diff --git a/Casadi/Core/Classes/CasadiMeta.hs b/Casadi/Core/Classes/CasadiMeta.hs --- a/Casadi/Core/Classes/CasadiMeta.hs +++ b/Casadi/Core/Classes/CasadiMeta.hs @@ -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 diff --git a/Casadi/Core/Classes/DMatrix.hs b/Casadi/Core/Classes/DMatrix.hs --- a/Casadi/Core/Classes/DMatrix.hs +++ b/Casadi/Core/Classes/DMatrix.hs @@ -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 diff --git a/Casadi/Core/Classes/HomotopyNLPSolver.hs b/Casadi/Core/Classes/HomotopyNLPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/HomotopyNLPSolver.hs +++ /dev/null @@ -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 - diff --git a/Casadi/Core/Classes/HomotopyNlpSolver.hs b/Casadi/Core/Classes/HomotopyNlpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/HomotopyNlpSolver.hs @@ -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 + diff --git a/Casadi/Core/Classes/IMatrix.hs b/Casadi/Core/Classes/IMatrix.hs --- a/Casadi/Core/Classes/IMatrix.hs +++ b/Casadi/Core/Classes/IMatrix.hs @@ -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 diff --git a/Casadi/Core/Classes/LPSolver.hs b/Casadi/Core/Classes/LPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/LPSolver.hs +++ /dev/null @@ -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 - diff --git a/Casadi/Core/Classes/LpSolver.hs b/Casadi/Core/Classes/LpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/LpSolver.hs @@ -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 + diff --git a/Casadi/Core/Classes/NLPSolver.hs b/Casadi/Core/Classes/NLPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/NLPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/NlpSolver.hs b/Casadi/Core/Classes/NlpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/NlpSolver.hs @@ -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) + diff --git a/Casadi/Core/Classes/QCQPSolver.hs b/Casadi/Core/Classes/QCQPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/QCQPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/QPSolver.hs b/Casadi/Core/Classes/QPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/QPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/QcqpSolver.hs b/Casadi/Core/Classes/QcqpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/QcqpSolver.hs @@ -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) + diff --git a/Casadi/Core/Classes/QpSolver.hs b/Casadi/Core/Classes/QpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/QpSolver.hs @@ -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) + diff --git a/Casadi/Core/Classes/SDPSolver.hs b/Casadi/Core/Classes/SDPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/SDPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/SDQPSolver.hs b/Casadi/Core/Classes/SDQPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/SDQPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/SOCPSolver.hs b/Casadi/Core/Classes/SOCPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/SOCPSolver.hs +++ /dev/null @@ -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 - diff --git a/Casadi/Core/Classes/SX.hs b/Casadi/Core/Classes/SX.hs --- a/Casadi/Core/Classes/SX.hs +++ b/Casadi/Core/Classes/SX.hs @@ -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 diff --git a/Casadi/Core/Classes/SdpSolver.hs b/Casadi/Core/Classes/SdpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/SdpSolver.hs @@ -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) + diff --git a/Casadi/Core/Classes/SdqpSolver.hs b/Casadi/Core/Classes/SdqpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/SdqpSolver.hs @@ -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) + diff --git a/Casadi/Core/Classes/SocpSolver.hs b/Casadi/Core/Classes/SocpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/SocpSolver.hs @@ -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 + diff --git a/Casadi/Core/Classes/StabilizedQPSolver.hs b/Casadi/Core/Classes/StabilizedQPSolver.hs deleted file mode 100644 --- a/Casadi/Core/Classes/StabilizedQPSolver.hs +++ /dev/null @@ -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) - diff --git a/Casadi/Core/Classes/StabilizedQpSolver.hs b/Casadi/Core/Classes/StabilizedQpSolver.hs new file mode 100644 --- /dev/null +++ b/Casadi/Core/Classes/StabilizedQpSolver.hs @@ -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) + diff --git a/Casadi/Core/Data.hs b/Casadi/Core/Data.hs --- a/Casadi/Core/Data.hs +++ b/Casadi/Core/Data.hs @@ -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(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 +> +>- simple +> +>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 +> +>- kinsol +> +>- newton +> +>- nlp +> +>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 +> +>- cvodes +> +>- idas +> +>- collocation +> +>- oldcollocation +> +>- rk +> +>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 +> +>- csparsecholesky +> +>- csparse +> +>- lapacklu +> +>- lapackqr +> +>- symbolicqr +> +>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 +> +>- qp +> +>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 +> +>- ipopt +> +>- knitro +> +>- snopt +> +>- worhp +> +>- scpgen +> +>- sqpmethod +> +>- stabilizedsqp +> +>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 +> +>- socp +> +>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 +> +>- cplex +> +>- ooqp +> +>- qpoases +> +>- sqic +> +>- nlp +> +>- qcqp +> +>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 +> +>- dsdp +> +>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 +> +>- sdp +> +>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(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 +> +>- sdp +> +>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 +> +>- sqic +> +>- qp +> +>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 diff --git a/Casadi/Core/Enums.hs b/Casadi/Core/Enums.hs --- a/Casadi/Core/Enums.hs +++ b/Casadi/Core/Enums.hs @@ -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 diff --git a/Casadi/Core/Tools.hs b/Casadi/Core/Tools.hs --- a/Casadi/Core/Tools.hs +++ b/Casadi/Core/Tools.hs @@ -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 | >+===========+=======+============================================+ diff --git a/casadi-bindings-core.cabal b/casadi-bindings-core.cabal --- a/casadi-bindings-core.cabal +++ b/casadi-bindings-core.cabal @@ -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 diff --git a/cbits/autogen/core_classes.cpp b/cbits/autogen/core_classes.cpp # file too large to diff: cbits/autogen/core_classes.cpp