diff --git a/Casadi/IpoptInterface/Classes/IpoptSolver.hs b/Casadi/IpoptInterface/Classes/IpoptSolver.hs
new file mode 100644
--- /dev/null
+++ b/Casadi/IpoptInterface/Classes/IpoptSolver.hs
@@ -0,0 +1,116 @@
+{-# OPTIONS_GHC -Wall #-}
+{-# OPTIONS_GHC -fno-warn-unused-imports #-}
+{-# OPTIONS_GHC -fno-warn-orphans #-}
+{-# Language ForeignFunctionInterface #-}
+{-# Language FlexibleInstances #-}
+{-# Language MultiParamTypeClasses #-}
+
+module Casadi.IpoptInterface.Classes.IpoptSolver
+ (
+ IpoptSolver,
+ IpoptSolverClass(..),
+ ipoptSolver__0,
+ ipoptSolver__1,
+ ipoptSolver_creator,
+ ipoptSolver_getReducedHessian,
+ ) 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.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.IpoptInterface.Data
+import Casadi.IpoptInterface.Enums
+import Casadi.Core.Data
+
+-- direct wrapper
+foreign import ccall unsafe "casadi__IpoptSolver__CONSTRUCTOR__0" c_casadi__IpoptSolver__CONSTRUCTOR__0
+ :: Ptr (Ptr StdString) -> Ptr Function' -> IO (Ptr IpoptSolver')
+casadi__IpoptSolver__CONSTRUCTOR__0
+ :: Function -> IO IpoptSolver
+casadi__IpoptSolver__CONSTRUCTOR__0 x0 =
+ withMarshal x0 $ \x0' ->
+ do
+ errStrPtrP <- new nullPtr
+ ret <- c_casadi__IpoptSolver__CONSTRUCTOR__0 errStrPtrP x0'
+ errStrPtr <- peek errStrPtrP
+ free errStrPtrP
+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)
+
+
+-- classy wrapper
+ipoptSolver__0 :: Function -> IO IpoptSolver
+ipoptSolver__0 = casadi__IpoptSolver__CONSTRUCTOR__0
+
+
+-- direct wrapper
+foreign import ccall unsafe "casadi__IpoptSolver__CONSTRUCTOR__1" c_casadi__IpoptSolver__CONSTRUCTOR__1
+ :: Ptr (Ptr StdString) -> IO (Ptr IpoptSolver')
+casadi__IpoptSolver__CONSTRUCTOR__1
+ :: IO IpoptSolver
+casadi__IpoptSolver__CONSTRUCTOR__1 =
+
+ do
+ errStrPtrP <- new nullPtr
+ ret <- c_casadi__IpoptSolver__CONSTRUCTOR__1 errStrPtrP
+ errStrPtr <- peek errStrPtrP
+ free errStrPtrP
+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)
+
+
+-- classy wrapper
+ipoptSolver__1 :: IO IpoptSolver
+ipoptSolver__1 = casadi__IpoptSolver__CONSTRUCTOR__1
+
+
+-- direct wrapper
+foreign import ccall unsafe "casadi__IpoptSolver__creator" c_casadi__IpoptSolver__creator
+ :: Ptr (Ptr StdString) -> Ptr Function' -> IO (Ptr NLPSolver')
+casadi__IpoptSolver__creator
+ :: Function -> IO NLPSolver
+casadi__IpoptSolver__creator x0 =
+ withMarshal x0 $ \x0' ->
+ do
+ errStrPtrP <- new nullPtr
+ ret <- c_casadi__IpoptSolver__creator errStrPtrP x0'
+ errStrPtr <- peek errStrPtrP
+ free errStrPtrP
+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)
+
+
+-- classy wrapper
+ipoptSolver_creator :: Function -> IO NLPSolver
+ipoptSolver_creator = casadi__IpoptSolver__creator
+
+
+-- direct wrapper
+foreign import ccall unsafe "casadi__IpoptSolver__getReducedHessian" c_casadi__IpoptSolver__getReducedHessian
+ :: Ptr (Ptr StdString) -> Ptr IpoptSolver' -> IO (Ptr DMatrix')
+casadi__IpoptSolver__getReducedHessian
+ :: IpoptSolver -> IO DMatrix
+casadi__IpoptSolver__getReducedHessian x0 =
+ withMarshal x0 $ \x0' ->
+ do
+ errStrPtrP <- new nullPtr
+ ret <- c_casadi__IpoptSolver__getReducedHessian errStrPtrP x0'
+ errStrPtr <- peek errStrPtrP
+ free errStrPtrP
+ if errStrPtr == nullPtr then wrapReturn ret else wrapReturn errStrPtr >>= (error . formatException)
+
+
+-- classy wrapper
+ipoptSolver_getReducedHessian :: IpoptSolverClass a => a -> IO DMatrix
+ipoptSolver_getReducedHessian x = casadi__IpoptSolver__getReducedHessian (castIpoptSolver x)
+
diff --git a/Casadi/IpoptInterface/Data.hs b/Casadi/IpoptInterface/Data.hs
new file mode 100644
--- /dev/null
+++ b/Casadi/IpoptInterface/Data.hs
@@ -0,0 +1,3143 @@
+{-# OPTIONS_GHC -Wall #-}
+{-# Language FlexibleInstances #-}
+{-# Language MultiParamTypeClasses #-}
+
+module Casadi.IpoptInterface.Data where
+
+import Prelude hiding ( Functor )
+
+import Foreign.Ptr ( Ptr, FunPtr )
+import Foreign.ForeignPtr ( ForeignPtr, castForeignPtr, newForeignPtr, touchForeignPtr )
+import Foreign.ForeignPtr.Unsafe ( unsafeForeignPtrToPtr )
+
+import Casadi.Internal.Marshal ( Marshal(..) )
+import Casadi.Internal.WrapReturn ( WrapReturn(..) )
+import Casadi.Core.Data
+
+-- raw decl
+data IpoptSolver'
+-- data decl
+{-|
+>interface to IPOPT NLP solver
+>
+>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
+>
+>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.
+>
+>>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 |
+>+==============+==============+==============+==============+==============+
+>| accept_after | OT_INTEGER | -1 | Accept a | casadi::Ipop |
+>| _max_steps | | | trial point | tInternal |
+>| | | | after | |
+>| | | | maximal this | |
+>| | | | number of | |
+>| | | | steps. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| accept_every | OT_STRING | no | Always | casadi::Ipop |
+>| _trial_step | | | accept the | tInternal |
+>| | | | first trial | |
+>| | | | step. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | casadi::Ipop |
+>| ompl_inf_tol | | | threshold | tInternal |
+>| | | | for the comp | |
+>| | | | lementarity | |
+>| | | | conditions. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | casadi::Ipop |
+>| onstr_viol_t | | | threshold | tInternal |
+>| ol | | | for the | |
+>| | | | constraint | |
+>| | | | violation. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_d | OT_REAL | 1.000e+10 | "Acceptance" | casadi::Ipop |
+>| ual_inf_tol | | | threshold | tInternal |
+>| | | | for the dual | |
+>| | | | infeasibilit | |
+>| | | | y. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_i | OT_INTEGER | 15 | Number of | casadi::Ipop |
+>| ter | | | "acceptable" | tInternal |
+>| | | | iterates | |
+>| | | | before | |
+>| | | | triggering | |
+>| | | | termination. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_o | OT_REAL | 1.000e+20 | "Acceptance" | casadi::Ipop |
+>| bj_change_to | | | stopping | tInternal |
+>| l | | | criterion | |
+>| | | | based on | |
+>| | | | objective | |
+>| | | | function | |
+>| | | | change. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| acceptable_t | OT_REAL | 0.000 | "Acceptable" | casadi::Ipop |
+>| ol | | | convergence | tInternal |
+>| | | | tolerance | |
+>| | | | (relative). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| 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) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_STRING | obj-constr- | Globalizatio | casadi::Ipop |
+>| globalizatio | | filter | n strategy | tInternal |
+>| n | | | for the | |
+>| | | | adaptive mu | |
+>| | | | selection | |
+>| | | | mode. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_STRING | 2-norm- | Norm used | casadi::Ipop |
+>| kkt_norm_typ | | squared | for the KKT | tInternal |
+>| e | | | error in the | |
+>| | | | adaptive mu | |
+>| | | | globalizatio | |
+>| | | | n | |
+>| | | | strategies. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_REAL | 1.000 | Sufficient | casadi::Ipop |
+>| kkterror_red | | | decrease | tInternal |
+>| _fact | | | factor for | |
+>| | | | "kkt-error" | |
+>| | | | globalizatio | |
+>| | | | n strategy. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_INTEGER | 4 | Maximum | casadi::Ipop |
+>| kkterror_red | | | number of | tInternal |
+>| _iters | | | iterations | |
+>| | | | requiring | |
+>| | | | sufficient | |
+>| | | | progress. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_REAL | 0.800 | Determines | casadi::Ipop |
+>| monotone_ini | | | the initial | tInternal |
+>| t_factor | | | value of the | |
+>| | | | barrier | |
+>| | | | parameter | |
+>| | | | when | |
+>| | | | switching to | |
+>| | | | the monotone | |
+>| | | | mode. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_STRING | no | Indicates if | casadi::Ipop |
+>| restore_prev | | | the previous | tInternal |
+>| ious_iterate | | | iterate | |
+>| | | | should be | |
+>| | | | restored if | |
+>| | | | the monotone | |
+>| | | | mode is | |
+>| | | | entered. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| adaptive_mu_ | OT_REAL | 0 | (see IPOPT d | casadi::Ipop |
+>| safeguard_fa | | | ocumentation | tInternal |
+>| ctor | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| alpha_for_y | OT_STRING | primal | Method to | casadi::Ipop |
+>| | | | determine | tInternal |
+>| | | | the step | |
+>| | | | size for | |
+>| | | | constraint | |
+>| | | | multipliers. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| alpha_for_y_ | OT_REAL | 10 | Tolerance | casadi::Ipop |
+>| tol | | | for | tInternal |
+>| | | | switching to | |
+>| | | | full | |
+>| | | | equality | |
+>| | | | multiplier | |
+>| | | | steps. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| alpha_min_fr | OT_REAL | 0.050 | Safety | casadi::Ipop |
+>| ac | | | factor for | tInternal |
+>| | | | the minimal | |
+>| | | | step size | |
+>| | | | (before | |
+>| | | | switching to | |
+>| | | | restoration | |
+>| | | | phase). (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| alpha_red_fa | OT_REAL | 0.500 | Fractional | casadi::Ipop |
+>| ctor | | | reduction of | tInternal |
+>| | | | the trial | |
+>| | | | step size in | |
+>| | | | the | |
+>| | | | backtracking | |
+>| | | | line search. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| barrier_tol_ | OT_REAL | 10 | Factor for | casadi::Ipop |
+>| factor | | | mu in | tInternal |
+>| | | | barrier stop | |
+>| | | | test. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_frac | OT_REAL | 0.010 | Desired | casadi::Ipop |
+>| | | | minimum | tInternal |
+>| | | | relative | |
+>| | | | distance | |
+>| | | | from the | |
+>| | | | initial | |
+>| | | | point to | |
+>| | | | bound. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_mult_i | OT_STRING | constant | Initializati | casadi::Ipop |
+>| nit_method | | | on method | tInternal |
+>| | | | for bound | |
+>| | | | multipliers | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_mult_i | OT_REAL | 1 | Initial | casadi::Ipop |
+>| nit_val | | | value for | tInternal |
+>| | | | the bound | |
+>| | | | multipliers. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_mult_r | OT_REAL | 1000 | Threshold | casadi::Ipop |
+>| eset_thresho | | | for | tInternal |
+>| ld | | | resetting | |
+>| | | | bound | |
+>| | | | multipliers | |
+>| | | | after the | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_push | OT_REAL | 0.010 | Desired | casadi::Ipop |
+>| | | | minimum | tInternal |
+>| | | | absolute | |
+>| | | | distance | |
+>| | | | from the | |
+>| | | | initial | |
+>| | | | point to | |
+>| | | | bound. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| bound_relax_ | OT_REAL | 0.000 | Factor for | casadi::Ipop |
+>| factor | | | initial | tInternal |
+>| | | | relaxation | |
+>| | | | of the | |
+>| | | | bounds. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| check_deriva | OT_STRING | no | Indicates | casadi::Ipop |
+>| tives_for_na | | | whether it | tInternal |
+>| ninf | | | is desired | |
+>| | | | to check for | |
+>| | | | Nan/Inf in | |
+>| | | | derivative | |
+>| | | | matrices | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| chi_cup | OT_REAL | 1.500 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| chi_hat | OT_REAL | 2 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| chi_tilde | OT_REAL | 5 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| compl_inf_to | OT_REAL | 0.000 | Desired | casadi::Ipop |
+>| l | | | threshold | tInternal |
+>| | | | for the comp | |
+>| | | | lementarity | |
+>| | | | conditions. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| con_integer_ | OT_DICTIONAR | None | Integer | casadi::Ipop |
+>| md | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of integers) | |
+>| | | | about | |
+>| | | | constraints | |
+>| | | | to be passed | |
+>| | | | to IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| con_numeric_ | OT_DICTIONAR | None | Numeric | casadi::Ipop |
+>| md | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of reals) | |
+>| | | | about | |
