casadi-bindings-core 1.9.0.4 → 1.9.0.5
raw patch · 27 files changed
+11941/−6340 lines, 27 files
Files
- Casadi/Core/Classes/CasadiMeta.hs +21/−0
- Casadi/Core/Classes/DMatrix.hs +58/−14
- Casadi/Core/Classes/HomotopyNLPSolver.hs +0/−97
- Casadi/Core/Classes/HomotopyNlpSolver.hs +97/−0
- Casadi/Core/Classes/IMatrix.hs +58/−14
- Casadi/Core/Classes/LPSolver.hs +0/−97
- Casadi/Core/Classes/LpSolver.hs +97/−0
- Casadi/Core/Classes/NLPSolver.hs +0/−331
- Casadi/Core/Classes/NlpSolver.hs +331/−0
- Casadi/Core/Classes/QCQPSolver.hs +0/−118
- Casadi/Core/Classes/QPSolver.hs +0/−140
- Casadi/Core/Classes/QcqpSolver.hs +118/−0
- Casadi/Core/Classes/QpSolver.hs +140/−0
- Casadi/Core/Classes/SDPSolver.hs +0/−118
- Casadi/Core/Classes/SDQPSolver.hs +0/−118
- Casadi/Core/Classes/SOCPSolver.hs +0/−97
- Casadi/Core/Classes/SX.hs +58/−14
- Casadi/Core/Classes/SdpSolver.hs +118/−0
- Casadi/Core/Classes/SdqpSolver.hs +118/−0
- Casadi/Core/Classes/SocpSolver.hs +97/−0
- Casadi/Core/Classes/StabilizedQPSolver.hs +0/−140
- Casadi/Core/Classes/StabilizedQpSolver.hs +140/−0
- Casadi/Core/Data.hs +10294/−4846
- Casadi/Core/Enums.hs +176/−176
- Casadi/Core/Tools.hs +10/−10
- casadi-bindings-core.cabal +10/−10
- cbits/autogen/core_classes.cpp too large to diff
Casadi/Core/Classes/CasadiMeta.hs view
@@ -17,6 +17,7 @@ casadiMeta_getGitDescribe, casadiMeta_getGitRevision, casadiMeta_getModules,+ casadiMeta_getPlugins, casadiMeta_getVersion, ) where @@ -197,6 +198,26 @@ -- classy wrapper casadiMeta_getModules :: IO String casadiMeta_getModules = casadi__CasadiMeta__getModules+++-- direct wrapper+foreign import ccall unsafe "casadi__CasadiMeta__getPlugins" c_casadi__CasadiMeta__getPlugins+ :: Ptr (Ptr StdString) -> IO (Ptr StdString)+casadi__CasadiMeta__getPlugins+ :: IO String+casadi__CasadiMeta__getPlugins =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__CasadiMeta__getPlugins errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+casadiMeta_getPlugins :: IO String+casadiMeta_getPlugins = casadi__CasadiMeta__getPlugins -- direct wrapper
Casadi/Core/Classes/DMatrix.hs view
@@ -26,8 +26,10 @@ dmatrix___copysign__, dmatrix___div__, dmatrix___eq__,- dmatrix___ge__,- dmatrix___gt__,+ dmatrix___ge____0,+ dmatrix___ge____1,+ dmatrix___gt____0,+ dmatrix___gt____1, dmatrix___le__, dmatrix___lt__, dmatrix___mldivide__,@@ -680,45 +682,87 @@ -- direct wrapper-foreign import ccall unsafe "casadi__DMatrix____ge__" c_casadi__DMatrix____ge__+foreign import ccall unsafe "casadi__DMatrix____ge____0" c_casadi__DMatrix____ge____0 :: Ptr (Ptr StdString) -> Ptr DMatrix' -> Ptr DMatrix' -> IO (Ptr DMatrix')-casadi__DMatrix____ge__+casadi__DMatrix____ge____0 :: DMatrix -> DMatrix -> IO DMatrix-casadi__DMatrix____ge__ x0 x1 =+casadi__DMatrix____ge____0 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__DMatrix____ge__ errStrPtrP x0' x1'+ ret <- c_casadi__DMatrix____ge____0 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-dmatrix___ge__ :: DMatrixClass a => a -> DMatrix -> IO DMatrix-dmatrix___ge__ x = casadi__DMatrix____ge__ (castDMatrix x)+dmatrix___ge____0 :: DMatrixClass a => a -> DMatrix -> IO DMatrix+dmatrix___ge____0 x = casadi__DMatrix____ge____0 (castDMatrix x) -- direct wrapper-foreign import ccall unsafe "casadi__DMatrix____gt__" c_casadi__DMatrix____gt__+foreign import ccall unsafe "casadi__DMatrix____ge____1" c_casadi__DMatrix____ge____1 :: Ptr (Ptr StdString) -> Ptr DMatrix' -> Ptr DMatrix' -> IO (Ptr DMatrix')-casadi__DMatrix____gt__+casadi__DMatrix____ge____1 :: DMatrix -> DMatrix -> IO DMatrix-casadi__DMatrix____gt__ x0 x1 =+casadi__DMatrix____ge____1 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__DMatrix____gt__ errStrPtrP x0' x1'+ ret <- c_casadi__DMatrix____ge____1 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-dmatrix___gt__ :: DMatrixClass a => a -> DMatrix -> IO DMatrix-dmatrix___gt__ x = casadi__DMatrix____gt__ (castDMatrix x)+dmatrix___ge____1 :: DMatrixClass a => a -> DMatrix -> IO DMatrix+dmatrix___ge____1 x = casadi__DMatrix____ge____1 (castDMatrix x)+++-- direct wrapper+foreign import ccall unsafe "casadi__DMatrix____gt____0" c_casadi__DMatrix____gt____0+ :: Ptr (Ptr StdString) -> Ptr DMatrix' -> Ptr DMatrix' -> IO (Ptr DMatrix')+casadi__DMatrix____gt____0+ :: DMatrix -> DMatrix -> IO DMatrix+casadi__DMatrix____gt____0 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__DMatrix____gt____0 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+dmatrix___gt____0 :: DMatrixClass a => a -> DMatrix -> IO DMatrix+dmatrix___gt____0 x = casadi__DMatrix____gt____0 (castDMatrix x)+++-- direct wrapper+foreign import ccall unsafe "casadi__DMatrix____gt____1" c_casadi__DMatrix____gt____1+ :: Ptr (Ptr StdString) -> Ptr DMatrix' -> Ptr DMatrix' -> IO (Ptr DMatrix')+casadi__DMatrix____gt____1+ :: DMatrix -> DMatrix -> IO DMatrix+casadi__DMatrix____gt____1 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__DMatrix____gt____1 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+dmatrix___gt____1 :: DMatrixClass a => a -> DMatrix -> IO DMatrix+dmatrix___gt____1 x = casadi__DMatrix____gt____1 (castDMatrix x) -- direct wrapper
− Casadi/Core/Classes/HomotopyNLPSolver.hs
@@ -1,97 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.HomotopyNLPSolver- (- HomotopyNLPSolver,- HomotopyNLPSolverClass(..),- homotopyNLPSolver,- homotopyNLPSolver_doc,- homotopyNLPSolver_loadPlugin,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show HomotopyNLPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__HomotopyNLPSolver__CONSTRUCTOR" c_casadi__HomotopyNLPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr HomotopyNLPSolver')-casadi__HomotopyNLPSolver__CONSTRUCTOR- :: IO HomotopyNLPSolver-casadi__HomotopyNLPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__HomotopyNLPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-homotopyNLPSolver :: IO HomotopyNLPSolver-homotopyNLPSolver = casadi__HomotopyNLPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__HomotopyNLPSolver__doc" c_casadi__HomotopyNLPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__HomotopyNLPSolver__doc- :: String -> IO String-casadi__HomotopyNLPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__HomotopyNLPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-homotopyNLPSolver_doc :: String -> IO String-homotopyNLPSolver_doc = casadi__HomotopyNLPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__HomotopyNLPSolver__loadPlugin" c_casadi__HomotopyNLPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__HomotopyNLPSolver__loadPlugin- :: String -> IO ()-casadi__HomotopyNLPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__HomotopyNLPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-homotopyNLPSolver_loadPlugin :: String -> IO ()-homotopyNLPSolver_loadPlugin = casadi__HomotopyNLPSolver__loadPlugin-
+ Casadi/Core/Classes/HomotopyNlpSolver.hs view
@@ -0,0 +1,97 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.HomotopyNlpSolver+ (+ HomotopyNlpSolver,+ HomotopyNlpSolverClass(..),+ homotopyNlpSolver,+ homotopyNlpSolver_doc,+ homotopyNlpSolver_loadPlugin,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show HomotopyNlpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__HomotopyNlpSolver__CONSTRUCTOR" c_casadi__HomotopyNlpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr HomotopyNlpSolver')+casadi__HomotopyNlpSolver__CONSTRUCTOR+ :: IO HomotopyNlpSolver+casadi__HomotopyNlpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__HomotopyNlpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+homotopyNlpSolver :: IO HomotopyNlpSolver+homotopyNlpSolver = casadi__HomotopyNlpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__HomotopyNlpSolver__doc" c_casadi__HomotopyNlpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__HomotopyNlpSolver__doc+ :: String -> IO String+casadi__HomotopyNlpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__HomotopyNlpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+homotopyNlpSolver_doc :: String -> IO String+homotopyNlpSolver_doc = casadi__HomotopyNlpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__HomotopyNlpSolver__loadPlugin" c_casadi__HomotopyNlpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__HomotopyNlpSolver__loadPlugin+ :: String -> IO ()+casadi__HomotopyNlpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__HomotopyNlpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+homotopyNlpSolver_loadPlugin :: String -> IO ()+homotopyNlpSolver_loadPlugin = casadi__HomotopyNlpSolver__loadPlugin+
Casadi/Core/Classes/IMatrix.hs view
@@ -23,8 +23,10 @@ imatrix___copysign__, imatrix___div__, imatrix___eq__,- imatrix___ge__,- imatrix___gt__,+ imatrix___ge____0,+ imatrix___ge____1,+ imatrix___gt____0,+ imatrix___gt____1, imatrix___le__, imatrix___lt__, imatrix___mldivide__,@@ -615,45 +617,87 @@ -- direct wrapper-foreign import ccall unsafe "casadi__IMatrix____ge__" c_casadi__IMatrix____ge__+foreign import ccall unsafe "casadi__IMatrix____ge____0" c_casadi__IMatrix____ge____0 :: Ptr (Ptr StdString) -> Ptr IMatrix' -> Ptr IMatrix' -> IO (Ptr IMatrix')-casadi__IMatrix____ge__+casadi__IMatrix____ge____0 :: IMatrix -> IMatrix -> IO IMatrix-casadi__IMatrix____ge__ x0 x1 =+casadi__IMatrix____ge____0 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__IMatrix____ge__ errStrPtrP x0' x1'+ ret <- c_casadi__IMatrix____ge____0 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-imatrix___ge__ :: IMatrixClass a => a -> IMatrix -> IO IMatrix-imatrix___ge__ x = casadi__IMatrix____ge__ (castIMatrix x)+imatrix___ge____0 :: IMatrixClass a => a -> IMatrix -> IO IMatrix+imatrix___ge____0 x = casadi__IMatrix____ge____0 (castIMatrix x) -- direct wrapper-foreign import ccall unsafe "casadi__IMatrix____gt__" c_casadi__IMatrix____gt__+foreign import ccall unsafe "casadi__IMatrix____ge____1" c_casadi__IMatrix____ge____1 :: Ptr (Ptr StdString) -> Ptr IMatrix' -> Ptr IMatrix' -> IO (Ptr IMatrix')-casadi__IMatrix____gt__+casadi__IMatrix____ge____1 :: IMatrix -> IMatrix -> IO IMatrix-casadi__IMatrix____gt__ x0 x1 =+casadi__IMatrix____ge____1 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__IMatrix____gt__ errStrPtrP x0' x1'+ ret <- c_casadi__IMatrix____ge____1 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-imatrix___gt__ :: IMatrixClass a => a -> IMatrix -> IO IMatrix-imatrix___gt__ x = casadi__IMatrix____gt__ (castIMatrix x)+imatrix___ge____1 :: IMatrixClass a => a -> IMatrix -> IO IMatrix+imatrix___ge____1 x = casadi__IMatrix____ge____1 (castIMatrix x)+++-- direct wrapper+foreign import ccall unsafe "casadi__IMatrix____gt____0" c_casadi__IMatrix____gt____0+ :: Ptr (Ptr StdString) -> Ptr IMatrix' -> Ptr IMatrix' -> IO (Ptr IMatrix')+casadi__IMatrix____gt____0+ :: IMatrix -> IMatrix -> IO IMatrix+casadi__IMatrix____gt____0 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__IMatrix____gt____0 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+imatrix___gt____0 :: IMatrixClass a => a -> IMatrix -> IO IMatrix+imatrix___gt____0 x = casadi__IMatrix____gt____0 (castIMatrix x)+++-- direct wrapper+foreign import ccall unsafe "casadi__IMatrix____gt____1" c_casadi__IMatrix____gt____1+ :: Ptr (Ptr StdString) -> Ptr IMatrix' -> Ptr IMatrix' -> IO (Ptr IMatrix')+casadi__IMatrix____gt____1+ :: IMatrix -> IMatrix -> IO IMatrix+casadi__IMatrix____gt____1 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__IMatrix____gt____1 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+imatrix___gt____1 :: IMatrixClass a => a -> IMatrix -> IO IMatrix+imatrix___gt____1 x = casadi__IMatrix____gt____1 (castIMatrix x) -- direct wrapper
− Casadi/Core/Classes/LPSolver.hs
@@ -1,97 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.LPSolver- (- LPSolver,- LPSolverClass(..),- lpSolver,- lpSolver_doc,- lpSolver_loadPlugin,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show LPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__LPSolver__CONSTRUCTOR" c_casadi__LPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr LPSolver')-casadi__LPSolver__CONSTRUCTOR- :: IO LPSolver-casadi__LPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__LPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-lpSolver :: IO LPSolver-lpSolver = casadi__LPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__LPSolver__doc" c_casadi__LPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__LPSolver__doc- :: String -> IO String-casadi__LPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__LPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-lpSolver_doc :: String -> IO String-lpSolver_doc = casadi__LPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__LPSolver__loadPlugin" c_casadi__LPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__LPSolver__loadPlugin- :: String -> IO ()-casadi__LPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__LPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-lpSolver_loadPlugin :: String -> IO ()-lpSolver_loadPlugin = casadi__LPSolver__loadPlugin-
+ Casadi/Core/Classes/LpSolver.hs view
@@ -0,0 +1,97 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.LpSolver+ (+ LpSolver,+ LpSolverClass(..),+ lpSolver,+ lpSolver_doc,+ lpSolver_loadPlugin,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show LpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__LpSolver__CONSTRUCTOR" c_casadi__LpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr LpSolver')+casadi__LpSolver__CONSTRUCTOR+ :: IO LpSolver+casadi__LpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__LpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+lpSolver :: IO LpSolver+lpSolver = casadi__LpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__LpSolver__doc" c_casadi__LpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__LpSolver__doc+ :: String -> IO String+casadi__LpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__LpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+lpSolver_doc :: String -> IO String+lpSolver_doc = casadi__LpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__LpSolver__loadPlugin" c_casadi__LpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__LpSolver__loadPlugin+ :: String -> IO ()+casadi__LpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__LpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+lpSolver_loadPlugin :: String -> IO ()+lpSolver_loadPlugin = casadi__LpSolver__loadPlugin+
− Casadi/Core/Classes/NLPSolver.hs
@@ -1,331 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.NLPSolver- (- NLPSolver,- NLPSolverClass(..),- nlpSolver__0,- nlpSolver__1,- nlpSolver_doc,- nlpSolver_getReducedHessian,- nlpSolver_getReportConstraints,- nlpSolver_gradF,- nlpSolver_hessLag,- nlpSolver_jacG,- nlpSolver_joinFG,- nlpSolver_loadPlugin,- nlpSolver_nlp,- nlpSolver_reportConstraints,- nlpSolver_setOptionsFromFile,- nlpSolver_setQPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show NLPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__CONSTRUCTOR__0" c_casadi__NLPSolver__CONSTRUCTOR__0- :: Ptr (Ptr StdString) -> Ptr StdString -> Ptr Function' -> IO (Ptr NLPSolver')-casadi__NLPSolver__CONSTRUCTOR__0- :: String -> Function -> IO NLPSolver-casadi__NLPSolver__CONSTRUCTOR__0 x0 x1 =- withMarshal x0 $ \x0' ->- withMarshal x1 $ \x1' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__CONSTRUCTOR__0 errStrPtrP x0' x1'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver__0 :: String -> Function -> IO NLPSolver-nlpSolver__0 = casadi__NLPSolver__CONSTRUCTOR__0----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__CONSTRUCTOR__1" c_casadi__NLPSolver__CONSTRUCTOR__1- :: Ptr (Ptr StdString) -> IO (Ptr NLPSolver')-casadi__NLPSolver__CONSTRUCTOR__1- :: IO NLPSolver-casadi__NLPSolver__CONSTRUCTOR__1 =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__CONSTRUCTOR__1 errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver__1 :: IO NLPSolver-nlpSolver__1 = casadi__NLPSolver__CONSTRUCTOR__1----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__doc" c_casadi__NLPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__NLPSolver__doc- :: String -> IO String-casadi__NLPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_doc :: String -> IO String-nlpSolver_doc = casadi__NLPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__getReducedHessian" c_casadi__NLPSolver__getReducedHessian- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr DMatrix')-casadi__NLPSolver__getReducedHessian- :: NLPSolver -> IO DMatrix-casadi__NLPSolver__getReducedHessian x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__getReducedHessian errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_getReducedHessian :: NLPSolverClass a => a -> IO DMatrix-nlpSolver_getReducedHessian x = casadi__NLPSolver__getReducedHessian (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__getReportConstraints" c_casadi__NLPSolver__getReportConstraints- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr StdString)-casadi__NLPSolver__getReportConstraints- :: NLPSolver -> IO String-casadi__NLPSolver__getReportConstraints x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__getReportConstraints errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_getReportConstraints :: NLPSolverClass a => a -> IO String-nlpSolver_getReportConstraints x = casadi__NLPSolver__getReportConstraints (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__gradF" c_casadi__NLPSolver__gradF- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr Function')-casadi__NLPSolver__gradF- :: NLPSolver -> IO Function-casadi__NLPSolver__gradF x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__gradF errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_gradF :: NLPSolverClass a => a -> IO Function-nlpSolver_gradF x = casadi__NLPSolver__gradF (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__hessLag" c_casadi__NLPSolver__hessLag- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr Function')-casadi__NLPSolver__hessLag- :: NLPSolver -> IO Function-casadi__NLPSolver__hessLag x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__hessLag errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_hessLag :: NLPSolverClass a => a -> IO Function-nlpSolver_hessLag x = casadi__NLPSolver__hessLag (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__jacG" c_casadi__NLPSolver__jacG- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr Function')-casadi__NLPSolver__jacG- :: NLPSolver -> IO Function-casadi__NLPSolver__jacG x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__jacG errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_jacG :: NLPSolverClass a => a -> IO Function-nlpSolver_jacG x = casadi__NLPSolver__jacG (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__joinFG" c_casadi__NLPSolver__joinFG- :: Ptr (Ptr StdString) -> Ptr Function' -> Ptr Function' -> IO (Ptr Function')-casadi__NLPSolver__joinFG- :: Function -> Function -> IO Function-casadi__NLPSolver__joinFG x0 x1 =- withMarshal x0 $ \x0' ->- withMarshal x1 $ \x1' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__joinFG errStrPtrP x0' x1'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_joinFG :: Function -> Function -> IO Function-nlpSolver_joinFG = casadi__NLPSolver__joinFG----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__loadPlugin" c_casadi__NLPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__NLPSolver__loadPlugin- :: String -> IO ()-casadi__NLPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_loadPlugin :: String -> IO ()-nlpSolver_loadPlugin = casadi__NLPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__nlp" c_casadi__NLPSolver__nlp- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO (Ptr Function')-casadi__NLPSolver__nlp- :: NLPSolver -> IO Function-casadi__NLPSolver__nlp x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__nlp errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_nlp :: NLPSolverClass a => a -> IO Function-nlpSolver_nlp x = casadi__NLPSolver__nlp (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__reportConstraints" c_casadi__NLPSolver__reportConstraints- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO ()-casadi__NLPSolver__reportConstraints- :: NLPSolver -> IO ()-casadi__NLPSolver__reportConstraints x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__reportConstraints errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_reportConstraints :: NLPSolverClass a => a -> IO ()-nlpSolver_reportConstraints x = casadi__NLPSolver__reportConstraints (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__setOptionsFromFile" c_casadi__NLPSolver__setOptionsFromFile- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> Ptr StdString -> IO ()-casadi__NLPSolver__setOptionsFromFile- :: NLPSolver -> String -> IO ()-casadi__NLPSolver__setOptionsFromFile x0 x1 =- withMarshal x0 $ \x0' ->- withMarshal x1 $ \x1' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__setOptionsFromFile errStrPtrP x0' x1'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_setOptionsFromFile :: NLPSolverClass a => a -> String -> IO ()-nlpSolver_setOptionsFromFile x = casadi__NLPSolver__setOptionsFromFile (castNLPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__NLPSolver__setQPOptions" c_casadi__NLPSolver__setQPOptions- :: Ptr (Ptr StdString) -> Ptr NLPSolver' -> IO ()-casadi__NLPSolver__setQPOptions- :: NLPSolver -> IO ()-casadi__NLPSolver__setQPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__NLPSolver__setQPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-nlpSolver_setQPOptions :: NLPSolverClass a => a -> IO ()-nlpSolver_setQPOptions x = casadi__NLPSolver__setQPOptions (castNLPSolver x)-
+ Casadi/Core/Classes/NlpSolver.hs view
@@ -0,0 +1,331 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.NlpSolver+ (+ NlpSolver,+ NlpSolverClass(..),+ nlpSolver__0,+ nlpSolver__1,+ nlpSolver_doc,+ nlpSolver_getReducedHessian,+ nlpSolver_getReportConstraints,+ nlpSolver_gradF,+ nlpSolver_hessLag,+ nlpSolver_jacG,+ nlpSolver_joinFG,+ nlpSolver_loadPlugin,+ nlpSolver_nlp,+ nlpSolver_reportConstraints,+ nlpSolver_setOptionsFromFile,+ nlpSolver_setQPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show NlpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__CONSTRUCTOR__0" c_casadi__NlpSolver__CONSTRUCTOR__0+ :: Ptr (Ptr StdString) -> Ptr StdString -> Ptr Function' -> IO (Ptr NlpSolver')+casadi__NlpSolver__CONSTRUCTOR__0+ :: String -> Function -> IO NlpSolver+casadi__NlpSolver__CONSTRUCTOR__0 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__CONSTRUCTOR__0 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver__0 :: String -> Function -> IO NlpSolver+nlpSolver__0 = casadi__NlpSolver__CONSTRUCTOR__0+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__CONSTRUCTOR__1" c_casadi__NlpSolver__CONSTRUCTOR__1+ :: Ptr (Ptr StdString) -> IO (Ptr NlpSolver')+casadi__NlpSolver__CONSTRUCTOR__1+ :: IO NlpSolver+casadi__NlpSolver__CONSTRUCTOR__1 =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__CONSTRUCTOR__1 errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver__1 :: IO NlpSolver+nlpSolver__1 = casadi__NlpSolver__CONSTRUCTOR__1+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__doc" c_casadi__NlpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__NlpSolver__doc+ :: String -> IO String+casadi__NlpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_doc :: String -> IO String+nlpSolver_doc = casadi__NlpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__getReducedHessian" c_casadi__NlpSolver__getReducedHessian+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr DMatrix')+casadi__NlpSolver__getReducedHessian+ :: NlpSolver -> IO DMatrix+casadi__NlpSolver__getReducedHessian x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__getReducedHessian errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_getReducedHessian :: NlpSolverClass a => a -> IO DMatrix+nlpSolver_getReducedHessian x = casadi__NlpSolver__getReducedHessian (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__getReportConstraints" c_casadi__NlpSolver__getReportConstraints+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr StdString)+casadi__NlpSolver__getReportConstraints+ :: NlpSolver -> IO String+casadi__NlpSolver__getReportConstraints x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__getReportConstraints errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_getReportConstraints :: NlpSolverClass a => a -> IO String+nlpSolver_getReportConstraints x = casadi__NlpSolver__getReportConstraints (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__gradF" c_casadi__NlpSolver__gradF+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr Function')+casadi__NlpSolver__gradF+ :: NlpSolver -> IO Function+casadi__NlpSolver__gradF x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__gradF errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_gradF :: NlpSolverClass a => a -> IO Function+nlpSolver_gradF x = casadi__NlpSolver__gradF (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__hessLag" c_casadi__NlpSolver__hessLag+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr Function')+casadi__NlpSolver__hessLag+ :: NlpSolver -> IO Function+casadi__NlpSolver__hessLag x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__hessLag errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_hessLag :: NlpSolverClass a => a -> IO Function+nlpSolver_hessLag x = casadi__NlpSolver__hessLag (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__jacG" c_casadi__NlpSolver__jacG+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr Function')+casadi__NlpSolver__jacG+ :: NlpSolver -> IO Function+casadi__NlpSolver__jacG x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__jacG errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_jacG :: NlpSolverClass a => a -> IO Function+nlpSolver_jacG x = casadi__NlpSolver__jacG (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__joinFG" c_casadi__NlpSolver__joinFG+ :: Ptr (Ptr StdString) -> Ptr Function' -> Ptr Function' -> IO (Ptr Function')+casadi__NlpSolver__joinFG+ :: Function -> Function -> IO Function+casadi__NlpSolver__joinFG x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__joinFG errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_joinFG :: Function -> Function -> IO Function+nlpSolver_joinFG = casadi__NlpSolver__joinFG+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__loadPlugin" c_casadi__NlpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__NlpSolver__loadPlugin+ :: String -> IO ()+casadi__NlpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_loadPlugin :: String -> IO ()+nlpSolver_loadPlugin = casadi__NlpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__nlp" c_casadi__NlpSolver__nlp+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO (Ptr Function')+casadi__NlpSolver__nlp+ :: NlpSolver -> IO Function+casadi__NlpSolver__nlp x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__nlp errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_nlp :: NlpSolverClass a => a -> IO Function+nlpSolver_nlp x = casadi__NlpSolver__nlp (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__reportConstraints" c_casadi__NlpSolver__reportConstraints+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO ()+casadi__NlpSolver__reportConstraints+ :: NlpSolver -> IO ()+casadi__NlpSolver__reportConstraints x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__reportConstraints errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_reportConstraints :: NlpSolverClass a => a -> IO ()+nlpSolver_reportConstraints x = casadi__NlpSolver__reportConstraints (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__setOptionsFromFile" c_casadi__NlpSolver__setOptionsFromFile+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> Ptr StdString -> IO ()+casadi__NlpSolver__setOptionsFromFile+ :: NlpSolver -> String -> IO ()+casadi__NlpSolver__setOptionsFromFile x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__setOptionsFromFile errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_setOptionsFromFile :: NlpSolverClass a => a -> String -> IO ()+nlpSolver_setOptionsFromFile x = casadi__NlpSolver__setOptionsFromFile (castNlpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__NlpSolver__setQPOptions" c_casadi__NlpSolver__setQPOptions+ :: Ptr (Ptr StdString) -> Ptr NlpSolver' -> IO ()+casadi__NlpSolver__setQPOptions+ :: NlpSolver -> IO ()+casadi__NlpSolver__setQPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__NlpSolver__setQPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+nlpSolver_setQPOptions :: NlpSolverClass a => a -> IO ()+nlpSolver_setQPOptions x = casadi__NlpSolver__setQPOptions (castNlpSolver x)+
− Casadi/Core/Classes/QCQPSolver.hs
@@ -1,118 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.QCQPSolver- (- QCQPSolver,- QCQPSolverClass(..),- qcqpSolver,- qcqpSolver_doc,- qcqpSolver_loadPlugin,- qcqpSolver_setQPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show QCQPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__QCQPSolver__CONSTRUCTOR" c_casadi__QCQPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr QCQPSolver')-casadi__QCQPSolver__CONSTRUCTOR- :: IO QCQPSolver-casadi__QCQPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QCQPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qcqpSolver :: IO QCQPSolver-qcqpSolver = casadi__QCQPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__QCQPSolver__doc" c_casadi__QCQPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__QCQPSolver__doc- :: String -> IO String-casadi__QCQPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QCQPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qcqpSolver_doc :: String -> IO String-qcqpSolver_doc = casadi__QCQPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__QCQPSolver__loadPlugin" c_casadi__QCQPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__QCQPSolver__loadPlugin- :: String -> IO ()-casadi__QCQPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QCQPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qcqpSolver_loadPlugin :: String -> IO ()-qcqpSolver_loadPlugin = casadi__QCQPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__QCQPSolver__setQPOptions" c_casadi__QCQPSolver__setQPOptions- :: Ptr (Ptr StdString) -> Ptr QCQPSolver' -> IO ()-casadi__QCQPSolver__setQPOptions- :: QCQPSolver -> IO ()-casadi__QCQPSolver__setQPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QCQPSolver__setQPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qcqpSolver_setQPOptions :: QCQPSolverClass a => a -> IO ()-qcqpSolver_setQPOptions x = casadi__QCQPSolver__setQPOptions (castQCQPSolver x)-
− Casadi/Core/Classes/QPSolver.hs
@@ -1,140 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.QPSolver- (- QPSolver,- QPSolverClass(..),- qpSolver,- qpSolver_doc,- qpSolver_generateNativeCode,- qpSolver_loadPlugin,- qpSolver_setLPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show QPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__QPSolver__CONSTRUCTOR" c_casadi__QPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr QPSolver')-casadi__QPSolver__CONSTRUCTOR- :: IO QPSolver-casadi__QPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qpSolver :: IO QPSolver-qpSolver = casadi__QPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__QPSolver__doc" c_casadi__QPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__QPSolver__doc- :: String -> IO String-casadi__QPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qpSolver_doc :: String -> IO String-qpSolver_doc = casadi__QPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__QPSolver__generateNativeCode" c_casadi__QPSolver__generateNativeCode- :: Ptr (Ptr StdString) -> Ptr QPSolver' -> Ptr StdString -> IO ()-casadi__QPSolver__generateNativeCode- :: QPSolver -> String -> IO ()-casadi__QPSolver__generateNativeCode x0 x1 =- withMarshal x0 $ \x0' ->- withMarshal x1 $ \x1' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QPSolver__generateNativeCode errStrPtrP x0' x1'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qpSolver_generateNativeCode :: QPSolverClass a => a -> String -> IO ()-qpSolver_generateNativeCode x = casadi__QPSolver__generateNativeCode (castQPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__QPSolver__loadPlugin" c_casadi__QPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__QPSolver__loadPlugin- :: String -> IO ()-casadi__QPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qpSolver_loadPlugin :: String -> IO ()-qpSolver_loadPlugin = casadi__QPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__QPSolver__setLPOptions" c_casadi__QPSolver__setLPOptions- :: Ptr (Ptr StdString) -> Ptr QPSolver' -> IO ()-casadi__QPSolver__setLPOptions- :: QPSolver -> IO ()-casadi__QPSolver__setLPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__QPSolver__setLPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-qpSolver_setLPOptions :: QPSolverClass a => a -> IO ()-qpSolver_setLPOptions x = casadi__QPSolver__setLPOptions (castQPSolver x)-
+ Casadi/Core/Classes/QcqpSolver.hs view
@@ -0,0 +1,118 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.QcqpSolver+ (+ QcqpSolver,+ QcqpSolverClass(..),+ qcqpSolver,+ qcqpSolver_doc,+ qcqpSolver_loadPlugin,+ qcqpSolver_setQPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show QcqpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__QcqpSolver__CONSTRUCTOR" c_casadi__QcqpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr QcqpSolver')+casadi__QcqpSolver__CONSTRUCTOR+ :: IO QcqpSolver+casadi__QcqpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QcqpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qcqpSolver :: IO QcqpSolver+qcqpSolver = casadi__QcqpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__QcqpSolver__doc" c_casadi__QcqpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__QcqpSolver__doc+ :: String -> IO String+casadi__QcqpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QcqpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qcqpSolver_doc :: String -> IO String+qcqpSolver_doc = casadi__QcqpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__QcqpSolver__loadPlugin" c_casadi__QcqpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__QcqpSolver__loadPlugin+ :: String -> IO ()+casadi__QcqpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QcqpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qcqpSolver_loadPlugin :: String -> IO ()+qcqpSolver_loadPlugin = casadi__QcqpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__QcqpSolver__setQPOptions" c_casadi__QcqpSolver__setQPOptions+ :: Ptr (Ptr StdString) -> Ptr QcqpSolver' -> IO ()+casadi__QcqpSolver__setQPOptions+ :: QcqpSolver -> IO ()+casadi__QcqpSolver__setQPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QcqpSolver__setQPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qcqpSolver_setQPOptions :: QcqpSolverClass a => a -> IO ()+qcqpSolver_setQPOptions x = casadi__QcqpSolver__setQPOptions (castQcqpSolver x)+
+ Casadi/Core/Classes/QpSolver.hs view
@@ -0,0 +1,140 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.QpSolver+ (+ QpSolver,+ QpSolverClass(..),+ qpSolver,+ qpSolver_doc,+ qpSolver_generateNativeCode,+ qpSolver_loadPlugin,+ qpSolver_setLPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show QpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__QpSolver__CONSTRUCTOR" c_casadi__QpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr QpSolver')+casadi__QpSolver__CONSTRUCTOR+ :: IO QpSolver+casadi__QpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qpSolver :: IO QpSolver+qpSolver = casadi__QpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__QpSolver__doc" c_casadi__QpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__QpSolver__doc+ :: String -> IO String+casadi__QpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qpSolver_doc :: String -> IO String+qpSolver_doc = casadi__QpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__QpSolver__generateNativeCode" c_casadi__QpSolver__generateNativeCode+ :: Ptr (Ptr StdString) -> Ptr QpSolver' -> Ptr StdString -> IO ()+casadi__QpSolver__generateNativeCode+ :: QpSolver -> String -> IO ()+casadi__QpSolver__generateNativeCode x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QpSolver__generateNativeCode errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qpSolver_generateNativeCode :: QpSolverClass a => a -> String -> IO ()+qpSolver_generateNativeCode x = casadi__QpSolver__generateNativeCode (castQpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__QpSolver__loadPlugin" c_casadi__QpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__QpSolver__loadPlugin+ :: String -> IO ()+casadi__QpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qpSolver_loadPlugin :: String -> IO ()+qpSolver_loadPlugin = casadi__QpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__QpSolver__setLPOptions" c_casadi__QpSolver__setLPOptions+ :: Ptr (Ptr StdString) -> Ptr QpSolver' -> IO ()+casadi__QpSolver__setLPOptions+ :: QpSolver -> IO ()+casadi__QpSolver__setLPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__QpSolver__setLPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+qpSolver_setLPOptions :: QpSolverClass a => a -> IO ()+qpSolver_setLPOptions x = casadi__QpSolver__setLPOptions (castQpSolver x)+
− Casadi/Core/Classes/SDPSolver.hs
@@ -1,118 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.SDPSolver- (- SDPSolver,- SDPSolverClass(..),- sdpSolver,- sdpSolver_doc,- sdpSolver_loadPlugin,- sdpSolver_setSOCPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show SDPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__SDPSolver__CONSTRUCTOR" c_casadi__SDPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr SDPSolver')-casadi__SDPSolver__CONSTRUCTOR- :: IO SDPSolver-casadi__SDPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdpSolver :: IO SDPSolver-sdpSolver = casadi__SDPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__SDPSolver__doc" c_casadi__SDPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__SDPSolver__doc- :: String -> IO String-casadi__SDPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdpSolver_doc :: String -> IO String-sdpSolver_doc = casadi__SDPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__SDPSolver__loadPlugin" c_casadi__SDPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__SDPSolver__loadPlugin- :: String -> IO ()-casadi__SDPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdpSolver_loadPlugin :: String -> IO ()-sdpSolver_loadPlugin = casadi__SDPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__SDPSolver__setSOCPOptions" c_casadi__SDPSolver__setSOCPOptions- :: Ptr (Ptr StdString) -> Ptr SDPSolver' -> IO ()-casadi__SDPSolver__setSOCPOptions- :: SDPSolver -> IO ()-casadi__SDPSolver__setSOCPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDPSolver__setSOCPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdpSolver_setSOCPOptions :: SDPSolverClass a => a -> IO ()-sdpSolver_setSOCPOptions x = casadi__SDPSolver__setSOCPOptions (castSDPSolver x)-
− Casadi/Core/Classes/SDQPSolver.hs
@@ -1,118 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.SDQPSolver- (- SDQPSolver,- SDQPSolverClass(..),- sdqpSolver,- sdqpSolver_doc,- sdqpSolver_loadPlugin,- sdqpSolver_setSOCQPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show SDQPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__SDQPSolver__CONSTRUCTOR" c_casadi__SDQPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr SDQPSolver')-casadi__SDQPSolver__CONSTRUCTOR- :: IO SDQPSolver-casadi__SDQPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDQPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdqpSolver :: IO SDQPSolver-sdqpSolver = casadi__SDQPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__SDQPSolver__doc" c_casadi__SDQPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__SDQPSolver__doc- :: String -> IO String-casadi__SDQPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDQPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdqpSolver_doc :: String -> IO String-sdqpSolver_doc = casadi__SDQPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__SDQPSolver__loadPlugin" c_casadi__SDQPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__SDQPSolver__loadPlugin- :: String -> IO ()-casadi__SDQPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDQPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdqpSolver_loadPlugin :: String -> IO ()-sdqpSolver_loadPlugin = casadi__SDQPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__SDQPSolver__setSOCQPOptions" c_casadi__SDQPSolver__setSOCQPOptions- :: Ptr (Ptr StdString) -> Ptr SDQPSolver' -> IO ()-casadi__SDQPSolver__setSOCQPOptions- :: SDQPSolver -> IO ()-casadi__SDQPSolver__setSOCQPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SDQPSolver__setSOCQPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-sdqpSolver_setSOCQPOptions :: SDQPSolverClass a => a -> IO ()-sdqpSolver_setSOCQPOptions x = casadi__SDQPSolver__setSOCQPOptions (castSDQPSolver x)-
− Casadi/Core/Classes/SOCPSolver.hs
@@ -1,97 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.SOCPSolver- (- SOCPSolver,- SOCPSolverClass(..),- socpSolver,- socpSolver_doc,- socpSolver_loadPlugin,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show SOCPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__SOCPSolver__CONSTRUCTOR" c_casadi__SOCPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr SOCPSolver')-casadi__SOCPSolver__CONSTRUCTOR- :: IO SOCPSolver-casadi__SOCPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SOCPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-socpSolver :: IO SOCPSolver-socpSolver = casadi__SOCPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__SOCPSolver__doc" c_casadi__SOCPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__SOCPSolver__doc- :: String -> IO String-casadi__SOCPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SOCPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-socpSolver_doc :: String -> IO String-socpSolver_doc = casadi__SOCPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__SOCPSolver__loadPlugin" c_casadi__SOCPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__SOCPSolver__loadPlugin- :: String -> IO ()-casadi__SOCPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__SOCPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-socpSolver_loadPlugin :: String -> IO ()-socpSolver_loadPlugin = casadi__SOCPSolver__loadPlugin-
Casadi/Core/Classes/SX.hs view
@@ -29,8 +29,10 @@ sx___copysign__, sx___div__, sx___eq__,- sx___ge__,- sx___gt__,+ sx___ge____0,+ sx___ge____1,+ sx___gt____0,+ sx___gt____1, sx___le__, sx___lt__, sx___mldivide__,@@ -745,45 +747,87 @@ -- direct wrapper-foreign import ccall unsafe "casadi__SX____ge__" c_casadi__SX____ge__+foreign import ccall unsafe "casadi__SX____ge____0" c_casadi__SX____ge____0 :: Ptr (Ptr StdString) -> Ptr SX' -> Ptr SX' -> IO (Ptr SX')-casadi__SX____ge__+casadi__SX____ge____0 :: SX -> SX -> IO SX-casadi__SX____ge__ x0 x1 =+casadi__SX____ge____0 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__SX____ge__ errStrPtrP x0' x1'+ ret <- c_casadi__SX____ge____0 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-sx___ge__ :: SXClass a => a -> SX -> IO SX-sx___ge__ x = casadi__SX____ge__ (castSX x)+sx___ge____0 :: SXClass a => a -> SX -> IO SX+sx___ge____0 x = casadi__SX____ge____0 (castSX x) -- direct wrapper-foreign import ccall unsafe "casadi__SX____gt__" c_casadi__SX____gt__+foreign import ccall unsafe "casadi__SX____ge____1" c_casadi__SX____ge____1 :: Ptr (Ptr StdString) -> Ptr SX' -> Ptr SX' -> IO (Ptr SX')-casadi__SX____gt__+casadi__SX____ge____1 :: SX -> SX -> IO SX-casadi__SX____gt__ x0 x1 =+casadi__SX____ge____1 x0 x1 = withMarshal x0 $ \x0' -> withMarshal x1 $ \x1' -> do errStrPtrP <- new nullPtr- ret <- c_casadi__SX____gt__ errStrPtrP x0' x1'+ ret <- c_casadi__SX____ge____1 errStrPtrP x0' x1' errStrPtr <- peek errStrPtrP free errStrPtrP if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException) -- classy wrapper-sx___gt__ :: SXClass a => a -> SX -> IO SX-sx___gt__ x = casadi__SX____gt__ (castSX x)+sx___ge____1 :: SXClass a => a -> SX -> IO SX+sx___ge____1 x = casadi__SX____ge____1 (castSX x)+++-- direct wrapper+foreign import ccall unsafe "casadi__SX____gt____0" c_casadi__SX____gt____0+ :: Ptr (Ptr StdString) -> Ptr SX' -> Ptr SX' -> IO (Ptr SX')+casadi__SX____gt____0+ :: SX -> SX -> IO SX+casadi__SX____gt____0 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SX____gt____0 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sx___gt____0 :: SXClass a => a -> SX -> IO SX+sx___gt____0 x = casadi__SX____gt____0 (castSX x)+++-- direct wrapper+foreign import ccall unsafe "casadi__SX____gt____1" c_casadi__SX____gt____1+ :: Ptr (Ptr StdString) -> Ptr SX' -> Ptr SX' -> IO (Ptr SX')+casadi__SX____gt____1+ :: SX -> SX -> IO SX+casadi__SX____gt____1 x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SX____gt____1 errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sx___gt____1 :: SXClass a => a -> SX -> IO SX+sx___gt____1 x = casadi__SX____gt____1 (castSX x) -- direct wrapper
+ Casadi/Core/Classes/SdpSolver.hs view
@@ -0,0 +1,118 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.SdpSolver+ (+ SdpSolver,+ SdpSolverClass(..),+ sdpSolver,+ sdpSolver_doc,+ sdpSolver_loadPlugin,+ sdpSolver_setSOCPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show SdpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__SdpSolver__CONSTRUCTOR" c_casadi__SdpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr SdpSolver')+casadi__SdpSolver__CONSTRUCTOR+ :: IO SdpSolver+casadi__SdpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdpSolver :: IO SdpSolver+sdpSolver = casadi__SdpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__SdpSolver__doc" c_casadi__SdpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__SdpSolver__doc+ :: String -> IO String+casadi__SdpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdpSolver_doc :: String -> IO String+sdpSolver_doc = casadi__SdpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__SdpSolver__loadPlugin" c_casadi__SdpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__SdpSolver__loadPlugin+ :: String -> IO ()+casadi__SdpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdpSolver_loadPlugin :: String -> IO ()+sdpSolver_loadPlugin = casadi__SdpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__SdpSolver__setSOCPOptions" c_casadi__SdpSolver__setSOCPOptions+ :: Ptr (Ptr StdString) -> Ptr SdpSolver' -> IO ()+casadi__SdpSolver__setSOCPOptions+ :: SdpSolver -> IO ()+casadi__SdpSolver__setSOCPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdpSolver__setSOCPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdpSolver_setSOCPOptions :: SdpSolverClass a => a -> IO ()+sdpSolver_setSOCPOptions x = casadi__SdpSolver__setSOCPOptions (castSdpSolver x)+
+ Casadi/Core/Classes/SdqpSolver.hs view
@@ -0,0 +1,118 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.SdqpSolver+ (+ SdqpSolver,+ SdqpSolverClass(..),+ sdqpSolver,+ sdqpSolver_doc,+ sdqpSolver_loadPlugin,+ sdqpSolver_setSOCQPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show SdqpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__SdqpSolver__CONSTRUCTOR" c_casadi__SdqpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr SdqpSolver')+casadi__SdqpSolver__CONSTRUCTOR+ :: IO SdqpSolver+casadi__SdqpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdqpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdqpSolver :: IO SdqpSolver+sdqpSolver = casadi__SdqpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__SdqpSolver__doc" c_casadi__SdqpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__SdqpSolver__doc+ :: String -> IO String+casadi__SdqpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdqpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdqpSolver_doc :: String -> IO String+sdqpSolver_doc = casadi__SdqpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__SdqpSolver__loadPlugin" c_casadi__SdqpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__SdqpSolver__loadPlugin+ :: String -> IO ()+casadi__SdqpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdqpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdqpSolver_loadPlugin :: String -> IO ()+sdqpSolver_loadPlugin = casadi__SdqpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__SdqpSolver__setSOCQPOptions" c_casadi__SdqpSolver__setSOCQPOptions+ :: Ptr (Ptr StdString) -> Ptr SdqpSolver' -> IO ()+casadi__SdqpSolver__setSOCQPOptions+ :: SdqpSolver -> IO ()+casadi__SdqpSolver__setSOCQPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SdqpSolver__setSOCQPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+sdqpSolver_setSOCQPOptions :: SdqpSolverClass a => a -> IO ()+sdqpSolver_setSOCQPOptions x = casadi__SdqpSolver__setSOCQPOptions (castSdqpSolver x)+
+ Casadi/Core/Classes/SocpSolver.hs view
@@ -0,0 +1,97 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.SocpSolver+ (+ SocpSolver,+ SocpSolverClass(..),+ socpSolver,+ socpSolver_doc,+ socpSolver_loadPlugin,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show SocpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__SocpSolver__CONSTRUCTOR" c_casadi__SocpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr SocpSolver')+casadi__SocpSolver__CONSTRUCTOR+ :: IO SocpSolver+casadi__SocpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SocpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+socpSolver :: IO SocpSolver+socpSolver = casadi__SocpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__SocpSolver__doc" c_casadi__SocpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__SocpSolver__doc+ :: String -> IO String+casadi__SocpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SocpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+socpSolver_doc :: String -> IO String+socpSolver_doc = casadi__SocpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__SocpSolver__loadPlugin" c_casadi__SocpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__SocpSolver__loadPlugin+ :: String -> IO ()+casadi__SocpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__SocpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+socpSolver_loadPlugin :: String -> IO ()+socpSolver_loadPlugin = casadi__SocpSolver__loadPlugin+
− Casadi/Core/Classes/StabilizedQPSolver.hs
@@ -1,140 +0,0 @@-{-# OPTIONS_GHC -Wall #-}-{-# OPTIONS_GHC -fno-warn-unused-imports #-}-{-# OPTIONS_GHC -fno-warn-orphans #-}-{-# Language ForeignFunctionInterface #-}-{-# Language FlexibleInstances #-}-{-# Language MultiParamTypeClasses #-}--module Casadi.Core.Classes.StabilizedQPSolver- (- StabilizedQPSolver,- StabilizedQPSolverClass(..),- stabilizedQPSolver,- stabilizedQPSolver_doc,- stabilizedQPSolver_generateNativeCode,- stabilizedQPSolver_loadPlugin,- stabilizedQPSolver_setLPOptions,- ) where---import Prelude hiding ( Functor )--import Data.Vector ( Vector )-import Foreign.C.Types-import Foreign.Marshal ( new, free )-import Foreign.Storable ( peek )-import Foreign.Ptr ( Ptr, nullPtr )-import Foreign.ForeignPtr ( newForeignPtr )-import System.IO.Unsafe ( unsafePerformIO ) -- for show instances--import Casadi.Core.Classes.PrintableObject-import Casadi.Internal.CToolsInstances ( )-import Casadi.Internal.FormatException ( formatException )-import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'-import Casadi.Internal.Marshal ( Marshal(..), withMarshal )-import Casadi.Internal.WrapReturn ( WrapReturn(..) )-import Casadi.Core.Data-import Casadi.Core.Enums--instance Show StabilizedQPSolver where- show = unsafePerformIO . printableObject_getDescription--- direct wrapper-foreign import ccall unsafe "casadi__StabilizedQPSolver__CONSTRUCTOR" c_casadi__StabilizedQPSolver__CONSTRUCTOR- :: Ptr (Ptr StdString) -> IO (Ptr StabilizedQPSolver')-casadi__StabilizedQPSolver__CONSTRUCTOR- :: IO StabilizedQPSolver-casadi__StabilizedQPSolver__CONSTRUCTOR =-- do- errStrPtrP <- new nullPtr- ret <- c_casadi__StabilizedQPSolver__CONSTRUCTOR errStrPtrP - errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-stabilizedQPSolver :: IO StabilizedQPSolver-stabilizedQPSolver = casadi__StabilizedQPSolver__CONSTRUCTOR----- direct wrapper-foreign import ccall unsafe "casadi__StabilizedQPSolver__doc" c_casadi__StabilizedQPSolver__doc- :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)-casadi__StabilizedQPSolver__doc- :: String -> IO String-casadi__StabilizedQPSolver__doc x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__StabilizedQPSolver__doc errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-stabilizedQPSolver_doc :: String -> IO String-stabilizedQPSolver_doc = casadi__StabilizedQPSolver__doc----- direct wrapper-foreign import ccall unsafe "casadi__StabilizedQPSolver__generateNativeCode" c_casadi__StabilizedQPSolver__generateNativeCode- :: Ptr (Ptr StdString) -> Ptr StabilizedQPSolver' -> Ptr StdString -> IO ()-casadi__StabilizedQPSolver__generateNativeCode- :: StabilizedQPSolver -> String -> IO ()-casadi__StabilizedQPSolver__generateNativeCode x0 x1 =- withMarshal x0 $ \x0' ->- withMarshal x1 $ \x1' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__StabilizedQPSolver__generateNativeCode errStrPtrP x0' x1'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-stabilizedQPSolver_generateNativeCode :: StabilizedQPSolverClass a => a -> String -> IO ()-stabilizedQPSolver_generateNativeCode x = casadi__StabilizedQPSolver__generateNativeCode (castStabilizedQPSolver x)----- direct wrapper-foreign import ccall unsafe "casadi__StabilizedQPSolver__loadPlugin" c_casadi__StabilizedQPSolver__loadPlugin- :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()-casadi__StabilizedQPSolver__loadPlugin- :: String -> IO ()-casadi__StabilizedQPSolver__loadPlugin x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__StabilizedQPSolver__loadPlugin errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-stabilizedQPSolver_loadPlugin :: String -> IO ()-stabilizedQPSolver_loadPlugin = casadi__StabilizedQPSolver__loadPlugin----- direct wrapper-foreign import ccall unsafe "casadi__StabilizedQPSolver__setLPOptions" c_casadi__StabilizedQPSolver__setLPOptions- :: Ptr (Ptr StdString) -> Ptr StabilizedQPSolver' -> IO ()-casadi__StabilizedQPSolver__setLPOptions- :: StabilizedQPSolver -> IO ()-casadi__StabilizedQPSolver__setLPOptions x0 =- withMarshal x0 $ \x0' ->- do- errStrPtrP <- new nullPtr- ret <- c_casadi__StabilizedQPSolver__setLPOptions errStrPtrP x0'- errStrPtr <- peek errStrPtrP- free errStrPtrP- if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)----- classy wrapper-stabilizedQPSolver_setLPOptions :: StabilizedQPSolverClass a => a -> IO ()-stabilizedQPSolver_setLPOptions x = casadi__StabilizedQPSolver__setLPOptions (castStabilizedQPSolver x)-
