{-# OPTIONS_GHC -Wall #-}
{-# Language FlexibleInstances #-}
{-# Language MultiParamTypeClasses #-}
module Casadi.Core.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(..) )
-- raw decl
data Callback'
-- data decl
{-|
>Callback.
>
>In C++, supply a CallbackCPtr function pointer When the callback function
>returns a non-zero integer, the host is signalled of a problem. E.g. an
>NlpSolver may halt iterations if the Callback is something else than 0
>
>In python, supply a callable, annotated with pycallback decorator
>
>C++ includes: functor.hpp
-}
newtype Callback = Callback (ForeignPtr Callback')
-- typeclass decl
class CallbackClass a where
castCallback :: a -> Callback
instance CallbackClass Callback where
castCallback = id
-- baseclass instances
instance FunctorClass Callback where
castFunctor (Callback x) = Functor (castForeignPtr x)
instance PrintableObjectClass Callback where
castPrintableObject (Callback x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Callback where
castSharedObject (Callback x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal Callback (Ptr Callback') where
marshal (Callback x) = return (unsafeForeignPtrToPtr x)
marshalFree (Callback x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Callback"
c_delete_casadi__Callback :: FunPtr (Ptr Callback' -> IO ())
instance WrapReturn (Ptr Callback') Callback where
wrapReturn = (fmap Callback) . (newForeignPtr c_delete_casadi__Callback)
-- raw decl
data CasadiMeta'
-- data decl
{-|
>Collects global CasADi meta information.
>
>Joris Gillis
>
>C++ includes: casadi_meta.hpp
-}
newtype CasadiMeta = CasadiMeta (ForeignPtr CasadiMeta')
-- typeclass decl
class CasadiMetaClass a where
castCasadiMeta :: a -> CasadiMeta
instance CasadiMetaClass CasadiMeta where
castCasadiMeta = id
-- baseclass instances
-- helper instances
instance Marshal CasadiMeta (Ptr CasadiMeta') where
marshal (CasadiMeta x) = return (unsafeForeignPtrToPtr x)
marshalFree (CasadiMeta x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__CasadiMeta"
c_delete_casadi__CasadiMeta :: FunPtr (Ptr CasadiMeta' -> IO ())
instance WrapReturn (Ptr CasadiMeta') CasadiMeta where
wrapReturn = (fmap CasadiMeta) . (newForeignPtr c_delete_casadi__CasadiMeta)
-- raw decl
data CasadiOptions'
-- data decl
{-|
>Collects global CasADi options.
>
>Note to developers: use sparingly. Global options are - in general - a
>rather bad idea
>
>this class must never be instantiated. Access its static members directly
>Joris Gillis
>
>C++ includes: casadi_options.hpp
-}
newtype CasadiOptions = CasadiOptions (ForeignPtr CasadiOptions')
-- typeclass decl
class CasadiOptionsClass a where
castCasadiOptions :: a -> CasadiOptions
instance CasadiOptionsClass CasadiOptions where
castCasadiOptions = id
-- baseclass instances
-- helper instances
instance Marshal CasadiOptions (Ptr CasadiOptions') where
marshal (CasadiOptions x) = return (unsafeForeignPtrToPtr x)
marshalFree (CasadiOptions x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__CasadiOptions"
c_delete_casadi__CasadiOptions :: FunPtr (Ptr CasadiOptions' -> IO ())
instance WrapReturn (Ptr CasadiOptions') CasadiOptions where
wrapReturn = (fmap CasadiOptions) . (newForeignPtr c_delete_casadi__CasadiOptions)
-- raw decl
data ControlSimulator'
-- data decl
{-|
>Piecewise Simulation class.
>
>A ControlSimulator can be seen as a chain of Simulators whereby some
>parameters change from one Simulator to the next.
>
>These changing parameters can typically be interpreted as "controls" in
>the context of dynamic optimization.
>
>We discriminate between the following time steps: Major time-steps. These
>are the time steps provided by the supplied grid. Controls are constant
>inbetween major time-steps Minor time-steps. These are time steps linearly
>interpolated from one major time-step to the next. The option 'nf' regulates
>how many minor time-steps are taken. Integration time-steps. Time steps
>that the supplied integrator might choose to integrate the continuous
>dynamics. They are not important what ControlSimulator is concerned. np
>Number of parameters nu Number of controls ns The number of major grid
>points, as supplied in the constructor nf The number of minor grid points
>per major interval
>
>Joris Gillis
>
>>Input scheme: casadi::ControlSimulatorInput (CONTROLSIMULATOR_NUM_IN = 3) [controlsimulatorIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| CONTROLSIMULATOR_X0 | x0 | Differential or |
>| | | algebraic state at t0 |
>| | | (dimension nx-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROLSIMULATOR_P | p | Parameters that are |
>| | | fixed over the entire |
>| | | horizon (dimension np- |
>| | | by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROLSIMULATOR_U | u | Parameters that change |
>| | | over the integration |
>| | | intervals (dimension |
>| | | nu-by-(ns-1)) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| control_endp | OT_BOOLEAN | false | Include a | casadi::Cont |
>| oint | | | control | rolSimulator |
>| | | | value at the | Internal |
>| | | | end of the | |
>| | | | simulation | |
>| | | | domain. Used | |
>| | | | for interpol | |
>| | | | ation. | |
>+--------------+--------------+--------------+--------------+--------------+
>| control_inte | OT_STRING | "none" | none|nearest | casadi::Cont |
>| rpolation | | | |linear | rolSimulator |
>| | | | | Internal |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator | OT_STRING | GenericType( | An | casadi::Cont |
>| | | ) | integrator | rolSimulator |
>| | | | creator | Internal |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator_o | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |
>| ptions | Y | ) | be passed to | rolSimulator |
>| | | | the | Internal |
>| | | | integrator | |
>+--------------+--------------+--------------+--------------+--------------+
>| minor_grid | OT_INTEGERVE | GenericType( | The local | casadi::Cont |
>| | CTOR | ) | grid used on | rolSimulator |
>| | | | each major | Internal |
>| | | | interval, | |
>| | | | with time | |
>| | | | normalized | |
>| | | | to 1. By | |
>| | | | default, | |
>| | | | option 'nf' | |
>| | | | is used to | |
>| | | | construct a | |
>| | | | linearly | |
>| | | | spaced grid. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nf | OT_INTEGER | 1 | Number of | casadi::Cont |
>| | | | minor | rolSimulator |
>| | | | grained | Internal |
>| | | | integration | |
>| | | | steps per | |
>| | | | major | |
>| | | | interval. | |
>| | | | nf>0 must | |
>| | | | hold. This | |
>| | | | option is | |
>| | | | not used | |
>| | | | when | |
>| | | | 'minor_grid' | |
>| | | | is provided. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| simulator_op | OT_DICTIONAR | GenericType( | Options to | casadi::Cont |
>| tions | Y | ) | be passed to | rolSimulator |
>| | | | the | Internal |
>| | | | simulator | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: control_simulator.hpp
-}
newtype ControlSimulator = ControlSimulator (ForeignPtr ControlSimulator')
-- typeclass decl
class ControlSimulatorClass a where
castControlSimulator :: a -> ControlSimulator
instance ControlSimulatorClass ControlSimulator where
castControlSimulator = id
-- baseclass instances
instance FunctionClass ControlSimulator where
castFunction (ControlSimulator x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass ControlSimulator where
castOptionsFunctionality (ControlSimulator x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass ControlSimulator where
castPrintableObject (ControlSimulator x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass ControlSimulator where
castSharedObject (ControlSimulator x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass ControlSimulator where
castIOInterfaceFunction (ControlSimulator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ControlSimulator (Ptr ControlSimulator') where
marshal (ControlSimulator x) = return (unsafeForeignPtrToPtr x)
marshalFree (ControlSimulator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__ControlSimulator"
c_delete_casadi__ControlSimulator :: FunPtr (Ptr ControlSimulator' -> IO ())
instance WrapReturn (Ptr ControlSimulator') ControlSimulator where
wrapReturn = (fmap ControlSimulator) . (newForeignPtr c_delete_casadi__ControlSimulator)
-- raw decl
data CustomEvaluate'
-- data decl
{-|
>CustomEvaluate.
>
>In C++, supply a CustomEvaluateCPtr function pointer
>
>In python, supply a callable, annotated with pyevaluate decorator
>
>C++ includes: functor.hpp
-}
newtype CustomEvaluate = CustomEvaluate (ForeignPtr CustomEvaluate')
-- typeclass decl
class CustomEvaluateClass a where
castCustomEvaluate :: a -> CustomEvaluate
instance CustomEvaluateClass CustomEvaluate where
castCustomEvaluate = id
-- baseclass instances
instance FunctorClass CustomEvaluate where
castFunctor (CustomEvaluate x) = Functor (castForeignPtr x)
instance PrintableObjectClass CustomEvaluate where
castPrintableObject (CustomEvaluate x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass CustomEvaluate where
castSharedObject (CustomEvaluate x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal CustomEvaluate (Ptr CustomEvaluate') where
marshal (CustomEvaluate x) = return (unsafeForeignPtrToPtr x)
marshalFree (CustomEvaluate x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__CustomEvaluate"
c_delete_casadi__CustomEvaluate :: FunPtr (Ptr CustomEvaluate' -> IO ())
instance WrapReturn (Ptr CustomEvaluate') CustomEvaluate where
wrapReturn = (fmap CustomEvaluate) . (newForeignPtr c_delete_casadi__CustomEvaluate)
-- raw decl
data CustomFunction'
-- data decl
{-|
>Interface to a custom function.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: custom_function.hpp
-}
newtype CustomFunction = CustomFunction (ForeignPtr CustomFunction')
-- typeclass decl
class CustomFunctionClass a where
castCustomFunction :: a -> CustomFunction
instance CustomFunctionClass CustomFunction where
castCustomFunction = id
-- baseclass instances
instance FunctionClass CustomFunction where
castFunction (CustomFunction x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass CustomFunction where
castOptionsFunctionality (CustomFunction x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass CustomFunction where
castPrintableObject (CustomFunction x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass CustomFunction where
castSharedObject (CustomFunction x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass CustomFunction where
castIOInterfaceFunction (CustomFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal CustomFunction (Ptr CustomFunction') where
marshal (CustomFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (CustomFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__CustomFunction"
c_delete_casadi__CustomFunction :: FunPtr (Ptr CustomFunction' -> IO ())
instance WrapReturn (Ptr CustomFunction') CustomFunction where
wrapReturn = (fmap CustomFunction) . (newForeignPtr c_delete_casadi__CustomFunction)
-- raw decl
data DMatrix'
-- data decl
{-|
-}
newtype DMatrix = DMatrix (ForeignPtr DMatrix')
-- typeclass decl
class DMatrixClass a where
castDMatrix :: a -> DMatrix
instance DMatrixClass DMatrix where
castDMatrix = id
-- baseclass instances
instance PrintableObjectClass DMatrix where
castPrintableObject (DMatrix x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal DMatrix (Ptr DMatrix') where
marshal (DMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (DMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__DMatrix"
c_delete_casadi__DMatrix :: FunPtr (Ptr DMatrix' -> IO ())
instance WrapReturn (Ptr DMatrix') DMatrix where
wrapReturn = (fmap DMatrix) . (newForeignPtr c_delete_casadi__DMatrix)
-- raw decl
data DerivativeGenerator'
-- data decl
{-|
>Derivative Generator Functor.
>
>In C++, supply a DerivativeGeneratorCPtr function pointer
>
>In python, supply a callable, annotated with derivativegenerator decorator
>
>C++ includes: functor.hpp
-}
newtype DerivativeGenerator = DerivativeGenerator (ForeignPtr DerivativeGenerator')
-- typeclass decl
class DerivativeGeneratorClass a where
castDerivativeGenerator :: a -> DerivativeGenerator
instance DerivativeGeneratorClass DerivativeGenerator where
castDerivativeGenerator = id
-- baseclass instances
instance FunctorClass DerivativeGenerator where
castFunctor (DerivativeGenerator x) = Functor (castForeignPtr x)
instance PrintableObjectClass DerivativeGenerator where
castPrintableObject (DerivativeGenerator x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass DerivativeGenerator where
castSharedObject (DerivativeGenerator x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal DerivativeGenerator (Ptr DerivativeGenerator') where
marshal (DerivativeGenerator x) = return (unsafeForeignPtrToPtr x)
marshalFree (DerivativeGenerator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__DerivativeGenerator"
c_delete_casadi__DerivativeGenerator :: FunPtr (Ptr DerivativeGenerator' -> IO ())
instance WrapReturn (Ptr DerivativeGenerator') DerivativeGenerator where
wrapReturn = (fmap DerivativeGenerator) . (newForeignPtr c_delete_casadi__DerivativeGenerator)
-- raw decl
data ExternalFunction'
-- data decl
{-|
>Interface for a function that is not implemented by CasADi symbolics.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: external_function.hpp
-}
newtype ExternalFunction = ExternalFunction (ForeignPtr ExternalFunction')
-- typeclass decl
class ExternalFunctionClass a where
castExternalFunction :: a -> ExternalFunction
instance ExternalFunctionClass ExternalFunction where
castExternalFunction = id
-- baseclass instances
instance FunctionClass ExternalFunction where
castFunction (ExternalFunction x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass ExternalFunction where
castOptionsFunctionality (ExternalFunction x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass ExternalFunction where
castPrintableObject (ExternalFunction x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass ExternalFunction where
castSharedObject (ExternalFunction x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass ExternalFunction where
castIOInterfaceFunction (ExternalFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ExternalFunction (Ptr ExternalFunction') where
marshal (ExternalFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExternalFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__ExternalFunction"
c_delete_casadi__ExternalFunction :: FunPtr (Ptr ExternalFunction' -> IO ())
instance WrapReturn (Ptr ExternalFunction') ExternalFunction where
wrapReturn = (fmap ExternalFunction) . (newForeignPtr c_delete_casadi__ExternalFunction)
-- raw decl
data Function'
-- data decl
{-|
>General function.
>
>A general function $f$ in casadi can be multi-input, multi-output. Number of
>inputs: nin getNumInputs() Number of outputs: nout getNumOutputs() We can
>view this function as a being composed of a ( nin, nout) grid of single-
>input, single-output primitive functions. Each such primitive function $f_
>{i, j} \\\\forall i \\\\in [0, nin-1], j \\\\in [0, nout-1]$ can map as
>$\\\\mathbf {R}^{n, m}\\\\to\\\\mathbf{R}^{p, q}$, in which n, m, p, q can
>take different values for every (i, j) pair. When passing input, you
>specify which partition $i$ is active. You pass the numbers vectorized, as a
>vector of size $(n*m)$. When requesting output, you specify which partition
>$j$ is active. You get the numbers vectorized, as a vector of size $(p*q)$.
>To calculate Jacobians, you need to have $(m=1, q=1)$.
>
>Write the Jacobian as $J_ {i, j} = \\\\nabla f_{i, j} = \\\\frac
>{\\\\partial f_{i, j}(\\\\vec{x})}{\\\\partial \\\\vec{x}}$.
>
>Using $\\\\vec {v} \\\\in \\\\mathbf{R}^n$ as a forward seed: setFwdSeed(v,
>i) Retrieving $\\\\vec {s}_f \\\\in \\\\mathbf{R}^p$ from: getFwdSens(sf, j)
>Using $\\\\vec {w} \\\\in \\\\mathbf{R}^p$ as a forward seed: setAdjSeed(w,
>j) Retrieving $\\\\vec {s}_a \\\\in \\\\mathbf{R}^n $ from: getAdjSens(sa,
>i) We have the following relationships for function mapping from a row
>vector to a row vector:
>
>$ \\\\vec {s}_f = \\\\nabla f_{i, j} . \\\\vec{v}$ $ \\\\vec {s}_a =
>(\\\\nabla f_{i, j})^T . \\\\vec{w}$
>
>Some quantities in these formulas must be transposed: input col: transpose $
>\\\\vec {v} $ and $\\\\vec{s}_a$ output col: transpose $ \\\\vec {w} $ and
>$\\\\vec{s}_f$ NOTE: Functions are allowed to modify their input arguments
>when evaluating: implicitFunction, IDAS solver Further releases may disallow
>this.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>
>+---------+--------------------------+
>| Id | Used in |
>+=========+==========================+
>| inputs | casadi::FunctionInternal |
>+---------+--------------------------+
>| outputs | casadi::FunctionInternal |
>+---------+--------------------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: function.hpp
-}
newtype Function = Function (ForeignPtr Function')
-- typeclass decl
class FunctionClass a where
castFunction :: a -> Function
instance FunctionClass Function where
castFunction = id
-- baseclass instances
instance OptionsFunctionalityClass Function where
castOptionsFunctionality (Function x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass Function where
castPrintableObject (Function x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Function where
castSharedObject (Function x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass Function where
castIOInterfaceFunction (Function x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Function (Ptr Function') where
marshal (Function x) = return (unsafeForeignPtrToPtr x)
marshalFree (Function x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Function"
c_delete_casadi__Function :: FunPtr (Ptr Function' -> IO ())
instance WrapReturn (Ptr Function') Function where
wrapReturn = (fmap Function) . (newForeignPtr c_delete_casadi__Function)
-- raw decl
data Functor'
-- data decl
{-|
>Functor.
>
>Joris Gillis
>
>C++ includes: functor.hpp
-}
newtype Functor = Functor (ForeignPtr Functor')
-- typeclass decl
class FunctorClass a where
castFunctor :: a -> Functor
instance FunctorClass Functor where
castFunctor = id
-- baseclass instances
instance PrintableObjectClass Functor where
castPrintableObject (Functor x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Functor where
castSharedObject (Functor x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal Functor (Ptr Functor') where
marshal (Functor x) = return (unsafeForeignPtrToPtr x)
marshalFree (Functor x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Functor"
c_delete_casadi__Functor :: FunPtr (Ptr Functor' -> IO ())
instance WrapReturn (Ptr Functor') Functor where
wrapReturn = (fmap Functor) . (newForeignPtr c_delete_casadi__Functor)
-- raw decl
data GenericType'
-- data decl
{-|
>Generic data type.
>
>Joel Andersson
>
>C++ includes: generic_type.hpp
-}
newtype GenericType = GenericType (ForeignPtr GenericType')
-- typeclass decl
class GenericTypeClass a where
castGenericType :: a -> GenericType
instance GenericTypeClass GenericType where
castGenericType = id
-- baseclass instances
instance PrintableObjectClass GenericType where
castPrintableObject (GenericType x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass GenericType where
castSharedObject (GenericType x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal GenericType (Ptr GenericType') where
marshal (GenericType x) = return (unsafeForeignPtrToPtr x)
marshalFree (GenericType x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__GenericType"
c_delete_casadi__GenericType :: FunPtr (Ptr GenericType' -> IO ())
instance WrapReturn (Ptr GenericType') GenericType where
wrapReturn = (fmap GenericType) . (newForeignPtr c_delete_casadi__GenericType)
-- raw decl
data HomotopyNlpSolver'
-- data decl
{-|
>Base class for Homotopy NLP Solvers.
>
>Solves the following parametric nonlinear program (NLP):
>
>::
>
> min F(x, p, tau)
> x
>
> subject to
> LBX <= x <= UBX
> LBG <= G(x, p) <= UBG
> p == P
>
> nx: number of decision variables
> ng: number of constraints
> np: number of parameters
>
>
>
>
>In a homotopy from tau = 0 to tau = 1.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::NlpSolverInput (NLP_SOLVER_NUM_IN = 8) [nlpSolverIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | casadi::Homo |
>| | | | NLP function | topyNLPInter |
>| | | | in terms of | nal |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX->SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_HomotopyNlpSolver_simple'>simple</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>HomotopyNlpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>simple
>------
>
>
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| nlp_solver | OT_STRING | GenericType() | The NLP solver |
>| | | | to be used by |
>| | | | the Homotopy |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |
>| ons | | | passed to the |
>| | | | Homotopy solver |
>+-----------------+-----------------+-----------------+-----------------+
>| num_steps | OT_INTEGER | 10 | Take this many |
>| | | | steps to go |
>| | | | from tau=0 to |
>| | | | tau=1. |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joris Gillis
>Diagrams
>--------
>
>
>
>C++ includes: homotopy_nlp_solver.hpp
-}
newtype HomotopyNlpSolver = HomotopyNlpSolver (ForeignPtr HomotopyNlpSolver')
-- typeclass decl
class HomotopyNlpSolverClass a where
castHomotopyNlpSolver :: a -> HomotopyNlpSolver
instance HomotopyNlpSolverClass HomotopyNlpSolver where
castHomotopyNlpSolver = id
-- baseclass instances
instance FunctionClass HomotopyNlpSolver where
castFunction (HomotopyNlpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass HomotopyNlpSolver where
castOptionsFunctionality (HomotopyNlpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass HomotopyNlpSolver where
castPrintableObject (HomotopyNlpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass HomotopyNlpSolver where
castSharedObject (HomotopyNlpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass HomotopyNlpSolver where
castIOInterfaceFunction (HomotopyNlpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal HomotopyNlpSolver (Ptr HomotopyNlpSolver') where
marshal (HomotopyNlpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (HomotopyNlpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__HomotopyNlpSolver"
c_delete_casadi__HomotopyNlpSolver :: FunPtr (Ptr HomotopyNlpSolver' -> IO ())
instance WrapReturn (Ptr HomotopyNlpSolver') HomotopyNlpSolver where
wrapReturn = (fmap HomotopyNlpSolver) . (newForeignPtr c_delete_casadi__HomotopyNlpSolver)
-- raw decl
data IMatrix'
-- data decl
{-|
-}
newtype IMatrix = IMatrix (ForeignPtr IMatrix')
-- typeclass decl
class IMatrixClass a where
castIMatrix :: a -> IMatrix
instance IMatrixClass IMatrix where
castIMatrix = id
-- baseclass instances
instance PrintableObjectClass IMatrix where
castPrintableObject (IMatrix x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal IMatrix (Ptr IMatrix') where
marshal (IMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (IMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__IMatrix"
c_delete_casadi__IMatrix :: FunPtr (Ptr IMatrix' -> IO ())
instance WrapReturn (Ptr IMatrix') IMatrix where
wrapReturn = (fmap IMatrix) . (newForeignPtr c_delete_casadi__IMatrix)
-- raw decl
data IOScheme'
-- data decl
{-|
>Class with mapping between names and indices.
>
>Joris Gillis
>
>C++ includes: io_scheme.hpp
-}
newtype IOScheme = IOScheme (ForeignPtr IOScheme')
-- typeclass decl
class IOSchemeClass a where
castIOScheme :: a -> IOScheme
instance IOSchemeClass IOScheme where
castIOScheme = id
-- baseclass instances
instance PrintableObjectClass IOScheme where
castPrintableObject (IOScheme x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass IOScheme where
castSharedObject (IOScheme x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal IOScheme (Ptr IOScheme') where
marshal (IOScheme x) = return (unsafeForeignPtrToPtr x)
marshalFree (IOScheme x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__IOScheme"
c_delete_casadi__IOScheme :: FunPtr (Ptr IOScheme' -> IO ())
instance WrapReturn (Ptr IOScheme') IOScheme where
wrapReturn = (fmap IOScheme) . (newForeignPtr c_delete_casadi__IOScheme)
-- raw decl
data ImplicitFunction'
-- data decl
{-|
>Abstract base class for the implicit function classes.
>
>The equation:
>
>F(z, x1, x2, ..., xn) == 0
>
>where d_F/dz is invertible, implicitly defines the equation:
>
>z := G(x1, x2, ..., xn)
>
>F should be an Function mapping from (n+1) inputs to m outputs. The first
>output is the residual that should be zero.
>
>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n
>may be zero. The first output is the solved for z.
>
>You can provide an initial guess for z by setting output(0) of
>ImplicitFunction.
