Expose MOSEK SDP solvers in MATLAB

[dellaert]

Expose the MOSEK SDP solvers from #2802 in MATLAB, including the default-on homogeneous sharing option and its false opt-out.

Python and MATLAB use the same .i declarations. MATLAB gets container proxies; Python keeps native lists and dictionaries through its existing ignore list. Also fixes an Apple Clang template-name collision that prevented the toolbox from building. No changes under wrap/.

Validation: MATLAB R2025b test_gtsam and testEnum; Python MOSEK tests for sharing on/off, container returns, and dictionary parameters; MOSEK-disabled MATLAB generation. The ProductLieGroupGeometry, LiftedSDPs, and MosekSDP C++ suites also passed earlier in this PR.

[Copilot]

🟡 Changes recommended

The MATLAB documentation overstates default sharing and the wrapper interface adds alias-only container names contrary to repository guidance.

Get a fresh assessment by requesting another Copilot review.

Pull request overview

Exposes optional MOSEK SDP solvers and container APIs to MATLAB while preserving Python-native containers, and fixes an Apple Clang template collision.

Changes:

• Adds shared MOSEK wrapper declarations and conditional CMake integration.
• Adds MATLAB documentation/tests and Python container/parameter tests.
• Renames a conflicting ProductLieGroup template parameter.

File summaries

File	Description
python/gtsam/tests/test_certifiable.py	Tests native container returns and parameter dictionaries.
python/CMakeLists.txt	Enables native STL conversions for MOSEK bindings.
matlab/README.md	Documents MOSEK solver usage and container proxies.
matlab/gtsam_tests/testMosekSDP.m	Exercises MATLAB MOSEK solvers and sharing options.
matlab/gtsam_tests/test_gtsam.m	Registers the new MATLAB test.
matlab/CMakeLists.txt	Conditionally includes MOSEK interfaces.
gtsam/certifiable/certifiable_mosek.i	Declares MOSEK solvers and container wrappers.
gtsam/base/ProductLieGroup.h	Renames the template parameter.
gtsam/base/ProductLieGroup-inl.h	Updates the matching definition.
.github/copilot-instructions.md	Adds wrapper and build guidance.

Review details

Suppressed comments (1)

gtsam/certifiable/certifiable_mosek.i:26

• These typedefs are wrapper-name scaffolding for the STL specializations rather than aliases useful to the C++ API. The repository wrapper guidance requires using the normal .i template-instantiation mechanism instead of aliases solely to manufacture wrapper names; please remove this alias-based naming or document why the paired map specializations cannot be expressed that way.

typedef std::map<std::string, double> mapstringdouble;
typedef std::map<gtsam::Key, gtsam::DenseIndex> mapKeyDenseIndex;

• Files reviewed: 10/10 changed files
• Comments generated: 2
• Review effort level: Lite

---

💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.