+>| | | | constraints | |
+>| | | | to be passed | |
+>| | | | to IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| con_string_m | OT_DICTIONAR | None | String | casadi::Ipop |
+>| d | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of strings) | |
+>| | | | about | |
+>| | | | constraints | |
+>| | | | to be passed | |
+>| | | | to IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| constr_mult_ | OT_REAL | 1000 | Maximum | casadi::Ipop |
+>| init_max | | | allowed | tInternal |
+>| | | | least-square | |
+>| | | | guess of | |
+>| | | | constraint | |
+>| | | | multipliers. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| constr_mult_ | OT_REAL | 0 | Threshold | casadi::Ipop |
+>| reset_thresh | | | for | tInternal |
+>| old | | | resetting | |
+>| | | | equality and | |
+>| | | | inequality | |
+>| | | | multipliers | |
+>| | | | after | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| constr_viol_ | OT_REAL | 0.000 | Desired | casadi::Ipop |
+>| tol | | | threshold | tInternal |
+>| | | | for the | |
+>| | | | constraint | |
+>| | | | violation. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| constraint_v | OT_STRING | 1-norm | Norm to be | casadi::Ipop |
+>| iolation_nor | | | used for the | tInternal |
+>| m_type | | | constraint | |
+>| | | | violation in | |
+>| | | | the line | |
+>| | | | search. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| corrector_co | OT_REAL | 1 | Complementar | casadi::Ipop |
+>| mpl_avrg_red | | | ity | tInternal |
+>| _fact | | | tolerance | |
+>| | | | factor for | |
+>| | | | accepting | |
+>| | | | corrector | |
+>| | | | step (unsupp | |
+>| | | | orted!). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| corrector_ty | OT_STRING | none | The type of | casadi::Ipop |
+>| pe | | | corrector | tInternal |
+>| | | | steps that | |
+>| | | | should be | |
+>| | | | taken (unsup | |
+>| | | | ported!). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| delta | OT_REAL | 1 | Multiplier | casadi::Ipop |
+>| | | | for | tInternal |
+>| | | | constraint | |
+>| | | | violation in | |
+>| | | | the | |
+>| | | | switching | |
+>| | | | rule. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| delta_y_max | OT_REAL | 1.000e+12 | a parameter | casadi::Ipop |
+>| | | | used to | tInternal |
+>| | | | check if the | |
+>| | | | fast | |
+>| | | | direction | |
+>| | | | can be used | |
+>| | | | asthe line | |
+>| | | | search | |
+>| | | | direction | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| dependency_d | OT_STRING | no | Indicates if | casadi::Ipop |
+>| etection_wit | | | the right | tInternal |
+>| h_rhs | | | hand sides | |
+>| | | | of the | |
+>| | | | constraints | |
+>| | | | should be | |
+>| | | | considered | |
+>| | | | during | |
+>| | | | dependency | |
+>| | | | detection | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| dependency_d | OT_STRING | none | Indicates | casadi::Ipop |
+>| etector | | | which linear | tInternal |
+>| | | | solver | |
+>| | | | should be | |
+>| | | | used to | |
+>| | | | detect | |
+>| | | | linearly | |
+>| | | | dependent | |
+>| | | | equality | |
+>| | | | constraints. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| 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 . | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| derivative_t | OT_STRING | none | Enable | casadi::Ipop |
+>| est | | | derivative | tInternal |
+>| | | | checker (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| derivative_t | OT_INTEGER | -2 | Index of | casadi::Ipop |
+>| est_first_in | | | first | tInternal |
+>| dex | | | quantity to | |
+>| | | | be checked | |
+>| | | | by | |
+>| | | | derivative | |
+>| | | | checker (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| derivative_t | OT_REAL | 0.000 | Size of the | casadi::Ipop |
+>| est_perturba | | | finite | tInternal |
+>| tion | | | difference | |
+>| | | | perturbation | |
+>| | | | in | |
+>| | | | derivative | |
+>| | | | test. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| derivative_t | OT_STRING | no | Indicates | casadi::Ipop |
+>| est_print_al | | | whether | tInternal |
+>| l | | | information | |
+>| | | | for all | |
+>| | | | estimated | |
+>| | | | derivatives | |
+>| | | | should be | |
+>| | | | printed. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| derivative_t | OT_REAL | 0.000 | Threshold | casadi::Ipop |
+>| est_tol | | | for | tInternal |
+>| | | | indicating | |
+>| | | | wrong | |
+>| | | | derivative. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| diverging_it | OT_REAL | 1.000e+20 | Threshold | casadi::Ipop |
+>| erates_tol | | | for maximal | tInternal |
+>| | | | value of | |
+>| | | | primal | |
+>| | | | iterates. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| dual_inf_tol | OT_REAL | 1 | Desired | casadi::Ipop |
+>| | | | threshold | tInternal |
+>| | | | for the dual | |
+>| | | | infeasibilit | |
+>| | | | y. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| epsilon_c | OT_REAL | 0.010 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| eta_min | OT_REAL | 10 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| eta_penalty | OT_REAL | 0.000 | Relaxation | casadi::Ipop |
+>| | | | factor in | tInternal |
+>| | | | the Armijo | |
+>| | | | condition | |
+>| | | | for the | |
+>| | | | penalty | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| eta_phi | OT_REAL | 0.000 | Relaxation | casadi::Ipop |
+>| | | | factor in | tInternal |
+>| | | | the Armijo | |
+>| | | | condition. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| evaluate_ori | OT_STRING | yes | Determines | casadi::Ipop |
+>| g_obj_at_res | | | if the | tInternal |
+>| to_trial | | | original | |
+>| | | | objective | |
+>| | | | function | |
+>| | | | should be | |
+>| | | | evaluated at | |
+>| | | | restoration | |
+>| | | | phase trial | |
+>| | | | points. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| expand | OT_BOOLEAN | false | Expand the | casadi::NLPS |
+>| | | | NLP function | olverInterna |
+>| | | | in terms of | l |
+>| | | | scalar | |
+>| | | | operations, | |
+>| | | | i.e. MX->SX | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| expect_infea | OT_STRING | no | Enable | casadi::Ipop |
+>| sible_proble | | | heuristics | tInternal |
+>| m | | | to quickly | |
+>| | | | detect an | |
+>| | | | infeasible | |
+>| | | | problem. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| expect_infea | OT_REAL | 0.001 | Threshold | casadi::Ipop |
+>| sible_proble | | | for | tInternal |
+>| m_ctol | | | disabling "e | |
+>| | | | xpect_infeas | |
+>| | | | ible_problem | |
+>| | | | " option. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| expect_infea | OT_REAL | 100000000 | Multiplier | casadi::Ipop |
+>| sible_proble | | | threshold | tInternal |
+>| m_ytol | | | for | |
+>| | | | activating " | |
+>| | | | expect_infea | |
+>| | | | sible_proble | |
+>| | | | m" option. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| fast_des_fac | OT_REAL | 0.100 | a parameter | casadi::Ipop |
+>| t | | | used to | tInternal |
+>| | | | check if the | |
+>| | | | fast | |
+>| | | | direction | |
+>| | | | can be used | |
+>| | | | asthe line | |
+>| | | | search | |
+>| | | | direction | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| fast_step_co | OT_STRING | no | Indicates if | casadi::Ipop |
+>| mputation | | | the linear | tInternal |
+>| | | | system | |
+>| | | | should be | |
+>| | | | solved | |
+>| | | | quickly. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| file_print_l | OT_INTEGER | 5 | Verbosity | casadi::Ipop |
+>| evel | | | level for | tInternal |
+>| | | | output file. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| filter_margi | OT_REAL | 0.000 | Factor | casadi::Ipop |
+>| n_fact | | | determining | tInternal |
+>| | | | width of | |
+>| | | | margin for | |
+>| | | | obj-constr- | |
+>| | | | filter | |
+>| | | | adaptive glo | |
+>| | | | balization | |
+>| | | | strategy. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| filter_max_m | OT_REAL | 1 | Maximum | casadi::Ipop |
+>| argin | | | width of | tInternal |
+>| | | | margin in | |
+>| | | | obj-constr- | |
+>| | | | filter | |
+>| | | | adaptive glo | |
+>| | | | balization | |
+>| | | | strategy. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| filter_reset | OT_INTEGER | 5 | Number of | casadi::Ipop |
+>| _trigger | | | iterations | tInternal |
+>| | | | that trigger | |
+>| | | | the filter | |
+>| | | | reset. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| findiff_pert | OT_REAL | 0.000 | Size of the | casadi::Ipop |
+>| urbation | | | finite | tInternal |
+>| | | | difference | |
+>| | | | perturbation | |
+>| | | | for | |
+>| | | | derivative a | |
+>| | | | pproximation | |
+>| | | | . (see IPOPT | |
+>| | | | documentatio | |
+>| | | | n) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| first_hessia | OT_REAL | 0.000 | Size of | casadi::Ipop |
+>| n_perturbati | | | first x-s | tInternal |
+>| on | | | perturbation | |
+>| | | | tried. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| fixed_mu_ora | OT_STRING | average_comp | Oracle for | casadi::Ipop |
+>| cle | | l | the barrier | tInternal |
+>| | | | parameter | |
+>| | | | when | |
+>| | | | switching to | |
+>| | | | fixed mode. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| fixed_variab | OT_STRING | make_paramet | Determines | casadi::Ipop |
+>| le_treatment | | er | how fixed | tInternal |
+>| | | | variables | |
+>| | | | should be | |
+>| | | | handled. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| gamma_hat | OT_REAL | 0.040 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| gamma_phi | OT_REAL | 0.000 | Relaxation | casadi::Ipop |
+>| | | | factor in | tInternal |
+>| | | | the filter | |
+>| | | | margin for | |
+>| | | | the barrier | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| gamma_theta | OT_REAL | 0.000 | Relaxation | casadi::Ipop |
+>| | | | factor in | tInternal |
+>| | | | the filter | |
+>| | | | margin for | |
+>| | | | the | |
+>| | | | constraint | |
+>| | | | violation. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| gamma_tilde | OT_REAL | 4 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| 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) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| hessian_appr | OT_STRING | exact | Indicates | casadi::Ipop |
+>| oximation | | | what Hessian | tInternal |
+>| | | | information | |
+>| | | | is to be | |
+>| | | | used. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| hessian_appr | OT_STRING | nonlinear- | Indicates in | casadi::Ipop |
+>| oximation_sp | | variables | which | tInternal |
+>| ace | | | subspace the | |
+>| | | | Hessian | |
+>| | | | information | |
+>| | | | is to be app | |
+>| | | | roximated. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| hessian_cons | OT_STRING | no | Indicates | casadi::Ipop |
+>| tant | | | whether the | tInternal |
+>| | | | problem is a | |
+>| | | | quadratic | |
+>| | | | problem (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| honor_origin | OT_STRING | yes | Indicates | casadi::Ipop |
+>| al_bounds | | | whether | tInternal |
+>| | | | final points | |
+>| | | | should be | |
+>| | | | projected | |
+>| | | | into | |
+>| | | | original | |
+>| | | | bounds. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ignore_check | OT_BOOLEAN | false | If set to | casadi::NLPS |
+>| _vec | | | true, the | olverInterna |
+>| | | | input shape | l |
+>| | | | of F will | |
+>| | | | not be | |
+>| | | | checked. | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| inf_pr_outpu | OT_STRING | original | Determines | casadi::Ipop |
+>| t | | | what value | tInternal |
+>| | | | is printed | |
+>| | | | in the | |
+>| | | | "inf_pr" | |
+>| | | | output | |
+>| | | | column. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| 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_c_consta | OT_STRING | no | Indicates | casadi::Ipop |
