First release of OSQP v1.0

Main changes over 1.0.0.beta1:

• Updated QDLDL to 0.1.8.
• OSQP can now be compiled for wasm32. Look for some sample notebooks on this soon.
• Updated documentation and examples athttps://osqp.org

Thev1.0.0.beta1 pre-release ofosqp adds CI-generated build artifacts for several platforms.

First beta release of OSQP v1.0

New features:

• Introduced new linear algebra backend system allowing compute framework to be changed at compile time.
• Merged cuOSQP project into main OSQP project (inside algebra/cuda directory).
• Introduced an Intel MKL-based algebra backend using the MKL sparse BLAS API, Vector Math Library. This backend contains both the Pardiso solver and an RCI conjugate gradient implementation.
• Added code generation capabilities to the C-level API (note, only problem export is in the C API, no file copying is done).
• Added initial adjoint derivative computation to the C-level API.

Main changes:

• Updated QDLDL to 0.1.7.
• Changed QDLDL to be included through CMake FetchContent instead of a git submodule.
• The MKL Pardiso solver is only available with the MKL backend.
• CMake installs CMake config files for consuming applications to use.
• All of OSQP's API is contained inside the public include files (there should be no need for users to include anything in private).
• All OSQP functions, defines and types are prefixed with OSQP (in some capitalization) to namespace the API.

Developer-centric changes:

• Test suite switched to Catch2 and now incorporates modern C++ for memory management and organization.
• ASAN flags integrated into main OSQP CMake build system.

• Fix MKL function prototypes (required for CRAN compilation) (PR#487)
• Use a constant interval for adaptive rho when in embedded=2 mode (PR#347)
• Include version.h in the OSQP installed headers (Fixes#323)
• Switch unit testing to use Catch2
• Switch to GitHub actions CI system
• Switched binary distribution from bintray to GitHub releases
• Various documentation fixes and improvements

• Fix segfault python multithreading
• Compatibility python 3.9
• Updated QDLDL to version 0.1.5
• Drop Python 2.7 support

• Added meaningful return values to internal functions. Changed syntax ofosqp_setup function. It now returns an exitflag.
• osqp_setup function requiresP to be upper triangular. It returns a nonzero exitflag otherwise.
• Custom memory allocators via cmake and the configure file.
• Changed interfaces to linsys solver functions. The solve function now computes(x_tilde,z_tilde) instead of(x_tilde,nu). This allows to implement custom linear system solvers (also indirect).
• Addedsolve function in Python interface that performssetupsolve andcleanup for you directly and disables GIL.
• Improved code generation folder structure.

• Addedupdate_time to the info structure.
• Fixed#101.

• Updated QDLDL to version 0.1.3.
• Added check for nonconvex cost function (non-positive semidefiniteP) after factorization is performed.
• Added complete sources distribution on bintray.com (including QDLDL).

• Removed SuiteSparse LDL in favor ofQDLDL
• Added check for nonconvex cost function (P not positive semidefinite).
• Static librarylibosqpstatic now renamed aslibosqp.

• Fixed#62.
• Moved interfaces to separate repositories
• Fixed#54.
• Changes to support Matlab 2018a
• Added support for new interface in R