>
>General information
>===================
>
>
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraints | OT_INTEGERVE | GenericType( | Constrain | casadi::Impl |
>| | CTOR | ) | the | icitFunction |
>| | | | unknowns. 0 | Internal |
>| | | | (default): | |
>| | | | no | |
>| | | | constraint | |
>| | | | on ui, 1: ui | |
>| | | | >= 0.0, -1: | |
>| | | | ui <= 0.0, | |
>| | | | 2: ui > 0.0, | |
>| | | | -2: ui < | |
>| | | | 0.0. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_inp | OT_INTEGER | 0 | Index of the | casadi::Impl |
>| ut | | | input that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_out | OT_INTEGER | 0 | Index of the | casadi::Impl |
>| put | | | output that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | GenericType( | User-defined | casadi::Impl |
>| r | | ) | linear | icitFunction |
>| | | | solver | Internal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | casadi::Impl |
>| r_options | Y | ) | be passed to | icitFunction |
>| | | | the linear | Internal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_ImplicitFunction_kinsol'>kinsol</a>
>
>- <a href='#plugin_ImplicitFunction_newton'>newton</a>
>
>- <a href='#plugin_ImplicitFunction_nlp'>nlp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>ImplicitFunction.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>kinsol
>------
>
>
>
>KINSOL interface from the Sundials suite
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| abstol | OT_REAL | 0.000 | Stopping |
>| | | | criterion |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| disable_interna | OT_BOOLEAN | false | Disable KINSOL |
>| l_warnings | | | internal |
>| | | | warning |
>| | | | messages |
>+-----------------+-----------------+-----------------+-----------------+
>| exact_jacobian | OT_BOOLEAN | true | |
>+-----------------+-----------------+-----------------+-----------------+
>| f_scale | OT_REALVECTOR | | |
>+-----------------+-----------------+-----------------+-----------------+
>| iterative_solve | OT_STRING | "gmres" | gmres|bcgstab|t |
>| r | | | fqmr |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_t | OT_STRING | "dense" | dense|banded|it |
>| ype | | | erative|user_de |
>| | | | fined |
>+-----------------+-----------------+-----------------+-----------------+
>| lower_bandwidth | OT_INTEGER | | |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 0 | Maximum number |
>| | | | of Newton |
>| | | | iterations. |
>| | | | Putting 0 sets |
>| | | | the default |
>| | | | value of |
>| | | | KinSol. |
>+-----------------+-----------------+-----------------+-----------------+
>| max_krylov | OT_INTEGER | 0 | |
>+-----------------+-----------------+-----------------+-----------------+
>| pretype | OT_STRING | "none" | (none|left|righ |
>| | | | t|both) |
>+-----------------+-----------------+-----------------+-----------------+
>| strategy | OT_STRING | "none" | Globalization |
>| | | | strategy (none| |
>| | | | linesearch) |
>+-----------------+-----------------+-----------------+-----------------+
>| u_scale | OT_REALVECTOR | | |
>+-----------------+-----------------+-----------------+-----------------+
>| upper_bandwidth | OT_INTEGER | | |
>+-----------------+-----------------+-----------------+-----------------+
>| use_preconditio | OT_BOOLEAN | false | precondition an |
>| ner | | | iterative |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-----------+
>| Id |
>+===========+
>| eval_djac |
>+-----------+
>| eval_f |
>+-----------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>newton
>------
>
>
>
>Implements simple newton iterations to solve an implicit function.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| abstol | OT_REAL | 0.000 | Stopping |
>| | | | criterion |
>| | | | tolerance on |
>| | | | max(|F|) |
>+-----------------+-----------------+-----------------+-----------------+
>| abstolStep | OT_REAL | 0.000 | Stopping |
>| | | | criterion |
>| | | | tolerance on |
>| | | | step size |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 1000 | Maximum number |
>| | | | of Newton |
>| | | | iterations to |
>| | | | perform before |
>| | | | returning. |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+----------+
>| Id |
>+==========+
>| F |
>+----------+
>| J |
>+----------+
>| normF |
>+----------+
>| step |
>+----------+
>| stepsize |
>+----------+
>
>>List of available stats
>
>+---------------+
>| Id |
>+===============+
>| iter |
>+---------------+
>| return_status |
>+---------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>nlp
>---
>
>
>
>Use an NlpSolver as ImplicitFunction solver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| nlp_solver | OT_STRING | GenericType() | The NlpSolver |
>| | | | used to solve |
>| | | | the implicit |
>| | | | system. |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |
>| ons | | | passed to the |
>| | | | NlpSolver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+------------------+
>| Id |
>+==================+
>| nlp_solver_stats |
>+------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: implicit_function.hpp
-}
newtype ImplicitFunction = ImplicitFunction (ForeignPtr ImplicitFunction')
-- typeclass decl
class ImplicitFunctionClass a where
castImplicitFunction :: a -> ImplicitFunction
instance ImplicitFunctionClass ImplicitFunction where
castImplicitFunction = id
-- baseclass instances
instance FunctionClass ImplicitFunction where
castFunction (ImplicitFunction x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass ImplicitFunction where
castOptionsFunctionality (ImplicitFunction x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass ImplicitFunction where
castPrintableObject (ImplicitFunction x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass ImplicitFunction where
castSharedObject (ImplicitFunction x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass ImplicitFunction where
castIOInterfaceFunction (ImplicitFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ImplicitFunction (Ptr ImplicitFunction') where
marshal (ImplicitFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (ImplicitFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__ImplicitFunction"
c_delete_casadi__ImplicitFunction :: FunPtr (Ptr ImplicitFunction' -> IO ())
instance WrapReturn (Ptr ImplicitFunction') ImplicitFunction where
wrapReturn = (fmap ImplicitFunction) . (newForeignPtr c_delete_casadi__ImplicitFunction)
-- raw decl
data Integrator'
-- data decl
{-|
>Base class for integrators.
>
>Integrator abstract base class
>
>Solves an initial value problem (IVP) coupled to a terminal value problem
>with differential equation given as an implicit ODE coupled to an algebraic
>equation and a set of quadratures:
>
>::
>
> Initial conditions at t=t0
> x(t0) = x0
> q(t0) = 0
>
> Forward integration from t=t0 to t=tf
> der(x) = function(x, z, p, t) Forward ODE
> 0 = fz(x, z, p, t) Forward algebraic equations
> der(q) = fq(x, z, p, t) Forward quadratures
>
> Terminal conditions at t=tf
> rx(tf) = rx0
> rq(tf) = 0
>
> Backward integration from t=tf to t=t0
> der(rx) = gx(rx, rz, rp, x, z, p, t) Backward ODE
> 0 = gz(rx, rz, rp, x, z, p, t) Backward algebraic equations
> der(rq) = gq(rx, rz, rp, x, z, p, t) Backward quadratures
>
> where we assume that both the forward and backwards integrations are index-1
> (i.e. dfz/dz, dgz/drz are invertible) and furthermore that
> gx, gz and gq have a linear dependency on rx, rz and rp.
>
>
>
>The Integrator class provides some additional functionality, such as getting
>the value of the state and/or sensitivities at certain time points.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 6) [integratorIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 6) [integratorOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | casadi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | casadi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | casadi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | casadi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | casadi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_Integrator_cvodes'>cvodes</a>
>
>- <a href='#plugin_Integrator_idas'>idas</a>
>
>- <a href='#plugin_Integrator_collocation'>collocation</a>
>
>- <a href='#plugin_Integrator_oldcollocation'>oldcollocation</a>
>
>- <a href='#plugin_Integrator_rk'>rk</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>Integrator.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>cvodes
>------
>
>
>
>Interface to CVodes from the Sundials suite.
>
>A call to evaluate will integrate to the end.
>
>You can retrieve the entire state trajectory as follows, after the evaluate
>call: Call reset. Then call integrate(t_i) and getOuput for a series of
>times t_i.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| abstol | OT_REAL | 0.000 | Absolute |
>| | | | tolerence for |
>| | | | the IVP |
>| | | | solution |
>+-----------------+-----------------+-----------------+-----------------+
>| abstolB | OT_REAL | GenericType() | Absolute |
>| | | | tolerence for |
>| | | | the adjoint |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to abstol] |
>+-----------------+-----------------+-----------------+-----------------+
>| disable_interna | OT_BOOLEAN | false | Disable CVodes |
>| l_warnings | | | internal |
>| | | | warning |
>| | | | messages |
>+-----------------+-----------------+-----------------+-----------------+
>| exact_jacobian | OT_BOOLEAN | true | Use exact |
>| | | | Jacobian |
>| | | | information for |
>| | | | the forward |
>| | | | integration |
>+-----------------+-----------------+-----------------+-----------------+
>| exact_jacobianB | OT_BOOLEAN | GenericType() | Use exact |
>| | | | Jacobian |
>| | | | information for |
>| | | | the backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to |
>| | | | exact_jacobian] |
>+-----------------+-----------------+-----------------+-----------------+
>| finite_differen | OT_BOOLEAN | false | Use finite |
>| ce_fsens | | | differences to |
>| | | | approximate the |
>| | | | forward |
>| | | | sensitivity |
>| | | | equations (if |
>| | | | AD is not |
>| | | | available) |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_abstol | OT_REAL | GenericType() | Absolute |
>| | | | tolerence for |
>| | | | the forward |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to abstol] |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_all_at_on | OT_BOOLEAN | true | Calculate all |
>| ce | | | right hand |
>| | | | sides of the |
>| | | | sensitivity |
>| | | | equations at |
>| | | | once |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_err_con | OT_BOOLEAN | true | include the |
>| | | | forward |
>| | | | sensitivities |
>| | | | in all error |
>| | | | controls |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_reltol | OT_REAL | GenericType() | Relative |
>| | | | tolerence for |
>| | | | the forward |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to reltol] |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_scaling_f | OT_REALVECTOR | GenericType() | Scaling factor |
>| actors | | | for the |
>| | | | components if |
>| | | | finite |
>| | | | differences is |
>| | | | used |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_sensitivi | OT_INTEGERVECTO | GenericType() | Specifies which |
>| y_parameters | R | | components will |
>| | | | be used when |
>| | | | estimating the |
>| | | | sensitivity |
>| | | | equations |
>+-----------------+-----------------+-----------------+-----------------+
>| interpolation_t | OT_STRING | "hermite" | Type of |
>| ype | | | interpolation |
>| | | | for the adjoint |
>| | | | sensitivities ( |
>| | | | hermite|polynom |
>| | | | ial) |
>+-----------------+-----------------+-----------------+-----------------+
>| iterative_solve | OT_STRING | "gmres" | (gmres|bcgstab| |
>| r | | | tfqmr) |
>+-----------------+-----------------+-----------------+-----------------+
>| iterative_solve | OT_STRING | GenericType() | (gmres|bcgstab| |
>| rB | | | tfqmr) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_multiste | OT_STRING | "bdf" | Integrator |
>| p_method | | | scheme |
>| | | | (bdf|adams) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver | OT_STRING | GenericType() | A custom linear |
>| | | | solver creator |
>| | | | function |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solverB | OT_STRING | GenericType() | A custom linear |
>| | | | solver creator |
>| | | | function for |
>| | | | backwards |
>| | | | integration |
>| | | | [default: equal |
>| | | | to |
>| | | | linear_solver] |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |
>| ptions | | | passed to the |
>| | | | linear solver |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |
>| ptionsB | | | passed to the |
>| | | | linear solver |
>| | | | for backwards |
>| | | | integration |
>| | | | [default: equal |
>| | | | to linear_solve |
>| | | | r_options] |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_t | OT_STRING | "dense" | (user_defined|d |
>| ype | | | ense|banded|ite |
>| | | | rative) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_t | OT_STRING | GenericType() | (user_defined|d |
>| ypeB | | | ense|banded|ite |
>| | | | rative) |
>+-----------------+-----------------+-----------------+-----------------+
>| lower_bandwidth | OT_INTEGER | GenericType() | Lower band- |
>| | | | width of banded |
>| | | | Jacobian |
>| | | | (estimations) |
>+-----------------+-----------------+-----------------+-----------------+
>| lower_bandwidth | OT_INTEGER | GenericType() | lower band- |
>| B | | | width of banded |
>| | | | jacobians for |
>| | | | backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to lower_bandwi |
>| | | | dth] |
>+-----------------+-----------------+-----------------+-----------------+
>| max_krylov | OT_INTEGER | 10 | Maximum Krylov |
>| | | | subspace size |
>+-----------------+-----------------+-----------------+-----------------+
>| max_krylovB | OT_INTEGER | GenericType() | Maximum krylov |
>| | | | subspace size |
>+-----------------+-----------------+-----------------+-----------------+
>| max_multistep_o | OT_INTEGER | 5 | |
>| rder | | | |
>+-----------------+-----------------+-----------------+-----------------+
>| max_num_steps | OT_INTEGER | 10000 | Maximum number |
>| | | | of integrator |
>| | | | steps |
>+-----------------+-----------------+-----------------+-----------------+
>| nonlinear_solve | OT_STRING | "newton" | (newton|functio |
>| r_iteration | | | nal) |
>+-----------------+-----------------+-----------------+-----------------+
>| pretype | OT_STRING | "none" | (none|left|righ |
>| | | | t|both) |
>+-----------------+-----------------+-----------------+-----------------+
>| pretypeB | OT_STRING | GenericType() | (none|left|righ |
>| | | | t|both) |
>+-----------------+-----------------+-----------------+-----------------+
>| quad_err_con | OT_BOOLEAN | false | Should the |
>| | | | quadratures |
>| | | | affect the step |
>| | | | size control |
>+-----------------+-----------------+-----------------+-----------------+
>| reltol | OT_REAL | 0.000 | Relative |
>| | | | tolerence for |
>| | | | the IVP |
>| | | | solution |
>+-----------------+-----------------+-----------------+-----------------+
>| reltolB | OT_REAL | GenericType() | Relative |
>| | | | tolerence for |
>| | | | the adjoint |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to reltol] |
>+-----------------+-----------------+-----------------+-----------------+
>| sensitivity_met | OT_STRING | "simultaneous" | (simultaneous|s |
>| hod | | | taggered) |
>+-----------------+-----------------+-----------------+-----------------+
>| steps_per_check | OT_INTEGER | 20 | Number of steps |
>| point | | | between two |
>| | | | consecutive |
>| | | | checkpoints |
>+-----------------+-----------------+-----------------+-----------------+
>| stop_at_end | OT_BOOLEAN | true | Stop the |
>| | | | integrator at |
>| | | | the end of the |
>| | | | interval |
>+-----------------+-----------------+-----------------+-----------------+
>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |
>| | | | width of banded |
>| | | | Jacobian |
>| | | | (estimations) |
>+-----------------+-----------------+-----------------+-----------------+
>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |
>| B | | | width of banded |
>| | | | jacobians for |
>| | | | backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to upper_bandwi |
>| | | | dth] |
>+-----------------+-----------------+-----------------+-----------------+
>| use_preconditio | OT_BOOLEAN | false | Precondition an |
>| ner | | | iterative |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>| use_preconditio | OT_BOOLEAN | GenericType() | Precondition an |
>| nerB | | | iterative |
>| | | | solver for the |
>| | | | backwards |
>| | | | problem |
>| | | | [default: equal |
>| | | | to use_precondi |
>| | | | tioner] |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+---------+
>| Id |
>+=========+
>| djacB |
>+---------+
>| psetupB |
>+---------+
>| res |
>+---------+
>| resB |
>+---------+
>| resQB |
>+---------+
>| reset |
>+---------+
>
>>List of available stats
>
>+-------------+
>| Id |
>+=============+
>| nlinsetups |
>+-------------+
>| nlinsetupsB |
>+-------------+
>| nsteps |
>+-------------+
>| nstepsB |
>+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>idas
>----
>
>
>
>Interface to IDAS from the Sundials suite.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| abstol | OT_REAL | 0.000 | Absolute |
>| | | | tolerence for |
>| | | | the IVP |
>| | | | solution |
>+-----------------+-----------------+-----------------+-----------------+
>| abstolB | OT_REAL | GenericType() | Absolute |
>| | | | tolerence for |
>| | | | the adjoint |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to abstol] |
>+-----------------+-----------------+-----------------+-----------------+
>| abstolv | OT_REALVECTOR | | |
>+-----------------+-----------------+-----------------+-----------------+
>| calc_ic | OT_BOOLEAN | true | Use IDACalcIC |
>| | | | to get |
>| | | | consistent |
>| | | | initial |
>| | | | conditions. |
>+-----------------+-----------------+-----------------+-----------------+
>| calc_icB | OT_BOOLEAN | GenericType() | Use IDACalcIC |
>| | | | to get |
>| | | | consistent |
>| | | | initial |
>| | | | conditions for |
>| | | | backwards |
>| | | | system |
>| | | | [default: equal |
>| | | | to calc_ic]. |
>+-----------------+-----------------+-----------------+-----------------+
>| cj_scaling | OT_BOOLEAN | false | IDAS scaling on |
>| | | | cj for the |
>| | | | user-defined |
>| | | | linear solver |
>| | | | module |
>+-----------------+-----------------+-----------------+-----------------+
>| disable_interna | OT_BOOLEAN | false | Disable IDAS |
>| l_warnings | | | internal |
>| | | | warning |
>| | | | messages |
>+-----------------+-----------------+-----------------+-----------------+
>| exact_jacobian | OT_BOOLEAN | true | Use exact |
>| | | | Jacobian |
>| | | | information for |
>| | | | the forward |
>| | | | integration |
>+-----------------+-----------------+-----------------+-----------------+
>| exact_jacobianB | OT_BOOLEAN | GenericType() | Use exact |
>| | | | Jacobian |
>| | | | information for |
>| | | | the backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to |
>| | | | exact_jacobian] |
>+-----------------+-----------------+-----------------+-----------------+
>| extra_fsens_cal | OT_BOOLEAN | false | Call calc ic an |
>| c_ic | | | extra time, |
>| | | | with fsens=0 |
>+-----------------+-----------------+-----------------+-----------------+
>| finite_differen | OT_BOOLEAN | false | Use finite |
>| ce_fsens | | | differences to |
>| | | | approximate the |
>| | | | forward |
>| | | | sensitivity |
>| | | | equations (if |
>| | | | AD is not |
>| | | | available) |
>+-----------------+-----------------+-----------------+-----------------+
>| first_time | OT_REAL | GenericType() | First requested |
>| | | | time as a |
>| | | | fraction of the |
>| | | | time interval |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_abstol | OT_REAL | GenericType() | Absolute |
>| | | | tolerence for |
>| | | | the forward |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to abstol] |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_abstolv | OT_REALVECTOR | | |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_err_con | OT_BOOLEAN | true | include the |
>| | | | forward |
>| | | | sensitivities |
>| | | | in all error |
>| | | | controls |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_reltol | OT_REAL | GenericType() | Relative |
>| | | | tolerence for |
>| | | | the forward |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to reltol] |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_scaling_f | OT_REALVECTOR | GenericType() | Scaling factor |
>| actors | | | for the |
>| | | | components if |
>| | | | finite |
>| | | | differences is |
>| | | | used |
>+-----------------+-----------------+-----------------+-----------------+
>| fsens_sensitivi | OT_INTEGERVECTO | GenericType() | Specifies which |
>| y_parameters | R | | components will |
>| | | | be used when |
>| | | | estimating the |
>| | | | sensitivity |
>| | | | equations |
>+-----------------+-----------------+-----------------+-----------------+
>| init_xdot | OT_REALVECTOR | GenericType() | Initial values |
>| | | | for the state |
>| | | | derivatives |
>+-----------------+-----------------+-----------------+-----------------+
>| interpolation_t | OT_STRING | "hermite" | Type of |
>| ype | | | interpolation |
>| | | | for the adjoint |
>| | | | sensitivities ( |
>| | | | hermite|polynom |
>| | | | ial) |
>+-----------------+-----------------+-----------------+-----------------+
>| iterative_solve | OT_STRING | "gmres" | (gmres|bcgstab| |
>| r | | | tfqmr) |
>+-----------------+-----------------+-----------------+-----------------+
>| iterative_solve | OT_STRING | GenericType() | (gmres|bcgstab| |
>| rB | | | tfqmr) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver | OT_STRING | GenericType() | A custom linear |
>| | | | solver creator |
>| | | | function |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solverB | OT_STRING | GenericType() | A custom linear |
>| | | | solver creator |
>| | | | function for |
>| | | | backwards |
>| | | | integration |
>| | | | [default: equal |
>| | | | to |
>| | | | linear_solver] |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |
>| ptions | | | passed to the |
>| | | | linear solver |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_o | OT_DICTIONARY | GenericType() | Options to be |
>| ptionsB | | | passed to the |
>| | | | linear solver |
>| | | | for backwards |
>| | | | integration |
>| | | | [default: equal |
>| | | | to linear_solve |
>| | | | r_options] |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_t | OT_STRING | "dense" | (user_defined|d |
>| ype | | | ense|banded|ite |
>| | | | rative) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver_t | OT_STRING | GenericType() | (user_defined|d |
>| ypeB | | | ense|banded|ite |
>| | | | rative) |
>+-----------------+-----------------+-----------------+-----------------+
>| lower_bandwidth | OT_INTEGER | GenericType() | Lower band- |
>| | | | width of banded |
>| | | | Jacobian |
>| | | | (estimations) |
>+-----------------+-----------------+-----------------+-----------------+
>| lower_bandwidth | OT_INTEGER | GenericType() | lower band- |
>| B | | | width of banded |
>| | | | jacobians for |
>| | | | backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to lower_bandwi |
>| | | | dth] |
>+-----------------+-----------------+-----------------+-----------------+
>| max_krylov | OT_INTEGER | 10 | Maximum Krylov |
>| | | | subspace size |
>+-----------------+-----------------+-----------------+-----------------+
>| max_krylovB | OT_INTEGER | GenericType() | Maximum krylov |
>| | | | subspace size |
>+-----------------+-----------------+-----------------+-----------------+
>| max_multistep_o | OT_INTEGER | 5 | |
>| rder | | | |
>+-----------------+-----------------+-----------------+-----------------+
>| max_num_steps | OT_INTEGER | 10000 | Maximum number |
>| | | | of integrator |
>| | | | steps |
>+-----------------+-----------------+-----------------+-----------------+
>| max_step_size | OT_REAL | 0 | Maximim step |
>| | | | size |
>+-----------------+-----------------+-----------------+-----------------+
>| pretype | OT_STRING | "none" | (none|left|righ |
>| | | | t|both) |
>+-----------------+-----------------+-----------------+-----------------+
>| pretypeB | OT_STRING | GenericType() | (none|left|righ |
>| | | | t|both) |
>+-----------------+-----------------+-----------------+-----------------+
>| quad_err_con | OT_BOOLEAN | false | Should the |
>| | | | quadratures |
>| | | | affect the step |
>| | | | size control |
>+-----------------+-----------------+-----------------+-----------------+
>| reltol | OT_REAL | 0.000 | Relative |
>| | | | tolerence for |
>| | | | the IVP |
>| | | | solution |
>+-----------------+-----------------+-----------------+-----------------+
>| reltolB | OT_REAL | GenericType() | Relative |
>| | | | tolerence for |
>| | | | the adjoint |
>| | | | sensitivity |
>| | | | solution |
>| | | | [default: equal |
>| | | | to reltol] |
>+-----------------+-----------------+-----------------+-----------------+
>| sensitivity_met | OT_STRING | "simultaneous" | (simultaneous|s |
>| hod | | | taggered) |
>+-----------------+-----------------+-----------------+-----------------+
>| steps_per_check | OT_INTEGER | 20 | Number of steps |
>| point | | | between two |
>| | | | consecutive |
>| | | | checkpoints |
>+-----------------+-----------------+-----------------+-----------------+
>| stop_at_end | OT_BOOLEAN | true | Stop the |
>| | | | integrator at |
>| | | | the end of the |
>| | | | interval |
>+-----------------+-----------------+-----------------+-----------------+
>| suppress_algebr | OT_BOOLEAN | false | Supress |
>| aic | | | algebraic |
>| | | | variables in |
>| | | | the error |
>| | | | testing |
>+-----------------+-----------------+-----------------+-----------------+
>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |
>| | | | width of banded |
>| | | | Jacobian |
>| | | | (estimations) |
>+-----------------+-----------------+-----------------+-----------------+
>| upper_bandwidth | OT_INTEGER | GenericType() | Upper band- |
>| B | | | width of banded |
>| | | | jacobians for |
>| | | | backward |
>| | | | integration |
>| | | | [default: equal |
>| | | | to upper_bandwi |
>| | | | dth] |
>+-----------------+-----------------+-----------------+-----------------+
>| use_preconditio | OT_BOOLEAN | false | Precondition an |
>| ner | | | iterative |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>| use_preconditio | OT_BOOLEAN | GenericType() | Precondition an |
>| nerB | | | iterative |
>| | | | solver for the |
>| | | | backwards |
>| | | | problem |
>| | | | [default: equal |
>| | | | to use_precondi |
>| | | | tioner] |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+--------------------------+
>| Id |
>+==========================+
>| bjacB |
>+--------------------------+
>| correctInitialConditions |
>+--------------------------+
>| jtimesB |
>+--------------------------+
>| psetup |
>+--------------------------+
>| psetupB |
>+--------------------------+
>| psolveB |
>+--------------------------+
>| res |
>+--------------------------+
>| resB |
>+--------------------------+
>| resS |
>+--------------------------+
>| rhsQB |
>+--------------------------+
>
>>List of available stats
>
>+-------------+
>| Id |
>+=============+
>| nlinsetups |
>+-------------+
>| nlinsetupsB |
>+-------------+
>| nsteps |
>+-------------+
>| nstepsB |
>+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>collocation
>-----------
>
>
>
>Fixed-step implicit Runge-Kutta integrator ODE/DAE integrator based on
>collocation schemes
>
>The method is still under development
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| collocation_sch | OT_STRING | "radau" | Collocation |
>| eme | | | scheme (radau|l |
>| | | | egendre) |
>+-----------------+-----------------+-----------------+-----------------+
>| implicit_solver | OT_STRING | GenericType() | An implicit |
>| | | | function solver |
>+-----------------+-----------------+-----------------+-----------------+
>| implicit_solver | OT_DICTIONARY | GenericType() | Options to be |
>| _options | | | passed to the |
>| | | | NLP Solver |
>+-----------------+-----------------+-----------------+-----------------+
>| interpolation_o | OT_INTEGER | 3 | Order of the |
>| rder | | | interpolating |
>| | | | polynomials |
>+-----------------+-----------------+-----------------+-----------------+
>| number_of_finit | OT_INTEGER | 20 | Number of |
>| e_elements | | | finite elements |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>oldcollocation
>--------------
>
>
>
>Collocation integrator ODE/DAE integrator based on collocation
>
>The method is still under development
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| collocation_sch | OT_STRING | "radau" | Collocation |
>| eme | | | scheme (radau|l |
>| | | | egendre) |
>+-----------------+-----------------+-----------------+-----------------+
>| expand_f | OT_BOOLEAN | false | Expand the |
>| | | | ODE/DAE |
>| | | | residual |
>| | | | function in an |
>| | | | SX graph |
>+-----------------+-----------------+-----------------+-----------------+
>| expand_q | OT_BOOLEAN | false | Expand the |
>| | | | quadrature |
>| | | | function in an |
>| | | | SX graph |
>+-----------------+-----------------+-----------------+-----------------+
>| hotstart | OT_BOOLEAN | true | Initialize the |
>| | | | trajectory at |
>| | | | the previous |
>| | | | solution |
>+-----------------+-----------------+-----------------+-----------------+
>| implicit_solver | OT_STRING | GenericType() | An implicit |
>| | | | function solver |
>+-----------------+-----------------+-----------------+-----------------+
>| implicit_solver | OT_DICTIONARY | GenericType() | Options to be |
>| _options | | | passed to the |
>| | | | implicit solver |
>+-----------------+-----------------+-----------------+-----------------+
>| interpolation_o | OT_INTEGER | 3 | Order of the |
>| rder | | | interpolating |
>| | | | polynomials |
>+-----------------+-----------------+-----------------+-----------------+
>| number_of_finit | OT_INTEGER | 20 | Number of |
>| e_elements | | | finite elements |
>+-----------------+-----------------+-----------------+-----------------+
>| startup_integra | OT_STRING | GenericType() | An ODE/DAE |
>| tor | | | integrator that |
>| | | | can be used to |
>| | | | generate a |
>| | | | startup |
>| | | | trajectory |
>+-----------------+-----------------+-----------------+-----------------+
>| startup_integra | OT_DICTIONARY | GenericType() | Options to be |
>| tor_options | | | passed to the |
>| | | | startup |
>| | | | integrator |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>rk --
>
>
>
>Fixed-step explicit Runge-Kutta integrator for ODEs Currently implements
>RK4.