+ Casadi/Core/Classes/StabilizedQpSolver.hs view
@@ -0,0 +1,140 @@+{-# OPTIONS_GHC -Wall #-}+{-# OPTIONS_GHC -fno-warn-unused-imports #-}+{-# OPTIONS_GHC -fno-warn-orphans #-}+{-# Language ForeignFunctionInterface #-}+{-# Language FlexibleInstances #-}+{-# Language MultiParamTypeClasses #-}++module Casadi.Core.Classes.StabilizedQpSolver+ (+ StabilizedQpSolver,+ StabilizedQpSolverClass(..),+ stabilizedQpSolver,+ stabilizedQpSolver_doc,+ stabilizedQpSolver_generateNativeCode,+ stabilizedQpSolver_loadPlugin,+ stabilizedQpSolver_setLPOptions,+ ) where+++import Prelude hiding ( Functor )++import Data.Vector ( Vector )+import Foreign.C.Types+import Foreign.Marshal ( new, free )+import Foreign.Storable ( peek )+import Foreign.Ptr ( Ptr, nullPtr )+import Foreign.ForeignPtr ( newForeignPtr )+import System.IO.Unsafe ( unsafePerformIO ) -- for show instances++import Casadi.Core.Classes.PrintableObject+import Casadi.Internal.CToolsInstances ( )+import Casadi.Internal.FormatException ( formatException )+import Casadi.Internal.MarshalTypes ( StdVec, StdString) -- StdPair StdOstream'+import Casadi.Internal.Marshal ( Marshal(..), withMarshal )+import Casadi.Internal.WrapReturn ( WrapReturn(..) )+import Casadi.Core.Data+import Casadi.Core.Enums++instance Show StabilizedQpSolver where+ show = unsafePerformIO . printableObject_getDescription+-- direct wrapper+foreign import ccall unsafe "casadi__StabilizedQpSolver__CONSTRUCTOR" c_casadi__StabilizedQpSolver__CONSTRUCTOR+ :: Ptr (Ptr StdString) -> IO (Ptr StabilizedQpSolver')+casadi__StabilizedQpSolver__CONSTRUCTOR+ :: IO StabilizedQpSolver+casadi__StabilizedQpSolver__CONSTRUCTOR =++ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__StabilizedQpSolver__CONSTRUCTOR errStrPtrP + errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+stabilizedQpSolver :: IO StabilizedQpSolver+stabilizedQpSolver = casadi__StabilizedQpSolver__CONSTRUCTOR+++-- direct wrapper+foreign import ccall unsafe "casadi__StabilizedQpSolver__doc" c_casadi__StabilizedQpSolver__doc+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO (Ptr StdString)+casadi__StabilizedQpSolver__doc+ :: String -> IO String+casadi__StabilizedQpSolver__doc x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__StabilizedQpSolver__doc errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+stabilizedQpSolver_doc :: String -> IO String+stabilizedQpSolver_doc = casadi__StabilizedQpSolver__doc+++-- direct wrapper+foreign import ccall unsafe "casadi__StabilizedQpSolver__generateNativeCode" c_casadi__StabilizedQpSolver__generateNativeCode+ :: Ptr (Ptr StdString) -> Ptr StabilizedQpSolver' -> Ptr StdString -> IO ()+casadi__StabilizedQpSolver__generateNativeCode+ :: StabilizedQpSolver -> String -> IO ()+casadi__StabilizedQpSolver__generateNativeCode x0 x1 =+ withMarshal x0 $ \x0' ->+ withMarshal x1 $ \x1' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__StabilizedQpSolver__generateNativeCode errStrPtrP x0' x1'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+stabilizedQpSolver_generateNativeCode :: StabilizedQpSolverClass a => a -> String -> IO ()+stabilizedQpSolver_generateNativeCode x = casadi__StabilizedQpSolver__generateNativeCode (castStabilizedQpSolver x)+++-- direct wrapper+foreign import ccall unsafe "casadi__StabilizedQpSolver__loadPlugin" c_casadi__StabilizedQpSolver__loadPlugin+ :: Ptr (Ptr StdString) -> Ptr StdString -> IO ()+casadi__StabilizedQpSolver__loadPlugin+ :: String -> IO ()+casadi__StabilizedQpSolver__loadPlugin x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__StabilizedQpSolver__loadPlugin errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+stabilizedQpSolver_loadPlugin :: String -> IO ()+stabilizedQpSolver_loadPlugin = casadi__StabilizedQpSolver__loadPlugin+++-- direct wrapper+foreign import ccall unsafe "casadi__StabilizedQpSolver__setLPOptions" c_casadi__StabilizedQpSolver__setLPOptions+ :: Ptr (Ptr StdString) -> Ptr StabilizedQpSolver' -> IO ()+casadi__StabilizedQpSolver__setLPOptions+ :: StabilizedQpSolver -> IO ()+casadi__StabilizedQpSolver__setLPOptions x0 =+ withMarshal x0 $ \x0' ->+ do+ errStrPtrP <- new nullPtr+ ret <- c_casadi__StabilizedQpSolver__setLPOptions errStrPtrP x0'+ errStrPtr <- peek errStrPtrP+ free errStrPtrP+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)+++-- classy wrapper+stabilizedQpSolver_setLPOptions :: StabilizedQpSolverClass a => a -> IO ()+stabilizedQpSolver_setLPOptions x = casadi__StabilizedQpSolver__setLPOptions (castStabilizedQpSolver x)+
Casadi/Core/Data.hs view
@@ -21,4852 +21,10300 @@ > >In C++, supply a CallbackCPtr function pointer When the callback function >returns a non-zero integer, the host is signalled of a problem. E.g. an->NLPSolver may halt iterations if the Callback is something else than 0->->In python, supply a callable, annotated with pycallback decorator->->C++ includes: functor.hpp --}-newtype Callback = Callback (ForeignPtr Callback')--- typeclass decl-class CallbackClass a where- castCallback :: a -> Callback-instance CallbackClass Callback where- castCallback = id---- baseclass instances-instance FunctorClass Callback where- castFunctor (Callback x) = Functor (castForeignPtr x)--instance PrintableObjectClass Callback where- castPrintableObject (Callback x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Callback where- castSharedObject (Callback x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal Callback (Ptr Callback') where- marshal (Callback x) = return (unsafeForeignPtrToPtr x)- marshalFree (Callback x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Callback" - c_delete_casadi__Callback :: FunPtr (Ptr Callback' -> IO ())-instance WrapReturn (Ptr Callback') Callback where- wrapReturn = (fmap Callback) . (newForeignPtr c_delete_casadi__Callback)----- raw decl-data CasadiMeta'--- data decl-{-|->Collects global CasADi meta information.->->Joris Gillis->->C++ includes: casadi_meta.hpp --}-newtype CasadiMeta = CasadiMeta (ForeignPtr CasadiMeta')--- typeclass decl-class CasadiMetaClass a where- castCasadiMeta :: a -> CasadiMeta-instance CasadiMetaClass CasadiMeta where- castCasadiMeta = id---- baseclass instances---- helper instances-instance Marshal CasadiMeta (Ptr CasadiMeta') where- marshal (CasadiMeta x) = return (unsafeForeignPtrToPtr x)- marshalFree (CasadiMeta x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__CasadiMeta" - c_delete_casadi__CasadiMeta :: FunPtr (Ptr CasadiMeta' -> IO ())-instance WrapReturn (Ptr CasadiMeta') CasadiMeta where- wrapReturn = (fmap CasadiMeta) . (newForeignPtr c_delete_casadi__CasadiMeta)----- raw decl-data CasadiOptions'--- data decl-{-|->Collects global CasADi options.->->Note to developers: use sparingly. Global options are - in general - a->rather bad idea->->this class must never be instantiated. Access its static members directly->Joris Gillis->->C++ includes: casadi_options.hpp --}-newtype CasadiOptions = CasadiOptions (ForeignPtr CasadiOptions')--- typeclass decl-class CasadiOptionsClass a where- castCasadiOptions :: a -> CasadiOptions-instance CasadiOptionsClass CasadiOptions where- castCasadiOptions = id---- baseclass instances---- helper instances-instance Marshal CasadiOptions (Ptr CasadiOptions') where- marshal (CasadiOptions x) = return (unsafeForeignPtrToPtr x)- marshalFree (CasadiOptions x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__CasadiOptions" - c_delete_casadi__CasadiOptions :: FunPtr (Ptr CasadiOptions' -> IO ())-instance WrapReturn (Ptr CasadiOptions') CasadiOptions where- wrapReturn = (fmap CasadiOptions) . (newForeignPtr c_delete_casadi__CasadiOptions)----- raw decl-data ControlSimulator'--- data decl-{-|->Piecewise Simulation class.->->A ControlSimulator can be seen as a chain of Simulators whereby some->parameters change from one Simulator to the next.->->These changing parameters can typically be interpreted as "controls" in->the context of dynamic optimization.->->We discriminate between the following time steps: Major time-steps. These->are the time steps provided by the supplied grid. Controls are constant->inbetween major time-steps Minor time-steps. These are time steps linearly->interpolated from one major time-step to the next. The option 'nf' regulates->how many minor time-steps are taken. Integration time-steps. Time steps->that the supplied integrator might choose to integrate the continuous->dynamics. They are not important what ControlSimulator is concerned. np->Number of parameters nu Number of controls ns The number of major grid->points, as supplied in the constructor nf The number of minor grid points->per major interval->->Joris Gillis->->>Input scheme: casadi::ControlSimulatorInput (CONTROLSIMULATOR_NUM_IN = 4) [controlsimulatorIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| CONTROLSIMULATOR_X0 | x0 | Differential or |->| | | algebraic state at t0 |->| | | (dimension nx-by-1) . |->+------------------------+------------------------+------------------------+->| CONTROLSIMULATOR_P | p | Parameters that are |->| | | fixed over the entire |->| | | horizon (dimension np- |->| | | by-1) . |->+------------------------+------------------------+------------------------+->| CONTROLSIMULATOR_U | u | Parameters that change |->| | | over the integration |->| | | intervals (dimension |->| | | nu-by-(ns-1)) . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| control_endp | OT_BOOLEAN | false | Include a | casadi::Cont |->| oint | | | control | rolSimulator |->| | | | value at the | Internal |->| | | | end of the | |->| | | | simulation | |->| | | | domain. Used | |->| | | | for interpol | |->| | | | ation. | |->+--------------+--------------+--------------+--------------+--------------+->| control_inte | OT_STRING | "none" | none|nearest | casadi::Cont |->| rpolation | | | |linear | rolSimulator |->| | | | | Internal |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| integrator | OT_STRING | GenericType( | An | casadi::Cont |->| | | ) | integrator | rolSimulator |->| | | | creator | Internal |->| | | | function | |->+--------------+--------------+--------------+--------------+--------------+->| integrator_o | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |->| ptions | Y | ) | be passed to | rolSimulator |->| | | | the | Internal |->| | | | integrator | |->+--------------+--------------+--------------+--------------+--------------+->| minor_grid | OT_INTEGERVE | GenericType( | The local | casadi::Cont |->| | CTOR | ) | grid used on | rolSimulator |->| | | | each major | Internal |->| | | | interval, | |->| | | | with time | |->| | | | normalized | |->| | | | to 1. By | |->| | | | default, | |->| | | | option 'nf' | |->| | | | is used to | |->| | | | construct a | |->| | | | linearly | |->| | | | spaced grid. | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| nf | OT_INTEGER | 1 | Number of | casadi::Cont |->| | | | minor | rolSimulator |->| | | | grained | Internal |->| | | | integration | |->| | | | steps per | |->| | | | major | |->| | | | interval. | |->| | | | nf>0 must | |->| | | | hold. This | |->| | | | option is | |->| | | | not used | |->| | | | when | |->| | | | 'minor_grid' | |->| | | | is provided. | |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| simulator_op | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |->| tions | Y | ) | be passed to | rolSimulator |->| | | | the | Internal |->| | | | simulator | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: control_simulator.hpp --}-newtype ControlSimulator = ControlSimulator (ForeignPtr ControlSimulator')--- typeclass decl-class ControlSimulatorClass a where- castControlSimulator :: a -> ControlSimulator-instance ControlSimulatorClass ControlSimulator where- castControlSimulator = id---- baseclass instances-instance FunctionClass ControlSimulator where- castFunction (ControlSimulator x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass ControlSimulator where- castOptionsFunctionality (ControlSimulator x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass ControlSimulator where- castPrintableObject (ControlSimulator x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass ControlSimulator where- castSharedObject (ControlSimulator x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass ControlSimulator where- castIOInterfaceFunction (ControlSimulator x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal ControlSimulator (Ptr ControlSimulator') where- marshal (ControlSimulator x) = return (unsafeForeignPtrToPtr x)- marshalFree (ControlSimulator x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__ControlSimulator" - c_delete_casadi__ControlSimulator :: FunPtr (Ptr ControlSimulator' -> IO ())-instance WrapReturn (Ptr ControlSimulator') ControlSimulator where- wrapReturn = (fmap ControlSimulator) . (newForeignPtr c_delete_casadi__ControlSimulator)----- raw decl-data CustomEvaluate'--- data decl-{-|->CustomEvaluate.->->In C++, supply a CustomEvaluateCPtr function pointer->->In python, supply a callable, annotated with pyevaluate decorator->->C++ includes: functor.hpp --}-newtype CustomEvaluate = CustomEvaluate (ForeignPtr CustomEvaluate')--- typeclass decl-class CustomEvaluateClass a where- castCustomEvaluate :: a -> CustomEvaluate-instance CustomEvaluateClass CustomEvaluate where- castCustomEvaluate = id---- baseclass instances-instance FunctorClass CustomEvaluate where- castFunctor (CustomEvaluate x) = Functor (castForeignPtr x)--instance PrintableObjectClass CustomEvaluate where- castPrintableObject (CustomEvaluate x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass CustomEvaluate where- castSharedObject (CustomEvaluate x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal CustomEvaluate (Ptr CustomEvaluate') where- marshal (CustomEvaluate x) = return (unsafeForeignPtrToPtr x)- marshalFree (CustomEvaluate x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__CustomEvaluate" - c_delete_casadi__CustomEvaluate :: FunPtr (Ptr CustomEvaluate' -> IO ())-instance WrapReturn (Ptr CustomEvaluate') CustomEvaluate where- wrapReturn = (fmap CustomEvaluate) . (newForeignPtr c_delete_casadi__CustomEvaluate)----- raw decl-data CustomFunction'--- data decl-{-|->Interface to a custom function.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: custom_function.hpp --}-newtype CustomFunction = CustomFunction (ForeignPtr CustomFunction')--- typeclass decl-class CustomFunctionClass a where- castCustomFunction :: a -> CustomFunction-instance CustomFunctionClass CustomFunction where- castCustomFunction = id---- baseclass instances-instance FunctionClass CustomFunction where- castFunction (CustomFunction x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass CustomFunction where- castOptionsFunctionality (CustomFunction x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass CustomFunction where- castPrintableObject (CustomFunction x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass CustomFunction where- castSharedObject (CustomFunction x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass CustomFunction where- castIOInterfaceFunction (CustomFunction x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal CustomFunction (Ptr CustomFunction') where- marshal (CustomFunction x) = return (unsafeForeignPtrToPtr x)- marshalFree (CustomFunction x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__CustomFunction" - c_delete_casadi__CustomFunction :: FunPtr (Ptr CustomFunction' -> IO ())-instance WrapReturn (Ptr CustomFunction') CustomFunction where- wrapReturn = (fmap CustomFunction) . (newForeignPtr c_delete_casadi__CustomFunction)----- raw decl-data DMatrix'--- data decl-{-|--}-newtype DMatrix = DMatrix (ForeignPtr DMatrix')--- typeclass decl-class DMatrixClass a where- castDMatrix :: a -> DMatrix-instance DMatrixClass DMatrix where- castDMatrix = id---- baseclass instances-instance PrintableObjectClass DMatrix where- castPrintableObject (DMatrix x) = PrintableObject (castForeignPtr x)----- helper instances-instance Marshal DMatrix (Ptr DMatrix') where- marshal (DMatrix x) = return (unsafeForeignPtrToPtr x)- marshalFree (DMatrix x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__DMatrix" - c_delete_casadi__DMatrix :: FunPtr (Ptr DMatrix' -> IO ())-instance WrapReturn (Ptr DMatrix') DMatrix where- wrapReturn = (fmap DMatrix) . (newForeignPtr c_delete_casadi__DMatrix)----- raw decl-data DerivativeGenerator'--- data decl-{-|->Derivative Generator Functor.->->In C++, supply a DerivativeGeneratorCPtr function pointer->->In python, supply a callable, annotated with derivativegenerator decorator->->C++ includes: functor.hpp --}-newtype DerivativeGenerator = DerivativeGenerator (ForeignPtr DerivativeGenerator')--- typeclass decl-class DerivativeGeneratorClass a where- castDerivativeGenerator :: a -> DerivativeGenerator-instance DerivativeGeneratorClass DerivativeGenerator where- castDerivativeGenerator = id---- baseclass instances-instance FunctorClass DerivativeGenerator where- castFunctor (DerivativeGenerator x) = Functor (castForeignPtr x)--instance PrintableObjectClass DerivativeGenerator where- castPrintableObject (DerivativeGenerator x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass DerivativeGenerator where- castSharedObject (DerivativeGenerator x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal DerivativeGenerator (Ptr DerivativeGenerator') where- marshal (DerivativeGenerator x) = return (unsafeForeignPtrToPtr x)- marshalFree (DerivativeGenerator x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__DerivativeGenerator" - c_delete_casadi__DerivativeGenerator :: FunPtr (Ptr DerivativeGenerator' -> IO ())-instance WrapReturn (Ptr DerivativeGenerator') DerivativeGenerator where- wrapReturn = (fmap DerivativeGenerator) . (newForeignPtr c_delete_casadi__DerivativeGenerator)----- raw decl-data ExternalFunction'--- data decl-{-|->Interface for a function that is not implemented by CasADi symbolics.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: external_function.hpp --}-newtype ExternalFunction = ExternalFunction (ForeignPtr ExternalFunction')--- typeclass decl-class ExternalFunctionClass a where- castExternalFunction :: a -> ExternalFunction-instance ExternalFunctionClass ExternalFunction where- castExternalFunction = id---- baseclass instances-instance FunctionClass ExternalFunction where- castFunction (ExternalFunction x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass ExternalFunction where- castOptionsFunctionality (ExternalFunction x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass ExternalFunction where- castPrintableObject (ExternalFunction x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass ExternalFunction where- castSharedObject (ExternalFunction x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass ExternalFunction where- castIOInterfaceFunction (ExternalFunction x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal ExternalFunction (Ptr ExternalFunction') where- marshal (ExternalFunction x) = return (unsafeForeignPtrToPtr x)- marshalFree (ExternalFunction x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__ExternalFunction" - c_delete_casadi__ExternalFunction :: FunPtr (Ptr ExternalFunction' -> IO ())-instance WrapReturn (Ptr ExternalFunction') ExternalFunction where- wrapReturn = (fmap ExternalFunction) . (newForeignPtr c_delete_casadi__ExternalFunction)----- raw decl-data Function'--- data decl-{-|->General function.->->A general function $f$ in casadi can be multi-input, multi-output. Number of->inputs: nin getNumInputs() Number of outputs: nout getNumOutputs() We can->view this function as a being composed of a ( nin, nout) grid of single-->input, single-output primitive functions. Each such primitive function $f_->{i, j} \\\\forall i \\\\in [0, nin-1], j \\\\in [0, nout-1]$ can map as->$\\\\mathbf {R}^{n, m}\\\\to\\\\mathbf{R}^{p, q}$, in which n, m, p, q can->take different values for every (i, j) pair. When passing input, you->specify which partition $i$ is active. You pass the numbers vectorized, as a->vector of size $(n*m)$. When requesting output, you specify which partition->$j$ is active. You get the numbers vectorized, as a vector of size $(p*q)$.->To calculate Jacobians, you need to have $(m=1, q=1)$.->->Write the Jacobian as $J_ {i, j} = \\\\nabla f_{i, j} = \\\\frac->{\\\\partial f_{i, j}(\\\\vec{x})}{\\\\partial \\\\vec{x}}$.->->Using $\\\\vec {v} \\\\in \\\\mathbf{R}^n$ as a forward seed: setFwdSeed(v,->i) Retrieving $\\\\vec {s}_f \\\\in \\\\mathbf{R}^p$ from: getFwdSens(sf, j)->Using $\\\\vec {w} \\\\in \\\\mathbf{R}^p$ as a forward seed: setAdjSeed(w,->j) Retrieving $\\\\vec {s}_a \\\\in \\\\mathbf{R}^n $ from: getAdjSens(sa,->i) We have the following relationships for function mapping from a row->vector to a row vector:->->$ \\\\vec {s}_f = \\\\nabla f_{i, j} . \\\\vec{v}$ $ \\\\vec {s}_a =->(\\\\nabla f_{i, j})^T . \\\\vec{w}$->->Some quantities in these formulas must be transposed: input col: transpose $->\\\\vec {v} $ and $\\\\vec{s}_a$ output col: transpose $ \\\\vec {w} $ and->$\\\\vec{s}_f$ NOTE: Functions are allowed to modify their input arguments->when evaluating: implicitFunction, IDAS solver Further releases may disallow->this.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->>List of available monitors->+---------+--------------------------+->| Id | Used in |->+=========+==========================+->| inputs | casadi::FunctionInternal |->+---------+--------------------------+->| outputs | casadi::FunctionInternal |->+---------+--------------------------+->->Diagrams->->C++ includes: function.hpp --}-newtype Function = Function (ForeignPtr Function')--- typeclass decl-class FunctionClass a where- castFunction :: a -> Function-instance FunctionClass Function where- castFunction = id---- baseclass instances-instance OptionsFunctionalityClass Function where- castOptionsFunctionality (Function x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass Function where- castPrintableObject (Function x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Function where- castSharedObject (Function x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass Function where- castIOInterfaceFunction (Function x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal Function (Ptr Function') where- marshal (Function x) = return (unsafeForeignPtrToPtr x)- marshalFree (Function x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Function" - c_delete_casadi__Function :: FunPtr (Ptr Function' -> IO ())-instance WrapReturn (Ptr Function') Function where- wrapReturn = (fmap Function) . (newForeignPtr c_delete_casadi__Function)----- raw decl-data Functor'--- data decl-{-|->Functor.->->Joris Gillis->->C++ includes: functor.hpp --}-newtype Functor = Functor (ForeignPtr Functor')--- typeclass decl-class FunctorClass a where- castFunctor :: a -> Functor-instance FunctorClass Functor where- castFunctor = id---- baseclass instances-instance PrintableObjectClass Functor where- castPrintableObject (Functor x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Functor where- castSharedObject (Functor x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal Functor (Ptr Functor') where- marshal (Functor x) = return (unsafeForeignPtrToPtr x)- marshalFree (Functor x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Functor" - c_delete_casadi__Functor :: FunPtr (Ptr Functor' -> IO ())-instance WrapReturn (Ptr Functor') Functor where- wrapReturn = (fmap Functor) . (newForeignPtr c_delete_casadi__Functor)----- raw decl-data GenericType'--- data decl-{-|->Generic data type.->->Joel Andersson->->C++ includes: generic_type.hpp --}-newtype GenericType = GenericType (ForeignPtr GenericType')--- typeclass decl-class GenericTypeClass a where- castGenericType :: a -> GenericType-instance GenericTypeClass GenericType where- castGenericType = id---- baseclass instances-instance PrintableObjectClass GenericType where- castPrintableObject (GenericType x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass GenericType where- castSharedObject (GenericType x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal GenericType (Ptr GenericType') where- marshal (GenericType x) = return (unsafeForeignPtrToPtr x)- marshalFree (GenericType x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__GenericType" - c_delete_casadi__GenericType :: FunPtr (Ptr GenericType' -> IO ())-instance WrapReturn (Ptr GenericType') GenericType where- wrapReturn = (fmap GenericType) . (newForeignPtr c_delete_casadi__GenericType)----- raw decl-data HomotopyNLPSolver'--- data decl-{-|->Base class for Homotopy NLP Solvers.->->Solves the following parametric nonlinear program (NLP):min F(x, p,->tau) x subject to LBX <= x <= UBX LBG <= G(x,->p) <= UBG p == P nx: number of decision variables->ng: number of constraints np: number of parameters->->In a homotopy from tau = 0 to tau = 1.->->Joris Gillis->->>Input scheme: casadi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| NLP_SOLVER_X0 | x0 | Decision variables, |->| | | initial guess (nx x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_P | p | Value of fixed |->| | | parameters (np x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LBX | lbx | Decision variables |->| | | lower bound (nx x 1), |->| | | default -inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_UBX | ubx | Decision variables |->| | | upper bound (nx x 1), |->| | | default +inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LBG | lbg | Constraints lower |->| | | bound (ng x 1), |->| | | default -inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_UBG | ubg | Constraints upper |->| | | bound (ng x 1), |->| | | default +inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |->| | | for bounds on X, |->| | | initial guess (nx x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |->| | | for bounds on G, |->| | | initial guess (ng x 1) |->| | | . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| NLP_SOLVER_X | x | Decision variables at |->| | | the optimal solution |->| | | (nx x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_F | f | Cost function value at |->| | | the optimal solution |->| | | (1 x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_G | g | Constraints function |->| | | at the optimal |->| | | solution (ng x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |->| | | for bounds on X at the |->| | | solution (nx x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |->| | | for bounds on G at the |->| | | solution (ng x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |->| | | for bounds on P at the |->| | | solution (np x 1) . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| expand | OT_BOOLEAN | false | Expand the | casadi::Homo |->| | | | NLP function | topyNLPInter |->| | | | in terms of | nal |->| | | | scalar | |->| | | | operations, | |->| | | | i.e. MX->SX | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: homotopy_nlp_solver.hpp --}-newtype HomotopyNLPSolver = HomotopyNLPSolver (ForeignPtr HomotopyNLPSolver')--- typeclass decl-class HomotopyNLPSolverClass a where- castHomotopyNLPSolver :: a -> HomotopyNLPSolver-instance HomotopyNLPSolverClass HomotopyNLPSolver where- castHomotopyNLPSolver = id---- baseclass instances-instance FunctionClass HomotopyNLPSolver where- castFunction (HomotopyNLPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass HomotopyNLPSolver where- castOptionsFunctionality (HomotopyNLPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass HomotopyNLPSolver where- castPrintableObject (HomotopyNLPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass HomotopyNLPSolver where- castSharedObject (HomotopyNLPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass HomotopyNLPSolver where- castIOInterfaceFunction (HomotopyNLPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal HomotopyNLPSolver (Ptr HomotopyNLPSolver') where- marshal (HomotopyNLPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (HomotopyNLPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__HomotopyNLPSolver" - c_delete_casadi__HomotopyNLPSolver :: FunPtr (Ptr HomotopyNLPSolver' -> IO ())-instance WrapReturn (Ptr HomotopyNLPSolver') HomotopyNLPSolver where- wrapReturn = (fmap HomotopyNLPSolver) . (newForeignPtr c_delete_casadi__HomotopyNLPSolver)----- raw decl-data IMatrix'--- data decl-{-|--}-newtype IMatrix = IMatrix (ForeignPtr IMatrix')--- typeclass decl-class IMatrixClass a where- castIMatrix :: a -> IMatrix-instance IMatrixClass IMatrix where- castIMatrix = id---- baseclass instances-instance PrintableObjectClass IMatrix where- castPrintableObject (IMatrix x) = PrintableObject (castForeignPtr x)----- helper instances-instance Marshal IMatrix (Ptr IMatrix') where- marshal (IMatrix x) = return (unsafeForeignPtrToPtr x)- marshalFree (IMatrix x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__IMatrix" - c_delete_casadi__IMatrix :: FunPtr (Ptr IMatrix' -> IO ())-instance WrapReturn (Ptr IMatrix') IMatrix where- wrapReturn = (fmap IMatrix) . (newForeignPtr c_delete_casadi__IMatrix)----- raw decl-data IOScheme'--- data decl-{-|->Class with mapping between names and indices.->->Joris Gillis->->C++ includes: io_scheme.hpp --}-newtype IOScheme = IOScheme (ForeignPtr IOScheme')--- typeclass decl-class IOSchemeClass a where- castIOScheme :: a -> IOScheme-instance IOSchemeClass IOScheme where- castIOScheme = id---- baseclass instances-instance PrintableObjectClass IOScheme where- castPrintableObject (IOScheme x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass IOScheme where- castSharedObject (IOScheme x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal IOScheme (Ptr IOScheme') where- marshal (IOScheme x) = return (unsafeForeignPtrToPtr x)- marshalFree (IOScheme x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__IOScheme" - c_delete_casadi__IOScheme :: FunPtr (Ptr IOScheme' -> IO ())-instance WrapReturn (Ptr IOScheme') IOScheme where- wrapReturn = (fmap IOScheme) . (newForeignPtr c_delete_casadi__IOScheme)----- raw decl-data ImplicitFunction'--- data decl-{-|->Abstract base class for the implicit function classes.->->The equation:->->F(z, x1, x2, ..., xn) == 0->->where d_F/dz is invertible, implicitly defines the equation:->->z := G(x1, x2, ..., xn)->->F should be an Function mapping from (n+1) inputs to m outputs. The first->output is the residual that should be zero.->->ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n->may be zero. The first output is the solved for z.->->You can provide an initial guess for z by setting output(0) of->ImplicitFunction.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| constraints | OT_INTEGERVE | GenericType( | Constrain | casadi::Impl |->| | CTOR | ) | the | icitFunction |->| | | | unknowns. 0 | Internal |->| | | | (default): | |->| | | | no | |->| | | | constraint | |->| | | | on ui, 1: ui | |->| | | | >= 0.0, -1: | |->| | | | ui <= 0.0, | |->| | | | 2: ui > 0.0, | |->| | | | -2: ui < | |->| | | | 0.0. | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| implicit_inp | OT_INTEGER | 0 | Index of the | casadi::Impl |->| ut | | | input that | icitFunction |->| | | | corresponds | Internal |->| | | | to the | |->| | | | actual root- | |->| | | | finding | |->+--------------+--------------+--------------+--------------+--------------+->| implicit_out | OT_INTEGER | 0 | Index of the | casadi::Impl |->| put | | | output that | icitFunction |->| | | | corresponds | Internal |->| | | | to the | |->| | | | actual root- | |->| | | | finding | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| linear_solve | OT_STRING | GenericType( | User-defined | casadi::Impl |->| r | | ) | linear | icitFunction |->| | | | solver | Internal |->| | | | class. | |->| | | | Needed for s | |->| | | | ensitivities | |->| | | | . | |->+--------------+--------------+--------------+--------------+--------------+->| linear_solve | OT_DICTIONAR | GenericType( | Options to | casadi::Impl |->| r_options | Y | ) | be passed to | icitFunction |->| | | | the linear | Internal |->| | | | solver. | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: implicit_function.hpp --}-newtype ImplicitFunction = ImplicitFunction (ForeignPtr ImplicitFunction')--- typeclass decl-class ImplicitFunctionClass a where- castImplicitFunction :: a -> ImplicitFunction-instance ImplicitFunctionClass ImplicitFunction where- castImplicitFunction = id---- baseclass instances-instance FunctionClass ImplicitFunction where- castFunction (ImplicitFunction x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass ImplicitFunction where- castOptionsFunctionality (ImplicitFunction x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass ImplicitFunction where- castPrintableObject (ImplicitFunction x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass ImplicitFunction where- castSharedObject (ImplicitFunction x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass ImplicitFunction where- castIOInterfaceFunction (ImplicitFunction x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal ImplicitFunction (Ptr ImplicitFunction') where- marshal (ImplicitFunction x) = return (unsafeForeignPtrToPtr x)- marshalFree (ImplicitFunction x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__ImplicitFunction" - c_delete_casadi__ImplicitFunction :: FunPtr (Ptr ImplicitFunction' -> IO ())-instance WrapReturn (Ptr ImplicitFunction') ImplicitFunction where- wrapReturn = (fmap ImplicitFunction) . (newForeignPtr c_delete_casadi__ImplicitFunction)----- raw decl-data Integrator'--- data decl-{-|->Base class for integrators.->->Integrator abstract base class->->Solves an initial value problem (IVP) coupled to a terminal value problem->with differential equation given as an implicit ODE coupled to an algebraic->equation and a set of quadratures: Initial conditions at t=t0 x(t0) = x0->q(t0) = 0 Forward integration from t=t0 to t=tf der(x) = function(x, z,->p, t) Forward ODE 0 = fz(x, z, p, t) Forward algebraic->equations der(q) = fq(x, z, p, t) Forward quadratures->Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0 Backward integration->from t=tf to t=t0 der(rx) = gx(rx, rz, rp, x, z, p, t) Backward ODE->0 = gz(rx, rz, rp, x, z, p, t) Backward algebraic equations der(rq) =->gq(rx, rz, rp, x, z, p, t) Backward quadratures where we assume that both->the forward and backwards integrations are index-1 (i.e. dfz/dz, dgz/drz->are invertible) and furthermore that gx, gz and gq have a linear dependency->on rx, rz and rp.->->The Integrator class provides some additional functionality, such as getting->the value of the state and/or sensitivities at certain time points.->->The class does not specify the method used for the integration. This is->defined in derived classes.->->Joel Andersson->->>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| INTEGRATOR_X0 | x0 | Differential state at |->| | | the initial time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_P | p | Parameters . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_Z0 | z0 | Initial guess for the |->| | | algebraic variable . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RX0 | rx0 | Backward differential |->| | | state at the final |->| | | time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RP | rp | Backward parameter |->| | | vector . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RZ0 | rz0 | Initial guess for the |->| | | backwards algebraic |->| | | variable . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| INTEGRATOR_XF | xf | Differential state at |->| | | the final time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_QF | qf | Quadrature state at |->| | | the final time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_ZF | zf | Algebraic variable at |->| | | the final time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RXF | rxf | Backward differential |->| | | state at the initial |->| | | time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RQF | rqf | Backward quadrature |->| | | state at the initial |->| | | time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RZF | rzf | Backward algebraic |->| | | variable at the |->| | | initial time . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| augmented_op | OT_DICTIONAR | GenericType( | Options to | casadi::Inte |->| tions | Y | ) | be passed | gratorIntern |->| | | | down to the | al |->| | | | augmented | |->| | | | integrator, | |->| | | | if one is | |->| | | | constructed. | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| expand_augme | OT_BOOLEAN | true | If DAE | casadi::Inte |->| nted | | | callback | gratorIntern |->| | | | functions | al |->| | | | are | |->| | | | SXFunction , | |->| | | | have | |->| | | | augmented | |->| | | | DAE callback | |->| | | | function | |->| | | | also be | |->| | | | SXFunction . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| print_stats | OT_BOOLEAN | false | Print out | casadi::Inte |->| | | | statistics | gratorIntern |->| | | | after | al |->| | | | integration | |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| t0 | OT_REAL | 0 | Beginning of | casadi::Inte |->| | | | the time | gratorIntern |->| | | | horizon | al |->+--------------+--------------+--------------+--------------+--------------+->| tf | OT_REAL | 1 | End of the | casadi::Inte |->| | | | time horizon | gratorIntern |->| | | | | al |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: integrator.hpp --}-newtype Integrator = Integrator (ForeignPtr Integrator')--- typeclass decl-class IntegratorClass a where- castIntegrator :: a -> Integrator-instance IntegratorClass Integrator where- castIntegrator = id---- baseclass instances-instance FunctionClass Integrator where- castFunction (Integrator x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass Integrator where- castOptionsFunctionality (Integrator x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass Integrator where- castPrintableObject (Integrator x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Integrator where- castSharedObject (Integrator x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass Integrator where- castIOInterfaceFunction (Integrator x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal Integrator (Ptr Integrator') where- marshal (Integrator x) = return (unsafeForeignPtrToPtr x)- marshalFree (Integrator x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Integrator" - c_delete_casadi__Integrator :: FunPtr (Ptr Integrator' -> IO ())-instance WrapReturn (Ptr Integrator') Integrator where- wrapReturn = (fmap Integrator) . (newForeignPtr c_delete_casadi__Integrator)----- raw decl-data LPSolver'--- data decl-{-|->LPSolver.->->Solves the following linear problem:->->min c' x x subject to LBA <= A x <= UBA LBX <= x <= UBX with x (->n x 1) c ( n x 1 ) A sparse matrix ( nc x n) LBA, UBA dense vector (nc x 1)->LBX, UBX dense vector (n x 1) n: number of decision variables (x) nc:->number of constraints (A)->->Joris Gillis->->>Input scheme: casadi::LPSolverInput (LP_SOLVER_NUM_IN = 7) [lpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| LP_SOLVER_C | c | The vector c: dense (n |->| | | x 1) . |->+------------------------+------------------------+------------------------+->| LP_SOLVER_A | a | The matrix A: sparse, |->| | | (nc x n) - product |->| | | with x must be dense. |->| | | . |->+------------------------+------------------------+------------------------+->| LP_SOLVER_LBA | lba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| LP_SOLVER_UBA | uba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| LP_SOLVER_LBX | lbx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| LP_SOLVER_UBX | ubx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::LPSolverOutput (LP_SOLVER_NUM_OUT = 5) [lpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| LP_SOLVER_X | x | The primal solution . |->+------------------------+------------------------+------------------------+->| LP_SOLVER_COST | cost | The optimal cost . |->+------------------------+------------------------+------------------------+->| LP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to |->| | | linear bounds . |->+------------------------+------------------------+------------------------+->| LP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: lp_solver.hpp --}-newtype LPSolver = LPSolver (ForeignPtr LPSolver')--- typeclass decl-class LPSolverClass a where- castLPSolver :: a -> LPSolver-instance LPSolverClass LPSolver where- castLPSolver = id---- baseclass instances-instance FunctionClass LPSolver where- castFunction (LPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass LPSolver where- castOptionsFunctionality (LPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass LPSolver where- castPrintableObject (LPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass LPSolver where- castSharedObject (LPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass LPSolver where- castIOInterfaceFunction (LPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal LPSolver (Ptr LPSolver') where- marshal (LPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (LPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__LPSolver" - c_delete_casadi__LPSolver :: FunPtr (Ptr LPSolver' -> IO ())-instance WrapReturn (Ptr LPSolver') LPSolver where- wrapReturn = (fmap LPSolver) . (newForeignPtr c_delete_casadi__LPSolver)----- raw decl-data LinearSolver'--- data decl-{-|->Base class for the linear solver classes.->->Solves the linear system A*X = B or A^T*X = B for X with A square and non-->singular->->If A is structurally singular, an error will be thrown during init. If A is->numerically singular, the prepare step will fail. Joel Andersson->->>Input scheme: casadi::LinsolInput (LINSOL_NUM_IN = 3) [linsolIn]->+-----------+-------+------------------------------------------------+->| Full name | Short | Description |->+===========+=======+================================================+->| LINSOL_A | A | The square matrix A: sparse, (n x n). . |->+-----------+-------+------------------------------------------------+->| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |->+-----------+-------+------------------------------------------------+->->>Output scheme: casadi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]->+-----------+-------+----------------------------------------------+->| Full name | Short | Description |->+===========+=======+==============================================+->| LINSOL_X | X | Solution to the linear system of equations . |->+-----------+-------+----------------------------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: linear_solver.hpp --}-newtype LinearSolver = LinearSolver (ForeignPtr LinearSolver')--- typeclass decl-class LinearSolverClass a where- castLinearSolver :: a -> LinearSolver-instance LinearSolverClass LinearSolver where- castLinearSolver = id---- baseclass instances-instance FunctionClass LinearSolver where- castFunction (LinearSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass LinearSolver where- castOptionsFunctionality (LinearSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass LinearSolver where- castPrintableObject (LinearSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass LinearSolver where- castSharedObject (LinearSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass LinearSolver where- castIOInterfaceFunction (LinearSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal LinearSolver (Ptr LinearSolver') where- marshal (LinearSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (LinearSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__LinearSolver" - c_delete_casadi__LinearSolver :: FunPtr (Ptr LinearSolver' -> IO ())-instance WrapReturn (Ptr LinearSolver') LinearSolver where- wrapReturn = (fmap LinearSolver) . (newForeignPtr c_delete_casadi__LinearSolver)----- raw decl-data MX'--- data decl-{-|--}-newtype MX = MX (ForeignPtr MX')--- typeclass decl-class MXClass a where- castMX :: a -> MX-instance MXClass MX where- castMX = id---- baseclass instances-instance PrintableObjectClass MX where- castPrintableObject (MX x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass MX where- castSharedObject (MX x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal MX (Ptr MX') where- marshal (MX x) = return (unsafeForeignPtrToPtr x)- marshalFree (MX x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__MX" - c_delete_casadi__MX :: FunPtr (Ptr MX' -> IO ())-instance WrapReturn (Ptr MX') MX where- wrapReturn = (fmap MX) . (newForeignPtr c_delete_casadi__MX)----- raw decl-data MXFunction'--- data decl-{-|->General function mapping from/to MX.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: mx_function.hpp --}-newtype MXFunction = MXFunction (ForeignPtr MXFunction')--- typeclass decl-class MXFunctionClass a where- castMXFunction :: a -> MXFunction-instance MXFunctionClass MXFunction where- castMXFunction = id---- baseclass instances-instance FunctionClass MXFunction where- castFunction (MXFunction x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass MXFunction where- castOptionsFunctionality (MXFunction x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass MXFunction where- castPrintableObject (MXFunction x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass MXFunction where- castSharedObject (MXFunction x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass MXFunction where- castIOInterfaceFunction (MXFunction x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal MXFunction (Ptr MXFunction') where- marshal (MXFunction x) = return (unsafeForeignPtrToPtr x)- marshalFree (MXFunction x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__MXFunction" - c_delete_casadi__MXFunction :: FunPtr (Ptr MXFunction' -> IO ())-instance WrapReturn (Ptr MXFunction') MXFunction where- wrapReturn = (fmap MXFunction) . (newForeignPtr c_delete_casadi__MXFunction)----- raw decl-data NLPSolver'--- data decl-{-|->NLPSolver.->->Solves the following parametric nonlinear program (NLP):min F(x, p)->x subject to LBX <= x <= UBX LBG <= G(x, p) <= UBG->p == P nx: number of decision variables ng: number of constraints->np: number of parameters->->Joel Andersson->->>Input scheme: casadi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| NLP_SOLVER_X0 | x0 | Decision variables, |->| | | initial guess (nx x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_P | p | Value of fixed |->| | | parameters (np x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LBX | lbx | Decision variables |->| | | lower bound (nx x 1), |->| | | default -inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_UBX | ubx | Decision variables |->| | | upper bound (nx x 1), |->| | | default +inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LBG | lbg | Constraints lower |->| | | bound (ng x 1), |->| | | default -inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_UBG | ubg | Constraints upper |->| | | bound (ng x 1), |->| | | default +inf . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |->| | | for bounds on X, |->| | | initial guess (nx x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |->| | | for bounds on G, |->| | | initial guess (ng x 1) |->| | | . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| NLP_SOLVER_X | x | Decision variables at |->| | | the optimal solution |->| | | (nx x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_F | f | Cost function value at |->| | | the optimal solution |->| | | (1 x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_G | g | Constraints function |->| | | at the optimal |->| | | solution (ng x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |->| | | for bounds on X at the |->| | | solution (nx x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |->| | | for bounds on G at the |->| | | solution (ng x 1) . |->+------------------------+------------------------+------------------------+->| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |->| | | for bounds on P at the |->| | | solution (np x 1) . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| eval_errors_ | OT_BOOLEAN | false | When errors | casadi::NLPS |->| fatal | | | occur during | olverInterna |->| | | | evaluation | l |->| | | | of | |->| | | | f,g,...,stop | |->| | | | the | |->| | | | iterations | |->+--------------+--------------+--------------+--------------+--------------+->| expand | OT_BOOLEAN | false | Expand the | casadi::NLPS |->| | | | NLP function | olverInterna |->| | | | in terms of | l |->| | | | scalar | |->| | | | operations, | |->| | | | i.e. MX->SX | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| grad_f | OT_FUNCTION | GenericType( | Function for | casadi::NLPS |->| | | ) | calculating | olverInterna |->| | | | the gradient | l |->| | | | of the | |->| | | | objective | |->| | | | (column, aut | |->| | | | ogenerated | |->| | | | by default) | |->+--------------+--------------+--------------+--------------+--------------+->| grad_lag | OT_FUNCTION | GenericType( | Function for | casadi::NLPS |->| | | ) | calculating | olverInterna |->| | | | the gradient | l |->| | | | of the | |->| | | | Lagrangian ( | |->| | | | autogenerate | |->| | | | d by | |->| | | | default) | |->+--------------+--------------+--------------+--------------+--------------+->| hess_lag | OT_FUNCTION | GenericType( | Function for | casadi::NLPS |->| | | ) | calculating | olverInterna |->| | | | the Hessian | l |->| | | | of the | |->| | | | Lagrangian ( | |->| | | | autogenerate | |->| | | | d by | |->| | | | default) | |->+--------------+--------------+--------------+--------------+--------------+->| ignore_check | OT_BOOLEAN | false | If set to | casadi::NLPS |->| _vec | | | true, the | olverInterna |->| | | | input shape | l |->| | | | of F will | |->| | | | not be | |->| | | | checked. | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| iteration_ca | OT_CALLBACK | GenericType( | A function | casadi::NLPS |->| llback | | ) | that will be | olverInterna |->| | | | called at | l |->| | | | each | |->| | | | iteration | |->| | | | with the | |->| | | | solver as | |->| | | | input. Check | |->| | | | documentatio | |->| | | | n of | |->| | | | Callback . | |->+--------------+--------------+--------------+--------------+--------------+->| iteration_ca | OT_BOOLEAN | false | If set to | casadi::NLPS |->| llback_ignor | | | true, errors | olverInterna |->| e_errors | | | thrown by it | l |->| | | | eration_call | |->| | | | back will be | |->| | | | ignored. | |->+--------------+--------------+--------------+--------------+--------------+->| iteration_ca | OT_INTEGER | 1 | Only call | casadi::NLPS |->| llback_step | | | the callback | olverInterna |->| | | | function | l |->| | | | every few | |->| | | | iterations. | |->+--------------+--------------+--------------+--------------+--------------+->| jac_f | OT_FUNCTION | GenericType( | Function for | casadi::NLPS |->| | | ) | calculating | olverInterna |->| | | | the jacobian | l |->| | | | of the | |->| | | | objective | |->| | | | (sparse row, | |->| | | | autogenerate | |->| | | | d by | |->| | | | default) | |->+--------------+--------------+--------------+--------------+--------------+->| jac_g | OT_FUNCTION | GenericType( | Function for | casadi::NLPS |->| | | ) | calculating | olverInterna |->| | | | the Jacobian | l |->| | | | of the | |->| | | | constraints | |->| | | | (autogenerat | |->| | | | ed by | |->| | | | default) | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->| warn_initial | OT_BOOLEAN | false | Warn if the | casadi::NLPS |->| _bounds | | | initial | olverInterna |->| | | | guess does | l |->| | | | not satisfy | |->| | | | LBX and UBX | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: nlp_solver.hpp --}-newtype NLPSolver = NLPSolver (ForeignPtr NLPSolver')--- typeclass decl-class NLPSolverClass a where- castNLPSolver :: a -> NLPSolver-instance NLPSolverClass NLPSolver where- castNLPSolver = id---- baseclass instances-instance FunctionClass NLPSolver where- castFunction (NLPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass NLPSolver where- castOptionsFunctionality (NLPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass NLPSolver where- castPrintableObject (NLPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass NLPSolver where- castSharedObject (NLPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass NLPSolver where- castIOInterfaceFunction (NLPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal NLPSolver (Ptr NLPSolver') where- marshal (NLPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (NLPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__NLPSolver" - c_delete_casadi__NLPSolver :: FunPtr (Ptr NLPSolver' -> IO ())-instance WrapReturn (Ptr NLPSolver') NLPSolver where- wrapReturn = (fmap NLPSolver) . (newForeignPtr c_delete_casadi__NLPSolver)----- raw decl-data Nullspace'--- data decl-{-|->Base class for nullspace construction.->->Constructs a basis for the null-space of a fat matrix A. i.e. finds Z such->that AZ = 0 holds.->->The nullspace is also known as the orthogonal complement of the rowspace of->a matrix.