casadi-bindings-1.8.2.1: Casadi/Wrappers/Data.hs
{-# OPTIONS_GHC -Wall #-}
{-# Language FlexibleInstances #-}
{-# Language MultiParamTypeClasses #-}
module Casadi.Wrappers.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.Marshal ( Marshal(..) )
import Casadi.WrapReturn ( WrapReturn(..) )
-- raw decl
data SXFunction'
-- data decl
{-|
-}
newtype SXFunction = SXFunction (ForeignPtr SXFunction')
-- typeclass decl
class SXFunctionClass a where
castSXFunction :: a -> SXFunction
instance SXFunctionClass SXFunction where
castSXFunction = id
-- baseclass instances
instance SharedObjectClass SXFunction where
castSharedObject (SXFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SXFunction where
castPrintableObject (SXFunction x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass SXFunction where
castIOInterfaceFX (SXFunction x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass SXFunction where
castOptionsFunctionality (SXFunction x) = OptionsFunctionality (castForeignPtr x)
instance FXClass SXFunction where
castFX (SXFunction x) = FX (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 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::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | 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 SharedObjectClass MXFunction where
castSharedObject (MXFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass MXFunction where
castPrintableObject (MXFunction x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass MXFunction where
castIOInterfaceFX (MXFunction x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass MXFunction where
castOptionsFunctionality (MXFunction x) = OptionsFunctionality (castForeignPtr x)
instance FXClass MXFunction where
castFX (MXFunction x) = FX (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 FX'
-- 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 flattened, as a vector of size $(n*m)$. When requesting output, you
>specify which partition j is active. You get the numbers flattened, 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 column
>vector to a column vector:
>
>$ \\vec{s}_f = \\nabla f_{i,j} . \\vec{v}$ $ \\vec{s}_a = (\\nabla
>f_{i,j})^T . \\vec{w}$
>
>Some quantities is these formulas must be transposed: input row: transpose
>$ \\vec{v} $ and $\\vec{s}_a$ output row: transpose $ \\vec{w} $ and
>$\\vec{s}_f$
>
>NOTE: FX's are allowed to modify their input arguments when evaluating:
>implicitFunction, IDAS solver Futher releases may disallow this. for
>developers Each function consists of 4 files: public class header file:
>imported in python
>
>public class implementation
>
>internal class header file: should only be used by derived classes
>
>internal class implementation
>
>python and c++ should be 1-to-1 There should be no extra features in 1.
>All the functionality should exist in 1. If it means that c++ will be more
>"pythonic", so be it.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+---------+--------------------+
>| Id | Used in |
>+=========+====================+
>| inputs | CasADi::FXInternal |
>+---------+--------------------+
>| outputs | CasADi::FXInternal |
>+---------+--------------------+
>
>Diagrams
>
>C++ includes: fx.hpp
-}
newtype FX = FX (ForeignPtr FX')
-- typeclass decl
class FXClass a where
castFX :: a -> FX
instance FXClass FX where
castFX = id
-- baseclass instances
instance SharedObjectClass FX where
castSharedObject (FX x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass FX where
castPrintableObject (FX x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass FX where
castIOInterfaceFX (FX x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass FX where
castOptionsFunctionality (FX x) = OptionsFunctionality (castForeignPtr x)
-- helper instances
instance Marshal FX (Ptr FX') where
marshal (FX x) = return (unsafeForeignPtrToPtr x)
marshalFree (FX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__FX"
c_delete_CasADi__FX :: FunPtr (Ptr FX' -> IO ())
instance WrapReturn (Ptr FX') FX where
wrapReturn = (fmap FX) . (newForeignPtr c_delete_CasADi__FX)
-- raw decl
data SharedObject'
-- data decl
{-|
>SharedObject implements a reference counting framework simular for effient
>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 destinction 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 explictly. This will
>give a shared pointer instance.
>
>In an inheritance hierarchy, you can cast down automatically, e.g. (
>SXFunction is a child class of FX): SXFunction derived(...); FX 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(...);
>FX 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 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 CRSSparsity'
-- data decl
{-|
>General sparsity class.
>
>The storage format is a compressed row storage (CRS) format.