>
>The method is still under development
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| number_of_finit | OT_INTEGER | 20 | Number of |
>| e_elements | | | finite elements |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: integrator.hpp
-}
newtype Integrator = Integrator (ForeignPtr Integrator')
-- typeclass decl
class IntegratorClass a where
castIntegrator :: a -> Integrator
instance IntegratorClass Integrator where
castIntegrator = id
-- baseclass instances
instance FunctionClass Integrator where
castFunction (Integrator x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass Integrator where
castOptionsFunctionality (Integrator x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass Integrator where
castPrintableObject (Integrator x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Integrator where
castSharedObject (Integrator x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass Integrator where
castIOInterfaceFunction (Integrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Integrator (Ptr Integrator') where
marshal (Integrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (Integrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Integrator"
c_delete_casadi__Integrator :: FunPtr (Ptr Integrator' -> IO ())
instance WrapReturn (Ptr Integrator') Integrator where
wrapReturn = (fmap Integrator) . (newForeignPtr c_delete_casadi__Integrator)
-- raw decl
data LinearSolver'
-- data decl
{-|
>Base class for the linear solver classes.
>
>Solves the linear system A*X = B or A^T*X = B for X with A square and non-
>singular
>
>If A is structurally singular, an error will be thrown during init. If A is
>numerically singular, the prepare step will fail.
>
>The usual procedure to use LinearSolver is: init()
>
>set the first input (A)
>
>prepare()
>
>set the second input (b)
>
>solve()
>
>Repeat steps 4 and 5 to work with other b vectors.
>
>The method evaluate() combines the prepare() and solve() step and is
>therefore more expensive if A is invariant.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::LinsolInput (LINSOL_NUM_IN = 2) [linsolIn]
>
>+-----------+-------+------------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+================================================+
>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |
>+-----------+-------+------------------------------------------------+
>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: casadi::LinsolOutput (LINSOL_NUM_OUT = 1) [linsolOut]
>
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_LinearSolver_csparsecholesky'>csparsecholesky</a>
>
>- <a href='#plugin_LinearSolver_csparse'>csparse</a>
>
>- <a href='#plugin_LinearSolver_lapacklu'>lapacklu</a>
>
>- <a href='#plugin_LinearSolver_lapackqr'>lapackqr</a>
>
>- <a href='#plugin_LinearSolver_symbolicqr'>symbolicqr</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>LinearSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>csparsecholesky
>---------------
>
>
>
>LinearSolver with CSparseCholesky Interface
>
>>List of available options
>
>+----+------+---------+-------------+
>| Id | Type | Default | Description |
>+====+======+=========+=============+
>+----+------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>csparse
>-------
>
>
>
>LinearSolver with CSparse Interface
>
>>List of available options
>
>+----+------+---------+-------------+
>| Id | Type | Default | Description |
>+====+======+=========+=============+
>+----+------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>lapacklu
>--------
>
>
>
>This class solves the linear system A.x=b by making an LU factorization of
>A: A = L.U, with L lower and U upper triangular
>
>>List of available options
>
>+-----------------------------+------------+---------+-------------+
>| Id | Type | Default | Description |
>+=============================+============+=========+=============+
>| allow_equilibration_failure | OT_BOOLEAN | false | |
>+-----------------------------+------------+---------+-------------+
>| equilibration | OT_BOOLEAN | true | |
>+-----------------------------+------------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>lapackqr
>--------
>
>
>
>This class solves the linear system A.x=b by making an QR factorization of
>A: A = Q.R, with Q orthogonal and R upper triangular
>
>>List of available options
>
>+----+------+---------+-------------+
>| Id | Type | Default | Description |
>+====+======+=========+=============+
>+----+------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>symbolicqr
>----------
>
>
>
>LinearSolver based on QR factorization with sparsity pattern based
>reordering without partial pivoting
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| codegen | OT_BOOLEAN | false | C-code |
>| | | | generation |
>+-----------------+-----------------+-----------------+-----------------+
>| compiler | OT_STRING | "gcc -fPIC -O2" | Compiler |
>| | | | command to be |
>| | | | used for |
>| | | | compiling |
>| | | | generated code |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: linear_solver.hpp
-}
newtype LinearSolver = LinearSolver (ForeignPtr LinearSolver')
-- typeclass decl
class LinearSolverClass a where
castLinearSolver :: a -> LinearSolver
instance LinearSolverClass LinearSolver where
castLinearSolver = id
-- baseclass instances
instance FunctionClass LinearSolver where
castFunction (LinearSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass LinearSolver where
castOptionsFunctionality (LinearSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass LinearSolver where
castPrintableObject (LinearSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass LinearSolver where
castSharedObject (LinearSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass LinearSolver where
castIOInterfaceFunction (LinearSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal LinearSolver (Ptr LinearSolver') where
marshal (LinearSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (LinearSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__LinearSolver"
c_delete_casadi__LinearSolver :: FunPtr (Ptr LinearSolver' -> IO ())
instance WrapReturn (Ptr LinearSolver') LinearSolver where
wrapReturn = (fmap LinearSolver) . (newForeignPtr c_delete_casadi__LinearSolver)
-- raw decl
data LpSolver'
-- data decl
{-|
>LpSolver.
>
>Solves the following linear problem:
>
>
>
>::
>
> min c' x
> x
>
> subject to
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with x ( n x 1)
> c ( n x 1 )
> A sparse matrix ( nc x n)
> LBA, UBA dense vector (nc x 1)
> LBX, UBX dense vector (n x 1)
>
> n: number of decision variables (x)
> nc: number of constraints (A)
>
>
>
>General information
>===================
>
>
>
>>Input scheme: casadi::LpSolverInput (LP_SOLVER_NUM_IN = 6) [lpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_C | c | The vector c: dense (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::LpSolverOutput (LP_SOLVER_NUM_OUT = 4) [lpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_LpSolver_qp'>qp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>LpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>qp --
>
>
>
>Solve LPs using a QpSolver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| qp_solver | OT_STRING | GenericType() | The QPSOlver |
>| | | | used to solve |
>| | | | the LPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |
>| ns | | | passed to the |
>| | | | QPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+-----------------+
>| Id |
>+=================+
>| qp_solver_stats |
>+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joris Gillis
>Diagrams
>--------
>
>
>
>C++ includes: lp_solver.hpp
-}
newtype LpSolver = LpSolver (ForeignPtr LpSolver')
-- typeclass decl
class LpSolverClass a where
castLpSolver :: a -> LpSolver
instance LpSolverClass LpSolver where
castLpSolver = id
-- baseclass instances
instance FunctionClass LpSolver where
castFunction (LpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass LpSolver where
castOptionsFunctionality (LpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass LpSolver where
castPrintableObject (LpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass LpSolver where
castSharedObject (LpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass LpSolver where
castIOInterfaceFunction (LpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal LpSolver (Ptr LpSolver') where
marshal (LpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (LpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__LpSolver"
c_delete_casadi__LpSolver :: FunPtr (Ptr LpSolver' -> IO ())
instance WrapReturn (Ptr LpSolver') LpSolver where
wrapReturn = (fmap LpSolver) . (newForeignPtr c_delete_casadi__LpSolver)
-- raw decl
data MX'
-- data decl
{-|
-}
newtype MX = MX (ForeignPtr MX')
-- typeclass decl
class MXClass a where
castMX :: a -> MX
instance MXClass MX where
castMX = id
-- baseclass instances
instance PrintableObjectClass MX where
castPrintableObject (MX x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass MX where
castSharedObject (MX x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal MX (Ptr MX') where
marshal (MX x) = return (unsafeForeignPtrToPtr x)
marshalFree (MX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__MX"
c_delete_casadi__MX :: FunPtr (Ptr MX' -> IO ())
instance WrapReturn (Ptr MX') MX where
wrapReturn = (fmap MX) . (newForeignPtr c_delete_casadi__MX)
-- raw decl
data MXFunction'
-- data decl
{-|
>General function mapping from/to MX.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: mx_function.hpp
-}
newtype MXFunction = MXFunction (ForeignPtr MXFunction')
-- typeclass decl
class MXFunctionClass a where
castMXFunction :: a -> MXFunction
instance MXFunctionClass MXFunction where
castMXFunction = id
-- baseclass instances
instance FunctionClass MXFunction where
castFunction (MXFunction x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass MXFunction where
castOptionsFunctionality (MXFunction x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass MXFunction where
castPrintableObject (MXFunction x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass MXFunction where
castSharedObject (MXFunction x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass MXFunction where
castIOInterfaceFunction (MXFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal MXFunction (Ptr MXFunction') where
marshal (MXFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (MXFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__MXFunction"
c_delete_casadi__MXFunction :: FunPtr (Ptr MXFunction' -> IO ())
instance WrapReturn (Ptr MXFunction') MXFunction where
wrapReturn = (fmap MXFunction) . (newForeignPtr c_delete_casadi__MXFunction)
-- raw decl
data NlpSolver'
-- data decl
{-|
>NlpSolver.
>
>Solves the following parametric nonlinear program (NLP):
>
>::
>
> min F(x, p)
> x
>
> subject to
> LBX <= x <= UBX
> LBG <= G(x, p) <= UBG
> p == P
>
> nx: number of decision variables
> ng: number of constraints
> np: number of parameters
>
>
>
>
>General information
>===================
>
>
>
>>Input scheme: casadi::NlpSolverInput (NLP_SOLVER_NUM_IN = 8) [nlpSolverIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::NlpSolverOutput (NLP_SOLVER_NUM_OUT = 6) [nlpSolverOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| eval_errors_ | OT_BOOLEAN | false | When errors | casadi::NlpS |
>| fatal | | | occur during | olverInterna |
>| | | | evaluation | l |
>| | | | of | |
>| | | | f,g,...,stop | |
>| | | | the | |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | casadi::NlpS |
>| | | | NLP function | olverInterna |
>| | | | in terms of | l |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX->SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| grad_f | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |
>| | | ) | calculating | olverInterna |
>| | | | the gradient | l |
>| | | | of the | |
>| | | | objective | |
>| | | | (column, aut | |
>| | | | ogenerated | |
>| | | | by default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| grad_lag | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |
>| | | ) | calculating | olverInterna |
>| | | | the gradient | l |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hess_lag | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |
>| | | ) | calculating | olverInterna |
>| | | | the Hessian | l |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | casadi::NlpS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | casadi::NlpS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | casadi::NlpS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | casadi::NlpS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_f | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |
>| | | ) | calculating | olverInterna |
>| | | | the jacobian | l |
>| | | | of the | |
>| | | | objective | |
>| | | | (sparse row, | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_g | OT_FUNCTION | GenericType( | Function for | casadi::NlpS |
>| | | ) | calculating | olverInterna |
>| | | | the Jacobian | l |
>| | | | of the | |
>| | | | constraints | |
>| | | | (autogenerat | |
>| | | | ed by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | casadi::NlpS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_NlpSolver_ipopt'>ipopt</a>
>
>- <a href='#plugin_NlpSolver_knitro'>knitro</a>
>
>- <a href='#plugin_NlpSolver_snopt'>snopt</a>
>
>- <a href='#plugin_NlpSolver_worhp'>worhp</a>
>
>- <a href='#plugin_NlpSolver_scpgen'>scpgen</a>
>
>- <a href='#plugin_NlpSolver_sqpmethod'>sqpmethod</a>
>
>- <a href='#plugin_NlpSolver_stabilizedsqp'>stabilizedsqp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>NlpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>ipopt
>-----
>
>
>
>When in warmstart mode, output NLP_SOLVER_LAM_X may be used as input
>
>NOTE: Even when max_iter == 0, it is not guaranteed that
>input(NLP_SOLVER_X0) == output(NLP_SOLVER_X). Indeed if bounds on X or
>constraints are unmet, they will differ.
>
>For a good tutorial on IPOPT,
>seehttp://drops.dagstuhl.de/volltexte/2009/2089/pdf/09061.WaechterAndreas.Paper.2089.pdf
>
>A good resource about the algorithms in IPOPT is: Wachter and L. T. Biegler,
>On the Implementation of an Interior-Point Filter Line-Search Algorithm for
>Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp.
>25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center,
>Yorktown, USA
>
>Caveats: with default options, multipliers for the decision variables are
>wrong for equality constraints. Change the 'fixed_variable_treatment' to
>'make_constraint' or 'relax_bounds' to obtain correct results.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| accept_after_ma | OT_INTEGER | -1 | Accept a trial |
>| x_steps | | | point after |
>| | | | maximal this |
>| | | | number of |
>| | | | steps. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| accept_every_tr | OT_STRING | no | Always accept |
>| ial_step | | | the first trial |
>| | | | step. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_comp | OT_REAL | 0.010 | "Acceptance" |
>| l_inf_tol | | | threshold for |
>| | | | the |
>| | | | complementarity |
>| | | | conditions. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_cons | OT_REAL | 0.010 | "Acceptance" |
>| tr_viol_tol | | | threshold for |
>| | | | the constraint |
>| | | | violation. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_dual | OT_REAL | 1.000e+10 | "Acceptance" |
>| _inf_tol | | | threshold for |
>| | | | the dual |
>| | | | infeasibility. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_iter | OT_INTEGER | 15 | Number of |
>| | | | "acceptable" |
>| | | | iterates before |
>| | | | triggering |
>| | | | termination. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_obj_ | OT_REAL | 1.000e+20 | "Acceptance" |
>| change_tol | | | stopping |
>| | | | criterion based |
>| | | | on objective |
>| | | | function |
>| | | | change. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| acceptable_tol | OT_REAL | 0.000 | "Acceptable" |
>| | | | convergence |
>| | | | tolerance |
>| | | | (relative). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_glo | OT_STRING | obj-constr- | Globalization |
>| balization | | filter | strategy for |
>| | | | the adaptive mu |
>| | | | selection mode. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_kkt | OT_STRING | 2-norm-squared | Norm used for |
>| _norm_type | | | the KKT error |
>| | | | in the adaptive |
>| | | | mu |
>| | | | globalization |
>| | | | strategies. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_kkt | OT_REAL | 1.000 | Sufficient |
>| error_red_fact | | | decrease factor |
>| | | | for "kkt-error" |
>| | | | globalization |
>| | | | strategy. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_kkt | OT_INTEGER | 4 | Maximum number |
>| error_red_iters | | | of iterations |
>| | | | requiring |
>| | | | sufficient |
>| | | | progress. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_mon | OT_REAL | 0.800 | Determines the |
>| otone_init_fact | | | initial value |
>| or | | | of the barrier |
>| | | | parameter when |
>| | | | switching to |
>| | | | the monotone |
>| | | | mode. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_res | OT_STRING | no | Indicates if |
>| tore_previous_i | | | the previous |
>| terate | | | iterate should |
>| | | | be restored if |
>| | | | the monotone |
>| | | | mode is |
>| | | | entered. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| adaptive_mu_saf | OT_REAL | 0 | (see IPOPT |
>| eguard_factor | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| alpha_for_y | OT_STRING | primal | Method to |
>| | | | determine the |
>| | | | step size for |
>| | | | constraint |
>| | | | multipliers. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| alpha_for_y_tol | OT_REAL | 10 | Tolerance for |
>| | | | switching to |
>| | | | full equality |
>| | | | multiplier |
>| | | | steps. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| alpha_min_frac | OT_REAL | 0.050 | Safety factor |
>| | | | for the minimal |
>| | | | step size |
>| | | | (before |
>| | | | switching to |
>| | | | restoration |
>| | | | phase). (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| alpha_red_facto | OT_REAL | 0.500 | Fractional |
>| r | | | reduction of |
>| | | | the trial step |
>| | | | size in the |
>| | | | backtracking |
>| | | | line search. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| barrier_tol_fac | OT_REAL | 10 | Factor for mu |
>| tor | | | in barrier stop |
>| | | | test. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_frac | OT_REAL | 0.010 | Desired minimum |
>| | | | relative |
>| | | | distance from |
>| | | | the initial |
>| | | | point to bound. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_mult_init | OT_STRING | constant | Initialization |
>| _method | | | method for |
>| | | | bound |
>| | | | multipliers |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_mult_init | OT_REAL | 1 | Initial value |
>| _val | | | for the bound |
>| | | | multipliers. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_mult_rese | OT_REAL | 1000 | Threshold for |
>| t_threshold | | | resetting bound |
>| | | | multipliers |
>| | | | after the |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_push | OT_REAL | 0.010 | Desired minimum |
>| | | | absolute |
>| | | | distance from |
>| | | | the initial |
>| | | | point to bound. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| bound_relax_fac | OT_REAL | 0.000 | Factor for |
>| tor | | | initial |
>| | | | relaxation of |
>| | | | the bounds. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| check_derivativ | OT_STRING | no | Indicates |
>| es_for_naninf | | | whether it is |
>| | | | desired to |
>| | | | check for |
>| | | | Nan/Inf in |
>| | | | derivative |
>| | | | matrices (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| chi_cup | OT_REAL | 1.500 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| chi_hat | OT_REAL | 2 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| chi_tilde | OT_REAL | 5 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| compl_inf_tol | OT_REAL | 0.000 | Desired |
>| | | | threshold for |
>| | | | the |
>| | | | complementarity |
>| | | | conditions. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| con_integer_md | OT_DICTIONARY | None | Integer |
>| | | | metadata (a |
>| | | | dictionary with |
>| | | | lists of |
>| | | | integers) about |
>| | | | constraints to |
>| | | | be passed to |
>| | | | IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| con_numeric_md | OT_DICTIONARY | None | Numeric |
>| | | | metadata (a |
>| | | | dictionary with |
>| | | | lists of reals) |
>| | | | about |
>| | | | constraints to |
>| | | | be passed to |
>| | | | IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| con_string_md | OT_DICTIONARY | None | String metadata |
>| | | | (a dictionary |
>| | | | with lists of |
>| | | | strings) about |
>| | | | constraints to |
>| | | | be passed to |
>| | | | IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| constr_mult_ini | OT_REAL | 1000 | Maximum allowed |
>| t_max | | | least-square |
>| | | | guess of |
>| | | | constraint |
>| | | | multipliers. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| constr_mult_res | OT_REAL | 0 | Threshold for |
>| et_threshold | | | resetting |
>| | | | equality and |
>| | | | inequality |
>| | | | multipliers |
>| | | | after |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| constr_viol_tol | OT_REAL | 0.000 | Desired |
>| | | | threshold for |
>| | | | the constraint |
>| | | | violation. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| constraint_viol | OT_STRING | 1-norm | Norm to be used |
>| ation_norm_type | | | for the |
>| | | | constraint |
>| | | | violation in |
>| | | | the line |
>| | | | search. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| corrector_compl | OT_REAL | 1 | Complementarity |
>| _avrg_red_fact | | | tolerance |
>| | | | factor for |
>| | | | accepting |
>| | | | corrector step |
>| | | | (unsupported!). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| corrector_type | OT_STRING | none | The type of |
>| | | | corrector steps |
>| | | | that should be |
>| | | | taken |
>| | | | (unsupported!). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| delta | OT_REAL | 1 | Multiplier for |
>| | | | constraint |
>| | | | violation in |
>| | | | the switching |
>| | | | rule. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| delta_y_max | OT_REAL | 1.000e+12 | a parameter |
>| | | | used to check |
>| | | | if the fast |
>| | | | direction can |
>| | | | be used asthe |
>| | | | line search |
>| | | | direction (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| dependency_dete | OT_STRING | no | Indicates if |
>| ction_with_rhs | | | the right hand |
>| | | | sides of the |
>| | | | constraints |
>| | | | should be |
>| | | | considered |
>| | | | during |
>| | | | dependency |
>| | | | detection (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| dependency_dete | OT_STRING | none | Indicates which |
>| ctor | | | linear solver |
>| | | | should be used |
>| | | | to detect |
>| | | | linearly |
>| | | | dependent |
>| | | | equality |
>| | | | constraints. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| derivative_test | OT_STRING | none | Enable |
>| | | | derivative |
>| | | | checker (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| derivative_test | OT_INTEGER | -2 | Index of first |
>| _first_index | | | quantity to be |
>| | | | checked by |
>| | | | derivative |
>| | | | checker (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| derivative_test | OT_REAL | 0.000 | Size of the |
>| _perturbation | | | finite |
>| | | | difference |
>| | | | perturbation in |
>| | | | derivative |
>| | | | test. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| derivative_test | OT_STRING | no | Indicates |
>| _print_all | | | whether |
>| | | | information for |
>| | | | all estimated |
>| | | | derivatives |
>| | | | should be |
>| | | | printed. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| derivative_test | OT_REAL | 0.000 | Threshold for |
>| _tol | | | indicating |
>| | | | wrong |
>| | | | derivative. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| diverging_itera | OT_REAL | 1.000e+20 | Threshold for |
>| tes_tol | | | maximal value |
>| | | | of primal |
>| | | | iterates. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| dual_inf_tol | OT_REAL | 1 | Desired |
>| | | | threshold for |
>| | | | the dual |
>| | | | infeasibility. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| epsilon_c | OT_REAL | 0.010 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| eta_min | OT_REAL | 10 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| eta_penalty | OT_REAL | 0.000 | Relaxation |
>| | | | factor in the |
>| | | | Armijo |
>| | | | condition for |
>| | | | the penalty |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| eta_phi | OT_REAL | 0.000 | Relaxation |
>| | | | factor in the |
>| | | | Armijo |
>| | | | condition. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| evaluate_orig_o | OT_STRING | yes | Determines if |
>| bj_at_resto_tri | | | the original |
>| al | | | objective |
>| | | | function should |
>| | | | be evaluated at |
>| | | | restoration |
>| | | | phase trial |
>| | | | points. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| expect_infeasib | OT_STRING | no | Enable |
>| le_problem | | | heuristics to |
>| | | | quickly detect |
>| | | | an infeasible |
>| | | | problem. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| expect_infeasib | OT_REAL | 0.001 | Threshold for |
>| le_problem_ctol | | | disabling "expe |
>| | | | ct_infeasible_p |
>| | | | roblem" option. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| expect_infeasib | OT_REAL | 100000000 | Multiplier |
>| le_problem_ytol | | | threshold for |
>| | | | activating "exp |
>| | | | ect_infeasible_ |
>| | | | problem" |
>| | | | option. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| fast_des_fact | OT_REAL | 0.100 | a parameter |
>| | | | used to check |
>| | | | if the fast |
>| | | | direction can |
>| | | | be used asthe |
>| | | | line search |
>| | | | direction (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| fast_step_compu | OT_STRING | no | Indicates if |
>| tation | | | the linear |
>| | | | system should |
>| | | | be solved |
>| | | | quickly. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| file_print_leve | OT_INTEGER | 5 | Verbosity level |
>| l | | | for output |
>| | | | file. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| filter_margin_f | OT_REAL | 0.000 | Factor |
>| act | | | determining |
>| | | | width of margin |
>| | | | for obj-constr- |
>| | | | filter adaptive |
>| | | | globalization |
>| | | | strategy. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| filter_max_marg | OT_REAL | 1 | Maximum width |
>| in | | | of margin in |
>| | | | obj-constr- |
>| | | | filter adaptive |
>| | | | globalization |
>| | | | strategy. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| filter_reset_tr | OT_INTEGER | 5 | Number of |
>| igger | | | iterations that |
>| | | | trigger the |
>| | | | filter reset. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| findiff_perturb | OT_REAL | 0.000 | Size of the |
>| ation | | | finite |
>| | | | difference |
>| | | | perturbation |
>| | | | for derivative |
>| | | | approximation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| first_hessian_p | OT_REAL | 0.000 | Size of first |
>| erturbation | | | x-s |
>| | | | perturbation |
>| | | | tried. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| fixed_mu_oracle | OT_STRING | average_compl | Oracle for the |
>| | | | barrier |
>| | | | parameter when |
>| | | | switching to |
>| | | | fixed mode. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| fixed_variable_ | OT_STRING | make_parameter | Determines how |
>| treatment | | | fixed variables |
>| | | | should be |
>| | | | handled. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma_hat | OT_REAL | 0.040 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma_phi | OT_REAL | 0.000 | Relaxation |
>| | | | factor in the |
>| | | | filter margin |
>| | | | for the barrier |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma_theta | OT_REAL | 0.000 | Relaxation |
>| | | | factor in the |
>| | | | filter margin |
>| | | | for the |
>| | | | constraint |
>| | | | violation. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma_tilde | OT_REAL | 4 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_approxi | OT_STRING | exact | Indicates what |
>| mation | | | Hessian |
>| | | | information is |
>| | | | to be used. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_approxi | OT_STRING | nonlinear- | Indicates in |
>| mation_space | | variables | which subspace |
>| | | | the Hessian |
>| | | | information is |
>| | | | to be |
>| | | | approximated. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_constan | OT_STRING | no | Indicates |
>| t | | | whether the |
>| | | | problem is a |
>| | | | quadratic |
>| | | | problem (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| honor_original_ | OT_STRING | yes | Indicates |
>| bounds | | | whether final |
>| | | | points should |
>| | | | be projected |
>| | | | into original |
>| | | | bounds. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| inf_pr_output | OT_STRING | original | Determines what |
>| | | | value is |
>| | | | printed in the |
>| | | | "inf_pr" output |
>| | | | column. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| jac_c_constant | OT_STRING | no | Indicates |
>| | | | whether all |
>| | | | equality |
>| | | | constraints are |
>| | | | linear (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| jac_d_constant | OT_STRING | no | Indicates |