->->It is assumed that the matrix A is of full rank.->->Implementations are not required to construct an orthogonal or orthonormal->basis Joris Gillis->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| dense | OT_BOOLEAN | true | Indicates | casadi::Null |->| | | | that dense | spaceInterna |->| | | | matrices can | l |->| | | | be assumed | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: nullspace.hpp --}-newtype Nullspace = Nullspace (ForeignPtr Nullspace')--- typeclass decl-class NullspaceClass a where- castNullspace :: a -> Nullspace-instance NullspaceClass Nullspace where- castNullspace = id---- baseclass instances-instance FunctionClass Nullspace where- castFunction (Nullspace x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass Nullspace where- castOptionsFunctionality (Nullspace x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass Nullspace where- castPrintableObject (Nullspace x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Nullspace where- castSharedObject (Nullspace x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass Nullspace where- castIOInterfaceFunction (Nullspace x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal Nullspace (Ptr Nullspace') where- marshal (Nullspace x) = return (unsafeForeignPtrToPtr x)- marshalFree (Nullspace x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Nullspace" - c_delete_casadi__Nullspace :: FunPtr (Ptr Nullspace' -> IO ())-instance WrapReturn (Ptr Nullspace') Nullspace where- wrapReturn = (fmap Nullspace) . (newForeignPtr c_delete_casadi__Nullspace)----- raw decl-data OCPSolver'--- data decl-{-|->Base class for OCP solvers.->->Joel Andersson->->>Input scheme: casadi::OCPInput (OCP_NUM_IN = 14) [ocpIn]->+------------+--------+----------------------------------------------+->| Full name | Short | Description |->+============+========+==============================================+->| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |->+------------+--------+----------------------------------------------+->| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |->+------------+--------+----------------------------------------------+->| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |->+------------+--------+----------------------------------------------+->| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |->+------------+--------+----------------------------------------------+->| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |->+------------+--------+----------------------------------------------+->| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |->+------------+--------+----------------------------------------------+->| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |->+------------+--------+----------------------------------------------+->| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |->+------------+--------+----------------------------------------------+->| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |->+------------+--------+----------------------------------------------+->| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |->+------------+--------+----------------------------------------------+->| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |->+------------+--------+----------------------------------------------+->| OCP_LBG | lbg | Lower bound for the coupling constraints . |->+------------+--------+----------------------------------------------+->| OCP_UBG | ubg | Upper bound for the coupling constraints . |->+------------+--------+----------------------------------------------+->->>Output scheme: casadi::OCPOutput (OCP_NUM_OUT = 5) [ocpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| OCP_X_OPT | x_opt | Optimal state |->| | | trajectory . |->+------------------------+------------------------+------------------------+->| OCP_U_OPT | u_opt | Optimal control |->| | | trajectory . |->+------------------------+------------------------+------------------------+->| OCP_P_OPT | p_opt | Optimal parameters . |->+------------------------+------------------------+------------------------+->| OCP_COST | cost | Objective/cost |->| | | function for optimal |->| | | solution (1 x 1) . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| final_time | OT_REAL | 1 | | casadi::OCPS |->| | | | | olverInterna |->| | | | | l |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| number_of_gr | OT_INTEGER | 20 | | casadi::OCPS |->| id_points | | | | olverInterna |->| | | | | l |->+--------------+--------------+--------------+--------------+--------------+->| number_of_pa | OT_INTEGER | 0 | | casadi::OCPS |->| rameters | | | | olverInterna |->| | | | | l |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: ocp_solver.hpp --}-newtype OCPSolver = OCPSolver (ForeignPtr OCPSolver')--- typeclass decl-class OCPSolverClass a where- castOCPSolver :: a -> OCPSolver-instance OCPSolverClass OCPSolver where- castOCPSolver = id---- baseclass instances-instance FunctionClass OCPSolver where- castFunction (OCPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass OCPSolver where- castOptionsFunctionality (OCPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass OCPSolver where- castPrintableObject (OCPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass OCPSolver where- castSharedObject (OCPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass OCPSolver where- castIOInterfaceFunction (OCPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal OCPSolver (Ptr OCPSolver') where- marshal (OCPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (OCPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__OCPSolver" - c_delete_casadi__OCPSolver :: FunPtr (Ptr OCPSolver' -> IO ())-instance WrapReturn (Ptr OCPSolver') OCPSolver where- wrapReturn = (fmap OCPSolver) . (newForeignPtr c_delete_casadi__OCPSolver)----- raw decl-data OptionsFunctionality'--- data decl-{-|->Provides options setting/getting functionality.->->Gives a derived class the ability to set and retrieve options in a->convenient way. It also contains error checking, making sure that the option->exists and that the value type is correct.->->A derived class should add option names, types and default values to the->corresponding vectors.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: options_functionality.hpp --}-newtype OptionsFunctionality = OptionsFunctionality (ForeignPtr OptionsFunctionality')--- typeclass decl-class OptionsFunctionalityClass a where- castOptionsFunctionality :: a -> OptionsFunctionality-instance OptionsFunctionalityClass OptionsFunctionality where- castOptionsFunctionality = id---- baseclass instances-instance PrintableObjectClass OptionsFunctionality where- castPrintableObject (OptionsFunctionality x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass OptionsFunctionality where- castSharedObject (OptionsFunctionality x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal OptionsFunctionality (Ptr OptionsFunctionality') where- marshal (OptionsFunctionality x) = return (unsafeForeignPtrToPtr x)- marshalFree (OptionsFunctionality x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__OptionsFunctionality" - c_delete_casadi__OptionsFunctionality :: FunPtr (Ptr OptionsFunctionality' -> IO ())-instance WrapReturn (Ptr OptionsFunctionality') OptionsFunctionality where- wrapReturn = (fmap OptionsFunctionality) . (newForeignPtr c_delete_casadi__OptionsFunctionality)----- raw decl-data Parallelizer'--- data decl-{-|->Parallelizer execution of functions.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| parallelizat | OT_STRING | "serial" | (serial|open | casadi::Para |->| ion | | | mp|mpi) | llelizerInte |->| | | | | rnal |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->>List of available stats->+-----------------+------------------------------+->| Id | Used in |->+=================+==============================+->| max_threads | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| num_threads | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| task_allocation | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| task_cputime | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| task_endtime | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| task_order | casadi::ParallelizerInternal |->+-----------------+------------------------------+->| task_starttime | casadi::ParallelizerInternal |->+-----------------+------------------------------+->->Diagrams->->C++ includes: parallelizer.hpp --}-newtype Parallelizer = Parallelizer (ForeignPtr Parallelizer')--- typeclass decl-class ParallelizerClass a where- castParallelizer :: a -> Parallelizer-instance ParallelizerClass Parallelizer where- castParallelizer = id---- baseclass instances-instance FunctionClass Parallelizer where- castFunction (Parallelizer x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass Parallelizer where- castOptionsFunctionality (Parallelizer x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass Parallelizer where- castPrintableObject (Parallelizer x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Parallelizer where- castSharedObject (Parallelizer x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass Parallelizer where- castIOInterfaceFunction (Parallelizer x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal Parallelizer (Ptr Parallelizer') where- marshal (Parallelizer x) = return (unsafeForeignPtrToPtr x)- marshalFree (Parallelizer x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Parallelizer" - c_delete_casadi__Parallelizer :: FunPtr (Ptr Parallelizer' -> IO ())-instance WrapReturn (Ptr Parallelizer') Parallelizer where- wrapReturn = (fmap Parallelizer) . (newForeignPtr c_delete_casadi__Parallelizer)----- raw decl-data PrintableObject'--- data decl-{-|->Base class for objects that have a natural string representation.->->Joel Andersson->->C++ includes: printable_object.hpp --}-newtype PrintableObject = PrintableObject (ForeignPtr PrintableObject')--- typeclass decl-class PrintableObjectClass a where- castPrintableObject :: a -> PrintableObject-instance PrintableObjectClass PrintableObject where- castPrintableObject = id---- baseclass instances---- helper instances-instance Marshal PrintableObject (Ptr PrintableObject') where- marshal (PrintableObject x) = return (unsafeForeignPtrToPtr x)- marshalFree (PrintableObject x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__PrintableObject" - c_delete_casadi__PrintableObject :: FunPtr (Ptr PrintableObject' -> IO ())-instance WrapReturn (Ptr PrintableObject') PrintableObject where- wrapReturn = (fmap PrintableObject) . (newForeignPtr c_delete_casadi__PrintableObject)----- raw decl-data QCQPSolver'--- data decl-{-|->QCQPSolver.->->Solves the following strictly convex problem:->->min 1/2 x' H x + g' x x subject to 1/2 x' Pi x + qi' x + ri <=->0 for i=0..nq-1 LBA <= A x <= UBA LBX <= x <= UBX with : H, Pi sparse->(n x n) positive definite g, qi dense (n x 1) ri scalar n: number of->decision variables (x) nc: number of linear constraints (A) nq: number of->quadratic constraints->->If H, Pi is not positive-definite, the solver should throw an error.->->Joris Gillis->->>Input scheme: casadi::QCQPSolverInput (QCQP_SOLVER_NUM_IN = 13) [qcqpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| QCQP_SOLVER_H | h | The square matrix H: |->| | | sparse, (n x n). Only |->| | | the lower triangular |->| | | part is actually used. |->| | | The matrix is assumed |->| | | to be symmetrical. |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_G | g | The vector g: dense, |->| | | (n x 1) . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_P | p | The horizontal stack |->| | | of all Pi. Each Pi is |->| | | sparse (n x n). Only |->| | | the lower triangular |->| | | part is actually used. |->| | | The matrix is assumed |->| | | to be symmetrical. |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_Q | q | The vertical stack of |->| | | all qi: dense, (nq n x |->| | | 1) . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_R | r | The vertical stack of |->| | | all scalars ri (nq x |->| | | 1) . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_A | a | The matrix A: sparse, |->| | | (nc x n) - product |->| | | with x must be dense. |->| | | . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_LBA | lba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_UBA | uba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_LBX | lbx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_UBX | ubx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_X0 | x0 | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_LAM_X0 | lam_x0 | dense |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::QCQPSolverOutput (QCQP_SOLVER_NUM_OUT = 5) [qcqpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| QCQP_SOLVER_X | x | The primal solution . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_COST | cost | The optimal cost . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to |->| | | linear bounds . |->+------------------------+------------------------+------------------------+->| QCQP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: qcqp_solver.hpp --}-newtype QCQPSolver = QCQPSolver (ForeignPtr QCQPSolver')--- typeclass decl-class QCQPSolverClass a where- castQCQPSolver :: a -> QCQPSolver-instance QCQPSolverClass QCQPSolver where- castQCQPSolver = id---- baseclass instances-instance FunctionClass QCQPSolver where- castFunction (QCQPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass QCQPSolver where- castOptionsFunctionality (QCQPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass QCQPSolver where- castPrintableObject (QCQPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass QCQPSolver where- castSharedObject (QCQPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass QCQPSolver where- castIOInterfaceFunction (QCQPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal QCQPSolver (Ptr QCQPSolver') where- marshal (QCQPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (QCQPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__QCQPSolver" - c_delete_casadi__QCQPSolver :: FunPtr (Ptr QCQPSolver' -> IO ())-instance WrapReturn (Ptr QCQPSolver') QCQPSolver where- wrapReturn = (fmap QCQPSolver) . (newForeignPtr c_delete_casadi__QCQPSolver)----- raw decl-data QPSolver'--- data decl-{-|->QPSolver.->->Solves the following strictly convex problem:->->min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA->LBX <= x <= UBX with : H sparse (n x n) positive definite->g dense (n x 1) n: number of decision variables (x) nc: number of->constraints (A)->->If H is not positive-definite, the solver should throw an error.->->Joel Andersson->->>Input scheme: casadi::QPSolverInput (QP_SOLVER_NUM_IN = 10) [qpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| QP_SOLVER_H | h | The square matrix H: |->| | | sparse, (n x n). Only |->| | | the lower triangular |->| | | part is actually used. |->| | | The matrix is assumed |->| | | to be symmetrical. |->+------------------------+------------------------+------------------------+->| QP_SOLVER_G | g | The vector g: dense, |->| | | (n x 1) . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_A | a | The matrix A: sparse, |->| | | (nc x n) - product |->| | | with x must be dense. |->| | | . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LBA | lba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| QP_SOLVER_UBA | uba | dense, (nc x 1) |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LBX | lbx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QP_SOLVER_UBX | ubx | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QP_SOLVER_X0 | x0 | dense, (n x 1) |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LAM_X0 | lam_x0 | dense |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| QP_SOLVER_X | x | The primal solution . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_COST | cost | The optimal cost . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to |->| | | linear bounds . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: qp_solver.hpp --}-newtype QPSolver = QPSolver (ForeignPtr QPSolver')--- typeclass decl-class QPSolverClass a where- castQPSolver :: a -> QPSolver-instance QPSolverClass QPSolver where- castQPSolver = id---- baseclass instances-instance FunctionClass QPSolver where- castFunction (QPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass QPSolver where- castOptionsFunctionality (QPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass QPSolver where- castPrintableObject (QPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass QPSolver where- castSharedObject (QPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass QPSolver where- castIOInterfaceFunction (QPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal QPSolver (Ptr QPSolver') where- marshal (QPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (QPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__QPSolver" - c_delete_casadi__QPSolver :: FunPtr (Ptr QPSolver' -> IO ())-instance WrapReturn (Ptr QPSolver') QPSolver where- wrapReturn = (fmap QPSolver) . (newForeignPtr c_delete_casadi__QPSolver)----- raw decl-data SDPSolver'--- data decl-{-|->SDPSolver.->->Solves an SDP problem in standard form.->Seehttp://sdpa.indsys.chuo-u.ac.jp/sdpa/files/sdpa-c.6.2.0.manual.pdf->->Primal:->->min c' x x subject to P = Sum_i^m F_i x_i - G P negative->semidefinite LBA <= A x <= UBA LBX <= x <= UBX with x ( n x 1) c ( n x 1->) G, F_i sparse symmetric (m x m) X dense symmetric ( m x m ) A sparse->matrix ( nc x n) LBA, UBA dense vector (nc x 1) LBX, UBX dense vector (n x->1)->->This formulation is chosen as primal, because it does not call for a large->decision variable space.->->Dual:->->max trace(G Y) Y subject to trace(F_i Y) = c_i Y positive->semidefinite with Y dense symmetric ( m x m)->->On generality: you might have formulation with block partitioning:->->Primal:->->min c' x x subject to Pj = Sum_i^m F_ij x_i - gj for all j Pj->negative semidefinite for all j with x ( n x 1) c ( n x 1 ) G, F_i->sparse symmetric (m x m) X dense symmetric ( m x m )->->Dual:max Sum_j trace(Gj Yj) Yj subject to Sum_j trace(F_ij Yj) =->c_i for all j Yj positive semidefinite for all j with Y dense->symmetric ( m x m)->->You can cast this into the standard form with: G = blkdiag(Gj for all j) Fi->= blkdiag(F_ij for all j)->->Implementations of SDPSolver are encouraged to exploit this block structure.->->Joel Andersson->->>Input scheme: casadi::SDPInput (SDP_SOLVER_NUM_IN = 9) [sdpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SDP_SOLVER_F | f | The horizontal stack |->| | | of all matrices F_i: ( |->| | | m x nm) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_C | c | The vector c: ( n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_G | g | The matrix G: ( m x m) |->| | | . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_A | a | The matrix A: ( nc x |->| | | n) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_LBA | lba | Lower bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_UBA | uba | Upper bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_LBX | lbx | Lower bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_UBX | ubx | Upper bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::SDPOutput (SDP_SOLVER_NUM_OUT = 8) [sdpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SDP_SOLVER_X | x | The primal solution (n |->| | | x 1) - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_P | p | The solution P (m x m) |->| | | - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_DUAL | dual | The dual solution (m x |->| | | m) - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_COST | cost | The primal optimal |->| | | cost (1 x 1) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |->| | | (1 x 1) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to the |->| | | linear constraints (nc |->| | | x 1) . |->+------------------------+------------------------+------------------------+->| SDP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds (n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| calc_dual | OT_BOOLEAN | true | Indicate if | casadi::SDPS |->| | | | dual should | olverInterna |->| | | | be allocated | l |->| | | | and | |->| | | | calculated. | |->| | | | You may want | |->| | | | to avoid | |->| | | | calculating | |->| | | | this | |->| | | | variable for | |->| | | | problems | |->| | | | with n | |->| | | | large, as is | |->| | | | always dense | |->| | | | (m x m). | |->+--------------+--------------+--------------+--------------+--------------+->| calc_p | OT_BOOLEAN | true | Indicate if | casadi::SDPS |->| | | | the P-part | olverInterna |->| | | | of primal | l |->| | | | solution | |->| | | | should be | |->| | | | allocated | |->| | | | and | |->| | | | calculated. | |->| | | | You may want | |->| | | | to avoid | |->| | | | calculating | |->| | | | this | |->| | | | variable for | |->| | | | problems | |->| | | | with n | |->| | | | large, as is | |->| | | | always dense | |->| | | | (m x m). | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| print_proble | OT_BOOLEAN | false | Print out | casadi::SDPS |->| m | | | problem | olverInterna |->| | | | statement | l |->| | | | for | |->| | | | debugging. | |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: sdp_solver.hpp --}-newtype SDPSolver = SDPSolver (ForeignPtr SDPSolver')--- typeclass decl-class SDPSolverClass a where- castSDPSolver :: a -> SDPSolver-instance SDPSolverClass SDPSolver where- castSDPSolver = id---- baseclass instances-instance FunctionClass SDPSolver where- castFunction (SDPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass SDPSolver where- castOptionsFunctionality (SDPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass SDPSolver where- castPrintableObject (SDPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass SDPSolver where- castSharedObject (SDPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass SDPSolver where- castIOInterfaceFunction (SDPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal SDPSolver (Ptr SDPSolver') where- marshal (SDPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (SDPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SDPSolver" - c_delete_casadi__SDPSolver :: FunPtr (Ptr SDPSolver' -> IO ())-instance WrapReturn (Ptr SDPSolver') SDPSolver where- wrapReturn = (fmap SDPSolver) . (newForeignPtr c_delete_casadi__SDPSolver)----- raw decl-data SDQPSolver'--- data decl-{-|->SDQPSolver.->->Same as an SDPSolver, but with a quadratic objective 1/2 x' H x->->Joel Andersson->->>Input scheme: casadi::SDQPInput (SDQP_SOLVER_NUM_IN = 10) [sdqpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SDQP_SOLVER_H | h | The matrix H: sparse ( |->| | | n x n) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_C | c | The vector c: ( n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_F | f | The horizontal stack |->| | | of all matrices F_i: ( |->| | | m x nm) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_G | g | The matrix G: ( m x m) |->| | | . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_A | a | The matrix A: ( nc x |->| | | n) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_LBA | lba | Lower bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_UBA | uba | Upper bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_LBX | lbx | Lower bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_UBX | ubx | Upper bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 8) [sdqpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SDQP_SOLVER_X | x | The primal solution (n |->| | | x 1) - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_P | p | The solution P (m x m) |->| | | - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_DUAL | dual | The dual solution (m x |->| | | m) - may be used as |->| | | initial guess . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_COST | cost | The primal optimal |->| | | cost (1 x 1) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |->| | | (1 x 1) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to the |->| | | linear constraints (nc |->| | | x 1) . |->+------------------------+------------------------+------------------------+->| SDQP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds (n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| sdp_solver | OT_STRING | GenericType( | The | casadi::SDQP |->| | | ) | SDQPSolver | SolverIntern |->| | | | used to | al |->| | | | solve the | |->| | | | SDPs. | |->+--------------+--------------+--------------+--------------+--------------+->| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | casadi::SDQP |->| ptions | Y | ) | be passed to | SolverIntern |->| | | | the | al |->| | | | SDPSOlver | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: sdqp_solver.hpp --}-newtype SDQPSolver = SDQPSolver (ForeignPtr SDQPSolver')--- typeclass decl-class SDQPSolverClass a where- castSDQPSolver :: a -> SDQPSolver-instance SDQPSolverClass SDQPSolver where- castSDQPSolver = id---- baseclass instances-instance FunctionClass SDQPSolver where- castFunction (SDQPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass SDQPSolver where- castOptionsFunctionality (SDQPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass SDQPSolver where- castPrintableObject (SDQPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass SDQPSolver where- castSharedObject (SDQPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass SDQPSolver where- castIOInterfaceFunction (SDQPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal SDQPSolver (Ptr SDQPSolver') where- marshal (SDQPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (SDQPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SDQPSolver" - c_delete_casadi__SDQPSolver :: FunPtr (Ptr SDQPSolver' -> IO ())-instance WrapReturn (Ptr SDQPSolver') SDQPSolver where- wrapReturn = (fmap SDQPSolver) . (newForeignPtr c_delete_casadi__SDQPSolver)----- raw decl-data SOCPSolver'--- data decl-{-|->SOCPSolver.->->Solves an Second Order Cone Programming (SOCP) problem in standard form.->->Primal:->->min c' x x subject to || Gi' x + hi ||_2 <= ei' x + fi i = 1..m->LBA <= A x <= UBA LBX <= x <= UBX with x ( n x 1) c ( n x 1 ) Gi sparse->(n x ni) hi dense (ni x 1) ei dense (n x 1) fi dense (1 x 1) N = Sum_i^m->ni A sparse (nc x n) LBA, UBA dense vector (nc x 1) LBX, UBX dense vector (n->x 1)->->Joris Gillis->->>Input scheme: casadi::SOCPInput (SOCP_SOLVER_NUM_IN = 11) [socpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SOCP_SOLVER_G | g | The horizontal stack |->| | | of all matrices Gi: ( |->| | | n x N) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_H | h | The vertical stack of |->| | | all vectors hi: ( N x |->| | | 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_E | e | The vertical stack of |->| | | all vectors ei: ( nm x |->| | | 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_F | f | The vertical stack of |->| | | all scalars fi: ( m x |->| | | 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_C | c | The vector c: ( n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_A | a | The matrix A: ( nc x |->| | | n) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_LBA | lba | Lower bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_UBA | uba | Upper bounds on Ax ( |->| | | nc x 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_LBX | lbx | Lower bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_UBX | ubx | Upper bounds on x ( n |->| | | x 1 ) . |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 5) [socpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| SOCP_SOLVER_X | x | The primal solution (n |->| | | x 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_COST | cost | The primal optimal |->| | | cost (1 x 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to the |->| | | linear constraints (nc |->| | | x 1) . |->+------------------------+------------------------+------------------------+->| SOCP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds (n x 1) |->| | | . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| ni | OT_INTEGERVE | GenericType( | Provide the | casadi::SOCP |->| | CTOR | ) | size of each | SolverIntern |->| | | | SOC | al |->| | | | constraint. | |->| | | | Must sum up | |->| | | | to N. | |->+--------------+--------------+--------------+--------------+--------------+->| print_proble | OT_BOOLEAN | false | Print out | casadi::SOCP |->| m | | | problem | SolverIntern |->| | | | statement | al |->| | | | for | |->| | | | debugging. | |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: socp_solver.hpp --}-newtype SOCPSolver = SOCPSolver (ForeignPtr SOCPSolver')--- typeclass decl-class SOCPSolverClass a where- castSOCPSolver :: a -> SOCPSolver-instance SOCPSolverClass SOCPSolver where- castSOCPSolver = id---- baseclass instances-instance FunctionClass SOCPSolver where- castFunction (SOCPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass SOCPSolver where- castOptionsFunctionality (SOCPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass SOCPSolver where- castPrintableObject (SOCPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass SOCPSolver where- castSharedObject (SOCPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass SOCPSolver where- castIOInterfaceFunction (SOCPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal SOCPSolver (Ptr SOCPSolver') where- marshal (SOCPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (SOCPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SOCPSolver" - c_delete_casadi__SOCPSolver :: FunPtr (Ptr SOCPSolver' -> IO ())-instance WrapReturn (Ptr SOCPSolver') SOCPSolver where- wrapReturn = (fmap SOCPSolver) . (newForeignPtr c_delete_casadi__SOCPSolver)----- raw decl-data SX'--- data decl-{-|--}-newtype SX = SX (ForeignPtr SX')--- typeclass decl-class SXClass a where- castSX :: a -> SX-instance SXClass SX where- castSX = id---- baseclass instances-instance PrintableObjectClass SX where- castPrintableObject (SX x) = PrintableObject (castForeignPtr x)----- helper instances-instance Marshal SX (Ptr SX') where- marshal (SX x) = return (unsafeForeignPtrToPtr x)- marshalFree (SX x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SX" - c_delete_casadi__SX :: FunPtr (Ptr SX' -> IO ())-instance WrapReturn (Ptr SX') SX where- wrapReturn = (fmap SX) . (newForeignPtr c_delete_casadi__SX)----- raw decl-data SXElement'--- data decl-{-|--}-newtype SXElement = SXElement (ForeignPtr SXElement')--- typeclass decl-class SXElementClass a where- castSXElement :: a -> SXElement-instance SXElementClass SXElement where- castSXElement = id---- baseclass instances---- helper instances-instance Marshal SXElement (Ptr SXElement') where- marshal (SXElement x) = return (unsafeForeignPtrToPtr x)- marshalFree (SXElement x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SXElement" - c_delete_casadi__SXElement :: FunPtr (Ptr SXElement' -> IO ())-instance WrapReturn (Ptr SXElement') SXElement where- wrapReturn = (fmap SXElement) . (newForeignPtr c_delete_casadi__SXElement)----- raw decl-data SXFunction'--- data decl-{-|->Dynamically created function that can be expanded into a series of scalar->operations.->->Joel Andersson->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| just_in_time | OT_BOOLEAN | false | Just-in-time | casadi::SXFu |->| _opencl | | | compilation | nctionIntern |->| | | | for numeric | al |->| | | | evaluation | |->| | | | using OpenCL | |->| | | | (experimenta | |->| | | | l) | |->+--------------+--------------+--------------+--------------+--------------+->| just_in_time | OT_BOOLEAN | false | Propagate | casadi::SXFu |->| _sparsity | | | sparsity | nctionIntern |->| | | | patterns | al |->| | | | using just- | |->| | | | in-time | |->| | | | compilation | |->| | | | to a CPU or | |->| | | | GPU using | |->| | | | OpenCL | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: sx_function.hpp --}-newtype SXFunction = SXFunction (ForeignPtr SXFunction')--- typeclass decl-class SXFunctionClass a where- castSXFunction :: a -> SXFunction-instance SXFunctionClass SXFunction where- castSXFunction = id---- baseclass instances-instance FunctionClass SXFunction where- castFunction (SXFunction x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass SXFunction where- castOptionsFunctionality (SXFunction x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass SXFunction where- castPrintableObject (SXFunction x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass SXFunction where- castSharedObject (SXFunction x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass SXFunction where- castIOInterfaceFunction (SXFunction x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal SXFunction (Ptr SXFunction') where- marshal (SXFunction x) = return (unsafeForeignPtrToPtr x)- marshalFree (SXFunction x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SXFunction" - c_delete_casadi__SXFunction :: FunPtr (Ptr SXFunction' -> IO ())-instance WrapReturn (Ptr SXFunction') SXFunction where- wrapReturn = (fmap SXFunction) . (newForeignPtr c_delete_casadi__SXFunction)----- raw decl-data SharedObject'--- data decl-{-|->SharedObject implements a reference counting framework similar for efficient->and easily-maintained memory management.->->To use the class, both the SharedObject class (the public class), and the->SharedObjectNode class (the internal class) must be inherited from. It can->be done in two different files and together with memory management, this->approach provides a clear distinction of which methods of the class are to->be considered "public", i.e. methods for public use that can be considered->to remain over time with small changes, and the internal memory.->->When interfacing a software, which typically includes including some header->file, this is best done only in the file where the internal class is->defined, to avoid polluting the global namespace and other side effects.->->The default constructor always means creating a null pointer to an internal->class only. To allocate an internal class (this works only when the internal->class isn't abstract), use the constructor with arguments.->->The copy constructor and the assignment operator perform shallow copies->only, to make a deep copy you must use the clone method explicitly. This->will give a shared pointer instance.->->In an inheritance hierarchy, you can cast down automatically, e.g. (->SXFunction is a child class of Function): SXFunction derived(...); Function->base = derived;->->To cast up, use the shared_cast template function, which works analogously->to dynamic_cast, static_cast, const_cast etc, e.g.: SXFunction derived(...);->Function base = derived; SXFunction derived_from_base =->shared_cast<SXFunction>(base);->->A failed shared_cast will result in a null pointer (cf. dynamic_cast)->->Joel Andersson->->C++ includes: shared_object.hpp --}-newtype SharedObject = SharedObject (ForeignPtr SharedObject')--- typeclass decl-class SharedObjectClass a where- castSharedObject :: a -> SharedObject-instance SharedObjectClass SharedObject where- castSharedObject = id---- baseclass instances-instance PrintableObjectClass SharedObject where- castPrintableObject (SharedObject x) = PrintableObject (castForeignPtr x)----- helper instances-instance Marshal SharedObject (Ptr SharedObject') where- marshal (SharedObject x) = return (unsafeForeignPtrToPtr x)- marshalFree (SharedObject x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__SharedObject" - c_delete_casadi__SharedObject :: FunPtr (Ptr SharedObject' -> IO ())-instance WrapReturn (Ptr SharedObject') SharedObject where- wrapReturn = (fmap SharedObject) . (newForeignPtr c_delete_casadi__SharedObject)----- raw decl-data Simulator'--- data decl-{-|->Integrator class.->->An "simulator" integrates an IVP, stopping at a (fixed) number of grid->points and evaluates a set of output functions at these points. The internal->stepsizes of the integrator need not coincide with the gridpoints.->->Simulator is an casadi::Function mapping from casadi::IntegratorInput to n.->\\\\->->The output function needs to be a mapping from casadi::DAEInput to n. The->default output has n=1 and the output is the (vectorized) differential state->for each time step.->->Joel Andersson->->>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| INTEGRATOR_X0 | x0 | Differential state at |->| | | the initial time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_P | p | Parameters . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_Z0 | z0 | Initial guess for the |->| | | algebraic variable . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RX0 | rx0 | Backward differential |->| | | state at the final |->| | | time . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RP | rp | Backward parameter |->| | | vector . |->+------------------------+------------------------+------------------------+->| INTEGRATOR_RZ0 | rz0 | Initial guess for the |->| | | backwards algebraic |->| | | variable . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | casadi::Simu |->| | | | uts) (initi | latorInterna |->| | | | al|step) | l |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->>List of available monitors->+---------+---------------------------+->| Id | Used in |->+=========+===========================+->| initial | casadi::SimulatorInternal |->+---------+---------------------------+->| inputs | casadi::FunctionInternal |->+---------+---------------------------+->| outputs | casadi::FunctionInternal |->+---------+---------------------------+->| step | casadi::SimulatorInternal |->+---------+---------------------------+->->Diagrams->->C++ includes: simulator.hpp --}-newtype Simulator = Simulator (ForeignPtr Simulator')--- typeclass decl-class SimulatorClass a where- castSimulator :: a -> Simulator-instance SimulatorClass Simulator where- castSimulator = id---- baseclass instances-instance FunctionClass Simulator where- castFunction (Simulator x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass Simulator where- castOptionsFunctionality (Simulator x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass Simulator where- castPrintableObject (Simulator x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Simulator where- castSharedObject (Simulator x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass Simulator where- castIOInterfaceFunction (Simulator x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal Simulator (Ptr Simulator') where- marshal (Simulator x) = return (unsafeForeignPtrToPtr x)- marshalFree (Simulator x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Simulator" - c_delete_casadi__Simulator :: FunPtr (Ptr Simulator' -> IO ())-instance WrapReturn (Ptr Simulator') Simulator where- wrapReturn = (fmap Simulator) . (newForeignPtr c_delete_casadi__Simulator)----- raw decl-data Slice'--- data decl-{-|->Class representing a Slice.->->Note that Python or Octave do not need to use this class. They can just use->slicing utility from the host language ( M[0:6] in Python, M(1:7) )->->C++ includes: slice.hpp --}-newtype Slice = Slice (ForeignPtr Slice')--- typeclass decl-class SliceClass a where- castSlice :: a -> Slice-instance SliceClass Slice where- castSlice = id---- baseclass instances-instance PrintableObjectClass Slice where- castPrintableObject (Slice x) = PrintableObject (castForeignPtr x)----- helper instances-instance Marshal Slice (Ptr Slice') where- marshal (Slice x) = return (unsafeForeignPtrToPtr x)- marshalFree (Slice x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Slice" - c_delete_casadi__Slice :: FunPtr (Ptr Slice' -> IO ())-instance WrapReturn (Ptr Slice') Slice where- wrapReturn = (fmap Slice) . (newForeignPtr c_delete_casadi__Slice)----- raw decl-data Sparsity'--- data decl-{-|->General sparsity class.->->The storage format is a compressed column storage (CCS) format. In this->format, the structural non-zero elements are stored in column-major order,->starting from the upper left corner of the matrix and ending in the lower->right corner.->->In addition to the dimension ( size1(), size2()), (i.e. the number of rows->and the number of columns respectively), there are also two vectors of->integers:->->"colind" [length size2()+1], which contains the index to the first non-->zero element on or after the corresponding column. All the non-zero elements->of a particular i are thus the elements with index el that fulfills:->colind[i] <= el < colind[i+1].->->"row" [same length as the number of non-zero elements, size()] The rows->for each of the structural non-zeros.->->Note that with this format, it is cheap to loop over all the non-zero->elements of a particular column, at constant time per element, but expensive->to jump to access a location (i, j).->->If the matrix is dense, i.e. length(row) == size1()*size2(), the format->reduces to standard dense column major format, which allows access to an->arbitrary element in constant time.->->Since the object is reference counted (it inherits from SharedObject),->several matrices are allowed to share the same sparsity pattern.->->The implementations of some methods of this class has been taken from the->CSparse package and modified to use C++ standard library and CasADi data->structures.->->See: Matrix->->Joel Andersson->->C++ includes: sparsity.hpp --}-newtype Sparsity = Sparsity (ForeignPtr Sparsity')--- typeclass decl-class SparsityClass a where- castSparsity :: a -> Sparsity-instance SparsityClass Sparsity where- castSparsity = id---- baseclass instances-instance PrintableObjectClass Sparsity where- castPrintableObject (Sparsity x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass Sparsity where- castSharedObject (Sparsity x) = SharedObject (castForeignPtr x)----- helper instances-instance Marshal Sparsity (Ptr Sparsity') where- marshal (Sparsity x) = return (unsafeForeignPtrToPtr x)- marshalFree (Sparsity x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__Sparsity" - c_delete_casadi__Sparsity :: FunPtr (Ptr Sparsity' -> IO ())-instance WrapReturn (Ptr Sparsity') Sparsity where- wrapReturn = (fmap Sparsity) . (newForeignPtr c_delete_casadi__Sparsity)----- raw decl-data StabilizedQPSolver'--- data decl-{-|->StabilizedQPSolver.->->Solves the following strictly convex problem:->->min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA LBX <= x <=->UBX with : H sparse (n x n) positive definite g dense (n x 1) n: number of->decision variables (x) nc: number of constraints (A)->->If H is not positive-definite, the solver should throw an error.->->Joel Andersson->->>Input scheme: casadi::StabilizedQPSolverInput (STABILIZED_QP_SOLVER_NUM_IN = 13) [stabilizedQpIn]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| STABILIZED_QP_SOLVER_H | h | The square matrix H: |->| | | sparse, (n x n). Only |->| | | the lower triangular |->| | | part is actually used. |->| | | The matrix is assumed |->| | | to be symmetrical. |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_G | g | The vector g: dense, |->| | | (n x 1) . |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_A | a | The matrix A: sparse, |->| | | (nc x n) - product |->| | | with x must be dense. |->| | | . |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_L | lba | dense, (nc x 1) |->| BA | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_U | uba | dense, (nc x 1) |->| BA | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_L | lbx | dense, (n x 1) |->| BX | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_U | ubx | dense, (n x 1) |->| BX | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_X | x0 | dense, (n x 1) |->| 0 | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_L | lam_x0 | dense |->| AM_X0 | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_M | muR | dense (1 x 1) |->| UR | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_M | muE | dense (nc x 1) |->| UE | | |->+------------------------+------------------------+------------------------+->| STABILIZED_QP_SOLVER_M | mu | dense (nc x 1) |->| U | | |->+------------------------+------------------------+------------------------+->->>Output scheme: casadi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]->+------------------------+------------------------+------------------------+->| Full name | Short | Description |->+========================+========================+========================+->| QP_SOLVER_X | x | The primal solution . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_COST | cost | The optimal cost . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LAM_A | lam_a | The dual solution |->| | | corresponding to |->| | | linear bounds . |->+------------------------+------------------------+------------------------+->| QP_SOLVER_LAM_X | lam_x | The dual solution |->| | | corresponding to |->| | | simple bounds . |->+------------------------+------------------------+------------------------+->->>List of available options->+--------------+--------------+--------------+--------------+--------------+->| Id | Type | Default | Description | Used in |->+==============+==============+==============+==============+==============+->| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |->| | | | calculate | tionInternal |->| | | | the | |->| | | | Jacobians. | |->| | | | (forward: | |->| | | | only forward | |->| | | | mode|reverse | |->| | | | : only | |->| | | | adjoint mode | |->| | | | |automatic: | |->| | | | a heuristic | |->| | | | decides | |->| | | | which is | |->| | | | more | |->| | | | appropriate) | |->+--------------+--------------+--------------+--------------+--------------+->| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |->| enerator | EGENERATOR | ) | that returns | tionInternal |->| | | | a derivative | |->| | | | function | |->| | | | given a | |->| | | | number of | |->| | | | forward and | |->| | | | reverse | |->| | | | directional | |->| | | | derivative, | |->| | | | overrides | |->| | | | internal | |->| | | | routines. | |->| | | | Check docume | |->| | | | ntation of D | |->| | | | erivativeGen | |->| | | | erator . | |->+--------------+--------------+--------------+--------------+--------------+->| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |->| | | | indicate | tionInternal |->| | | | whether | |->| | | | statistics | |->| | | | must be | |->| | | | gathered | |->+--------------+--------------+--------------+--------------+--------------+->| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |->| | | | exceptions | tionInternal |->| | | | when the | |->| | | | numerical | |->| | | | values of | |->| | | | the inputs | |->| | | | don't make | |->| | | | sense | |->+--------------+--------------+--------------+--------------+--------------+->| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |->| | TOR | ) | be activated | tionInternal |->| | | | (inputs|outp | |->| | | | uts) | |->+--------------+--------------+--------------+--------------+--------------+->| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |->| | | red_object" | object | onsFunctiona |->| | | | | lityNode |->+--------------+--------------+--------------+--------------+--------------+->| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |->| heck | | | exceptions | tionInternal |->| | | | when NaN or | |->| | | | Inf appears | |->| | | | during | |->| | | | evaluation | |->+--------------+--------------+--------------+--------------+--------------+->| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |->| | | ) | defined | tionInternal |->| | | | field that | |->| | | | can be used | |->| | | | to identify | |->| | | | the function | |->| | | | or pass | |->| | | | additional | |->| | | | information | |->+--------------+--------------+--------------+--------------+--------------+->| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |->| | | | evaluation | tionInternal |->| | | | for | |->| | | | debugging | |->+--------------+--------------+--------------+--------------+--------------+->->Diagrams->->C++ includes: stabilized_qp_solver.hpp --}-newtype StabilizedQPSolver = StabilizedQPSolver (ForeignPtr StabilizedQPSolver')--- typeclass decl-class StabilizedQPSolverClass a where- castStabilizedQPSolver :: a -> StabilizedQPSolver-instance StabilizedQPSolverClass StabilizedQPSolver where- castStabilizedQPSolver = id---- baseclass instances-instance FunctionClass StabilizedQPSolver where- castFunction (StabilizedQPSolver x) = Function (castForeignPtr x)--instance OptionsFunctionalityClass StabilizedQPSolver where- castOptionsFunctionality (StabilizedQPSolver x) = OptionsFunctionality (castForeignPtr x)--instance PrintableObjectClass StabilizedQPSolver where- castPrintableObject (StabilizedQPSolver x) = PrintableObject (castForeignPtr x)--instance SharedObjectClass StabilizedQPSolver where- castSharedObject (StabilizedQPSolver x) = SharedObject (castForeignPtr x)--instance IOInterfaceFunctionClass StabilizedQPSolver where- castIOInterfaceFunction (StabilizedQPSolver x) = IOInterfaceFunction (castForeignPtr x)----- helper instances-instance Marshal StabilizedQPSolver (Ptr StabilizedQPSolver') where- marshal (StabilizedQPSolver x) = return (unsafeForeignPtrToPtr x)- marshalFree (StabilizedQPSolver x) _ = touchForeignPtr x-foreign import ccall unsafe "&delete_casadi__StabilizedQPSolver" - c_delete_casadi__StabilizedQPSolver :: FunPtr (Ptr StabilizedQPSolver' -> IO ())-instance WrapReturn (Ptr StabilizedQPSolver') StabilizedQPSolver where- wrapReturn = (fmap StabilizedQPSolver) . (newForeignPtr c_delete_casadi__StabilizedQPSolver)+>NlpSolver may halt iterations if the Callback is something else than 0+>+>In python, supply a callable, annotated with pycallback decorator+>+>C++ includes: functor.hpp +-}+newtype Callback = Callback (ForeignPtr Callback')+-- typeclass decl+class CallbackClass a where+ castCallback :: a -> Callback+instance CallbackClass Callback where+ castCallback = id++-- baseclass instances+instance FunctorClass Callback where+ castFunctor (Callback x) = Functor (castForeignPtr x)++instance PrintableObjectClass Callback where+ castPrintableObject (Callback x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Callback where+ castSharedObject (Callback x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal Callback (Ptr Callback') where+ marshal (Callback x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Callback x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Callback" + c_delete_casadi__Callback :: FunPtr (Ptr Callback' -> IO ())+instance WrapReturn (Ptr Callback') Callback where+ wrapReturn = (fmap Callback) . (newForeignPtr c_delete_casadi__Callback)+++-- raw decl+data CasadiMeta'+-- data decl+{-|+>Collects global CasADi meta information.+>+>Joris Gillis+>+>C++ includes: casadi_meta.hpp +-}+newtype CasadiMeta = CasadiMeta (ForeignPtr CasadiMeta')+-- typeclass decl+class CasadiMetaClass a where+ castCasadiMeta :: a -> CasadiMeta+instance CasadiMetaClass CasadiMeta where+ castCasadiMeta = id++-- baseclass instances++-- helper instances+instance Marshal CasadiMeta (Ptr CasadiMeta') where+ marshal (CasadiMeta x) = return (unsafeForeignPtrToPtr x)+ marshalFree (CasadiMeta x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__CasadiMeta" + c_delete_casadi__CasadiMeta :: FunPtr (Ptr CasadiMeta' -> IO ())+instance WrapReturn (Ptr CasadiMeta') CasadiMeta where+ wrapReturn = (fmap CasadiMeta) . (newForeignPtr c_delete_casadi__CasadiMeta)+++-- raw decl+data CasadiOptions'+-- data decl+{-|+>Collects global CasADi options.+>+>Note to developers: use sparingly. Global options are - in general - a+>rather bad idea+>+>this class must never be instantiated. Access its static members directly+>Joris Gillis+>+>C++ includes: casadi_options.hpp +-}+newtype CasadiOptions = CasadiOptions (ForeignPtr CasadiOptions')+-- typeclass decl+class CasadiOptionsClass a where+ castCasadiOptions :: a -> CasadiOptions+instance CasadiOptionsClass CasadiOptions where+ castCasadiOptions = id++-- baseclass instances++-- helper instances+instance Marshal CasadiOptions (Ptr CasadiOptions') where+ marshal (CasadiOptions x) = return (unsafeForeignPtrToPtr x)+ marshalFree (CasadiOptions x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__CasadiOptions" + c_delete_casadi__CasadiOptions :: FunPtr (Ptr CasadiOptions' -> IO ())+instance WrapReturn (Ptr CasadiOptions') CasadiOptions where+ wrapReturn = (fmap CasadiOptions) . (newForeignPtr c_delete_casadi__CasadiOptions)+++-- raw decl+data ControlSimulator'+-- data decl+{-|+>Piecewise Simulation class.+>+>A ControlSimulator can be seen as a chain of Simulators whereby some+>parameters change from one Simulator to the next.+>+>These changing parameters can typically be interpreted as "controls" in+>the context of dynamic optimization.+>+>We discriminate between the following time steps: Major time-steps. These+>are the time steps provided by the supplied grid. Controls are constant+>inbetween major time-steps Minor time-steps. These are time steps linearly+>interpolated from one major time-step to the next. The option 'nf' regulates+>how many minor time-steps are taken. Integration time-steps. Time steps+>that the supplied integrator might choose to integrate the continuous+>dynamics. They are not important what ControlSimulator is concerned. np+>Number of parameters nu Number of controls ns The number of major grid+>points, as supplied in the constructor nf The number of minor grid points+>per major interval+>+>Joris Gillis+>+>>Input scheme: casadi::ControlSimulatorInput (CONTROLSIMULATOR_NUM_IN = 3) [controlsimulatorIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| CONTROLSIMULATOR_X0 | x0 | Differential or |+>| | | algebraic state at t0 |+>| | | (dimension nx-by-1) . |+>+------------------------+------------------------+------------------------++>| CONTROLSIMULATOR_P | p | Parameters that are |+>| | | fixed over the entire |+>| | | horizon (dimension np- |+>| | | by-1) . |+>+------------------------+------------------------+------------------------++>| CONTROLSIMULATOR_U | u | Parameters that change |+>| | | over the integration |+>| | | intervals (dimension |+>| | | nu-by-(ns-1)) . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| control_endp | OT_BOOLEAN | false | Include a | casadi::Cont |+>| oint | | | control | rolSimulator |+>| | | | value at the | Internal |+>| | | | end of the | |+>| | | | simulation | |+>| | | | domain. Used | |+>| | | | for interpol | |+>| | | | ation. | |+>+--------------+--------------+--------------+--------------+--------------++>| control_inte | OT_STRING | "none" | none|nearest | casadi::Cont |+>| rpolation | | | |linear | rolSimulator |+>| | | | | Internal |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| integrator | OT_STRING | GenericType( | An | casadi::Cont |+>| | | ) | integrator | rolSimulator |+>| | | | creator | Internal |+>| | | | function | |+>+--------------+--------------+--------------+--------------+--------------++>| integrator_o | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |+>| ptions | Y | ) | be passed to | rolSimulator |+>| | | | the | Internal |+>| | | | integrator | |+>+--------------+--------------+--------------+--------------+--------------++>| minor_grid | OT_INTEGERVE | GenericType( | The local | casadi::Cont |+>| | CTOR | ) | grid used on | rolSimulator |+>| | | | each major | Internal |+>| | | | interval, | |+>| | | | with time | |+>| | | | normalized | |+>| | | | to 1. By | |+>| | | | default, | |+>| | | | option 'nf' | |+>| | | | is used to | |+>| | | | construct a | |+>| | | | linearly | |+>| | | | spaced grid. | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| nf | OT_INTEGER | 1 | Number of | casadi::Cont |+>| | | | minor | rolSimulator |+>| | | | grained | Internal |+>| | | | integration | |+>| | | | steps per | |+>| | | | major | |+>| | | | interval. | |+>| | | | nf>0 must | |+>| | | | hold. This | |+>| | | | option is | |+>| | | | not used | |+>| | | | when | |+>| | | | 'minor_grid' | |+>| | | | is provided. | |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| simulator_op | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |+>| tions | Y | ) | be passed to | rolSimulator |+>| | | | the | Internal |+>| | | | simulator | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: control_simulator.hpp +-}+newtype ControlSimulator = ControlSimulator (ForeignPtr ControlSimulator')+-- typeclass decl+class ControlSimulatorClass a where+ castControlSimulator :: a -> ControlSimulator+instance ControlSimulatorClass ControlSimulator where+ castControlSimulator = id++-- baseclass instances+instance FunctionClass ControlSimulator where+ castFunction (ControlSimulator x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass ControlSimulator where+ castOptionsFunctionality (ControlSimulator x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass ControlSimulator where+ castPrintableObject (ControlSimulator x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass ControlSimulator where+ castSharedObject (ControlSimulator x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass ControlSimulator where+ castIOInterfaceFunction (ControlSimulator x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal ControlSimulator (Ptr ControlSimulator') where+ marshal (ControlSimulator x) = return (unsafeForeignPtrToPtr x)+ marshalFree (ControlSimulator x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__ControlSimulator" + c_delete_casadi__ControlSimulator :: FunPtr (Ptr ControlSimulator' -> IO ())+instance WrapReturn (Ptr ControlSimulator') ControlSimulator where+ wrapReturn = (fmap ControlSimulator) . (newForeignPtr c_delete_casadi__ControlSimulator)+++-- raw decl+data CustomEvaluate'+-- data decl+{-|+>CustomEvaluate.+>+>In C++, supply a CustomEvaluateCPtr function pointer+>+>In python, supply a callable, annotated with pyevaluate decorator+>+>C++ includes: functor.hpp +-}+newtype CustomEvaluate = CustomEvaluate (ForeignPtr CustomEvaluate')+-- typeclass decl+class CustomEvaluateClass a where+ castCustomEvaluate :: a -> CustomEvaluate+instance CustomEvaluateClass CustomEvaluate where+ castCustomEvaluate = id++-- baseclass instances+instance FunctorClass CustomEvaluate where+ castFunctor (CustomEvaluate x) = Functor (castForeignPtr x)++instance PrintableObjectClass CustomEvaluate where+ castPrintableObject (CustomEvaluate x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass CustomEvaluate where+ castSharedObject (CustomEvaluate x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal CustomEvaluate (Ptr CustomEvaluate') where+ marshal (CustomEvaluate x) = return (unsafeForeignPtrToPtr x)+ marshalFree (CustomEvaluate x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__CustomEvaluate" + c_delete_casadi__CustomEvaluate :: FunPtr (Ptr CustomEvaluate' -> IO ())+instance WrapReturn (Ptr CustomEvaluate') CustomEvaluate where+ wrapReturn = (fmap CustomEvaluate) . (newForeignPtr c_delete_casadi__CustomEvaluate)+++-- raw decl+data CustomFunction'+-- data decl+{-|+>Interface to a custom function.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: custom_function.hpp +-}+newtype CustomFunction = CustomFunction (ForeignPtr CustomFunction')+-- typeclass decl+class CustomFunctionClass a where+ castCustomFunction :: a -> CustomFunction+instance CustomFunctionClass CustomFunction where+ castCustomFunction = id++-- baseclass instances+instance FunctionClass CustomFunction where+ castFunction (CustomFunction x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass CustomFunction where+ castOptionsFunctionality (CustomFunction x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass CustomFunction where+ castPrintableObject (CustomFunction x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass CustomFunction where+ castSharedObject (CustomFunction x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass CustomFunction where+ castIOInterfaceFunction (CustomFunction x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal CustomFunction (Ptr CustomFunction') where+ marshal (CustomFunction x) = return (unsafeForeignPtrToPtr x)+ marshalFree (CustomFunction x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__CustomFunction" + c_delete_casadi__CustomFunction :: FunPtr (Ptr CustomFunction' -> IO ())+instance WrapReturn (Ptr CustomFunction') CustomFunction where+ wrapReturn = (fmap CustomFunction) . (newForeignPtr c_delete_casadi__CustomFunction)+++-- raw decl+data DMatrix'+-- data decl+{-|+-}+newtype DMatrix = DMatrix (ForeignPtr DMatrix')+-- typeclass decl+class DMatrixClass a where+ castDMatrix :: a -> DMatrix+instance DMatrixClass DMatrix where+ castDMatrix = id++-- baseclass instances+instance PrintableObjectClass DMatrix where+ castPrintableObject (DMatrix x) = PrintableObject (castForeignPtr x)+++-- helper instances+instance Marshal DMatrix (Ptr DMatrix') where+ marshal (DMatrix x) = return (unsafeForeignPtrToPtr x)+ marshalFree (DMatrix x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__DMatrix" + c_delete_casadi__DMatrix :: FunPtr (Ptr DMatrix' -> IO ())+instance WrapReturn (Ptr DMatrix') DMatrix where+ wrapReturn = (fmap DMatrix) . (newForeignPtr c_delete_casadi__DMatrix)+++-- raw decl+data DerivativeGenerator'+-- data decl+{-|+>Derivative Generator Functor.+>+>In C++, supply a DerivativeGeneratorCPtr function pointer+>+>In python, supply a callable, annotated with derivativegenerator decorator+>+>C++ includes: functor.hpp +-}+newtype DerivativeGenerator = DerivativeGenerator (ForeignPtr DerivativeGenerator')+-- typeclass decl+class DerivativeGeneratorClass a where+ castDerivativeGenerator :: a -> DerivativeGenerator+instance DerivativeGeneratorClass DerivativeGenerator where+ castDerivativeGenerator = id++-- baseclass instances+instance FunctorClass DerivativeGenerator where+ castFunctor (DerivativeGenerator x) = Functor (castForeignPtr x)++instance PrintableObjectClass DerivativeGenerator where+ castPrintableObject (DerivativeGenerator x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass DerivativeGenerator where+ castSharedObject (DerivativeGenerator x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal DerivativeGenerator (Ptr DerivativeGenerator') where+ marshal (DerivativeGenerator x) = return (unsafeForeignPtrToPtr x)+ marshalFree (DerivativeGenerator x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__DerivativeGenerator" + c_delete_casadi__DerivativeGenerator :: FunPtr (Ptr DerivativeGenerator' -> IO ())+instance WrapReturn (Ptr DerivativeGenerator') DerivativeGenerator where+ wrapReturn = (fmap DerivativeGenerator) . (newForeignPtr c_delete_casadi__DerivativeGenerator)+++-- raw decl+data ExternalFunction'+-- data decl+{-|+>Interface for a function that is not implemented by CasADi symbolics.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: external_function.hpp +-}+newtype ExternalFunction = ExternalFunction (ForeignPtr ExternalFunction')+-- typeclass decl+class ExternalFunctionClass a where+ castExternalFunction :: a -> ExternalFunction+instance ExternalFunctionClass ExternalFunction where+ castExternalFunction = id++-- baseclass instances+instance FunctionClass ExternalFunction where+ castFunction (ExternalFunction x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass ExternalFunction where+ castOptionsFunctionality (ExternalFunction x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass ExternalFunction where+ castPrintableObject (ExternalFunction x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass ExternalFunction where+ castSharedObject (ExternalFunction x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass ExternalFunction where+ castIOInterfaceFunction (ExternalFunction x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal ExternalFunction (Ptr ExternalFunction') where+ marshal (ExternalFunction x) = return (unsafeForeignPtrToPtr x)+ marshalFree (ExternalFunction x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__ExternalFunction" + c_delete_casadi__ExternalFunction :: FunPtr (Ptr ExternalFunction' -> IO ())+instance WrapReturn (Ptr ExternalFunction') ExternalFunction where+ wrapReturn = (fmap ExternalFunction) . (newForeignPtr c_delete_casadi__ExternalFunction)+++-- raw decl+data Function'+-- data decl+{-|+>General function.+>+>A general function $f$ in casadi can be multi-input, multi-output. Number of+>inputs: nin getNumInputs() Number of outputs: nout getNumOutputs() We can+>view this function as a being composed of a ( nin, nout) grid of single-+>input, single-output primitive functions. Each such primitive function $f_+>{i, j} \\\\forall i \\\\in [0, nin-1], j \\\\in [0, nout-1]$ can map as+>$\\\\mathbf {R}^{n, m}\\\\to\\\\mathbf{R}^{p, q}$, in which n, m, p, q can+>take different values for every (i, j) pair. When passing input, you+>specify which partition $i$ is active. You pass the numbers vectorized, as a+>vector of size $(n*m)$. When requesting output, you specify which partition+>$j$ is active. You get the numbers vectorized, as a vector of size $(p*q)$.+>To calculate Jacobians, you need to have $(m=1, q=1)$.+>+>Write the Jacobian as $J_ {i, j} = \\\\nabla f_{i, j} = \\\\frac+>{\\\\partial f_{i, j}(\\\\vec{x})}{\\\\partial \\\\vec{x}}$.+>+>Using $\\\\vec {v} \\\\in \\\\mathbf{R}^n$ as a forward seed: setFwdSeed(v,+>i) Retrieving $\\\\vec {s}_f \\\\in \\\\mathbf{R}^p$ from: getFwdSens(sf, j)+>Using $\\\\vec {w} \\\\in \\\\mathbf{R}^p$ as a forward seed: setAdjSeed(w,+>j) Retrieving $\\\\vec {s}_a \\\\in \\\\mathbf{R}^n $ from: getAdjSens(sa,+>i) We have the following relationships for function mapping from a row+>vector to a row vector:+>+>$ \\\\vec {s}_f = \\\\nabla f_{i, j} . \\\\vec{v}$ $ \\\\vec {s}_a =+>(\\\\nabla f_{i, j})^T . \\\\vec{w}$+>+>Some quantities in these formulas must be transposed: input col: transpose $+>\\\\vec {v} $ and $\\\\vec{s}_a$ output col: transpose $ \\\\vec {w} $ and+>$\\\\vec{s}_f$ NOTE: Functions are allowed to modify their input arguments+>when evaluating: implicitFunction, IDAS solver Further releases may disallow+>this.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>>List of available monitors+>+---------+--------------------------++>| Id | Used in |+>+=========+==========================++>| inputs | casadi::FunctionInternal |+>+---------+--------------------------++>| outputs | casadi::FunctionInternal |+>+---------+--------------------------++>+>Diagrams+>+>C++ includes: function.hpp +-}+newtype Function = Function (ForeignPtr Function')+-- typeclass decl+class FunctionClass a where+ castFunction :: a -> Function+instance FunctionClass Function where+ castFunction = id++-- baseclass instances+instance OptionsFunctionalityClass Function where+ castOptionsFunctionality (Function x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass Function where+ castPrintableObject (Function x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Function where+ castSharedObject (Function x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass Function where+ castIOInterfaceFunction (Function x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal Function (Ptr Function') where+ marshal (Function x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Function x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Function" + c_delete_casadi__Function :: FunPtr (Ptr Function' -> IO ())+instance WrapReturn (Ptr Function') Function where+ wrapReturn = (fmap Function) . (newForeignPtr c_delete_casadi__Function)+++-- raw decl+data Functor'+-- data decl+{-|+>Functor.+>+>Joris Gillis+>+>C++ includes: functor.hpp +-}+newtype Functor = Functor (ForeignPtr Functor')+-- typeclass decl+class FunctorClass a where+ castFunctor :: a -> Functor+instance FunctorClass Functor where+ castFunctor = id++-- baseclass instances+instance PrintableObjectClass Functor where+ castPrintableObject (Functor x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Functor where+ castSharedObject (Functor x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal Functor (Ptr Functor') where+ marshal (Functor x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Functor x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Functor" + c_delete_casadi__Functor :: FunPtr (Ptr Functor' -> IO ())+instance WrapReturn (Ptr Functor') Functor where+ wrapReturn = (fmap Functor) . (newForeignPtr c_delete_casadi__Functor)+++-- raw decl+data GenericType'+-- data decl+{-|+>Generic data type.+>+>Joel Andersson+>+>C++ includes: generic_type.hpp +-}+newtype GenericType = GenericType (ForeignPtr GenericType')+-- typeclass decl+class GenericTypeClass a where+ castGenericType :: a -> GenericType+instance GenericTypeClass GenericType where+ castGenericType = id++-- baseclass instances+instance PrintableObjectClass GenericType where+ castPrintableObject (GenericType x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass GenericType where+ castSharedObject (GenericType x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal GenericType (Ptr GenericType') where+ marshal (GenericType x) = return (unsafeForeignPtrToPtr x)+ marshalFree (GenericType x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__GenericType" + c_delete_casadi__GenericType :: FunPtr (Ptr GenericType' -> IO ())+instance WrapReturn (Ptr GenericType') GenericType where+ wrapReturn = (fmap GenericType) . (newForeignPtr c_delete_casadi__GenericType)+++-- raw decl+data HomotopyNlpSolver'+-- data decl+{-|+>Base class for Homotopy NLP Solvers.+>+>Solves the following parametric nonlinear program (NLP):min F(x, p,+>tau) x subject to LBX <= x <= UBX LBG <= G(x,+>p) <= UBG p == P nx: number of decision variables+>ng: number of constraints np: number of parameters+>+>In a homotopy from tau = 0 to tau = 1.+>+>General information+>+>>Input scheme: casadi::NlpSolverInput (NLP_SOLVER_NUM_IN = 8) [nlpSolverIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| NLP_SOLVER_X0 | x0 | Decision variables, |+>| | | initial guess (nx x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_P | p | Value of fixed |+>| | | parameters (np x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LBX | lbx | Decision variables |+>| | | lower bound (nx x 1), |+>| | | default -inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_UBX | ubx | Decision variables |+>| | | upper bound (nx x 1), |+>| | | default +inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LBG | lbg | Constraints lower |+>| | | bound (ng x 1), |+>| | | default -inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_UBG | ubg | Constraints upper |+>| | | bound (ng x 1), |+>| | | default +inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |+>| | | for bounds on X, |+>| | | initial guess (nx x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |+>| | | for bounds on G, |+>| | | initial guess (ng x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| NLP_SOLVER_X | x | Decision variables at |+>| | | the optimal solution |+>| | | (nx x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_F | f | Cost function value at |+>| | | the optimal solution |+>| | | (1 x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_G | g | Constraints function |+>| | | at the optimal |+>| | | solution (ng x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |+>| | | for bounds on X at the |+>| | | solution (nx x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |+>| | | for bounds on G at the |+>| | | solution (ng x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |+>| | | for bounds on P at the |+>| | | solution (np x 1) . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| expand | OT_BOOLEAN | false | Expand the | casadi::Homo |+>| | | | NLP function | topyNLPInter |+>| | | | in terms of | nal |+>| | | | scalar | |+>| | | | operations, | |+>| | | | i.e. MX->SX | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_HomotopyNlpSolver_simple'>simple</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>HomotopyNlpSolver.doc("myextraplugin")+>+>simple+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| nlp_solver | OT_STRING | GenericType() | The NLP solver |+>| | | | to be used by |+>| | | | the Homotopy |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |+>| ons | | | passed to the |+>| | | | Homotopy solver |+>+-----------------+-----------------+-----------------+-----------------++>| num_steps | OT_INTEGER | 10 | Take this many |+>| | | | steps to go |+>| | | | from tau=0 to |+>| | | | tau=1. |+>+-----------------+-----------------+-----------------+-----------------++>+>Joris Gillis Diagrams+>+>C++ includes: homotopy_nlp_solver.hpp +-}+newtype HomotopyNlpSolver = HomotopyNlpSolver (ForeignPtr HomotopyNlpSolver')+-- typeclass decl+class HomotopyNlpSolverClass a where+ castHomotopyNlpSolver :: a -> HomotopyNlpSolver+instance HomotopyNlpSolverClass HomotopyNlpSolver where+ castHomotopyNlpSolver = id++-- baseclass instances+instance FunctionClass HomotopyNlpSolver where+ castFunction (HomotopyNlpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass HomotopyNlpSolver where+ castOptionsFunctionality (HomotopyNlpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass HomotopyNlpSolver where+ castPrintableObject (HomotopyNlpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass HomotopyNlpSolver where+ castSharedObject (HomotopyNlpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass HomotopyNlpSolver where+ castIOInterfaceFunction (HomotopyNlpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal HomotopyNlpSolver (Ptr HomotopyNlpSolver') where+ marshal (HomotopyNlpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (HomotopyNlpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__HomotopyNlpSolver" + c_delete_casadi__HomotopyNlpSolver :: FunPtr (Ptr HomotopyNlpSolver' -> IO ())+instance WrapReturn (Ptr HomotopyNlpSolver') HomotopyNlpSolver where+ wrapReturn = (fmap HomotopyNlpSolver) . (newForeignPtr c_delete_casadi__HomotopyNlpSolver)+++-- raw decl+data IMatrix'+-- data decl+{-|+-}+newtype IMatrix = IMatrix (ForeignPtr IMatrix')+-- typeclass decl+class IMatrixClass a where+ castIMatrix :: a -> IMatrix+instance IMatrixClass IMatrix where+ castIMatrix = id++-- baseclass instances+instance PrintableObjectClass IMatrix where+ castPrintableObject (IMatrix x) = PrintableObject (castForeignPtr x)+++-- helper instances+instance Marshal IMatrix (Ptr IMatrix') where+ marshal (IMatrix x) = return (unsafeForeignPtrToPtr x)+ marshalFree (IMatrix x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__IMatrix" + c_delete_casadi__IMatrix :: FunPtr (Ptr IMatrix' -> IO ())+instance WrapReturn (Ptr IMatrix') IMatrix where+ wrapReturn = (fmap IMatrix) . (newForeignPtr c_delete_casadi__IMatrix)+++-- raw decl+data IOScheme'+-- data decl+{-|+>Class with mapping between names and indices.+>+>Joris Gillis+>+>C++ includes: io_scheme.hpp +-}+newtype IOScheme = IOScheme (ForeignPtr IOScheme')+-- typeclass decl+class IOSchemeClass a where+ castIOScheme :: a -> IOScheme+instance IOSchemeClass IOScheme where+ castIOScheme = id++-- baseclass instances+instance PrintableObjectClass IOScheme where+ castPrintableObject (IOScheme x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass IOScheme where+ castSharedObject (IOScheme x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal IOScheme (Ptr IOScheme') where+ marshal (IOScheme x) = return (unsafeForeignPtrToPtr x)+ marshalFree (IOScheme x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__IOScheme" + c_delete_casadi__IOScheme :: FunPtr (Ptr IOScheme' -> IO ())+instance WrapReturn (Ptr IOScheme') IOScheme where+ wrapReturn = (fmap IOScheme) . (newForeignPtr c_delete_casadi__IOScheme)+++-- raw decl+data ImplicitFunction'+-- data decl+{-|+>Abstract base class for the implicit function classes.+>+>The equation:+>+>F(z, x1, x2, ..., xn) == 0+>+>where d_F/dz is invertible, implicitly defines the equation:+>+>z := G(x1, x2, ..., xn)+>+>F should be an Function mapping from (n+1) inputs to m outputs. The first+>output is the residual that should be zero.+>+>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n+>may be zero. The first output is the solved for z.+>+>You can provide an initial guess for z by setting output(0) of+>ImplicitFunction.+>+>General information+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| constraints | OT_INTEGERVE | GenericType( | Constrain | casadi::Impl |+>| | CTOR | ) | the | icitFunction |+>| | | | unknowns. 0 | Internal |+>| | | | (default): | |+>| | | | no | |+>| | | | constraint | |+>| | | | on ui, 1: ui | |+>| | | | >= 0.0, -1: | |+>| | | | ui <= 0.0, | |+>| | | | 2: ui > 0.0, | |+>| | | | -2: ui < | |+>| | | | 0.0. | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| implicit_inp | OT_INTEGER | 0 | Index of the | casadi::Impl |+>| ut | | | input that | icitFunction |+>| | | | corresponds | Internal |+>| | | | to the | |+>| | | | actual root- | |+>| | | | finding | |+>+--------------+--------------+--------------+--------------+--------------++>| implicit_out | OT_INTEGER | 0 | Index of the | casadi::Impl |+>| put | | | output that | icitFunction |+>| | | | corresponds | Internal |+>| | | | to the | |+>| | | | actual root- | |+>| | | | finding | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| linear_solve | OT_STRING | GenericType( | User-defined | casadi::Impl |+>| r | | ) | linear | icitFunction |+>| | | | solver | Internal |+>| | | | class. | |+>| | | | Needed for s | |+>| | | | ensitivities | |+>| | | | . | |+>+--------------+--------------+--------------+--------------+--------------++>| linear_solve | OT_DICTIONAR | GenericType( | Options to | casadi::Impl |+>| r_options | Y | ) | be passed to | icitFunction |+>| | | | the linear | Internal |+>| | | | solver. | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_ImplicitFunction_kinsol'>kinsol</a>+>+>- <a href='#plugin_ImplicitFunction_newton'>newton</a>+>+>- <a href='#plugin_ImplicitFunction_nlp'>nlp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>ImplicitFunction.doc("myextraplugin")+>+>kinsol+>+>KINSOL interface from the Sundials suite+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| abstol | OT_REAL | 0.000 | Stopping |+>| | | | criterion |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| disable_interna | OT_BOOLEAN | false | Disable KINSOL |+>| l_warnings | | | internal |+>| | | | warning |+>| | | | messages |+>+-----------------+-----------------+-----------------+-----------------++>| exact_jacobian | OT_BOOLEAN | true | |+>+-----------------+-----------------+-----------------+-----------------++>| f_scale | OT_REALVECTOR | | |+>+-----------------+-----------------+-----------------+-----------------++>| iterative_solve | OT_STRING | "gmres" | gmres|bcgstab|t |+>| r | | | fqmr |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_t | OT_STRING | "dense" | dense|banded|it |+>| ype | | | erative|user_de |+>| | | | fined |+>+-----------------+-----------------+-----------------+-----------------++>| lower_bandwidth | OT_INTEGER | | |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 0 | Maximum number |+>| | | | of Newton |+>| | | | iterations. |+>| | | | Putting 0 sets |+>| | | | the default |+>| | | | value of |+>| | | | KinSol. |+>+-----------------+-----------------+-----------------+-----------------++>| max_krylov | OT_INTEGER | 0 | |+>+-----------------+-----------------+-----------------+-----------------++>| pretype | OT_STRING | "none" | (none|left|righ |+>| | | | t|both) |+>+-----------------+-----------------+-----------------+-----------------++>| strategy | OT_STRING | "none" | Globalization |+>| | | | strategy (none| |+>| | | | linesearch) |+>+-----------------+-----------------+-----------------+-----------------++>| u_scale | OT_REALVECTOR | | |+>+-----------------+-----------------+-----------------+-----------------++>| upper_bandwidth | OT_INTEGER | | |+>+-----------------+-----------------+-----------------+-----------------++>| use_preconditio | OT_BOOLEAN | false | precondition an |+>| ner | | | iterative |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-----------++>| Id |+>+===========++>| eval_djac |+>+-----------++>| eval_f |+>+-----------++>+>newton+>+>Implements simple newton iterations to solve an implicit function.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| abstol | OT_REAL | 0.000 | Stopping |+>| | | | criterion |+>| | | | tolerance on |+>| | | | max(|F|) |+>+-----------------+-----------------+-----------------+-----------------++>| abstolStep | OT_REAL | 0.000 | Stopping |+>| | | | criterion |+>| | | | tolerance on |+>| | | | step size |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 1000 | Maximum number |+>| | | | of Newton |+>| | | | iterations to |+>| | | | perform before |+>| | | | returning. |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+----------++>| Id |+>+==========++>| F |+>+----------++>| J |+>+----------++>| normF |+>+----------++>| step |+>+----------++>| stepsize |+>+----------++>+>>List of available stats+>+---------------++>| Id |+>+===============++>| iter |+>+---------------++>| return_status |+>+---------------++>+>nlp+>+>Use an NlpSolver as ImplicitFunction solver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| nlp_solver | OT_STRING | GenericType() | The NlpSolver |+>| | | | used to solve |+>| | | | the implicit |+>| | | | system. |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |+>| ons | | | passed to the |+>| | | | NlpSolver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+------------------++>| Id |+>+==================++>| nlp_solver_stats |+>+------------------++>+>Joel Andersson Diagrams+>+>C++ includes: implicit_function.hpp +-}+newtype ImplicitFunction = ImplicitFunction (ForeignPtr ImplicitFunction')+-- typeclass decl+class ImplicitFunctionClass a where+ castImplicitFunction :: a -> ImplicitFunction+instance ImplicitFunctionClass ImplicitFunction where+ castImplicitFunction = id++-- baseclass instances+instance FunctionClass ImplicitFunction where+ castFunction (ImplicitFunction x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass ImplicitFunction where+ castOptionsFunctionality (ImplicitFunction x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass ImplicitFunction where+ castPrintableObject (ImplicitFunction x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass ImplicitFunction where+ castSharedObject (ImplicitFunction x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass ImplicitFunction where+ castIOInterfaceFunction (ImplicitFunction x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal ImplicitFunction (Ptr ImplicitFunction') where+ marshal (ImplicitFunction x) = return (unsafeForeignPtrToPtr x)+ marshalFree (ImplicitFunction x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__ImplicitFunction" + c_delete_casadi__ImplicitFunction :: FunPtr (Ptr ImplicitFunction' -> IO ())+instance WrapReturn (Ptr ImplicitFunction') ImplicitFunction where+ wrapReturn = (fmap ImplicitFunction) . (newForeignPtr c_delete_casadi__ImplicitFunction)+++-- raw decl+data Integrator'+-- data decl+{-|+>Base class for integrators.+>+>Integrator abstract base class+>+>Solves an initial value problem (IVP) coupled to a terminal value problem+>with differential equation given as an implicit ODE coupled to an algebraic+>equation and a set of quadratures: Initial conditions at t=t0 x(t0) = x0+>q(t0) = 0 Forward integration from t=t0 to t=tf der(x) = function(x, z,+>p, t) Forward ODE 0 = fz(x, z, p, t) Forward algebraic+>equations der(q) = fq(x, z, p, t) Forward quadratures+>Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0 Backward integration+>from t=tf to t=t0 der(rx) = gx(rx, rz, rp, x, z, p, t) Backward ODE+>0 = gz(rx, rz, rp, x, z, p, t) Backward algebraic equations der(rq) =+>gq(rx, rz, rp, x, z, p, t) Backward quadratures where we assume that both+>the forward and backwards integrations are index-1 (i.e. dfz/dz, dgz/drz+>are invertible) and furthermore that gx, gz and gq have a linear dependency+>on rx, rz and rp.+>+>The Integrator class provides some additional functionality, such as getting+>the value of the state and/or sensitivities at certain time points.+>+>General information+>+>>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 6) [integratorIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| INTEGRATOR_X0 | x0 | Differential state at |+>| | | the initial time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_P | p | Parameters . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_Z0 | z0 | Initial guess for the |+>| | | algebraic variable . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RX0 | rx0 | Backward differential |+>| | | state at the final |+>| | | time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RP | rp | Backward parameter |+>| | | vector . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |+>| | | backwards algebraic |+>| | | variable . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 6) [integratorOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| INTEGRATOR_XF | xf | Differential state at |+>| | | the final time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_QF | qf | Quadrature state at |+>| | | the final time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_ZF | zf | Algebraic variable at |+>| | | the final time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RXF | rxf | Backward differential |+>| | | state at the initial |+>| | | time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RQF | rqf | Backward quadrature |+>| | | state at the initial |+>| | | time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RZF | rzf | Backward algebraic |+>| | | variable at the |+>| | | initial time . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| augmented_op | OT_DICTIONAR | GenericType( | Options to | casadi::Inte |+>| tions | Y | ) | be passed | gratorIntern |+>| | | | down to the | al |+>| | | | augmented | |+>| | | | integrator, | |+>| | | | if one is | |+>| | | | constructed. | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| expand_augme | OT_BOOLEAN | true | If DAE | casadi::Inte |+>| nted | | | callback | gratorIntern |+>| | | | functions | al |+>| | | | are | |+>| | | | SXFunction , | |+>| | | | have | |+>| | | | augmented | |+>| | | | DAE callback | |+>| | | | function | |+>| | | | also be | |+>| | | | SXFunction . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| print_stats | OT_BOOLEAN | false | Print out | casadi::Inte |+>| | | | statistics | gratorIntern |+>| | | | after | al |+>| | | | integration | |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| t0 | OT_REAL | 0 | Beginning of | casadi::Inte |+>| | | | the time | gratorIntern |+>| | | | horizon | al |+>+--------------+--------------+--------------+--------------+--------------++>| tf | OT_REAL | 1 | End of the | casadi::Inte |+>| | | | time horizon | gratorIntern |+>| | | | | al |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_Integrator_cvodes'>cvodes</a>+>+>- <a href='#plugin_Integrator_idas'>idas</a>+>+>- <a href='#plugin_Integrator_collocation'>collocation</a>+>+>- <a href='#plugin_Integrator_oldcollocation'>oldcollocation</a>+>+>- <a href='#plugin_Integrator_rk'>rk</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>Integrator.doc("myextraplugin")+>+>cvodes+>+>Interface to CVodes from the Sundials suite.+>+>A call to evaluate will integrate to the end.+>+>You can retrieve the entire state trajectory as follows, after the evaluate+>call: Call reset. Then call integrate(t_i) and getOuput for a series of+>times t_i.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| abstol | OT_REAL | 0.000 | Absolute |+>| | | | tolerence for |+>| | | | the IVP |+>| | | | solution |+>+-----------------+-----------------+-----------------+-----------------++>| abstolB | OT_REAL | GenericType() | Absolute |+>| | | | tolerence for |+>| | | | the adjoint |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to abstol] |+>+-----------------+-----------------+-----------------+-----------------++>| disable_interna | OT_BOOLEAN | false | Disable CVodes |+>| l_warnings | | | internal |+>| | | | warning |+>| | | | messages |+>+-----------------+-----------------+-----------------+-----------------++>| exact_jacobian | OT_BOOLEAN | true | Use exact |+>| | | | Jacobian |+>| | | | information for |+>| | | | the forward |+>| | | | integration |+>+-----------------+-----------------+-----------------+-----------------++>| exact_jacobianB | OT_BOOLEAN | GenericType() | Use exact |+>| | | | Jacobian |+>| | | | information for |+>| | | | the backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to |+>| | | | exact_jacobian] |+>+-----------------+-----------------+-----------------+-----------------++>| finite_differen | OT_BOOLEAN | false | Use finite |+>| ce_fsens | | | differences to |+>| | | | approximate the |+>| | | | forward |+>| | | | sensitivity |+>| | | | equations (if |+>| | | | AD is not |+>| | | | available) |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_abstol | OT_REAL | GenericType() | Absolute |+>| | | | tolerence for |+>| | | | the forward |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to abstol] |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_all_at_on | OT_BOOLEAN | true | Calculate all |+>| ce | | | right hand |+>| | | | sides of the |+>| | | | sensitivity |+>| | | | equations at |+>| | | | once |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_err_con | OT_BOOLEAN | true | include the |+>| | | | forward |+>| | | | sensitivities |+>| | | | in all error |+>| | | | controls |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_reltol | OT_REAL | GenericType() | Relative |+>| | | | tolerence for |+>| | | | the forward |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to reltol] |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_scaling_f | OT_REALVECTOR | GenericType() | Scaling factor |+>| actors | | | for the |+>| | | | components if |+>| | | | finite |+>| | | | differences is |+>| | | | used |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_sensitivi | OT_INTEGERVECTO | GenericType() | Specifies which |+>| y_parameters | R | | components will |+>| | | | be used when |+>| | | | estimating the |+>| | | | sensitivity |+>| | | | equations |+>+-----------------+-----------------+-----------------+-----------------++>| interpolation_t | OT_STRING | "hermite" | Type of |+>| ype | | | interpolation |+>| | | | for the adjoint |+>| | | | sensitivities ( |+>| | | | hermite|polynom |+>| | | | ial) |+>+-----------------+-----------------+-----------------+-----------------++>| iterative_solve | OT_STRING | "gmres" | (gmres|bcgstab| |+>| r | | | tfqmr) |+>+-----------------+-----------------+-----------------+-----------------++>| iterative_solve | OT_STRING | GenericType() | (gmres|bcgstab| |+>| rB | | | tfqmr) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_multiste | OT_STRING | "bdf" | Integrator |+>| p_method | | | scheme |+>| | | | (bdf|adams) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver | OT_STRING | GenericType() | A custom linear |+>| | | | solver creator |+>| | | | function |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solverB | OT_STRING | GenericType() | A custom linear |+>| | | | solver creator |+>| | | | function for |+>| | | | backwards |+>| | | | integration |+>| | | | [default: equal |+>| | | | to |+>| | | | linear_solver] |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |+>| ptions | | | passed to the |+>| | | | linear solver |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |+>| ptionsB | | | passed to the |+>| | | | linear solver |+>| | | | for backwards |+>| | | | integration |+>| | | | [default: equal |+>| | | | to linear_solve |+>| | | | r_options] |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_t | OT_STRING | "dense" | (user_defined|d |+>| ype | | | ense|banded|ite |+>| | | | rative) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_t | OT_STRING | GenericType() | (user_defined|d |+>| ypeB | | | ense|banded|ite |+>| | | | rative) |+>+-----------------+-----------------+-----------------+-----------------++>| lower_bandwidth | OT_INTEGER | GenericType() | Lower band- |+>| | | | width of banded |+>| | | | Jacobian |+>| | | | (estimations) |+>+-----------------+-----------------+-----------------+-----------------++>| lower_bandwidth | OT_INTEGER | GenericType() | lower band- |+>| B | | | width of banded |+>| | | | jacobians for |+>| | | | backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to lower_bandwi |+>| | | | dth] |+>+-----------------+-----------------+-----------------+-----------------++>| max_krylov | OT_INTEGER | 10 | Maximum Krylov |+>| | | | subspace size |+>+-----------------+-----------------+-----------------+-----------------++>| max_krylovB | OT_INTEGER | GenericType() | Maximum krylov |+>| | | | subspace size |+>+-----------------+-----------------+-----------------+-----------------++>| max_multistep_o | OT_INTEGER | 5 | |+>| rder | | | |+>+-----------------+-----------------+-----------------+-----------------++>| max_num_steps | OT_INTEGER | 10000 | Maximum number |+>| | | | of integrator |+>| | | | steps |+>+-----------------+-----------------+-----------------+-----------------++>| nonlinear_solve | OT_STRING | "newton" | (newton|functio |+>| r_iteration | | | nal) |+>+-----------------+-----------------+-----------------+-----------------++>| pretype | OT_STRING | "none" | (none|left|righ |+>| | | | t|both) |+>+-----------------+-----------------+-----------------+-----------------++>| pretypeB | OT_STRING | GenericType() | (none|left|righ |+>| | | | t|both) |+>+-----------------+-----------------+-----------------+-----------------++>| quad_err_con | OT_BOOLEAN | false | Should the |+>| | | | quadratures |+>| | | | affect the step |+>| | | | size control |+>+-----------------+-----------------+-----------------+-----------------++>| reltol | OT_REAL | 0.000 | Relative |+>| | | | tolerence for |+>| | | | the IVP |+>| | | | solution |+>+-----------------+-----------------+-----------------+-----------------++>| reltolB | OT_REAL | GenericType() | Relative |+>| | | | tolerence for |+>| | | | the adjoint |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to reltol] |+>+-----------------+-----------------+-----------------+-----------------++>| sensitivity_met | OT_STRING | "simultaneous" | (simultaneous|s |+>| hod | | | taggered) |+>+-----------------+-----------------+-----------------+-----------------++>| steps_per_check | OT_INTEGER | 20 | Number of steps |+>| point | | | between two |+>| | | | consecutive |+>| | | | checkpoints |+>+-----------------+-----------------+-----------------+-----------------++>| stop_at_end | OT_BOOLEAN | true | Stop the |+>| | | | integrator at |+>| | | | the end of the |+>| | | | interval |+>+-----------------+-----------------+-----------------+-----------------++>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |+>| | | | width of banded |+>| | | | Jacobian |+>| | | | (estimations) |+>+-----------------+-----------------+-----------------+-----------------++>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |+>| B | | | width of banded |+>| | | | jacobians for |+>| | | | backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to upper_bandwi |+>| | | | dth] |+>+-----------------+-----------------+-----------------+-----------------++>| use_preconditio | OT_BOOLEAN | false | Precondition an |+>| ner | | | iterative |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>| use_preconditio | OT_BOOLEAN | GenericType() | Precondition an |+>| nerB | | | iterative |+>| | | | solver for the |+>| | | | backwards |+>| | | | problem |+>| | | | [default: equal |+>| | | | to use_precondi |+>| | | | tioner] |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+---------++>| Id |+>+=========++>| djacB |+>+---------++>| psetupB |+>+---------++>| res |+>+---------++>| resB |+>+---------++>| resQB |+>+---------++>| reset |+>+---------++>+>>List of available stats+>+-------------++>| Id |+>+=============++>| nlinsetups |+>+-------------++>| nlinsetupsB |+>+-------------++>| nsteps |+>+-------------++>| nstepsB |+>+-------------++>+>idas+>+>Interface to IDAS from the Sundials suite.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| abstol | OT_REAL | 0.000 | Absolute |+>| | | | tolerence for |+>| | | | the IVP |+>| | | | solution |+>+-----------------+-----------------+-----------------+-----------------++>| abstolB | OT_REAL | GenericType() | Absolute |+>| | | | tolerence for |+>| | | | the adjoint |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to abstol] |+>+-----------------+-----------------+-----------------+-----------------++>| abstolv | OT_REALVECTOR | | |+>+-----------------+-----------------+-----------------+-----------------++>| calc_ic | OT_BOOLEAN | true | Use IDACalcIC |+>| | | | to get |+>| | | | consistent |+>| | | | initial |+>| | | | conditions. |+>+-----------------+-----------------+-----------------+-----------------++>| calc_icB | OT_BOOLEAN | GenericType() | Use IDACalcIC |+>| | | | to get |+>| | | | consistent |+>| | | | initial |+>| | | | conditions for |+>| | | | backwards |+>| | | | system |+>| | | | [default: equal |+>| | | | to calc_ic]. |+>+-----------------+-----------------+-----------------+-----------------++>| cj_scaling | OT_BOOLEAN | false | IDAS scaling on |+>| | | | cj for the |+>| | | | user-defined |+>| | | | linear solver |+>| | | | module |+>+-----------------+-----------------+-----------------+-----------------++>| disable_interna | OT_BOOLEAN | false | Disable IDAS |+>| l_warnings | | | internal |+>| | | | warning |+>| | | | messages |+>+-----------------+-----------------+-----------------+-----------------++>| exact_jacobian | OT_BOOLEAN | true | Use exact |+>| | | | Jacobian |+>| | | | information for |+>| | | | the forward |+>| | | | integration |+>+-----------------+-----------------+-----------------+-----------------++>| exact_jacobianB | OT_BOOLEAN | GenericType() | Use exact |+>| | | | Jacobian |+>| | | | information for |+>| | | | the backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to |+>| | | | exact_jacobian] |+>+-----------------+-----------------+-----------------+-----------------++>| extra_fsens_cal | OT_BOOLEAN | false | Call calc ic an |+>| c_ic | | | extra time, |+>| | | | with fsens=0 |+>+-----------------+-----------------+-----------------+-----------------++>| finite_differen | OT_BOOLEAN | false | Use finite |+>| ce_fsens | | | differences to |+>| | | | approximate the |+>| | | | forward |+>| | | | sensitivity |+>| | | | equations (if |+>| | | | AD is not |+>| | | | available) |+>+-----------------+-----------------+-----------------+-----------------++>| first_time | OT_REAL | GenericType() | First requested |+>| | | | time as a |+>| | | | fraction of the |+>| | | | time interval |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_abstol | OT_REAL | GenericType() | Absolute |+>| | | | tolerence for |+>| | | | the forward |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to abstol] |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_abstolv | OT_REALVECTOR | | |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_err_con | OT_BOOLEAN | true | include the |+>| | | | forward |+>| | | | sensitivities |+>| | | | in all error |+>| | | | controls |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_reltol | OT_REAL | GenericType() | Relative |+>| | | | tolerence for |+>| | | | the forward |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to reltol] |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_scaling_f | OT_REALVECTOR | GenericType() | Scaling factor |+>| actors | | | for the |+>| | | | components if |+>| | | | finite |+>| | | | differences is |+>| | | | used |+>+-----------------+-----------------+-----------------+-----------------++>| fsens_sensitivi | OT_INTEGERVECTO | GenericType() | Specifies which |+>| y_parameters | R | | components will |+>| | | | be used when |+>| | | | estimating the |+>| | | | sensitivity |+>| | | | equations |+>+-----------------+-----------------+-----------------+-----------------++>| init_xdot | OT_REALVECTOR | GenericType() | Initial values |+>| | | | for the state |+>| | | | derivatives |+>+-----------------+-----------------+-----------------+-----------------++>| interpolation_t | OT_STRING | "hermite" | Type of |+>| ype | | | interpolation |+>| | | | for the adjoint |+>| | | | sensitivities ( |+>| | | | hermite|polynom |+>| | | | ial) |+>+-----------------+-----------------+-----------------+-----------------++>| iterative_solve | OT_STRING | "gmres" | (gmres|bcgstab| |+>| r | | | tfqmr) |+>+-----------------+-----------------+-----------------+-----------------++>| iterative_solve | OT_STRING | GenericType() | (gmres|bcgstab| |+>| rB | | | tfqmr) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver | OT_STRING | GenericType() | A custom linear |+>| | | | solver creator |+>| | | | function |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solverB | OT_STRING | GenericType() | A custom linear |+>| | | | solver creator |+>| | | | function for |+>| | | | backwards |+>| | | | integration |+>| | | | [default: equal |+>| | | | to |+>| | | | linear_solver] |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |+>| ptions | | | passed to the |+>| | | | linear solver |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |+>| ptionsB | | | passed to the |+>| | | | linear solver |+>| | | | for backwards |+>| | | | integration |+>| | | | [default: equal |+>| | | | to linear_solve |+>| | | | r_options] |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_t | OT_STRING | "dense" | (user_defined|d |+>| ype | | | ense|banded|ite |+>| | | | rative) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver_t | OT_STRING | GenericType() | (user_defined|d |+>| ypeB | | | ense|banded|ite |+>| | | | rative) |+>+-----------------+-----------------+-----------------+-----------------++>| lower_bandwidth | OT_INTEGER | GenericType() | Lower band- |+>| | | | width of banded |+>| | | | Jacobian |+>| | | | (estimations) |+>+-----------------+-----------------+-----------------+-----------------++>| lower_bandwidth | OT_INTEGER | GenericType() | lower band- |+>| B | | | width of banded |+>| | | | jacobians for |+>| | | | backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to lower_bandwi |+>| | | | dth] |+>+-----------------+-----------------+-----------------+-----------------++>| max_krylov | OT_INTEGER | 10 | Maximum Krylov |+>| | | | subspace size |+>+-----------------+-----------------+-----------------+-----------------++>| max_krylovB | OT_INTEGER | GenericType() | Maximum krylov |+>| | | | subspace size |+>+-----------------+-----------------+-----------------+-----------------++>| max_multistep_o | OT_INTEGER | 5 | |+>| rder | | | |+>+-----------------+-----------------+-----------------+-----------------++>| max_num_steps | OT_INTEGER | 10000 | Maximum number |+>| | | | of integrator |+>| | | | steps |+>+-----------------+-----------------+-----------------+-----------------++>| max_step_size | OT_REAL | 0 | Maximim step |+>| | | | size |+>+-----------------+-----------------+-----------------+-----------------++>| pretype | OT_STRING | "none" | (none|left|righ |+>| | | | t|both) |+>+-----------------+-----------------+-----------------+-----------------++>| pretypeB | OT_STRING | GenericType() | (none|left|righ |+>| | | | t|both) |+>+-----------------+-----------------+-----------------+-----------------++>| quad_err_con | OT_BOOLEAN | false | Should the |+>| | | | quadratures |+>| | | | affect the step |+>| | | | size control |+>+-----------------+-----------------+-----------------+-----------------++>| reltol | OT_REAL | 0.000 | Relative |+>| | | | tolerence for |+>| | | | the IVP |+>| | | | solution |+>+-----------------+-----------------+-----------------+-----------------++>| reltolB | OT_REAL | GenericType() | Relative |+>| | | | tolerence for |+>| | | | the adjoint |+>| | | | sensitivity |+>| | | | solution |+>| | | | [default: equal |+>| | | | to reltol] |+>+-----------------+-----------------+-----------------+-----------------++>| sensitivity_met | OT_STRING | "simultaneous" | (simultaneous|s |+>| hod | | | taggered) |+>+-----------------+-----------------+-----------------+-----------------++>| steps_per_check | OT_INTEGER | 20 | Number of steps |+>| point | | | between two |+>| | | | consecutive |+>| | | | checkpoints |+>+-----------------+-----------------+-----------------+-----------------++>| stop_at_end | OT_BOOLEAN | true | Stop the |+>| | | | integrator at |+>| | | | the end of the |+>| | | | interval |+>+-----------------+-----------------+-----------------+-----------------++>| suppress_algebr | OT_BOOLEAN | false | Supress |+>| aic | | | algebraic |+>| | | | variables in |+>| | | | the error |+>| | | | testing |+>+-----------------+-----------------+-----------------+-----------------++>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |+>| | | | width of banded |+>| | | | Jacobian |+>| | | | (estimations) |+>+-----------------+-----------------+-----------------+-----------------++>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |+>| B | | | width of banded |+>| | | | jacobians for |+>| | | | backward |+>| | | | integration |+>| | | | [default: equal |+>| | | | to upper_bandwi |+>| | | | dth] |+>+-----------------+-----------------+-----------------+-----------------++>| use_preconditio | OT_BOOLEAN | false | Precondition an |+>| ner | | | iterative |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>| use_preconditio | OT_BOOLEAN | GenericType() | Precondition an |+>| nerB | | | iterative |+>| | | | solver for the |+>| | | | backwards |+>| | | | problem |+>| | | | [default: equal |+>| | | | to use_precondi |+>| | | | tioner] |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+--------------------------++>| Id |+>+==========================++>| bjacB |+>+--------------------------++>| correctInitialConditions |+>+--------------------------++>| jtimesB |+>+--------------------------++>| psetup |+>+--------------------------++>| psetupB |+>+--------------------------++>| psolveB |+>+--------------------------++>| res |+>+--------------------------++>| resB |+>+--------------------------++>| resS |+>+--------------------------++>| rhsQB |+>+--------------------------++>+>>List of available stats+>+-------------++>| Id |+>+=============++>| nlinsetups |+>+-------------++>| nlinsetupsB |+>+-------------++>| nsteps |+>+-------------++>| nstepsB |+>+-------------++>+>collocation+>+>Fixed-step implicit Runge-Kutta integrator ODE/DAE integrator based on+>collocation schemes+>+>The method is still under development+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| collocation_sch | OT_STRING | "radau" | Collocation |+>| eme | | | scheme (radau|l |+>| | | | egendre) |+>+-----------------+-----------------+-----------------+-----------------++>| implicit_solver | OT_STRING | GenericType() | An implicit |+>| | | | function solver |+>+-----------------+-----------------+-----------------+-----------------++>| implicit_solver | OT_DICTIONARY | GenericType() | Options to be |+>| _options | | | passed to the |+>| | | | NLP Solver |+>+-----------------+-----------------+-----------------+-----------------++>| interpolation_o | OT_INTEGER | 3 | Order of the |+>| rder | | | interpolating |+>| | | | polynomials |+>+-----------------+-----------------+-----------------+-----------------++>| number_of_finit | OT_INTEGER | 20 | Number of |+>| e_elements | | | finite elements |+>+-----------------+-----------------+-----------------+-----------------++>+>oldcollocation+>+>Collocation integrator ODE/DAE integrator based on collocation+>+>The method is still under development+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| collocation_sch | OT_STRING | "radau" | Collocation |+>| eme | | | scheme (radau|l |+>| | | | egendre) |+>+-----------------+-----------------+-----------------+-----------------++>| expand_f | OT_BOOLEAN | false | Expand the |+>| | | | ODE/DAE |+>| | | | residual |+>| | | | function in an |+>| | | | SX graph |+>+-----------------+-----------------+-----------------+-----------------++>| expand_q | OT_BOOLEAN | false | Expand the |+>| | | | quadrature |+>| | | | function in an |+>| | | | SX graph |+>+-----------------+-----------------+-----------------+-----------------++>| hotstart | OT_BOOLEAN | true | Initialize the |+>| | | | trajectory at |+>| | | | the previous |+>| | | | solution |+>+-----------------+-----------------+-----------------+-----------------++>| implicit_solver | OT_STRING | GenericType() | An implicit |+>| | | | function solver |+>+-----------------+-----------------+-----------------+-----------------++>| implicit_solver | OT_DICTIONARY | GenericType() | Options to be |+>| _options | | | passed to the |+>| | | | implicit solver |+>+-----------------+-----------------+-----------------+-----------------++>| interpolation_o | OT_INTEGER | 3 | Order of the |+>| rder | | | interpolating |+>| | | | polynomials |+>+-----------------+-----------------+-----------------+-----------------++>| number_of_finit | OT_INTEGER | 20 | Number of |+>| e_elements | | | finite elements |+>+-----------------+-----------------+-----------------+-----------------++>| startup_integra | OT_STRING | GenericType() | An ODE/DAE |+>| tor | | | integrator that |+>| | | | can be used to |+>| | | | generate a |+>| | | | startup |+>| | | | trajectory |+>+-----------------+-----------------+-----------------+-----------------++>| startup_integra | OT_DICTIONARY | GenericType() | Options to be |+>| tor_options | | | passed to the |+>| | | | startup |+>| | | | integrator |+>+-----------------+-----------------+-----------------+-----------------++>+>rk+>+>Fixed-step explicit Runge-Kutta integrator for ODEs Currently implements+>RK4.