>
>In this format, the structural non-zero elements are stored in row- 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:
>
>"rowind" [length size1()+1], which contains the index to the first non-
>zero element on or after the corresponding row. All the non-zero elements of
>a particular i are thus the elements with index el that fulfils: rowind[i]
><= el < rowind[i+1].
>
>"col" [same length as the number of non-zero elements, size()] The columns
>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 row, constant time per elment, but expensive to
>jump to access a location (i,j).
>
>If the matrix is dense, i.e. length(col) == size1()*size2(), the format
>reduces to standard dense row 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 STL and CasADi data structures.
>
>See: Matrix
>
>Joel Andersson
>
>C++ includes: crs_sparsity.hpp
-}
newtype CRSSparsity = CRSSparsity (ForeignPtr CRSSparsity')
-- typeclass decl
class CRSSparsityClass a where
castCRSSparsity :: a -> CRSSparsity
instance CRSSparsityClass CRSSparsity where
castCRSSparsity = id
-- baseclass instances
instance SharedObjectClass CRSSparsity where
castSharedObject (CRSSparsity x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CRSSparsity where
castPrintableObject (CRSSparsity x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal CRSSparsity (Ptr CRSSparsity') where
marshal (CRSSparsity x) = return (unsafeForeignPtrToPtr x)
marshalFree (CRSSparsity x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CRSSparsity"
c_delete_CasADi__CRSSparsity :: FunPtr (Ptr CRSSparsity' -> IO ())
instance WrapReturn (Ptr CRSSparsity') CRSSparsity where
wrapReturn = (fmap CRSSparsity) . (newForeignPtr c_delete_CasADi__CRSSparsity)
-- 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 SharedObjectClass GenericType where
castSharedObject (GenericType x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass GenericType where
castPrintableObject (GenericType x) = PrintableObject (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 IOInterfaceFX'
-- data decl
{-|
>Interface for accessing input and output data structures.
>
>Joel Andersson
>
>C++ includes: io_interface.hpp
-}
newtype IOInterfaceFX = IOInterfaceFX (ForeignPtr IOInterfaceFX')
-- typeclass decl
class IOInterfaceFXClass a where
castIOInterfaceFX :: a -> IOInterfaceFX
instance IOInterfaceFXClass IOInterfaceFX where
castIOInterfaceFX = id
-- baseclass instances
-- helper instances
instance Marshal IOInterfaceFX (Ptr IOInterfaceFX') where
marshal (IOInterfaceFX x) = return (unsafeForeignPtrToPtr x)
marshalFree (IOInterfaceFX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IOInterface_CasADi__FX_"
c_delete_CasADi__IOInterface_CasADi__FX_ :: FunPtr (Ptr IOInterfaceFX' -> IO ())
instance WrapReturn (Ptr IOInterfaceFX') IOInterfaceFX where
wrapReturn = (fmap IOInterfaceFX) . (newForeignPtr c_delete_CasADi__IOInterface_CasADi__FX_)
-- 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 SharedObjectClass OptionsFunctionality where
castSharedObject (OptionsFunctionality x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass OptionsFunctionality where
castPrintableObject (OptionsFunctionality x) = PrintableObject (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 IpoptSolver'
-- data decl
{-|
>interface to IPOPT NLP solver
>
>Solves the following parametric nonlinear program (NLP):min F(x,p)
>x subject to LBX <= x <= UBX LBG <= G(x,p) <= UBG
>p == P nx: number of decision variables ng: number of constraints
>np: number of parameters
>
>When in warmstart mode, output NLP_SOLVER_LAM_X may be used as input
>
>NOTE: Even when max_iter == 0, it is not guaranteed that
>input(NLP_SOLVER_X0) == output(NLP_SOLVER_X). Indeed if bounds on X or
>constraints are unmet, they will differ.
>
>For a good tutorial on IPOPT,
>seehttp://drops.dagstuhl.de/volltexte/2009/2089/pdf/09061.WaechterAndreas.Paper.2089.pdf
>
>A good resource about the algorithms in IPOPT is: Wachter and L. T. Biegler,
>On the Implementation of an Interior-Point Filter Line-Search Algorithm for
>Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp.