>| | | | whether all |
>| | | | inequality |
>| | | | constraints are |
>| | | | linear (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| jacobian_approx | OT_STRING | exact | Specifies |
>| imation | | | technique to |
>| | | | compute |
>| | | | constraint |
>| | | | Jacobian (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| jacobian_regula | OT_REAL | 0.250 | Exponent for mu |
>| rization_expone | | | in the |
>| nt | | | regularization |
>| | | | for rank- |
>| | | | deficient |
>| | | | constraint |
>| | | | Jacobians. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| jacobian_regula | OT_REAL | 0.000 | Size of the |
>| rization_value | | | regularization |
>| | | | for rank- |
>| | | | deficient |
>| | | | constraint |
>| | | | Jacobians. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| kappa_d | OT_REAL | 0.000 | Weight for |
>| | | | linear damping |
>| | | | term (to handle |
>| | | | one-sided |
>| | | | bounds). (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| kappa_sigma | OT_REAL | 1.000e+10 | Factor limiting |
>| | | | the deviation |
>| | | | of dual |
>| | | | variables from |
>| | | | primal |
>| | | | estimates. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| kappa_soc | OT_REAL | 0.990 | Factor in the |
>| | | | sufficient |
>| | | | reduction rule |
>| | | | for second |
>| | | | order |
>| | | | correction. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| kappa_x_dis | OT_REAL | 100 | a parameter |
>| | | | used to check |
>| | | | if the fast |
>| | | | direction can |
>| | | | be used asthe |
>| | | | line search |
>| | | | direction (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| kappa_y_dis | OT_REAL | 10000 | a parameter |
>| | | | used to check |
>| | | | if the fast |
>| | | | direction can |
>| | | | be used asthe |
>| | | | line search |
>| | | | direction (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| least_square_in | OT_STRING | no | Least square |
>| it_duals | | | initialization |
>| | | | of all dual |
>| | | | variables (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| least_square_in | OT_STRING | no | Least square |
>| it_primal | | | initialization |
>| | | | of the primal |
>| | | | variables (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_STRING | sherman- | Strategy for |
>| aug_solver | | morrison | solving the |
>| | | | augmented |
>| | | | system for low- |
>| | | | rank Hessian. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_REAL | 1 | Value for B0 in |
>| init_val | | | low-rank |
>| | | | update. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_REAL | 100000000 | Upper bound on |
>| init_val_max | | | value for B0 in |
>| | | | low-rank |
>| | | | update. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_REAL | 0.000 | Lower bound on |
>| init_val_min | | | value for B0 in |
>| | | | low-rank |
>| | | | update. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_STRING | scalar1 | Initialization |
>| initialization | | | strategy for |
>| | | | the limited |
>| | | | memory quasi- |
>| | | | Newton |
>| | | | approximation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_INTEGER | 6 | Maximum size of |
>| max_history | | | the history for |
>| | | | the limited |
>| | | | quasi-Newton |
>| | | | Hessian |
>| | | | approximation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_INTEGER | 2 | Threshold for |
>| max_skipping | | | successive |
>| | | | iterations |
>| | | | where update is |
>| | | | skipped. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_STRING | no | Determines if |
>| special_for_res | | | the quasi- |
>| to | | | Newton updates |
>| | | | should be |
>| | | | special during |
>| | | | the restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| limited_memory_ | OT_STRING | bfgs | Quasi-Newton |
>| update_type | | | update formula |
>| | | | for the limited |
>| | | | memory |
>| | | | approximation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| line_search_met | OT_STRING | filter | Globalization |
>| hod | | | method used in |
>| | | | backtracking |
>| | | | line search |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_scaling_ | OT_STRING | yes | Flag indicating |
>| on_demand | | | that linear |
>| | | | scaling is only |
>| | | | done if it |
>| | | | seems required. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_solver | OT_STRING | mumps | Linear solver |
>| | | | used for step |
>| | | | computations. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| linear_system_s | OT_STRING | none | Method for |
>| caling | | | scaling the |
>| | | | linear system. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_ignore_sin | OT_STRING | no | Enables MA27's |
>| gularity | | | ability to |
>| | | | solve a linear |
>| | | | system even if |
>| | | | the matrix is |
>| | | | singular. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_la_init_fa | OT_REAL | 5 | Real workspace |
>| ctor | | | memory for |
>| | | | MA27. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_liw_init_f | OT_REAL | 5 | Integer |
>| actor | | | workspace |
>| | | | memory for |
>| | | | MA27. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_meminc_fac | OT_REAL | 2 | Increment |
>| tor | | | factor for |
>| | | | workspace size |
>| | | | for MA27. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_pivtol | OT_REAL | 0.000 | Pivot tolerance |
>| | | | for the linear |
>| | | | solver MA27. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_pivtolmax | OT_REAL | 0.000 | Maximum pivot |
>| | | | tolerance for |
>| | | | the linear |
>| | | | solver MA27. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma27_skip_inert | OT_STRING | no | Always pretend |
>| ia_check | | | inertia is |
>| | | | correct. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma28_pivtol | OT_REAL | 0.010 | Pivot tolerance |
>| | | | for linear |
>| | | | solver MA28. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_automatic_ | OT_STRING | no | Controls MA57 |
>| scaling | | | automatic |
>| | | | scaling (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_block_size | OT_INTEGER | 16 | Controls block |
>| | | | size used by |
>| | | | Level 3 BLAS in |
>| | | | MA57BD (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_node_amalg | OT_INTEGER | 16 | Node |
>| amation | | | amalgamation |
>| | | | parameter (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_pivot_orde | OT_INTEGER | 5 | Controls pivot |
>| r | | | order in MA57 |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_pivtol | OT_REAL | 0.000 | Pivot tolerance |
>| | | | for the linear |
>| | | | solver MA57. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_pivtolmax | OT_REAL | 0.000 | Maximum pivot |
>| | | | tolerance for |
>| | | | the linear |
>| | | | solver MA57. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_pre_alloc | OT_REAL | 1.050 | Safety factor |
>| | | | for work space |
>| | | | memory |
>| | | | allocation for |
>| | | | the linear |
>| | | | solver MA57. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma57_small_pivo | OT_INTEGER | 0 | If set to 1, |
>| t_flag | | | then when small |
>| | | | entries defined |
>| | | | by CNTL(2) are |
>| | | | detected they |
>| | | | are removed and |
>| | | | the |
>| | | | corresponding |
>| | | | pivots placed |
>| | | | at the end of |
>| | | | the |
>| | | | factorization. |
>| | | | This can be |
>| | | | particularly |
>| | | | efficient if |
>| | | | the matrix is |
>| | | | highly rank |
>| | | | deficient. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_buffer_lpa | OT_INTEGER | 4096 | Number of |
>| ge | | | scalars per |
>| | | | MA77 buffer |
>| | | | page (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_buffer_npa | OT_INTEGER | 1600 | Number of pages |
>| ge | | | that make up |
>| | | | MA77 buffer |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_file_size | OT_INTEGER | 2097152 | Target size of |
>| | | | each temporary |
>| | | | file for MA77, |
>| | | | scalars per |
>| | | | type (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_maxstore | OT_INTEGER | 0 | Maximum storage |
>| | | | size for MA77 |
>| | | | in-core mode |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_nemin | OT_INTEGER | 8 | Node |
>| | | | Amalgamation |
>| | | | parameter (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_order | OT_STRING | amd | Controls type |
>| | | | of ordering |
>| | | | used by |
>| | | | HSL_MA77 (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_print_leve | OT_INTEGER | -1 | Debug printing |
>| l | | | level for the |
>| | | | linear solver |
>| | | | MA77 (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_small | OT_REAL | 0.000 | Zero Pivot |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_static | OT_REAL | 0 | Static Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_u | OT_REAL | 0.000 | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma77_umax | OT_REAL | 0.000 | Maximum |
>| | | | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_nemin | OT_INTEGER | 32 | Node |
>| | | | Amalgamation |
>| | | | parameter (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_order | OT_STRING | amd | Controls type |
>| | | | of ordering |
>| | | | used by |
>| | | | HSL_MA86 (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_print_leve | OT_INTEGER | -1 | Debug printing |
>| l | | | level for the |
>| | | | linear solver |
>| | | | MA86 (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_scaling | OT_STRING | mc64 | Controls |
>| | | | scaling of |
>| | | | matrix (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_small | OT_REAL | 0.000 | Zero Pivot |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_static | OT_REAL | 0 | Static Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_u | OT_REAL | 0.000 | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma86_umax | OT_REAL | 0.000 | Maximum |
>| | | | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_nemin | OT_INTEGER | 8 | Node |
>| | | | Amalgamation |
>| | | | parameter (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_order | OT_STRING | auto | Controls type |
>| | | | of ordering |
>| | | | used by |
>| | | | HSL_MA97 (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_print_leve | OT_INTEGER | 0 | Debug printing |
>| l | | | level for the |
>| | | | linear solver |
>| | | | MA97 (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_scaling | OT_STRING | dynamic | Specifies |
>| | | | strategy for |
>| | | | scaling in |
>| | | | HSL_MA97 linear |
>| | | | solver (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_scaling1 | OT_STRING | mc64 | First scaling. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_scaling2 | OT_STRING | mc64 | Second scaling. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_scaling3 | OT_STRING | mc64 | Third scaling. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_small | OT_REAL | 0.000 | Zero Pivot |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_solve_blas | OT_STRING | no | Controls if |
>| 3 | | | blas2 or blas3 |
>| | | | routines are |
>| | | | used for solve |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_switch1 | OT_STRING | od_hd_reuse | First switch, |
>| | | | determine when |
>| | | | ma97_scaling1 |
>| | | | is enabled. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_switch2 | OT_STRING | never | Second switch, |
>| | | | determine when |
>| | | | ma97_scaling2 |
>| | | | is enabled. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_switch3 | OT_STRING | never | Third switch, |
>| | | | determine when |
>| | | | ma97_scaling3 |
>| | | | is enabled. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_u | OT_REAL | 0.000 | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| ma97_umax | OT_REAL | 0.000 | Maximum |
>| | | | Pivoting |
>| | | | Threshold (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| magic_steps | OT_STRING | no | Enables magic |
>| | | | steps. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_cpu_time | OT_REAL | 1000000 | Maximum number |
>| | | | of CPU seconds. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_filter_rese | OT_INTEGER | 5 | Maximal allowed |
>| ts | | | number of |
>| | | | filter resets |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_hessian_per | OT_REAL | 1.000e+20 | Maximum value |
>| turbation | | | of |
>| | | | regularization |
>| | | | parameter for |
>| | | | handling |
>| | | | negative |
>| | | | curvature. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 3000 | Maximum number |
>| | | | of iterations. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_refinement_ | OT_INTEGER | 10 | Maximum number |
>| steps | | | of iterative |
>| | | | refinement |
>| | | | steps per |
>| | | | linear system |
>| | | | solve. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_resto_iter | OT_INTEGER | 3000000 | Maximum number |
>| | | | of successive |
>| | | | iterations in |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_soc | OT_INTEGER | 4 | Maximum number |
>| | | | of second order |
>| | | | correction |
>| | | | trial steps at |
>| | | | each iteration. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| max_soft_resto_ | OT_INTEGER | 10 | Maximum number |
>| iters | | | of iterations |
>| | | | performed |
>| | | | successively in |
>| | | | soft |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mehrotra_algori | OT_STRING | no | Indicates if we |
>| thm | | | want to do |
>| | | | Mehrotra's |
>| | | | algorithm. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| min_alpha_prima | OT_REAL | 0.000 | LIFENG WRITES |
>| l | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| min_hessian_per | OT_REAL | 0.000 | Smallest |
>| turbation | | | perturbation of |
>| | | | the Hessian |
>| | | | block. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| min_refinement_ | OT_INTEGER | 1 | Minimum number |
>| steps | | | of iterative |
>| | | | refinement |
>| | | | steps per |
>| | | | linear system |
>| | | | solve. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_allow_fast_m | OT_STRING | yes | Allow skipping |
>| onotone_decreas | | | of barrier |
>| e | | | problem if |
>| | | | barrier test is |
>| | | | already met. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_init | OT_REAL | 0.100 | Initial value |
>| | | | for the barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_linear_decre | OT_REAL | 0.200 | Determines |
>| ase_factor | | | linear decrease |
>| | | | rate of barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_max | OT_REAL | 100000 | Maximum value |
>| | | | for barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_max_fact | OT_REAL | 1000 | Factor for |
>| | | | initialization |
>| | | | of maximum |
>| | | | value for |
>| | | | barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_min | OT_REAL | 0.000 | Minimum value |
>| | | | for barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_oracle | OT_STRING | quality- | Oracle for a |
>| | | function | new barrier |
>| | | | parameter in |
>| | | | the adaptive |
>| | | | strategy. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_strategy | OT_STRING | monotone | Update strategy |
>| | | | for barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_superlinear_ | OT_REAL | 1.500 | Determines |
>| decrease_power | | | superlinear |
>| | | | decrease rate |
>| | | | of barrier |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mu_target | OT_REAL | 0 | Desired value |
>| | | | of complementar |
>| | | | ity. (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mult_diverg_fea | OT_REAL | 0.000 | tolerance for |
>| sibility_tol | | | deciding if the |
>| | | | multipliers are |
>| | | | diverging (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mult_diverg_y_t | OT_REAL | 100000000 | tolerance for |
>| ol | | | deciding if the |
>| | | | multipliers are |
>| | | | diverging (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_dep_tol | OT_REAL | 0 | Pivot threshold |
>| | | | for detection |
>| | | | of linearly |
>| | | | dependent |
>| | | | constraints in |
>| | | | MUMPS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_mem_perce | OT_INTEGER | 1000 | Percentage |
>| nt | | | increase in the |
>| | | | estimated |
>| | | | working space |
>| | | | for MUMPS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_permuting | OT_INTEGER | 7 | Controls |
>| _scaling | | | permuting and |
>| | | | scaling in |
>| | | | MUMPS (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_pivot_ord | OT_INTEGER | 7 | Controls pivot |
>| er | | | order in MUMPS |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_pivtol | OT_REAL | 0.000 | Pivot tolerance |
>| | | | for the linear |
>| | | | solver MUMPS. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_pivtolmax | OT_REAL | 0.100 | Maximum pivot |
>| | | | tolerance for |
>| | | | the linear |
>| | | | solver MUMPS. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| mumps_scaling | OT_INTEGER | 77 | Controls |
>| | | | scaling in |
>| | | | MUMPS (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| neg_curv_test_t | OT_REAL | 0 | Tolerance for |
>| ol | | | heuristic to |
>| | | | ignore wrong |
>| | | | inertia. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| never_use_fact_ | OT_STRING | no | Toggle to |
>| cgpen_direction | | | switch off the |
>| | | | fast Chen- |
>| | | | Goldfarb |
>| | | | direction (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| never_use_piece | OT_STRING | no | Toggle to |
>| wise_penalty_ls | | | switch off the |
>| | | | piecewise |
>| | | | penalty method |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_lower_bound | OT_REAL | -1.000e+19 | any bound less |
>| _inf | | | or equal this |
>| | | | value will be |
>| | | | considered -inf |
>| | | | (i.e. not lower |
>| | | | bounded). (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_scaling_con | OT_REAL | 0 | Target value |
>| str_target_grad | | | for constraint |
>| ient | | | function |
>| | | | gradient size. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_scaling_max | OT_REAL | 100 | Maximum |
>| _gradient | | | gradient after |
>| | | | NLP scaling. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_scaling_met | OT_STRING | gradient-based | Select the |
>| hod | | | technique used |
>| | | | for scaling the |
>| | | | NLP. (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_scaling_min | OT_REAL | 0.000 | Minimum value |
>| _value | | | of gradient- |
>| | | | based scaling |
>| | | | values. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_scaling_obj | OT_REAL | 0 | Target value |
>| _target_gradien | | | for objective |
>| t | | | function |
>| | | | gradient size. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_upper_bound | OT_REAL | 1.000e+19 | any bound |
>| _inf | | | greater or this |
>| | | | value will be |
>| | | | considered +inf |
>| | | | (i.e. not upper |
>| | | | bounded). (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nu_inc | OT_REAL | 0.000 | Increment of |
>| | | | the penalty |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| nu_init | OT_REAL | 0.000 | Initial value |
>| | | | of the penalty |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| num_linear_vari | OT_INTEGER | 0 | Number of |
>| ables | | | linear |
>| | | | variables (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| obj_max_inc | OT_REAL | 5 | Determines the |
>| | | | upper bound on |
>| | | | the acceptable |
>| | | | increase of |
>| | | | barrier |
>| | | | objective |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| obj_scaling_fac | OT_REAL | 1 | Scaling factor |
>| tor | | | for the |
>| | | | objective |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| option_file_nam | OT_STRING | ipopt.opt | File name of |
>| e | | | options file. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| output_file | OT_STRING | | File name of |
>| | | | desired output |
>| | | | file (leave |
>| | | | unset for no |
>| | | | file output). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_co | OT_INTEGER | 5000 | Maximum Size of |
>| arse_size | | | Coarse Grid |
>| | | | Matrix (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_dr | OT_REAL | 0.500 | dropping value |
>| opping_factor | | | for incomplete |
>| | | | factor (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_dr | OT_REAL | 0.100 | dropping value |
>| opping_schur | | | for sparsify |
>| | | | schur |
>| | | | complement |
>| | | | factor (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_in | OT_REAL | 5000000 | (see IPOPT |
>| verse_norm_fact | | | documentation) |
>| or | | | |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_ma | OT_INTEGER | 10 | Maximum Size of |
>| x_levels | | | Grid Levels |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_ma | OT_INTEGER | 10000000 | max fill for |
>| x_row_fill | | | each row (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iter_re | OT_REAL | 0.000 | Relative |
>| lative_tol | | | Residual |
>| | | | Convergence |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_iterati | OT_STRING | no | Switch on |
>| ve | | | iterative |
>| | | | solver in |
>| | | | Pardiso library |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_matchin | OT_STRING | complete+2x2 | Matching |
>| g_strategy | | | strategy to be |
>| | | | used by Pardiso |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_max_dro | OT_INTEGER | 4 | Maximal number |
>| ptol_correction | | | of decreases of |
>| s | | | drop tolerance |
>| | | | during one |
>| | | | solve. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_max_ite | OT_INTEGER | 500 | Maximum number |
>| r | | | of Krylov- |
>| | | | Subspace |
>| | | | Iteration (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_msglvl | OT_INTEGER | 0 | Pardiso message |
>| | | | level (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_out_of_ | OT_INTEGER | 0 | Enables out-of- |
>| core_power | | | core variant of |
>| | | | Pardiso (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_redo_sy | OT_STRING | no | Toggle for |
>| mbolic_fact_onl | | | handling case |
>| y_if_inertia_wr | | | when elements |
>| ong | | | were perturbed |
>| | | | by Pardiso. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_repeate | OT_STRING | no | Interpretation |
>| d_perturbation_ | | | of perturbed |
>| means_singular | | | elements. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pardiso_skip_in | OT_STRING | no | Always pretend |
>| ertia_check | | | inertia is |
>| | | | correct. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pass_nonlinear_ | OT_BOOLEAN | False | n/a |
>| variables | | | |
>+-----------------+-----------------+-----------------+-----------------+
>| pen_des_fact | OT_REAL | 0.200 | a parameter |
>| | | | used in penalty |
>| | | | parameter |
>| | | | computation |
>| | | | (for Chen- |
>| | | | Goldfarb line |
>| | | | search). (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pen_init_fac | OT_REAL | 50 | a parameter |
>| | | | used to choose |
>| | | | initial penalty |
>| | | | parameterswhen |
>| | | | the regularized |
>| | | | Newton method |
>| | | | is used. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| pen_theta_max_f | OT_REAL | 10000 | Determines |
>| act | | | upper bound for |
>| | | | constraint |
>| | | | violation in |
>| | | | the filter. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| penalty_init_ma | OT_REAL | 100000 | Maximal value |
>| x | | | for the intial |
>| | | | penalty |
>| | | | parameter (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| penalty_init_mi | OT_REAL | 1 | Minimal value |
>| n | | | for the intial |
>| | | | penalty |
>| | | | parameter for |
>| | | | line search(for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| penalty_max | OT_REAL | 1.000e+30 | Maximal value |
>| | | | for the penalty |
>| | | | parameter (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| penalty_update_ | OT_REAL | 10 | LIFENG WRITES |
>| compl_tol | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| penalty_update_ | OT_REAL | 0.000 | Threshold for |
>| infeasibility_t | | | infeasibility |
>| ol | | | in penalty |
>| | | | parameter |
>| | | | update test. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| perturb_always_ | OT_STRING | no | Active |
>| cd | | | permanent |
>| | | | perturbation of |
>| | | | constraint |
>| | | | linearization. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| perturb_dec_fac | OT_REAL | 0.333 | Decrease factor |
>| t | | | for x-s |
>| | | | perturbation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| perturb_inc_fac | OT_REAL | 8 | Increase factor |
>| t | | | for x-s |
>| | | | perturbation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| perturb_inc_fac | OT_REAL | 100 | Increase factor |
>| t_first | | | for x-s |
>| | | | perturbation |
>| | | | for very first |
>| | | | perturbation. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| piecewisepenalt | OT_REAL | 0.000 | LIFENG WRITES |
>| y_gamma_infeasi | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| piecewisepenalt | OT_REAL | 0.000 | LIFENG WRITES |
>| y_gamma_obj | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| point_perturbat | OT_REAL | 10 | Maximal |
>| ion_radius | | | perturbation of |
>| | | | an evaluation |
>| | | | point. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_frequency | OT_INTEGER | 1 | Determines at |
>| _iter | | | which iteration |
>| | | | frequency the |
>| | | | summarizing |
>| | | | iteration |
>| | | | output line |
>| | | | should be |
>| | | | printed. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_frequency | OT_REAL | 0 | Determines at |
>| _time | | | which time |
>| | | | frequency the |
>| | | | summarizing |
>| | | | iteration |
>| | | | output line |
>| | | | should be |
>| | | | printed. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_info_stri | OT_STRING | no | Enables |
>| ng | | | printing of |
>| | | | additional info |
>| | | | string at end |
>| | | | of iteration |
>| | | | output. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_level | OT_INTEGER | 5 | Output |
>| | | | verbosity |
>| | | | level. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_options_d | OT_STRING | no | Switch to print |
>| ocumentation | | | all algorithmic |
>| | | | options. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_options_l | OT_STRING | no | Undocumented |
>| atex_mode | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_time | OT_BOOLEAN | True | print |
>| | | | information |
>| | | | about execution |
>| | | | time |
>+-----------------+-----------------+-----------------+-----------------+
>| print_timing_st | OT_STRING | no | Switch to print |
>| atistics | | | timing |
>| | | | statistics. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| print_user_opti | OT_STRING | no | Print all |
>| ons | | | options set by |
>| | | | the user. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_STRING | none | The balancing |
>| n_balancing_ter | | | term included |
>| m | | | in the quality |
>| | | | function for |
>| | | | centrality. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_STRING | none | The penalty |
>| n_centrality | | | term for |
>| | | | centrality that |
>| | | | is included in |
>| | | | quality |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_INTEGER | 8 | Maximum number |
>| n_max_section_s | | | of search steps |
>| teps | | | during direct |
>| | | | search |
>| | | | procedure |
>| | | | determining the |
>| | | | optimal |
>| | | | centering |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_STRING | 2-norm-squared | Norm used for |
>| n_norm_type | | | components of |
>| | | | the quality |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_REAL | 0 | Tolerance for |
>| n_section_qf_to | | | the golden |
>| l | | | section search |
>| | | | procedure |
>| | | | determining the |
>| | | | optimal |
>| | | | centering |
>| | | | parameter (in |
>| | | | the function |
>| | | | value space). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| quality_functio | OT_REAL | 0.010 | Tolerance for |
>| n_section_sigma | | | the section |
>| _tol | | | search |
>| | | | procedure |
>| | | | determining the |
>| | | | optimal |
>| | | | centering |
>| | | | parameter (in |
>| | | | sigma space). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| recalc_y | OT_STRING | no | Tells the |
>| | | | algorithm to |
>| | | | recalculate the |
>| | | | equality and |
>| | | | inequality |
>| | | | multipliers as |
>| | | | least square |
>| | | | estimates. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| recalc_y_feas_t | OT_REAL | 0.000 | Feasibility |
>| ol | | | threshold for |
>| | | | recomputation |
>| | | | of multipliers. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| replace_bounds | OT_STRING | no | Indicates if |
>| | | | all variable |
>| | | | bounds should |
>| | | | be replaced by |
>| | | | inequality |
>| | | | constraints |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| required_infeas | OT_REAL | 0.900 | Required |
>| ibility_reducti | | | reduction of |
>| on | | | infeasibility |
>| | | | before leaving |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| residual_improv | OT_REAL | 1.000 | Minimal |
>| ement_factor | | | required |
>| | | | reduction of |
>| | | | residual test |
>| | | | ratio in |
>| | | | iterative |
>| | | | refinement. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| residual_ratio_ | OT_REAL | 0.000 | Iterative |
>| max | | | refinement |
>| | | | tolerance (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| residual_ratio_ | OT_REAL | 0.000 | Threshold for |