+>| nt | | | whether all | tInternal |
+>| | | | equality | |
+>| | | | constraints | |
+>| | | | are linear | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| jac_d_consta | OT_STRING | no | Indicates | casadi::Ipop |
+>| nt | | | whether all | tInternal |
+>| | | | inequality | |
+>| | | | constraints | |
+>| | | | are linear | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| 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) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| jacobian_app | OT_STRING | exact | Specifies | casadi::Ipop |
+>| roximation | | | technique to | tInternal |
+>| | | | compute | |
+>| | | | constraint | |
+>| | | | Jacobian | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| jacobian_reg | OT_REAL | 0.250 | Exponent for | casadi::Ipop |
+>| ularization_ | | | mu in the re | tInternal |
+>| exponent | | | gularization | |
+>| | | | for rank- | |
+>| | | | deficient | |
+>| | | | constraint | |
+>| | | | Jacobians. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| jacobian_reg | OT_REAL | 0.000 | Size of the | casadi::Ipop |
+>| ularization_ | | | regularizati | tInternal |
+>| value | | | on for rank- | |
+>| | | | deficient | |
+>| | | | constraint | |
+>| | | | Jacobians. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| kappa_d | OT_REAL | 0.000 | Weight for | casadi::Ipop |
+>| | | | linear | tInternal |
+>| | | | damping term | |
+>| | | | (to handle | |
+>| | | | one-sided | |
+>| | | | bounds). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| kappa_sigma | OT_REAL | 1.000e+10 | Factor | casadi::Ipop |
+>| | | | limiting the | tInternal |
+>| | | | deviation of | |
+>| | | | dual | |
+>| | | | variables | |
+>| | | | from primal | |
+>| | | | estimates. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| kappa_soc | OT_REAL | 0.990 | Factor in | casadi::Ipop |
+>| | | | the | tInternal |
+>| | | | sufficient | |
+>| | | | reduction | |
+>| | | | rule for | |
+>| | | | second order | |
+>| | | | correction. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| kappa_x_dis | OT_REAL | 100 | a parameter | casadi::Ipop |
+>| | | | used to | tInternal |
+>| | | | check if the | |
+>| | | | fast | |
+>| | | | direction | |
+>| | | | can be used | |
+>| | | | asthe line | |
+>| | | | search | |
+>| | | | direction | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| kappa_y_dis | OT_REAL | 10000 | a parameter | casadi::Ipop |
+>| | | | used to | tInternal |
+>| | | | check if the | |
+>| | | | fast | |
+>| | | | direction | |
+>| | | | can be used | |
+>| | | | asthe line | |
+>| | | | search | |
+>| | | | direction | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| least_square | OT_STRING | no | Least square | casadi::Ipop |
+>| _init_duals | | | initializati | tInternal |
+>| | | | on of all | |
+>| | | | dual | |
+>| | | | variables | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| least_square | OT_STRING | no | Least square | casadi::Ipop |
+>| _init_primal | | | initializati | tInternal |
+>| | | | on of the | |
+>| | | | primal | |
+>| | | | variables | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_STRING | sherman- | Strategy for | casadi::Ipop |
+>| ry_aug_solve | | morrison | solving the | tInternal |
+>| r | | | augmented | |
+>| | | | system for | |
+>| | | | low-rank | |
+>| | | | Hessian. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_REAL | 1 | Value for B0 | casadi::Ipop |
+>| ry_init_val | | | in low-rank | tInternal |
+>| | | | update. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_REAL | 100000000 | Upper bound | casadi::Ipop |
+>| ry_init_val_ | | | on value for | tInternal |
+>| max | | | B0 in low- | |
+>| | | | rank update. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_REAL | 0.000 | Lower bound | casadi::Ipop |
+>| ry_init_val_ | | | on value for | tInternal |
+>| min | | | B0 in low- | |
+>| | | | rank update. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_STRING | scalar1 | Initializati | casadi::Ipop |
+>| ry_initializ | | | on strategy | tInternal |
+>| ation | | | for the | |
+>| | | | limited | |
+>| | | | memory | |
+>| | | | quasi-Newton | |
+>| | | | approximatio | |
+>| | | | n. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_INTEGER | 6 | Maximum size | casadi::Ipop |
+>| ry_max_histo | | | of the | tInternal |
+>| ry | | | history for | |
+>| | | | the limited | |
+>| | | | quasi-Newton | |
+>| | | | Hessian appr | |
+>| | | | oximation. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_INTEGER | 2 | Threshold | casadi::Ipop |
+>| ry_max_skipp | | | for | tInternal |
+>| ing | | | successive | |
+>| | | | iterations | |
+>| | | | where update | |
+>| | | | is skipped. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_STRING | no | Determines | casadi::Ipop |
+>| ry_special_f | | | if the | tInternal |
+>| or_resto | | | quasi-Newton | |
+>| | | | updates | |
+>| | | | should be | |
+>| | | | special | |
+>| | | | during the | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| limited_memo | OT_STRING | bfgs | Quasi-Newton | casadi::Ipop |
+>| ry_update_ty | | | update | tInternal |
+>| pe | | | formula for | |
+>| | | | the limited | |
+>| | | | memory appro | |
+>| | | | ximation. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| line_search_ | OT_STRING | filter | Globalizatio | casadi::Ipop |
+>| method | | | n method | tInternal |
+>| | | | used in | |
+>| | | | backtracking | |
+>| | | | line search | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| linear_scali | OT_STRING | yes | Flag | casadi::Ipop |
+>| ng_on_demand | | | indicating | tInternal |
+>| | | | that linear | |
+>| | | | scaling is | |
+>| | | | only done if | |
+>| | | | it seems | |
+>| | | | required. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| linear_solve | OT_STRING | mumps | Linear | casadi::Ipop |
+>| r | | | solver used | tInternal |
+>| | | | for step com | |
+>| | | | putations. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| linear_syste | OT_STRING | none | Method for | casadi::Ipop |
+>| m_scaling | | | scaling the | tInternal |
+>| | | | linear | |
+>| | | | system. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_ignore_ | OT_STRING | no | Enables | casadi::Ipop |
+>| singularity | | | MA27's | tInternal |
+>| | | | ability to | |
+>| | | | solve a | |
+>| | | | linear | |
+>| | | | system even | |
+>| | | | if the | |
+>| | | | matrix is | |
+>| | | | singular. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_la_init | OT_REAL | 5 | Real | casadi::Ipop |
+>| _factor | | | workspace | tInternal |
+>| | | | memory for | |
+>| | | | MA27. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_liw_ini | OT_REAL | 5 | Integer | casadi::Ipop |
+>| t_factor | | | workspace | tInternal |
+>| | | | memory for | |
+>| | | | MA27. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_meminc_ | OT_REAL | 2 | Increment | casadi::Ipop |
+>| factor | | | factor for | tInternal |
+>| | | | workspace | |
+>| | | | size for | |
+>| | | | MA27. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_pivtol | OT_REAL | 0.000 | Pivot | casadi::Ipop |
+>| | | | tolerance | tInternal |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver MA27. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_pivtolm | OT_REAL | 0.000 | Maximum | casadi::Ipop |
+>| ax | | | pivot | tInternal |
+>| | | | tolerance | |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver MA27. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma27_skip_in | OT_STRING | no | Always | casadi::Ipop |
+>| ertia_check | | | pretend | tInternal |
+>| | | | inertia is | |
+>| | | | correct. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma28_pivtol | OT_REAL | 0.010 | Pivot | casadi::Ipop |
+>| | | | tolerance | tInternal |
+>| | | | for linear | |
+>| | | | solver MA28. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_automat | OT_STRING | no | Controls | casadi::Ipop |
+>| ic_scaling | | | MA57 | tInternal |
+>| | | | automatic | |
+>| | | | scaling (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_block_s | OT_INTEGER | 16 | Controls | casadi::Ipop |
+>| ize | | | block size | tInternal |
+>| | | | used by | |
+>| | | | Level 3 BLAS | |
+>| | | | in MA57BD | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_node_am | OT_INTEGER | 16 | Node | casadi::Ipop |
+>| algamation | | | amalgamation | tInternal |
+>| | | | parameter | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_pivot_o | OT_INTEGER | 5 | Controls | casadi::Ipop |
+>| rder | | | pivot order | tInternal |
+>| | | | in MA57 (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_pivtol | OT_REAL | 0.000 | Pivot | casadi::Ipop |
+>| | | | tolerance | tInternal |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver MA57. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_pivtolm | OT_REAL | 0.000 | Maximum | casadi::Ipop |
+>| ax | | | pivot | tInternal |
+>| | | | tolerance | |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver MA57. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_pre_all | OT_REAL | 1.050 | Safety | casadi::Ipop |
+>| oc | | | factor for | tInternal |
+>| | | | work space | |
+>| | | | memory | |
+>| | | | allocation | |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver MA57. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma57_small_p | OT_INTEGER | 0 | If set to 1, | casadi::Ipop |
+>| ivot_flag | | | then when | tInternal |
+>| | | | small | |
+>| | | | entries | |
+>| | | | defined by | |
+>| | | | CNTL(2) are | |
+>| | | | detected | |
+>| | | | they are | |
+>| | | | removed and | |
+>| | | | the correspo | |
+>| | | | nding pivots | |
+>| | | | placed at | |
+>| | | | the end of | |
+>| | | | the factoriz | |
+>| | | | ation. This | |
+>| | | | can be | |
+>| | | | particularly | |
+>| | | | efficient if | |
+>| | | | the matrix | |
+>| | | | is highly | |
+>| | | | rank | |
+>| | | | deficient. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_buffer_ | OT_INTEGER | 4096 | Number of | casadi::Ipop |
+>| lpage | | | scalars per | tInternal |
+>| | | | MA77 buffer | |
+>| | | | page (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_buffer_ | OT_INTEGER | 1600 | Number of | casadi::Ipop |
+>| npage | | | pages that | tInternal |
+>| | | | make up MA77 | |
+>| | | | buffer (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_file_si | OT_INTEGER | 2097152 | Target size | casadi::Ipop |
+>| ze | | | of each | tInternal |
+>| | | | temporary | |
+>| | | | file for | |
+>| | | | MA77, | |
+>| | | | scalars per | |
+>| | | | type (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_maxstor | OT_INTEGER | 0 | Maximum | casadi::Ipop |
+>| e | | | storage size | tInternal |
+>| | | | for MA77 in- | |
+>| | | | core mode | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_nemin | OT_INTEGER | 8 | Node | casadi::Ipop |
+>| | | | Amalgamation | tInternal |
+>| | | | parameter | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_order | OT_STRING | amd | Controls | casadi::Ipop |
+>| | | | type of | tInternal |
+>| | | | ordering | |
+>| | | | used by | |
+>| | | | HSL_MA77 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_print_l | OT_INTEGER | -1 | Debug | casadi::Ipop |
+>| evel | | | printing | tInternal |
+>| | | | level for | |
+>| | | | the linear | |
+>| | | | solver MA77 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_small | OT_REAL | 0.000 | Zero Pivot | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_static | OT_REAL | 0 | Static | casadi::Ipop |
+>| | | | Pivoting | tInternal |
+>| | | | Threshold | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_u | OT_REAL | 0.000 | Pivoting | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma77_umax | OT_REAL | 0.000 | Maximum | casadi::Ipop |
+>| | | | Pivoting | tInternal |
+>| | | | Threshold | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_nemin | OT_INTEGER | 32 | Node | casadi::Ipop |