>25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center,
>Yorktown, USA
>
>Caveats: with default options, multipliers for the decision variables are
>wrong for equality constraints. Change the 'fixed_variable_treatment' to
>'make_constraint' or 'relax_bounds' to obtain correct results.
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| accept_after | OT_INTEGER | -1 | Accept a | CasADi::Ipop |
>| _max_steps | | | trial point | tInternal |
>| | | | after | |
>| | | | maximal this | |
>| | | | number of | |
>| | | | steps. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| accept_every | OT_STRING | no | Always | CasADi::Ipop |
>| _trial_step | | | accept the | tInternal |
>| | | | first trial | |
>| | | | step. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | CasADi::Ipop |
>| ompl_inf_tol | | | threshold | tInternal |
>| | | | for the comp | |
>| | | | lementarity | |
>| | | | conditions. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | CasADi::Ipop |
>| onstr_viol_t | | | threshold | tInternal |
>| ol | | | for the | |
>| | | | constraint | |
>| | | | violation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_d | OT_REAL | 1.000e+10 | "Acceptance" | CasADi::Ipop |
>| ual_inf_tol | | | threshold | tInternal |
>| | | | for the dual | |
>| | | | infeasibilit | |
>| | | | y. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_i | OT_INTEGER | 15 | Number of | CasADi::Ipop |
>| ter | | | "acceptable" | tInternal |
>| | | | iterates | |
>| | | | before | |
>| | | | triggering | |
>| | | | termination. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_o | OT_REAL | 1.000e+20 | "Acceptance" | CasADi::Ipop |
>| bj_change_to | | | stopping | tInternal |
>| l | | | criterion | |
>| | | | based on | |
>| | | | objective | |
>| | | | function | |
>| | | | change. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_t | OT_REAL | 0.000 | "Acceptable" | CasADi::Ipop |
>| ol | | | convergence | tInternal |
>| | | | tolerance | |
>| | | | (relative). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | obj-constr- | Globalizatio | CasADi::Ipop |
>| globalizatio | | filter | n strategy | tInternal |
>| n | | | for the | |
>| | | | adaptive mu | |
>| | | | selection | |
>| | | | mode. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | 2-norm- | Norm used | CasADi::Ipop |
>| kkt_norm_typ | | squared | for the KKT | tInternal |
>| e | | | error in the | |
>| | | | adaptive mu | |
>| | | | globalizatio | |
>| | | | n | |
>| | | | strategies. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 1.000 | Sufficient | CasADi::Ipop |
>| kkterror_red | | | decrease | tInternal |
>| _fact | | | factor for | |
>| | | | "kkt-error" | |
>| | | | globalizatio | |
>| | | | n strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_INTEGER | 4 | Maximum | CasADi::Ipop |
>| kkterror_red | | | number of | tInternal |
>| _iters | | | iterations | |
>| | | | requiring | |
>| | | | sufficient | |
>| | | | progress. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 0.800 | Determines | CasADi::Ipop |
>| monotone_ini | | | the initial | tInternal |
>| t_factor | | | value of the | |
>| | | | barrier | |
>| | | | parameter | |
>| | | | when | |
>| | | | switching to | |
>| | | | the monotone | |
>| | | | mode. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | no | Indicates if | CasADi::Ipop |
>| restore_prev | | | the previous | tInternal |
>| ious_iterate | | | iterate | |
>| | | | should be | |
>| | | | restored if | |
>| | | | the monotone | |
>| | | | mode is | |
>| | | | entered. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 0 | (see IPOPT d | CasADi::Ipop |
>| safeguard_fa | | | ocumentation | tInternal |
>| ctor | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_for_y | OT_STRING | primal | Method to | CasADi::Ipop |
>| | | | determine | tInternal |
>| | | | the step | |
>| | | | size for | |
>| | | | constraint | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_for_y_ | OT_REAL | 10 | Tolerance | CasADi::Ipop |
>| tol | | | for | tInternal |
>| | | | switching to | |
>| | | | full | |
>| | | | equality | |
>| | | | multiplier | |
>| | | | steps. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_min_fr | OT_REAL | 0.050 | Safety | CasADi::Ipop |
>| ac | | | factor for | tInternal |
>| | | | the minimal | |
>| | | | step size | |
>| | | | (before | |
>| | | | switching to | |
>| | | | restoration | |
>| | | | phase). (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_red_fa | OT_REAL | 0.500 | Fractional | CasADi::Ipop |
>| ctor | | | reduction of | tInternal |
>| | | | the trial | |
>| | | | step size in | |