>| singular | | | declaring |
>| | | | linear system |
>| | | | singular after |
>| | | | failed |
>| | | | iterative |
>| | | | refinement. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| resto_failure_f | OT_REAL | 0 | Threshold for |
>| easibility_thre | | | primal |
>| shold | | | infeasibility |
>| | | | to declare |
>| | | | failure of |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| resto_penalty_p | OT_REAL | 1000 | Penalty |
>| arameter | | | parameter in |
>| | | | the restoration |
>| | | | phase objective |
>| | | | function. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| resto_proximity | OT_REAL | 1 | Weighting |
>| _weight | | | factor for the |
>| | | | proximity term |
>| | | | in restoration |
>| | | | phase |
>| | | | objective. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| rho | OT_REAL | 0.100 | Value in |
>| | | | penalty |
>| | | | parameter |
>| | | | update formula. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| s_max | OT_REAL | 100 | Scaling |
>| | | | threshold for |
>| | | | the NLP error. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| s_phi | OT_REAL | 2.300 | Exponent for |
>| | | | linear barrier |
>| | | | function model |
>| | | | in the |
>| | | | switching rule. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| s_theta | OT_REAL | 1.100 | Exponent for |
>| | | | current |
>| | | | constraint |
>| | | | violation in |
>| | | | the switching |
>| | | | rule. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| sb | OT_STRING | no | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| sigma_max | OT_REAL | 100 | Maximum value |
>| | | | of the |
>| | | | centering |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| sigma_min | OT_REAL | 0.000 | Minimum value |
>| | | | of the |
>| | | | centering |
>| | | | parameter. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| skip_corr_if_ne | OT_STRING | yes | Skip the |
>| g_curv | | | corrector step |
>| | | | in negative |
>| | | | curvature |
>| | | | iteration |
>| | | | (unsupported!). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| skip_corr_in_mo | OT_STRING | yes | Skip the |
>| notone_mode | | | corrector step |
>| | | | during monotone |
>| | | | barrier |
>| | | | parameter mode |
>| | | | (unsupported!). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| skip_finalize_s | OT_STRING | no | Indicates if |
>| olution_call | | | call to NLP::Fi |
>| | | | nalizeSolution |
>| | | | after |
>| | | | optimization |
>| | | | should be |
>| | | | suppressed (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| slack_bound_fra | OT_REAL | 0.010 | Desired minimum |
>| c | | | relative |
>| | | | distance from |
>| | | | the initial |
>| | | | slack to bound. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| slack_bound_pus | OT_REAL | 0.010 | Desired minimum |
>| h | | | absolute |
>| | | | distance from |
>| | | | the initial |
>| | | | slack to bound. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| slack_move | OT_REAL | 0.000 | Correction size |
>| | | | for very small |
>| | | | slacks. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| soft_resto_pder | OT_REAL | 1.000 | Required |
>| ror_reduction_f | | | reduction in |
>| actor | | | primal-dual |
>| | | | error in the |
>| | | | soft |
>| | | | restoration |
>| | | | phase. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| start_with_rest | OT_STRING | no | Tells algorithm |
>| o | | | to switch to |
>| | | | restoration |
>| | | | phase in first |
>| | | | iteration. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| suppress_all_ou | OT_STRING | no | Undocumented |
>| tput | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| tau_min | OT_REAL | 0.990 | Lower bound on |
>| | | | fraction-to- |
>| | | | the-boundary |
>| | | | parameter tau. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| theta_max_fact | OT_REAL | 10000 | Determines |
>| | | | upper bound for |
>| | | | constraint |
>| | | | violation in |
>| | | | the filter. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| theta_min | OT_REAL | 0.000 | LIFENG WRITES |
>| | | | THIS. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| theta_min_fact | OT_REAL | 0.000 | Determines |
>| | | | constraint |
>| | | | violation |
>| | | | threshold in |
>| | | | the switching |
>| | | | rule. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| tiny_step_tol | OT_REAL | 0.000 | Tolerance for |
>| | | | detecting |
>| | | | numerically |
>| | | | insignificant |
>| | | | steps. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| tiny_step_y_tol | OT_REAL | 0.010 | Tolerance for |
>| | | | quitting |
>| | | | because of |
>| | | | numerically |
>| | | | insignificant |
>| | | | steps. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| tol | OT_REAL | 0.000 | Desired |
>| | | | convergence |
>| | | | tolerance |
>| | | | (relative). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| var_integer_md | OT_DICTIONARY | None | Integer |
>| | | | metadata (a |
>| | | | dictionary with |
>| | | | lists of |
>| | | | integers) about |
>| | | | variables to be |
>| | | | passed to IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| var_numeric_md | OT_DICTIONARY | None | Numeric |
>| | | | metadata (a |
>| | | | dictionary with |
>| | | | lists of reals) |
>| | | | about variables |
>| | | | to be passed to |
>| | | | IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| var_string_md | OT_DICTIONARY | None | String metadata |
>| | | | (a dictionary |
>| | | | with lists of |
>| | | | strings) about |
>| | | | variables to be |
>| | | | passed to IPOPT |
>+-----------------+-----------------+-----------------+-----------------+
>| vartheta | OT_REAL | 0.500 | a parameter |
>| | | | used to check |
>| | | | if the fast |
>| | | | direction can |
>| | | | be used asthe |
>| | | | line search |
>| | | | direction (for |
>| | | | Chen-Goldfarb |
>| | | | line search). |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_boun | OT_REAL | 0.001 | same as |
>| d_frac | | | bound_frac for |
>| | | | the regular |
>| | | | initializer. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_boun | OT_REAL | 0.001 | same as |
>| d_push | | | bound_push for |
>| | | | the regular |
>| | | | initializer. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_enti | OT_STRING | no | Tells algorithm |
>| re_iterate | | | whether to use |
>| | | | the GetWarmStar |
>| | | | tIterate method |
>| | | | in the NLP. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_init | OT_STRING | no | Warm-start for |
>| _point | | | initial point |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_mult | OT_REAL | 0.001 | same as |
>| _bound_push | | | mult_bound_push |
>| | | | for the regular |
>| | | | initializer. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_mult | OT_REAL | 1000000 | Maximum initial |
>| _init_max | | | value for the |
>| | | | equality |
>| | | | multipliers. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_same | OT_STRING | no | Indicates |
>| _structure | | | whether a |
>| | | | problem with a |
>| | | | structure |
>| | | | identical to |
>| | | | the previous |
>| | | | one is to be |
>| | | | solved. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_slac | OT_REAL | 0.001 | same as slack_b |
>| k_bound_frac | | | ound_frac for |
>| | | | the regular |
>| | | | initializer. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_slac | OT_REAL | 0.001 | same as slack_b |
>| k_bound_push | | | ound_push for |
>| | | | the regular |
>| | | | initializer. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start_targ | OT_REAL | 0 | Unsupported! |
>| et_mu | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| watchdog_shorte | OT_INTEGER | 10 | Number of |
>| ned_iter_trigge | | | shortened |
>| r | | | iterations that |
>| | | | trigger the |
>| | | | watchdog. (see |
>| | | | IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| watchdog_trial_ | OT_INTEGER | 3 | Maximum number |
>| iter_max | | | of watchdog |
>| | | | iterations. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>| wsmp_iterative | OT_STRING | no | Switches to |
>| | | | iterative |
>| | | | solver in WSMP. |
>| | | | (see IPOPT |
>| | | | documentation) |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>
>>List of available stats
>
>+--------------------+
>| Id |
>+====================+
>| con_integer_md |
>+--------------------+
>| con_numeric_md |
>+--------------------+
>| con_string_md |
>+--------------------+
>| iter_count |
>+--------------------+
>| iteration |
>+--------------------+
>| iterations |
>+--------------------+
>| n_eval_f |
>+--------------------+
>| n_eval_g |
>+--------------------+
>| n_eval_grad_f |
>+--------------------+
>| n_eval_h |
>+--------------------+
>| n_eval_jac_g |
>+--------------------+
>| return_status |
>+--------------------+
>| t_callback_fun |
>+--------------------+
>| t_callback_prepare |
>+--------------------+
>| t_eval_f |
>+--------------------+
>| t_eval_g |
>+--------------------+
>| t_eval_grad_f |
>+--------------------+
>| t_eval_h |
>+--------------------+
>| t_eval_jac_g |
>+--------------------+
>| t_mainloop |
>+--------------------+
>| var_integer_md |
>+--------------------+
>| var_numeric_md |
>+--------------------+
>| var_string_md |
>+--------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>knitro
>------
>
>
>
>KNITRO interface
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| BarRule | OT_INTEGER | 0 | Barrier Rule |
>+-----------------+-----------------+-----------------+-----------------+
>| Debug | OT_INTEGER | 0 | Debug level |
>+-----------------+-----------------+-----------------+-----------------+
>| Delta | OT_REAL | 1 | Initial region |
>| | | | scaling factor |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasModeTol | OT_REAL | 0.000 | Feasible mode |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasTol | OT_REAL | 0.000 | Feasible |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasTolAbs | OT_REAL | 1 | Absolute |
>| | | | feasible |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| Feasible | OT_BOOLEAN | 0 | Allow |
>| | | | infeasible |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| GradOpt | OT_INTEGER | 1 | Gradient |
>| | | | calculation |
>| | | | method |
>+-----------------+-----------------+-----------------+-----------------+
>| HessOpt | OT_INTEGER | 1 | Hessian |
>| | | | calculation |
>| | | | method |
>+-----------------+-----------------+-----------------+-----------------+
>| HonorBnds | OT_BOOLEAN | 0 | Enforce bounds |
>+-----------------+-----------------+-----------------+-----------------+
>| InitPt | OT_BOOLEAN | 0 | Use initial |
>| | | | point strategy |
>+-----------------+-----------------+-----------------+-----------------+
>| LmSize | OT_INTEGER | 10 | Memory pairsize |
>| | | | limit |
>+-----------------+-----------------+-----------------+-----------------+
>| LpSolver | OT_BOOLEAN | 0 | Use LpSolver |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxCgIt | OT_INTEGER | 0 | Maximum |
>| | | | conjugate |
>| | | | gradient |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxIt | OT_INTEGER | 10000 | Iteration limit |
>+-----------------+-----------------+-----------------+-----------------+
>| Mu | OT_REAL | 0.100 | Initial barrier |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| Multistart | OT_BOOLEAN | 0 | Use multistart |
>+-----------------+-----------------+-----------------+-----------------+
>| NewPoint | OT_BOOLEAN | 0 | Select new- |
>| | | | point feature |
>+-----------------+-----------------+-----------------+-----------------+
>| ObjRange | OT_REAL | 0.000 | Maximum |
>| | | | objective value |
>+-----------------+-----------------+-----------------+-----------------+
>| OptTol | OT_REAL | 0.000 | Relative |
>| | | | optimality |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| OptTolAbs | OT_REAL | 0 | Absolute |
>| | | | optimality |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| OutLev | OT_INTEGER | 2 | Log output |
>| | | | level |
>+-----------------+-----------------+-----------------+-----------------+
>| Pivot | OT_REAL | 0.000 | Initial pivot |
>| | | | threshold |
>+-----------------+-----------------+-----------------+-----------------+
>| Scale | OT_BOOLEAN | 1 | Perform scaling |
>+-----------------+-----------------+-----------------+-----------------+
>| ShiftInit | OT_BOOLEAN | 1 | Interior-point |
>| | | | shifting |
>| | | | initial point |
>+-----------------+-----------------+-----------------+-----------------+
>| Soc | OT_INTEGER | 1 | Second order |
>| | | | correction |
>+-----------------+-----------------+-----------------+-----------------+
>| XTol | OT_REAL | 0.000 | Relative |
>| | | | solution change |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| contype | OT_INTEGERVECTO | | |
>| | R | | |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>snopt
>-----
>
>
>
>SNOPT interface
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| _feasibility_to | OT_REAL | None | Feasibility |
>| lerance | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| _iprint | OT_INTEGER | 0 | n/a |
>+-----------------+-----------------+-----------------+-----------------+
>| _isumm | OT_INTEGER | 6 | n/a |
>+-----------------+-----------------+-----------------+-----------------+
>| _major_iteratio | OT_INTEGER | None | Major iteration |
>| n_limit | | | limit |
>+-----------------+-----------------+-----------------+-----------------+
>| _minor_iteratio | OT_INTEGER | None | Minor iteration |
>| n_limit | | | limit |
>+-----------------+-----------------+-----------------+-----------------+
>| _optimality_tol | OT_REAL | None | Optimality |
>| erance | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| _scale_option | OT_INTEGER | None | Scale option |
>+-----------------+-----------------+-----------------+-----------------+
>| _start | OT_STRING | Cold | |
>+-----------------+-----------------+-----------------+-----------------+
>| _verify_level | OT_INTEGER | None | Verify level |
>+-----------------+-----------------+-----------------+-----------------+
>| detect_linear | OT_BOOLEAN | True | Make an effort |
>| | | | to treat linear |
>| | | | constraints and |
>| | | | linear |
>| | | | variables |
>| | | | specially. |
>+-----------------+-----------------+-----------------+-----------------+
>| print_time | OT_BOOLEAN | True | print |
>| | | | information |
>| | | | about execution |
>| | | | time |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-----------+
>| Id |
>+===========+
>| eval_nlp |
>+-----------+
>| setup_nlp |
>+-----------+
>
>>List of available stats
>
>+----------------+
>| Id |
>+================+
>| iter_count |
>+----------------+
>| iterations |
>+----------------+
>| n_callback_fun |
>+----------------+
>| n_eval_grad_f |
>+----------------+
>| n_eval_jac_g |
>+----------------+
>| return_status |
>+----------------+
>| t_callback_fun |
>+----------------+
>| t_eval_grad_f |
>+----------------+
>| t_eval_jac_g |
>+----------------+
>| t_mainloop |
>+----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>worhp
>-----
>
>
>
>WORHP interface
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| AcceptTolFeas | OT_REAL | 0.001 | Tolerance for |
>| | | | acceptable |
>| | | | feasibility |
>+-----------------+-----------------+-----------------+-----------------+
>| AcceptTolOpti | OT_REAL | 0.001 | Tolerance for |
>| | | | acceptable |
>| | | | optimality |
>+-----------------+-----------------+-----------------+-----------------+
>| AlphaMinConst | OT_BOOLEAN | False | Use a constant |
>| | | | lower bound on |
>| | | | Armijo stepsize |
>| | | | in Filter |
>+-----------------+-----------------+-----------------+-----------------+
>| Ares | OT_INTEGERVECTO | [42, 41, 42, | Armijo recovery |
>| | R | 43, 44, 41, 50] | strategies. |
>| | | | Vector of size |
>| | | | 7 |
>+-----------------+-----------------+-----------------+-----------------+
>| ArmijoBeta | OT_REAL | 0.712 | Trial stepsize |
>| | | | decrease factor |
>| | | | for Armijo rule |
>+-----------------+-----------------+-----------------+-----------------+
>| ArmijoMaxAlpha | OT_REAL | 1 | Initial alpha |
>| | | | for Armijo rule |
>+-----------------+-----------------+-----------------+-----------------+
>| ArmijoMinAlpha | OT_REAL | 0.000 | Lower bound on |
>| | | | alpha for |
>| | | | Armijo rule |
>+-----------------+-----------------+-----------------+-----------------+
>| ArmijoMinAlphaR | OT_REAL | 0.000 | Lower bound on |
>| ec | | | alpha for |
>| | | | Armijo rule |
>| | | | during recovery |
>+-----------------+-----------------+-----------------+-----------------+
>| ArmijoSigma | OT_REAL | 0.005 | Scale factor |
>| | | | for linearised |
>| | | | descent check |
>| | | | in Armijo rule |
>+-----------------+-----------------+-----------------+-----------------+
>| AutoQPRecovery | OT_BOOLEAN | True | Enable |
>| | | | automatic QP |
>| | | | recovery |
>+-----------------+-----------------+-----------------+-----------------+
>| BFGSmaxblockSiz | OT_INTEGER | 300 | Block size |
>| e | | | parameter used |
>| | | | by certain BFGS |
>| | | | methods |
>+-----------------+-----------------+-----------------+-----------------+
>| BFGSmethod | OT_INTEGER | 0 | Choose BFGS |
>| | | | method (0: |
>| | | | dense, 1-3: |
>| | | | block, 100+: |
>| | | | sparse) |
>+-----------------+-----------------+-----------------+-----------------+
>| BFGSminblockSiz | OT_INTEGER | 300 | Block size |
>| e | | | parameter used |
>| | | | by certain BFGS |
>| | | | methods |
>+-----------------+-----------------+-----------------+-----------------+
>| BFGSrestart | OT_INTEGER | 50 | Restart BFGS |
>| | | | update after |
>| | | | this many |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| BettsFactor | OT_REAL | 2.100 | Update factor |
>| | | | for Betts' |
>| | | | Hessian |
>| | | | regularisation |
>+-----------------+-----------------+-----------------+-----------------+
>| BettsPoint | OT_REAL | 1 | Smallest |
>| | | | eigenvalue of |
>| | | | the regularised |
>| | | | Hessian |
>+-----------------+-----------------+-----------------+-----------------+
>| BoundTolFac | OT_REAL | 1000 | Factor in |
>| | | | determining |
>| | | | active |
>| | | | constraints by |
>| | | | KKT |
>+-----------------+-----------------+-----------------+-----------------+
>| CheckFJ | OT_REAL | 1.000e+12 | Upper bound |
>| | | | used by Fritz- |
>| | | | John heuristic |
>+-----------------+-----------------+-----------------+-----------------+
>| CheckStructureD | OT_BOOLEAN | True | Enable |
>| F | | | structural |
>| | | | checking of DF |
>+-----------------+-----------------+-----------------+-----------------+
>| CheckStructureD | OT_BOOLEAN | True | Enable |
>| G | | | structural |
>| | | | checking of DG |
>+-----------------+-----------------+-----------------+-----------------+
>| CheckStructureH | OT_BOOLEAN | True | Enable |
>| M | | | structural |
>| | | | checking of HM |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepBettsSum | OT_REAL | 0.500 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepConStop | OT_REAL | 0.000 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepConvio | OT_REAL | 1 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepMaxIter | OT_INTEGER | 50 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepMethod | OT_INTEGER | 0 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepMode | OT_INTEGER | 1 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepPFactor | OT_REAL | 1 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepPMax | OT_REAL | 1000000 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| CorStepRecovery | OT_BOOLEAN | False | (experimental) |
>| DX | | | |
>+-----------------+-----------------+-----------------+-----------------+
>| CurvBCond | OT_REAL | 0.020 | Block BFGS |
>| | | | curvature |
>| | | | condition bound |
>+-----------------+-----------------+-----------------+-----------------+
>| CurvBFac | OT_REAL | 0.300 | Block BFGS |
>| | | | curvature |
>| | | | condition |
>| | | | regularisation |
>| | | | factor |
>+-----------------+-----------------+-----------------+-----------------+
>| CurvCond | OT_REAL | 0.020 | BFGS Curvature |
>| | | | condition bound |
>+-----------------+-----------------+-----------------+-----------------+
>| CurvFac | OT_REAL | 0.300 | BFGS curvature |
>| | | | condition |
>| | | | regularisation |
>| | | | factor |
>+-----------------+-----------------+-----------------+-----------------+
>| DebugMarker05 | OT_INTEGER | 42 | Debug marker. |
>| | | | Used to find |
>| | | | memory alignmen |
>| | | | t/padding |
>| | | | issues |
>+-----------------+-----------------+-----------------+-----------------+
>| DebugMarker06 | OT_INTEGER | 42 | Debug marker. |
>| | | | Used to find |
>| | | | memory alignmen |
>| | | | t/padding |
>| | | | issues |
>+-----------------+-----------------+-----------------+-----------------+
>| FGtogether | OT_BOOLEAN | False | F and G cannot |
>| | | | be evaluated |
>| | | | separately |
>+-----------------+-----------------+-----------------+-----------------+
>| FJandND | OT_BOOLEAN | False | Enable Fritz- |
>| | | | John and non- |
>| | | | differentiable |
>| | | | check |
>| | | | heuristics |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasibleDual | OT_BOOLEAN | False | Activate dual |
>| | | | feasibility |
>| | | | mode |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasibleInit | OT_BOOLEAN | False | Activate |
>| | | | initial |
>| | | | feasibility |
>| | | | mode |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasibleInitTol | OT_REAL | 0.001 | Feasibility |
>| | | | tolerance for |
>| | | | no-objective |
>| | | | feasible mode |
>+-----------------+-----------------+-----------------+-----------------+
>| FeasibleOnly | OT_BOOLEAN | False | Activate |
>| | | | feasible-only |
>| | | | mode |
>+-----------------+-----------------+-----------------+-----------------+
>| FidifEps | OT_REAL | 0.000 | Finite |
>| | | | difference |
>| | | | perturbation |
>+-----------------+-----------------+-----------------+-----------------+
>| FidifHM | OT_BOOLEAN | False | Approximate |
>| | | | Hessian by |
>| | | | finite |
>| | | | differences |
>| | | | (otherwise |
>| | | | BFGS) |
>+-----------------+-----------------+-----------------+-----------------+
>| FilterBisecAlph | OT_BOOLEAN | True | Filter |
>| a | | | heuristic to |
>| | | | save Armijo |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| FilterGammaCV | OT_REAL | 0.000 | Constraint |
>| | | | violation |
>| | | | decrease factor |
>| | | | in Filter |
>| | | | acceptance |
>| | | | check |
>+-----------------+-----------------+-----------------+-----------------+
>| FilterGammaF | OT_REAL | 0.000 | Objective |
>| | | | decrease factor |
>| | | | in Filter |
>| | | | acceptance |
>| | | | check |
>+-----------------+-----------------+-----------------+-----------------+
>| FilterIntersecA | OT_BOOLEAN | True | Filter |
>| lpha | | | heuristic to |
>| | | | save Armijo |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| FirstDifCentral | OT_BOOLEAN | True | Use central |
>| | | | finite |
>| | | | difference |
>| | | | quotient for |
>| | | | first |
>| | | | derivatives |
>+-----------------+-----------------+-----------------+-----------------+
>| FocusOnFeas | OT_BOOLEAN | True | Enable Focus- |
>| | | | on-Feasibility |
>| | | | mode |
>+-----------------+-----------------+-----------------+-----------------+
>| FocusOnFeasFact | OT_REAL | 1.360 | Factor in |
>| or | | | Focus-on- |
>| | | | Feasibility |
>| | | | mode |
>+-----------------+-----------------+-----------------+-----------------+
>| GammaAlpha | OT_REAL | 0.050 | Safety factor |
>| | | | for alphamin |
>| | | | calculation by |
>| | | | Filter |
>+-----------------+-----------------+-----------------+-----------------+
>| GroupMethod | OT_INTEGER | 1 | Select method |
>| | | | to determine |
>| | | | graph colouring |
>| | | | groups |
>+-----------------+-----------------+-----------------+-----------------+
>| IgnoreFilterCri | OT_BOOLEAN | False | Activate |
>| t | | | accelerating |
>| | | | heuristics for |
>| | | | Filter |
>+-----------------+-----------------+-----------------+-----------------+
>| IncBettsTau | OT_REAL | 2 | Increase factor |
>| | | | for Betts' |
>| | | | update |
>| | | | dampening term |
>+-----------------+-----------------+-----------------+-----------------+
>| IncBettsTauMore | OT_REAL | 100 | Larger increase |
>| | | | factor for |
>| | | | Betts' update |
>| | | | dampening term |
>+-----------------+-----------------+-----------------+-----------------+
>| IncreaseIWS | OT_REAL | 1 | Increase factor |
>| | | | for estimated |
>| | | | integer |
>| | | | workspace |
>| | | | requirement |
>+-----------------+-----------------+-----------------+-----------------+
>| IncreaseRWS | OT_REAL | 1 | Increase factor |
>| | | | for estimated |
>| | | | real workspace |
>| | | | requirement |
>+-----------------+-----------------+-----------------+-----------------+
>| Infty | OT_REAL | 1.000e+20 | Upper bound for |
>| | | | numbers to be |
>| | | | regarded as |
>| | | | finite |
>+-----------------+-----------------+-----------------+-----------------+
>| InftyUnbounded | OT_REAL | 1.000e+20 | Tolerance for |
>| | | | unboundedness |
>| | | | detection |
>| | | | heuristic |
>+-----------------+-----------------+-----------------+-----------------+
>| InitialLMest | OT_BOOLEAN | True | Enable initial |
>| | | | Lagrange |
>| | | | multiplier |
>| | | | estimate |
>+-----------------+-----------------+-----------------+-----------------+
>| KeepAcceptableS | OT_BOOLEAN | True | Save acceptable |
>| ol | | | solutions as |
>| | | | fallback |
>+-----------------+-----------------+-----------------+-----------------+
>| LMestQPipComTol | OT_REAL | 0.003 | IP |
>| | | | complementarity |
>| | | | tolerance in |
>| | | | initial |
>| | | | multiplier |
>| | | | estimate |
>+-----------------+-----------------+-----------------+-----------------+
>| LMestQPipResTol | OT_REAL | 1 | IP residual |
>| | | | tolerance in |
>| | | | initial |
>| | | | multiplier |
>| | | | estimate |
>+-----------------+-----------------+-----------------+-----------------+
>| LinMult | OT_BOOLEAN | False | Control |
>| | | | Lagrange |
>| | | | multiplier |
>| | | | update |
>+-----------------+-----------------+-----------------+-----------------+
>| LogLevel | OT_INTEGER | 0 | Enable XML |
>| | | | logfiles and |
>| | | | writing |
>| | | | interval |
>+-----------------+-----------------+-----------------+-----------------+
>| LogResult | OT_INTEGER | 0 | Enable XML |
>| | | | result logging |
>| | | | and detail |
>| | | | level |
>+-----------------+-----------------+-----------------+-----------------+
>| LowPassAlphaF | OT_REAL | 0.950 | Lowpass-filter |
>| | | | update factor |
>| | | | for objective |
>| | | | values |
>+-----------------+-----------------+-----------------+-----------------+
>| LowPassAlphaG | OT_REAL | 0.950 | Lowpass-filter |
>| | | | update factor |
>| | | | for constraint |
>| | | | values |
>+-----------------+-----------------+-----------------+-----------------+
>| LowPassAlphaMer | OT_REAL | 0.100 | Lowpass-filter |
>| it | | | update factor |
>| | | | for merit |
>| | | | function values |
>+-----------------+-----------------+-----------------+-----------------+
>| LowPassFilter | OT_BOOLEAN | True | Enable lowpass- |
>| | | | filter |
>| | | | termination |
>| | | | criterion |
>+-----------------+-----------------+-----------------+-----------------+
>| MAPivotThreshol | OT_REAL | 0.000 | Pivoting |
>| d | | | tolerance for |
>| | | | MA solvers |
>+-----------------+-----------------+-----------------+-----------------+
>| MatrixCC | OT_BOOLEAN | False | Not to be |
>| | | | included into a |
>| | | | parameter file! |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxCalls | OT_INTEGER | 2.147e+09 | Upper bound to |
>| | | | Reverse |
>| | | | Communication |
>| | | | calls |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxForce | OT_INTEGER | 1000 | Maximum number |
>| | | | of Force |
>| | | | recovery |
>| | | | strategy steps |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxGPart | OT_INTEGER | 1 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxIter | OT_INTEGER | 500 | Upper bound on |
>| | | | major |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxLScounter | OT_INTEGER | 3 | Control |
>| | | | activation of |
>| | | | Filter |
>| | | | acceleration |
>| | | | heuristics |
>+-----------------+-----------------+-----------------+-----------------+
>| MaxNorm | OT_BOOLEAN | True | Select max-norm |
>| | | | instead of |
>| | | | 1-norm in |
>| | | | Filter |
>+-----------------+-----------------+-----------------+-----------------+
>| MeritFunction | OT_INTEGER | 4 | Select merit |
>| | | | function and |
>| | | | penalty update |
>| | | | [0, 3..5] |
>+-----------------+-----------------+-----------------+-----------------+
>| MeritGradTol | OT_REAL | 0.000 | Threshold of |
>| | | | meritfunction |
>| | | | gradient for |
>| | | | increasing |
>| | | | Hessian |
>| | | | regularisation |
>+-----------------+-----------------+-----------------+-----------------+
>| MinBettsTau | OT_REAL | 0.000 | Lower bound for |
>| | | | Betts' update |
>| | | | dampening term |
>+-----------------+-----------------+-----------------+-----------------+
>| MoreRelax | OT_BOOLEAN | False | Introduce one |
>| | | | relaxation |
>| | | | variable for |
>| | | | every |
>| | | | constraint |
>+-----------------+-----------------+-----------------+-----------------+