+>| | | | Amalgamation | tInternal |
+>| | | | parameter | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_order | OT_STRING | amd | Controls | casadi::Ipop |
+>| | | | type of | tInternal |
+>| | | | ordering | |
+>| | | | used by | |
+>| | | | HSL_MA86 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_print_l | OT_INTEGER | -1 | Debug | casadi::Ipop |
+>| evel | | | printing | tInternal |
+>| | | | level for | |
+>| | | | the linear | |
+>| | | | solver MA86 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_scaling | OT_STRING | mc64 | Controls | casadi::Ipop |
+>| | | | scaling of | tInternal |
+>| | | | matrix (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_small | OT_REAL | 0.000 | Zero Pivot | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_static | OT_REAL | 0 | Static | casadi::Ipop |
+>| | | | Pivoting | tInternal |
+>| | | | Threshold | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_u | OT_REAL | 0.000 | Pivoting | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma86_umax | OT_REAL | 0.000 | Maximum | casadi::Ipop |
+>| | | | Pivoting | tInternal |
+>| | | | Threshold | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_nemin | OT_INTEGER | 8 | Node | casadi::Ipop |
+>| | | | Amalgamation | tInternal |
+>| | | | parameter | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_order | OT_STRING | auto | Controls | casadi::Ipop |
+>| | | | type of | tInternal |
+>| | | | ordering | |
+>| | | | used by | |
+>| | | | HSL_MA97 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_print_l | OT_INTEGER | 0 | Debug | casadi::Ipop |
+>| evel | | | printing | tInternal |
+>| | | | level for | |
+>| | | | the linear | |
+>| | | | solver MA97 | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_scaling | OT_STRING | dynamic | Specifies | casadi::Ipop |
+>| | | | strategy for | tInternal |
+>| | | | scaling in | |
+>| | | | HSL_MA97 | |
+>| | | | linear | |
+>| | | | solver (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_scaling | OT_STRING | mc64 | First | casadi::Ipop |
+>| 1 | | | scaling. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_scaling | OT_STRING | mc64 | Second | casadi::Ipop |
+>| 2 | | | scaling. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_scaling | OT_STRING | mc64 | Third | casadi::Ipop |
+>| 3 | | | scaling. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_small | OT_REAL | 0.000 | Zero Pivot | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_solve_b | OT_STRING | no | Controls if | casadi::Ipop |
+>| las3 | | | blas2 or | tInternal |
+>| | | | blas3 | |
+>| | | | routines are | |
+>| | | | used for | |
+>| | | | solve (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_switch1 | OT_STRING | od_hd_reuse | First | casadi::Ipop |
+>| | | | switch, | tInternal |
+>| | | | determine | |
+>| | | | when ma97_sc | |
+>| | | | aling1 is | |
+>| | | | enabled. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_switch2 | OT_STRING | never | Second | casadi::Ipop |
+>| | | | switch, | tInternal |
+>| | | | determine | |
+>| | | | when ma97_sc | |
+>| | | | aling2 is | |
+>| | | | enabled. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_switch3 | OT_STRING | never | Third | casadi::Ipop |
+>| | | | switch, | tInternal |
+>| | | | determine | |
+>| | | | when ma97_sc | |
+>| | | | aling3 is | |
+>| | | | enabled. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_u | OT_REAL | 0.000 | Pivoting | casadi::Ipop |
+>| | | | Threshold | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| ma97_umax | OT_REAL | 0.000 | Maximum | casadi::Ipop |
+>| | | | Pivoting | tInternal |
+>| | | | Threshold | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| magic_steps | OT_STRING | no | Enables | casadi::Ipop |
+>| | | | magic steps. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_cpu_time | OT_REAL | 1000000 | Maximum | casadi::Ipop |
+>| | | | number of | tInternal |
+>| | | | CPU seconds. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_filter_r | OT_INTEGER | 5 | Maximal | casadi::Ipop |
+>| esets | | | allowed | tInternal |
+>| | | | number of | |
+>| | | | filter | |
+>| | | | resets (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_hessian_ | OT_REAL | 1.000e+20 | Maximum | casadi::Ipop |
+>| perturbation | | | value of reg | tInternal |
+>| | | | ularization | |
+>| | | | parameter | |
+>| | | | for handling | |
+>| | | | negative | |
+>| | | | curvature. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_iter | OT_INTEGER | 3000 | Maximum | casadi::Ipop |
+>| | | | number of | tInternal |
+>| | | | iterations. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_refineme | OT_INTEGER | 10 | Maximum | casadi::Ipop |
+>| nt_steps | | | number of | tInternal |
+>| | | | iterative | |
+>| | | | refinement | |
+>| | | | steps per | |
+>| | | | linear | |
+>| | | | system | |
+>| | | | solve. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_resto_it | OT_INTEGER | 3000000 | Maximum | casadi::Ipop |
+>| er | | | number of | tInternal |
+>| | | | successive | |
+>| | | | iterations | |
+>| | | | in | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_soc | OT_INTEGER | 4 | Maximum | casadi::Ipop |
+>| | | | number of | tInternal |
+>| | | | second order | |
+>| | | | correction | |
+>| | | | trial steps | |
+>| | | | at each | |
+>| | | | iteration. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| max_soft_res | OT_INTEGER | 10 | Maximum | casadi::Ipop |
+>| to_iters | | | number of | tInternal |
+>| | | | iterations | |
+>| | | | performed | |
+>| | | | successively | |
+>| | | | in soft | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mehrotra_alg | OT_STRING | no | Indicates if | casadi::Ipop |
+>| orithm | | | we want to | tInternal |
+>| | | | do | |
+>| | | | Mehrotra's | |
+>| | | | algorithm. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| min_alpha_pr | OT_REAL | 0.000 | LIFENG | casadi::Ipop |
+>| imal | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| min_hessian_ | OT_REAL | 0.000 | Smallest | casadi::Ipop |
+>| perturbation | | | perturbation | tInternal |
+>| | | | of the | |
+>| | | | Hessian | |
+>| | | | block. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| min_refineme | OT_INTEGER | 1 | Minimum | casadi::Ipop |
+>| nt_steps | | | number of | tInternal |
+>| | | | iterative | |
+>| | | | refinement | |
+>| | | | steps per | |
+>| | | | linear | |
+>| | | | system | |
+>| | | | solve. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
+>| | TOR | ) | be activated | tionInternal |
+>| | | | (inputs|outp | casadi::Ipop |
+>| | | | uts) (eval_ | tInternal |
+>| | | | f|eval_g|eva | |
+>| | | | l_jac_g|eval | |
+>| | | | _grad_f|eval | |
+>| | | | _h) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_allow_fas | OT_STRING | yes | Allow | casadi::Ipop |
+>| t_monotone_d | | | skipping of | tInternal |
+>| ecrease | | | barrier | |
+>| | | | problem if | |
+>| | | | barrier test | |
+>| | | | is already | |
+>| | | | met. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_init | OT_REAL | 0.100 | Initial | casadi::Ipop |
+>| | | | value for | tInternal |
+>| | | | the barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_linear_de | OT_REAL | 0.200 | Determines | casadi::Ipop |
+>| crease_facto | | | linear | tInternal |
+>| r | | | decrease | |
+>| | | | rate of | |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_max | OT_REAL | 100000 | Maximum | casadi::Ipop |
+>| | | | value for | tInternal |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_max_fact | OT_REAL | 1000 | Factor for i | casadi::Ipop |
+>| | | | nitializatio | tInternal |
+>| | | | n of maximum | |
+>| | | | value for | |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_min | OT_REAL | 0.000 | Minimum | casadi::Ipop |
+>| | | | value for | tInternal |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_oracle | OT_STRING | quality- | Oracle for a | casadi::Ipop |
+>| | | function | new barrier | tInternal |
+>| | | | parameter in | |
+>| | | | the adaptive | |
+>| | | | strategy. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_strategy | OT_STRING | monotone | Update | casadi::Ipop |
+>| | | | strategy for | tInternal |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_superline | OT_REAL | 1.500 | Determines | casadi::Ipop |
+>| ar_decrease_ | | | superlinear | tInternal |
+>| power | | | decrease | |
+>| | | | rate of | |
+>| | | | barrier | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mu_target | OT_REAL | 0 | Desired | casadi::Ipop |
+>| | | | value of com | tInternal |
+>| | | | plementarity | |
+>| | | | . (see IPOPT | |
+>| | | | documentatio | |
+>| | | | n) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mult_diverg_ | OT_REAL | 0.000 | tolerance | casadi::Ipop |
+>| feasibility_ | | | for deciding | tInternal |
+>| tol | | | if the | |
+>| | | | multipliers | |
+>| | | | are | |
+>| | | | diverging | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mult_diverg_ | OT_REAL | 100000000 | tolerance | casadi::Ipop |
+>| y_tol | | | for deciding | tInternal |
+>| | | | if the | |
+>| | | | multipliers | |
+>| | | | are | |
+>| | | | diverging | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_dep_to | OT_REAL | 0 | Pivot | casadi::Ipop |
+>| l | | | threshold | tInternal |
+>| | | | for | |
+>| | | | detection of | |
+>| | | | linearly | |
+>| | | | dependent | |
+>| | | | constraints | |
+>| | | | in MUMPS. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_mem_pe | OT_INTEGER | 1000 | Percentage | casadi::Ipop |
+>| rcent | | | increase in | tInternal |
+>| | | | the | |
+>| | | | estimated | |
+>| | | | working | |
+>| | | | space for | |
+>| | | | MUMPS. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_permut | OT_INTEGER | 7 | Controls | casadi::Ipop |
+>| ing_scaling | | | permuting | tInternal |
+>| | | | and scaling | |
+>| | | | in MUMPS | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_pivot_ | OT_INTEGER | 7 | Controls | casadi::Ipop |
+>| order | | | pivot order | tInternal |
+>| | | | in MUMPS | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_pivtol | OT_REAL | 0.000 | Pivot | casadi::Ipop |
+>| | | | tolerance | tInternal |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver | |
+>| | | | MUMPS. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_pivtol | OT_REAL | 0.100 | Maximum | casadi::Ipop |
+>| max | | | pivot | tInternal |
+>| | | | tolerance | |
+>| | | | for the | |
+>| | | | linear | |
+>| | | | solver | |
+>| | | | MUMPS. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| mumps_scalin | OT_INTEGER | 77 | Controls | casadi::Ipop |
+>| g | | | scaling in | tInternal |
+>| | | | MUMPS (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
+>| | | red_object" | object | onsFunctiona |
+>| | | | | lityNode |
+>+--------------+--------------+--------------+--------------+--------------+
+>| neg_curv_tes | OT_REAL | 0 | Tolerance | casadi::Ipop |
+>| t_tol | | | for | tInternal |
+>| | | | heuristic to | |
+>| | | | ignore wrong | |
+>| | | | inertia. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| never_use_fa | OT_STRING | no | Toggle to | casadi::Ipop |
+>| ct_cgpen_dir | | | switch off | tInternal |
+>| ection | | | the fast | |
+>| | | | Chen- | |
+>| | | | Goldfarb | |
+>| | | | direction | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| never_use_pi | OT_STRING | no | Toggle to | casadi::Ipop |
+>| ecewise_pena | | | switch off | tInternal |
+>| lty_ls | | | the | |
+>| | | | piecewise | |
+>| | | | penalty | |
+>| | | | method (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_lower_bo | OT_REAL | -1.000e+19 | any bound | casadi::Ipop |
+>| und_inf | | | less or | tInternal |
+>| | | | equal this | |
+>| | | | value will | |
+>| | | | be | |
+>| | | | considered | |
+>| | | | -inf (i.e. | |
+>| | | | not lower | |
+>| | | | bounded). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_scaling_ | OT_REAL | 0 | Target value | casadi::Ipop |
