diff --git a/Casadi/Core/Data.hs b/Casadi/Core/Data.hs --- a/Casadi/Core/Data.hs +++ b/Casadi/Core/Data.hs @@ -143,6 +143,7 @@ >Joris Gillis > >>Input scheme: casadi::ControlSimulatorInput (CONTROLSIMULATOR_NUM_IN = 3) [controlsimulatorIn] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -162,6 +163,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -305,7 +307,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: control_simulator.hpp -} newtype ControlSimulator = ControlSimulator (ForeignPtr ControlSimulator') @@ -391,6 +396,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -477,7 +483,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: custom_function.hpp -} newtype CustomFunction = CustomFunction (ForeignPtr CustomFunction') @@ -590,6 +599,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -676,7 +686,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: external_function.hpp -} newtype ExternalFunction = ExternalFunction (ForeignPtr ExternalFunction') @@ -753,6 +766,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -839,6 +853,7 @@ >+--------------+--------------+--------------+--------------+--------------+ > >>List of available monitors +> >+---------+--------------------------+ >| Id | Used in | >+=========+==========================+ @@ -848,7 +863,10 @@ >+---------+--------------------------+ > >Diagrams +>-------- > +> +> >C++ includes: function.hpp -} newtype Function = Function (ForeignPtr Function') @@ -958,16 +976,34 @@ {-| >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 +>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 | >+========================+========================+========================+ @@ -1006,6 +1042,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -1035,6 +1072,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -1128,7 +1166,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- simple > >Note: some of the plugins in this list might not be available on your @@ -1136,9 +1177,17 @@ >listed here. You can obtain their documentation with >HomotopyNlpSolver.doc("myextraplugin") > +> +> +>-------------------------------------------------------------------------------- +> >simple +>------ > +> +> >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -1157,8 +1206,16 @@ >| | | | tau=1. | >+-----------------+-----------------+-----------------+-----------------+ > ->Joris Gillis Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joris Gillis +>Diagrams +>-------- +> +> +> >C++ includes: homotopy_nlp_solver.hpp -} newtype HomotopyNlpSolver = HomotopyNlpSolver (ForeignPtr HomotopyNlpSolver') @@ -1281,8 +1338,12 @@ >ImplicitFunction. > >General information +>=================== > +> +> >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -1409,7 +1470,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- kinsol > >- newton @@ -1421,11 +1485,19 @@ >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 | >+=================+=================+=================+=================+ @@ -1478,6 +1550,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-----------+ >| Id | >+===========+ @@ -1486,11 +1559,21 @@ >| eval_f | >+-----------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >newton +>------ > +> +> >Implements simple newton iterations to solve an implicit function. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -1512,6 +1595,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+----------+ >| Id | >+==========+ @@ -1527,6 +1611,7 @@ >+----------+ > >>List of available stats +> >+---------------+ >| Id | >+===============+ @@ -1535,11 +1620,21 @@ >| return_status | >+---------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >nlp +>--- > +> +> >Use an NlpSolver as ImplicitFunction solver > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -1554,14 +1649,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+------------------+ >| Id | >+==================+ >| nlp_solver_stats | >+------------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: implicit_function.hpp -} newtype ImplicitFunction = ImplicitFunction (ForeignPtr ImplicitFunction') @@ -1608,24 +1712,44 @@ > >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. +>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 | >+========================+========================+========================+ @@ -1650,6 +1774,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 6) [integratorOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -1676,6 +1801,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -1795,7 +1921,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- cvodes > >- idas @@ -1811,8 +1940,15 @@ >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. @@ -1822,6 +1958,7 @@ >times t_i. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -2057,6 +2194,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+---------+ >| Id | >+=========+ @@ -2074,6 +2212,7 @@ >+---------+ > >>List of available stats +> >+-------------+ >| Id | >+=============+ @@ -2086,11 +2225,21 @@ >| nstepsB | >+-------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >idas +>---- > +> +> >Interface to IDAS from the Sundials suite. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -2360,6 +2509,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+--------------------------+ >| Id | >+==========================+ @@ -2385,6 +2535,7 @@ >+--------------------------+ > >>List of available stats +> >+-------------+ >| Id | >+=============+ @@ -2397,14 +2548,24 @@ >| 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 | >+=================+=================+=================+=================+ @@ -2427,13 +2588,23 @@ >| 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 | >+=================+=================+=================+=================+ @@ -2484,14 +2655,23 @@ >| | | | integrator | >+-----------------+-----------------+-----------------+-----------------+ > ->rk +>-------------------------------------------------------------------------------- > +> +> +>-------------------------------------------------------------------------------- +> +>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 | >+=================+=================+=================+=================+ @@ -2499,8 +2679,16 @@ >| e_elements | | | finite elements | >+-----------------+-----------------+-----------------+-----------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: integrator.hpp -} newtype Integrator = Integrator (ForeignPtr Integrator') @@ -2565,8 +2753,12 @@ >therefore more expensive if A is invariant. > >General information +>=================== > +> +> >>Input scheme: casadi::LinsolInput (LINSOL_NUM_IN = 2) [linsolIn] +> >+-----------+-------+------------------------------------------------+ >| Full name | Short | Description | >+===========+=======+================================================+ @@ -2576,6 +2768,7 @@ >+-----------+-------+------------------------------------------------+ > >>Output scheme: casadi::LinsolOutput (LINSOL_NUM_OUT = 1) [linsolOut] +> >+-----------+-------+----------------------------------------------+ >| Full name | Short | Description | >+===========+=======+==============================================+ @@ -2583,6 +2776,7 @@ >+-----------+-------+----------------------------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -2669,7 +2863,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- csparsecholesky > >- csparse @@ -2685,32 +2882,60 @@ >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 | >+=============================+============+=========+=============+ @@ -2719,23 +2944,43 @@ >| 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 | >+=================+=================+=================+=================+ @@ -2749,8 +2994,16 @@ >| | | | generated code | >+-----------------+-----------------+-----------------+-----------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: linear_solver.hpp -} newtype LinearSolver = LinearSolver (ForeignPtr LinearSolver') @@ -2795,14 +3048,35 @@ > >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) > +> +>:: +> +> 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 | >+========================+========================+========================+ @@ -2824,6 +3098,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::LpSolverOutput (LP_SOLVER_NUM_OUT = 4) [lpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -2841,6 +3116,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -2927,7 +3203,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- qp > >Note: some of the plugins in this list might not be available on your @@ -2935,11 +3214,18 @@ >listed here. You can obtain their documentation with >LpSolver.doc("myextraplugin") > ->qp > +> +>-------------------------------------------------------------------------------- +> +>qp -- +> +> +> >Solve LPs using a QpSolver > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -2953,14 +3239,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+-----------------+ >| Id | >+=================+ >| qp_solver_stats | >+-----------------+ > ->Joris Gillis Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joris Gillis +>Diagrams +>-------- +> +> +> >C++ includes: lp_solver.hpp -} newtype LpSolver = LpSolver (ForeignPtr LpSolver') @@ -3036,6 +3331,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -3122,7 +3418,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: mx_function.hpp -} newtype MXFunction = MXFunction (ForeignPtr MXFunction') @@ -3165,14 +3464,32 @@ {-| >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 +>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 | >+========================+========================+========================+ @@ -3211,6 +3528,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -3240,6 +3558,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -3425,7 +3744,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- ipopt > >- knitro @@ -3445,8 +3767,15 @@ >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 @@ -3467,6 +3796,7 @@ >'make_constraint' or 'relax_bounds' to obtain correct results. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -5686,6 +6016,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -5701,6 +6032,7 @@ >+-------------+ > >>List of available stats +> >+--------------------+ >| Id | >+====================+ @@ -5751,11 +6083,21 @@ >| var_string_md | >+--------------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >knitro +>------ > +> +> >KNITRO interface > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -5848,6 +6190,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -5862,11 +6205,21 @@ >| eval_jac_g | >+-------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >snopt +>----- > +> +> >SNOPT interface > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -5906,6 +6259,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-----------+ >| Id | >+===========+ @@ -5915,6 +6269,7 @@ >+-----------+ > >>List of available stats +> >+----------------+ >| Id | >+================+ @@ -5939,11 +6294,21 @@ >| t_mainloop | >+----------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >worhp +>----- > +> +> >WORHP interface > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -6714,6 +7079,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -6729,6 +7095,7 @@ >+-------------+ > >>List of available stats +> >+--------------------+ >| Id | >+====================+ @@ -6769,12 +7136,22 @@ >| 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 | >+=================+=================+=================+=================+ @@ -6877,6 +7254,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -6896,17 +7274,28 @@ >+-------------+ > >>List of available stats +> >+------------+ >| Id | >+============+ >| iter_count | >+------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >sqpmethod +>--------- > +> +> >A textbook SQPMethod > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -6984,6 +7373,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -7005,6 +7395,7 @@ >+-------------+ > >>List of available stats +> >+--------------------+ >| Id | >+====================+ @@ -7043,11 +7434,21 @@ >| t_mainloop | >+--------------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >stabilizedsqp +>------------- > +> +> >Stabilized Sequential Quadratic Programming method. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -7185,6 +7586,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available monitors +> >+-------------+ >| Id | >+=============+ @@ -7204,6 +7606,7 @@ >+-------------+ > >>List of available stats +> >+---------------+ >| Id | >+===============+ @@ -7212,8 +7615,16 @@ >| return_status | >+---------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: nlp_solver.hpp -} newtype NlpSolver = NlpSolver (ForeignPtr NlpSolver') @@ -7268,6 +7679,7 @@ >basis Joris Gillis > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -7359,7 +7771,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: nullspace.hpp -} newtype Nullspace = Nullspace (ForeignPtr Nullspace') @@ -7405,6 +7820,7 @@ >Joel Andersson > >>Input scheme: casadi::OCPInput (OCP_NUM_IN = 13) [ocpIn] +> >+------------+--------+----------------------------------------------+ >| Full name | Short | Description | >+============+========+==============================================+ @@ -7436,6 +7852,7 @@ >+------------+--------+----------------------------------------------+ > >>Output scheme: casadi::OCPOutput (OCP_NUM_OUT = 4) [ocpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -7453,6 +7870,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -7551,7 +7969,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: ocp_solver.hpp -} newtype OCPSolver = OCPSolver (ForeignPtr OCPSolver') @@ -7604,6 +8025,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -7613,7 +8035,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: options_functionality.hpp -} newtype OptionsFunctionality = OptionsFunctionality (ForeignPtr OptionsFunctionality') @@ -7650,6 +8075,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -7740,6 +8166,7 @@ >+--------------+--------------+--------------+--------------+--------------+ > >>List of available stats +> >+-----------------+------------------------------+ >| Id | Used in | >+=================+==============================+ @@ -7759,7 +8186,10 @@ >+-----------------+------------------------------+ > >Diagrams +>-------- > +> +> >C++ includes: parallelizer.hpp -} newtype Parallelizer = Parallelizer (ForeignPtr Parallelizer') @@ -7833,17 +8263,38 @@ > >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 > +> +>:: +> +> 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 | >+========================+========================+========================+ @@ -7892,6 +8343,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::QcqpSolverOutput (QCQP_SOLVER_NUM_OUT = 4) [qcqpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -7909,6 +8361,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -7995,7 +8448,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- socp > >Note: some of the plugins in this list might not be available on your @@ -8003,8 +8459,15 @@ >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 @@ -8014,15 +8477,33 @@ >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 epigraph reformulation: > ->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. +>:: > +> * 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 | >+=================+=================+=================+=================+ @@ -8036,14 +8517,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+-------------------+ >| Id | >+===================+ >| socp_solver_stats | >+-------------------+ > ->Joris Gillis Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joris Gillis +>Diagrams +>-------- +> +> +> >C++ includes: qcqp_solver.hpp -} newtype QcqpSolver = QcqpSolver (ForeignPtr QcqpSolver') @@ -8088,16 +8578,35 @@ > >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) > +> +>:: +> +> 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 | >+========================+========================+========================+ @@ -8130,6 +8639,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -8147,6 +8657,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -8233,7 +8744,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- cplex > >- ooqp @@ -8251,11 +8765,19 @@ >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 | >+=================+=================+=================+=================+ @@ -8309,8 +8831,17 @@ >| | | | methods). | >+-----------------+-----------------+-----------------+-----------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >ooqp +>---- > +> +> >Interface to the OOQP Solver for quadratic programming The current >implementation assumes that OOQP is configured with the MA27 sparse linear >solver. @@ -8319,6 +8850,7 @@ >reInit(); > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -8338,11 +8870,21 @@ >| | | | 10 and 100 | >+-----------------+-----------------+-----------------+-----------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >qpoases +>------- > +> +> >Interface to QPOases Solver for quadratic programming > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -8529,21 +9071,41 @@ >| | | | 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 | >+=================+=================+=================+=================+ @@ -8557,17 +9119,28 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+------------------+ >| Id | >+==================+ >| nlp_solver_stats | >+------------------+ > +>-------------------------------------------------------------------------------- +> +> +> +>-------------------------------------------------------------------------------- +> >qcqp +>---- > +> +> >Solve QP using a QcqpSolver > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -8581,14 +9154,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+-------------------+ >| Id | >+===================+ >| qcqp_solver_stats | >+-------------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: qp_solver.hpp -} newtype QpSolver = QpSolver (ForeignPtr QpSolver') @@ -8686,6 +9268,7 @@ >Joel Andersson > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -8790,7 +9373,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >Diagrams +>-------- > +> +> >C++ includes: sx_function.hpp -} newtype SXFunction = SXFunction (ForeignPtr SXFunction') @@ -8838,40 +9424,97 @@ > >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) > +> +>:: +> +> 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) > +> +>:: +> +> 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) > +>:: +> +> 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 | >+========================+========================+========================+ @@ -8902,6 +9545,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::SDPOutput (SDP_SOLVER_NUM_OUT = 7) [sdpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -8935,6 +9579,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -9062,7 +9707,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- dsdp > >Note: some of the plugins in this list might not be available on your @@ -9070,14 +9718,22 @@ >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 | >+=================+=================+=================+=================+ @@ -9176,6 +9832,7 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+--------------------+ >| Id | >+====================+ @@ -9184,8 +9841,16 @@ >| termination_reason | >+--------------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: sdp_solver.hpp -} newtype SdpSolver = SdpSolver (ForeignPtr SdpSolver') @@ -9231,8 +9896,12 @@ >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 | >+========================+========================+========================+ @@ -9266,6 +9935,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 7) [sdqpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -9299,6 +9969,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -9396,7 +10067,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- sdp > >Note: some of the plugins in this list might not be available on your @@ -9404,8 +10078,15 @@ >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 @@ -9415,6 +10096,7 @@ >singular value decomposition to implement that. > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -9428,14 +10110,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+------------------+ >| Id | >+==================+ >| sdp_solver_stats | >+------------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joel Andersson +>Diagrams +>-------- +> +> +> >C++ includes: sdqp_solver.hpp -} newtype SdqpSolver = SdqpSolver (ForeignPtr SdqpSolver') @@ -9555,6 +10246,7 @@ >Joel Andersson > >>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 6) [integratorIn] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -9579,6 +10271,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -9666,6 +10359,7 @@ >+--------------+--------------+--------------+--------------+--------------+ > >>List of available monitors +> >+---------+---------------------------+ >| Id | Used in | >+=========+===========================+ @@ -9679,7 +10373,10 @@ >+---------+---------------------------+ > >Diagrams +>-------- > +> +> >C++ includes: simulator.hpp -} newtype Simulator = Simulator (ForeignPtr Simulator') @@ -9759,15 +10456,38 @@ > >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) > +> +>:: +> +> 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 | >+========================+========================+========================+ @@ -9807,6 +10527,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 4) [socpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -9828,6 +10549,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -9927,7 +10649,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- sdp > >Note: some of the plugins in this list might not be available on your @@ -9935,11 +10660,19 @@ >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 | >+=================+=================+=================+=================+ @@ -9953,14 +10686,23 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+------------------+ >| Id | >+==================+ >| sdp_solver_stats | >+------------------+ > ->Joris Gillis Diagrams +>-------------------------------------------------------------------------------- > +> +> +>Joris Gillis +>Diagrams +>-------- +> +> +> >C++ includes: socp_solver.hpp -} newtype SocpSolver = SocpSolver (ForeignPtr SocpSolver') @@ -10074,15 +10816,35 @@ > >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) > +> +>:: +> +> 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 | >+========================+========================+========================+ @@ -10130,6 +10892,7 @@ >+------------------------+------------------------+------------------------+ > >>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut] +> >+------------------------+------------------------+------------------------+ >| Full name | Short | Description | >+========================+========================+========================+ @@ -10147,6 +10910,7 @@ >+------------------------+------------------------+------------------------+ > >>List of available options +> >+--------------+--------------+--------------+--------------+--------------+ >| Id | Type | Default | Description | Used in | >+==============+==============+==============+==============+==============+ @@ -10233,7 +10997,10 @@ >+--------------+--------------+--------------+--------------+--------------+ > >List of plugins +>=============== > +> +> >- sqic > >- qp @@ -10243,21 +11010,38 @@ >listed here. You can obtain their documentation with >StabilizedQpSolver.doc("myextraplugin") > +> +> +>-------------------------------------------------------------------------------- +> >sqic +>---- > +> +> >Interface to SQIC > >>List of available options +> >+----+------+---------+-------------+ >| Id | Type | Default | Description | >+====+======+=========+=============+ >+----+------+---------+-------------+ > ->qp +>-------------------------------------------------------------------------------- > +> +> +>-------------------------------------------------------------------------------- +> +>qp -- +> +> +> >Solved a stabilized QP using a standard QP solver > >>List of available options +> >+-----------------+-----------------+-----------------+-----------------+ >| Id | Type | Default | Description | >+=================+=================+=================+=================+ @@ -10273,13 +11057,22 @@ >+-----------------+-----------------+-----------------+-----------------+ > >>List of available stats +> >+-----------------+ >| Id | >+=================+ >| qp_solver_stats | >+-----------------+ > ->Joel Andersson Diagrams +>-------------------------------------------------------------------------------- +> +> +> +>Joel Andersson +>Diagrams +>-------- +> +> > >C++ includes: stabilized_qp_solver.hpp -} diff --git a/Casadi/Core/Tools.hs b/Casadi/Core/Tools.hs --- a/Casadi/Core/Tools.hs +++ b/Casadi/Core/Tools.hs @@ -1339,6 +1339,8 @@ foreign import ccall unsafe "blkdiag__2" c_blkdiag__2 :: Ptr (Ptr StdString) -> Ptr (StdVec (Ptr SX')) -> IO (Ptr SX') {-| +>Construct a matrix with given blocks on the diagonal. +> >Construct a matrix with given block on the diagonal. -} blkdiag__2 @@ -1356,6 +1358,8 @@ foreign import ccall unsafe "blkdiag__3" c_blkdiag__3 :: Ptr (Ptr StdString) -> Ptr (StdVec (Ptr DMatrix')) -> IO (Ptr DMatrix') {-| +>Construct a matrix with given blocks on the diagonal. +> >Construct a matrix with given block on the diagonal. -} blkdiag__3 @@ -1373,6 +1377,8 @@ foreign import ccall unsafe "blkdiag__4" c_blkdiag__4 :: Ptr (Ptr StdString) -> Ptr (StdVec (Ptr IMatrix')) -> IO (Ptr IMatrix') {-| +>Construct a matrix with given blocks on the diagonal. +> >Construct a matrix with given block on the diagonal. -} blkdiag__4 @@ -3961,6 +3967,7 @@ >f: dynamical system > >>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] +> >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+ @@ -3974,6 +3981,7 @@ >+-----------+-------+----------------------------+ > >>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] +> >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+ @@ -4017,6 +4025,7 @@ >f: dynamical system > >>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] +> >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+ @@ -4030,6 +4039,7 @@ >+-----------+-------+----------------------------+ > >>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] +> >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+ @@ -4074,6 +4084,7 @@ >f: dynamical system > >>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] +> >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+ @@ -4087,6 +4098,7 @@ >+-----------+-------+----------------------------+ > >>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] +> >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+ @@ -4132,6 +4144,7 @@ >f: dynamical system > >>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] +> >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+ @@ -4145,6 +4158,7 @@ >+-----------+-------+----------------------------+ > >>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] +> >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+ @@ -6276,6 +6290,7 @@ >f: dynamical system > >>Input scheme: casadi::DAEInput (DAE_NUM_IN = 4) [daeIn] +> >+-----------+-------+----------------------------+ >| Full name | Short | Description | >+===========+=======+============================+ @@ -6289,6 +6304,7 @@ >+-----------+-------+----------------------------+ > >>Output scheme: casadi::DAEOutput (DAE_NUM_OUT = 3) [daeOut] +> >+-----------+-------+--------------------------------------------+ >| Full name | Short | Description | >+===========+=======+============================================+ @@ -20224,7 +20240,11 @@ >$(x)=f(a)+f'(a)(x-a)+f''(a)\\\\frac >{(x-a)^2}{2!}+f'''(a)\\\\frac{(x-a)^3}{3!}+\\\\ldots$ > ->Example usage:>> x +>Example usage: +> +>:: +> +>>> x -} taylor__0 :: SX -> SX -> IO SX @@ -20250,7 +20270,11 @@ >$(x)=f(a)+f'(a)(x-a)+f''(a)\\\\frac >{(x-a)^2}{2!}+f'''(a)\\\\frac{(x-a)^3}{3!}+\\\\ldots$ > ->Example usage:>> x +>Example usage: +> +>:: +> +>>> x -} taylor__1 :: SX -> SX -> SX -> IO SX @@ -20277,7 +20301,11 @@ >$(x)=f(a)+f'(a)(x-a)+f''(a)\\\\frac >{(x-a)^2}{2!}+f'''(a)\\\\frac{(x-a)^3}{3!}+\\\\ldots$ > ->Example usage:>> x +>Example usage: +> +>:: +> +>>> x -} taylor__2 :: SX -> SX -> SX -> Int -> IO SX 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: 1.9.0.5 +version: 2.0.0 license: LGPL-3 license-file: LICENSE category: Numerical, Math