>| NLPmethod | OT_INTEGER | 1 | Select (1) |
>| | | | Meritfunction |
>| | | | or (3) Filter |
>| | | | globalisation |
>+-----------------+-----------------+-----------------+-----------------+
>| NLPprint | OT_INTEGER | 2 | NLP print level |
>| | | | [-1..4] |
>+-----------------+-----------------+-----------------+-----------------+
>| PairMethod | OT_INTEGER | 1 | Select method |
>| | | | to determine |
>| | | | graph colouring |
>| | | | pairgroups |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdEpsBar | OT_REAL | 0.900 | Penalty update |
>| | | | parameter |
>| | | | factor for |
>| | | | MeritFunction = |
>| | | | 3 |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdEpsKFac | OT_REAL | 2 | Penalty update |
>| | | | parameter |
>| | | | factor for |
>| | | | MeritFunction = |
>| | | | 4 |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdEpsKSeque | OT_INTEGER | 2 | Penalty update |
>| nce | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdMaxDeltaK | OT_REAL | 11 | Max penalty for |
>| | | | MeritFunction = |
>| | | | 4 |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdMaxFac | OT_REAL | 100000000 | Max factor for |
>| | | | increasing |
>| | | | penalty for |
>| | | | MeritFunction = |
>| | | | 4 |
>+-----------------+-----------------+-----------------+-----------------+
>| PenUpdRBar | OT_REAL | 2 | Penalty update |
>| | | | parameter for |
>| | | | MeritFunction = |
>| | | | 3 |
>+-----------------+-----------------+-----------------+-----------------+
>| PrecisionF | OT_REAL | 0.000 | (currently |
>| | | | unused) |
>| | | | Relative |
>| | | | precision of |
>| | | | objective |
>+-----------------+-----------------+-----------------+-----------------+
>| PrecisionG | OT_REAL | 0.000 | (currently |
>| | | | unused) |
>| | | | Relative |
>| | | | precision of |
>| | | | constraints |
>+-----------------+-----------------+-----------------+-----------------+
>| QPscaleParam | OT_REAL | 0 | (currently |
>| | | | unused) Scaling |
>| | | | factor for QP |
>+-----------------+-----------------+-----------------+-----------------+
>| QuadraticProble | OT_BOOLEAN | False | Not to be |
>| m | | | included into a |
>| | | | parameter file! |
>+-----------------+-----------------+-----------------+-----------------+
>| ReduceBettsTau | OT_REAL | 0.300 | Decrease factor |
>| | | | for Betts' |
>| | | | update |
>| | | | dampening term |
>+-----------------+-----------------+-----------------+-----------------+
>| RegStrategy | OT_INTEGER | 1 | Select Hessian |
>| | | | regularisation |
>| | | | strategy in |
>| | | | Filter |
>+-----------------+-----------------+-----------------+-----------------+
>| ReinitFilter | OT_BOOLEAN | False | Enables Filter- |
>| | | | reinitialisatio |
>| | | | n accelerating |
>| | | | heuristic |
>+-----------------+-----------------+-----------------+-----------------+
>| RelaxMaxDelta | OT_REAL | 0.920 | Upper bound for |
>| | | | accepting the |
>| | | | constraint |
>| | | | relaxation |
>| | | | variable |
>+-----------------+-----------------+-----------------+-----------------+
>| RelaxMaxPen | OT_REAL | 50000000 | Upper bound on |
>| | | | the constraint |
>| | | | relaxation |
>| | | | penalty |
>+-----------------+-----------------+-----------------+-----------------+
>| RelaxRho | OT_REAL | 6 | Update factor |
>| | | | for the |
>| | | | constraint |
>| | | | relaxation |
>| | | | penalty |
>+-----------------+-----------------+-----------------+-----------------+
>| RelaxStart | OT_REAL | 1 | Initial value |
>| | | | of the |
>| | | | constraint |
>| | | | relaxation |
>| | | | penalty |
>+-----------------+-----------------+-----------------+-----------------+
>| RestUntilFeas | OT_BOOLEAN | False | Do restoration |
>| | | | until a |
>| | | | feasible |
>| | | | solution is |
>| | | | found |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaleConIter | OT_BOOLEAN | False | Scale |
>| | | | constraints in |
>| | | | every iteration |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaleFacObj | OT_REAL | 10 | Value to scale |
>| | | | large objective |
>| | | | functions to |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaleFacQP | OT_REAL | 10 | Upper bound on |
>| | | | resulting |
>| | | | matrix norm for |
>| | | | QP scaling |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaledFD | OT_BOOLEAN | True | Use a scaled |
>| | | | perturbation |
>| | | | for finite |
>| | | | differences |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaledKKT | OT_BOOLEAN | True | Scale KKT |
>| | | | conditions |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaledObj | OT_BOOLEAN | True | Scale the |
>| | | | objective |
>| | | | function |
>+-----------------+-----------------+-----------------+-----------------+
>| ScaledQP | OT_BOOLEAN | True | Scale some |
>| | | | matrices handed |
>| | | | to the QP |
>+-----------------+-----------------+-----------------+-----------------+
>| StartBettsTau | OT_REAL | 0.100 | Initial value |
>| | | | for Betts' |
>| | | | update |
>| | | | dampening term |
>+-----------------+-----------------+-----------------+-----------------+
>| SwitchingDelta | OT_REAL | 0.010 | Filter |
>| | | | switching |
>| | | | condition |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| SwitchingSCV | OT_REAL | 1.100 | Filter |
>| | | | switching |
>| | | | condition |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| SwitchingSF | OT_REAL | 2.300 | Filter |
>| | | | switching |
>| | | | condition |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| TakeQPSol | OT_BOOLEAN | False | Evaluate QP |
>| | | | search |
>| | | | direction |
>| | | | regardless of |
>| | | | convergence |
>+-----------------+-----------------+-----------------+-----------------+
>| Timeout | OT_REAL | 300 | Timeout in |
>| | | | seconds |
>+-----------------+-----------------+-----------------+-----------------+
>| TolComp | OT_REAL | 0.001 | Complementarity |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| TolFeas | OT_REAL | 0.000 | Feasibility |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| TolOpti | OT_REAL | 0.000 | Optimality |
>| | | | tolerance |
>+-----------------+-----------------+-----------------+-----------------+
>| TolWeakActive | OT_REAL | 1 | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| TooBig | OT_BOOLEAN | True | Enable too-big |
>| | | | termination |
>| | | | heuristics |
>+-----------------+-----------------+-----------------+-----------------+
>| TooBigCV | OT_REAL | 1.000e+25 | Upper bound on |
>| | | | constraint |
>| | | | violation for |
>| | | | too-big |
>| | | | heuristic |
>+-----------------+-----------------+-----------------+-----------------+
>| TooBigKKT | OT_REAL | 1.000e+30 | Upper bound on |
>| | | | KKT values for |
>| | | | too-big |
>| | | | heuristic |
>+-----------------+-----------------+-----------------+-----------------+
>| UserDF | OT_BOOLEAN | True | Objective |
>| | | | gradient values |
>| | | | supplied by |
>| | | | caller |
>+-----------------+-----------------+-----------------+-----------------+
>| UserDG | OT_BOOLEAN | True | Jacobian values |
>| | | | supplied by |
>| | | | caller |
>+-----------------+-----------------+-----------------+-----------------+
>| UserHM | OT_BOOLEAN | True | Hessian values |
>| | | | supplied by |
>| | | | caller |
>+-----------------+-----------------+-----------------+-----------------+
>| UserHMstructure | OT_INTEGER | 2 | Enable |
>| | | | automatic |
>| | | | Hessian |
>| | | | structure |
>| | | | generation or |
>| | | | checking |
>+-----------------+-----------------+-----------------+-----------------+
>| WeakActiveSet | OT_BOOLEAN | False | (experimental) |
>+-----------------+-----------------+-----------------+-----------------+
>| eps | OT_REAL | 0.000 | Machine epsilon |
>+-----------------+-----------------+-----------------+-----------------+
>| internalParChan | OT_INTEGER | 0 | Counter for |
>| ged | | | changed |
>| | | | parameters. |
>| | | | Internal use |
>| | | | only. |
>+-----------------+-----------------+-----------------+-----------------+
>| print_time | OT_BOOLEAN | True | Print |
>| | | | information |
>| | | | about execution |
>| | | | time |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipBarrier | OT_REAL | 7.800 | IP barrier |
>| | | | parameter. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipComTol | OT_REAL | 0.000 | IP |
>| | | | complementarity |
>| | | | tolerance. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipFracBound | OT_REAL | 0.880 | IP fraction-to- |
>| | | | the-boundary |
>| | | | parameter. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipLsMethod | OT_STRING | None | Select the |
>| | | | direct linear |
>| | | | solver used by |
>| | | | the IP method. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipMinAlpha | OT_REAL | 0.000 | IP line search |
>| | | | minimum step |
>| | | | size. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipRelaxDiv | OT_REAL | 2 | The relaxation |
>| | | | term is divided |
>| | | | by this value |
>| | | | if successful. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipRelaxMax | OT_REAL | 0.000 | Maximum |
>| | | | relaxation |
>| | | | value. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipRelaxMin | OT_REAL | 0.000 | Mimimum |
>| | | | relaxation |
>| | | | value. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipRelaxMult | OT_REAL | 10 | The relaxation |
>| | | | term is |
>| | | | multiplied by |
>| | | | this value if |
>| | | | unsuccessful. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipResTol | OT_REAL | 0.000 | IP residuals |
>| | | | tolerance. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_ipTryRelax | OT_BOOLEAN | True | Enable |
>| | | | relaxation |
>| | | | strategy when |
>| | | | encountering an |
>| | | | error. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsItMaxIter | OT_INTEGER | 1000 | Maximum number |
>| | | | of iterations |
>| | | | of the |
>| | | | iterative |
>| | | | linear solvers. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsItMethod | OT_STRING | None | Select the |
>| | | | iterative |
>| | | | linear solver. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsItPrecondM | OT_STRING | None | Select |
>| ethod | | | preconditioner |
>| | | | for the |
>| | | | iterative |
>| | | | linear solver. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsRefineMaxI | OT_INTEGER | 10 | Maximum number |
>| ter | | | of iterative |
>| | | | refinement |
>| | | | steps of the |
>| | | | direct linear |
>| | | | solvers. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsScale | OT_BOOLEAN | True | Enables scaling |
>| | | | on linear |
>| | | | solver level. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsTol | OT_REAL | 0.000 | Tolerance for |
>| | | | the linear |
>| | | | solver. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_lsTrySimple | OT_BOOLEAN | False | Some matrices |
>| | | | can be solved |
>| | | | without calling |
>| | | | a linear |
>| | | | equation solver |
>| | | | .Currently only |
>| | | | diagonal |
>| | | | matrices are |
>| | | | supported.Non- |
>| | | | diagonal |
>| | | | matrices will |
>| | | | besolved with |
>| | | | the chosen |
>| | | | linear equation |
>| | | | solver. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_maxIter | OT_INTEGER | 80 | Imposes an |
>| | | | upper limit on |
>| | | | the number of |
>| | | | minor solver |
>| | | | iterations, |
>| | | | i.e. for the |
>| | | | quadratic |
>| | | | subproblem |
>| | | | solver.If the |
>| | | | limit is |
>| | | | reached before |
>| | | | convergence, |
>| | | | WORHP will |
>| | | | activate QP |
>| | | | recovery |
>| | | | strategies to |
>| | | | prevent a |
>| | | | solver |
>| | | | breakdown. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_method | OT_STRING | None | Select the |
>| | | | solution method |
>| | | | used by the QP |
>| | | | solver. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnBeta | OT_REAL | 0.900 | NSN stepsize |
>| | | | decrease |
>| | | | factor. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnGradStep | OT_BOOLEAN | True | Enable gradient |
>| | | | steps in the |
>| | | | NSN method. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnKKT | OT_REAL | 0.000 | NSN KKT |
>| | | | tolerance. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnLsMethod | OT_STRING | None | Select the |
>| | | | direct linear |
>| | | | solver used by |
>| | | | the NSN method. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnMinAlpha | OT_REAL | 0.000 | NSN line search |
>| | | | minimum step |
>| | | | size. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_nsnSigma | OT_REAL | 0.010 | NSN line search |
>| | | | slope |
>| | | | parameter. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_printLevel | OT_STRING | None | Controls the |
>| | | | amount of QP |
>| | | | solver output. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_scaleIntern | OT_BOOLEAN | False | Enable scaling |
>| | | | on QP level. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_strict | OT_BOOLEAN | True | Use strict |
>| | | | termination |
>| | | | criteria in IP |
>| | | | method. |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>
>>List of available stats
>
>+--------------------+
>| Id |
>+====================+
>| iter_count |
>+--------------------+
>| iteration |
>+--------------------+
>| iterations |
>+--------------------+
>| n_eval_f |
>+--------------------+
>| n_eval_g |
>+--------------------+
>| n_eval_grad_f |
>+--------------------+
>| n_eval_h |
>+--------------------+
>| n_eval_jac_g |
>+--------------------+
>| return_code |
>+--------------------+
>| return_status |
>+--------------------+
>| t_callback_fun |
>+--------------------+
>| t_callback_prepare |
>+--------------------+
>| t_eval_f |
>+--------------------+
>| t_eval_g |
>+--------------------+
>| t_eval_grad_f |
>+--------------------+
>| t_eval_h |
>+--------------------+
>| t_eval_jac_g |
>+--------------------+
>| t_mainloop |
>+--------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>scpgen
>------
>
>
>
>A structure-exploiting sequential quadratic programming (to be come
>sequential convex programming) method for nonlinear programming.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| beta | OT_REAL | 0.800 | Line-search |
>| | | | parameter, |
>| | | | restoration |
>| | | | factor of |
>| | | | stepsize |
>+-----------------+-----------------+-----------------+-----------------+
>| c1 | OT_REAL | 0.000 | Armijo |
>| | | | condition, |
>| | | | coefficient of |
>| | | | decrease in |
>| | | | merit |
>+-----------------+-----------------+-----------------+-----------------+
>| codegen | OT_BOOLEAN | false | C-code |
>| | | | generation |
>+-----------------+-----------------+-----------------+-----------------+
>| compiler | OT_STRING | "gcc -fPIC -O2" | Compiler |
>| | | | command to be |
>| | | | used for |
>| | | | compiling |
>| | | | generated code |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_approxi | OT_STRING | "exact" | gauss- |
>| mation | | | newton|exact |
>+-----------------+-----------------+-----------------+-----------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |
>| | | | memory. |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 50 | Maximum number |
>| | | | of SQP |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter_ls | OT_INTEGER | 1 | Maximum number |
>| | | | of linesearch |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| merit_memsize | OT_INTEGER | 4 | Size of memory |
>| | | | to store |
>| | | | history of |
>| | | | merit function |
>| | | | values |
>+-----------------+-----------------+-----------------+-----------------+
>| merit_start | OT_REAL | 0.000 | Lower bound for |
>| | | | the merit |
>| | | | function |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| name_x | OT_STRINGVECTOR | GenericType() | Names of the |
>| | | | variables. |
>+-----------------+-----------------+-----------------+-----------------+
>| print_header | OT_BOOLEAN | true | Print the |
>| | | | header with |
>| | | | problem |
>| | | | statistics |
>+-----------------+-----------------+-----------------+-----------------+
>| print_time | OT_BOOLEAN | true | Print |
>| | | | information |
>| | | | about execution |
>| | | | time |
>+-----------------+-----------------+-----------------+-----------------+
>| print_x | OT_INTEGERVECTO | GenericType() | Which variables |
>| | R | | to print. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver | OT_STRING | GenericType() | The QP solver |
>| | | | to be used by |
>| | | | the SQP method |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |
>| ns | | | passed to the |
>| | | | QP solver |
>+-----------------+-----------------+-----------------+-----------------+
>| reg_threshold | OT_REAL | 0.000 | Threshold for |
>| | | | the |
>| | | | regularization. |
>+-----------------+-----------------+-----------------+-----------------+
>| regularize | OT_BOOLEAN | false | Automatic |
>| | | | regularization |
>| | | | of Lagrange |
>| | | | Hessian. |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_du | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | dual |
>| | | | infeasability |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_pr | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | primal |
>| | | | infeasibility |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_pr_step | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | the step size |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_reg | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | regularization |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| dx |
>+-------------+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>| qp |
>+-------------+
>
>>List of available stats
>
>+------------+
>| Id |
>+============+
>| iter_count |
>+------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>sqpmethod
>---------
>
>
>
>A textbook SQPMethod
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| beta | OT_REAL | 0.800 | Line-search |
>| | | | parameter, |
>| | | | restoration |
>| | | | factor of |
>| | | | stepsize |
>+-----------------+-----------------+-----------------+-----------------+
>| c1 | OT_REAL | 0.000 | Armijo |
>| | | | condition, |
>| | | | coefficient of |
>| | | | decrease in |
>| | | | merit |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_approxi | OT_STRING | "exact" | limited- |
>| mation | | | memory|exact |
>+-----------------+-----------------+-----------------+-----------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |
>| | | | memory. |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 50 | Maximum number |
>| | | | of SQP |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter_ls | OT_INTEGER | 3 | Maximum number |
>| | | | of linesearch |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| merit_memory | OT_INTEGER | 4 | Size of memory |
>| | | | to store |
>| | | | history of |
>| | | | merit function |
>| | | | values |
>+-----------------+-----------------+-----------------+-----------------+
>| min_step_size | OT_REAL | 0.000 | The size (inf- |
>| | | | norm) of the |
>| | | | step size |
>| | | | should not |
>| | | | become smaller |
>| | | | than this. |
>+-----------------+-----------------+-----------------+-----------------+
>| print_header | OT_BOOLEAN | true | Print the |
>| | | | header with |
>| | | | problem |
>| | | | statistics |
>+-----------------+-----------------+-----------------+-----------------+
>| print_time | OT_BOOLEAN | true | Print |
>| | | | information |
>| | | | about execution |
>| | | | time |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver | OT_STRING | GenericType() | The QP solver |
>| | | | to be used by |
>| | | | the SQP method |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |
>| ns | | | passed to the |
>| | | | QP solver |
>+-----------------+-----------------+-----------------+-----------------+
>| regularize | OT_BOOLEAN | false | Automatic |
>| | | | regularization |
>| | | | of Lagrange |
>| | | | Hessian. |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_du | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | dual |
>| | | | infeasability |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_pr | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | primal |
>| | | | infeasibility |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| bfgs |
>+-------------+
>| dx |
>+-------------+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>| qp |
>+-------------+
>
>>List of available stats
>
>+--------------------+
>| Id |
>+====================+
>| iter_count |
>+--------------------+
>| iteration |
>+--------------------+
>| iterations |
>+--------------------+
>| n_eval_f |
>+--------------------+
>| n_eval_g |
>+--------------------+
>| n_eval_grad_f |
>+--------------------+
>| n_eval_h |
>+--------------------+
>| n_eval_jac_g |
>+--------------------+
>| return_status |
>+--------------------+
>| t_callback_fun |
>+--------------------+
>| t_callback_prepare |
>+--------------------+
>| t_eval_f |
>+--------------------+
>| t_eval_g |
>+--------------------+
>| t_eval_grad_f |
>+--------------------+
>| t_eval_h |
>+--------------------+
>| t_eval_jac_g |
>+--------------------+
>| t_mainloop |
>+--------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>stabilizedsqp
>-------------
>
>
>
>Stabilized Sequential Quadratic Programming method.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| TReta1 | OT_REAL | 0.800 | Required |
>| | | | predicted / |
>| | | | actual decrease |
>| | | | for TR increase |
>+-----------------+-----------------+-----------------+-----------------+
>| TReta2 | OT_REAL | 0.200 | Required |
>| | | | predicted / |
>| | | | actual decrease |
>| | | | for TR decrease |
>+-----------------+-----------------+-----------------+-----------------+
>| alphaMin | OT_REAL | 0.001 | Used to check |
>| | | | whether to |
>| | | | increase rho. |
>+-----------------+-----------------+-----------------+-----------------+
>| beta | OT_REAL | 0.500 | Line-search |
>| | | | parameter, |
>| | | | restoration |
>| | | | factor of |
>| | | | stepsize |
>+-----------------+-----------------+-----------------+-----------------+
>| c1 | OT_REAL | 0.001 | Armijo |
>| | | | condition, |
>| | | | coefficient of |
>| | | | decrease in |
>| | | | merit |
>+-----------------+-----------------+-----------------+-----------------+
>| dvMax0 | OT_REAL | 100 | Parameter used |
>| | | | to defined the |
>| | | | max step |
>| | | | length. |
>+-----------------+-----------------+-----------------+-----------------+
>| eps_active | OT_REAL | 0.000 | Threshold for |
>| | | | the epsilon- |
>| | | | active set. |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma1 | OT_REAL | 2 | Trust region |
>| | | | increase |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma2 | OT_REAL | 1 | Trust region |
>| | | | update |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| gamma3 | OT_REAL | 1 | Trust region |
>| | | | decrease |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| hessian_approxi | OT_STRING | "exact" | limited- |
>| mation | | | memory|exact |
>+-----------------+-----------------+-----------------+-----------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of L-BFGS |
>| | | | memory. |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter | OT_INTEGER | 100 | Maximum number |
>| | | | of SQP |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| max_iter_ls | OT_INTEGER | 20 | Maximum number |
>| | | | of linesearch |
>| | | | iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| max_time | OT_REAL | 1.000e+12 | Timeout |
>+-----------------+-----------------+-----------------+-----------------+
>| merit_memory | OT_INTEGER | 4 | Size of memory |
>| | | | to store |
>| | | | history of |
>| | | | merit function |
>| | | | values |
>+-----------------+-----------------+-----------------+-----------------+
>| min_step_size | OT_REAL | 0.000 | The size (inf- |
>| | | | norm) of the |
>| | | | step size |
>| | | | should not |
>| | | | become smaller |
>| | | | than this. |
>+-----------------+-----------------+-----------------+-----------------+
>| muR0 | OT_REAL | 0.000 | Initial choice |
>| | | | of |
>| | | | regularization |
>| | | | parameter |
>+-----------------+-----------------+-----------------+-----------------+
>| nu | OT_REAL | 1 | Parameter for |
>| | | | primal-dual |
>| | | | augmented |
>| | | | Lagrangian. |
>+-----------------+-----------------+-----------------+-----------------+
>| phiWeight | OT_REAL | 0.000 | Weight used in |
>| | | | pseudo-filter. |
>+-----------------+-----------------+-----------------+-----------------+
>| print_header | OT_BOOLEAN | true | Print the |
>| | | | header with |
>| | | | problem |
>| | | | statistics |
>+-----------------+-----------------+-----------------+-----------------+
>| regularize | OT_BOOLEAN | false | Automatic |
>| | | | regularization |
>| | | | of Lagrange |
>| | | | Hessian. |
>+-----------------+-----------------+-----------------+-----------------+
>| stabilized_qp_s | OT_STRING | GenericType() | The Stabilized |
>| olver | | | QP solver to be |
>| | | | used by the SQP |
>| | | | method |
>+-----------------+-----------------+-----------------+-----------------+
>| stabilized_qp_s | OT_DICTIONARY | GenericType() | Options to be |
>| olver_options | | | passed to the |
>| | | | Stabilized QP |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>| tau0 | OT_REAL | 0.010 | Initial |
>| | | | parameter for |
>| | | | the merit |
>| | | | function |
>| | | | optimality |
>| | | | threshold. |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_du | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | dual |
>| | | | infeasability |
>+-----------------+-----------------+-----------------+-----------------+
>| tol_pr | OT_REAL | 0.000 | Stopping |
>| | | | criterion for |
>| | | | primal |
>| | | | infeasibility |
>+-----------------+-----------------+-----------------+-----------------+
>| yEinitial | OT_STRING | "simple" | Initial |
>| | | | multiplier. |
>| | | | Simple (all |
>| | | | zero) or least |
>| | | | (LSQ). |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available monitors
>
>+-------------+
>| Id |
>+=============+
>| dx |
>+-------------+
>| eval_f |
>+-------------+
>| eval_g |
>+-------------+
>| eval_grad_f |
>+-------------+
>| eval_h |
>+-------------+
>| eval_jac_g |
>+-------------+
>| qp |
>+-------------+
>
>>List of available stats
>
>+---------------+
>| Id |
>+===============+
>| iter_count |
>+---------------+
>| return_status |
>+---------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: nlp_solver.hpp
-}
newtype NlpSolver = NlpSolver (ForeignPtr NlpSolver')
-- typeclass decl
class NlpSolverClass a where
castNlpSolver :: a -> NlpSolver
instance NlpSolverClass NlpSolver where
castNlpSolver = id
-- baseclass instances
instance FunctionClass NlpSolver where
castFunction (NlpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass NlpSolver where
castOptionsFunctionality (NlpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass NlpSolver where
castPrintableObject (NlpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass NlpSolver where
castSharedObject (NlpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass NlpSolver where
castIOInterfaceFunction (NlpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal NlpSolver (Ptr NlpSolver') where
marshal (NlpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (NlpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__NlpSolver"
c_delete_casadi__NlpSolver :: FunPtr (Ptr NlpSolver' -> IO ())
instance WrapReturn (Ptr NlpSolver') NlpSolver where
wrapReturn = (fmap NlpSolver) . (newForeignPtr c_delete_casadi__NlpSolver)
-- raw decl
data Nullspace'
-- data decl
{-|
>Base class for nullspace construction.
>
>Constructs a basis for the null-space of a fat matrix A. i.e. finds Z such
>that AZ = 0 holds.
>
>The nullspace is also known as the orthogonal complement of the rowspace of
>a matrix.
>
>It is assumed that the matrix A is of full rank.
>
>Implementations are not required to construct an orthogonal or orthonormal
>basis Joris Gillis
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dense | OT_BOOLEAN | true | Indicates | casadi::Null |
>| | | | that dense | spaceInterna |
>| | | | matrices can | l |
>| | | | be assumed | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: nullspace.hpp
-}
newtype Nullspace = Nullspace (ForeignPtr Nullspace')
-- typeclass decl
class NullspaceClass a where
castNullspace :: a -> Nullspace
instance NullspaceClass Nullspace where
castNullspace = id
-- baseclass instances
instance FunctionClass Nullspace where
castFunction (Nullspace x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass Nullspace where
castOptionsFunctionality (Nullspace x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass Nullspace where
castPrintableObject (Nullspace x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Nullspace where
castSharedObject (Nullspace x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass Nullspace where
castIOInterfaceFunction (Nullspace x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Nullspace (Ptr Nullspace') where
marshal (Nullspace x) = return (unsafeForeignPtrToPtr x)
marshalFree (Nullspace x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Nullspace"
c_delete_casadi__Nullspace :: FunPtr (Ptr Nullspace' -> IO ())
instance WrapReturn (Ptr Nullspace') Nullspace where
wrapReturn = (fmap Nullspace) . (newForeignPtr c_delete_casadi__Nullspace)
-- raw decl
data OCPSolver'
-- data decl
{-|
>Base class for OCP solvers.