+>| constr_targe | | | for | tInternal |
+>| t_gradient | | | constraint | |
+>| | | | function | |
+>| | | | gradient | |
+>| | | | size. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_scaling_ | OT_REAL | 100 | Maximum | casadi::Ipop |
+>| max_gradient | | | gradient | tInternal |
+>| | | | after NLP | |
+>| | | | scaling. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_scaling_ | OT_STRING | gradient- | Select the | casadi::Ipop |
+>| method | | based | technique | tInternal |
+>| | | | used for | |
+>| | | | scaling the | |
+>| | | | NLP. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_scaling_ | OT_REAL | 0.000 | Minimum | casadi::Ipop |
+>| min_value | | | value of | tInternal |
+>| | | | gradient- | |
+>| | | | based | |
+>| | | | scaling | |
+>| | | | values. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_scaling_ | OT_REAL | 0 | Target value | casadi::Ipop |
+>| obj_target_g | | | for | tInternal |
+>| radient | | | objective | |
+>| | | | function | |
+>| | | | gradient | |
+>| | | | size. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nlp_upper_bo | OT_REAL | 1.000e+19 | any bound | casadi::Ipop |
+>| und_inf | | | greater or | tInternal |
+>| | | | this value | |
+>| | | | will be | |
+>| | | | considered | |
+>| | | | +inf (i.e. | |
+>| | | | not upper | |
+>| | | | bounded). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nu_inc | OT_REAL | 0.000 | Increment of | casadi::Ipop |
+>| | | | the penalty | tInternal |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| nu_init | OT_REAL | 0.000 | Initial | casadi::Ipop |
+>| | | | value of the | tInternal |
+>| | | | penalty | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| num_linear_v | OT_INTEGER | 0 | Number of | casadi::Ipop |
+>| ariables | | | linear | tInternal |
+>| | | | variables | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| obj_max_inc | OT_REAL | 5 | Determines | casadi::Ipop |
+>| | | | the upper | tInternal |
+>| | | | bound on the | |
+>| | | | acceptable | |
+>| | | | increase of | |
+>| | | | barrier | |
+>| | | | objective | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| obj_scaling_ | OT_REAL | 1 | Scaling | casadi::Ipop |
+>| factor | | | factor for | tInternal |
+>| | | | the | |
+>| | | | objective | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| option_file_ | OT_STRING | ipopt.opt | File name of | casadi::Ipop |
+>| name | | | options | tInternal |
+>| | | | file. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| output_file | OT_STRING | | File name of | casadi::Ipop |
+>| | | | desired | tInternal |
+>| | | | output file | |
+>| | | | (leave unset | |
+>| | | | for no file | |
+>| | | | output). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_INTEGER | 5000 | Maximum Size | casadi::Ipop |
+>| _coarse_size | | | of Coarse | tInternal |
+>| | | | Grid Matrix | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_REAL | 0.500 | dropping | casadi::Ipop |
+>| _dropping_fa | | | value for | tInternal |
+>| ctor | | | incomplete | |
+>| | | | factor (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_REAL | 0.100 | dropping | casadi::Ipop |
+>| _dropping_sc | | | value for | tInternal |
+>| hur | | | sparsify | |
+>| | | | schur | |
+>| | | | complement | |
+>| | | | factor (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_REAL | 5000000 | (see IPOPT d | casadi::Ipop |
+>| _inverse_nor | | | ocumentation | tInternal |
+>| m_factor | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_INTEGER | 10 | Maximum Size | casadi::Ipop |
+>| _max_levels | | | of Grid | tInternal |
+>| | | | Levels (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_INTEGER | 10000000 | max fill for | casadi::Ipop |
+>| _max_row_fil | | | each row | tInternal |
+>| l | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_REAL | 0.000 | Relative | casadi::Ipop |
+>| _relative_to | | | Residual | tInternal |
+>| l | | | Convergence | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_iter | OT_STRING | no | Switch on | casadi::Ipop |
+>| ative | | | iterative | tInternal |
+>| | | | solver in | |
+>| | | | Pardiso | |
+>| | | | library (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_matc | OT_STRING | complete+2x2 | Matching | casadi::Ipop |
+>| hing_strateg | | | strategy to | tInternal |
+>| y | | | be used by | |
+>| | | | Pardiso (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_max_ | OT_INTEGER | 4 | Maximal | casadi::Ipop |
+>| droptol_corr | | | number of | tInternal |
+>| ections | | | decreases of | |
+>| | | | drop | |
+>| | | | tolerance | |
+>| | | | during one | |
+>| | | | solve. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_max_ | OT_INTEGER | 500 | Maximum | casadi::Ipop |
+>| iter | | | number of | tInternal |
+>| | | | Krylov- | |
+>| | | | Subspace | |
+>| | | | Iteration | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_msgl | OT_INTEGER | 0 | Pardiso | casadi::Ipop |
+>| vl | | | message | tInternal |
+>| | | | level (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_out_ | OT_INTEGER | 0 | Enables out- | casadi::Ipop |
+>| of_core_powe | | | of-core | tInternal |
+>| r | | | variant of | |
+>| | | | Pardiso (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_redo | OT_STRING | no | Toggle for | casadi::Ipop |
+>| _symbolic_fa | | | handling | tInternal |
+>| ct_only_if_i | | | case when | |
+>| nertia_wrong | | | elements | |
+>| | | | were | |
+>| | | | perturbed by | |
+>| | | | Pardiso. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_repe | OT_STRING | no | Interpretati | casadi::Ipop |
+>| ated_perturb | | | on of | tInternal |
+>| ation_means_ | | | perturbed | |
+>| singular | | | elements. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pardiso_skip | OT_STRING | no | Always | casadi::Ipop |
+>| _inertia_che | | | pretend | tInternal |
+>| ck | | | inertia is | |
+>| | | | correct. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pass_nonline | OT_BOOLEAN | False | n/a | casadi::Ipop |
+>| ar_variables | | | | tInternal |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pen_des_fact | OT_REAL | 0.200 | a parameter | casadi::Ipop |
+>| | | | used in | tInternal |
+>| | | | penalty | |
+>| | | | parameter | |
+>| | | | computation | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pen_init_fac | OT_REAL | 50 | a parameter | casadi::Ipop |
+>| | | | used to | tInternal |
+>| | | | choose | |
+>| | | | initial | |
+>| | | | penalty para | |
+>| | | | meterswhen | |
+>| | | | the | |
+>| | | | regularized | |
+>| | | | Newton | |
+>| | | | method is | |
+>| | | | used. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| pen_theta_ma | OT_REAL | 10000 | Determines | casadi::Ipop |
+>| x_fact | | | upper bound | tInternal |
+>| | | | for | |
+>| | | | constraint | |
+>| | | | violation in | |
+>| | | | the filter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| penalty_init | OT_REAL | 100000 | Maximal | casadi::Ipop |
+>| _max | | | value for | tInternal |
+>| | | | the intial | |
+>| | | | penalty | |
+>| | | | parameter | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| penalty_init | OT_REAL | 1 | Minimal | casadi::Ipop |
+>| _min | | | value for | tInternal |
+>| | | | the intial | |
+>| | | | penalty | |
+>| | | | parameter | |
+>| | | | for line | |
+>| | | | search(for | |
+>| | | | Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| penalty_max | OT_REAL | 1.000e+30 | Maximal | casadi::Ipop |
+>| | | | value for | tInternal |
+>| | | | the penalty | |
+>| | | | parameter | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| penalty_upda | OT_REAL | 10 | LIFENG | casadi::Ipop |
+>| te_compl_tol | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| penalty_upda | OT_REAL | 0.000 | Threshold | casadi::Ipop |
+>| te_infeasibi | | | for infeasib | tInternal |
+>| lity_tol | | | ility in | |
+>| | | | penalty | |
+>| | | | parameter | |
+>| | | | update test. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| perturb_alwa | OT_STRING | no | Active | casadi::Ipop |
+>| ys_cd | | | permanent | tInternal |
+>| | | | perturbation | |
+>| | | | of | |
+>| | | | constraint l | |
+>| | | | inearization | |
+>| | | | . (see IPOPT | |
+>| | | | documentatio | |
+>| | | | n) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| perturb_dec_ | OT_REAL | 0.333 | Decrease | casadi::Ipop |
+>| fact | | | factor for | tInternal |
+>| | | | x-s perturba | |
+>| | | | tion. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| perturb_inc_ | OT_REAL | 8 | Increase | casadi::Ipop |
+>| fact | | | factor for | tInternal |
+>| | | | x-s perturba | |
+>| | | | tion. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| perturb_inc_ | OT_REAL | 100 | Increase | casadi::Ipop |
+>| fact_first | | | factor for | tInternal |
+>| | | | x-s | |
+>| | | | perturbation | |
+>| | | | for very | |
+>| | | | first pertur | |
+>| | | | bation. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| piecewisepen | OT_REAL | 0.000 | LIFENG | casadi::Ipop |
+>| alty_gamma_i | | | WRITES THIS. | tInternal |
+>| nfeasi | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| piecewisepen | OT_REAL | 0.000 | LIFENG | casadi::Ipop |
+>| alty_gamma_o | | | WRITES THIS. | tInternal |
+>| bj | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| point_pertur | OT_REAL | 10 | Maximal | casadi::Ipop |
+>| bation_radiu | | | perturbation | tInternal |
+>| s | | | of an | |
+>| | | | evaluation | |
+>| | | | point. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_freque | OT_INTEGER | 1 | Determines | casadi::Ipop |
+>| ncy_iter | | | at which | tInternal |
+>| | | | iteration | |
+>| | | | frequency | |
+>| | | | the | |
+>| | | | summarizing | |
+>| | | | iteration | |
+>| | | | output line | |
+>| | | | should be | |
+>| | | | printed. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_freque | OT_REAL | 0 | Determines | casadi::Ipop |
+>| ncy_time | | | at which | tInternal |
+>| | | | time | |
+>| | | | frequency | |
+>| | | | the | |
+>| | | | summarizing | |
+>| | | | iteration | |
+>| | | | output line | |
+>| | | | should be | |
+>| | | | printed. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_info_s | OT_STRING | no | Enables | casadi::Ipop |
+>| tring | | | printing of | tInternal |
+>| | | | additional | |
+>| | | | info string | |
+>| | | | at end of | |
+>| | | | iteration | |
+>| | | | output. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_level | OT_INTEGER | 5 | Output | casadi::Ipop |
+>| | | | verbosity | tInternal |
+>| | | | level. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_option | OT_STRING | no | Switch to | casadi::Ipop |
+>| s_documentat | | | print all | tInternal |
+>| ion | | | algorithmic | |
+>| | | | options. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_option | OT_STRING | no | Undocumented | casadi::Ipop |
+>| s_latex_mode | | | (see IPOPT d | tInternal |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_time | OT_BOOLEAN | True | print | casadi::Ipop |
+>| | | | information | tInternal |
+>| | | | about | |
+>| | | | execution | |
+>| | | | time | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_timing | OT_STRING | no | Switch to | casadi::Ipop |
+>| _statistics | | | print timing | tInternal |
+>| | | | statistics. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| print_user_o | OT_STRING | no | Print all | casadi::Ipop |
+>| ptions | | | options set | tInternal |
+>| | | | by the user. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_STRING | none | The | casadi::Ipop |
+>| tion_balanci | | | balancing | tInternal |
+>| ng_term | | | term | |
+>| | | | included in | |
+>| | | | the quality | |
+>| | | | function for | |
+>| | | | centrality. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_STRING | none | The penalty | casadi::Ipop |
+>| tion_central | | | term for | tInternal |
+>| ity | | | centrality | |
+>| | | | that is | |