+>+>The method is still under development+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| number_of_finit | OT_INTEGER | 20 | Number of |+>| e_elements | | | finite elements |+>+-----------------+-----------------+-----------------+-----------------++>+>Joel Andersson Diagrams+>+>C++ includes: integrator.hpp +-}+newtype Integrator = Integrator (ForeignPtr Integrator')+-- typeclass decl+class IntegratorClass a where+ castIntegrator :: a -> Integrator+instance IntegratorClass Integrator where+ castIntegrator = id++-- baseclass instances+instance FunctionClass Integrator where+ castFunction (Integrator x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass Integrator where+ castOptionsFunctionality (Integrator x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass Integrator where+ castPrintableObject (Integrator x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Integrator where+ castSharedObject (Integrator x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass Integrator where+ castIOInterfaceFunction (Integrator x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal Integrator (Ptr Integrator') where+ marshal (Integrator x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Integrator x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Integrator" + c_delete_casadi__Integrator :: FunPtr (Ptr Integrator' -> IO ())+instance WrapReturn (Ptr Integrator') Integrator where+ wrapReturn = (fmap Integrator) . (newForeignPtr c_delete_casadi__Integrator)+++-- raw decl+data LinearSolver'+-- data decl+{-|+>Base class for the linear solver classes.+>+>Solves the linear system A*X = B or A^T*X = B for X with A square and non-+>singular+>+>If A is structurally singular, an error will be thrown during init. If A is+>numerically singular, the prepare step will fail.+>+>The usual procedure to use LinearSolver is: init()+>+>set the first input (A)+>+>prepare()+>+>set the second input (b)+>+>solve()+>+>Repeat steps 4 and 5 to work with other b vectors.+>+>The method evaluate() combines the prepare() and solve() step and is+>therefore more expensive if A is invariant.+>+>General information+>+>>Input scheme: casadi::LinsolInput (LINSOL_NUM_IN = 2) [linsolIn]+>+-----------+-------+------------------------------------------------++>| Full name | Short | Description |+>+===========+=======+================================================++>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |+>+-----------+-------+------------------------------------------------++>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |+>+-----------+-------+------------------------------------------------++>+>>Output scheme: casadi::LinsolOutput (LINSOL_NUM_OUT = 1) [linsolOut]+>+-----------+-------+----------------------------------------------++>| Full name | Short | Description |+>+===========+=======+==============================================++>| LINSOL_X | X | Solution to the linear system of equations . |+>+-----------+-------+----------------------------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_LinearSolver_csparsecholesky'>csparsecholesky</a>+>+>- <a href='#plugin_LinearSolver_csparse'>csparse</a>+>+>- <a href='#plugin_LinearSolver_lapacklu'>lapacklu</a>+>+>- <a href='#plugin_LinearSolver_lapackqr'>lapackqr</a>+>+>- <a href='#plugin_LinearSolver_symbolicqr'>symbolicqr</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>LinearSolver.doc("myextraplugin")+>+>csparsecholesky+>+>LinearSolver with CSparseCholesky Interface+>+>>List of available options+>+----+------+---------+-------------++>| Id | Type | Default | Description |+>+====+======+=========+=============++>+----+------+---------+-------------++>+>csparse+>+>LinearSolver with CSparse Interface+>+>>List of available options+>+----+------+---------+-------------++>| Id | Type | Default | Description |+>+====+======+=========+=============++>+----+------+---------+-------------++>+>lapacklu+>+>This class solves the linear system A.x=b by making an LU factorization of+>A: A = L.U, with L lower and U upper triangular+>+>>List of available options+>+-----------------------------+------------+---------+-------------++>| Id | Type | Default | Description |+>+=============================+============+=========+=============++>| allow_equilibration_failure | OT_BOOLEAN | false | |+>+-----------------------------+------------+---------+-------------++>| equilibration | OT_BOOLEAN | true | |+>+-----------------------------+------------+---------+-------------++>+>lapackqr+>+>This class solves the linear system A.x=b by making an QR factorization of+>A: A = Q.R, with Q orthogonal and R upper triangular+>+>>List of available options+>+----+------+---------+-------------++>| Id | Type | Default | Description |+>+====+======+=========+=============++>+----+------+---------+-------------++>+>symbolicqr+>+>LinearSolver based on QR factorization with sparsity pattern based+>reordering without partial pivoting+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| codegen | OT_BOOLEAN | false | C-code |+>| | | | generation |+>+-----------------+-----------------+-----------------+-----------------++>| compiler | OT_STRING | "gcc -fPIC -O2" | Compiler |+>| | | | command to be |+>| | | | used for |+>| | | | compiling |+>| | | | generated code |+>+-----------------+-----------------+-----------------+-----------------++>+>Joel Andersson Diagrams+>+>C++ includes: linear_solver.hpp +-}+newtype LinearSolver = LinearSolver (ForeignPtr LinearSolver')+-- typeclass decl+class LinearSolverClass a where+ castLinearSolver :: a -> LinearSolver+instance LinearSolverClass LinearSolver where+ castLinearSolver = id++-- baseclass instances+instance FunctionClass LinearSolver where+ castFunction (LinearSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass LinearSolver where+ castOptionsFunctionality (LinearSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass LinearSolver where+ castPrintableObject (LinearSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass LinearSolver where+ castSharedObject (LinearSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass LinearSolver where+ castIOInterfaceFunction (LinearSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal LinearSolver (Ptr LinearSolver') where+ marshal (LinearSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (LinearSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__LinearSolver" + c_delete_casadi__LinearSolver :: FunPtr (Ptr LinearSolver' -> IO ())+instance WrapReturn (Ptr LinearSolver') LinearSolver where+ wrapReturn = (fmap LinearSolver) . (newForeignPtr c_delete_casadi__LinearSolver)+++-- raw decl+data LpSolver'+-- data decl+{-|+>LpSolver.+>+>Solves the following linear problem:+>+>min c' x x subject to LBA <= A x <= UBA LBX <= x <= UBX with x (+>n x 1) c ( n x 1 ) A sparse matrix ( nc x n) LBA, UBA dense vector (nc x 1)+>LBX, UBX dense vector (n x 1) n: number of decision variables (x) nc:+>number of constraints (A)+>+>General information+>+>>Input scheme: casadi::LpSolverInput (LP_SOLVER_NUM_IN = 6) [lpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| LP_SOLVER_C | c | The vector c: dense (n |+>| | | x 1) . |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_A | a | The matrix A: sparse, |+>| | | (nc x n) - product |+>| | | with x must be dense. |+>| | | . |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_LBA | lba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_UBA | uba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_LBX | lbx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_UBX | ubx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::LpSolverOutput (LP_SOLVER_NUM_OUT = 4) [lpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| LP_SOLVER_X | x | The primal solution . |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_COST | cost | The optimal cost . |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to |+>| | | linear bounds . |+>+------------------------+------------------------+------------------------++>| LP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_LpSolver_qp'>qp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>LpSolver.doc("myextraplugin")+>+>qp+>+>Solve LPs using a QpSolver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| qp_solver | OT_STRING | GenericType() | The QPSOlver |+>| | | | used to solve |+>| | | | the LPs. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |+>| ns | | | passed to the |+>| | | | QPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+-----------------++>| Id |+>+=================++>| qp_solver_stats |+>+-----------------++>+>Joris Gillis Diagrams+>+>C++ includes: lp_solver.hpp +-}+newtype LpSolver = LpSolver (ForeignPtr LpSolver')+-- typeclass decl+class LpSolverClass a where+ castLpSolver :: a -> LpSolver+instance LpSolverClass LpSolver where+ castLpSolver = id++-- baseclass instances+instance FunctionClass LpSolver where+ castFunction (LpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass LpSolver where+ castOptionsFunctionality (LpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass LpSolver where+ castPrintableObject (LpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass LpSolver where+ castSharedObject (LpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass LpSolver where+ castIOInterfaceFunction (LpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal LpSolver (Ptr LpSolver') where+ marshal (LpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (LpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__LpSolver" + c_delete_casadi__LpSolver :: FunPtr (Ptr LpSolver' -> IO ())+instance WrapReturn (Ptr LpSolver') LpSolver where+ wrapReturn = (fmap LpSolver) . (newForeignPtr c_delete_casadi__LpSolver)+++-- raw decl+data MX'+-- data decl+{-|+-}+newtype MX = MX (ForeignPtr MX')+-- typeclass decl+class MXClass a where+ castMX :: a -> MX+instance MXClass MX where+ castMX = id++-- baseclass instances+instance PrintableObjectClass MX where+ castPrintableObject (MX x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass MX where+ castSharedObject (MX x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal MX (Ptr MX') where+ marshal (MX x) = return (unsafeForeignPtrToPtr x)+ marshalFree (MX x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__MX" + c_delete_casadi__MX :: FunPtr (Ptr MX' -> IO ())+instance WrapReturn (Ptr MX') MX where+ wrapReturn = (fmap MX) . (newForeignPtr c_delete_casadi__MX)+++-- raw decl+data MXFunction'+-- data decl+{-|+>General function mapping from/to MX.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: mx_function.hpp +-}+newtype MXFunction = MXFunction (ForeignPtr MXFunction')+-- typeclass decl+class MXFunctionClass a where+ castMXFunction :: a -> MXFunction+instance MXFunctionClass MXFunction where+ castMXFunction = id++-- baseclass instances+instance FunctionClass MXFunction where+ castFunction (MXFunction x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass MXFunction where+ castOptionsFunctionality (MXFunction x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass MXFunction where+ castPrintableObject (MXFunction x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass MXFunction where+ castSharedObject (MXFunction x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass MXFunction where+ castIOInterfaceFunction (MXFunction x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal MXFunction (Ptr MXFunction') where+ marshal (MXFunction x) = return (unsafeForeignPtrToPtr x)+ marshalFree (MXFunction x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__MXFunction" + c_delete_casadi__MXFunction :: FunPtr (Ptr MXFunction' -> IO ())+instance WrapReturn (Ptr MXFunction') MXFunction where+ wrapReturn = (fmap MXFunction) . (newForeignPtr c_delete_casadi__MXFunction)+++-- raw decl+data NlpSolver'+-- data decl+{-|+>NlpSolver.+>+>Solves the following parametric nonlinear program (NLP):min F(x, p)+>x subject to LBX <= x <= UBX LBG <= G(x, p) <= UBG+>p == P nx: number of decision variables ng: number of constraints+>np: number of parameters+>+>General information+>+>>Input scheme: casadi::NlpSolverInput (NLP_SOLVER_NUM_IN = 8) [nlpSolverIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| NLP_SOLVER_X0 | x0 | Decision variables, |+>| | | initial guess (nx x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_P | p | Value of fixed |+>| | | parameters (np x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LBX | lbx | Decision variables |+>| | | lower bound (nx x 1), |+>| | | default -inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_UBX | ubx | Decision variables |+>| | | upper bound (nx x 1), |+>| | | default +inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LBG | lbg | Constraints lower |+>| | | bound (ng x 1), |+>| | | default -inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_UBG | ubg | Constraints upper |+>| | | bound (ng x 1), |+>| | | default +inf . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |+>| | | for bounds on X, |+>| | | initial guess (nx x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |+>| | | for bounds on G, |+>| | | initial guess (ng x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| NLP_SOLVER_X | x | Decision variables at |+>| | | the optimal solution |+>| | | (nx x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_F | f | Cost function value at |+>| | | the optimal solution |+>| | | (1 x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_G | g | Constraints function |+>| | | at the optimal |+>| | | solution (ng x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |+>| | | for bounds on X at the |+>| | | solution (nx x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |+>| | | for bounds on G at the |+>| | | solution (ng x 1) . |+>+------------------------+------------------------+------------------------++>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |+>| | | for bounds on P at the |+>| | | solution (np x 1) . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| eval_errors_ | OT_BOOLEAN | false | When errors | casadi::NlpS |+>| fatal | | | occur during | olverInterna |+>| | | | evaluation | l |+>| | | | of | |+>| | | | f,g,...,stop | |+>| | | | the | |+>| | | | iterations | |+>+--------------+--------------+--------------+--------------+--------------++>| expand | OT_BOOLEAN | false | Expand the | casadi::NlpS |+>| | | | NLP function | olverInterna |+>| | | | in terms of | l |+>| | | | scalar | |+>| | | | operations, | |+>| | | | i.e. MX->SX | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| grad_f | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |+>| | | ) | calculating | olverInterna |+>| | | | the gradient | l |+>| | | | of the | |+>| | | | objective | |+>| | | | (column, aut | |+>| | | | ogenerated | |+>| | | | by default) | |+>+--------------+--------------+--------------+--------------+--------------++>| grad_lag | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |+>| | | ) | calculating | olverInterna |+>| | | | the gradient | l |+>| | | | of the | |+>| | | | Lagrangian ( | |+>| | | | autogenerate | |+>| | | | d by | |+>| | | | default) | |+>+--------------+--------------+--------------+--------------+--------------++>| hess_lag | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |+>| | | ) | calculating | olverInterna |+>| | | | the Hessian | l |+>| | | | of the | |+>| | | | Lagrangian ( | |+>| | | | autogenerate | |+>| | | | d by | |+>| | | | default) | |+>+--------------+--------------+--------------+--------------+--------------++>| ignore_check | OT_BOOLEAN | false | If set to | casadi::NlpS |+>| _vec | | | true, the | olverInterna |+>| | | | input shape | l |+>| | | | of F will | |+>| | | | not be | |+>| | | | checked. | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| iteration_ca | OT_CALLBACK | GenericType( | A function | casadi::NlpS |+>| llback | | ) | that will be | olverInterna |+>| | | | called at | l |+>| | | | each | |+>| | | | iteration | |+>| | | | with the | |+>| | | | solver as | |+>| | | | input. Check | |+>| | | | documentatio | |+>| | | | n of | |+>| | | | Callback . | |+>+--------------+--------------+--------------+--------------+--------------++>| iteration_ca | OT_BOOLEAN | false | If set to | casadi::NlpS |+>| llback_ignor | | | true, errors | olverInterna |+>| e_errors | | | thrown by it | l |+>| | | | eration_call | |+>| | | | back will be | |+>| | | | ignored. | |+>+--------------+--------------+--------------+--------------+--------------++>| iteration_ca | OT_INTEGER | 1 | Only call | casadi::NlpS |+>| llback_step | | | the callback | olverInterna |+>| | | | function | l |+>| | | | every few | |+>| | | | iterations. | |+>+--------------+--------------+--------------+--------------+--------------++>| jac_f | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |+>| | | ) | calculating | olverInterna |+>| | | | the jacobian | l |+>| | | | of the | |+>| | | | objective | |+>| | | | (sparse row, | |+>| | | | autogenerate | |+>| | | | d by | |+>| | | | default) | |+>+--------------+--------------+--------------+--------------+--------------++>| jac_g | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |+>| | | ) | calculating | olverInterna |+>| | | | the Jacobian | l |+>| | | | of the | |+>| | | | constraints | |+>| | | | (autogenerat | |+>| | | | ed by | |+>| | | | default) | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>| warn_initial | OT_BOOLEAN | false | Warn if the | casadi::NlpS |+>| _bounds | | | initial | olverInterna |+>| | | | guess does | l |+>| | | | not satisfy | |+>| | | | LBX and UBX | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_NlpSolver_ipopt'>ipopt</a>+>+>- <a href='#plugin_NlpSolver_knitro'>knitro</a>+>+>- <a href='#plugin_NlpSolver_snopt'>snopt</a>+>+>- <a href='#plugin_NlpSolver_worhp'>worhp</a>+>+>- <a href='#plugin_NlpSolver_scpgen'>scpgen</a>+>+>- <a href='#plugin_NlpSolver_sqpmethod'>sqpmethod</a>+>+>- <a href='#plugin_NlpSolver_stabilizedsqp'>stabilizedsqp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>NlpSolver.doc("myextraplugin")+>+>ipopt+>+>When in warmstart mode, output NLP_SOLVER_LAM_X may be used as input+>+>NOTE: Even when max_iter == 0, it is not guaranteed that+>input(NLP_SOLVER_X0) == output(NLP_SOLVER_X). Indeed if bounds on X or+>constraints are unmet, they will differ.+>+>For a good tutorial on IPOPT,+>seehttp://drops.dagstuhl.de/volltexte/2009/2089/pdf/09061.WaechterAndreas.Paper.2089.pdf+>+>A good resource about the algorithms in IPOPT is: Wachter and L. T. Biegler,+>On the Implementation of an Interior-Point Filter Line-Search Algorithm for+>Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp.+>25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center,+>Yorktown, USA+>+>Caveats: with default options, multipliers for the decision variables are+>wrong for equality constraints. Change the 'fixed_variable_treatment' to+>'make_constraint' or 'relax_bounds' to obtain correct results.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| accept_after_ma | OT_INTEGER | -1 | Accept a trial |+>| x_steps | | | point after |+>| | | | maximal this |+>| | | | number of |+>| | | | steps. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| accept_every_tr | OT_STRING | no | Always accept |+>| ial_step | | | the first trial |+>| | | | step. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_comp | OT_REAL | 0.010 | "Acceptance" |+>| l_inf_tol | | | threshold for |+>| | | | the |+>| | | | complementarity |+>| | | | conditions. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_cons | OT_REAL | 0.010 | "Acceptance" |+>| tr_viol_tol | | | threshold for |+>| | | | the constraint |+>| | | | violation. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_dual | OT_REAL | 1.000e+10 | "Acceptance" |+>| _inf_tol | | | threshold for |+>| | | | the dual |+>| | | | infeasibility. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_iter | OT_INTEGER | 15 | Number of |+>| | | | "acceptable" |+>| | | | iterates before |+>| | | | triggering |+>| | | | termination. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_obj_ | OT_REAL | 1.000e+20 | "Acceptance" |+>| change_tol | | | stopping |+>| | | | criterion based |+>| | | | on objective |+>| | | | function |+>| | | | change. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| acceptable_tol | OT_REAL | 0.000 | "Acceptable" |+>| | | | convergence |+>| | | | tolerance |+>| | | | (relative). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_glo | OT_STRING | obj-constr- | Globalization |+>| balization | | filter | strategy for |+>| | | | the adaptive mu |+>| | | | selection mode. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_kkt | OT_STRING | 2-norm-squared | Norm used for |+>| _norm_type | | | the KKT error |+>| | | | in the adaptive |+>| | | | mu |+>| | | | globalization |+>| | | | strategies. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_kkt | OT_REAL | 1.000 | Sufficient |+>| error_red_fact | | | decrease factor |+>| | | | for "kkt-error" |+>| | | | globalization |+>| | | | strategy. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_kkt | OT_INTEGER | 4 | Maximum number |+>| error_red_iters | | | of iterations |+>| | | | requiring |+>| | | | sufficient |+>| | | | progress. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_mon | OT_REAL | 0.800 | Determines the |+>| otone_init_fact | | | initial value |+>| or | | | of the barrier |+>| | | | parameter when |+>| | | | switching to |+>| | | | the monotone |+>| | | | mode. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_res | OT_STRING | no | Indicates if |+>| tore_previous_i | | | the previous |+>| terate | | | iterate should |+>| | | | be restored if |+>| | | | the monotone |+>| | | | mode is |+>| | | | entered. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| adaptive_mu_saf | OT_REAL | 0 | (see IPOPT |+>| eguard_factor | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| alpha_for_y | OT_STRING | primal | Method to |+>| | | | determine the |+>| | | | step size for |+>| | | | constraint |+>| | | | multipliers. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| alpha_for_y_tol | OT_REAL | 10 | Tolerance for |+>| | | | switching to |+>| | | | full equality |+>| | | | multiplier |+>| | | | steps. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| alpha_min_frac | OT_REAL | 0.050 | Safety factor |+>| | | | for the minimal |+>| | | | step size |+>| | | | (before |+>| | | | switching to |+>| | | | restoration |+>| | | | phase). (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| alpha_red_facto | OT_REAL | 0.500 | Fractional |+>| r | | | reduction of |+>| | | | the trial step |+>| | | | size in the |+>| | | | backtracking |+>| | | | line search. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| barrier_tol_fac | OT_REAL | 10 | Factor for mu |+>| tor | | | in barrier stop |+>| | | | test. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_frac | OT_REAL | 0.010 | Desired minimum |+>| | | | relative |+>| | | | distance from |+>| | | | the initial |+>| | | | point to bound. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_mult_init | OT_STRING | constant | Initialization |+>| _method | | | method for |+>| | | | bound |+>| | | | multipliers |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_mult_init | OT_REAL | 1 | Initial value |+>| _val | | | for the bound |+>| | | | multipliers. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_mult_rese | OT_REAL | 1000 | Threshold for |+>| t_threshold | | | resetting bound |+>| | | | multipliers |+>| | | | after the |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_push | OT_REAL | 0.010 | Desired minimum |+>| | | | absolute |+>| | | | distance from |+>| | | | the initial |+>| | | | point to bound. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| bound_relax_fac | OT_REAL | 0.000 | Factor for |+>| tor | | | initial |+>| | | | relaxation of |+>| | | | the bounds. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| check_derivativ | OT_STRING | no | Indicates |+>| es_for_naninf | | | whether it is |+>| | | | desired to |+>| | | | check for |+>| | | | Nan/Inf in |+>| | | | derivative |+>| | | | matrices (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| chi_cup | OT_REAL | 1.500 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| chi_hat | OT_REAL | 2 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| chi_tilde | OT_REAL | 5 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| compl_inf_tol | OT_REAL | 0.000 | Desired |+>| | | | threshold for |+>| | | | the |+>| | | | complementarity |+>| | | | conditions. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| con_integer_md | OT_DICTIONARY | None | Integer |+>| | | | metadata (a |+>| | | | dictionary with |+>| | | | lists of |+>| | | | integers) about |+>| | | | constraints to |+>| | | | be passed to |+>| | | | IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| con_numeric_md | OT_DICTIONARY | None | Numeric |+>| | | | metadata (a |+>| | | | dictionary with |+>| | | | lists of reals) |+>| | | | about |+>| | | | constraints to |+>| | | | be passed to |+>| | | | IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| con_string_md | OT_DICTIONARY | None | String metadata |+>| | | | (a dictionary |+>| | | | with lists of |+>| | | | strings) about |+>| | | | constraints to |+>| | | | be passed to |+>| | | | IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| constr_mult_ini | OT_REAL | 1000 | Maximum allowed |+>| t_max | | | least-square |+>| | | | guess of |+>| | | | constraint |+>| | | | multipliers. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| constr_mult_res | OT_REAL | 0 | Threshold for |+>| et_threshold | | | resetting |+>| | | | equality and |+>| | | | inequality |+>| | | | multipliers |+>| | | | after |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| constr_viol_tol | OT_REAL | 0.000 | Desired |+>| | | | threshold for |+>| | | | the constraint |+>| | | | violation. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| constraint_viol | OT_STRING | 1-norm | Norm to be used |+>| ation_norm_type | | | for the |+>| | | | constraint |+>| | | | violation in |+>| | | | the line |+>| | | | search. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| corrector_compl | OT_REAL | 1 | Complementarity |+>| _avrg_red_fact | | | tolerance |+>| | | | factor for |+>| | | | accepting |+>| | | | corrector step |+>| | | | (unsupported!). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| corrector_type | OT_STRING | none | The type of |+>| | | | corrector steps |+>| | | | that should be |+>| | | | taken |+>| | | | (unsupported!). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| delta | OT_REAL | 1 | Multiplier for |+>| | | | constraint |+>| | | | violation in |+>| | | | the switching |+>| | | | rule. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| delta_y_max | OT_REAL | 1.000e+12 | a parameter |+>| | | | used to check |+>| | | | if the fast |+>| | | | direction can |+>| | | | be used asthe |+>| | | | line search |+>| | | | direction (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| dependency_dete | OT_STRING | no | Indicates if |+>| ction_with_rhs | | | the right hand |+>| | | | sides of the |+>| | | | constraints |+>| | | | should be |+>| | | | considered |+>| | | | during |+>| | | | dependency |+>| | | | detection (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| dependency_dete | OT_STRING | none | Indicates which |+>| ctor | | | linear solver |+>| | | | should be used |+>| | | | to detect |+>| | | | linearly |+>| | | | dependent |+>| | | | equality |+>| | | | constraints. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| derivative_test | OT_STRING | none | Enable |+>| | | | derivative |+>| | | | checker (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| derivative_test | OT_INTEGER | -2 | Index of first |+>| _first_index | | | quantity to be |+>| | | | checked by |+>| | | | derivative |+>| | | | checker (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| derivative_test | OT_REAL | 0.000 | Size of the |+>| _perturbation | | | finite |+>| | | | difference |+>| | | | perturbation in |+>| | | | derivative |+>| | | | test. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| derivative_test | OT_STRING | no | Indicates |+>| _print_all | | | whether |+>| | | | information for |+>| | | | all estimated |+>| | | | derivatives |+>| | | | should be |+>| | | | printed. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| derivative_test | OT_REAL | 0.000 | Threshold for |+>| _tol | | | indicating |+>| | | | wrong |+>| | | | derivative. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| diverging_itera | OT_REAL | 1.000e+20 | Threshold for |+>| tes_tol | | | maximal value |+>| | | | of primal |+>| | | | iterates. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| dual_inf_tol | OT_REAL | 1 | Desired |+>| | | | threshold for |+>| | | | the dual |+>| | | | infeasibility. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| epsilon_c | OT_REAL | 0.010 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| eta_min | OT_REAL | 10 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| eta_penalty | OT_REAL | 0.000 | Relaxation |+>| | | | factor in the |+>| | | | Armijo |+>| | | | condition for |+>| | | | the penalty |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| eta_phi | OT_REAL | 0.000 | Relaxation |+>| | | | factor in the |+>| | | | Armijo |+>| | | | condition. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| evaluate_orig_o | OT_STRING | yes | Determines if |+>| bj_at_resto_tri | | | the original |+>| al | | | objective |+>| | | | function should |+>| | | | be evaluated at |+>| | | | restoration |+>| | | | phase trial |+>| | | | points. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| expect_infeasib | OT_STRING | no | Enable |+>| le_problem | | | heuristics to |+>| | | | quickly detect |+>| | | | an infeasible |+>| | | | problem. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| expect_infeasib | OT_REAL | 0.001 | Threshold for |+>| le_problem_ctol | | | disabling "expe |+>| | | | ct_infeasible_p |+>| | | | roblem" option. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| expect_infeasib | OT_REAL | 100000000 | Multiplier |+>| le_problem_ytol | | | threshold for |+>| | | | activating "exp |+>| | | | ect_infeasible_ |+>| | | | problem" |+>| | | | option. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| fast_des_fact | OT_REAL | 0.100 | a parameter |+>| | | | used to check |+>| | | | if the fast |+>| | | | direction can |+>| | | | be used asthe |+>| | | | line search |+>| | | | direction (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| fast_step_compu | OT_STRING | no | Indicates if |+>| tation | | | the linear |+>| | | | system should |+>| | | | be solved |+>| | | | quickly. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| file_print_leve | OT_INTEGER | 5 | Verbosity level |+>| l | | | for output |+>| | | | file. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| filter_margin_f | OT_REAL | 0.000 | Factor |+>| act | | | determining |+>| | | | width of margin |+>| | | | for obj-constr- |+>| | | | filter adaptive |+>| | | | globalization |+>| | | | strategy. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| filter_max_marg | OT_REAL | 1 | Maximum width |+>| in | | | of margin in |+>| | | | obj-constr- |+>| | | | filter adaptive |+>| | | | globalization |+>| | | | strategy. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| filter_reset_tr | OT_INTEGER | 5 | Number of |+>| igger | | | iterations that |+>| | | | trigger the |+>| | | | filter reset. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| findiff_perturb | OT_REAL | 0.000 | Size of the |+>| ation | | | finite |+>| | | | difference |+>| | | | perturbation |+>| | | | for derivative |+>| | | | approximation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| first_hessian_p | OT_REAL | 0.000 | Size of first |+>| erturbation | | | x-s |+>| | | | perturbation |+>| | | | tried. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| fixed_mu_oracle | OT_STRING | average_compl | Oracle for the |+>| | | | barrier |+>| | | | parameter when |+>| | | | switching to |+>| | | | fixed mode. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| fixed_variable_ | OT_STRING | make_parameter | Determines how |+>| treatment | | | fixed variables |+>| | | | should be |+>| | | | handled. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| gamma_hat | OT_REAL | 0.040 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| gamma_phi | OT_REAL | 0.000 | Relaxation |+>| | | | factor in the |+>| | | | filter margin |+>| | | | for the barrier |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| gamma_theta | OT_REAL | 0.000 | Relaxation |+>| | | | factor in the |+>| | | | filter margin |+>| | | | for the |+>| | | | constraint |+>| | | | violation. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| gamma_tilde | OT_REAL | 4 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_approxi | OT_STRING | exact | Indicates what |+>| mation | | | Hessian |+>| | | | information is |+>| | | | to be used. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_approxi | OT_STRING | nonlinear- | Indicates in |+>| mation_space | | variables | which subspace |+>| | | | the Hessian |+>| | | | information is |+>| | | | to be |+>| | | | approximated. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_constan | OT_STRING | no | Indicates |+>| t | | | whether the |+>| | | | problem is a |+>| | | | quadratic |+>| | | | problem (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| honor_original_ | OT_STRING | yes | Indicates |+>| bounds | | | whether final |+>| | | | points should |+>| | | | be projected |+>| | | | into original |+>| | | | bounds. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| inf_pr_output | OT_STRING | original | Determines what |+>| | | | value is |+>| | | | printed in the |+>| | | | "inf_pr" output |+>| | | | column. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| jac_c_constant | OT_STRING | no | Indicates |+>| | | | whether all |+>| | | | equality |+>| | | | constraints are |+>| | | | linear (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| jac_d_constant | OT_STRING | no | Indicates |+>| | | | whether all |+>| | | | inequality |+>| | | | constraints are |+>| | | | linear (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| jacobian_approx | OT_STRING | exact | Specifies |+>| imation | | | technique to |+>| | | | compute |+>| | | | constraint |+>| | | | Jacobian (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| jacobian_regula | OT_REAL | 0.250 | Exponent for mu |+>| rization_expone | | | in the |+>| nt | | | regularization |+>| | | | for rank- |+>| | | | deficient |+>| | | | constraint |+>| | | | Jacobians. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| jacobian_regula | OT_REAL | 0.000 | Size of the |+>| rization_value | | | regularization |+>| | | | for rank- |+>| | | | deficient |+>| | | | constraint |+>| | | | Jacobians. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| kappa_d | OT_REAL | 0.000 | Weight for |+>| | | | linear damping |+>| | | | term (to handle |+>| | | | one-sided |+>| | | | bounds). (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| kappa_sigma | OT_REAL | 1.000e+10 | Factor limiting |+>| | | | the deviation |+>| | | | of dual |+>| | | | variables from |+>| | | | primal |+>| | | | estimates. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| kappa_soc | OT_REAL | 0.990 | Factor in the |+>| | | | sufficient |+>| | | | reduction rule |+>| | | | for second |+>| | | | order |+>| | | | correction. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| kappa_x_dis | OT_REAL | 100 | a parameter |+>| | | | used to check |+>| | | | if the fast |+>| | | | direction can |+>| | | | be used asthe |+>| | | | line search |+>| | | | direction (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| kappa_y_dis | OT_REAL | 10000 | a parameter |+>| | | | used to check |+>| | | | if the fast |+>| | | | direction can |+>| | | | be used asthe |+>| | | | line search |+>| | | | direction (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| least_square_in | OT_STRING | no | Least square |+>| it_duals | | | initialization |+>| | | | of all dual |+>| | | | variables (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| least_square_in | OT_STRING | no | Least square |+>| it_primal | | | initialization |+>| | | | of the primal |+>| | | | variables (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_STRING | sherman- | Strategy for |+>| aug_solver | | morrison | solving the |+>| | | | augmented |+>| | | | system for low- |+>| | | | rank Hessian. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_REAL | 1 | Value for B0 in |+>| init_val | | | low-rank |+>| | | | update. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_REAL | 100000000 | Upper bound on |+>| init_val_max | | | value for B0 in |+>| | | | low-rank |+>| | | | update. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_REAL | 0.000 | Lower bound on |+>| init_val_min | | | value for B0 in |+>| | | | low-rank |+>| | | | update. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_STRING | scalar1 | Initialization |+>| initialization | | | strategy for |+>| | | | the limited |+>| | | | memory quasi- |+>| | | | Newton |+>| | | | approximation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_INTEGER | 6 | Maximum size of |+>| max_history | | | the history for |+>| | | | the limited |+>| | | | quasi-Newton |+>| | | | Hessian |+>| | | | approximation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_INTEGER | 2 | Threshold for |+>| max_skipping | | | successive |+>| | | | iterations |+>| | | | where update is |+>| | | | skipped. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_STRING | no | Determines if |+>| special_for_res | | | the quasi- |+>| to | | | Newton updates |+>| | | | should be |+>| | | | special during |+>| | | | the restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| limited_memory_ | OT_STRING | bfgs | Quasi-Newton |+>| update_type | | | update formula |+>| | | | for the limited |+>| | | | memory |+>| | | | approximation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| line_search_met | OT_STRING | filter | Globalization |+>| hod | | | method used in |+>| | | | backtracking |+>| | | | line search |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_scaling_ | OT_STRING | yes | Flag indicating |+>| on_demand | | | that linear |+>| | | | scaling is only |+>| | | | done if it |+>| | | | seems required. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_solver | OT_STRING | mumps | Linear solver |+>| | | | used for step |+>| | | | computations. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| linear_system_s | OT_STRING | none | Method for |+>| caling | | | scaling the |+>| | | | linear system. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_ignore_sin | OT_STRING | no | Enables MA27's |+>| gularity | | | ability to |+>| | | | solve a linear |+>| | | | system even if |+>| | | | the matrix is |+>| | | | singular. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_la_init_fa | OT_REAL | 5 | Real workspace |+>| ctor | | | memory for |+>| | | | MA27. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_liw_init_f | OT_REAL | 5 | Integer |+>| actor | | | workspace |+>| | | | memory for |+>| | | | MA27. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_meminc_fac | OT_REAL | 2 | Increment |+>| tor | | | factor for |+>| | | | workspace size |+>| | | | for MA27. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_pivtol | OT_REAL | 0.000 | Pivot tolerance |+>| | | | for the linear |+>| | | | solver MA27. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_pivtolmax | OT_REAL | 0.000 | Maximum pivot |+>| | | | tolerance for |+>| | | | the linear |+>| | | | solver MA27. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma27_skip_inert | OT_STRING | no | Always pretend |+>| ia_check | | | inertia is |+>| | | | correct. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma28_pivtol | OT_REAL | 0.010 | Pivot tolerance |+>| | | | for linear |+>| | | | solver MA28. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_automatic_ | OT_STRING | no | Controls MA57 |+>| scaling | | | automatic |+>| | | | scaling (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_block_size | OT_INTEGER | 16 | Controls block |+>| | | | size used by |+>| | | | Level 3 BLAS in |+>| | | | MA57BD (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_node_amalg | OT_INTEGER | 16 | Node |+>| amation | | | amalgamation |+>| | | | parameter (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_pivot_orde | OT_INTEGER | 5 | Controls pivot |+>| r | | | order in MA57 |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_pivtol | OT_REAL | 0.000 | Pivot tolerance |+>| | | | for the linear |+>| | | | solver MA57. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_pivtolmax | OT_REAL | 0.000 | Maximum pivot |+>| | | | tolerance for |+>| | | | the linear |+>| | | | solver MA57. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_pre_alloc | OT_REAL | 1.050 | Safety factor |+>| | | | for work space |+>| | | | memory |+>| | | | allocation for |+>| | | | the linear |+>| | | | solver MA57. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma57_small_pivo | OT_INTEGER | 0 | If set to 1, |+>| t_flag | | | then when small |+>| | | | entries defined |+>| | | | by CNTL(2) are |+>| | | | detected they |+>| | | | are removed and |+>| | | | the |+>| | | | corresponding |+>| | | | pivots placed |+>| | | | at the end of |+>| | | | the |+>| | | | factorization. |+>| | | | This can be |+>| | | | particularly |+>| | | | efficient if |+>| | | | the matrix is |+>| | | | highly rank |+>| | | | deficient. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_buffer_lpa | OT_INTEGER | 4096 | Number of |+>| ge | | | scalars per |+>| | | | MA77 buffer |+>| | | | page (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_buffer_npa | OT_INTEGER | 1600 | Number of pages |+>| ge | | | that make up |+>| | | | MA77 buffer |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_file_size | OT_INTEGER | 2097152 | Target size of |+>| | | | each temporary |+>| | | | file for MA77, |+>| | | | scalars per |+>| | | | type (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_maxstore | OT_INTEGER | 0 | Maximum storage |+>| | | | size for MA77 |+>| | | | in-core mode |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_nemin | OT_INTEGER | 8 | Node |+>| | | | Amalgamation |+>| | | | parameter (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_order | OT_STRING | amd | Controls type |+>| | | | of ordering |+>| | | | used by |+>| | | | HSL_MA77 (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_print_leve | OT_INTEGER | -1 | Debug printing |+>| l | | | level for the |+>| | | | linear solver |+>| | | | MA77 (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_small | OT_REAL | 0.000 | Zero Pivot |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_static | OT_REAL | 0 | Static Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_u | OT_REAL | 0.000 | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma77_umax | OT_REAL | 0.000 | Maximum |+>| | | | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_nemin | OT_INTEGER | 32 | Node |+>| | | | Amalgamation |+>| | | | parameter (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_order | OT_STRING | amd | Controls type |+>| | | | of ordering |+>| | | | used by |+>| | | | HSL_MA86 (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_print_leve | OT_INTEGER | -1 | Debug printing |+>| l | | | level for the |+>| | | | linear solver |+>| | | | MA86 (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_scaling | OT_STRING | mc64 | Controls |+>| | | | scaling of |+>| | | | matrix (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_small | OT_REAL | 0.000 | Zero Pivot |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_static | OT_REAL | 0 | Static Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_u | OT_REAL | 0.000 | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma86_umax | OT_REAL | 0.000 | Maximum |+>| | | | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_nemin | OT_INTEGER | 8 | Node |+>| | | | Amalgamation |+>| | | | parameter (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_order | OT_STRING | auto | Controls type |+>| | | | of ordering |+>| | | | used by |+>| | | | HSL_MA97 (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_print_leve | OT_INTEGER | 0 | Debug printing |+>| l | | | level for the |+>| | | | linear solver |+>| | | | MA97 (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_scaling | OT_STRING | dynamic | Specifies |+>| | | | strategy for |+>| | | | scaling in |+>| | | | HSL_MA97 linear |+>| | | | solver (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_scaling1 | OT_STRING | mc64 | First scaling. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_scaling2 | OT_STRING | mc64 | Second scaling. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_scaling3 | OT_STRING | mc64 | Third scaling. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_small | OT_REAL | 0.000 | Zero Pivot |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_solve_blas | OT_STRING | no | Controls if |+>| 3 | | | blas2 or blas3 |+>| | | | routines are |+>| | | | used for solve |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_switch1 | OT_STRING | od_hd_reuse | First switch, |+>| | | | determine when |+>| | | | ma97_scaling1 |+>| | | | is enabled. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_switch2 | OT_STRING | never | Second switch, |+>| | | | determine when |+>| | | | ma97_scaling2 |+>| | | | is enabled. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_switch3 | OT_STRING | never | Third switch, |+>| | | | determine when |+>| | | | ma97_scaling3 |+>| | | | is enabled. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_u | OT_REAL | 0.000 | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| ma97_umax | OT_REAL | 0.000 | Maximum |+>| | | | Pivoting |+>| | | | Threshold (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| magic_steps | OT_STRING | no | Enables magic |+>| | | | steps. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_cpu_time | OT_REAL | 1000000 | Maximum number |+>| | | | of CPU seconds. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_filter_rese | OT_INTEGER | 5 | Maximal allowed |+>| ts | | | number of |+>| | | | filter resets |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_hessian_per | OT_REAL | 1.000e+20 | Maximum value |+>| turbation | | | of |+>| | | | regularization |+>| | | | parameter for |+>| | | | handling |+>| | | | negative |+>| | | | curvature. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 3000 | Maximum number |+>| | | | of iterations. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_refinement_ | OT_INTEGER | 10 | Maximum number |+>| steps | | | of iterative |+>| | | | refinement |+>| | | | steps per |+>| | | | linear system |+>| | | | solve. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_resto_iter | OT_INTEGER | 3000000 | Maximum number |+>| | | | of successive |+>| | | | iterations in |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_soc | OT_INTEGER | 4 | Maximum number |+>| | | | of second order |+>| | | | correction |+>| | | | trial steps at |+>| | | | each iteration. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| max_soft_resto_ | OT_INTEGER | 10 | Maximum number |+>| iters | | | of iterations |+>| | | | performed |+>| | | | successively in |+>| | | | soft |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mehrotra_algori | OT_STRING | no | Indicates if we |+>| thm | | | want to do |+>| | | | Mehrotra's |+>| | | | algorithm. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| min_alpha_prima | OT_REAL | 0.000 | LIFENG WRITES |+>| l | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| min_hessian_per | OT_REAL | 0.000 | Smallest |+>| turbation | | | perturbation of |+>| | | | the Hessian |+>| | | | block. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| min_refinement_ | OT_INTEGER | 1 | Minimum number |+>| steps | | | of iterative |+>| | | | refinement |+>| | | | steps per |+>| | | | linear system |+>| | | | solve. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_allow_fast_m | OT_STRING | yes | Allow skipping |+>| onotone_decreas | | | of barrier |+>| e | | | problem if |+>| | | | barrier test is |+>| | | | already met. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_init | OT_REAL | 0.100 | Initial value |+>| | | | for the barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_linear_decre | OT_REAL | 0.200 | Determines |+>| ase_factor | | | linear decrease |+>| | | | rate of barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_max | OT_REAL | 100000 | Maximum value |+>| | | | for barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_max_fact | OT_REAL | 1000 | Factor for |+>| | | | initialization |+>| | | | of maximum |+>| | | | value for |+>| | | | barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_min | OT_REAL | 0.000 | Minimum value |+>| | | | for barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_oracle | OT_STRING | quality- | Oracle for a |+>| | | function | new barrier |+>| | | | parameter in |+>| | | | the adaptive |+>| | | | strategy. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_strategy | OT_STRING | monotone | Update strategy |+>| | | | for barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_superlinear_ | OT_REAL | 1.500 | Determines |+>| decrease_power | | | superlinear |+>| | | | decrease rate |+>| | | | of barrier |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mu_target | OT_REAL | 0 | Desired value |+>| | | | of complementar |+>| | | | ity. (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mult_diverg_fea | OT_REAL | 0.000 | tolerance for |+>| sibility_tol | | | deciding if the |+>| | | | multipliers are |+>| | | | diverging (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mult_diverg_y_t | OT_REAL | 100000000 | tolerance for |+>| ol | | | deciding if the |+>| | | | multipliers are |+>| | | | diverging (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_dep_tol | OT_REAL | 0 | Pivot threshold |+>| | | | for detection |+>| | | | of linearly |+>| | | | dependent |+>| | | | constraints in |+>| | | | MUMPS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_mem_perce | OT_INTEGER | 1000 | Percentage |+>| nt | | | increase in the |+>| | | | estimated |+>| | | | working space |+>| | | | for MUMPS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_permuting | OT_INTEGER | 7 | Controls |+>| _scaling | | | permuting and |+>| | | | scaling in |+>| | | | MUMPS (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_pivot_ord | OT_INTEGER | 7 | Controls pivot |+>| er | | | order in MUMPS |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_pivtol | OT_REAL | 0.000 | Pivot tolerance |+>| | | | for the linear |+>| | | | solver MUMPS. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_pivtolmax | OT_REAL | 0.100 | Maximum pivot |+>| | | | tolerance for |+>| | | | the linear |+>| | | | solver MUMPS. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| mumps_scaling | OT_INTEGER | 77 | Controls |+>| | | | scaling in |+>| | | | MUMPS (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| neg_curv_test_t | OT_REAL | 0 | Tolerance for |+>| ol | | | heuristic to |+>| | | | ignore wrong |+>| | | | inertia. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| never_use_fact_ | OT_STRING | no | Toggle to |+>| cgpen_direction | | | switch off the |+>| | | | fast Chen- |+>| | | | Goldfarb |+>| | | | direction (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| never_use_piece | OT_STRING | no | Toggle to |+>| wise_penalty_ls | | | switch off the |+>| | | | piecewise |+>| | | | penalty method |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_lower_bound | OT_REAL | -1.000e+19 | any bound less |+>| _inf | | | or equal this |+>| | | | value will be |+>| | | | considered -inf |+>| | | | (i.e. not lower |+>| | | | bounded). (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_scaling_con | OT_REAL | 0 | Target value |+>| str_target_grad | | | for constraint |+>| ient | | | function |+>| | | | gradient size. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_scaling_max | OT_REAL | 100 | Maximum |+>| _gradient | | | gradient after |+>| | | | NLP scaling. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_scaling_met | OT_STRING | gradient-based | Select the |+>| hod | | | technique used |+>| | | | for scaling the |+>| | | | NLP. (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_scaling_min | OT_REAL | 0.000 | Minimum value |+>| _value | | | of gradient- |+>| | | | based scaling |+>| | | | values. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_scaling_obj | OT_REAL | 0 | Target value |+>| _target_gradien | | | for objective |+>| t | | | function |+>| | | | gradient size. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_upper_bound | OT_REAL | 1.000e+19 | any bound |+>| _inf | | | greater or this |+>| | | | value will be |+>| | | | considered +inf |+>| | | | (i.e. not upper |+>| | | | bounded). (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nu_inc | OT_REAL | 0.000 | Increment of |+>| | | | the penalty |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| nu_init | OT_REAL | 0.000 | Initial value |+>| | | | of the penalty |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| num_linear_vari | OT_INTEGER | 0 | Number of |+>| ables | | | linear |+>| | | | variables (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| obj_max_inc | OT_REAL | 5 | Determines the |+>| | | | upper bound on |+>| | | | the acceptable |+>| | | | increase of |+>| | | | barrier |+>| | | | objective |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| obj_scaling_fac | OT_REAL | 1 | Scaling factor |+>| tor | | | for the |+>| | | | objective |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| option_file_nam | OT_STRING | ipopt.opt | File name of |+>| e | | | options file. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| output_file | OT_STRING | | File name of |+>| | | | desired output |+>| | | | file (leave |+>| | | | unset for no |+>| | | | file output). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_co | OT_INTEGER | 5000 | Maximum Size of |+>| arse_size | | | Coarse Grid |+>| | | | Matrix (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_dr | OT_REAL | 0.500 | dropping value |+>| opping_factor | | | for incomplete |+>| | | | factor (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_dr | OT_REAL | 0.100 | dropping value |+>| opping_schur | | | for sparsify |+>| | | | schur |+>| | | | complement |+>| | | | factor (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_in | OT_REAL | 5000000 | (see IPOPT |+>| verse_norm_fact | | | documentation) |+>| or | | | |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_ma | OT_INTEGER | 10 | Maximum Size of |+>| x_levels | | | Grid Levels |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_ma | OT_INTEGER | 10000000 | max fill for |+>| x_row_fill | | | each row (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iter_re | OT_REAL | 0.000 | Relative |+>| lative_tol | | | Residual |+>| | | | Convergence |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_iterati | OT_STRING | no | Switch on |+>| ve | | | iterative |+>| | | | solver in |+>| | | | Pardiso library |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_matchin | OT_STRING | complete+2x2 | Matching |+>| g_strategy | | | strategy to be |+>| | | | used by Pardiso |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_max_dro | OT_INTEGER | 4 | Maximal number |+>| ptol_correction | | | of decreases of |+>| s | | | drop tolerance |+>| | | | during one |+>| | | | solve. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_max_ite | OT_INTEGER | 500 | Maximum number |+>| r | | | of Krylov- |+>| | | | Subspace |+>| | | | Iteration (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_msglvl | OT_INTEGER | 0 | Pardiso message |+>| | | | level (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_out_of_ | OT_INTEGER | 0 | Enables out-of- |+>| core_power | | | core variant of |+>| | | | Pardiso (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_redo_sy | OT_STRING | no | Toggle for |+>| mbolic_fact_onl | | | handling case |+>| y_if_inertia_wr | | | when elements |+>| ong | | | were perturbed |+>| | | | by Pardiso. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_repeate | OT_STRING | no | Interpretation |+>| d_perturbation_ | | | of perturbed |+>| means_singular | | | elements. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pardiso_skip_in | OT_STRING | no | Always pretend |+>| ertia_check | | | inertia is |+>| | | | correct. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pass_nonlinear_ | OT_BOOLEAN | False | n/a |+>| variables | | | |+>+-----------------+-----------------+-----------------+-----------------++>| pen_des_fact | OT_REAL | 0.200 | a parameter |+>| | | | used in penalty |+>| | | | parameter |+>| | | | computation |+>| | | | (for Chen- |+>| | | | Goldfarb line |+>| | | | search). (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pen_init_fac | OT_REAL | 50 | a parameter |+>| | | | used to choose |+>| | | | initial penalty |+>| | | | parameterswhen |+>| | | | the regularized |+>| | | | Newton method |+>| | | | is used. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| pen_theta_max_f | OT_REAL | 10000 | Determines |+>| act | | | upper bound for |+>| | | | constraint |+>| | | | violation in |+>| | | | the filter. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| penalty_init_ma | OT_REAL | 100000 | Maximal value |+>| x | | | for the intial |+>| | | | penalty |+>| | | | parameter (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| penalty_init_mi | OT_REAL | 1 | Minimal value |+>| n | | | for the intial |+>| | | | penalty |+>| | | | parameter for |+>| | | | line search(for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| penalty_max | OT_REAL | 1.000e+30 | Maximal value |+>| | | | for the penalty |+>| | | | parameter (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| penalty_update_ | OT_REAL | 10 | LIFENG WRITES |+>| compl_tol | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| penalty_update_ | OT_REAL | 0.000 | Threshold for |+>| infeasibility_t | | | infeasibility |+>| ol | | | in penalty |+>| | | | parameter |+>| | | | update test. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| perturb_always_ | OT_STRING | no | Active |+>| cd | | | permanent |+>| | | | perturbation of |+>| | | | constraint |+>| | | | linearization. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| perturb_dec_fac | OT_REAL | 0.333 | Decrease factor |+>| t | | | for x-s |+>| | | | perturbation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| perturb_inc_fac | OT_REAL | 8 | Increase factor |+>| t | | | for x-s |+>| | | | perturbation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| perturb_inc_fac | OT_REAL | 100 | Increase factor |+>| t_first | | | for x-s |+>| | | | perturbation |+>| | | | for very first |+>| | | | perturbation. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| piecewisepenalt | OT_REAL | 0.000 | LIFENG WRITES |+>| y_gamma_infeasi | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| piecewisepenalt | OT_REAL | 0.000 | LIFENG WRITES |+>| y_gamma_obj | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| point_perturbat | OT_REAL | 10 | Maximal |+>| ion_radius | | | perturbation of |+>| | | | an evaluation |+>| | | | point. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_frequency | OT_INTEGER | 1 | Determines at |+>| _iter | | | which iteration |+>| | | | frequency the |+>| | | | summarizing |+>| | | | iteration |+>| | | | output line |+>| | | | should be |+>| | | | printed. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_frequency | OT_REAL | 0 | Determines at |+>| _time | | | which time |+>| | | | frequency the |+>| | | | summarizing |+>| | | | iteration |+>| | | | output line |+>| | | | should be |+>| | | | printed. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_info_stri | OT_STRING | no | Enables |+>| ng | | | printing of |+>| | | | additional info |+>| | | | string at end |+>| | | | of iteration |+>| | | | output. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_level | OT_INTEGER | 5 | Output |+>| | | | verbosity |+>| | | | level. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_options_d | OT_STRING | no | Switch to print |+>| ocumentation | | | all algorithmic |+>| | | | options. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_options_l | OT_STRING | no | Undocumented |+>| atex_mode | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_time | OT_BOOLEAN | True | print |+>| | | | information |+>| | | | about execution |+>| | | | time |+>+-----------------+-----------------+-----------------+-----------------++>| print_timing_st | OT_STRING | no | Switch to print |+>| atistics | | | timing |+>| | | | statistics. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| print_user_opti | OT_STRING | no | Print all |+>| ons | | | options set by |+>| | | | the user. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_STRING | none | The balancing |+>| n_balancing_ter | | | term included |+>| m | | | in the quality |+>| | | | function for |+>| | | | centrality. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_STRING | none | The penalty |+>| n_centrality | | | term for |+>| | | | centrality that |+>| | | | is included in |+>| | | | quality |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_INTEGER | 8 | Maximum number |+>| n_max_section_s | | | of search steps |+>| teps | | | during direct |+>| | | | search |+>| | | | procedure |+>| | | | determining the |+>| | | | optimal |+>| | | | centering |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_STRING | 2-norm-squared | Norm used for |+>| n_norm_type | | | components of |+>| | | | the quality |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_REAL | 0 | Tolerance for |+>| n_section_qf_to | | | the golden |+>| l | | | section search |+>| | | | procedure |+>| | | | determining the |+>| | | | optimal |+>| | | | centering |+>| | | | parameter (in |+>| | | | the function |+>| | | | value space). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| quality_functio | OT_REAL | 0.010 | Tolerance for |+>| n_section_sigma | | | the section |+>| _tol | | | search |+>| | | | procedure |+>| | | | determining the |+>| | | | optimal |+>| | | | centering |+>| | | | parameter (in |+>| | | | sigma space). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| recalc_y | OT_STRING | no | Tells the |+>| | | | algorithm to |+>| | | | recalculate the |+>| | | | equality and |+>| | | | inequality |+>| | | | multipliers as |+>| | | | least square |+>| | | | estimates. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| recalc_y_feas_t | OT_REAL | 0.000 | Feasibility |+>| ol | | | threshold for |+>| | | | recomputation |+>| | | | of multipliers. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| replace_bounds | OT_STRING | no | Indicates if |+>| | | | all variable |+>| | | | bounds should |+>| | | | be replaced by |+>| | | | inequality |+>| | | | constraints |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| required_infeas | OT_REAL | 0.900 | Required |+>| ibility_reducti | | | reduction of |+>| on | | | infeasibility |+>| | | | before leaving |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| residual_improv | OT_REAL | 1.000 | Minimal |+>| ement_factor | | | required |+>| | | | reduction of |+>| | | | residual test |+>| | | | ratio in |+>| | | | iterative |+>| | | | refinement. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| residual_ratio_ | OT_REAL | 0.000 | Iterative |+>| max | | | refinement |+>| | | | tolerance (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| residual_ratio_ | OT_REAL | 0.000 | Threshold for |+>| singular | | | declaring |+>| | | | linear system |+>| | | | singular after |+>| | | | failed |+>| | | | iterative |+>| | | | refinement. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| resto_failure_f | OT_REAL | 0 | Threshold for |+>| easibility_thre | | | primal |+>| shold | | | infeasibility |+>| | | | to declare |+>| | | | failure of |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| resto_penalty_p | OT_REAL | 1000 | Penalty |+>| arameter | | | parameter in |+>| | | | the restoration |+>| | | | phase objective |+>| | | | function. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| resto_proximity | OT_REAL | 1 | Weighting |+>| _weight | | | factor for the |+>| | | | proximity term |+>| | | | in restoration |+>| | | | phase |+>| | | | objective. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| rho | OT_REAL | 0.100 | Value in |+>| | | | penalty |+>| | | | parameter |+>| | | | update formula. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| s_max | OT_REAL | 100 | Scaling |+>| | | | threshold for |+>| | | | the NLP error. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| s_phi | OT_REAL | 2.300 | Exponent for |+>| | | | linear barrier |+>| | | | function model |+>| | | | in the |+>| | | | switching rule. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| s_theta | OT_REAL | 1.100 | Exponent for |+>| | | | current |+>| | | | constraint |+>| | | | violation in |+>| | | | the switching |+>| | | | rule. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| sb | OT_STRING | no | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| sigma_max | OT_REAL | 100 | Maximum value |+>| | | | of the |+>| | | | centering |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| sigma_min | OT_REAL | 0.000 | Minimum value |+>| | | | of the |+>| | | | centering |+>| | | | parameter. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| skip_corr_if_ne | OT_STRING | yes | Skip the |+>| g_curv | | | corrector step |+>| | | | in negative |+>| | | | curvature |+>| | | | iteration |+>| | | | (unsupported!). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| skip_corr_in_mo | OT_STRING | yes | Skip the |+>| notone_mode | | | corrector step |+>| | | | during monotone |+>| | | | barrier |+>| | | | parameter mode |+>| | | | (unsupported!). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| skip_finalize_s | OT_STRING | no | Indicates if |+>| olution_call | | | call to NLP::Fi |+>| | | | nalizeSolution |+>| | | | after |+>| | | | optimization |+>| | | | should be |+>| | | | suppressed (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| slack_bound_fra | OT_REAL | 0.010 | Desired minimum |+>| c | | | relative |+>| | | | distance from |+>| | | | the initial |+>| | | | slack to bound. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| slack_bound_pus | OT_REAL | 0.010 | Desired minimum |+>| h | | | absolute |+>| | | | distance from |+>| | | | the initial |+>| | | | slack to bound. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| slack_move | OT_REAL | 0.000 | Correction size |+>| | | | for very small |+>| | | | slacks. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| soft_resto_pder | OT_REAL | 1.000 | Required |+>| ror_reduction_f | | | reduction in |+>| actor | | | primal-dual |+>| | | | error in the |+>| | | | soft |+>| | | | restoration |+>| | | | phase. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| start_with_rest | OT_STRING | no | Tells algorithm |+>| o | | | to switch to |+>| | | | restoration |+>| | | | phase in first |+>| | | | iteration. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| suppress_all_ou | OT_STRING | no | Undocumented |+>| tput | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| tau_min | OT_REAL | 0.990 | Lower bound on |+>| | | | fraction-to- |+>| | | | the-boundary |+>| | | | parameter tau. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| theta_max_fact | OT_REAL | 10000 | Determines |+>| | | | upper bound for |+>| | | | constraint |+>| | | | violation in |+>| | | | the filter. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| theta_min | OT_REAL | 0.000 | LIFENG WRITES |+>| | | | THIS. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| theta_min_fact | OT_REAL | 0.000 | Determines |+>| | | | constraint |+>| | | | violation |+>| | | | threshold in |+>| | | | the switching |+>| | | | rule. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| tiny_step_tol | OT_REAL | 0.000 | Tolerance for |+>| | | | detecting |+>| | | | numerically |+>| | | | insignificant |+>| | | | steps. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| tiny_step_y_tol | OT_REAL | 0.010 | Tolerance for |+>| | | | quitting |+>| | | | because of |+>| | | | numerically |+>| | | | insignificant |+>| | | | steps. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| tol | OT_REAL | 0.000 | Desired |+>| | | | convergence |+>| | | | tolerance |+>| | | | (relative). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| var_integer_md | OT_DICTIONARY | None | Integer |+>| | | | metadata (a |+>| | | | dictionary with |+>| | | | lists of |+>| | | | integers) about |+>| | | | variables to be |+>| | | | passed to IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| var_numeric_md | OT_DICTIONARY | None | Numeric |+>| | | | metadata (a |+>| | | | dictionary with |+>| | | | lists of reals) |+>| | | | about variables |+>| | | | to be passed to |+>| | | | IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| var_string_md | OT_DICTIONARY | None | String metadata |+>| | | | (a dictionary |+>| | | | with lists of |+>| | | | strings) about |+>| | | | variables to be |+>| | | | passed to IPOPT |+>+-----------------+-----------------+-----------------+-----------------++>| vartheta | OT_REAL | 0.500 | a parameter |+>| | | | used to check |+>| | | | if the fast |+>| | | | direction can |+>| | | | be used asthe |+>| | | | line search |+>| | | | direction (for |+>| | | | Chen-Goldfarb |+>| | | | line search). |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_boun | OT_REAL | 0.001 | same as |+>| d_frac | | | bound_frac for |+>| | | | the regular |+>| | | | initializer. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_boun | OT_REAL | 0.001 | same as |+>| d_push | | | bound_push for |+>| | | | the regular |+>| | | | initializer. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_enti | OT_STRING | no | Tells algorithm |+>| re_iterate | | | whether to use |+>| | | | the GetWarmStar |+>| | | | tIterate method |+>| | | | in the NLP. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_init | OT_STRING | no | Warm-start for |+>| _point | | | initial point |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_mult | OT_REAL | 0.001 | same as |+>| _bound_push | | | mult_bound_push |+>| | | | for the regular |+>| | | | initializer. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_mult | OT_REAL | 1000000 | Maximum initial |+>| _init_max | | | value for the |+>| | | | equality |+>| | | | multipliers. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_same | OT_STRING | no | Indicates |+>| _structure | | | whether a |+>| | | | problem with a |+>| | | | structure |+>| | | | identical to |+>| | | | the previous |+>| | | | one is to be |+>| | | | solved. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_slac | OT_REAL | 0.001 | same as slack_b |+>| k_bound_frac | | | ound_frac for |+>| | | | the regular |+>| | | | initializer. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_slac | OT_REAL | 0.001 | same as slack_b |+>| k_bound_push | | | ound_push for |+>| | | | the regular |+>| | | | initializer. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start_targ | OT_REAL | 0 | Unsupported! |+>| et_mu | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| watchdog_shorte | OT_INTEGER | 10 | Number of |+>| ned_iter_trigge | | | shortened |+>| r | | | iterations that |+>| | | | trigger the |+>| | | | watchdog. (see |+>| | | | IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| watchdog_trial_ | OT_INTEGER | 3 | Maximum number |+>| iter_max | | | of watchdog |+>| | | | iterations. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>| wsmp_iterative | OT_STRING | no | Switches to |+>| | | | iterative |+>| | | | solver in WSMP. |+>| | | | (see IPOPT |+>| | | | documentation) |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>+>>List of available stats+>+--------------------++>| Id |+>+====================++>| con_integer_md |+>+--------------------++>| con_numeric_md |+>+--------------------++>| con_string_md |+>+--------------------++>| iter_count |+>+--------------------++>| iteration |+>+--------------------++>| iterations |+>+--------------------++>| n_eval_f |+>+--------------------++>| n_eval_g |+>+--------------------++>| n_eval_grad_f |+>+--------------------++>| n_eval_h |+>+--------------------++>| n_eval_jac_g |+>+--------------------++>| return_status |+>+--------------------++>| t_callback_fun |+>+--------------------++>| t_callback_prepare |+>+--------------------++>| t_eval_f |+>+--------------------++>| t_eval_g |+>+--------------------++>| t_eval_grad_f |+>+--------------------++>| t_eval_h |+>+--------------------++>| t_eval_jac_g |+>+--------------------++>| t_mainloop |+>+--------------------++>| var_integer_md |+>+--------------------++>| var_numeric_md |+>+--------------------++>| var_string_md |+>+--------------------++>+>knitro+>+>KNITRO interface+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| BarRule | OT_INTEGER | 0 | Barrier Rule |+>+-----------------+-----------------+-----------------+-----------------++>| Debug | OT_INTEGER | 0 | Debug level |+>+-----------------+-----------------+-----------------+-----------------++>| Delta | OT_REAL | 1 | Initial region |+>| | | | scaling factor |+>+-----------------+-----------------+-----------------+-----------------++>| FeasModeTol | OT_REAL | 0.000 | Feasible mode |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| FeasTol | OT_REAL | 0.000 | Feasible |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| FeasTolAbs | OT_REAL | 1 | Absolute |+>| | | | feasible |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| Feasible | OT_BOOLEAN | 0 | Allow |+>| | | | infeasible |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| GradOpt | OT_INTEGER | 1 | Gradient |+>| | | | calculation |+>| | | | method |+>+-----------------+-----------------+-----------------+-----------------++>| HessOpt | OT_INTEGER | 1 | Hessian |+>| | | | calculation |+>| | | | method |+>+-----------------+-----------------+-----------------+-----------------++>| HonorBnds | OT_BOOLEAN | 0 | Enforce bounds |+>+-----------------+-----------------+-----------------+-----------------++>| InitPt | OT_BOOLEAN | 0 | Use initial |+>| | | | point strategy |+>+-----------------+-----------------+-----------------+-----------------++>| LmSize | OT_INTEGER | 10 | Memory pairsize |+>| | | | limit |+>+-----------------+-----------------+-----------------+-----------------++>| LpSolver | OT_BOOLEAN | 0 | Use LpSolver |+>+-----------------+-----------------+-----------------+-----------------++>| MaxCgIt | OT_INTEGER | 0 | Maximum |+>| | | | conjugate |+>| | | | gradient |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| MaxIt | OT_INTEGER | 10000 | Iteration limit |+>+-----------------+-----------------+-----------------+-----------------++>| Mu | OT_REAL | 0.100 | Initial barrier |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| Multistart | OT_BOOLEAN | 0 | Use multistart |+>+-----------------+-----------------+-----------------+-----------------++>| NewPoint | OT_BOOLEAN | 0 | Select new- |+>| | | | point feature |+>+-----------------+-----------------+-----------------+-----------------++>| ObjRange | OT_REAL | 0.000 | Maximum |+>| | | | objective value |+>+-----------------+-----------------+-----------------+-----------------++>| OptTol | OT_REAL | 0.000 | Relative |+>| | | | optimality |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| OptTolAbs | OT_REAL | 0 | Absolute |+>| | | | optimality |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| OutLev | OT_INTEGER | 2 | Log output |+>| | | | level |+>+-----------------+-----------------+-----------------+-----------------++>| Pivot | OT_REAL | 0.000 | Initial pivot |+>| | | | threshold |+>+-----------------+-----------------+-----------------+-----------------++>| Scale | OT_BOOLEAN | 1 | Perform scaling |+>+-----------------+-----------------+-----------------+-----------------++>| ShiftInit | OT_BOOLEAN | 1 | Interior-point |+>| | | | shifting |+>| | | | initial point |+>+-----------------+-----------------+-----------------+-----------------++>| Soc | OT_INTEGER | 1 | Second order |+>| | | | correction |+>+-----------------+-----------------+-----------------+-----------------++>| XTol | OT_REAL | 0.000 | Relative |+>| | | | solution change |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| contype | OT_INTEGERVECTO | | |+>| | R | | |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>+>snopt+>+>SNOPT interface+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| _feasibility_to | OT_REAL | None | Feasibility |+>| lerance | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| _iprint | OT_INTEGER | 0 | n/a |+>+-----------------+-----------------+-----------------+-----------------++>| _isumm | OT_INTEGER | 6 | n/a |+>+-----------------+-----------------+-----------------+-----------------++>| _major_iteratio | OT_INTEGER | None | Major iteration |+>| n_limit | | | limit |+>+-----------------+-----------------+-----------------+-----------------++>| _minor_iteratio | OT_INTEGER | None | Minor iteration |+>| n_limit | | | limit |+>+-----------------+-----------------+-----------------+-----------------++>| _optimality_tol | OT_REAL | None | Optimality |+>| erance | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| _scale_option | OT_INTEGER | None | Scale option |+>+-----------------+-----------------+-----------------+-----------------++>| _start | OT_STRING | Cold | |+>+-----------------+-----------------+-----------------+-----------------++>| _verify_level | OT_INTEGER | None | Verify level |+>+-----------------+-----------------+-----------------+-----------------++>| detect_linear | OT_BOOLEAN | True | Make an effort |+>| | | | to treat linear |+>| | | | constraints and |+>| | | | linear |+>| | | | variables |+>| | | | specially. |+>+-----------------+-----------------+-----------------+-----------------++>| print_time | OT_BOOLEAN | True | print |+>| | | | information |+>| | | | about execution |+>| | | | time |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-----------++>| Id |+>+===========++>| eval_nlp |+>+-----------++>| setup_nlp |+>+-----------++>+>>List of available stats+>+----------------++>| Id |+>+================++>| iter_count |+>+----------------++>| iterations |+>+----------------++>| n_callback_fun |+>+----------------++>| n_eval_grad_f |+>+----------------++>| n_eval_jac_g |+>+----------------++>| return_status |+>+----------------++>| t_callback_fun |+>+----------------++>| t_eval_grad_f |+>+----------------++>| t_eval_jac_g |+>+----------------++>| t_mainloop |+>+----------------++>+>worhp+>+>WORHP interface+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| AcceptTolFeas | OT_REAL | 0.001 | Tolerance for |+>| | | | acceptable |+>| | | | feasibility |+>+-----------------+-----------------+-----------------+-----------------++>| AcceptTolOpti | OT_REAL | 0.001 | Tolerance for |+>| | | | acceptable |+>| | | | optimality |+>+-----------------+-----------------+-----------------+-----------------++>| AlphaMinConst | OT_BOOLEAN | False | Use a constant |+>| | | | lower bound on |+>| | | | Armijo stepsize |+>| | | | in Filter |+>+-----------------+-----------------+-----------------+-----------------++>| Ares | OT_INTEGERVECTO | [42, 41, 42, | Armijo recovery |+>| | R | 43, 44, 41, 50] | strategies. |+>| | | | Vector of size |+>| | | | 7 |+>+-----------------+-----------------+-----------------+-----------------++>| ArmijoBeta | OT_REAL | 0.712 | Trial stepsize |+>| | | | decrease factor |+>| | | | for Armijo rule |+>+-----------------+-----------------+-----------------+-----------------++>| ArmijoMaxAlpha | OT_REAL | 1 | Initial alpha |+>| | | | for Armijo rule |+>+-----------------+-----------------+-----------------+-----------------++>| ArmijoMinAlpha | OT_REAL | 0.000 | Lower bound on |+>| | | | alpha for |+>| | | | Armijo rule |+>+-----------------+-----------------+-----------------+-----------------++>| ArmijoMinAlphaR | OT_REAL | 0.000 | Lower bound on |+>| ec | | | alpha for |+>| | | | Armijo rule |+>| | | | during recovery |+>+-----------------+-----------------+-----------------+-----------------++>| ArmijoSigma | OT_REAL | 0.005 | Scale factor |+>| | | | for linearised |+>| | | | descent check |+>| | | | in Armijo rule |+>+-----------------+-----------------+-----------------+-----------------++>| AutoQPRecovery | OT_BOOLEAN | True | Enable |+>| | | | automatic QP |+>| | | | recovery |+>+-----------------+-----------------+-----------------+-----------------++>| BFGSmaxblockSiz | OT_INTEGER | 300 | Block size |+>| e | | | parameter used |+>| | | | by certain BFGS |+>| | | | methods |+>+-----------------+-----------------+-----------------+-----------------++>| BFGSmethod | OT_INTEGER | 0 | Choose BFGS |+>| | | | method (0: |+>| | | | dense, 1-3: |+>| | | | block, 100+: |+>| | | | sparse) |+>+-----------------+-----------------+-----------------+-----------------++>| BFGSminblockSiz | OT_INTEGER | 300 | Block size |+>| e | | | parameter used |+>| | | | by certain BFGS |+>| | | | methods |+>+-----------------+-----------------+-----------------+-----------------++>| BFGSrestart | OT_INTEGER | 50 | Restart BFGS |+>| | | | update after |+>| | | | this many |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| BettsFactor | OT_REAL | 2.100 | Update factor |+>| | | | for Betts' |+>| | | | Hessian |+>| | | | regularisation |+>+-----------------+-----------------+-----------------+-----------------++>| BettsPoint | OT_REAL | 1 | Smallest |+>| | | | eigenvalue of |+>| | | | the regularised |+>| | | | Hessian |+>+-----------------+-----------------+-----------------+-----------------++>| BoundTolFac | OT_REAL | 1000 | Factor in |+>| | | | determining |+>| | | | active |+>| | | | constraints by |+>| | | | KKT |+>+-----------------+-----------------+-----------------+-----------------++>| CheckFJ | OT_REAL | 1.000e+12 | Upper bound |+>| | | | used by Fritz- |+>| | | | John heuristic |+>+-----------------+-----------------+-----------------+-----------------++>| CheckStructureD | OT_BOOLEAN | True | Enable |+>| F | | | structural |+>| | | | checking of DF |+>+-----------------+-----------------+-----------------+-----------------++>| CheckStructureD | OT_BOOLEAN | True | Enable |+>| G | | | structural |+>| | | | checking of DG |+>+-----------------+-----------------+-----------------+-----------------++>| CheckStructureH | OT_BOOLEAN | True | Enable |+>| M | | | structural |+>| | | | checking of HM |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepBettsSum | OT_REAL | 0.500 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepConStop | OT_REAL | 0.000 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepConvio | OT_REAL | 1 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepMaxIter | OT_INTEGER | 50 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepMethod | OT_INTEGER | 0 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepMode | OT_INTEGER | 1 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepPFactor | OT_REAL | 1 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepPMax | OT_REAL | 1000000 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| CorStepRecovery | OT_BOOLEAN | False | (experimental) |+>| DX | | | |+>+-----------------+-----------------+-----------------+-----------------++>| CurvBCond | OT_REAL | 0.020 | Block BFGS |+>| | | | curvature |+>| | | | condition bound |+>+-----------------+-----------------+-----------------+-----------------++>| CurvBFac | OT_REAL | 0.300 | Block BFGS |+>| | | | curvature |+>| | | | condition |+>| | | | regularisation |+>| | | | factor |+>+-----------------+-----------------+-----------------+-----------------++>| CurvCond | OT_REAL | 0.020 | BFGS Curvature |+>| | | | condition bound |+>+-----------------+-----------------+-----------------+-----------------++>| CurvFac | OT_REAL | 0.300 | BFGS curvature |+>| | | | condition |+>| | | | regularisation |+>| | | | factor |+>+-----------------+-----------------+-----------------+-----------------++>| DebugMarker05 | OT_INTEGER | 42 | Debug marker. |+>| | | | Used to find |+>| | | | memory alignmen |+>| | | | t/padding |+>| | | | issues |+>+-----------------+-----------------+-----------------+-----------------++>| DebugMarker06 | OT_INTEGER | 42 | Debug marker. |+>| | | | Used to find |+>| | | | memory alignmen |+>| | | | t/padding |+>| | | | issues |+>+-----------------+-----------------+-----------------+-----------------++>| FGtogether | OT_BOOLEAN | False | F and G cannot |+>| | | | be evaluated |+>| | | | separately |+>+-----------------+-----------------+-----------------+-----------------++>| FJandND | OT_BOOLEAN | False | Enable Fritz- |+>| | | | John and non- |+>| | | | differentiable |+>| | | | check |+>| | | | heuristics |+>+-----------------+-----------------+-----------------+-----------------++>| FeasibleDual | OT_BOOLEAN | False | Activate dual |+>| | | | feasibility |+>| | | | mode |+>+-----------------+-----------------+-----------------+-----------------++>| FeasibleInit | OT_BOOLEAN | False | Activate |+>| | | | initial |+>| | | | feasibility |+>| | | | mode |+>+-----------------+-----------------+-----------------+-----------------++>| FeasibleInitTol | OT_REAL | 0.001 | Feasibility |+>| | | | tolerance for |+>| | | | no-objective |+>| | | | feasible mode |+>+-----------------+-----------------+-----------------+-----------------++>| FeasibleOnly | OT_BOOLEAN | False | Activate |+>| | | | feasible-only |+>| | | | mode |+>+-----------------+-----------------+-----------------+-----------------++>| FidifEps | OT_REAL | 0.000 | Finite |+>| | | | difference |+>| | | | perturbation |+>+-----------------+-----------------+-----------------+-----------------++>| FidifHM | OT_BOOLEAN | False | Approximate |+>| | | | Hessian by |+>| | | | finite |+>| | | | differences |+>| | | | (otherwise |+>| | | | BFGS) |+>+-----------------+-----------------+-----------------+-----------------++>| FilterBisecAlph | OT_BOOLEAN | True | Filter |+>| a | | | heuristic to |+>| | | | save Armijo |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| FilterGammaCV | OT_REAL | 0.000 | Constraint |+>| | | | violation |+>| | | | decrease factor |+>| | | | in Filter |+>| | | | acceptance |+>| | | | check |+>+-----------------+-----------------+-----------------+-----------------++>| FilterGammaF | OT_REAL | 0.000 | Objective |+>| | | | decrease factor |+>| | | | in Filter |+>| | | | acceptance |+>| | | | check |+>+-----------------+-----------------+-----------------+-----------------++>| FilterIntersecA | OT_BOOLEAN | True | Filter |+>| lpha | | | heuristic to |+>| | | | save Armijo |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| FirstDifCentral | OT_BOOLEAN | True | Use central |+>| | | | finite |+>| | | | difference |+>| | | | quotient for |+>| | | | first |+>| | | | derivatives |+>+-----------------+-----------------+-----------------+-----------------++>| FocusOnFeas | OT_BOOLEAN | True | Enable Focus- |+>| | | | on-Feasibility |+>| | | | mode |+>+-----------------+-----------------+-----------------+-----------------++>| FocusOnFeasFact | OT_REAL | 1.360 | Factor in |+>| or | | | Focus-on- |+>| | | | Feasibility |+>| | | | mode |+>+-----------------+-----------------+-----------------+-----------------++>| GammaAlpha | OT_REAL | 0.050 | Safety factor |+>| | | | for alphamin |+>| | | | calculation by |+>| | | | Filter |+>+-----------------+-----------------+-----------------+-----------------++>| GroupMethod | OT_INTEGER | 1 | Select method |+>| | | | to determine |+>| | | | graph colouring |+>| | | | groups |+>+-----------------+-----------------+-----------------+-----------------++>| IgnoreFilterCri | OT_BOOLEAN | False | Activate |+>| t | | | accelerating |+>| | | | heuristics for |+>| | | | Filter |+>+-----------------+-----------------+-----------------+-----------------++>| IncBettsTau | OT_REAL | 2 | Increase factor |+>| | | | for Betts' |+>| | | | update |+>| | | | dampening term |+>+-----------------+-----------------+-----------------+-----------------++>| IncBettsTauMore | OT_REAL | 100 | Larger increase |+>| | | | factor for |+>| | | | Betts' update |+>| | | | dampening term |+>+-----------------+-----------------+-----------------+-----------------++>| IncreaseIWS | OT_REAL | 1 | Increase factor |+>| | | | for estimated |+>| | | | integer |+>| | | | workspace |+>| | | | requirement |+>+-----------------+-----------------+-----------------+-----------------++>| IncreaseRWS | OT_REAL | 1 | Increase factor |+>| | | | for estimated |+>| | | | real workspace |+>| | | | requirement |+>+-----------------+-----------------+-----------------+-----------------++>| Infty | OT_REAL | 1.000e+20 | Upper bound for |+>| | | | numbers to be |+>| | | | regarded as |+>| | | | finite |+>+-----------------+-----------------+-----------------+-----------------++>| InftyUnbounded | OT_REAL | 1.000e+20 | Tolerance for |+>| | | | unboundedness |+>| | | | detection |+>| | | | heuristic |+>+-----------------+-----------------+-----------------+-----------------++>| InitialLMest | OT_BOOLEAN | True | Enable initial |+>| | | | Lagrange |+>| | | | multiplier |+>| | | | estimate |+>+-----------------+-----------------+-----------------+-----------------++>| KeepAcceptableS | OT_BOOLEAN | True | Save acceptable |+>| ol | | | solutions as |+>| | | | fallback |+>+-----------------+-----------------+-----------------+-----------------++>| LMestQPipComTol | OT_REAL | 0.003 | IP |+>| | | | complementarity |+>| | | | tolerance in |+>| | | | initial |+>| | | | multiplier |+>| | | | estimate |+>+-----------------+-----------------+-----------------+-----------------++>| LMestQPipResTol | OT_REAL | 1 | IP residual |+>| | | | tolerance in |+>| | | | initial |+>| | | | multiplier |+>| | | | estimate |+>+-----------------+-----------------+-----------------+-----------------++>| LinMult | OT_BOOLEAN | False | Control |+>| | | | Lagrange |+>| | | | multiplier |+>| | | | update |+>+-----------------+-----------------+-----------------+-----------------++>| LogLevel | OT_INTEGER | 0 | Enable XML |+>| | | | logfiles and |+>| | | | writing |+>| | | | interval |+>+-----------------+-----------------+-----------------+-----------------++>| LogResult | OT_INTEGER | 0 | Enable XML |+>| | | | result logging |+>| | | | and detail |+>| | | | level |+>+-----------------+-----------------+-----------------+-----------------++>| LowPassAlphaF | OT_REAL | 0.950 | Lowpass-filter |+>| | | | update factor |+>| | | | for objective |+>| | | | values |+>+-----------------+-----------------+-----------------+-----------------++>| LowPassAlphaG | OT_REAL | 0.950 | Lowpass-filter |+>| | | | update factor |+>| | | | for constraint |+>| | | | values |+>+-----------------+-----------------+-----------------+-----------------++>| LowPassAlphaMer | OT_REAL | 0.100 | Lowpass-filter |+>| it | | | update factor |+>| | | | for merit |+>| | | | function values |+>+-----------------+-----------------+-----------------+-----------------++>| LowPassFilter | OT_BOOLEAN | True | Enable lowpass- |+>| | | | filter |+>| | | | termination |+>| | | | criterion |+>+-----------------+-----------------+-----------------+-----------------++>| MAPivotThreshol | OT_REAL | 0.000 | Pivoting |+>| d | | | tolerance for |+>| | | | MA solvers |+>+-----------------+-----------------+-----------------+-----------------++>| MatrixCC | OT_BOOLEAN | False | Not to be |+>| | | | included into a |+>| | | | parameter file! |+>+-----------------+-----------------+-----------------+-----------------++>| MaxCalls | OT_INTEGER | 2.147e+09 | Upper bound to |+>| | | | Reverse |+>| | | | Communication |+>| | | | calls |+>+-----------------+-----------------+-----------------+-----------------++>| MaxForce | OT_INTEGER | 1000 | Maximum number |+>| | | | of Force |+>| | | | recovery |+>| | | | strategy steps |+>+-----------------+-----------------+-----------------+-----------------++>| MaxGPart | OT_INTEGER | 1 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| MaxIter | OT_INTEGER | 500 | Upper bound on |+>| | | | major |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| MaxLScounter | OT_INTEGER | 3 | Control |+>| | | | activation of |+>| | | | Filter |+>| | | | acceleration |+>| | | | heuristics |+>+-----------------+-----------------+-----------------+-----------------++>| MaxNorm | OT_BOOLEAN | True | Select max-norm |+>| | | | instead of |+>| | | | 1-norm in |+>| | | | Filter |+>+-----------------+-----------------+-----------------+-----------------++>| MeritFunction | OT_INTEGER | 4 | Select merit |+>| | | | function and |+>| | | | penalty update |+>| | | | [0, 3..5] |+>+-----------------+-----------------+-----------------+-----------------++>| MeritGradTol | OT_REAL | 0.000 | Threshold of |+>| | | | meritfunction |+>| | | | gradient for |+>| | | | increasing |+>| | | | Hessian |+>| | | | regularisation |+>+-----------------+-----------------+-----------------+-----------------++>| MinBettsTau | OT_REAL | 0.000 | Lower bound for |+>| | | | Betts' update |+>| | | | dampening term |+>+-----------------+-----------------+-----------------+-----------------++>| MoreRelax | OT_BOOLEAN | False | Introduce one |+>| | | | relaxation |+>| | | | variable for |+>| | | | every |+>| | | | constraint |+>+-----------------+-----------------+-----------------+-----------------++>| NLPmethod | OT_INTEGER | 1 | Select (1) |+>| | | | Meritfunction |+>| | | | or (3) Filter |+>| | | | globalisation |+>+-----------------+-----------------+-----------------+-----------------++>| NLPprint | OT_INTEGER | 2 | NLP print level |+>| | | | [-1..4] |+>+-----------------+-----------------+-----------------+-----------------++>| PairMethod | OT_INTEGER | 1 | Select method |+>| | | | to determine |+>| | | | graph colouring |+>| | | | pairgroups |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdEpsBar | OT_REAL | 0.900 | Penalty update |+>| | | | parameter |+>| | | | factor for |+>| | | | MeritFunction = |+>| | | | 3 |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdEpsKFac | OT_REAL | 2 | Penalty update |+>| | | | parameter |+>| | | | factor for |+>| | | | MeritFunction = |+>| | | | 4 |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdEpsKSeque | OT_INTEGER | 2 | Penalty update |+>| nce | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdMaxDeltaK | OT_REAL | 11 | Max penalty for |+>| | | | MeritFunction = |+>| | | | 4 |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdMaxFac | OT_REAL | 100000000 | Max factor for |+>| | | | increasing |+>| | | | penalty for |+>| | | | MeritFunction = |+>| | | | 4 |+>+-----------------+-----------------+-----------------+-----------------++>| PenUpdRBar | OT_REAL | 2 | Penalty update |+>| | | | parameter for |+>| | | | MeritFunction = |+>| | | | 3 |+>+-----------------+-----------------+-----------------+-----------------++>| PrecisionF | OT_REAL | 0.000 | (currently |+>| | | | unused) |+>| | | | Relative |+>| | | | precision of |+>| | | | objective |+>+-----------------+-----------------+-----------------+-----------------++>| PrecisionG | OT_REAL | 0.000 | (currently |+>| | | | unused) |+>| | | | Relative |+>| | | | precision of |+>| | | | constraints |+>+-----------------+-----------------+-----------------+-----------------++>| QPscaleParam | OT_REAL | 0 | (currently |+>| | | | unused) Scaling |+>| | | | factor for QP |+>+-----------------+-----------------+-----------------+-----------------++>| QuadraticProble | OT_BOOLEAN | False | Not to be |+>| m | | | included into a |+>| | | | parameter file! |+>+-----------------+-----------------+-----------------+-----------------++>| ReduceBettsTau | OT_REAL | 0.300 | Decrease factor |+>| | | | for Betts' |+>| | | | update |+>| | | | dampening term |+>+-----------------+-----------------+-----------------+-----------------++>| RegStrategy | OT_INTEGER | 1 | Select Hessian |+>| | | | regularisation |+>| | | | strategy in |+>| | | | Filter |+>+-----------------+-----------------+-----------------+-----------------++>| ReinitFilter | OT_BOOLEAN | False | Enables Filter- |+>| | | | reinitialisatio |+>| | | | n accelerating |+>| | | | heuristic |+>+-----------------+-----------------+-----------------+-----------------++>| RelaxMaxDelta | OT_REAL | 0.920 | Upper bound for |+>| | | | accepting the |+>| | | | constraint |+>| | | | relaxation |+>| | | | variable |+>+-----------------+-----------------+-----------------+-----------------++>| RelaxMaxPen | OT_REAL | 50000000 | Upper bound on |+>| | | | the constraint |+>| | | | relaxation |+>| | | | penalty |+>+-----------------+-----------------+-----------------+-----------------++>| RelaxRho | OT_REAL | 6 | Update factor |+>| | | | for the |+>| | | | constraint |+>| | | | relaxation |+>| | | | penalty |+>+-----------------+-----------------+-----------------+-----------------++>| RelaxStart | OT_REAL | 1 | Initial value |+>| | | | of the |+>| | | | constraint |+>| | | | relaxation |+>| | | | penalty |+>+-----------------+-----------------+-----------------+-----------------++>| RestUntilFeas | OT_BOOLEAN | False | Do restoration |+>| | | | until a |+>| | | | feasible |+>| | | | solution is |+>| | | | found |+>+-----------------+-----------------+-----------------+-----------------++>| ScaleConIter | OT_BOOLEAN | False | Scale |+>| | | | constraints in |+>| | | | every iteration |+>+-----------------+-----------------+-----------------+-----------------++>| ScaleFacObj | OT_REAL | 10 | Value to scale |+>| | | | large objective |+>| | | | functions to |+>+-----------------+-----------------+-----------------+-----------------++>| ScaleFacQP | OT_REAL | 10 | Upper bound on |+>| | | | resulting |+>| | | | matrix norm for |+>| | | | QP scaling |+>+-----------------+-----------------+-----------------+-----------------++>| ScaledFD | OT_BOOLEAN | True | Use a scaled |+>| | | | perturbation |+>| | | | for finite |+>| | | | differences |+>+-----------------+-----------------+-----------------+-----------------++>| ScaledKKT | OT_BOOLEAN | True | Scale KKT |+>| | | | conditions |+>+-----------------+-----------------+-----------------+-----------------++>| ScaledObj | OT_BOOLEAN | True | Scale the |+>| | | | objective |+>| | | | function |+>+-----------------+-----------------+-----------------+-----------------++>| ScaledQP | OT_BOOLEAN | True | Scale some |+>| | | | matrices handed |+>| | | | to the QP |+>+-----------------+-----------------+-----------------+-----------------++>| StartBettsTau | OT_REAL | 0.100 | Initial value |+>| | | | for Betts' |+>| | | | update |+>| | | | dampening term |+>+-----------------+-----------------+-----------------+-----------------++>| SwitchingDelta | OT_REAL | 0.010 | Filter |+>| | | | switching |+>| | | | condition |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| SwitchingSCV | OT_REAL | 1.100 | Filter |+>| | | | switching |+>| | | | condition |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| SwitchingSF | OT_REAL | 2.300 | Filter |+>| | | | switching |+>| | | | condition |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| TakeQPSol | OT_BOOLEAN | False | Evaluate QP |+>| | | | search |+>| | | | direction |+>| | | | regardless of |+>| | | | convergence |+>+-----------------+-----------------+-----------------+-----------------++>| Timeout | OT_REAL | 300 | Timeout in |+>| | | | seconds |+>+-----------------+-----------------+-----------------+-----------------++>| TolComp | OT_REAL | 0.001 | Complementarity |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| TolFeas | OT_REAL | 0.000 | Feasibility |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| TolOpti | OT_REAL | 0.000 | Optimality |+>| | | | tolerance |+>+-----------------+-----------------+-----------------+-----------------++>| TolWeakActive | OT_REAL | 1 | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| TooBig | OT_BOOLEAN | True | Enable too-big |+>| | | | termination |+>| | | | heuristics |+>+-----------------+-----------------+-----------------+-----------------++>| TooBigCV | OT_REAL | 1.000e+25 | Upper bound on |+>| | | | constraint |+>| | | | violation for |+>| | | | too-big |+>| | | | heuristic |+>+-----------------+-----------------+-----------------+-----------------++>| TooBigKKT | OT_REAL | 1.000e+30 | Upper bound on |+>| | | | KKT values for |+>| | | | too-big |+>| | | | heuristic |+>+-----------------+-----------------+-----------------+-----------------++>| UserDF | OT_BOOLEAN | True | Objective |+>| | | | gradient values |+>| | | | supplied by |+>| | | | caller |+>+-----------------+-----------------+-----------------+-----------------++>| UserDG | OT_BOOLEAN | True | Jacobian values |+>| | | | supplied by |+>| | | | caller |+>+-----------------+-----------------+-----------------+-----------------++>| UserHM | OT_BOOLEAN | True | Hessian values |+>| | | | supplied by |+>| | | | caller |+>+-----------------+-----------------+-----------------+-----------------++>| UserHMstructure | OT_INTEGER | 2 | Enable |+>| | | | automatic |+>| | | | Hessian |+>| | | | structure |+>| | | | generation or |+>| | | | checking |+>+-----------------+-----------------+-----------------+-----------------++>| WeakActiveSet | OT_BOOLEAN | False | (experimental) |+>+-----------------+-----------------+-----------------+-----------------++>| eps | OT_REAL | 0.000 | Machine epsilon |+>+-----------------+-----------------+-----------------+-----------------++>| internalParChan | OT_INTEGER | 0 | Counter for |+>| ged | | | changed |+>| | | | parameters. |+>| | | | Internal use |+>| | | | only. |+>+-----------------+-----------------+-----------------+-----------------++>| print_time | OT_BOOLEAN | True | Print |+>| | | | information |+>| | | | about execution |+>| | | | time |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipBarrier | OT_REAL | 7.800 | IP barrier |+>| | | | parameter. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipComTol | OT_REAL | 0.000 | IP |+>| | | | complementarity |+>| | | | tolerance. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipFracBound | OT_REAL | 0.880 | IP fraction-to- |+>| | | | the-boundary |+>| | | | parameter. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipLsMethod | OT_STRING | None | Select the |+>| | | | direct linear |+>| | | | solver used by |+>| | | | the IP method. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipMinAlpha | OT_REAL | 0.000 | IP line search |+>| | | | minimum step |+>| | | | size. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipRelaxDiv | OT_REAL | 2 | The relaxation |+>| | | | term is divided |+>| | | | by this value |+>| | | | if successful. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipRelaxMax | OT_REAL | 0.000 | Maximum |+>| | | | relaxation |+>| | | | value. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipRelaxMin | OT_REAL | 0.000 | Mimimum |+>| | | | relaxation |+>| | | | value. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipRelaxMult | OT_REAL | 10 | The relaxation |+>| | | | term is |+>| | | | multiplied by |+>| | | | this value if |+>| | | | unsuccessful. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipResTol | OT_REAL | 0.000 | IP residuals |+>| | | | tolerance. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_ipTryRelax | OT_BOOLEAN | True | Enable |+>| | | | relaxation |+>| | | | strategy when |+>| | | | encountering an |+>| | | | error. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsItMaxIter | OT_INTEGER | 1000 | Maximum number |+>| | | | of iterations |+>| | | | of the |+>| | | | iterative |+>| | | | linear solvers. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsItMethod | OT_STRING | None | Select the |+>| | | | iterative |+>| | | | linear solver. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsItPrecondM | OT_STRING | None | Select |+>| ethod | | | preconditioner |+>| | | | for the |+>| | | | iterative |+>| | | | linear solver. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsRefineMaxI | OT_INTEGER | 10 | Maximum number |+>| ter | | | of iterative |+>| | | | refinement |+>| | | | steps of the |+>| | | | direct linear |+>| | | | solvers. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsScale | OT_BOOLEAN | True | Enables scaling |+>| | | | on linear |+>| | | | solver level. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsTol | OT_REAL | 0.000 | Tolerance for |+>| | | | the linear |+>| | | | solver. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_lsTrySimple | OT_BOOLEAN | False | Some matrices |+>| | | | can be solved |+>| | | | without calling |+>| | | | a linear |+>| | | | equation solver |+>| | | | .Currently only |+>| | | | diagonal |+>| | | | matrices are |+>| | | | supported.Non- |+>| | | | diagonal |+>| | | | matrices will |+>| | | | besolved with |+>| | | | the chosen |+>| | | | linear equation |+>| | | | solver. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_maxIter | OT_INTEGER | 80 | Imposes an |+>| | | | upper limit on |+>| | | | the number of |+>| | | | minor solver |+>| | | | iterations, |+>| | | | i.e. for the |+>| | | | quadratic |+>| | | | subproblem |+>| | | | solver.If the |+>| | | | limit is |+>| | | | reached before |+>| | | | convergence, |+>| | | | WORHP will |+>| | | | activate QP |+>| | | | recovery |+>| | | | strategies to |+>| | | | prevent a |+>| | | | solver |+>| | | | breakdown. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_method | OT_STRING | None | Select the |+>| | | | solution method |+>| | | | used by the QP |+>| | | | solver. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnBeta | OT_REAL | 0.900 | NSN stepsize |+>| | | | decrease |+>| | | | factor. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnGradStep | OT_BOOLEAN | True | Enable gradient |+>| | | | steps in the |+>| | | | NSN method. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnKKT | OT_REAL | 0.000 | NSN KKT |+>| | | | tolerance. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnLsMethod | OT_STRING | None | Select the |+>| | | | direct linear |+>| | | | solver used by |+>| | | | the NSN method. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnMinAlpha | OT_REAL | 0.000 | NSN line search |+>| | | | minimum step |+>| | | | size. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_nsnSigma | OT_REAL | 0.010 | NSN line search |+>| | | | slope |+>| | | | parameter. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_printLevel | OT_STRING | None | Controls the |+>| | | | amount of QP |+>| | | | solver output. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_scaleIntern | OT_BOOLEAN | False | Enable scaling |+>| | | | on QP level. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_strict | OT_BOOLEAN | True | Use strict |+>| | | | termination |+>| | | | criteria in IP |+>| | | | method. |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>+>>List of available stats+>+--------------------++>| Id |+>+====================++>| iter_count |+>+--------------------++>| iteration |+>+--------------------++>| iterations |+>+--------------------++>| n_eval_f |+>+--------------------++>| n_eval_g |+>+--------------------++>| n_eval_grad_f |+>+--------------------++>| n_eval_h |+>+--------------------++>| n_eval_jac_g |+>+--------------------++>| return_code |+>+--------------------++>| return_status |+>+--------------------++>| t_callback_fun |+>+--------------------++>| t_callback_prepare |+>+--------------------++>| t_eval_f |+>+--------------------++>| t_eval_g |+>+--------------------++>| t_eval_grad_f |+>+--------------------++>| t_eval_h |+>+--------------------++>| t_eval_jac_g |+>+--------------------++>| t_mainloop |+>+--------------------++>+>scpgen+>+>A structure-exploiting sequential quadratic programming (to be come+>sequential convex programming) method for nonlinear programming.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| beta | OT_REAL | 0.800 | Line-search |+>| | | | parameter, |+>| | | | restoration |+>| | | | factor of |+>| | | | stepsize |+>+-----------------+-----------------+-----------------+-----------------++>| c1 | OT_REAL | 0.000 | Armijo |+>| | | | condition, |+>| | | | coefficient of |+>| | | | decrease in |+>| | | | merit |+>+-----------------+-----------------+-----------------+-----------------++>| codegen | OT_BOOLEAN | false | C-code |+>| | | | generation |+>+-----------------+-----------------+-----------------+-----------------++>| compiler | OT_STRING | "gcc -fPIC -O2" | Compiler |+>| | | | command to be |+>| | | | used for |+>| | | | compiling |+>| | | | generated code |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_approxi | OT_STRING | "exact" | gauss- |+>| mation | | | newton|exact |+>+-----------------+-----------------+-----------------+-----------------++>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |+>| | | | memory. |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 50 | Maximum number |+>| | | | of SQP |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter_ls | OT_INTEGER | 1 | Maximum number |+>| | | | of linesearch |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| merit_memsize | OT_INTEGER | 4 | Size of memory |+>| | | | to store |+>| | | | history of |+>| | | | merit function |+>| | | | values |+>+-----------------+-----------------+-----------------+-----------------++>| merit_start | OT_REAL | 0.000 | Lower bound for |+>| | | | the merit |+>| | | | function |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| name_x | OT_STRINGVECTOR | GenericType() | Names of the |+>| | | | variables. |+>+-----------------+-----------------+-----------------+-----------------++>| print_header | OT_BOOLEAN | true | Print the |+>| | | | header with |+>| | | | problem |+>| | | | statistics |+>+-----------------+-----------------+-----------------+-----------------++>| print_time | OT_BOOLEAN | true | Print |+>| | | | information |+>| | | | about execution |+>| | | | time |+>+-----------------+-----------------+-----------------+-----------------++>| print_x | OT_INTEGERVECTO | GenericType() | Which variables |+>| | R | | to print. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver | OT_STRING | GenericType() | The QP solver |+>| | | | to be used by |+>| | | | the SQP method |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |+>| ns | | | passed to the |+>| | | | QP solver |+>+-----------------+-----------------+-----------------+-----------------++>| reg_threshold | OT_REAL | 0.000 | Threshold for |+>| | | | the |+>| | | | regularization. |+>+-----------------+-----------------+-----------------+-----------------++>| regularize | OT_BOOLEAN | false | Automatic |+>| | | | regularization |+>| | | | of Lagrange |+>| | | | Hessian. |+>+-----------------+-----------------+-----------------+-----------------++>| tol_du | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | dual |+>| | | | infeasability |+>+-----------------+-----------------+-----------------+-----------------++>| tol_pr | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | primal |+>| | | | infeasibility |+>+-----------------+-----------------+-----------------+-----------------++>| tol_pr_step | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | the step size |+>+-----------------+-----------------+-----------------+-----------------++>| tol_reg | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | regularization |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| dx |+>+-------------++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>| qp |+>+-------------++>+>>List of available stats+>+------------++>| Id |+>+============++>| iter_count |+>+------------++>+>sqpmethod+>+>A textbook SQPMethod+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| beta | OT_REAL | 0.800 | Line-search |+>| | | | parameter, |+>| | | | restoration |+>| | | | factor of |+>| | | | stepsize |+>+-----------------+-----------------+-----------------+-----------------++>| c1 | OT_REAL | 0.000 | Armijo |+>| | | | condition, |+>| | | | coefficient of |+>| | | | decrease in |+>| | | | merit |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_approxi | OT_STRING | "exact" | limited- |+>| mation | | | memory|exact |+>+-----------------+-----------------+-----------------+-----------------++>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |+>| | | | memory. |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 50 | Maximum number |+>| | | | of SQP |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter_ls | OT_INTEGER | 3 | Maximum number |+>| | | | of linesearch |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| merit_memory | OT_INTEGER | 4 | Size of memory |+>| | | | to store |+>| | | | history of |+>| | | | merit function |+>| | | | values |+>+-----------------+-----------------+-----------------+-----------------++>| min_step_size | OT_REAL | 0.000 | The size (inf- |+>| | | | norm) of the |+>| | | | step size |+>| | | | should not |+>| | | | become smaller |+>| | | | than this. |+>+-----------------+-----------------+-----------------+-----------------++>| print_header | OT_BOOLEAN | true | Print the |+>| | | | header with |+>| | | | problem |+>| | | | statistics |+>+-----------------+-----------------+-----------------+-----------------++>| print_time | OT_BOOLEAN | true | Print |+>| | | | information |+>| | | | about execution |+>| | | | time |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver | OT_STRING | GenericType() | The QP solver |+>| | | | to be used by |+>| | | | the SQP method |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |+>| ns | | | passed to the |+>| | | | QP solver |+>+-----------------+-----------------+-----------------+-----------------++>| regularize | OT_BOOLEAN | false | Automatic |+>| | | | regularization |+>| | | | of Lagrange |+>| | | | Hessian. |+>+-----------------+-----------------+-----------------+-----------------++>| tol_du | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | dual |+>| | | | infeasability |+>+-----------------+-----------------+-----------------+-----------------++>| tol_pr | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | primal |+>| | | | infeasibility |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| bfgs |+>+-------------++>| dx |+>+-------------++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>| qp |+>+-------------++>+>>List of available stats+>+--------------------++>| Id |+>+====================++>| iter_count |+>+--------------------++>| iteration |+>+--------------------++>| iterations |+>+--------------------++>| n_eval_f |+>+--------------------++>| n_eval_g |+>+--------------------++>| n_eval_grad_f |+>+--------------------++>| n_eval_h |+>+--------------------++>| n_eval_jac_g |+>+--------------------++>| return_status |+>+--------------------++>| t_callback_fun |+>+--------------------++>| t_callback_prepare |+>+--------------------++>| t_eval_f |+>+--------------------++>| t_eval_g |+>+--------------------++>| t_eval_grad_f |+>+--------------------++>| t_eval_h |+>+--------------------++>| t_eval_jac_g |+>+--------------------++>| t_mainloop |+>+--------------------++>+>stabilizedsqp+>+>Stabilized Sequential Quadratic Programming method.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| TReta1 | OT_REAL | 0.800 | Required |+>| | | | predicted / |+>| | | | actual decrease |+>| | | | for TR increase |+>+-----------------+-----------------+-----------------+-----------------++>| TReta2 | OT_REAL | 0.200 | Required |+>| | | | predicted / |+>| | | | actual decrease |+>| | | | for TR decrease |+>+-----------------+-----------------+-----------------+-----------------++>| alphaMin | OT_REAL | 0.001 | Used to check |+>| | | | whether to |+>| | | | increase rho. |+>+-----------------+-----------------+-----------------+-----------------++>| beta | OT_REAL | 0.500 | Line-search |+>| | | | parameter, |+>| | | | restoration |+>| | | | factor of |+>| | | | stepsize |+>+-----------------+-----------------+-----------------+-----------------++>| c1 | OT_REAL | 0.001 | Armijo |+>| | | | condition, |+>| | | | coefficient of |+>| | | | decrease in |+>| | | | merit |+>+-----------------+-----------------+-----------------+-----------------++>| dvMax0 | OT_REAL | 100 | Parameter used |+>| | | | to defined the |+>| | | | max step |+>| | | | length. |+>+-----------------+-----------------+-----------------+-----------------++>| eps_active | OT_REAL | 0.000 | Threshold for |+>| | | | the epsilon- |+>| | | | active set. |+>+-----------------+-----------------+-----------------+-----------------++>| gamma1 | OT_REAL | 2 | Trust region |+>| | | | increase |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| gamma2 | OT_REAL | 1 | Trust region |+>| | | | update |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| gamma3 | OT_REAL | 1 | Trust region |+>| | | | decrease |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| hessian_approxi | OT_STRING | "exact" | limited- |+>| mation | | | memory|exact |+>+-----------------+-----------------+-----------------+-----------------++>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |+>| | | | memory. |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter | OT_INTEGER | 100 | Maximum number |+>| | | | of SQP |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| max_iter_ls | OT_INTEGER | 20 | Maximum number |+>| | | | of linesearch |+>| | | | iterations |+>+-----------------+-----------------+-----------------+-----------------++>| max_time | OT_REAL | 1.000e+12 | Timeout |+>+-----------------+-----------------+-----------------+-----------------++>| merit_memory | OT_INTEGER | 4 | Size of memory |+>| | | | to store |+>| | | | history of |+>| | | | merit function |+>| | | | values |+>+-----------------+-----------------+-----------------+-----------------++>| min_step_size | OT_REAL | 0.000 | The size (inf- |+>| | | | norm) of the |+>| | | | step size |+>| | | | should not |+>| | | | become smaller |+>| | | | than this. |+>+-----------------+-----------------+-----------------+-----------------++>| muR0 | OT_REAL | 0.000 | Initial choice |+>| | | | of |+>| | | | regularization |+>| | | | parameter |+>+-----------------+-----------------+-----------------+-----------------++>| nu | OT_REAL | 1 | Parameter for |+>| | | | primal-dual |+>| | | | augmented |+>| | | | Lagrangian. |+>+-----------------+-----------------+-----------------+-----------------++>| phiWeight | OT_REAL | 0.000 | Weight used in |+>| | | | pseudo-filter. |+>+-----------------+-----------------+-----------------+-----------------++>| print_header | OT_BOOLEAN | true | Print the |+>| | | | header with |+>| | | | problem |+>| | | | statistics |+>+-----------------+-----------------+-----------------+-----------------++>| regularize | OT_BOOLEAN | false | Automatic |+>| | | | regularization |+>| | | | of Lagrange |+>| | | | Hessian. |+>+-----------------+-----------------+-----------------+-----------------++>| stabilized_qp_s | OT_STRING | GenericType() | The Stabilized |+>| olver | | | QP solver to be |+>| | | | used by the SQP |+>| | | | method |+>+-----------------+-----------------+-----------------+-----------------++>| stabilized_qp_s | OT_DICTIONARY | GenericType() | Options to be |+>| olver_options | | | passed to the |+>| | | | Stabilized QP |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>| tau0 | OT_REAL | 0.010 | Initial |+>| | | | parameter for |+>| | | | the merit |+>| | | | function |+>| | | | optimality |+>| | | | threshold. |+>+-----------------+-----------------+-----------------+-----------------++>| tol_du | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | dual |+>| | | | infeasability |+>+-----------------+-----------------+-----------------+-----------------++>| tol_pr | OT_REAL | 0.000 | Stopping |+>| | | | criterion for |+>| | | | primal |+>| | | | infeasibility |+>+-----------------+-----------------+-----------------+-----------------++>| yEinitial | OT_STRING | "simple" | Initial |+>| | | | multiplier. |+>| | | | Simple (all |+>| | | | zero) or least |+>| | | | (LSQ). |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available monitors+>+-------------++>| Id |+>+=============++>| dx |+>+-------------++>| eval_f |+>+-------------++>| eval_g |+>+-------------++>| eval_grad_f |+>+-------------++>| eval_h |+>+-------------++>| eval_jac_g |+>+-------------++>| qp |+>+-------------++>+>>List of available stats+>+---------------++>| Id |+>+===============++>| iter_count |+>+---------------++>| return_status |+>+---------------++>+>Joel Andersson Diagrams+>+>C++ includes: nlp_solver.hpp +-}+newtype NlpSolver = NlpSolver (ForeignPtr NlpSolver')+-- typeclass decl+class NlpSolverClass a where+ castNlpSolver :: a -> NlpSolver+instance NlpSolverClass NlpSolver where+ castNlpSolver = id++-- baseclass instances+instance FunctionClass NlpSolver where+ castFunction (NlpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass NlpSolver where+ castOptionsFunctionality (NlpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass NlpSolver where+ castPrintableObject (NlpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass NlpSolver where+ castSharedObject (NlpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass NlpSolver where+ castIOInterfaceFunction (NlpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal NlpSolver (Ptr NlpSolver') where+ marshal (NlpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (NlpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__NlpSolver" + c_delete_casadi__NlpSolver :: FunPtr (Ptr NlpSolver' -> IO ())+instance WrapReturn (Ptr NlpSolver') NlpSolver where+ wrapReturn = (fmap NlpSolver) . (newForeignPtr c_delete_casadi__NlpSolver)+++-- raw decl+data Nullspace'+-- data decl+{-|+>Base class for nullspace construction.+>+>Constructs a basis for the null-space of a fat matrix A. i.e. finds Z such+>that AZ = 0 holds.+>+>The nullspace is also known as the orthogonal complement of the rowspace of+>a matrix.+>+>It is assumed that the matrix A is of full rank.+>+>Implementations are not required to construct an orthogonal or orthonormal+>basis Joris Gillis+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| dense | OT_BOOLEAN | true | Indicates | casadi::Null |+>| | | | that dense | spaceInterna |+>| | | | matrices can | l |+>| | | | be assumed | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: nullspace.hpp +-}+newtype Nullspace = Nullspace (ForeignPtr Nullspace')+-- typeclass decl+class NullspaceClass a where+ castNullspace :: a -> Nullspace+instance NullspaceClass Nullspace where+ castNullspace = id++-- baseclass instances+instance FunctionClass Nullspace where+ castFunction (Nullspace x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass Nullspace where+ castOptionsFunctionality (Nullspace x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass Nullspace where+ castPrintableObject (Nullspace x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Nullspace where+ castSharedObject (Nullspace x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass Nullspace where+ castIOInterfaceFunction (Nullspace x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal Nullspace (Ptr Nullspace') where+ marshal (Nullspace x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Nullspace x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Nullspace" + c_delete_casadi__Nullspace :: FunPtr (Ptr Nullspace' -> IO ())+instance WrapReturn (Ptr Nullspace') Nullspace where+ wrapReturn = (fmap Nullspace) . (newForeignPtr c_delete_casadi__Nullspace)+++-- raw decl+data OCPSolver'+-- data decl+{-|+>Base class for OCP solvers.+>+>Joel Andersson+>+>>Input scheme: casadi::OCPInput (OCP_NUM_IN = 13) [ocpIn]+>+------------+--------+----------------------------------------------++>| Full name | Short | Description |+>+============+========+==============================================++>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |+>+------------+--------+----------------------------------------------++>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |+>+------------+--------+----------------------------------------------++>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |+>+------------+--------+----------------------------------------------++>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |+>+------------+--------+----------------------------------------------++>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |+>+------------+--------+----------------------------------------------++>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |+>+------------+--------+----------------------------------------------++>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |+>+------------+--------+----------------------------------------------++>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |+>+------------+--------+----------------------------------------------++>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |+>+------------+--------+----------------------------------------------++>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |+>+------------+--------+----------------------------------------------++>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |+>+------------+--------+----------------------------------------------++>| OCP_LBG | lbg | Lower bound for the coupling constraints . |+>+------------+--------+----------------------------------------------++>| OCP_UBG | ubg | Upper bound for the coupling constraints . |+>+------------+--------+----------------------------------------------++>+>>Output scheme: casadi::OCPOutput (OCP_NUM_OUT = 4) [ocpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| OCP_X_OPT | x_opt | Optimal state |+>| | | trajectory . |+>+------------------------+------------------------+------------------------++>| OCP_U_OPT | u_opt | Optimal control |+>| | | trajectory . |+>+------------------------+------------------------+------------------------++>| OCP_P_OPT | p_opt | Optimal parameters . |+>+------------------------+------------------------+------------------------++>| OCP_COST | cost | Objective/cost |+>| | | function for optimal |+>| | | solution (1 x 1) . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| final_time | OT_REAL | 1 | | casadi::OCPS |+>| | | | | olverInterna |+>| | | | | l |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| number_of_gr | OT_INTEGER | 20 | | casadi::OCPS |+>| id_points | | | | olverInterna |+>| | | | | l |+>+--------------+--------------+--------------+--------------+--------------++>| number_of_pa | OT_INTEGER | 0 | | casadi::OCPS |+>| rameters | | | | olverInterna |+>| | | | | l |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: ocp_solver.hpp +-}+newtype OCPSolver = OCPSolver (ForeignPtr OCPSolver')+-- typeclass decl+class OCPSolverClass a where+ castOCPSolver :: a -> OCPSolver+instance OCPSolverClass OCPSolver where+ castOCPSolver = id++-- baseclass instances+instance FunctionClass OCPSolver where+ castFunction (OCPSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass OCPSolver where+ castOptionsFunctionality (OCPSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass OCPSolver where+ castPrintableObject (OCPSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass OCPSolver where+ castSharedObject (OCPSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass OCPSolver where+ castIOInterfaceFunction (OCPSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal OCPSolver (Ptr OCPSolver') where+ marshal (OCPSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (OCPSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__OCPSolver" + c_delete_casadi__OCPSolver :: FunPtr (Ptr OCPSolver' -> IO ())+instance WrapReturn (Ptr OCPSolver') OCPSolver where+ wrapReturn = (fmap OCPSolver) . (newForeignPtr c_delete_casadi__OCPSolver)+++-- raw decl+data OptionsFunctionality'+-- data decl+{-|+>Provides options setting/getting functionality.+>+>Gives a derived class the ability to set and retrieve options in a+>convenient way. It also contains error checking, making sure that the option+>exists and that the value type is correct.+>+>A derived class should add option names, types and default values to the+>corresponding vectors.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: options_functionality.hpp +-}+newtype OptionsFunctionality = OptionsFunctionality (ForeignPtr OptionsFunctionality')+-- typeclass decl+class OptionsFunctionalityClass a where+ castOptionsFunctionality :: a -> OptionsFunctionality+instance OptionsFunctionalityClass OptionsFunctionality where+ castOptionsFunctionality = id++-- baseclass instances+instance PrintableObjectClass OptionsFunctionality where+ castPrintableObject (OptionsFunctionality x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass OptionsFunctionality where+ castSharedObject (OptionsFunctionality x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal OptionsFunctionality (Ptr OptionsFunctionality') where+ marshal (OptionsFunctionality x) = return (unsafeForeignPtrToPtr x)+ marshalFree (OptionsFunctionality x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__OptionsFunctionality" + c_delete_casadi__OptionsFunctionality :: FunPtr (Ptr OptionsFunctionality' -> IO ())+instance WrapReturn (Ptr OptionsFunctionality') OptionsFunctionality where+ wrapReturn = (fmap OptionsFunctionality) . (newForeignPtr c_delete_casadi__OptionsFunctionality)+++-- raw decl+data Parallelizer'+-- data decl+{-|+>Parallelizer execution of functions.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| parallelizat | OT_STRING | "serial" | (serial|open | casadi::Para |+>| ion | | | mp|mpi) | llelizerInte |+>| | | | | rnal |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>>List of available stats+>+-----------------+------------------------------++>| Id | Used in |+>+=================+==============================++>| max_threads | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| num_threads | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| task_allocation | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| task_cputime | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| task_endtime | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| task_order | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>| task_starttime | casadi::ParallelizerInternal |+>+-----------------+------------------------------++>+>Diagrams+>+>C++ includes: parallelizer.hpp +-}+newtype Parallelizer = Parallelizer (ForeignPtr Parallelizer')+-- typeclass decl+class ParallelizerClass a where+ castParallelizer :: a -> Parallelizer+instance ParallelizerClass Parallelizer where+ castParallelizer = id++-- baseclass instances+instance FunctionClass Parallelizer where+ castFunction (Parallelizer x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass Parallelizer where+ castOptionsFunctionality (Parallelizer x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass Parallelizer where+ castPrintableObject (Parallelizer x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Parallelizer where+ castSharedObject (Parallelizer x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass Parallelizer where+ castIOInterfaceFunction (Parallelizer x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal Parallelizer (Ptr Parallelizer') where+ marshal (Parallelizer x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Parallelizer x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Parallelizer" + c_delete_casadi__Parallelizer :: FunPtr (Ptr Parallelizer' -> IO ())+instance WrapReturn (Ptr Parallelizer') Parallelizer where+ wrapReturn = (fmap Parallelizer) . (newForeignPtr c_delete_casadi__Parallelizer)+++-- raw decl+data PrintableObject'+-- data decl+{-|+>Base class for objects that have a natural string representation.+>+>Joel Andersson+>+>C++ includes: printable_object.hpp +-}+newtype PrintableObject = PrintableObject (ForeignPtr PrintableObject')+-- typeclass decl+class PrintableObjectClass a where+ castPrintableObject :: a -> PrintableObject+instance PrintableObjectClass PrintableObject where+ castPrintableObject = id++-- baseclass instances++-- helper instances+instance Marshal PrintableObject (Ptr PrintableObject') where+ marshal (PrintableObject x) = return (unsafeForeignPtrToPtr x)+ marshalFree (PrintableObject x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__PrintableObject" + c_delete_casadi__PrintableObject :: FunPtr (Ptr PrintableObject' -> IO ())+instance WrapReturn (Ptr PrintableObject') PrintableObject where+ wrapReturn = (fmap PrintableObject) . (newForeignPtr c_delete_casadi__PrintableObject)+++-- raw decl+data QcqpSolver'+-- data decl+{-|+>QcqpSolver.+>+>Solves the following strictly convex problem:+>+>min 1/2 x' H x + g' x x subject to 1/2 x' Pi x + qi' x + ri <=+>0 for i=0..nq-1 LBA <= A x <= UBA LBX <= x <= UBX with : H, Pi sparse+>(n x n) positive definite g, qi dense (n x 1) ri scalar n: number of+>decision variables (x) nc: number of linear constraints (A) nq: number of+>quadratic constraints+>+>If H, Pi is not positive-definite, the solver should throw an error.+>+>General information+>+>>Input scheme: casadi::QcqpSolverInput (QCQP_SOLVER_NUM_IN = 12) [qcqpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| QCQP_SOLVER_H | h | The square matrix H: |+>| | | sparse, (n x n). Only |+>| | | the lower triangular |+>| | | part is actually used. |+>| | | The matrix is assumed |+>| | | to be symmetrical. |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_G | g | The vector g: dense, |+>| | | (n x 1) . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_P | p | The horizontal stack |+>| | | of all Pi. Each Pi is |+>| | | sparse (n x n). Only |+>| | | the lower triangular |+>| | | part is actually used. |+>| | | The matrix is assumed |+>| | | to be symmetrical. |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_Q | q | The vertical stack of |+>| | | all qi: dense, (nq n x |+>| | | 1) . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_R | r | The vertical stack of |+>| | | all scalars ri (nq x |+>| | | 1) . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_A | a | The matrix A: sparse, |+>| | | (nc x n) - product |+>| | | with x must be dense. |+>| | | . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_LBA | lba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_UBA | uba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_LBX | lbx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_UBX | ubx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_X0 | x0 | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_LAM_X0 | lam_x0 | dense |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::QcqpSolverOutput (QCQP_SOLVER_NUM_OUT = 4) [qcqpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| QCQP_SOLVER_X | x | The primal solution . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_COST | cost | The optimal cost . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to |+>| | | linear bounds . |+>+------------------------+------------------------+------------------------++>| QCQP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_QcqpSolver_socp'>socp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>QcqpSolver.doc("myextraplugin")+>+>socp+>+>Solve a QCQP with an SocpSolver+>+>Note: this implementation relies on Cholesky decomposition: Chol(H) = L -> H+>= LL' with L lower triangular This requires Pi, H to be positive definite.+>Positive semi-definite is not sufficient. Notably, H==0 will not work.+>+>A better implementation would rely on matrix square root, but we need+>singular value decomposition to implement that.+>+>This implementation makes use of the epigraph reformulation:* min f(x) *+>x * * min t * x, t f(x) <= t *+>+>This implementation makes use of the following identity:* || Gx+h||_2 <=+>e'x + f * * x'(G'G - ee')x + (2 h'G - 2 f e') x + h'h - f <= 0 * where we+>put e = [0 0 ... 1] for the quadratic constraint arising from the epigraph+>reformulation and e==0 for all other quadratic constraints.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| socp_solver | OT_STRING | GenericType() | The SocpSolver |+>| | | | used to solve |+>| | | | the QCQPs. |+>+-----------------+-----------------+-----------------+-----------------++>| socp_solver_opt | OT_DICTIONARY | GenericType() | Options to be |+>| ions | | | passed to the |+>| | | | SOCPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+-------------------++>| Id |+>+===================++>| socp_solver_stats |+>+-------------------++>+>Joris Gillis Diagrams+>+>C++ includes: qcqp_solver.hpp +-}+newtype QcqpSolver = QcqpSolver (ForeignPtr QcqpSolver')+-- typeclass decl+class QcqpSolverClass a where+ castQcqpSolver :: a -> QcqpSolver+instance QcqpSolverClass QcqpSolver where+ castQcqpSolver = id++-- baseclass instances+instance FunctionClass QcqpSolver where+ castFunction (QcqpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass QcqpSolver where+ castOptionsFunctionality (QcqpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass QcqpSolver where+ castPrintableObject (QcqpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass QcqpSolver where+ castSharedObject (QcqpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass QcqpSolver where+ castIOInterfaceFunction (QcqpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal QcqpSolver (Ptr QcqpSolver') where+ marshal (QcqpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (QcqpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__QcqpSolver" + c_delete_casadi__QcqpSolver :: FunPtr (Ptr QcqpSolver' -> IO ())+instance WrapReturn (Ptr QcqpSolver') QcqpSolver where+ wrapReturn = (fmap QcqpSolver) . (newForeignPtr c_delete_casadi__QcqpSolver)+++-- raw decl+data QpSolver'+-- data decl+{-|+>QpSolver.+>+>Solves the following strictly convex problem:+>+>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA+>LBX <= x <= UBX with : H sparse (n x n) positive definite+>g dense (n x 1) n: number of decision variables (x) nc: number of+>constraints (A)+>+>If H is not positive-definite, the solver should throw an error.+>+>General information+>+>>Input scheme: casadi::QpSolverInput (QP_SOLVER_NUM_IN = 9) [qpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| QP_SOLVER_H | h | The square matrix H: |+>| | | sparse, (n x n). Only |+>| | | the lower triangular |+>| | | part is actually used. |+>| | | The matrix is assumed |+>| | | to be symmetrical. |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_G | g | The vector g: dense, |+>| | | (n x 1) . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_A | a | The matrix A: sparse, |+>| | | (nc x n) - product |+>| | | with x must be dense. |+>| | | . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LBA | lba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_UBA | uba | dense, (nc x 1) |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LBX | lbx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_UBX | ubx | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_X0 | x0 | dense, (n x 1) |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LAM_X0 | lam_x0 | dense |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| QP_SOLVER_X | x | The primal solution . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_COST | cost | The optimal cost . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to |+>| | | linear bounds . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_QpSolver_cplex'>cplex</a>+>+>- <a href='#plugin_QpSolver_ooqp'>ooqp</a>+>+>- <a href='#plugin_QpSolver_qpoases'>qpoases</a>+>+>- <a href='#plugin_QpSolver_sqic'>sqic</a>+>+>- <a href='#plugin_QpSolver_nlp'>nlp</a>+>+>- <a href='#plugin_QpSolver_qcqp'>qcqp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>QpSolver.doc("myextraplugin")+>+>cplex+>+>Interface to Cplex solver for sparse Quadratic Programs+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| barrier_maxiter | OT_INTEGER | 2.100e+09 | Maximum number |+>| | | | of barrier |+>| | | | iterations. |+>+-----------------+-----------------+-----------------+-----------------++>| convex | OT_BOOLEAN | true | Indicates if |+>| | | | the QP is |+>| | | | convex or not |+>| | | | (affects only |+>| | | | the barrier |+>| | | | method). |+>+-----------------+-----------------+-----------------+-----------------++>| dep_check | OT_STRING | "off" | Detect |+>| | | | redundant |+>| | | | constraints. (a |+>| | | | utomatic:-1|off |+>| | | | :0|begin:1|end: |+>| | | | 2|both:3) |+>+-----------------+-----------------+-----------------+-----------------++>| dump_filename | OT_STRING | "qp.dat" | The filename to |+>| | | | dump to. |+>+-----------------+-----------------+-----------------+-----------------++>| dump_to_file | OT_BOOLEAN | false | Dumps QP to |+>| | | | file in CPLEX |+>| | | | format. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_method | OT_STRING | "automatic" | Determines |+>| | | | which CPLEX |+>| | | | algorithm to |+>| | | | use. (automatic |+>| | | | |primal_simplex |+>| | | | |dual_simplex|n |+>| | | | etwork|barrier| |+>| | | | sifting|concurr |+>| | | | ent|crossover) |+>+-----------------+-----------------+-----------------+-----------------++>| simplex_maxiter | OT_INTEGER | 2.100e+09 | Maximum number |+>| | | | of simplex |+>| | | | iterations. |+>+-----------------+-----------------+-----------------+-----------------++>| tol | OT_REAL | 0.000 | Tolerance of |+>| | | | solver |+>+-----------------+-----------------+-----------------+-----------------++>| warm_start | OT_BOOLEAN | false | Use warm start |+>| | | | with simplex |+>| | | | methods |+>| | | | (affects only |+>| | | | the simplex |+>| | | | methods). |+>+-----------------+-----------------+-----------------+-----------------++>+>ooqp+>+>Interface to the OOQP Solver for quadratic programming The current+>implementation assumes that OOQP is configured with the MA27 sparse linear+>solver.+>+>NOTE: when doing multiple calls to evaluate(), check if you need to+>reInit();+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| artol | OT_REAL | 0.000 | tolerance as |+>| | | | provided with |+>| | | | setArTol to |+>| | | | OOQP |+>+-----------------+-----------------+-----------------+-----------------++>| mutol | OT_REAL | 0.000 | tolerance as |+>| | | | provided with |+>| | | | setMuTol to |+>| | | | OOQP |+>+-----------------+-----------------+-----------------+-----------------++>| print_level | OT_INTEGER | 0 | Print level. |+>| | | | OOQP listens to |+>| | | | print_level 0, |+>| | | | 10 and 100 |+>+-----------------+-----------------+-----------------+-----------------++>+>qpoases+>+>Interface to QPOases Solver for quadratic programming+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| CPUtime | OT_REAL | None | The maximum |+>| | | | allowed CPU |+>| | | | time in seconds |+>| | | | for the whole |+>| | | | initialisation |+>| | | | (and the |+>| | | | actually |+>| | | | required one on |+>| | | | output). |+>| | | | Disabled if |+>| | | | unset. |+>+-----------------+-----------------+-----------------+-----------------++>| boundRelaxation | OT_REAL | 10000 | Initial |+>| | | | relaxation of |+>| | | | bounds to start |+>| | | | homotopy and |+>| | | | initial value |+>| | | | for far bounds. |+>+-----------------+-----------------+-----------------+-----------------++>| boundTolerance | OT_REAL | 0.000 | If upper and |+>| | | | lower bounds |+>| | | | differ less |+>| | | | than this |+>| | | | tolerance, they |+>| | | | are regarded |+>| | | | equal, i.e. as |+>| | | | equality |+>| | | | constraint. |+>+-----------------+-----------------+-----------------+-----------------++>| enableCholeskyR | OT_INTEGER | 0 | Specifies the |+>| efactorisation | | | frequency of a |+>| | | | full re- |+>| | | | factorisation |+>| | | | of projected |+>| | | | Hessian matrix: |+>| | | | 0: turns them |+>| | | | off, 1: uses |+>| | | | them at each |+>| | | | iteration etc. |+>+-----------------+-----------------+-----------------+-----------------++>| enableDriftCorr | OT_INTEGER | 1 | Specifies the |+>| ection | | | frequency of |+>| | | | drift |+>| | | | corrections: 0: |+>| | | | turns them off. |+>+-----------------+-----------------+-----------------+-----------------++>| enableEqualitie | OT_BOOLEAN | False | Specifies |+>| s | | | whether |+>| | | | equalities |+>| | | | should be |+>| | | | treated as |+>| | | | always active |+>| | | | (True) or not |+>| | | | (False) |+>+-----------------+-----------------+-----------------+-----------------++>| enableFarBounds | OT_BOOLEAN | True | Enables the use |+>| | | | of far bounds. |+>+-----------------+-----------------+-----------------+-----------------++>| enableFlippingB | OT_BOOLEAN | True | Enables the use |+>| ounds | | | of flipping |+>| | | | bounds. |+>+-----------------+-----------------+-----------------+-----------------++>| enableFullLITes | OT_BOOLEAN | False | Enables |+>| ts | | | condition- |+>| | | | hardened (but |+>| | | | more expensive) |+>| | | | LI test. |+>+-----------------+-----------------+-----------------+-----------------++>| enableNZCTests | OT_BOOLEAN | True | Enables nonzero |+>| | | | curvature |+>| | | | tests. |+>+-----------------+-----------------+-----------------+-----------------++>| enableRamping | OT_BOOLEAN | True | Enables |+>| | | | ramping. |+>+-----------------+-----------------+-----------------+-----------------++>| enableRegularis | OT_BOOLEAN | False | Enables |+>| ation | | | automatic |+>| | | | Hessian |+>| | | | regularisation. |+>+-----------------+-----------------+-----------------+-----------------++>| epsDen | OT_REAL | 0.000 | Denominator |+>| | | | tolerance for |+>| | | | ratio tests. |+>+-----------------+-----------------+-----------------+-----------------++>| epsFlipping | OT_REAL | 0.000 | Tolerance of |+>| | | | squared |+>| | | | Cholesky |+>| | | | diagonal factor |+>| | | | which triggers |+>| | | | flipping bound. |+>+-----------------+-----------------+-----------------+-----------------++>| epsIterRef | OT_REAL | 0.000 | Early |+>| | | | termination |+>| | | | tolerance for |+>| | | | iterative |+>| | | | refinement. |+>+-----------------+-----------------+-----------------+-----------------++>| epsLITests | OT_REAL | 0.000 | Tolerance for |+>| | | | linear |+>| | | | independence |+>| | | | tests. |+>+-----------------+-----------------+-----------------+-----------------++>| epsNZCTests | OT_REAL | 0.000 | Tolerance for |+>| | | | nonzero |+>| | | | curvature |+>| | | | tests. |+>+-----------------+-----------------+-----------------+-----------------++>| epsNum | OT_REAL | -0.000 | Numerator |+>| | | | tolerance for |+>| | | | ratio tests. |+>+-----------------+-----------------+-----------------+-----------------++>| epsRegularisati | OT_REAL | 0.000 | Scaling factor |+>| on | | | of identity |+>| | | | matrix used for |+>| | | | Hessian |+>| | | | regularisation. |+>+-----------------+-----------------+-----------------+-----------------++>| finalRamping | OT_REAL | 1 | Final value for |+>| | | | ramping |+>| | | | strategy. |+>+-----------------+-----------------+-----------------+-----------------++>| growFarBounds | OT_REAL | 1000 | Factor to grow |+>| | | | far bounds. |+>+-----------------+-----------------+-----------------+-----------------++>| initialFarBound | OT_REAL | 1000000 | Initial size |+>| s | | | for far bounds. |+>+-----------------+-----------------+-----------------+-----------------++>| initialRamping | OT_REAL | 0.500 | Start value for |+>| | | | ramping |+>| | | | strategy. |+>+-----------------+-----------------+-----------------+-----------------++>| initialStatusBo | OT_STRING | lower | Initial status |+>| unds | | | of bounds at |+>| | | | first |+>| | | | iteration. |+>+-----------------+-----------------+-----------------+-----------------++>| maxDualJump | OT_REAL | 100000000 | Maximum allowed |+>| | | | jump in dual |+>| | | | variables in |+>| | | | linear |+>| | | | independence |+>| | | | tests. |+>+-----------------+-----------------+-----------------+-----------------++>| maxPrimalJump | OT_REAL | 100000000 | Maximum allowed |+>| | | | jump in primal |+>| | | | variables in |+>| | | | nonzero |+>| | | | curvature |+>| | | | tests. |+>+-----------------+-----------------+-----------------+-----------------++>| nWSR | OT_INTEGER | None | The maximum |+>| | | | number of |+>| | | | working set |+>| | | | recalculations |+>| | | | to be performed |+>| | | | during the |+>| | | | initial |+>| | | | homotopy. |+>| | | | Default is 5(nx |+>| | | | + nc) |+>+-----------------+-----------------+-----------------+-----------------++>| numRefinementSt | OT_INTEGER | 1 | Maximum number |+>| eps | | | of iterative |+>| | | | refinement |+>| | | | steps. |+>+-----------------+-----------------+-----------------+-----------------++>| numRegularisati | OT_INTEGER | 0 | Maximum number |+>| onSteps | | | of successive |+>| | | | regularisation |+>| | | | steps. |+>+-----------------+-----------------+-----------------+-----------------++>| printLevel | OT_STRING | medium | Defines the |+>| | | | amount of text |+>| | | | output during |+>| | | | QP solution, |+>| | | | see Section 5.7 |+>+-----------------+-----------------+-----------------+-----------------++>| terminationTole | OT_REAL | 0.000 | Relative |+>| rance | | | termination |+>| | | | tolerance to |+>| | | | stop homotopy. |+>+-----------------+-----------------+-----------------+-----------------++>+>sqic+>+>Interface to the SQIC solver for quadratic programming+>+>>List of available options+>+----+------+---------+-------------++>| Id | Type | Default | Description |+>+====+======+=========+=============++>+----+------+---------+-------------++>+>nlp+>+>Solve QPs using an NlpSolver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| nlp_solver | OT_STRING | GenericType() | The NLPSOlver |+>| | | | used to solve |+>| | | | the QPs. |+>+-----------------+-----------------+-----------------+-----------------++>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |+>| ons | | | passed to the |+>| | | | NLPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+------------------++>| Id |+>+==================++>| nlp_solver_stats |+>+------------------++>+>qcqp+>+>Solve QP using a QcqpSolver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| qcqp_solver | OT_STRING | GenericType() | The QcqpSolver |+>| | | | used to solve |+>| | | | the QPs. |+>+-----------------+-----------------+-----------------+-----------------++>| qcqp_solver_opt | OT_DICTIONARY | GenericType() | Options to be |+>| ions | | | passed to the |+>| | | | QCQPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+-------------------++>| Id |+>+===================++>| qcqp_solver_stats |+>+-------------------++>+>Joel Andersson Diagrams+>+>C++ includes: qp_solver.hpp +-}+newtype QpSolver = QpSolver (ForeignPtr QpSolver')+-- typeclass decl+class QpSolverClass a where+ castQpSolver :: a -> QpSolver+instance QpSolverClass QpSolver where+ castQpSolver = id++-- baseclass instances+instance FunctionClass QpSolver where+ castFunction (QpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass QpSolver where+ castOptionsFunctionality (QpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass QpSolver where+ castPrintableObject (QpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass QpSolver where+ castSharedObject (QpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass QpSolver where+ castIOInterfaceFunction (QpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal QpSolver (Ptr QpSolver') where+ marshal (QpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (QpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__QpSolver" + c_delete_casadi__QpSolver :: FunPtr (Ptr QpSolver' -> IO ())+instance WrapReturn (Ptr QpSolver') QpSolver where+ wrapReturn = (fmap QpSolver) . (newForeignPtr c_delete_casadi__QpSolver)+++-- raw decl+data SX'+-- data decl+{-|+-}+newtype SX = SX (ForeignPtr SX')+-- typeclass decl+class SXClass a where+ castSX :: a -> SX+instance SXClass SX where+ castSX = id++-- baseclass instances+instance PrintableObjectClass SX where+ castPrintableObject (SX x) = PrintableObject (castForeignPtr x)+++-- helper instances+instance Marshal SX (Ptr SX') where+ marshal (SX x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SX x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SX" + c_delete_casadi__SX :: FunPtr (Ptr SX' -> IO ())+instance WrapReturn (Ptr SX') SX where+ wrapReturn = (fmap SX) . (newForeignPtr c_delete_casadi__SX)+++-- raw decl+data SXElement'+-- data decl+{-|+-}+newtype SXElement = SXElement (ForeignPtr SXElement')+-- typeclass decl+class SXElementClass a where+ castSXElement :: a -> SXElement+instance SXElementClass SXElement where+ castSXElement = id++-- baseclass instances++-- helper instances+instance Marshal SXElement (Ptr SXElement') where+ marshal (SXElement x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SXElement x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SXElement" + c_delete_casadi__SXElement :: FunPtr (Ptr SXElement' -> IO ())+instance WrapReturn (Ptr SXElement') SXElement where+ wrapReturn = (fmap SXElement) . (newForeignPtr c_delete_casadi__SXElement)+++-- raw decl+data SXFunction'+-- data decl+{-|+>Dynamically created function that can be expanded into a series of scalar+>operations.+>+>Joel Andersson+>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| just_in_time | OT_BOOLEAN | false | Just-in-time | casadi::SXFu |+>| _opencl | | | compilation | nctionIntern |+>| | | | for numeric | al |+>| | | | evaluation | |+>| | | | using OpenCL | |+>| | | | (experimenta | |+>| | | | l) | |+>+--------------+--------------+--------------+--------------+--------------++>| just_in_time | OT_BOOLEAN | false | Propagate | casadi::SXFu |+>| _sparsity | | | sparsity | nctionIntern |+>| | | | patterns | al |+>| | | | using just- | |+>| | | | in-time | |+>| | | | compilation | |+>| | | | to a CPU or | |+>| | | | GPU using | |+>| | | | OpenCL | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>Diagrams+>+>C++ includes: sx_function.hpp +-}+newtype SXFunction = SXFunction (ForeignPtr SXFunction')+-- typeclass decl+class SXFunctionClass a where+ castSXFunction :: a -> SXFunction+instance SXFunctionClass SXFunction where+ castSXFunction = id++-- baseclass instances+instance FunctionClass SXFunction where+ castFunction (SXFunction x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass SXFunction where+ castOptionsFunctionality (SXFunction x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass SXFunction where+ castPrintableObject (SXFunction x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass SXFunction where+ castSharedObject (SXFunction x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass SXFunction where+ castIOInterfaceFunction (SXFunction x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal SXFunction (Ptr SXFunction') where+ marshal (SXFunction x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SXFunction x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SXFunction" + c_delete_casadi__SXFunction :: FunPtr (Ptr SXFunction' -> IO ())+instance WrapReturn (Ptr SXFunction') SXFunction where+ wrapReturn = (fmap SXFunction) . (newForeignPtr c_delete_casadi__SXFunction)+++-- raw decl+data SdpSolver'+-- data decl+{-|+>SdpSolver.+>+>Solves an SDP problem in standard form.+>Seehttp://sdpa.indsys.chuo-u.ac.jp/sdpa/files/sdpa-c.6.2.0.manual.pdf+>+>Primal:+>+>min c' x x subject to P = Sum_i^m F_i x_i - G P negative+>semidefinite LBA <= A x <= UBA LBX <= x <= UBX with x ( n x 1) c ( n x 1+>) G, F_i sparse symmetric (m x m) X dense symmetric ( m x m ) A sparse+>matrix ( nc x n) LBA, UBA dense vector (nc x 1) LBX, UBX dense vector (n x+>1)+>+>This formulation is chosen as primal, because it does not call for a large+>decision variable space.+>+>Dual:+>+>max trace(G Y) Y subject to trace(F_i Y) = c_i Y positive+>semidefinite with Y dense symmetric ( m x m)+>+>On generality: you might have formulation with block partitioning:+>+>Primal:+>+>min c' x x subject to Pj = Sum_i^m F_ij x_i - gj for all j Pj+>negative semidefinite for all j with x ( n x 1) c ( n x 1 ) G, F_i+>sparse symmetric (m x m) X dense symmetric ( m x m )+>+>Dual:max Sum_j trace(Gj Yj) Yj subject to Sum_j trace(F_ij Yj) =+>c_i for all j Yj positive semidefinite for all j with Y dense+>symmetric ( m x m)+>+>You can cast this into the standard form with: G = blkdiag(Gj for all j) Fi+>= blkdiag(F_ij for all j)+>+>Implementations of SdpSolver are encouraged to exploit this block structure.+>+>General information+>+>>Input scheme: casadi::SDPInput (SDP_SOLVER_NUM_IN = 8) [sdpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SDP_SOLVER_F | f | The horizontal stack |+>| | | of all matrices F_i: ( |+>| | | m x nm) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_C | c | The vector c: ( n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_G | g | The matrix G: ( m x m) |+>| | | . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_A | a | The matrix A: ( nc x |+>| | | n) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_LBA | lba | Lower bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_UBA | uba | Upper bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_LBX | lbx | Lower bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_UBX | ubx | Upper bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::SDPOutput (SDP_SOLVER_NUM_OUT = 7) [sdpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SDP_SOLVER_X | x | The primal solution (n |+>| | | x 1) - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_P | p | The solution P (m x m) |+>| | | - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_DUAL | dual | The dual solution (m x |+>| | | m) - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_COST | cost | The primal optimal |+>| | | cost (1 x 1) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |+>| | | (1 x 1) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to the |+>| | | linear constraints (nc |+>| | | x 1) . |+>+------------------------+------------------------+------------------------++>| SDP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds (n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| calc_dual | OT_BOOLEAN | true | Indicate if | casadi::SdpS |+>| | | | dual should | olverInterna |+>| | | | be allocated | l |+>| | | | and | |+>| | | | calculated. | |+>| | | | You may want | |+>| | | | to avoid | |+>| | | | calculating | |+>| | | | this | |+>| | | | variable for | |+>| | | | problems | |+>| | | | with n | |+>| | | | large, as is | |+>| | | | always dense | |+>| | | | (m x m). | |+>+--------------+--------------+--------------+--------------+--------------++>| calc_p | OT_BOOLEAN | true | Indicate if | casadi::SdpS |+>| | | | the P-part | olverInterna |+>| | | | of primal | l |+>| | | | solution | |+>| | | | should be | |+>| | | | allocated | |+>| | | | and | |+>| | | | calculated. | |+>| | | | You may want | |+>| | | | to avoid | |+>| | | | calculating | |+>| | | | this | |+>| | | | variable for | |+>| | | | problems | |+>| | | | with n | |+>| | | | large, as is | |+>| | | | always dense | |+>| | | | (m x m). | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| print_proble | OT_BOOLEAN | false | Print out | casadi::SdpS |+>| m | | | problem | olverInterna |+>| | | | statement | l |+>| | | | for | |+>| | | | debugging. | |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_SdpSolver_dsdp'>dsdp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>SdpSolver.doc("myextraplugin")+>+>dsdp+>+>Interface to the SDP solver DSDP Warning: The solver DSDP is not good at+>handling linear equalities. There are several options if you notice+>difficulties: play around with the parameter "_penalty" leave a gap+>manually switch to another SDP Solver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| _loglevel | OT_INTEGER | 0 | An integer that |+>| | | | specifies how |+>| | | | much logging is |+>| | | | done on stdout. |+>+-----------------+-----------------+-----------------+-----------------++>| _penalty | OT_REAL | 100000 | Penality |+>| | | | parameter |+>| | | | lambda. Must |+>| | | | exceed the |+>| | | | trace of Y. |+>| | | | This parameter |+>| | | | heavily |+>| | | | influences the |+>| | | | ability of DSDP |+>| | | | to treat linear |+>| | | | equalities. The |+>| | | | DSDP standard |+>| | | | default (1e8) |+>| | | | will make a |+>| | | | problem with |+>| | | | linear equality |+>| | | | return unusable |+>| | | | solutions. |+>+-----------------+-----------------+-----------------+-----------------++>| _printlevel | OT_INTEGER | 1 | A printlevel of |+>| | | | zero will |+>| | | | disable all |+>| | | | output. Another |+>| | | | number |+>| | | | indicates how |+>| | | | often a line is |+>| | | | printed. |+>+-----------------+-----------------+-----------------+-----------------++>| _reuse | OT_INTEGER | 4 | Maximum on the |+>| | | | number of times |+>| | | | the Schur |+>| | | | complement |+>| | | | matrix is |+>| | | | reused |+>+-----------------+-----------------+-----------------+-----------------++>| _rho | OT_REAL | 4 | Potential |+>| | | | parameter. Must |+>| | | | be >=1 |+>+-----------------+-----------------+-----------------+-----------------++>| _use_penalty | OT_BOOLEAN | true | Modifies the |+>| | | | algorithm to |+>| | | | use a penality |+>| | | | gamma on r. |+>+-----------------+-----------------+-----------------+-----------------++>| _zbar | OT_REAL | 1.000e+10 | Initial upper |+>| | | | bound on the |+>| | | | objective of |+>| | | | the dual |+>| | | | problem. |+>+-----------------+-----------------+-----------------+-----------------++>| dualTol | OT_REAL | 0.000 | Tolerance for |+>| | | | dual |+>| | | | infeasibility |+>| | | | (translates to |+>| | | | primal |+>| | | | infeasibility |+>| | | | in dsdp terms) |+>+-----------------+-----------------+-----------------+-----------------++>| gapTol | OT_REAL | 0.000 | Convergence |+>| | | | criterion based |+>| | | | on distance |+>| | | | between primal |+>| | | | and dual |+>| | | | objective |+>+-----------------+-----------------+-----------------+-----------------++>| inf | OT_REAL | 1.000e+30 | Treat numbers |+>| | | | higher than |+>| | | | this as |+>| | | | infinity |+>+-----------------+-----------------+-----------------+-----------------++>| maxIter | OT_INTEGER | 500 | Maximum number |+>| | | | of iterations |+>+-----------------+-----------------+-----------------+-----------------++>| primalTol | OT_REAL | 0.000 | Tolerance for |+>| | | | primal |+>| | | | infeasibility |+>| | | | (translates to |+>| | | | dual |+>| | | | infeasibility |+>| | | | in dsdp terms) |+>+-----------------+-----------------+-----------------+-----------------++>| stepTol | OT_REAL | 0.050 | Terminate the |+>| | | | solver if the |+>| | | | step length in |+>| | | | the primal is |+>| | | | below this |+>| | | | tolerance. |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+--------------------++>| Id |+>+====================++>| solution_type |+>+--------------------++>| termination_reason |+>+--------------------++>+>Joel Andersson Diagrams+>+>C++ includes: sdp_solver.hpp +-}+newtype SdpSolver = SdpSolver (ForeignPtr SdpSolver')+-- typeclass decl+class SdpSolverClass a where+ castSdpSolver :: a -> SdpSolver+instance SdpSolverClass SdpSolver where+ castSdpSolver = id++-- baseclass instances+instance FunctionClass SdpSolver where+ castFunction (SdpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass SdpSolver where+ castOptionsFunctionality (SdpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass SdpSolver where+ castPrintableObject (SdpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass SdpSolver where+ castSharedObject (SdpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass SdpSolver where+ castIOInterfaceFunction (SdpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal SdpSolver (Ptr SdpSolver') where+ marshal (SdpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SdpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SdpSolver" + c_delete_casadi__SdpSolver :: FunPtr (Ptr SdpSolver' -> IO ())+instance WrapReturn (Ptr SdpSolver') SdpSolver where+ wrapReturn = (fmap SdpSolver) . (newForeignPtr c_delete_casadi__SdpSolver)+++-- raw decl+data SdqpSolver'+-- data decl+{-|+>SdqpSolver.+>+>Same as an SdpSolver, but with a quadratic objective 1/2 x' H x+>+>General information+>+>>Input scheme: casadi::SDQPInput (SDQP_SOLVER_NUM_IN = 9) [sdqpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SDQP_SOLVER_H | h | The matrix H: sparse ( |+>| | | n x n) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_C | c | The vector c: ( n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_F | f | The horizontal stack |+>| | | of all matrices F_i: ( |+>| | | m x nm) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_G | g | The matrix G: ( m x m) |+>| | | . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_A | a | The matrix A: ( nc x |+>| | | n) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_LBA | lba | Lower bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_UBA | uba | Upper bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_LBX | lbx | Lower bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_UBX | ubx | Upper bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 7) [sdqpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SDQP_SOLVER_X | x | The primal solution (n |+>| | | x 1) - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_P | p | The solution P (m x m) |+>| | | - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_DUAL | dual | The dual solution (m x |+>| | | m) - may be used as |+>| | | initial guess . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_COST | cost | The primal optimal |+>| | | cost (1 x 1) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |+>| | | (1 x 1) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to the |+>| | | linear constraints (nc |+>| | | x 1) . |+>+------------------------+------------------------+------------------------++>| SDQP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds (n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| sdp_solver | OT_STRING | GenericType( | The | casadi::Sdqp |+>| | | ) | SdqpSolver | SolverIntern |+>| | | | used to | al |+>| | | | solve the | |+>| | | | SDPs. | |+>+--------------+--------------+--------------+--------------+--------------++>| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | casadi::Sdqp |+>| ptions | Y | ) | be passed to | SolverIntern |+>| | | | the | al |+>| | | | SDPSOlver | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_SdqpSolver_sdp'>sdp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>SdqpSolver.doc("myextraplugin")+>+>sdp+>+>Solve an SQDP using an SdpSolver Note: this implementation relies on+>Cholesky decomposition: Chol(H) = L -> H = LL' with L lower triangular This+>requires Pi, H to be positive definite. Positive semi-definite is not+>sufficient. Notably, H==0 will not work.+>+>A better implementation would rely on matrix square root, but we need+>singular value decomposition to implement that.+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| sdp_solver | OT_STRING | GenericType() | The SdpSolver |+>| | | | used to solve |+>| | | | the SDQPs. |+>+-----------------+-----------------+-----------------+-----------------++>| sdp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |+>| ons | | | passed to the |+>| | | | SDPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+------------------++>| Id |+>+==================++>| sdp_solver_stats |+>+------------------++>+>Joel Andersson Diagrams+>+>C++ includes: sdqp_solver.hpp +-}+newtype SdqpSolver = SdqpSolver (ForeignPtr SdqpSolver')+-- typeclass decl+class SdqpSolverClass a where+ castSdqpSolver :: a -> SdqpSolver+instance SdqpSolverClass SdqpSolver where+ castSdqpSolver = id++-- baseclass instances+instance FunctionClass SdqpSolver where+ castFunction (SdqpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass SdqpSolver where+ castOptionsFunctionality (SdqpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass SdqpSolver where+ castPrintableObject (SdqpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass SdqpSolver where+ castSharedObject (SdqpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass SdqpSolver where+ castIOInterfaceFunction (SdqpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal SdqpSolver (Ptr SdqpSolver') where+ marshal (SdqpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SdqpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SdqpSolver" + c_delete_casadi__SdqpSolver :: FunPtr (Ptr SdqpSolver' -> IO ())+instance WrapReturn (Ptr SdqpSolver') SdqpSolver where+ wrapReturn = (fmap SdqpSolver) . (newForeignPtr c_delete_casadi__SdqpSolver)+++-- raw decl+data SharedObject'+-- data decl+{-|+>SharedObject implements a reference counting framework similar for efficient+>and easily-maintained memory management.+>+>To use the class, both the SharedObject class (the public class), and the+>SharedObjectNode class (the internal class) must be inherited from. It can+>be done in two different files and together with memory management, this+>approach provides a clear distinction of which methods of the class are to+>be considered "public", i.e. methods for public use that can be considered+>to remain over time with small changes, and the internal memory.+>+>When interfacing a software, which typically includes including some header+>file, this is best done only in the file where the internal class is+>defined, to avoid polluting the global namespace and other side effects.+>+>The default constructor always means creating a null pointer to an internal+>class only. To allocate an internal class (this works only when the internal+>class isn't abstract), use the constructor with arguments.+>+>The copy constructor and the assignment operator perform shallow copies+>only, to make a deep copy you must use the clone method explicitly. This+>will give a shared pointer instance.+>+>In an inheritance hierarchy, you can cast down automatically, e.g. (+>SXFunction is a child class of Function): SXFunction derived(...); Function+>base = derived;+>+>To cast up, use the shared_cast template function, which works analogously+>to dynamic_cast, static_cast, const_cast etc, e.g.: SXFunction derived(...);+>Function base = derived; SXFunction derived_from_base =+>shared_cast<SXFunction>(base);+>+>A failed shared_cast will result in a null pointer (cf. dynamic_cast)+>+>Joel Andersson+>+>C++ includes: shared_object.hpp +-}+newtype SharedObject = SharedObject (ForeignPtr SharedObject')+-- typeclass decl+class SharedObjectClass a where+ castSharedObject :: a -> SharedObject+instance SharedObjectClass SharedObject where+ castSharedObject = id++-- baseclass instances+instance PrintableObjectClass SharedObject where+ castPrintableObject (SharedObject x) = PrintableObject (castForeignPtr x)+++-- helper instances+instance Marshal SharedObject (Ptr SharedObject') where+ marshal (SharedObject x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SharedObject x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SharedObject" + c_delete_casadi__SharedObject :: FunPtr (Ptr SharedObject' -> IO ())+instance WrapReturn (Ptr SharedObject') SharedObject where+ wrapReturn = (fmap SharedObject) . (newForeignPtr c_delete_casadi__SharedObject)+++-- raw decl+data Simulator'+-- data decl+{-|+>Integrator class.+>+>An "simulator" integrates an IVP, stopping at a (fixed) number of grid+>points and evaluates a set of output functions at these points. The internal+>stepsizes of the integrator need not coincide with the gridpoints.+>+>Simulator is an casadi::Function mapping from casadi::IntegratorInput to n.+>\\\\+>+>The output function needs to be a mapping from casadi::DAEInput to n. The+>default output has n=1 and the output is the (vectorized) differential state+>for each time step.+>+>Joel Andersson+>+>>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 6) [integratorIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| INTEGRATOR_X0 | x0 | Differential state at |+>| | | the initial time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_P | p | Parameters . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_Z0 | z0 | Initial guess for the |+>| | | algebraic variable . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RX0 | rx0 | Backward differential |+>| | | state at the final |+>| | | time . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RP | rp | Backward parameter |+>| | | vector . |+>+------------------------+------------------------+------------------------++>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |+>| | | backwards algebraic |+>| | | variable . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | casadi::Simu |+>| | | | uts) (initi | latorInterna |+>| | | | al|step) | l |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>>List of available monitors+>+---------+---------------------------++>| Id | Used in |+>+=========+===========================++>| initial | casadi::SimulatorInternal |+>+---------+---------------------------++>| inputs | casadi::FunctionInternal |+>+---------+---------------------------++>| outputs | casadi::FunctionInternal |+>+---------+---------------------------++>| step | casadi::SimulatorInternal |+>+---------+---------------------------++>+>Diagrams+>+>C++ includes: simulator.hpp +-}+newtype Simulator = Simulator (ForeignPtr Simulator')+-- typeclass decl+class SimulatorClass a where+ castSimulator :: a -> Simulator+instance SimulatorClass Simulator where+ castSimulator = id++-- baseclass instances+instance FunctionClass Simulator where+ castFunction (Simulator x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass Simulator where+ castOptionsFunctionality (Simulator x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass Simulator where+ castPrintableObject (Simulator x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Simulator where+ castSharedObject (Simulator x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass Simulator where+ castIOInterfaceFunction (Simulator x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal Simulator (Ptr Simulator') where+ marshal (Simulator x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Simulator x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Simulator" + c_delete_casadi__Simulator :: FunPtr (Ptr Simulator' -> IO ())+instance WrapReturn (Ptr Simulator') Simulator where+ wrapReturn = (fmap Simulator) . (newForeignPtr c_delete_casadi__Simulator)+++-- raw decl+data Slice'+-- data decl+{-|+>Class representing a Slice.+>+>Note that Python or Octave do not need to use this class. They can just use+>slicing utility from the host language ( M[0:6] in Python, M(1:7) )+>+>C++ includes: slice.hpp +-}+newtype Slice = Slice (ForeignPtr Slice')+-- typeclass decl+class SliceClass a where+ castSlice :: a -> Slice+instance SliceClass Slice where+ castSlice = id++-- baseclass instances+instance PrintableObjectClass Slice where+ castPrintableObject (Slice x) = PrintableObject (castForeignPtr x)+++-- helper instances+instance Marshal Slice (Ptr Slice') where+ marshal (Slice x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Slice x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Slice" + c_delete_casadi__Slice :: FunPtr (Ptr Slice' -> IO ())+instance WrapReturn (Ptr Slice') Slice where+ wrapReturn = (fmap Slice) . (newForeignPtr c_delete_casadi__Slice)+++-- raw decl+data SocpSolver'+-- data decl+{-|+>SocpSolver.+>+>Solves an Second Order Cone Programming (SOCP) problem in standard form.+>+>Primal:+>+>min c' x x subject to || Gi' x + hi ||_2 <= ei' x + fi i = 1..m+>LBA <= A x <= UBA LBX <= x <= UBX with x ( n x 1) c ( n x 1 ) Gi sparse+>(n x ni) hi dense (ni x 1) ei dense (n x 1) fi dense (1 x 1) N = Sum_i^m+>ni A sparse (nc x n) LBA, UBA dense vector (nc x 1) LBX, UBX dense vector (n+>x 1)+>+>General information+>+>>Input scheme: casadi::SOCPInput (SOCP_SOLVER_NUM_IN = 10) [socpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SOCP_SOLVER_G | g | The horizontal stack |+>| | | of all matrices Gi: ( |+>| | | n x N) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_H | h | The vertical stack of |+>| | | all vectors hi: ( N x |+>| | | 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_E | e | The vertical stack of |+>| | | all vectors ei: ( nm x |+>| | | 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_F | f | The vertical stack of |+>| | | all scalars fi: ( m x |+>| | | 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_C | c | The vector c: ( n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_A | a | The matrix A: ( nc x |+>| | | n) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_LBA | lba | Lower bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_UBA | uba | Upper bounds on Ax ( |+>| | | nc x 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_LBX | lbx | Lower bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_UBX | ubx | Upper bounds on x ( n |+>| | | x 1 ) . |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 4) [socpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| SOCP_SOLVER_X | x | The primal solution (n |+>| | | x 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_COST | cost | The primal optimal |+>| | | cost (1 x 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to the |+>| | | linear constraints (nc |+>| | | x 1) . |+>+------------------------+------------------------+------------------------++>| SOCP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds (n x 1) |+>| | | . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| ni | OT_INTEGERVE | GenericType( | Provide the | casadi::Socp |+>| | CTOR | ) | size of each | SolverIntern |+>| | | | SOC | al |+>| | | | constraint. | |+>| | | | Must sum up | |+>| | | | to N. | |+>+--------------+--------------+--------------+--------------+--------------++>| print_proble | OT_BOOLEAN | false | Print out | casadi::Socp |+>| m | | | problem | SolverIntern |+>| | | | statement | al |+>| | | | for | |+>| | | | debugging. | |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_SocpSolver_sdp'>sdp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>SocpSolver.doc("myextraplugin")+>+>sdp+>+>Solve SOCPs using an SdpSolver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| sdp_solver | OT_STRING | GenericType() | The SdpSolver |+>| | | | used to solve |+>| | | | the SOCPs. |+>+-----------------+-----------------+-----------------+-----------------++>| sdp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |+>| ons | | | passed to the |+>| | | | SDPSOlver |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+------------------++>| Id |+>+==================++>| sdp_solver_stats |+>+------------------++>+>Joris Gillis Diagrams+>+>C++ includes: socp_solver.hpp +-}+newtype SocpSolver = SocpSolver (ForeignPtr SocpSolver')+-- typeclass decl+class SocpSolverClass a where+ castSocpSolver :: a -> SocpSolver+instance SocpSolverClass SocpSolver where+ castSocpSolver = id++-- baseclass instances+instance FunctionClass SocpSolver where+ castFunction (SocpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass SocpSolver where+ castOptionsFunctionality (SocpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass SocpSolver where+ castPrintableObject (SocpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass SocpSolver where+ castSharedObject (SocpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass SocpSolver where+ castIOInterfaceFunction (SocpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal SocpSolver (Ptr SocpSolver') where+ marshal (SocpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (SocpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__SocpSolver" + c_delete_casadi__SocpSolver :: FunPtr (Ptr SocpSolver' -> IO ())+instance WrapReturn (Ptr SocpSolver') SocpSolver where+ wrapReturn = (fmap SocpSolver) . (newForeignPtr c_delete_casadi__SocpSolver)+++-- raw decl+data Sparsity'+-- data decl+{-|+>General sparsity class.+>+>The storage format is a compressed column storage (CCS) format. In this+>format, the structural non-zero elements are stored in column-major order,+>starting from the upper left corner of the matrix and ending in the lower+>right corner.+>+>In addition to the dimension ( size1(), size2()), (i.e. the number of rows+>and the number of columns respectively), there are also two vectors of+>integers:+>+>"colind" [length size2()+1], which contains the index to the first non-+>zero element on or after the corresponding column. All the non-zero elements+>of a particular i are thus the elements with index el that fulfills:+>colind[i] <= el < colind[i+1].+>+>"row" [same length as the number of non-zero elements, size()] The rows+>for each of the structural non-zeros.+>+>Note that with this format, it is cheap to loop over all the non-zero+>elements of a particular column, at constant time per element, but expensive+>to jump to access a location (i, j).+>+>If the matrix is dense, i.e. length(row) == size1()*size2(), the format+>reduces to standard dense column major format, which allows access to an+>arbitrary element in constant time.+>+>Since the object is reference counted (it inherits from SharedObject),+>several matrices are allowed to share the same sparsity pattern.+>+>The implementations of some methods of this class has been taken from the+>CSparse package and modified to use C++ standard library and CasADi data+>structures.+>+>See: Matrix+>+>Joel Andersson+>+>C++ includes: sparsity.hpp +-}+newtype Sparsity = Sparsity (ForeignPtr Sparsity')+-- typeclass decl+class SparsityClass a where+ castSparsity :: a -> Sparsity+instance SparsityClass Sparsity where+ castSparsity = id++-- baseclass instances+instance PrintableObjectClass Sparsity where+ castPrintableObject (Sparsity x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass Sparsity where+ castSharedObject (Sparsity x) = SharedObject (castForeignPtr x)+++-- helper instances+instance Marshal Sparsity (Ptr Sparsity') where+ marshal (Sparsity x) = return (unsafeForeignPtrToPtr x)+ marshalFree (Sparsity x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__Sparsity" + c_delete_casadi__Sparsity :: FunPtr (Ptr Sparsity' -> IO ())+instance WrapReturn (Ptr Sparsity') Sparsity where+ wrapReturn = (fmap Sparsity) . (newForeignPtr c_delete_casadi__Sparsity)+++-- raw decl+data StabilizedQpSolver'+-- data decl+{-|+>StabilizedQpSolver.+>+>Solves the following strictly convex problem:+>+>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA LBX <= x <=+>UBX with : H sparse (n x n) positive definite g dense (n x 1) n: number of+>decision variables (x) nc: number of constraints (A)+>+>If H is not positive-definite, the solver should throw an error.+>+>General information+>+>>Input scheme: casadi::StabilizedQpSolverInput (STABILIZED_QP_SOLVER_NUM_IN = 12) [stabilizedQpIn]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| STABILIZED_QP_SOLVER_H | h | The square matrix H: |+>| | | sparse, (n x n). Only |+>| | | the lower triangular |+>| | | part is actually used. |+>| | | The matrix is assumed |+>| | | to be symmetrical. |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_G | g | The vector g: dense, |+>| | | (n x 1) . |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_A | a | The matrix A: sparse, |+>| | | (nc x n) - product |+>| | | with x must be dense. |+>| | | . |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_L | lba | dense, (nc x 1) |+>| BA | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_U | uba | dense, (nc x 1) |+>| BA | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_L | lbx | dense, (n x 1) |+>| BX | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_U | ubx | dense, (n x 1) |+>| BX | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_X | x0 | dense, (n x 1) |+>| 0 | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_L | lam_x0 | dense |+>| AM_X0 | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_M | muR | dense (1 x 1) |+>| UR | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_M | muE | dense (nc x 1) |+>| UE | | |+>+------------------------+------------------------+------------------------++>| STABILIZED_QP_SOLVER_M | mu | dense (nc x 1) |+>| U | | |+>+------------------------+------------------------+------------------------++>+>>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut]+>+------------------------+------------------------+------------------------++>| Full name | Short | Description |+>+========================+========================+========================++>| QP_SOLVER_X | x | The primal solution . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_COST | cost | The optimal cost . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LAM_A | lam_a | The dual solution |+>| | | corresponding to |+>| | | linear bounds . |+>+------------------------+------------------------+------------------------++>| QP_SOLVER_LAM_X | lam_x | The dual solution |+>| | | corresponding to |+>| | | simple bounds . |+>+------------------------+------------------------+------------------------++>+>>List of available options+>+--------------+--------------+--------------+--------------+--------------++>| Id | Type | Default | Description | Used in |+>+==============+==============+==============+==============+==============++>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |+>| | | | calculate | tionInternal |+>| | | | the | |+>| | | | Jacobians. | |+>| | | | (forward: | |+>| | | | only forward | |+>| | | | mode|reverse | |+>| | | | : only | |+>| | | | adjoint mode | |+>| | | | |automatic: | |+>| | | | a heuristic | |+>| | | | decides | |+>| | | | which is | |+>| | | | more | |+>| | | | appropriate) | |+>+--------------+--------------+--------------+--------------+--------------++>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |+>| enerator | EGENERATOR | ) | that returns | tionInternal |+>| | | | a derivative | |+>| | | | function | |+>| | | | given a | |+>| | | | number of | |+>| | | | forward and | |+>| | | | reverse | |+>| | | | directional | |+>| | | | derivative, | |+>| | | | overrides | |+>| | | | internal | |+>| | | | routines. | |+>| | | | Check docume | |+>| | | | ntation of D | |+>| | | | erivativeGen | |+>| | | | erator . | |+>+--------------+--------------+--------------+--------------+--------------++>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |+>| | | | indicate | tionInternal |+>| | | | whether | |+>| | | | statistics | |+>| | | | must be | |+>| | | | gathered | |+>+--------------+--------------+--------------+--------------+--------------++>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |+>| | | | exceptions | tionInternal |+>| | | | when the | |+>| | | | numerical | |+>| | | | values of | |+>| | | | the inputs | |+>| | | | don't make | |+>| | | | sense | |+>+--------------+--------------+--------------+--------------+--------------++>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |+>| | TOR | ) | be activated | tionInternal |+>| | | | (inputs|outp | |+>| | | | uts) | |+>+--------------+--------------+--------------+--------------+--------------++>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |+>| | | red_object" | object | onsFunctiona |+>| | | | | lityNode |+>+--------------+--------------+--------------+--------------+--------------++>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |+>| heck | | | exceptions | tionInternal |+>| | | | when NaN or | |+>| | | | Inf appears | |+>| | | | during | |+>| | | | evaluation | |+>+--------------+--------------+--------------+--------------+--------------++>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |+>| | | ) | defined | tionInternal |+>| | | | field that | |+>| | | | can be used | |+>| | | | to identify | |+>| | | | the function | |+>| | | | or pass | |+>| | | | additional | |+>| | | | information | |+>+--------------+--------------+--------------+--------------+--------------++>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |+>| | | | evaluation | tionInternal |+>| | | | for | |+>| | | | debugging | |+>+--------------+--------------+--------------+--------------+--------------++>+>List of plugins+>+>- <a href='#plugin_StabilizedQpSolver_sqic'>sqic</a>+>+>- <a href='#plugin_StabilizedQpSolver_qp'>qp</a>+>+>Note: some of the plugins in this list might not be available on your+>system. Also, there might be extra plugins available to you that are not+>listed here. You can obtain their documentation with+>StabilizedQpSolver.doc("myextraplugin")+>+>sqic+>+>Interface to SQIC+>+>>List of available options+>+----+------+---------+-------------++>| Id | Type | Default | Description |+>+====+======+=========+=============++>+----+------+---------+-------------++>+>qp+>+>Solved a stabilized QP using a standard QP solver+>+>>List of available options+>+-----------------+-----------------+-----------------+-----------------++>| Id | Type | Default | Description |+>+=================+=================+=================+=================++>| qp_solver | OT_STRING | GenericType() | The QP solver |+>| | | | used to solve |+>| | | | the stabilized |+>| | | | QPs. |+>+-----------------+-----------------+-----------------+-----------------++>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |+>| ns | | | passed to the |+>| | | | QP solver |+>| | | | instance |+>+-----------------+-----------------+-----------------+-----------------++>+>>List of available stats+>+-----------------++>| Id |+>+=================++>| qp_solver_stats |+>+-----------------++>+>Joel Andersson Diagrams+>+>C++ includes: stabilized_qp_solver.hpp +-}+newtype StabilizedQpSolver = StabilizedQpSolver (ForeignPtr StabilizedQpSolver')+-- typeclass decl+class StabilizedQpSolverClass a where+ castStabilizedQpSolver :: a -> StabilizedQpSolver+instance StabilizedQpSolverClass StabilizedQpSolver where+ castStabilizedQpSolver = id++-- baseclass instances+instance FunctionClass StabilizedQpSolver where+ castFunction (StabilizedQpSolver x) = Function (castForeignPtr x)++instance OptionsFunctionalityClass StabilizedQpSolver where+ castOptionsFunctionality (StabilizedQpSolver x) = OptionsFunctionality (castForeignPtr x)++instance PrintableObjectClass StabilizedQpSolver where+ castPrintableObject (StabilizedQpSolver x) = PrintableObject (castForeignPtr x)++instance SharedObjectClass StabilizedQpSolver where+ castSharedObject (StabilizedQpSolver x) = SharedObject (castForeignPtr x)++instance IOInterfaceFunctionClass StabilizedQpSolver where+ castIOInterfaceFunction (StabilizedQpSolver x) = IOInterfaceFunction (castForeignPtr x)+++-- helper instances+instance Marshal StabilizedQpSolver (Ptr StabilizedQpSolver') where+ marshal (StabilizedQpSolver x) = return (unsafeForeignPtrToPtr x)+ marshalFree (StabilizedQpSolver x) _ = touchForeignPtr x+foreign import ccall unsafe "&delete_casadi__StabilizedQpSolver" + c_delete_casadi__StabilizedQpSolver :: FunPtr (Ptr StabilizedQpSolver' -> IO ())+instance WrapReturn (Ptr StabilizedQpSolver') StabilizedQpSolver where+ wrapReturn = (fmap StabilizedQpSolver) . (newForeignPtr c_delete_casadi__StabilizedQpSolver) -- raw decl
Casadi/Core/Enums.hs view
@@ -19,26 +19,26 @@ IntegratorOutput(..), JacGInput(..), JacGOutput(..),- LPSolverInput(..),- LPSolverOutput(..), LPStruct(..), LinsolInput(..), LinsolOutput(..),+ LpSolverInput(..),+ LpSolverOutput(..), MayerInput(..), NLPInput(..), NLPOutput(..),- NLPSolverInput(..),- NLPSolverOutput(..),+ NlpSolverInput(..),+ NlpSolverOutput(..), OCPInput(..), OCPOutput(..), Operation(..), Opt_type(..),- QCQPSolverInput(..),- QCQPSolverOutput(..), QCQPStruct(..),- QPSolverInput(..),- QPSolverOutput(..), QPStruct(..),+ QcqpSolverInput(..),+ QcqpSolverOutput(..),+ QpSolverInput(..),+ QpSolverOutput(..), RDAEInput(..), RDAEOutput(..), SDPInput(..),@@ -51,7 +51,7 @@ SOCPOutput(..), SOCPStruct(..), SparsityType(..),- StabilizedQPSolverInput(..),+ StabilizedQpSolverInput(..), Type(..), ) where @@ -320,24 +320,24 @@ | SCHEME_IntegratorOutput | SCHEME_JacGInput | SCHEME_JacGOutput- | SCHEME_LPSolverInput- | SCHEME_LPSolverOutput | SCHEME_LPStruct | SCHEME_LinsolInput | SCHEME_LinsolOutput+ | SCHEME_LpSolverInput+ | SCHEME_LpSolverOutput | SCHEME_MayerInput | SCHEME_NLPInput | SCHEME_NLPOutput- | SCHEME_NLPSolverInput- | SCHEME_NLPSolverOutput+ | SCHEME_NlpSolverInput+ | SCHEME_NlpSolverOutput | SCHEME_OCPInput | SCHEME_OCPOutput- | SCHEME_QCQPSolverInput- | SCHEME_QCQPSolverOutput | SCHEME_QCQPStruct- | SCHEME_QPSolverInput- | SCHEME_QPSolverOutput | SCHEME_QPStruct+ | SCHEME_QcqpSolverInput+ | SCHEME_QcqpSolverOutput+ | SCHEME_QpSolverInput+ | SCHEME_QpSolverOutput | SCHEME_RDAEInput | SCHEME_RDAEOutput | SCHEME_SDPInput@@ -349,7 +349,7 @@ | SCHEME_SOCPInput | SCHEME_SOCPOutput | SCHEME_SOCPStruct- | SCHEME_StabilizedQPSolverInput+ | SCHEME_StabilizedQpSolverInput deriving (Show, Eq) instance Enum InputOutputScheme where fromEnum (SCHEME_ControlSimulatorInput) = 3@@ -367,24 +367,24 @@ fromEnum (SCHEME_IntegratorOutput) = 10 fromEnum (SCHEME_JacGInput) = 20 fromEnum (SCHEME_JacGOutput) = 21- fromEnum (SCHEME_LPSolverInput) = 13- fromEnum (SCHEME_LPSolverOutput) = 14 fromEnum (SCHEME_LPStruct) = 15 fromEnum (SCHEME_LinsolInput) = 11 fromEnum (SCHEME_LinsolOutput) = 12+ fromEnum (SCHEME_LpSolverInput) = 13+ fromEnum (SCHEME_LpSolverOutput) = 14 fromEnum (SCHEME_MayerInput) = 26 fromEnum (SCHEME_NLPInput) = 16 fromEnum (SCHEME_NLPOutput) = 17- fromEnum (SCHEME_NLPSolverInput) = 24- fromEnum (SCHEME_NLPSolverOutput) = 25+ fromEnum (SCHEME_NlpSolverInput) = 24+ fromEnum (SCHEME_NlpSolverOutput) = 25 fromEnum (SCHEME_OCPInput) = 27 fromEnum (SCHEME_OCPOutput) = 28- fromEnum (SCHEME_QCQPSolverInput) = 29- fromEnum (SCHEME_QCQPSolverOutput) = 30 fromEnum (SCHEME_QCQPStruct) = 31- fromEnum (SCHEME_QPSolverInput) = 32- fromEnum (SCHEME_QPSolverOutput) = 33 fromEnum (SCHEME_QPStruct) = 34+ fromEnum (SCHEME_QcqpSolverInput) = 29+ fromEnum (SCHEME_QcqpSolverOutput) = 30+ fromEnum (SCHEME_QpSolverInput) = 32+ fromEnum (SCHEME_QpSolverOutput) = 33 fromEnum (SCHEME_RDAEInput) = 7 fromEnum (SCHEME_RDAEOutput) = 8 fromEnum (SCHEME_SDPInput) = 35@@ -396,7 +396,7 @@ fromEnum (SCHEME_SOCPInput) = 41 fromEnum (SCHEME_SOCPOutput) = 42 fromEnum (SCHEME_SOCPStruct) = 43- fromEnum (SCHEME_StabilizedQPSolverInput) = 44+ fromEnum (SCHEME_StabilizedQpSolverInput) = 44 toEnum (3) = SCHEME_ControlSimulatorInput toEnum (2) = SCHEME_ControlledDAEInput toEnum (5) = SCHEME_DAEInput@@ -412,24 +412,24 @@ toEnum (10) = SCHEME_IntegratorOutput toEnum (20) = SCHEME_JacGInput toEnum (21) = SCHEME_JacGOutput- toEnum (13) = SCHEME_LPSolverInput- toEnum (14) = SCHEME_LPSolverOutput toEnum (15) = SCHEME_LPStruct toEnum (11) = SCHEME_LinsolInput toEnum (12) = SCHEME_LinsolOutput+ toEnum (13) = SCHEME_LpSolverInput+ toEnum (14) = SCHEME_LpSolverOutput toEnum (26) = SCHEME_MayerInput toEnum (16) = SCHEME_NLPInput toEnum (17) = SCHEME_NLPOutput- toEnum (24) = SCHEME_NLPSolverInput- toEnum (25) = SCHEME_NLPSolverOutput+ toEnum (24) = SCHEME_NlpSolverInput+ toEnum (25) = SCHEME_NlpSolverOutput toEnum (27) = SCHEME_OCPInput toEnum (28) = SCHEME_OCPOutput- toEnum (29) = SCHEME_QCQPSolverInput- toEnum (30) = SCHEME_QCQPSolverOutput toEnum (31) = SCHEME_QCQPStruct- toEnum (32) = SCHEME_QPSolverInput- toEnum (33) = SCHEME_QPSolverOutput toEnum (34) = SCHEME_QPStruct+ toEnum (29) = SCHEME_QcqpSolverInput+ toEnum (30) = SCHEME_QcqpSolverOutput+ toEnum (32) = SCHEME_QpSolverInput+ toEnum (33) = SCHEME_QpSolverOutput toEnum (7) = SCHEME_RDAEInput toEnum (8) = SCHEME_RDAEOutput toEnum (35) = SCHEME_SDPInput@@ -441,7 +441,7 @@ toEnum (41) = SCHEME_SOCPInput toEnum (42) = SCHEME_SOCPOutput toEnum (43) = SCHEME_SOCPStruct- toEnum (44) = SCHEME_StabilizedQPSolverInput+ toEnum (44) = SCHEME_StabilizedQpSolverInput toEnum k = error $ "InputOutputScheme: toEnum: got unhandled number: " ++ show k@@ -555,63 +555,6 @@ instance WrapReturn CInt JacGOutput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: LPSolverInput-data LPSolverInput = LP_SOLVER_A- | LP_SOLVER_C- | LP_SOLVER_LBA- | LP_SOLVER_LBX- | LP_SOLVER_NUM_IN- | LP_SOLVER_UBA- | LP_SOLVER_UBX- deriving (Show, Eq)-instance Enum LPSolverInput where- fromEnum (LP_SOLVER_A) = 1- fromEnum (LP_SOLVER_C) = 0- fromEnum (LP_SOLVER_LBA) = 2- fromEnum (LP_SOLVER_LBX) = 4- fromEnum (LP_SOLVER_NUM_IN) = 6- fromEnum (LP_SOLVER_UBA) = 3- fromEnum (LP_SOLVER_UBX) = 5- toEnum (1) = LP_SOLVER_A- toEnum (0) = LP_SOLVER_C- toEnum (2) = LP_SOLVER_LBA- toEnum (4) = LP_SOLVER_LBX- toEnum (6) = LP_SOLVER_NUM_IN- toEnum (3) = LP_SOLVER_UBA- toEnum (5) = LP_SOLVER_UBX- toEnum k- = error $ "LPSolverInput: toEnum: got unhandled number: " ++ show k-instance Marshal LPSolverInput CInt where- marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt LPSolverInput where- wrapReturn = return . toEnum . fromIntegral---- EnumDecl: LPSolverOutput-data LPSolverOutput = LP_SOLVER_COST- | LP_SOLVER_LAM_A- | LP_SOLVER_LAM_X- | LP_SOLVER_NUM_OUT- | LP_SOLVER_X- deriving (Show, Eq)-instance Enum LPSolverOutput where- fromEnum (LP_SOLVER_COST) = 1- fromEnum (LP_SOLVER_LAM_A) = 2- fromEnum (LP_SOLVER_LAM_X) = 3- fromEnum (LP_SOLVER_NUM_OUT) = 4- fromEnum (LP_SOLVER_X) = 0- toEnum (1) = LP_SOLVER_COST- toEnum (2) = LP_SOLVER_LAM_A- toEnum (3) = LP_SOLVER_LAM_X- toEnum (4) = LP_SOLVER_NUM_OUT- toEnum (0) = LP_SOLVER_X- toEnum k- = error $ "LPSolverOutput: toEnum: got unhandled number: " ++- show k-instance Marshal LPSolverOutput CInt where- marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt LPSolverOutput where- wrapReturn = return . toEnum . fromIntegral- -- EnumDecl: LPStruct data LPStruct = LP_STRUCT_A | LP_STRUCT_NUM@@ -663,6 +606,63 @@ instance WrapReturn CInt LinsolOutput where wrapReturn = return . toEnum . fromIntegral +-- EnumDecl: LpSolverInput+data LpSolverInput = LP_SOLVER_A+ | LP_SOLVER_C+ | LP_SOLVER_LBA+ | LP_SOLVER_LBX+ | LP_SOLVER_NUM_IN+ | LP_SOLVER_UBA+ | LP_SOLVER_UBX+ deriving (Show, Eq)+instance Enum LpSolverInput where+ fromEnum (LP_SOLVER_A) = 1+ fromEnum (LP_SOLVER_C) = 0+ fromEnum (LP_SOLVER_LBA) = 2+ fromEnum (LP_SOLVER_LBX) = 4+ fromEnum (LP_SOLVER_NUM_IN) = 6+ fromEnum (LP_SOLVER_UBA) = 3+ fromEnum (LP_SOLVER_UBX) = 5+ toEnum (1) = LP_SOLVER_A+ toEnum (0) = LP_SOLVER_C+ toEnum (2) = LP_SOLVER_LBA+ toEnum (4) = LP_SOLVER_LBX+ toEnum (6) = LP_SOLVER_NUM_IN+ toEnum (3) = LP_SOLVER_UBA+ toEnum (5) = LP_SOLVER_UBX+ toEnum k+ = error $ "LpSolverInput: toEnum: got unhandled number: " ++ show k+instance Marshal LpSolverInput CInt where+ marshal = return . fromIntegral . fromEnum+instance WrapReturn CInt LpSolverInput where+ wrapReturn = return . toEnum . fromIntegral++-- EnumDecl: LpSolverOutput+data LpSolverOutput = LP_SOLVER_COST+ | LP_SOLVER_LAM_A+ | LP_SOLVER_LAM_X+ | LP_SOLVER_NUM_OUT+ | LP_SOLVER_X+ deriving (Show, Eq)+instance Enum LpSolverOutput where+ fromEnum (LP_SOLVER_COST) = 1+ fromEnum (LP_SOLVER_LAM_A) = 2+ fromEnum (LP_SOLVER_LAM_X) = 3+ fromEnum (LP_SOLVER_NUM_OUT) = 4+ fromEnum (LP_SOLVER_X) = 0+ toEnum (1) = LP_SOLVER_COST+ toEnum (2) = LP_SOLVER_LAM_A+ toEnum (3) = LP_SOLVER_LAM_X+ toEnum (4) = LP_SOLVER_NUM_OUT+ toEnum (0) = LP_SOLVER_X+ toEnum k+ = error $ "LpSolverOutput: toEnum: got unhandled number: " +++ show k+instance Marshal LpSolverOutput CInt where+ marshal = return . fromIntegral . fromEnum+instance WrapReturn CInt LpSolverOutput where+ wrapReturn = return . toEnum . fromIntegral+ -- EnumDecl: MayerInput data MayerInput = MAYER_NUM_IN | MAYER_P@@ -720,8 +720,8 @@ instance WrapReturn CInt NLPOutput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: NLPSolverInput-data NLPSolverInput = NLP_SOLVER_LAM_G0+-- EnumDecl: NlpSolverInput+data NlpSolverInput = NLP_SOLVER_LAM_G0 | NLP_SOLVER_LAM_X0 | NLP_SOLVER_LBG | NLP_SOLVER_LBX@@ -731,7 +731,7 @@ | NLP_SOLVER_UBX | NLP_SOLVER_X0 deriving (Show, Eq)-instance Enum NLPSolverInput where+instance Enum NlpSolverInput where fromEnum (NLP_SOLVER_LAM_G0) = 7 fromEnum (NLP_SOLVER_LAM_X0) = 6 fromEnum (NLP_SOLVER_LBG) = 4@@ -751,15 +751,15 @@ toEnum (3) = NLP_SOLVER_UBX toEnum (0) = NLP_SOLVER_X0 toEnum k- = error $ "NLPSolverInput: toEnum: got unhandled number: " +++ = error $ "NlpSolverInput: toEnum: got unhandled number: " ++ show k-instance Marshal NLPSolverInput CInt where+instance Marshal NlpSolverInput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt NLPSolverInput where+instance WrapReturn CInt NlpSolverInput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: NLPSolverOutput-data NLPSolverOutput = NLP_SOLVER_F+-- EnumDecl: NlpSolverOutput+data NlpSolverOutput = NLP_SOLVER_F | NLP_SOLVER_G | NLP_SOLVER_LAM_G | NLP_SOLVER_LAM_P@@ -767,7 +767,7 @@ | NLP_SOLVER_NUM_OUT | NLP_SOLVER_X deriving (Show, Eq)-instance Enum NLPSolverOutput where+instance Enum NlpSolverOutput where fromEnum (NLP_SOLVER_F) = 1 fromEnum (NLP_SOLVER_G) = 2 fromEnum (NLP_SOLVER_LAM_G) = 4@@ -783,11 +783,11 @@ toEnum (6) = NLP_SOLVER_NUM_OUT toEnum (0) = NLP_SOLVER_X toEnum k- = error $ "NLPSolverOutput: toEnum: got unhandled number: " +++ = error $ "NlpSolverOutput: toEnum: got unhandled number: " ++ show k-instance Marshal NLPSolverOutput CInt where+instance Marshal NlpSolverOutput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt NLPSolverOutput where+instance WrapReturn CInt NlpSolverOutput where wrapReturn = return . toEnum . fromIntegral -- EnumDecl: OCPInput@@ -1102,8 +1102,49 @@ instance WrapReturn CInt Operation where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: QCQPSolverInput-data QCQPSolverInput = QCQP_SOLVER_A+-- EnumDecl: QCQPStruct+data QCQPStruct = QCQP_STRUCT_A+ | QCQP_STRUCT_H+ | QCQP_STRUCT_NUM+ | QCQP_STRUCT_P+ deriving (Show, Eq)+instance Enum QCQPStruct where+ fromEnum (QCQP_STRUCT_A) = 2+ fromEnum (QCQP_STRUCT_H) = 0+ fromEnum (QCQP_STRUCT_NUM) = 3+ fromEnum (QCQP_STRUCT_P) = 1+ toEnum (2) = QCQP_STRUCT_A+ toEnum (0) = QCQP_STRUCT_H+ toEnum (3) = QCQP_STRUCT_NUM+ toEnum (1) = QCQP_STRUCT_P+ toEnum k+ = error $ "QCQPStruct: toEnum: got unhandled number: " ++ show k+instance Marshal QCQPStruct CInt where+ marshal = return . fromIntegral . fromEnum+instance WrapReturn CInt QCQPStruct where+ wrapReturn = return . toEnum . fromIntegral++-- EnumDecl: QPStruct+data QPStruct = QP_STRUCT_A+ | QP_STRUCT_H+ | QP_STRUCT_NUM+ deriving (Show, Eq)+instance Enum QPStruct where+ fromEnum (QP_STRUCT_A) = 1+ fromEnum (QP_STRUCT_H) = 0+ fromEnum (QP_STRUCT_NUM) = 2+ toEnum (1) = QP_STRUCT_A+ toEnum (0) = QP_STRUCT_H+ toEnum (2) = QP_STRUCT_NUM+ toEnum k+ = error $ "QPStruct: toEnum: got unhandled number: " ++ show k+instance Marshal QPStruct CInt where+ marshal = return . fromIntegral . fromEnum+instance WrapReturn CInt QPStruct where+ wrapReturn = return . toEnum . fromIntegral++-- EnumDecl: QcqpSolverInput+data QcqpSolverInput = QCQP_SOLVER_A | QCQP_SOLVER_G | QCQP_SOLVER_H | QCQP_SOLVER_LAM_X0@@ -1117,7 +1158,7 @@ | QCQP_SOLVER_UBX | QCQP_SOLVER_X0 deriving (Show, Eq)-instance Enum QCQPSolverInput where+instance Enum QcqpSolverInput where fromEnum (QCQP_SOLVER_A) = 5 fromEnum (QCQP_SOLVER_G) = 1 fromEnum (QCQP_SOLVER_H) = 0@@ -1145,21 +1186,21 @@ toEnum (9) = QCQP_SOLVER_UBX toEnum (10) = QCQP_SOLVER_X0 toEnum k- = error $ "QCQPSolverInput: toEnum: got unhandled number: " +++ = error $ "QcqpSolverInput: toEnum: got unhandled number: " ++ show k-instance Marshal QCQPSolverInput CInt where+instance Marshal QcqpSolverInput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QCQPSolverInput where+instance WrapReturn CInt QcqpSolverInput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: QCQPSolverOutput-data QCQPSolverOutput = QCQP_SOLVER_COST+-- EnumDecl: QcqpSolverOutput+data QcqpSolverOutput = QCQP_SOLVER_COST | QCQP_SOLVER_LAM_A | QCQP_SOLVER_LAM_X | QCQP_SOLVER_NUM_OUT | QCQP_SOLVER_X deriving (Show, Eq)-instance Enum QCQPSolverOutput where+instance Enum QcqpSolverOutput where fromEnum (QCQP_SOLVER_COST) = 1 fromEnum (QCQP_SOLVER_LAM_A) = 2 fromEnum (QCQP_SOLVER_LAM_X) = 3@@ -1171,37 +1212,15 @@ toEnum (4) = QCQP_SOLVER_NUM_OUT toEnum (0) = QCQP_SOLVER_X toEnum k- = error $ "QCQPSolverOutput: toEnum: got unhandled number: " +++ = error $ "QcqpSolverOutput: toEnum: got unhandled number: " ++ show k-instance Marshal QCQPSolverOutput CInt where- marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QCQPSolverOutput where- wrapReturn = return . toEnum . fromIntegral---- EnumDecl: QCQPStruct-data QCQPStruct = QCQP_STRUCT_A- | QCQP_STRUCT_H- | QCQP_STRUCT_NUM- | QCQP_STRUCT_P- deriving (Show, Eq)-instance Enum QCQPStruct where- fromEnum (QCQP_STRUCT_A) = 2- fromEnum (QCQP_STRUCT_H) = 0- fromEnum (QCQP_STRUCT_NUM) = 3- fromEnum (QCQP_STRUCT_P) = 1- toEnum (2) = QCQP_STRUCT_A- toEnum (0) = QCQP_STRUCT_H- toEnum (3) = QCQP_STRUCT_NUM- toEnum (1) = QCQP_STRUCT_P- toEnum k- = error $ "QCQPStruct: toEnum: got unhandled number: " ++ show k-instance Marshal QCQPStruct CInt where+instance Marshal QcqpSolverOutput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QCQPStruct where+instance WrapReturn CInt QcqpSolverOutput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: QPSolverInput-data QPSolverInput = QP_SOLVER_A+-- EnumDecl: QpSolverInput+data QpSolverInput = QP_SOLVER_A | QP_SOLVER_G | QP_SOLVER_H | QP_SOLVER_LAM_X0@@ -1212,7 +1231,7 @@ | QP_SOLVER_UBX | QP_SOLVER_X0 deriving (Show, Eq)-instance Enum QPSolverInput where+instance Enum QpSolverInput where fromEnum (QP_SOLVER_A) = 2 fromEnum (QP_SOLVER_G) = 1 fromEnum (QP_SOLVER_H) = 0@@ -1234,20 +1253,20 @@ toEnum (6) = QP_SOLVER_UBX toEnum (7) = QP_SOLVER_X0 toEnum k- = error $ "QPSolverInput: toEnum: got unhandled number: " ++ show k-instance Marshal QPSolverInput CInt where+ = error $ "QpSolverInput: toEnum: got unhandled number: " ++ show k+instance Marshal QpSolverInput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QPSolverInput where+instance WrapReturn CInt QpSolverInput where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: QPSolverOutput-data QPSolverOutput = QP_SOLVER_COST+-- EnumDecl: QpSolverOutput+data QpSolverOutput = QP_SOLVER_COST | QP_SOLVER_LAM_A | QP_SOLVER_LAM_X | QP_SOLVER_NUM_OUT | QP_SOLVER_X deriving (Show, Eq)-instance Enum QPSolverOutput where+instance Enum QpSolverOutput where fromEnum (QP_SOLVER_COST) = 1 fromEnum (QP_SOLVER_LAM_A) = 2 fromEnum (QP_SOLVER_LAM_X) = 3@@ -1259,30 +1278,11 @@ toEnum (4) = QP_SOLVER_NUM_OUT toEnum (0) = QP_SOLVER_X toEnum k- = error $ "QPSolverOutput: toEnum: got unhandled number: " +++ = error $ "QpSolverOutput: toEnum: got unhandled number: " ++ show k-instance Marshal QPSolverOutput CInt where- marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QPSolverOutput where- wrapReturn = return . toEnum . fromIntegral---- EnumDecl: QPStruct-data QPStruct = QP_STRUCT_A- | QP_STRUCT_H- | QP_STRUCT_NUM- deriving (Show, Eq)-instance Enum QPStruct where- fromEnum (QP_STRUCT_A) = 1- fromEnum (QP_STRUCT_H) = 0- fromEnum (QP_STRUCT_NUM) = 2- toEnum (1) = QP_STRUCT_A- toEnum (0) = QP_STRUCT_H- toEnum (2) = QP_STRUCT_NUM- toEnum k- = error $ "QPStruct: toEnum: got unhandled number: " ++ show k-instance Marshal QPStruct CInt where+instance Marshal QpSolverOutput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt QPStruct where+instance WrapReturn CInt QpSolverOutput where wrapReturn = return . toEnum . fromIntegral -- EnumDecl: RDAEInput@@ -1645,8 +1645,8 @@ instance WrapReturn CInt SparsityType where wrapReturn = return . toEnum . fromIntegral --- EnumDecl: StabilizedQPSolverInput-data StabilizedQPSolverInput = STABILIZED_QP_SOLVER_A+-- EnumDecl: StabilizedQpSolverInput+data StabilizedQpSolverInput = STABILIZED_QP_SOLVER_A | STABILIZED_QP_SOLVER_G | STABILIZED_QP_SOLVER_H | STABILIZED_QP_SOLVER_LAM_X0@@ -1660,7 +1660,7 @@ | STABILIZED_QP_SOLVER_UBX | STABILIZED_QP_SOLVER_X0 deriving (Show, Eq)-instance Enum StabilizedQPSolverInput where+instance Enum StabilizedQpSolverInput where fromEnum (STABILIZED_QP_SOLVER_A) = 2 fromEnum (STABILIZED_QP_SOLVER_G) = 1 fromEnum (STABILIZED_QP_SOLVER_H) = 0@@ -1688,11 +1688,11 @@ toEnum (6) = STABILIZED_QP_SOLVER_UBX toEnum (7) = STABILIZED_QP_SOLVER_X0 toEnum k- = error $ "StabilizedQPSolverInput: toEnum: got unhandled number: "+ = error $ "StabilizedQpSolverInput: toEnum: got unhandled number: " ++ show k-instance Marshal StabilizedQPSolverInput CInt where+instance Marshal StabilizedQpSolverInput CInt where marshal = return . fromIntegral . fromEnum-instance WrapReturn CInt StabilizedQPSolverInput where+instance WrapReturn CInt StabilizedQpSolverInput where wrapReturn = return . toEnum . fromIntegral -- EnumDecl: Type
Casadi/Core/Tools.hs view
@@ -3960,7 +3960,7 @@ > >f: dynamical system >->>Input scheme: casadi::DAEInput (DAE_NUM_IN = 5) [daeIn]+>>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+@@ -3973,7 +3973,7 @@ >| DAE_T | t | Explicit time dependence . | >+-----------+-------+----------------------------+ >->>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]+>>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+@@ -4016,7 +4016,7 @@ > >f: dynamical system >->>Input scheme: casadi::DAEInput (DAE_NUM_IN = 5) [daeIn]+>>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+@@ -4029,7 +4029,7 @@ >| DAE_T | t | Explicit time dependence . | >+-----------+-------+----------------------------+ >->>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]+>>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+@@ -4073,7 +4073,7 @@ > >f: dynamical system >->>Input scheme: casadi::DAEInput (DAE_NUM_IN = 5) [daeIn]+>>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+@@ -4086,7 +4086,7 @@ >| DAE_T | t | Explicit time dependence . | >+-----------+-------+----------------------------+ >->>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]+>>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+@@ -4131,7 +4131,7 @@ > >f: dynamical system >->>Input scheme: casadi::DAEInput (DAE_NUM_IN = 5) [daeIn]+>>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+@@ -4144,7 +4144,7 @@ >| DAE_T | t | Explicit time dependence . | >+-----------+-------+----------------------------+ >->>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]+>>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+@@ -6275,7 +6275,7 @@ > >f: dynamical system >->>Input scheme: casadi::DAEInput (DAE_NUM_IN = 5) [daeIn]+>>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+@@ -6288,7 +6288,7 @@ >| DAE_T | t | Explicit time dependence . | >+-----------+-------+----------------------------+ >->>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]+>>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+
casadi-bindings-core.cabal view
@@ -1,5 +1,5 @@ name: casadi-bindings-core-version: 1.9.0.4+version: 1.9.0.5 license: LGPL-3 license-file: LICENSE category: Numerical, Math@@ -48,33 +48,33 @@ Casadi.Core.Classes.Function Casadi.Core.Classes.Functor Casadi.Core.Classes.GenericType- Casadi.Core.Classes.HomotopyNLPSolver+ Casadi.Core.Classes.HomotopyNlpSolver Casadi.Core.Classes.IMatrix Casadi.Core.Classes.IOScheme Casadi.Core.Classes.ImplicitFunction Casadi.Core.Classes.Integrator- Casadi.Core.Classes.LPSolver Casadi.Core.Classes.LinearSolver+ Casadi.Core.Classes.LpSolver Casadi.Core.Classes.MX Casadi.Core.Classes.MXFunction- Casadi.Core.Classes.NLPSolver+ Casadi.Core.Classes.NlpSolver Casadi.Core.Classes.Nullspace Casadi.Core.Classes.OCPSolver Casadi.Core.Classes.OptionsFunctionality Casadi.Core.Classes.Parallelizer Casadi.Core.Classes.PrintableObject- Casadi.Core.Classes.QCQPSolver- Casadi.Core.Classes.QPSolver- Casadi.Core.Classes.SDPSolver- Casadi.Core.Classes.SDQPSolver- Casadi.Core.Classes.SOCPSolver+ Casadi.Core.Classes.QcqpSolver+ Casadi.Core.Classes.QpSolver Casadi.Core.Classes.SX Casadi.Core.Classes.SXElement Casadi.Core.Classes.SXFunction+ Casadi.Core.Classes.SdpSolver+ Casadi.Core.Classes.SdqpSolver Casadi.Core.Classes.SharedObject Casadi.Core.Classes.Simulator Casadi.Core.Classes.Slice+ Casadi.Core.Classes.SocpSolver Casadi.Core.Classes.Sparsity- Casadi.Core.Classes.StabilizedQPSolver+ Casadi.Core.Classes.StabilizedQpSolver Casadi.Core.Classes.SymbolicNLP Casadi.Core.Classes.IOInterfaceFunction
cbits/autogen/core_classes.cpp view
file too large to diff