>
>Joel Andersson
>
>>Input scheme: casadi::OCPInput (OCP_NUM_IN = 13) [ocpIn]
>
>+------------+--------+----------------------------------------------+
>| Full name | Short | Description |
>+============+========+==============================================+
>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBG | lbg | Lower bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>| OCP_UBG | ubg | Upper bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>
>>Output scheme: casadi::OCPOutput (OCP_NUM_OUT = 4) [ocpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| OCP_X_OPT | x_opt | Optimal state |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_U_OPT | u_opt | Optimal control |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_P_OPT | p_opt | Optimal parameters . |
>+------------------------+------------------------+------------------------+
>| OCP_COST | cost | Objective/cost |
>| | | function for optimal |
>| | | solution (1 x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| final_time | OT_REAL | 1 | | casadi::OCPS |
>| | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_gr | OT_INTEGER | 20 | | casadi::OCPS |
>| id_points | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_pa | OT_INTEGER | 0 | | casadi::OCPS |
>| rameters | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: ocp_solver.hpp
-}
newtype OCPSolver = OCPSolver (ForeignPtr OCPSolver')
-- typeclass decl
class OCPSolverClass a where
castOCPSolver :: a -> OCPSolver
instance OCPSolverClass OCPSolver where
castOCPSolver = id
-- baseclass instances
instance FunctionClass OCPSolver where
castFunction (OCPSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass OCPSolver where
castOptionsFunctionality (OCPSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass OCPSolver where
castPrintableObject (OCPSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass OCPSolver where
castSharedObject (OCPSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass OCPSolver where
castIOInterfaceFunction (OCPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal OCPSolver (Ptr OCPSolver') where
marshal (OCPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (OCPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__OCPSolver"
c_delete_casadi__OCPSolver :: FunPtr (Ptr OCPSolver' -> IO ())
instance WrapReturn (Ptr OCPSolver') OCPSolver where
wrapReturn = (fmap OCPSolver) . (newForeignPtr c_delete_casadi__OCPSolver)
-- raw decl
data OptionsFunctionality'
-- data decl
{-|
>Provides options setting/getting functionality.
>
>Gives a derived class the ability to set and retrieve options in a
>convenient way. It also contains error checking, making sure that the option
>exists and that the value type is correct.
>
>A derived class should add option names, types and default values to the
>corresponding vectors.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: options_functionality.hpp
-}
newtype OptionsFunctionality = OptionsFunctionality (ForeignPtr OptionsFunctionality')
-- typeclass decl
class OptionsFunctionalityClass a where
castOptionsFunctionality :: a -> OptionsFunctionality
instance OptionsFunctionalityClass OptionsFunctionality where
castOptionsFunctionality = id
-- baseclass instances
instance PrintableObjectClass OptionsFunctionality where
castPrintableObject (OptionsFunctionality x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass OptionsFunctionality where
castSharedObject (OptionsFunctionality x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal OptionsFunctionality (Ptr OptionsFunctionality') where
marshal (OptionsFunctionality x) = return (unsafeForeignPtrToPtr x)
marshalFree (OptionsFunctionality x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__OptionsFunctionality"
c_delete_casadi__OptionsFunctionality :: FunPtr (Ptr OptionsFunctionality' -> IO ())
instance WrapReturn (Ptr OptionsFunctionality') OptionsFunctionality where
wrapReturn = (fmap OptionsFunctionality) . (newForeignPtr c_delete_casadi__OptionsFunctionality)
-- raw decl
data Parallelizer'
-- data decl
{-|
>Parallelizer execution of functions.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| parallelizat | OT_STRING | "serial" | (serial|open | casadi::Para |
>| ion | | | mp|mpi) | llelizerInte |
>| | | | | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>
>+-----------------+------------------------------+
>| Id | Used in |
>+=================+==============================+
>| max_threads | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| num_threads | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_allocation | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_cputime | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_endtime | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_order | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_starttime | casadi::ParallelizerInternal |
>+-----------------+------------------------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: parallelizer.hpp
-}
newtype Parallelizer = Parallelizer (ForeignPtr Parallelizer')
-- typeclass decl
class ParallelizerClass a where
castParallelizer :: a -> Parallelizer
instance ParallelizerClass Parallelizer where
castParallelizer = id
-- baseclass instances
instance FunctionClass Parallelizer where
castFunction (Parallelizer x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass Parallelizer where
castOptionsFunctionality (Parallelizer x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass Parallelizer where
castPrintableObject (Parallelizer x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Parallelizer where
castSharedObject (Parallelizer x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass Parallelizer where
castIOInterfaceFunction (Parallelizer x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Parallelizer (Ptr Parallelizer') where
marshal (Parallelizer x) = return (unsafeForeignPtrToPtr x)
marshalFree (Parallelizer x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Parallelizer"
c_delete_casadi__Parallelizer :: FunPtr (Ptr Parallelizer' -> IO ())
instance WrapReturn (Ptr Parallelizer') Parallelizer where
wrapReturn = (fmap Parallelizer) . (newForeignPtr c_delete_casadi__Parallelizer)
-- raw decl
data PrintableObject'
-- data decl
{-|
>Base class for objects that have a natural string representation.
>
>Joel Andersson
>
>C++ includes: printable_object.hpp
-}
newtype PrintableObject = PrintableObject (ForeignPtr PrintableObject')
-- typeclass decl
class PrintableObjectClass a where
castPrintableObject :: a -> PrintableObject
instance PrintableObjectClass PrintableObject where
castPrintableObject = id
-- baseclass instances
-- helper instances
instance Marshal PrintableObject (Ptr PrintableObject') where
marshal (PrintableObject x) = return (unsafeForeignPtrToPtr x)
marshalFree (PrintableObject x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__PrintableObject"
c_delete_casadi__PrintableObject :: FunPtr (Ptr PrintableObject' -> IO ())
instance WrapReturn (Ptr PrintableObject') PrintableObject where
wrapReturn = (fmap PrintableObject) . (newForeignPtr c_delete_casadi__PrintableObject)
-- raw decl
data QcqpSolver'
-- data decl
{-|
>QcqpSolver.
>
>Solves the following strictly convex problem:
>
>
>
>::
>
> min 1/2 x' H x + g' x
> x
>
> subject to
> 1/2 x' Pi x + qi' x + ri <= 0 for i=0..nq-1
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with :
> H, Pi sparse (n x n) positive definite
> g, qi dense (n x 1)
> ri scalar
>
> n: number of decision variables (x)
> nc: number of linear constraints (A)
> nq: number of quadratic constraints
>
>
>
>If H, Pi is not positive-definite, the solver should throw an error.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::QcqpSolverInput (QCQP_SOLVER_NUM_IN = 12) [qcqpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_P | p | The horizontal stack |
>| | | of all Pi. Each Pi is |
>| | | sparse (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_Q | q | The vertical stack of |
>| | | all qi: dense, (nq n x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_R | r | The vertical stack of |
>| | | all scalars ri (nq x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::QcqpSolverOutput (QCQP_SOLVER_NUM_OUT = 4) [qcqpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_QcqpSolver_socp'>socp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>QcqpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>socp
>----
>
>
>
>Solve a QCQP with an SocpSolver
>
>Note: this implementation relies on Cholesky decomposition: Chol(H) = L -> H
>= LL' with L lower triangular This requires Pi, H to be positive definite.
>Positive semi-definite is not sufficient. Notably, H==0 will not work.
>
>A better implementation would rely on matrix square root, but we need
>singular value decomposition to implement that.
>
>This implementation makes use of the epigraph reformulation:
>
>::
>
> * min f(x)
> * x
> *
> * min t
> * x, t f(x) <= t
> *
>
>
>
>This implementation makes use of the following identity:
>
>::
>
> * || Gx+h||_2 <= e'x + f
> *
> * x'(G'G - ee')x + (2 h'G - 2 f e') x + h'h - f <= 0
> *
>
>where we put e = [0 0 ... 1] for the quadratic constraint arising from the
>epigraph reformulation and e==0 for all other quadratic constraints.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| socp_solver | OT_STRING | GenericType() | The SocpSolver |
>| | | | used to solve |
>| | | | the QCQPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| socp_solver_opt | OT_DICTIONARY | GenericType() | Options to be |
>| ions | | | passed to the |
>| | | | SOCPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+-------------------+
>| Id |
>+===================+
>| socp_solver_stats |
>+-------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joris Gillis
>Diagrams
>--------
>
>
>
>C++ includes: qcqp_solver.hpp
-}
newtype QcqpSolver = QcqpSolver (ForeignPtr QcqpSolver')
-- typeclass decl
class QcqpSolverClass a where
castQcqpSolver :: a -> QcqpSolver
instance QcqpSolverClass QcqpSolver where
castQcqpSolver = id
-- baseclass instances
instance FunctionClass QcqpSolver where
castFunction (QcqpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass QcqpSolver where
castOptionsFunctionality (QcqpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass QcqpSolver where
castPrintableObject (QcqpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass QcqpSolver where
castSharedObject (QcqpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass QcqpSolver where
castIOInterfaceFunction (QcqpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QcqpSolver (Ptr QcqpSolver') where
marshal (QcqpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QcqpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__QcqpSolver"
c_delete_casadi__QcqpSolver :: FunPtr (Ptr QcqpSolver' -> IO ())
instance WrapReturn (Ptr QcqpSolver') QcqpSolver where
wrapReturn = (fmap QcqpSolver) . (newForeignPtr c_delete_casadi__QcqpSolver)
-- raw decl
data QpSolver'
-- data decl
{-|
>QpSolver.
>
>Solves the following strictly convex problem:
>
>
>
>::
>
> min 1/2 x' H x + g' x
> x
>
> subject to
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with :
> H sparse (n x n) positive definite
> g dense (n x 1)
>
> n: number of decision variables (x)
> nc: number of constraints (A)
>
>
>
>If H is not positive-definite, the solver should throw an error.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::QpSolverInput (QP_SOLVER_NUM_IN = 9) [qpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_QpSolver_cplex'>cplex</a>
>
>- <a href='#plugin_QpSolver_ooqp'>ooqp</a>
>
>- <a href='#plugin_QpSolver_qpoases'>qpoases</a>
>
>- <a href='#plugin_QpSolver_sqic'>sqic</a>
>
>- <a href='#plugin_QpSolver_nlp'>nlp</a>
>
>- <a href='#plugin_QpSolver_qcqp'>qcqp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>QpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>cplex
>-----
>
>
>
>Interface to Cplex solver for sparse Quadratic Programs
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| barrier_maxiter | OT_INTEGER | 2.100e+09 | Maximum number |
>| | | | of barrier |
>| | | | iterations. |
>+-----------------+-----------------+-----------------+-----------------+
>| convex | OT_BOOLEAN | true | Indicates if |
>| | | | the QP is |
>| | | | convex or not |
>| | | | (affects only |
>| | | | the barrier |
>| | | | method). |
>+-----------------+-----------------+-----------------+-----------------+
>| dep_check | OT_STRING | "off" | Detect |
>| | | | redundant |
>| | | | constraints. (a |
>| | | | utomatic:-1|off |
>| | | | :0|begin:1|end: |
>| | | | 2|both:3) |
>+-----------------+-----------------+-----------------+-----------------+
>| dump_filename | OT_STRING | "qp.dat" | The filename to |
>| | | | dump to. |
>+-----------------+-----------------+-----------------+-----------------+
>| dump_to_file | OT_BOOLEAN | false | Dumps QP to |
>| | | | file in CPLEX |
>| | | | format. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_method | OT_STRING | "automatic" | Determines |
>| | | | which CPLEX |
>| | | | algorithm to |
>| | | | use. (automatic |
>| | | | |primal_simplex |
>| | | | |dual_simplex|n |
>| | | | etwork|barrier| |
>| | | | sifting|concurr |
>| | | | ent|crossover) |
>+-----------------+-----------------+-----------------+-----------------+
>| simplex_maxiter | OT_INTEGER | 2.100e+09 | Maximum number |
>| | | | of simplex |
>| | | | iterations. |
>+-----------------+-----------------+-----------------+-----------------+
>| tol | OT_REAL | 0.000 | Tolerance of |
>| | | | solver |
>+-----------------+-----------------+-----------------+-----------------+
>| warm_start | OT_BOOLEAN | false | Use warm start |
>| | | | with simplex |
>| | | | methods |
>| | | | (affects only |
>| | | | the simplex |
>| | | | methods). |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>ooqp
>----
>
>
>
>Interface to the OOQP Solver for quadratic programming The current
>implementation assumes that OOQP is configured with the MA27 sparse linear
>solver.
>
>NOTE: when doing multiple calls to evaluate(), check if you need to
>reInit();
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| artol | OT_REAL | 0.000 | tolerance as |
>| | | | provided with |
>| | | | setArTol to |
>| | | | OOQP |
>+-----------------+-----------------+-----------------+-----------------+
>| mutol | OT_REAL | 0.000 | tolerance as |
>| | | | provided with |
>| | | | setMuTol to |
>| | | | OOQP |
>+-----------------+-----------------+-----------------+-----------------+
>| print_level | OT_INTEGER | 0 | Print level. |
>| | | | OOQP listens to |
>| | | | print_level 0, |
>| | | | 10 and 100 |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>qpoases
>-------
>
>
>
>Interface to QPOases Solver for quadratic programming
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| CPUtime | OT_REAL | None | The maximum |
>| | | | allowed CPU |
>| | | | time in seconds |
>| | | | for the whole |
>| | | | initialisation |
>| | | | (and the |
>| | | | actually |
>| | | | required one on |
>| | | | output). |
>| | | | Disabled if |
>| | | | unset. |
>+-----------------+-----------------+-----------------+-----------------+
>| boundRelaxation | OT_REAL | 10000 | Initial |
>| | | | relaxation of |
>| | | | bounds to start |
>| | | | homotopy and |
>| | | | initial value |
>| | | | for far bounds. |
>+-----------------+-----------------+-----------------+-----------------+
>| boundTolerance | OT_REAL | 0.000 | If upper and |
>| | | | lower bounds |
>| | | | differ less |
>| | | | than this |
>| | | | tolerance, they |
>| | | | are regarded |
>| | | | equal, i.e. as |
>| | | | equality |
>| | | | constraint. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableCholeskyR | OT_INTEGER | 0 | Specifies the |
>| efactorisation | | | frequency of a |
>| | | | full re- |
>| | | | factorisation |
>| | | | of projected |
>| | | | Hessian matrix: |
>| | | | 0: turns them |
>| | | | off, 1: uses |
>| | | | them at each |
>| | | | iteration etc. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableDriftCorr | OT_INTEGER | 1 | Specifies the |
>| ection | | | frequency of |
>| | | | drift |
>| | | | corrections: 0: |
>| | | | turns them off. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableEqualitie | OT_BOOLEAN | False | Specifies |
>| s | | | whether |
>| | | | equalities |
>| | | | should be |
>| | | | treated as |
>| | | | always active |
>| | | | (True) or not |
>| | | | (False) |
>+-----------------+-----------------+-----------------+-----------------+
>| enableFarBounds | OT_BOOLEAN | True | Enables the use |
>| | | | of far bounds. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableFlippingB | OT_BOOLEAN | True | Enables the use |
>| ounds | | | of flipping |
>| | | | bounds. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableFullLITes | OT_BOOLEAN | False | Enables |
>| ts | | | condition- |
>| | | | hardened (but |
>| | | | more expensive) |
>| | | | LI test. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableNZCTests | OT_BOOLEAN | True | Enables nonzero |
>| | | | curvature |
>| | | | tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableRamping | OT_BOOLEAN | True | Enables |
>| | | | ramping. |
>+-----------------+-----------------+-----------------+-----------------+
>| enableRegularis | OT_BOOLEAN | False | Enables |
>| ation | | | automatic |
>| | | | Hessian |
>| | | | regularisation. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsDen | OT_REAL | 0.000 | Denominator |
>| | | | tolerance for |
>| | | | ratio tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsFlipping | OT_REAL | 0.000 | Tolerance of |
>| | | | squared |
>| | | | Cholesky |
>| | | | diagonal factor |
>| | | | which triggers |
>| | | | flipping bound. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsIterRef | OT_REAL | 0.000 | Early |
>| | | | termination |
>| | | | tolerance for |
>| | | | iterative |
>| | | | refinement. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsLITests | OT_REAL | 0.000 | Tolerance for |
>| | | | linear |
>| | | | independence |
>| | | | tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsNZCTests | OT_REAL | 0.000 | Tolerance for |
>| | | | nonzero |
>| | | | curvature |
>| | | | tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsNum | OT_REAL | -0.000 | Numerator |
>| | | | tolerance for |
>| | | | ratio tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| epsRegularisati | OT_REAL | 0.000 | Scaling factor |
>| on | | | of identity |
>| | | | matrix used for |
>| | | | Hessian |
>| | | | regularisation. |
>+-----------------+-----------------+-----------------+-----------------+
>| finalRamping | OT_REAL | 1 | Final value for |
>| | | | ramping |
>| | | | strategy. |
>+-----------------+-----------------+-----------------+-----------------+
>| growFarBounds | OT_REAL | 1000 | Factor to grow |
>| | | | far bounds. |
>+-----------------+-----------------+-----------------+-----------------+
>| initialFarBound | OT_REAL | 1000000 | Initial size |
>| s | | | for far bounds. |
>+-----------------+-----------------+-----------------+-----------------+
>| initialRamping | OT_REAL | 0.500 | Start value for |
>| | | | ramping |
>| | | | strategy. |
>+-----------------+-----------------+-----------------+-----------------+
>| initialStatusBo | OT_STRING | lower | Initial status |
>| unds | | | of bounds at |
>| | | | first |
>| | | | iteration. |
>+-----------------+-----------------+-----------------+-----------------+
>| maxDualJump | OT_REAL | 100000000 | Maximum allowed |
>| | | | jump in dual |
>| | | | variables in |
>| | | | linear |
>| | | | independence |
>| | | | tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| maxPrimalJump | OT_REAL | 100000000 | Maximum allowed |
>| | | | jump in primal |
>| | | | variables in |
>| | | | nonzero |
>| | | | curvature |
>| | | | tests. |
>+-----------------+-----------------+-----------------+-----------------+
>| nWSR | OT_INTEGER | None | The maximum |
>| | | | number of |
>| | | | working set |
>| | | | recalculations |
>| | | | to be performed |
>| | | | during the |
>| | | | initial |
>| | | | homotopy. |
>| | | | Default is 5(nx |
>| | | | + nc) |
>+-----------------+-----------------+-----------------+-----------------+
>| numRefinementSt | OT_INTEGER | 1 | Maximum number |
>| eps | | | of iterative |
>| | | | refinement |
>| | | | steps. |
>+-----------------+-----------------+-----------------+-----------------+
>| numRegularisati | OT_INTEGER | 0 | Maximum number |
>| onSteps | | | of successive |
>| | | | regularisation |
>| | | | steps. |
>+-----------------+-----------------+-----------------+-----------------+
>| printLevel | OT_STRING | medium | Defines the |
>| | | | amount of text |
>| | | | output during |
>| | | | QP solution, |
>| | | | see Section 5.7 |
>+-----------------+-----------------+-----------------+-----------------+
>| terminationTole | OT_REAL | 0.000 | Relative |
>| rance | | | termination |
>| | | | tolerance to |
>| | | | stop homotopy. |
>+-----------------+-----------------+-----------------+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>sqic
>----
>
>
>
>Interface to the SQIC solver for quadratic programming
>
>>List of available options
>
>+----+------+---------+-------------+
>| Id | Type | Default | Description |
>+====+======+=========+=============+
>+----+------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>nlp
>---
>
>
>
>Solve QPs using an NlpSolver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| nlp_solver | OT_STRING | GenericType() | The NLPSOlver |
>| | | | used to solve |
>| | | | the QPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| nlp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |
>| ons | | | passed to the |
>| | | | NLPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+------------------+
>| Id |
>+==================+
>| nlp_solver_stats |
>+------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>qcqp
>----
>
>
>
>Solve QP using a QcqpSolver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| qcqp_solver | OT_STRING | GenericType() | The QcqpSolver |
>| | | | used to solve |
>| | | | the QPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| qcqp_solver_opt | OT_DICTIONARY | GenericType() | Options to be |
>| ions | | | passed to the |
>| | | | QCQPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+-------------------+
>| Id |
>+===================+
>| qcqp_solver_stats |
>+-------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: qp_solver.hpp
-}
newtype QpSolver = QpSolver (ForeignPtr QpSolver')
-- typeclass decl
class QpSolverClass a where
castQpSolver :: a -> QpSolver
instance QpSolverClass QpSolver where
castQpSolver = id
-- baseclass instances
instance FunctionClass QpSolver where
castFunction (QpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass QpSolver where
castOptionsFunctionality (QpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass QpSolver where
castPrintableObject (QpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass QpSolver where
castSharedObject (QpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass QpSolver where
castIOInterfaceFunction (QpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QpSolver (Ptr QpSolver') where
marshal (QpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__QpSolver"
c_delete_casadi__QpSolver :: FunPtr (Ptr QpSolver' -> IO ())
instance WrapReturn (Ptr QpSolver') QpSolver where
wrapReturn = (fmap QpSolver) . (newForeignPtr c_delete_casadi__QpSolver)
-- raw decl
data SX'
-- data decl
{-|
-}
newtype SX = SX (ForeignPtr SX')
-- typeclass decl
class SXClass a where
castSX :: a -> SX
instance SXClass SX where
castSX = id
-- baseclass instances
instance PrintableObjectClass SX where
castPrintableObject (SX x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SX (Ptr SX') where
marshal (SX x) = return (unsafeForeignPtrToPtr x)
marshalFree (SX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SX"
c_delete_casadi__SX :: FunPtr (Ptr SX' -> IO ())
instance WrapReturn (Ptr SX') SX where
wrapReturn = (fmap SX) . (newForeignPtr c_delete_casadi__SX)
-- raw decl
data SXElement'
-- data decl
{-|
-}
newtype SXElement = SXElement (ForeignPtr SXElement')
-- typeclass decl
class SXElementClass a where
castSXElement :: a -> SXElement
instance SXElementClass SXElement where
castSXElement = id
-- baseclass instances
-- helper instances
instance Marshal SXElement (Ptr SXElement') where
marshal (SXElement x) = return (unsafeForeignPtrToPtr x)
marshalFree (SXElement x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SXElement"
c_delete_casadi__SXElement :: FunPtr (Ptr SXElement' -> IO ())
instance WrapReturn (Ptr SXElement') SXElement where
wrapReturn = (fmap SXElement) . (newForeignPtr c_delete_casadi__SXElement)
-- raw decl
data SXFunction'
-- data decl
{-|
>Dynamically created function that can be expanded into a series of scalar
>operations.
>
>Joel Andersson
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| just_in_time | OT_BOOLEAN | false | Just-in-time | casadi::SXFu |
>| _opencl | | | compilation | nctionIntern |
>| | | | for numeric | al |
>| | | | evaluation | |
>| | | | using OpenCL | |
>| | | | (experimenta | |
>| | | | l) | |
>+--------------+--------------+--------------+--------------+--------------+
>| just_in_time | OT_BOOLEAN | false | Propagate | casadi::SXFu |
>| _sparsity | | | sparsity | nctionIntern |
>| | | | patterns | al |
>| | | | using just- | |
>| | | | in-time | |
>| | | | compilation | |
>| | | | to a CPU or | |
>| | | | GPU using | |
>| | | | OpenCL | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: sx_function.hpp
-}
newtype SXFunction = SXFunction (ForeignPtr SXFunction')
-- typeclass decl
class SXFunctionClass a where
castSXFunction :: a -> SXFunction
instance SXFunctionClass SXFunction where
castSXFunction = id
-- baseclass instances
instance FunctionClass SXFunction where
castFunction (SXFunction x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass SXFunction where
castOptionsFunctionality (SXFunction x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass SXFunction where
castPrintableObject (SXFunction x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass SXFunction where
castSharedObject (SXFunction x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass SXFunction where
castIOInterfaceFunction (SXFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SXFunction (Ptr SXFunction') where
marshal (SXFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (SXFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SXFunction"
c_delete_casadi__SXFunction :: FunPtr (Ptr SXFunction' -> IO ())
instance WrapReturn (Ptr SXFunction') SXFunction where
wrapReturn = (fmap SXFunction) . (newForeignPtr c_delete_casadi__SXFunction)
-- raw decl
data SdpSolver'
-- data decl
{-|
>SdpSolver.
>
>Solves an SDP problem in standard form.
>Seehttp://sdpa.indsys.chuo-u.ac.jp/sdpa/files/sdpa-c.6.2.0.manual.pdf
>
>Primal:
>
>
>
>::
>
> min c' x
> x
> subject to
> P = Sum_i^m F_i x_i - G
> P negative semidefinite
>
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with x ( n x 1)
> c ( n x 1 )
> G, F_i sparse symmetric (m x m)
> X dense symmetric ( m x m )
> A sparse matrix ( nc x n)
> LBA, UBA dense vector (nc x 1)
> LBX, UBX dense vector (n x 1)
>
>
>
>This formulation is chosen as primal, because it does not call for a large
>decision variable space.