+>| | | | included in | |
+>| | | | quality | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_INTEGER | 8 | Maximum | casadi::Ipop |
+>| tion_max_sec | | | number of | tInternal |
+>| tion_steps | | | search steps | |
+>| | | | during | |
+>| | | | direct | |
+>| | | | search | |
+>| | | | procedure | |
+>| | | | determining | |
+>| | | | the optimal | |
+>| | | | centering | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_STRING | 2-norm- | Norm used | casadi::Ipop |
+>| tion_norm_ty | | squared | for | tInternal |
+>| pe | | | components | |
+>| | | | of the | |
+>| | | | quality | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_REAL | 0 | Tolerance | casadi::Ipop |
+>| tion_section | | | for the | tInternal |
+>| _qf_tol | | | golden | |
+>| | | | section | |
+>| | | | search | |
+>| | | | procedure | |
+>| | | | determining | |
+>| | | | the optimal | |
+>| | | | centering | |
+>| | | | parameter | |
+>| | | | (in the | |
+>| | | | function | |
+>| | | | value | |
+>| | | | space). (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| quality_func | OT_REAL | 0.010 | Tolerance | casadi::Ipop |
+>| tion_section | | | for the | tInternal |
+>| _sigma_tol | | | section | |
+>| | | | search | |
+>| | | | procedure | |
+>| | | | determining | |
+>| | | | the optimal | |
+>| | | | centering | |
+>| | | | parameter | |
+>| | | | (in sigma | |
+>| | | | space). (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| recalc_y | OT_STRING | no | Tells the | casadi::Ipop |
+>| | | | algorithm to | tInternal |
+>| | | | recalculate | |
+>| | | | the equality | |
+>| | | | and | |
+>| | | | inequality | |
+>| | | | multipliers | |
+>| | | | as least | |
+>| | | | square | |
+>| | | | estimates. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| recalc_y_fea | OT_REAL | 0.000 | Feasibility | casadi::Ipop |
+>| s_tol | | | threshold | tInternal |
+>| | | | for recomput | |
+>| | | | ation of | |
+>| | | | multipliers. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
+>| heck | | | exceptions | tionInternal |
+>| | | | when NaN or | |
+>| | | | Inf appears | |
+>| | | | during | |
+>| | | | evaluation | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| replace_boun | OT_STRING | no | Indicates if | casadi::Ipop |
+>| ds | | | all variable | tInternal |
+>| | | | bounds | |
+>| | | | should be | |
+>| | | | replaced by | |
+>| | | | inequality | |
+>| | | | constraints | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| required_inf | OT_REAL | 0.900 | Required | casadi::Ipop |
+>| easibility_r | | | reduction of | tInternal |
+>| eduction | | | infeasibilit | |
+>| | | | y before | |
+>| | | | leaving | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| residual_imp | OT_REAL | 1.000 | Minimal | casadi::Ipop |
+>| rovement_fac | | | required | tInternal |
+>| tor | | | reduction of | |
+>| | | | residual | |
+>| | | | test ratio | |
+>| | | | in iterative | |
+>| | | | refinement. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| residual_rat | OT_REAL | 0.000 | Iterative | casadi::Ipop |
+>| io_max | | | refinement | tInternal |
+>| | | | tolerance | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| residual_rat | OT_REAL | 0.000 | Threshold | casadi::Ipop |
+>| io_singular | | | for | tInternal |
+>| | | | declaring | |
+>| | | | linear | |
+>| | | | system | |
+>| | | | singular | |
+>| | | | after failed | |
+>| | | | iterative | |
+>| | | | refinement. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| resto_failur | OT_REAL | 0 | Threshold | casadi::Ipop |
+>| e_feasibilit | | | for primal i | tInternal |
+>| y_threshold | | | nfeasibility | |
+>| | | | to declare | |
+>| | | | failure of | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| resto_penalt | OT_REAL | 1000 | Penalty | casadi::Ipop |
+>| y_parameter | | | parameter in | tInternal |
+>| | | | the | |
+>| | | | restoration | |
+>| | | | phase | |
+>| | | | objective | |
+>| | | | function. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| resto_proxim | OT_REAL | 1 | Weighting | casadi::Ipop |
+>| ity_weight | | | factor for | tInternal |
+>| | | | the | |
+>| | | | proximity | |
+>| | | | term in | |
+>| | | | restoration | |
+>| | | | phase | |
+>| | | | objective. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| rho | OT_REAL | 0.100 | Value in | casadi::Ipop |
+>| | | | penalty | tInternal |
+>| | | | parameter | |
+>| | | | update | |
+>| | | | formula. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| s_max | OT_REAL | 100 | Scaling | casadi::Ipop |
+>| | | | threshold | tInternal |
+>| | | | for the NLP | |
+>| | | | error. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| s_phi | OT_REAL | 2.300 | Exponent for | casadi::Ipop |
+>| | | | linear | tInternal |
+>| | | | barrier | |
+>| | | | function | |
+>| | | | model in the | |
+>| | | | switching | |
+>| | | | rule. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| s_theta | OT_REAL | 1.100 | Exponent for | casadi::Ipop |
+>| | | | current | tInternal |
+>| | | | constraint | |
+>| | | | violation in | |
+>| | | | the | |
+>| | | | switching | |
+>| | | | rule. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| sb | OT_STRING | no | (see IPOPT d | casadi::Ipop |
+>| | | | ocumentation | tInternal |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| sigma_max | OT_REAL | 100 | Maximum | casadi::Ipop |
+>| | | | value of the | tInternal |
+>| | | | centering | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| sigma_min | OT_REAL | 0.000 | Minimum | casadi::Ipop |
+>| | | | value of the | tInternal |
+>| | | | centering | |
+>| | | | parameter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| skip_corr_if | OT_STRING | yes | Skip the | casadi::Ipop |
+>| _neg_curv | | | corrector | tInternal |
+>| | | | step in | |
+>| | | | negative | |
+>| | | | curvature | |
+>| | | | iteration (u | |
+>| | | | nsupported!) | |
+>| | | | . (see IPOPT | |
+>| | | | documentatio | |
+>| | | | n) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| skip_corr_in | OT_STRING | yes | Skip the | casadi::Ipop |
+>| _monotone_mo | | | corrector | tInternal |
+>| de | | | step during | |
+>| | | | monotone | |
+>| | | | barrier | |
+>| | | | parameter | |
+>| | | | mode (unsupp | |
+>| | | | orted!). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| skip_finaliz | OT_STRING | no | Indicates if | casadi::Ipop |
+>| e_solution_c | | | call to NLP: | tInternal |
+>| all | | | :FinalizeSol | |
+>| | | | ution after | |
+>| | | | optimization | |
+>| | | | should be | |
+>| | | | suppressed | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| slack_bound_ | OT_REAL | 0.010 | Desired | casadi::Ipop |
+>| frac | | | minimum | tInternal |
+>| | | | relative | |
+>| | | | distance | |
+>| | | | from the | |
+>| | | | initial | |
+>| | | | slack to | |
+>| | | | bound. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| slack_bound_ | OT_REAL | 0.010 | Desired | casadi::Ipop |
+>| push | | | minimum | tInternal |
+>| | | | absolute | |
+>| | | | distance | |
+>| | | | from the | |
+>| | | | initial | |
+>| | | | slack to | |
+>| | | | bound. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| slack_move | OT_REAL | 0.000 | Correction | casadi::Ipop |
+>| | | | size for | tInternal |
+>| | | | very small | |
+>| | | | slacks. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| soft_resto_p | OT_REAL | 1.000 | Required | casadi::Ipop |
+>| derror_reduc | | | reduction in | tInternal |
+>| tion_factor | | | primal-dual | |
+>| | | | error in the | |
+>| | | | soft | |
+>| | | | restoration | |
+>| | | | phase. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| start_with_r | OT_STRING | no | Tells | casadi::Ipop |
+>| esto | | | algorithm to | tInternal |
+>| | | | switch to | |
+>| | | | restoration | |
+>| | | | phase in | |
+>| | | | first | |
+>| | | | iteration. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| suppress_all | OT_STRING | no | Undocumented | casadi::Ipop |
+>| _output | | | (see IPOPT d | tInternal |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| tau_min | OT_REAL | 0.990 | Lower bound | casadi::Ipop |
+>| | | | on fraction- | tInternal |
+>| | | | to-the- | |
+>| | | | boundary | |
+>| | | | parameter | |
+>| | | | tau. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| theta_max_fa | OT_REAL | 10000 | Determines | casadi::Ipop |
+>| ct | | | upper bound | tInternal |
+>| | | | for | |
+>| | | | constraint | |
+>| | | | violation in | |
+>| | | | the filter. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| theta_min | OT_REAL | 0.000 | LIFENG | casadi::Ipop |
+>| | | | WRITES THIS. | tInternal |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| theta_min_fa | OT_REAL | 0.000 | Determines | casadi::Ipop |
+>| ct | | | constraint | tInternal |
+>| | | | violation | |
+>| | | | threshold in | |
+>| | | | the | |
+>| | | | switching | |
+>| | | | rule. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| tiny_step_to | OT_REAL | 0.000 | Tolerance | casadi::Ipop |
+>| l | | | for | tInternal |
+>| | | | detecting | |
+>| | | | numerically | |
+>| | | | insignifican | |
+>| | | | t steps. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| tiny_step_y_ | OT_REAL | 0.010 | Tolerance | casadi::Ipop |
+>| tol | | | for quitting | tInternal |
+>| | | | because of | |
+>| | | | numerically | |
+>| | | | insignifican | |
+>| | | | t steps. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| tol | OT_REAL | 0.000 | Desired | casadi::Ipop |
+>| | | | convergence | tInternal |
+>| | | | tolerance | |
+>| | | | (relative). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
+>| | | ) | defined | tionInternal |
+>| | | | field that | |
+>| | | | can be used | |
+>| | | | to identify | |
+>| | | | the function | |
+>| | | | or pass | |
+>| | | | additional | |
+>| | | | information | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| var_integer_ | OT_DICTIONAR | None | Integer | casadi::Ipop |
+>| md | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of integers) | |
+>| | | | about | |
+>| | | | variables to | |
+>| | | | be passed to | |
+>| | | | IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| var_numeric_ | OT_DICTIONAR | None | Numeric | casadi::Ipop |
+>| md | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of reals) | |
+>| | | | about | |
+>| | | | variables to | |
+>| | | | be passed to | |
+>| | | | IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| var_string_m | OT_DICTIONAR | None | String | casadi::Ipop |
+>| d | Y | | metadata (a | tInternal |
+>| | | | dictionary | |
+>| | | | with lists | |
+>| | | | of strings) | |
+>| | | | about | |
+>| | | | variables to | |
+>| | | | be passed to | |
+>| | | | IPOPT | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| vartheta | OT_REAL | 0.500 | a parameter | casadi::Ipop |
+>| | | | used to | tInternal |
+>| | | | check if the | |
+>| | | | fast | |
+>| | | | direction | |
+>| | | | can be used | |
+>| | | | asthe line | |
+>| | | | search | |
+>| | | | direction | |
+>| | | | (for Chen- | |
+>| | | | Goldfarb | |
+>| | | | line | |
+>| | | | search). | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
+>| | | | evaluation | tionInternal |
+>| | | | for | |
+>| | | | debugging | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_b | OT_REAL | 0.001 | same as | casadi::Ipop |
+>| ound_frac | | | bound_frac | tInternal |
+>| | | | for the | |
+>| | | | regular | |
+>| | | | initializer. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_b | OT_REAL | 0.001 | same as | casadi::Ipop |
+>| ound_push | | | bound_push | tInternal |
+>| | | | for the | |
+>| | | | regular | |
+>| | | | initializer. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_e | OT_STRING | no | Tells | casadi::Ipop |
+>| ntire_iterat | | | algorithm | tInternal |
+>| e | | | whether to | |
+>| | | | use the GetW | |
+>| | | | armStartIter | |
+>| | | | ate method | |
