Merge branch 'master' into yge/hotfix2

desc/objectives/utils.py

@@ -5,7 +5,7 @@
 
 import numpy as np
 
-from desc.backend import cond, jnp, logsumexp, put
+from desc.backend import cond, jit, jnp, logsumexp, put
 from desc.utils import Index, errorif, flatten_list, svd_inv_null, unique_list, warnif
 
 
@@ -148,13 +148,19 @@ def factorize_linear_constraints(objective, constraint):  # noqa: C901
     else:
         Ainv_full = A.T
         Z = np.eye(A.shape[1])
+    Ainv_full = jnp.asarray(Ainv_full)
+    Z = jnp.asarray(Z)
+    b = jnp.asarray(b)
     xp = put(xp, unfixed_idx, Ainv_full @ b)
+    xp = jnp.asarray(xp)
 
+    @jit
     def project(x):
         """Project a full state vector into the reduced optimization vector."""
         x_reduced = Z.T @ ((x - xp)[unfixed_idx])
         return jnp.atleast_1d(jnp.squeeze(x_reduced))
 
+    @jit
     def recover(x_reduced):
         """Recover the full state vector from the reduced optimization vector."""
         dx = put(jnp.zeros(objective.dim_x), unfixed_idx, Z @ x_reduced)