>
>Dual:
>
>
>
>::
>
> max trace(G Y)
> Y
>
> subject to
> trace(F_i Y) = c_i
> Y positive semidefinite
>
> with Y dense symmetric ( m x m)
>
>
>
>On generality: you might have formulation with block partitioning:
>
>Primal:
>
>
>
>::
>
> min c' x
> x
> subject to
> Pj = Sum_i^m F_ij x_i - gj for all j
> Pj negative semidefinite for all j
>
> with x ( n x 1)
> c ( n x 1 )
> G, F_i sparse symmetric (m x m)
> X dense symmetric ( m x m )
>
>
>
>Dual:
>
>::
>
> max Sum_j trace(Gj Yj)
> Yj
>
> subject to
> Sum_j trace(F_ij Yj) = c_i for all j
> Yj positive semidefinite for all j
>
> with Y dense symmetric ( m x m)
>
>
>
>You can cast this into the standard form with: G = blkdiag(Gj for all j) Fi
>= blkdiag(F_ij for all j)
>
>Implementations of SdpSolver are encouraged to exploit this block structure.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::SDPInput (SDP_SOLVER_NUM_IN = 8) [sdpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDP_SOLVER_F | f | The horizontal stack |
>| | | of all matrices F_i: ( |
>| | | m x nm) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_G | g | The matrix G: ( m x m) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::SDPOutput (SDP_SOLVER_NUM_OUT = 7) [sdpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDP_SOLVER_X | x | The primal solution (n |
>| | | x 1) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_P | p | The solution P (m x m) |
>| | | - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_DUAL | dual | The dual solution (m x |
>| | | m) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_dual | OT_BOOLEAN | true | Indicate if | casadi::SdpS |
>| | | | dual should | olverInterna |
>| | | | be allocated | l |
>| | | | and | |
>| | | | calculated. | |
>| | | | You may want | |
>| | | | to avoid | |
>| | | | calculating | |
>| | | | this | |
>| | | | variable for | |
>| | | | problems | |
>| | | | with n | |
>| | | | large, as is | |
>| | | | always dense | |
>| | | | (m x m). | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_p | OT_BOOLEAN | true | Indicate if | casadi::SdpS |
>| | | | the P-part | olverInterna |
>| | | | of primal | l |
>| | | | solution | |
>| | | | should be | |
>| | | | allocated | |
>| | | | and | |
>| | | | calculated. | |
>| | | | You may want | |
>| | | | to avoid | |
>| | | | calculating | |
>| | | | this | |
>| | | | variable for | |
>| | | | problems | |
>| | | | with n | |
>| | | | large, as is | |
>| | | | always dense | |
>| | | | (m x m). | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| print_proble | OT_BOOLEAN | false | Print out | casadi::SdpS |
>| m | | | problem | olverInterna |
>| | | | statement | l |
>| | | | for | |
>| | | | debugging. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_SdpSolver_dsdp'>dsdp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>SdpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>dsdp
>----
>
>
>
>Interface to the SDP solver DSDP Warning: The solver DSDP is not good at
>handling linear equalities. There are several options if you notice
>difficulties: play around with the parameter "_penalty" leave a gap
>manually switch to another SDP Solver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| _loglevel | OT_INTEGER | 0 | An integer that |
>| | | | specifies how |
>| | | | much logging is |
>| | | | done on stdout. |
>+-----------------+-----------------+-----------------+-----------------+
>| _penalty | OT_REAL | 100000 | Penality |
>| | | | parameter |
>| | | | lambda. Must |
>| | | | exceed the |
>| | | | trace of Y. |
>| | | | This parameter |
>| | | | heavily |
>| | | | influences the |
>| | | | ability of DSDP |
>| | | | to treat linear |
>| | | | equalities. The |
>| | | | DSDP standard |
>| | | | default (1e8) |
>| | | | will make a |
>| | | | problem with |
>| | | | linear equality |
>| | | | return unusable |
>| | | | solutions. |
>+-----------------+-----------------+-----------------+-----------------+
>| _printlevel | OT_INTEGER | 1 | A printlevel of |
>| | | | zero will |
>| | | | disable all |
>| | | | output. Another |
>| | | | number |
>| | | | indicates how |
>| | | | often a line is |
>| | | | printed. |
>+-----------------+-----------------+-----------------+-----------------+
>| _reuse | OT_INTEGER | 4 | Maximum on the |
>| | | | number of times |
>| | | | the Schur |
>| | | | complement |
>| | | | matrix is |
>| | | | reused |
>+-----------------+-----------------+-----------------+-----------------+
>| _rho | OT_REAL | 4 | Potential |
>| | | | parameter. Must |
>| | | | be >=1 |
>+-----------------+-----------------+-----------------+-----------------+
>| _use_penalty | OT_BOOLEAN | true | Modifies the |
>| | | | algorithm to |
>| | | | use a penality |
>| | | | gamma on r. |
>+-----------------+-----------------+-----------------+-----------------+
>| _zbar | OT_REAL | 1.000e+10 | Initial upper |
>| | | | bound on the |
>| | | | objective of |
>| | | | the dual |
>| | | | problem. |
>+-----------------+-----------------+-----------------+-----------------+
>| dualTol | OT_REAL | 0.000 | Tolerance for |
>| | | | dual |
>| | | | infeasibility |
>| | | | (translates to |
>| | | | primal |
>| | | | infeasibility |
>| | | | in dsdp terms) |
>+-----------------+-----------------+-----------------+-----------------+
>| gapTol | OT_REAL | 0.000 | Convergence |
>| | | | criterion based |
>| | | | on distance |
>| | | | between primal |
>| | | | and dual |
>| | | | objective |
>+-----------------+-----------------+-----------------+-----------------+
>| inf | OT_REAL | 1.000e+30 | Treat numbers |
>| | | | higher than |
>| | | | this as |
>| | | | infinity |
>+-----------------+-----------------+-----------------+-----------------+
>| maxIter | OT_INTEGER | 500 | Maximum number |
>| | | | of iterations |
>+-----------------+-----------------+-----------------+-----------------+
>| primalTol | OT_REAL | 0.000 | Tolerance for |
>| | | | primal |
>| | | | infeasibility |
>| | | | (translates to |
>| | | | dual |
>| | | | infeasibility |
>| | | | in dsdp terms) |
>+-----------------+-----------------+-----------------+-----------------+
>| stepTol | OT_REAL | 0.050 | Terminate the |
>| | | | solver if the |
>| | | | step length in |
>| | | | the primal is |
>| | | | below this |
>| | | | tolerance. |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+--------------------+
>| Id |
>+====================+
>| solution_type |
>+--------------------+
>| termination_reason |
>+--------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: sdp_solver.hpp
-}
newtype SdpSolver = SdpSolver (ForeignPtr SdpSolver')
-- typeclass decl
class SdpSolverClass a where
castSdpSolver :: a -> SdpSolver
instance SdpSolverClass SdpSolver where
castSdpSolver = id
-- baseclass instances
instance FunctionClass SdpSolver where
castFunction (SdpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass SdpSolver where
castOptionsFunctionality (SdpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass SdpSolver where
castPrintableObject (SdpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass SdpSolver where
castSharedObject (SdpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass SdpSolver where
castIOInterfaceFunction (SdpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SdpSolver (Ptr SdpSolver') where
marshal (SdpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SdpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SdpSolver"
c_delete_casadi__SdpSolver :: FunPtr (Ptr SdpSolver' -> IO ())
instance WrapReturn (Ptr SdpSolver') SdpSolver where
wrapReturn = (fmap SdpSolver) . (newForeignPtr c_delete_casadi__SdpSolver)
-- raw decl
data SdqpSolver'
-- data decl
{-|
>SdqpSolver.
>
>Same as an SdpSolver, but with a quadratic objective 1/2 x' H x
>
>General information
>===================
>
>
>
>>Input scheme: casadi::SDQPInput (SDQP_SOLVER_NUM_IN = 9) [sdqpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_H | h | The matrix H: sparse ( |
>| | | n x n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_F | f | The horizontal stack |
>| | | of all matrices F_i: ( |
>| | | m x nm) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_G | g | The matrix G: ( m x m) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 7) [sdqpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_X | x | The primal solution (n |
>| | | x 1) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_P | p | The solution P (m x m) |
>| | | - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL | dual | The dual solution (m x |
>| | | m) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver | OT_STRING | GenericType( | The | casadi::Sdqp |
>| | | ) | SdqpSolver | SolverIntern |
>| | | | used to | al |
>| | | | solve the | |
>| | | | SDPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | casadi::Sdqp |
>| ptions | Y | ) | be passed to | SolverIntern |
>| | | | the | al |
>| | | | SDPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_SdqpSolver_sdp'>sdp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>SdqpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>sdp
>---
>
>
>
>Solve an SQDP using an SdpSolver Note: this implementation relies on
>Cholesky decomposition: Chol(H) = L -> H = LL' with L lower triangular This
>requires Pi, H to be positive definite. Positive semi-definite is not
>sufficient. Notably, H==0 will not work.
>
>A better implementation would rely on matrix square root, but we need
>singular value decomposition to implement that.
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| sdp_solver | OT_STRING | GenericType() | The SdpSolver |
>| | | | used to solve |
>| | | | the SDQPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| sdp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |
>| ons | | | passed to the |
>| | | | SDPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+------------------+
>| Id |
>+==================+
>| sdp_solver_stats |
>+------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: sdqp_solver.hpp
-}
newtype SdqpSolver = SdqpSolver (ForeignPtr SdqpSolver')
-- typeclass decl
class SdqpSolverClass a where
castSdqpSolver :: a -> SdqpSolver
instance SdqpSolverClass SdqpSolver where
castSdqpSolver = id
-- baseclass instances
instance FunctionClass SdqpSolver where
castFunction (SdqpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass SdqpSolver where
castOptionsFunctionality (SdqpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass SdqpSolver where
castPrintableObject (SdqpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass SdqpSolver where
castSharedObject (SdqpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass SdqpSolver where
castIOInterfaceFunction (SdqpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SdqpSolver (Ptr SdqpSolver') where
marshal (SdqpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SdqpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SdqpSolver"
c_delete_casadi__SdqpSolver :: FunPtr (Ptr SdqpSolver' -> IO ())
instance WrapReturn (Ptr SdqpSolver') SdqpSolver where
wrapReturn = (fmap SdqpSolver) . (newForeignPtr c_delete_casadi__SdqpSolver)
-- raw decl
data SharedObject'
-- data decl
{-|
>SharedObject implements a reference counting framework similar for efficient
>and easily-maintained memory management.
>
>To use the class, both the SharedObject class (the public class), and the
>SharedObjectNode class (the internal class) must be inherited from. It can
>be done in two different files and together with memory management, this
>approach provides a clear distinction of which methods of the class are to
>be considered "public", i.e. methods for public use that can be considered
>to remain over time with small changes, and the internal memory.
>
>When interfacing a software, which typically includes including some header
>file, this is best done only in the file where the internal class is
>defined, to avoid polluting the global namespace and other side effects.
>
>The default constructor always means creating a null pointer to an internal
>class only. To allocate an internal class (this works only when the internal
>class isn't abstract), use the constructor with arguments.
>
>The copy constructor and the assignment operator perform shallow copies
>only, to make a deep copy you must use the clone method explicitly. This
>will give a shared pointer instance.
>
>In an inheritance hierarchy, you can cast down automatically, e.g. (
>SXFunction is a child class of Function): SXFunction derived(...); Function
>base = derived;
>
>To cast up, use the shared_cast template function, which works analogously
>to dynamic_cast, static_cast, const_cast etc, e.g.: SXFunction derived(...);
>Function base = derived; SXFunction derived_from_base =
>shared_cast<SXFunction>(base);
>
>A failed shared_cast will result in a null pointer (cf. dynamic_cast)
>
>Joel Andersson
>
>C++ includes: shared_object.hpp
-}
newtype SharedObject = SharedObject (ForeignPtr SharedObject')
-- typeclass decl
class SharedObjectClass a where
castSharedObject :: a -> SharedObject
instance SharedObjectClass SharedObject where
castSharedObject = id
-- baseclass instances
instance PrintableObjectClass SharedObject where
castPrintableObject (SharedObject x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SharedObject (Ptr SharedObject') where
marshal (SharedObject x) = return (unsafeForeignPtrToPtr x)
marshalFree (SharedObject x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SharedObject"
c_delete_casadi__SharedObject :: FunPtr (Ptr SharedObject' -> IO ())
instance WrapReturn (Ptr SharedObject') SharedObject where
wrapReturn = (fmap SharedObject) . (newForeignPtr c_delete_casadi__SharedObject)
-- raw decl
data Simulator'
-- data decl
{-|
>Integrator class.
>
>An "simulator" integrates an IVP, stopping at a (fixed) number of grid
>points and evaluates a set of output functions at these points. The internal
>stepsizes of the integrator need not coincide with the gridpoints.
>
>Simulator is an casadi::Function mapping from casadi::IntegratorInput to n.
>\\\\
>
>The output function needs to be a mapping from casadi::DAEInput to n. The
>default output has n=1 and the output is the (vectorized) differential state
>for each time step.
>
>Joel Andersson
>
>>Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 6) [integratorIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | casadi::Simu |
>| | | | uts) (initi | latorInterna |
>| | | | al|step) | l |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>
>+---------+---------------------------+
>| Id | Used in |
>+=========+===========================+
>| initial | casadi::SimulatorInternal |
>+---------+---------------------------+
>| inputs | casadi::FunctionInternal |
>+---------+---------------------------+
>| outputs | casadi::FunctionInternal |
>+---------+---------------------------+
>| step | casadi::SimulatorInternal |
>+---------+---------------------------+
>
>Diagrams
>--------
>
>
>
>C++ includes: simulator.hpp
-}
newtype Simulator = Simulator (ForeignPtr Simulator')
-- typeclass decl
class SimulatorClass a where
castSimulator :: a -> Simulator
instance SimulatorClass Simulator where
castSimulator = id
-- baseclass instances
instance FunctionClass Simulator where
castFunction (Simulator x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass Simulator where
castOptionsFunctionality (Simulator x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass Simulator where
castPrintableObject (Simulator x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Simulator where
castSharedObject (Simulator x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass Simulator where
castIOInterfaceFunction (Simulator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Simulator (Ptr Simulator') where
marshal (Simulator x) = return (unsafeForeignPtrToPtr x)
marshalFree (Simulator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Simulator"
c_delete_casadi__Simulator :: FunPtr (Ptr Simulator' -> IO ())
instance WrapReturn (Ptr Simulator') Simulator where
wrapReturn = (fmap Simulator) . (newForeignPtr c_delete_casadi__Simulator)
-- raw decl
data Slice'
-- data decl
{-|
>Class representing a Slice.
>
>Note that Python or Octave do not need to use this class. They can just use
>slicing utility from the host language ( M[0:6] in Python, M(1:7) )
>
>C++ includes: slice.hpp
-}
newtype Slice = Slice (ForeignPtr Slice')
-- typeclass decl
class SliceClass a where
castSlice :: a -> Slice
instance SliceClass Slice where
castSlice = id
-- baseclass instances
instance PrintableObjectClass Slice where
castPrintableObject (Slice x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal Slice (Ptr Slice') where
marshal (Slice x) = return (unsafeForeignPtrToPtr x)
marshalFree (Slice x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Slice"
c_delete_casadi__Slice :: FunPtr (Ptr Slice' -> IO ())
instance WrapReturn (Ptr Slice') Slice where
wrapReturn = (fmap Slice) . (newForeignPtr c_delete_casadi__Slice)
-- raw decl
data SocpSolver'
-- data decl
{-|
>SocpSolver.
>
>Solves an Second Order Cone Programming (SOCP) problem in standard form.
>
>Primal:
>
>
>
>::
>
> min c' x
> x
> subject to
> || Gi' x + hi ||_2 <= ei' x + fi i = 1..m
>
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with x ( n x 1)
> c ( n x 1 )
> Gi sparse (n x ni)
> hi dense (ni x 1)
> ei dense (n x 1)
> fi dense (1 x 1)
> N = Sum_i^m ni
> A sparse (nc x n)
> LBA, UBA dense vector (nc x 1)
> LBX, UBX dense vector (n x 1)
>
>
>
>General information
>===================
>
>
>
>>Input scheme: casadi::SOCPInput (SOCP_SOLVER_NUM_IN = 10) [socpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_G | g | The horizontal stack |
>| | | of all matrices Gi: ( |
>| | | n x N) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_H | h | The vertical stack of |
>| | | all vectors hi: ( N x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_E | e | The vertical stack of |
>| | | all vectors ei: ( nm x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_F | f | The vertical stack of |
>| | | all scalars fi: ( m x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 4) [socpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_X | x | The primal solution (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| ni | OT_INTEGERVE | GenericType( | Provide the | casadi::Socp |
>| | CTOR | ) | size of each | SolverIntern |
>| | | | SOC | al |
>| | | | constraint. | |
>| | | | Must sum up | |
>| | | | to N. | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_proble | OT_BOOLEAN | false | Print out | casadi::Socp |
>| m | | | problem | SolverIntern |
>| | | | statement | al |
>| | | | for | |
>| | | | debugging. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_SocpSolver_sdp'>sdp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>SocpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>sdp
>---
>
>
>
>Solve SOCPs using an SdpSolver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| sdp_solver | OT_STRING | GenericType() | The SdpSolver |
>| | | | used to solve |
>| | | | the SOCPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| sdp_solver_opti | OT_DICTIONARY | GenericType() | Options to be |
>| ons | | | passed to the |
>| | | | SDPSOlver |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+------------------+
>| Id |
>+==================+
>| sdp_solver_stats |
>+------------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joris Gillis
>Diagrams
>--------
>
>
>
>C++ includes: socp_solver.hpp
-}
newtype SocpSolver = SocpSolver (ForeignPtr SocpSolver')
-- typeclass decl
class SocpSolverClass a where
castSocpSolver :: a -> SocpSolver
instance SocpSolverClass SocpSolver where
castSocpSolver = id
-- baseclass instances
instance FunctionClass SocpSolver where
castFunction (SocpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass SocpSolver where
castOptionsFunctionality (SocpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass SocpSolver where
castPrintableObject (SocpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass SocpSolver where
castSharedObject (SocpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass SocpSolver where
castIOInterfaceFunction (SocpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SocpSolver (Ptr SocpSolver') where
marshal (SocpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SocpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SocpSolver"
c_delete_casadi__SocpSolver :: FunPtr (Ptr SocpSolver' -> IO ())
instance WrapReturn (Ptr SocpSolver') SocpSolver where
wrapReturn = (fmap SocpSolver) . (newForeignPtr c_delete_casadi__SocpSolver)
-- raw decl
data Sparsity'
-- data decl
{-|
>General sparsity class.
>
>The storage format is a compressed column storage (CCS) format. In this
>format, the structural non-zero elements are stored in column-major order,
>starting from the upper left corner of the matrix and ending in the lower
>right corner.
>
>In addition to the dimension ( size1(), size2()), (i.e. the number of rows
>and the number of columns respectively), there are also two vectors of
>integers:
>
>"colind" [length size2()+1], which contains the index to the first non-
>zero element on or after the corresponding column. All the non-zero elements
>of a particular i are thus the elements with index el that fulfills:
>colind[i] <= el < colind[i+1].
>
>"row" [same length as the number of non-zero elements, size()] The rows
>for each of the structural non-zeros.
>
>Note that with this format, it is cheap to loop over all the non-zero
>elements of a particular column, at constant time per element, but expensive
>to jump to access a location (i, j).
>
>If the matrix is dense, i.e. length(row) == size1()*size2(), the format
>reduces to standard dense column major format, which allows access to an
>arbitrary element in constant time.
>
>Since the object is reference counted (it inherits from SharedObject),
>several matrices are allowed to share the same sparsity pattern.
>
>The implementations of some methods of this class has been taken from the
>CSparse package and modified to use C++ standard library and CasADi data
>structures.
>
>See: Matrix
>
>Joel Andersson
>
>C++ includes: sparsity.hpp
-}
newtype Sparsity = Sparsity (ForeignPtr Sparsity')
-- typeclass decl
class SparsityClass a where
castSparsity :: a -> Sparsity
instance SparsityClass Sparsity where
castSparsity = id
-- baseclass instances
instance PrintableObjectClass Sparsity where
castPrintableObject (Sparsity x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass Sparsity where
castSharedObject (Sparsity x) = SharedObject (castForeignPtr x)
-- helper instances
instance Marshal Sparsity (Ptr Sparsity') where
marshal (Sparsity x) = return (unsafeForeignPtrToPtr x)
marshalFree (Sparsity x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__Sparsity"
c_delete_casadi__Sparsity :: FunPtr (Ptr Sparsity' -> IO ())
instance WrapReturn (Ptr Sparsity') Sparsity where
wrapReturn = (fmap Sparsity) . (newForeignPtr c_delete_casadi__Sparsity)
-- raw decl
data StabilizedQpSolver'
-- data decl
{-|
>StabilizedQpSolver.
>
>Solves the following strictly convex problem:
>
>
>
>::
>
> min 1/2 x' H x + g' x
> x
>
> subject to
> LBA <= A x <= UBA
> LBX <= x <= UBX
>
> with :
> H sparse (n x n) positive definite
> g dense (n x 1)
>
> n: number of decision variables (x)
> nc: number of constraints (A)
>
>
>
>If H is not positive-definite, the solver should throw an error.
>
>General information
>===================
>
>
>
>>Input scheme: casadi::StabilizedQpSolverInput (STABILIZED_QP_SOLVER_NUM_IN = 12) [stabilizedQpIn]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| STABILIZED_QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | uba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lbx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | ubx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_X | x0 | dense, (n x 1) |
>| 0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lam_x0 | dense |
>| AM_X0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muR | dense (1 x 1) |
>| UR | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muE | dense (nc x 1) |
>| UE | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | mu | dense (nc x 1) |
>| U | | |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: casadi::QpSolverOutput (QP_SOLVER_NUM_OUT = 4) [qpOut]
>
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | casadi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | casadi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | casadi::Func |
>| | | | indicate | tionInternal |
>| | | | whether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | casadi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | casadi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | casadi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | casadi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | casadi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | casadi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>List of plugins
>===============
>
>
>
>- <a href='#plugin_StabilizedQpSolver_sqic'>sqic</a>
>
>- <a href='#plugin_StabilizedQpSolver_qp'>qp</a>
>
>Note: some of the plugins in this list might not be available on your
>system. Also, there might be extra plugins available to you that are not
>listed here. You can obtain their documentation with
>StabilizedQpSolver.doc("myextraplugin")
>
>
>
>--------------------------------------------------------------------------------
>
>sqic
>----
>
>
>
>Interface to SQIC
>
>>List of available options
>
>+----+------+---------+-------------+
>| Id | Type | Default | Description |
>+====+======+=========+=============+
>+----+------+---------+-------------+
>
>--------------------------------------------------------------------------------
>
>
>
>--------------------------------------------------------------------------------
>
>qp --
>
>
>
>Solved a stabilized QP using a standard QP solver
>
>>List of available options
>
>+-----------------+-----------------+-----------------+-----------------+
>| Id | Type | Default | Description |
>+=================+=================+=================+=================+
>| qp_solver | OT_STRING | GenericType() | The QP solver |
>| | | | used to solve |
>| | | | the stabilized |
>| | | | QPs. |
>+-----------------+-----------------+-----------------+-----------------+
>| qp_solver_optio | OT_DICTIONARY | GenericType() | Options to be |
>| ns | | | passed to the |
>| | | | QP solver |
>| | | | instance |
>+-----------------+-----------------+-----------------+-----------------+
>
>>List of available stats
>
>+-----------------+
>| Id |
>+=================+
>| qp_solver_stats |
>+-----------------+
>
>--------------------------------------------------------------------------------
>
>
>
>Joel Andersson
>Diagrams
>--------
>
>
>
>C++ includes: stabilized_qp_solver.hpp
-}
newtype StabilizedQpSolver = StabilizedQpSolver (ForeignPtr StabilizedQpSolver')
-- typeclass decl
class StabilizedQpSolverClass a where
castStabilizedQpSolver :: a -> StabilizedQpSolver
instance StabilizedQpSolverClass StabilizedQpSolver where
castStabilizedQpSolver = id
-- baseclass instances
instance FunctionClass StabilizedQpSolver where
castFunction (StabilizedQpSolver x) = Function (castForeignPtr x)
instance OptionsFunctionalityClass StabilizedQpSolver where
castOptionsFunctionality (StabilizedQpSolver x) = OptionsFunctionality (castForeignPtr x)
instance PrintableObjectClass StabilizedQpSolver where
castPrintableObject (StabilizedQpSolver x) = PrintableObject (castForeignPtr x)
instance SharedObjectClass StabilizedQpSolver where
castSharedObject (StabilizedQpSolver x) = SharedObject (castForeignPtr x)
instance IOInterfaceFunctionClass StabilizedQpSolver where
castIOInterfaceFunction (StabilizedQpSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal StabilizedQpSolver (Ptr StabilizedQpSolver') where
marshal (StabilizedQpSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (StabilizedQpSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__StabilizedQpSolver"
c_delete_casadi__StabilizedQpSolver :: FunPtr (Ptr StabilizedQpSolver' -> IO ())
instance WrapReturn (Ptr StabilizedQpSolver') StabilizedQpSolver where
wrapReturn = (fmap StabilizedQpSolver) . (newForeignPtr c_delete_casadi__StabilizedQpSolver)
-- raw decl
data SymbolicNLP'
-- data decl
{-|
>A symbolic NLP representation.
>
>Joel Andersson
>
>C++ includes: symbolic_nlp.hpp
-}
newtype SymbolicNLP = SymbolicNLP (ForeignPtr SymbolicNLP')
-- typeclass decl
class SymbolicNLPClass a where
castSymbolicNLP :: a -> SymbolicNLP
instance SymbolicNLPClass SymbolicNLP where
castSymbolicNLP = id
-- baseclass instances
instance PrintableObjectClass SymbolicNLP where
castPrintableObject (SymbolicNLP x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SymbolicNLP (Ptr SymbolicNLP') where
marshal (SymbolicNLP x) = return (unsafeForeignPtrToPtr x)
marshalFree (SymbolicNLP x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__SymbolicNLP"
c_delete_casadi__SymbolicNLP :: FunPtr (Ptr SymbolicNLP' -> IO ())
instance WrapReturn (Ptr SymbolicNLP') SymbolicNLP where
wrapReturn = (fmap SymbolicNLP) . (newForeignPtr c_delete_casadi__SymbolicNLP)
-- raw decl
data IOInterfaceFunction'
-- data decl
{-|
>Interface for accessing input and output data structures.
>
>Joel Andersson
>
>C++ includes: io_interface.hpp
-}
newtype IOInterfaceFunction = IOInterfaceFunction (ForeignPtr IOInterfaceFunction')
-- typeclass decl
class IOInterfaceFunctionClass a where
castIOInterfaceFunction :: a -> IOInterfaceFunction
instance IOInterfaceFunctionClass IOInterfaceFunction where
castIOInterfaceFunction = id
-- baseclass instances
-- helper instances
instance Marshal IOInterfaceFunction (Ptr IOInterfaceFunction') where
marshal (IOInterfaceFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (IOInterfaceFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_casadi__IOInterface_casadi__Function_"
c_delete_casadi__IOInterface_casadi__Function_ :: FunPtr (Ptr IOInterfaceFunction' -> IO ())
instance WrapReturn (Ptr IOInterfaceFunction') IOInterfaceFunction where
wrapReturn = (fmap IOInterfaceFunction) . (newForeignPtr c_delete_casadi__IOInterface_casadi__Function_)