+>| | | | in the NLP. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_i | OT_STRING | no | Warm-start | casadi::Ipop |
+>| nit_point | | | for initial | tInternal |
+>| | | | point (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_m | OT_REAL | 0.001 | same as mult | casadi::Ipop |
+>| ult_bound_pu | | | _bound_push | tInternal |
+>| sh | | | for the | |
+>| | | | regular | |
+>| | | | initializer. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_m | OT_REAL | 1000000 | Maximum | casadi::Ipop |
+>| ult_init_max | | | initial | tInternal |
+>| | | | value for | |
+>| | | | the equality | |
+>| | | | multipliers. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_s | OT_STRING | no | Indicates | casadi::Ipop |
+>| ame_structur | | | whether a | tInternal |
+>| e | | | problem with | |
+>| | | | a structure | |
+>| | | | identical to | |
+>| | | | the previous | |
+>| | | | one is to be | |
+>| | | | solved. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_s | OT_REAL | 0.001 | same as slac | casadi::Ipop |
+>| lack_bound_f | | | k_bound_frac | tInternal |
+>| rac | | | for the | |
+>| | | | regular | |
+>| | | | initializer. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_s | OT_REAL | 0.001 | same as slac | casadi::Ipop |
+>| lack_bound_p | | | k_bound_push | tInternal |
+>| ush | | | for the | |
+>| | | | regular | |
+>| | | | initializer. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warm_start_t | OT_REAL | 0 | Unsupported! | casadi::Ipop |
+>| arget_mu | | | (see IPOPT d | tInternal |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| warn_initial | OT_BOOLEAN | false | Warn if the | casadi::NLPS |
+>| _bounds | | | initial | olverInterna |
+>| | | | guess does | l |
+>| | | | not satisfy | |
+>| | | | LBX and UBX | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| watchdog_sho | OT_INTEGER | 10 | Number of | casadi::Ipop |
+>| rtened_iter_ | | | shortened | tInternal |
+>| trigger | | | iterations | |
+>| | | | that trigger | |
+>| | | | the | |
+>| | | | watchdog. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| watchdog_tri | OT_INTEGER | 3 | Maximum | casadi::Ipop |
+>| al_iter_max | | | number of | tInternal |
+>| | | | watchdog | |
+>| | | | iterations. | |
+>| | | | (see IPOPT d | |
+>| | | | ocumentation | |
+>| | | | ) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>| wsmp_iterati | OT_STRING | no | Switches to | casadi::Ipop |
+>| ve | | | iterative | tInternal |
+>| | | | solver in | |
+>| | | | WSMP. (see | |
+>| | | | IPOPT docume | |
+>| | | | ntation) | |
+>+--------------+--------------+--------------+--------------+--------------+
+>
+>>List of available monitors
+>+-------------+--------------------------+
+>| Id | Used in |
+>+=============+==========================+
+>| eval_f | casadi::IpoptInternal |
+>+-------------+--------------------------+
+>| eval_g | casadi::IpoptInternal |
+>+-------------+--------------------------+
+>| eval_grad_f | casadi::IpoptInternal |
+>+-------------+--------------------------+
+>| eval_h | casadi::IpoptInternal |
+>+-------------+--------------------------+
+>| eval_jac_g | casadi::IpoptInternal |
+>+-------------+--------------------------+
+>| inputs | casadi::FunctionInternal |
+>+-------------+--------------------------+
+>| outputs | casadi::FunctionInternal |
+>+-------------+--------------------------+
+>
+>>List of available stats
+>+--------------------+-----------------------+
+>| Id | Used in |
+>+====================+=======================+
+>| con_integer_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| con_numeric_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| con_string_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| iter_count | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| iteration | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| iterations | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| n_eval_f | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| n_eval_g | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| n_eval_grad_f | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| n_eval_h | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| n_eval_jac_g | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| return_status | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_callback_fun | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_callback_prepare | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_eval_f | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_eval_g | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_eval_grad_f | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_eval_h | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_eval_jac_g | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| t_mainloop | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| var_integer_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| var_numeric_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>| var_string_md | casadi::IpoptInternal |
+>+--------------------+-----------------------+
+>
+>Diagrams
+>
+>C++ includes: ipopt_solver.hpp
+-}
+newtype IpoptSolver = IpoptSolver (ForeignPtr IpoptSolver')
+-- typeclass decl
+class IpoptSolverClass a where
+ castIpoptSolver :: a -> IpoptSolver
+instance IpoptSolverClass IpoptSolver where
+ castIpoptSolver = id
+
+-- baseclass instances
+instance NLPSolverClass IpoptSolver where
+ castNLPSolver (IpoptSolver x) = NLPSolver (castForeignPtr x)
+
+
+-- helper instances
+instance Marshal IpoptSolver (Ptr IpoptSolver') where
+ marshal (IpoptSolver x) = return (unsafeForeignPtrToPtr x)
+ marshalFree (IpoptSolver x) _ = touchForeignPtr x
+foreign import ccall unsafe "&delete_casadi__IpoptSolver"
+ c_delete_casadi__IpoptSolver :: FunPtr (Ptr IpoptSolver' -> IO ())
+instance WrapReturn (Ptr IpoptSolver') IpoptSolver where
+ wrapReturn = (fmap IpoptSolver) . (newForeignPtr c_delete_casadi__IpoptSolver)
+
+
diff --git a/Casadi/IpoptInterface/Enums.hs b/Casadi/IpoptInterface/Enums.hs
new file mode 100644
--- /dev/null
+++ b/Casadi/IpoptInterface/Enums.hs
@@ -0,0 +1,13 @@
+{-# OPTIONS_GHC -Wall #-}
+{-# OPTIONS_GHC -fno-warn-unused-imports #-}
+{-# LANGUAGE MultiParamTypeClasses #-}
+
+module Casadi.IpoptInterface.Enums
+ (
+ ) where
+
+
+import Foreign.C.Types ( CInt(..) )
+import Casadi.Internal.Marshal ( Marshal(..) )
+import Casadi.Internal.WrapReturn ( WrapReturn(..) )
+
diff --git a/LICENSE b/LICENSE
new file mode 100644
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
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+
+ 2. Conveying Modified Versions.
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+ If you modify a copy of the Library, and, in your modifications, a
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+ 3. Object Code Incorporating Material from Library Header Files.
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+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
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+ document.
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+ 4. Combined Works.
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+ d) Do one of the following:
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+ 1) Use a suitable shared library mechanism for linking with the
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+ e) Provide Installation Information, but only if you would otherwise
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+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
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+Library.
diff --git a/Setup.hs b/Setup.hs
new file mode 100644
--- /dev/null
+++ b/Setup.hs
@@ -0,0 +1,2 @@
+import Distribution.Simple
+main = defaultMainWithHooks simpleUserHooks
diff --git a/casadi-bindings-ipopt-interface.cabal b/casadi-bindings-ipopt-interface.cabal
new file mode 100644
--- /dev/null
+++ b/casadi-bindings-ipopt-interface.cabal
@@ -0,0 +1,38 @@
+name: casadi-bindings-ipopt-interface
+version: 1.9.0.1
+license: LGPL-3
+license-file: LICENSE
+category: Numerical, Math
+copyright: (c) 2013-2014 Greg Horn
+author: Greg Horn
+maintainer: gregmainland@gmail.com
+build-type: Simple
+cabal-version: >=1.10
+synopsis: low level bindings to casadi-ipopt_interface
+description: see http://hackage.haskell.org/package/casadi-bindings for instructions
+extra-source-files: cbits/marshal.hpp
+extra-tmp-files: Casadi/Callback_stub.h
+
+library
+ build-depends: base >=4.6 && <5,
+ vector >=0.10,
+ casadi-bindings-core,
+ casadi-bindings-internal
+
+ default-language: Haskell2010
+
+
+ extra-libraries: stdc++
+
+ pkgconfig-depends: casadi_ipopt_interface
+
+ ghc-prof-options: -prof -fprof-auto -fprof-cafs -rtsopts
+ ghc-options:
+ cc-options: -Wall -Wno-delete-non-virtual-dtor
+
+ C-sources: cbits/autogen/ipopt_interface_classes.cpp
+ cbits/autogen/ipopt_interface_functions.cpp
+
+ exposed-modules: Casadi.IpoptInterface.Data
+ Casadi.IpoptInterface.Enums
+ Casadi.IpoptInterface.Classes.IpoptSolver
diff --git a/cbits/autogen/ipopt_interface_classes.cpp b/cbits/autogen/ipopt_interface_classes.cpp
new file mode 100644
--- /dev/null
+++ b/cbits/autogen/ipopt_interface_classes.cpp
@@ -0,0 +1,164 @@
+#include "casadi/core/casadi_calculus.hpp"
+#include "casadi/core/casadi_exception.hpp"
+#include "casadi/core/casadi_meta.hpp"
+#include "casadi/core/casadi_options.hpp"
+#include "casadi/core/casadi_types.hpp"
+#include "casadi/core/function/control_simulator.hpp"
+#include "casadi/core/function/custom_function.hpp"
+#include "casadi/core/function/external_function.hpp"
+#include "casadi/core/function/function.hpp"
+#include "casadi/core/function/homotopy_nlp_solver.hpp"
+#include "casadi/core/function/implicit_function.hpp"
+#include "casadi/core/function/integrator.hpp"
+#include "casadi/core/function/io_interface.hpp"
+#include "casadi/core/function/linear_solver.hpp"
+#include "casadi/core/function/lp_solver.hpp"
+#include "casadi/core/function/mx_function.hpp"
+#include "casadi/core/function/nlp_solver.hpp"
+#include "casadi/core/function/nullspace.hpp"
+#include "casadi/core/function/ocp_solver.hpp"
+#include "casadi/core/function/parallelizer.hpp"
+#include "casadi/core/function/qcqp_solver.hpp"
+#include "casadi/core/function/qp_solver.hpp"
+#include "casadi/core/function/sdp_solver.hpp"
+#include "casadi/core/function/sdqp_solver.hpp"
+#include "casadi/core/function/simulator.hpp"
+#include "casadi/core/function/socp_solver.hpp"
+#include "casadi/core/function/stabilized_qp_solver.hpp"
+#include "casadi/core/function/sx_function.hpp"
+#include "casadi/core/function/symbolic_qr.hpp"
+#include "casadi/core/functor.hpp"
+#include "casadi/core/generic_type.hpp"
+#include "casadi/core/matrix/generic_expression.hpp"
+#include "casadi/core/matrix/generic_matrix.hpp"
+#include "casadi/core/matrix/matrix.hpp"
+#include "casadi/core/matrix/matrix_tools.hpp"
+#include "casadi/core/matrix/slice.hpp"
+#include "casadi/core/matrix/sparsity.hpp"
+#include "casadi/core/matrix/sparsity_tools.hpp"
+#include "casadi/core/mx/mx.hpp"
+#include "casadi/core/mx/mx_tools.hpp"
+#include "casadi/core/options_functionality.hpp"
+#include "casadi/core/printable_object.hpp"
+#include "casadi/core/shared_object.hpp"
+#include "casadi/core/std_vector_tools.hpp"
+#include "casadi/core/sx/sx_element.hpp"
+#include "casadi/core/sx/sx_tools.hpp"
+#include "casadi/core/weak_ref.hpp"
+#include "casadi/interfaces/ipopt/ipopt_solver.hpp"
+#include
+#include
+#include
+#include "../marshal.hpp"
+
+// ================== delete UserType (Namespace ["casadi"]) (Name "IpoptSolver")===============
+// classType: UserType (Namespace ["casadi"]) (Name "IpoptSolver")
+extern "C"
+ void delete_casadi__IpoptSolver(casadi::IpoptSolver* obj);
+void delete_casadi__IpoptSolver(casadi::IpoptSolver* obj){
+ delete obj;
+}
+
+// ================== Constructor method: "CONSTRUCTOR" ===============
+// class: "casadi::IpoptSolver"
+// cppName: "casadi::IpoptSolver"
