	CPython 3.11	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
pyqpmad-1.4.1-cp311-cp311-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.11	CPython 3.11	macOS 11.0+ ARM64	Details
pyqpmad-1.4.1-cp310-cp310-win_amd64.whl 2.2 MB Mar 9, 2026	CPython 3.10	CPython 3.10	Windows x86-64	Details
pyqpmad-1.4.1-cp310-cp310-musllinux_1_2_x86_64.whl 2.7 MB Mar 9, 2026	CPython 3.10	CPython 3.10	Linux musl 1.2+ x86-64	Details
pyqpmad-1.4.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 2.2 MB Mar 9, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
pyqpmad-1.4.1-cp310-cp310-macosx_11_0_arm64.whl 2.2 MB Mar 9, 2026	CPython 3.10	CPython 3.10	macOS 11.0+ ARM64	Details

Total release size: 55.9 MB

Release files / pyqpmad-1.4.1.tar.gz

Download URL	pyqpmad-1.4.1.tar.gz
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Release files / pyqpmad-1.4.1-cp314-cp314t-win_amd64.whl

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp314-cp314t-musllinux_1_2_x86_64.whl

Download URL	pyqpmad-1.4.1-cp314-cp314t-musllinux_1_2_x86_64.whl
Size	2.7 MB
Tags	CPython 3.14 CPython 3.14 free-threading Linux musl 1.2+ x86-64
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Publishing repository: github.com/ahoarau/pyqpmad
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Release files / pyqpmad-1.4.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	pyqpmad-1.4.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Size	2.2 MB
Tags	CPython 3.14 CPython 3.14 free-threading Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64
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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp314-cp314t-macosx_11_0_arm64.whl

Download URL	pyqpmad-1.4.1-cp314-cp314t-macosx_11_0_arm64.whl
Size	2.2 MB
Tags	CPython 3.14 CPython 3.14 free-threading macOS 11.0+ ARM64
SHA-256 checksum How to use checksums	`ce272797857082478df63c46ec6a114ff5d24d0556904a04c3acc70381ec3ab3`
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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp314-cp314-win_amd64.whl

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Release files / pyqpmad-1.4.1-cp314-cp314-musllinux_1_2_x86_64.whl

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Size	2.7 MB
Tags	CPython 3.14 Linux musl 1.2+ x86-64
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Release files / pyqpmad-1.4.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	pyqpmad-1.4.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
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Tags	CPython 3.14 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64
SHA-256 checksum How to use checksums	`de2a18ebce8eeca0903f3c4750370d834cc37b97ec4512b5dba78ae4ef0bfc3d`
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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp314-cp314-macosx_11_0_arm64.whl

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Provenance

Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp313-cp313-win_amd64.whl

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Provenance

Identity

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Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp313-cp313-musllinux_1_2_x86_64.whl

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Provenance

Identity

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Release files / pyqpmad-1.4.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Release files / pyqpmad-1.4.1-cp313-cp313-macosx_11_0_arm64.whl

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Identity

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Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp312-cp312-win_amd64.whl

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Provenance

Identity

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Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp312-cp312-musllinux_1_2_x86_64.whl

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Provenance

Identity

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Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Provenance

Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp312-cp312-macosx_11_0_arm64.whl

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Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp311-cp311-win_amd64.whl

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Provenance

Identity

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Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp311-cp311-musllinux_1_2_x86_64.whl

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Provenance

Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Provenance

Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp311-cp311-macosx_11_0_arm64.whl

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Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp310-cp310-win_amd64.whl

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Provenance

Identity

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Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp310-cp310-musllinux_1_2_x86_64.whl

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Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.7`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

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Release files / pyqpmad-1.4.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.7`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

Workflow

Publishing configuration: github.com/ahoarau/pyqpmad/blob/3ec97c47573f1812666f44bd7388a3604a9f2d49/.github/workflows/wheels.yml
Publishing logs: github.com/ahoarau/pyqpmad/actions/runs/22847583816/attempts/1

Artifact

Subject: pyqpmad-1.4.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
SHA-256 checksum: 33baac16ffe9e611d84ee9d6ce72457d61c1ff1983f1c3c5085326ff57631b47 Verifying attestations

Release files / pyqpmad-1.4.1-cp310-cp310-macosx_11_0_arm64.whl

Download URL	pyqpmad-1.4.1-cp310-cp310-macosx_11_0_arm64.whl
Size	2.2 MB
Tags	CPython 3.10 macOS 11.0+ ARM64
SHA-256 checksum How to use checksums	`19ecfdf06e60cd81b7a27a0d89853439ba4826db7abc2f0481f7167bdcf8d05b`
BLAKE2b-256 checksum How to use checksums	`0902c8513f11d64c5781cff6d2f61bda29f137d48abcdc4f4db482ca137aae33`
Upload date	Mar 9, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.7`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/ahoarau/pyqpmad
Publishing commit: github.com/ahoarau/pyqpmad/tree/3ec97c47573f1812666f44bd7388a3604a9f2d49

Workflow

Publishing configuration: github.com/ahoarau/pyqpmad/blob/3ec97c47573f1812666f44bd7388a3604a9f2d49/.github/workflows/wheels.yml
Publishing logs: github.com/ahoarau/pyqpmad/actions/runs/22847583816/attempts/1

Artifact

Subject: pyqpmad-1.4.1-cp310-cp310-macosx_11_0_arm64.whl
SHA-256 checksum: 19ecfdf06e60cd81b7a27a0d89853439ba4826db7abc2f0481f7167bdcf8d05b Verifying attestations

Release history Release notifications | RSS feed

This release

1.4.1 This release

Mar 9, 2026 25 release files

1.4.0.post3

Mar 6, 2026 25 release files

1.4.0

Mar 5, 2026 25 release files

pyqpmad 1.4.1

pyqpmad

Features

Examples

Comprehensive Example

Control Loop Example (Zero Allocation & Hessian Reuse)

Installation

Building from Source

Using uv (Recommended)

Using pip

Build Explanation

Release Pipeline

Triggering a Release

Key dates

1 maintainer

Requires

Provides Extra

Metadata

Key dates

1 maintainer

Requires

Provides Extra

Release files for pyqpmad 1.4.1

Source distribution (sdist)

Built distributions (wheels)

Release files / pyqpmad-1.4.1.tar.gz

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314t-win_amd64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314t-musllinux_1_2_x86_64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314t-macosx_11_0_arm64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314-win_amd64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314-musllinux_1_2_x86_64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp314-cp314-macosx_11_0_arm64.whl

Provenance

PyPI Publish Attestation

Identity

Workflow

Artifact

Release files / pyqpmad-1.4.1-cp313-cp313-win_amd64.whl

Using `uv` (Recommended)

Using `pip`