+// cWrapperName: "casadi__IpoptSolver__CONSTRUCTOR__0"
+// protoArgs: "(std::string ** err_msg, casadi::Function* x0)"
+// args: "(x0_)"
+// rettype: UserType (Namespace ["casadi"]) (Name "IpoptSolver")
+// cWrapperRetType: "casadi::IpoptSolver*"
+// proto: "casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__0(std::string ** err_msg, casadi::Function* x0)"
+// call: "casadi::IpoptSolver(x0_)"
+// params: [Ref (Const (UserType (Namespace ["casadi"]) (Name "Function")))]
+extern "C"
+ casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__0(std::string ** err_msg, casadi::Function* x0);
+casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__0(std::string ** err_msg, casadi::Function* x0){
+ try {
+ casadi::Function x0_ = Marshaling::marshal(x0);
+
+ casadi::IpoptSolver ret = casadi::IpoptSolver(x0_);
+ return WrapReturn< casadi::IpoptSolver*, casadi::IpoptSolver >::wrapReturn( ret );
+ } catch (std::exception& ex) {
+ *err_msg = new std::string(ex.what());
+ return 0;
+ }
+}
+
+
+// ================== Constructor method: "CONSTRUCTOR" ===============
+// class: "casadi::IpoptSolver"
+// cppName: "casadi::IpoptSolver"
+// cWrapperName: "casadi__IpoptSolver__CONSTRUCTOR__1"
+// protoArgs: "(std::string ** err_msg)"
+// args: "()"
+// rettype: UserType (Namespace ["casadi"]) (Name "IpoptSolver")
+// cWrapperRetType: "casadi::IpoptSolver*"
+// proto: "casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__1(std::string ** err_msg)"
+// call: "casadi::IpoptSolver()"
+// params: []
+extern "C"
+ casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__1(std::string ** err_msg);
+casadi::IpoptSolver* casadi__IpoptSolver__CONSTRUCTOR__1(std::string ** err_msg){
+ try {
+
+ casadi::IpoptSolver ret = casadi::IpoptSolver();
+ return WrapReturn< casadi::IpoptSolver*, casadi::IpoptSolver >::wrapReturn( ret );
+ } catch (std::exception& ex) {
+ *err_msg = new std::string(ex.what());
+ return 0;
+ }
+}
+
+
+// ================== Static method: "creator" ===============
+// class: "casadi::IpoptSolver"
+// cppName: "casadi::IpoptSolver::creator"
+// cWrapperName: "casadi__IpoptSolver__creator"
+// protoArgs: "(std::string ** err_msg, casadi::Function* x0)"
+// args: "(x0_)"
+// rettype: UserType (Namespace ["casadi"]) (Name "NLPSolver")
+// cWrapperRetType: "casadi::NLPSolver*"
+// proto: "casadi::NLPSolver* casadi__IpoptSolver__creator(std::string ** err_msg, casadi::Function* x0)"
+// call: "casadi::IpoptSolver::creator(x0_)"
+// params: [Ref (Const (UserType (Namespace ["casadi"]) (Name "Function")))]
+extern "C"
+ casadi::NLPSolver* casadi__IpoptSolver__creator(std::string ** err_msg, casadi::Function* x0);
+casadi::NLPSolver* casadi__IpoptSolver__creator(std::string ** err_msg, casadi::Function* x0){
+ try {
+ casadi::Function x0_ = Marshaling::marshal(x0);
+
+ casadi::NLPSolver ret = casadi::IpoptSolver::creator(x0_);
+ return WrapReturn< casadi::NLPSolver*, casadi::NLPSolver >::wrapReturn( ret );
+ } catch (std::exception& ex) {
+ *err_msg = new std::string(ex.what());
+ return 0;
+ }
+}
+
+
+// ================== Normal method: "getReducedHessian" ===============
+// class: "casadi::IpoptSolver"
+// cppName: "casadi::IpoptSolver::getReducedHessian"
+// cWrapperName: "casadi__IpoptSolver__getReducedHessian"
+// protoArgs: "(std::string ** err_msg, casadi::IpoptSolver* obj)"
+// args: "()"
+// rettype: UserType (Namespace ["casadi"]) (Name "DMatrix")
+// cWrapperRetType: "casadi::DMatrix*"
+// proto: "casadi::DMatrix* casadi__IpoptSolver__getReducedHessian(std::string ** err_msg, casadi::IpoptSolver* obj)"
+// call: "obj->getReducedHessian()"
+// params: []
+extern "C"
+ casadi::DMatrix* casadi__IpoptSolver__getReducedHessian(std::string ** err_msg, casadi::IpoptSolver* obj);
+casadi::DMatrix* casadi__IpoptSolver__getReducedHessian(std::string ** err_msg, casadi::IpoptSolver* obj){
+ try {
+
+ casadi::DMatrix ret = obj->getReducedHessian();
+ return WrapReturn< casadi::DMatrix*, casadi::DMatrix >::wrapReturn( ret );
+ } catch (std::exception& ex) {
+ *err_msg = new std::string(ex.what());
+ return 0;
+ }
+}
+
+
+
diff --git a/cbits/autogen/ipopt_interface_functions.cpp b/cbits/autogen/ipopt_interface_functions.cpp
new file mode 100644
--- /dev/null
+++ b/cbits/autogen/ipopt_interface_functions.cpp
@@ -0,0 +1,53 @@
+#include "casadi/core/casadi_calculus.hpp"
+#include "casadi/core/casadi_exception.hpp"
+#include "casadi/core/casadi_meta.hpp"
+#include "casadi/core/casadi_options.hpp"
+#include "casadi/core/casadi_types.hpp"
+#include "casadi/core/function/control_simulator.hpp"
+#include "casadi/core/function/custom_function.hpp"
+#include "casadi/core/function/external_function.hpp"
+#include "casadi/core/function/function.hpp"
+#include "casadi/core/function/homotopy_nlp_solver.hpp"
+#include "casadi/core/function/implicit_function.hpp"
+#include "casadi/core/function/integrator.hpp"
+#include "casadi/core/function/io_interface.hpp"
+#include "casadi/core/function/linear_solver.hpp"
+#include "casadi/core/function/lp_solver.hpp"
+#include "casadi/core/function/mx_function.hpp"
+#include "casadi/core/function/nlp_solver.hpp"
+#include "casadi/core/function/nullspace.hpp"
+#include "casadi/core/function/ocp_solver.hpp"
+#include "casadi/core/function/parallelizer.hpp"
+#include "casadi/core/function/qcqp_solver.hpp"
+#include "casadi/core/function/qp_solver.hpp"
+#include "casadi/core/function/sdp_solver.hpp"
+#include "casadi/core/function/sdqp_solver.hpp"
+#include "casadi/core/function/simulator.hpp"
+#include "casadi/core/function/socp_solver.hpp"
+#include "casadi/core/function/stabilized_qp_solver.hpp"
+#include "casadi/core/function/sx_function.hpp"
+#include "casadi/core/function/symbolic_qr.hpp"
+#include "casadi/core/functor.hpp"
+#include "casadi/core/generic_type.hpp"
+#include "casadi/core/matrix/generic_expression.hpp"
+#include "casadi/core/matrix/generic_matrix.hpp"
+#include "casadi/core/matrix/matrix.hpp"
+#include "casadi/core/matrix/matrix_tools.hpp"
+#include "casadi/core/matrix/slice.hpp"
+#include "casadi/core/matrix/sparsity.hpp"
+#include "casadi/core/matrix/sparsity_tools.hpp"
+#include "casadi/core/mx/mx.hpp"
+#include "casadi/core/mx/mx_tools.hpp"
+#include "casadi/core/options_functionality.hpp"
+#include "casadi/core/printable_object.hpp"
+#include "casadi/core/shared_object.hpp"
+#include "casadi/core/std_vector_tools.hpp"
+#include "casadi/core/sx/sx_element.hpp"
+#include "casadi/core/sx/sx_tools.hpp"
+#include "casadi/core/weak_ref.hpp"
+#include "casadi/interfaces/ipopt/ipopt_solver.hpp"
+#include
+#include
+#include
+#include "../marshal.hpp"
+
diff --git a/cbits/marshal.hpp b/cbits/marshal.hpp
new file mode 100644
--- /dev/null
+++ b/cbits/marshal.hpp
@@ -0,0 +1,182 @@
+#ifndef __MARSHAL_THEM_BINDINGS_H__
+#define __MARSHAL_THEM_BINDINGS_H__
+
+#include
+
+template
+class Marshaling {
+public:
+ static T1 marshal(T2 x){ return static_cast(x); }
+};
+
+template
+class Marshaling< T, T* > {
+public:
+ static T marshal(T* x){ return *x; }
+};
+
+template
+class Marshaling< T&, T* > {
+public:
+ static T& marshal(T* x){ return *x; }
+};
+
+template
+class Marshaling< T const &, T* > {
+public:
+ static T const & marshal(T* x){ return *x; }
+};
+
+template
+class Marshaling< std::vector< T1 >, std::vector< T2 > > {
+ public:
+ static std::vector< T1 > marshal(const std::vector< T2 > inputs){
+ std::vector< T1 > vec;
+ for (unsigned int k=0; k::marshal(inputs[k]) );
+ }
+ return vec;
+ }
+};
+
+
+template
+class Marshaling< T1, T2* > {
+ public:
+ static T1 marshal(T2* x){
+ return Marshaling::marshal( *x );
+ }
+};
+
+
+/* ---------------------------------------------------------- */
+/* call "new" on a bunch of stuff */
+template
+class WrapReturn {
+ public:
+ static T1 wrapReturn(T2 x){ return x; }
+};
+
+template
+class WrapReturn< std::vector< T1 >, std::vector< T2 > > {
+ public:
+ static std::vector< T1 > wrapReturn(std::vector< T2 > inputs){
+ std::vector< T1 > vec;
+ for (unsigned int k=0; k::wrapReturn(inputs[k]) );
+ }
+ return vec;
+ }
+};
+
+template
+class WrapReturn< T1*, T2 > {
+ public:
+ static T1* wrapReturn(T2 x){
+ return new T1( WrapReturn::wrapReturn(x) );
+ }
+};
+
+
+// some examples:
+
+//#include
+//#include
+//class A{};
+//
+//void testWrapReturn(){
+// // make a bunch of dummy inputs
+// A a = A();
+// std::vector< A > v_a = std::vector< A >();
+// std::vector< A > const v_c_a = std::vector< A >();
+// std::vector< std::vector< A > > v_v_a = std::vector< std::vector< A > >();
+// std::vector< std::vector< int > > v_v_int = std::vector< std::vector< int > >();
+// //std::vector< A >* pv_a = new std::vector< A >();
+// //std::vector< A* > v_pa = std::vector< A* >();
+// //std::vector< std::vector< A* >* >* pv_pv_pa = new std::vector< std::vector< A* >* >();
+//
+// // try to use wrapReturn on the dummy inputs
+// A* o0 __attribute__((unused)) = WrapReturn< A*, A>::wrapReturn(a);
+//
+//
+// std::vector< A* >* o4 __attribute__((unused)) =
+// WrapReturn< std::vector< A* >*, std::vector< A > >::wrapReturn(v_a);
+//
+// std::vector< A* >* o7 __attribute__((unused)) =
+// WrapReturn< std::vector< A* >*, std::vector< A > >::wrapReturn(v_c_a);
+//
+//
+// std::vector< std::vector< A* >* >* o5 __attribute__((unused)) =
+// WrapReturn< std::vector< std::vector< A* >* >*,
+// std::vector< std::vector< A > >
+// >::wrapReturn(v_v_a);
+//
+//
+// std::vector< std::vector< int >* >* o6 __attribute__((unused)) =
+// WrapReturn< std::vector< std::vector< int >* >*,
+// std::vector< std::vector< int > >
+// >::wrapReturn(v_v_int);
+// //std::vector< A > o5 = WrapReturn< std::vector< A >, std::vector< A* > >::wrapReturn(v_pa);
+// //
+// //std::vector< A > o6 = WrapReturn< std::vector< A >, std::vector< A* >* >::wrapReturn(pv_pa);
+// //std::vector< std::vector< A > > o7 =
+// // WrapReturn< std::vector< std::vector< A > >,
+// // std::vector< std::vector< A* >* >*
+// // >::wrapReturn(pv_pv_pa);
+//}
+//
+//void testMarshal(){
+// // make a bunch of dummy inputs
+// A* pa = new A();
+// std::vector< A* >* pv_pa = new std::vector< A* >();
+// std::vector< A >* pv_a = new std::vector< A >();
+// std::vector< A* > v_pa = std::vector< A* >();
+// std::vector< std::vector< A* >* >* pv_pv_pa = new std::vector< std::vector< A* >* >();
+//
+// // try to use marshal on the dummy inputs
+// A o0 __attribute__((unused)) = Marshaling< A, A*>::marshal(pa);
+// A& o1 __attribute__((unused)) = Marshaling< A&, A*>::marshal(pa);
+// A const & o2 __attribute__((unused)) = Marshaling< A const &, A*>::marshal(pa);
+//
+// std::vector< A > o3 = Marshaling< std::vector< A >, std::vector< A >* >::marshal(pv_a);
+// std::vector< A* > o4 = Marshaling< std::vector< A* >, std::vector< A* >* >::marshal(pv_pa);
+// std::vector< A > o5 = Marshaling< std::vector< A >, std::vector< A* > >::marshal(v_pa);
+//
+// std::vector< A > o6 = Marshaling< std::vector< A >, std::vector< A* >* >::marshal(pv_pa);
+// std::vector< std::vector< A > > o7 =
+// Marshaling< std::vector< std::vector< A > >,
+// std::vector< std::vector< A* >* >*
+// >::marshal(pv_pv_pa);
+//}
+
+
+//
+//
+//using namespace CasADi;
+//using namespace std;
+//
+//// test program
+//int main(){
+// string name = string("x");
+// cout << "calling ssym\n";
+// Matrix< SX >* x = CasADi__ssym_TIC(&name, 1);
+// cout << "ssym results: " << *x << "\n\n";
+//
+// cout << "calling .data()\n";
+// vector< SX* >* vecsx =
+// CasADi__Matrix_CasADi__SX___data(x);
+// cout << "data results: " << *vecsx << "\n";
+// cout << "data results: " << *((*vecsx)[0]) << "\n";
+// cout << "size of data: " << vecsx->size() << "\n\n";
+//
+// cout << "calling SXMatrix(vector)\n";
+// Matrix< SX >* sxmat =
+// CasADi__Matrix_CasADi__SX___SXMatrix_TIC_TIC_TIC_TIC_TIC_TIC_TIC_TIC_TIC_TIC_TIC( vecsx );
+// cout << "calling SXMatrix.getDescription()\n";
+// cout << sxmat->getDescription() << "\n";
+// cout << "\n\n===== horray =====\n";
+// return 0;
+//}
+
+
+#endif // __MARSHAL_THEM_BINDINGS_H__