>| | | | the | |
>| | | | backtracking | |
>| | | | line search. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| barrier_tol_ | OT_REAL | 10 | Factor for | CasADi::Ipop |
>| factor | | | mu in | tInternal |
>| | | | barrier stop | |
>| | | | test. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_frac | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| | | | minimum | tInternal |
>| | | | relative | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | point to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_i | OT_STRING | constant | Initializati | CasADi::Ipop |
>| nit_method | | | on method | tInternal |
>| | | | for bound | |
>| | | | multipliers | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_i | OT_REAL | 1 | Initial | CasADi::Ipop |
>| nit_val | | | value for | tInternal |
>| | | | the bound | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_r | OT_REAL | 1000 | Threshold | CasADi::Ipop |
>| eset_thresho | | | for | tInternal |
>| ld | | | resetting | |
>| | | | bound | |
>| | | | multipliers | |
>| | | | after the | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_push | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| | | | minimum | tInternal |
>| | | | absolute | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | point to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_relax_ | OT_REAL | 0.000 | Factor for | CasADi::Ipop |
>| factor | | | initial | tInternal |
>| | | | relaxation | |
>| | | | of the | |
>| | | | bounds. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| check_deriva | OT_STRING | no | Indicates | CasADi::Ipop |
>| tives_for_na | | | whether it | tInternal |
>| ninf | | | is desired | |
>| | | | to check for | |
>| | | | Nan/Inf in | |
>| | | | derivative | |
>| | | | matrices | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_cup | OT_REAL | 1.500 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_hat | OT_REAL | 2 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_tilde | OT_REAL | 5 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| compl_inf_to | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| l | | | threshold | tInternal |
>| | | | for the comp | |
>| | | | lementarity | |
>| | | | conditions. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_integer_ | OT_DICTIONAR | None | Integer | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of integers) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_numeric_ | OT_DICTIONAR | None | Numeric | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of reals) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_string_m | OT_DICTIONAR | None | String | CasADi::Ipop |
>| d | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of strings) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_mult_ | OT_REAL | 1000 | Maximum | CasADi::Ipop |
>| init_max | | | allowed | tInternal |
>| | | | least-square | |
>| | | | guess of | |
>| | | | constraint | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_mult_ | OT_REAL | 0 | Threshold | CasADi::Ipop |
>| reset_thresh | | | for | tInternal |
>| old | | | resetting | |
>| | | | equality and | |
>| | | | inequality | |
>| | | | multipliers | |
>| | | | after | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_viol_ | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| tol | | | threshold | tInternal |
>| | | | for the | |
>| | | | constraint | |
>| | | | violation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraint_v | OT_STRING | 1-norm | Norm to be | CasADi::Ipop |
>| iolation_nor | | | used for the | tInternal |
>| m_type | | | constraint | |
>| | | | violation in | |
>| | | | the line | |
>| | | | search. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| corrector_co | OT_REAL | 1 | Complementar | CasADi::Ipop |
>| mpl_avrg_red | | | ity | tInternal |
>| _fact | | | tolerance | |
>| | | | factor for | |
>| | | | accepting | |
>| | | | corrector | |
>| | | | step (unsupp | |
>| | | | orted!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| corrector_ty | OT_STRING | none | The type of | CasADi::Ipop |
>| pe | | | corrector | tInternal |
>| | | | steps that | |
>| | | | should be | |
>| | | | taken (unsup | |
>| | | | ported!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| delta | OT_REAL | 1 | Multiplier | CasADi::Ipop |
>| | | | for | tInternal |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| delta_y_max | OT_REAL | 1.000e+12 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dependency_d | OT_STRING | no | Indicates if | CasADi::Ipop |
>| etection_wit | | | the right | tInternal |
>| h_rhs | | | hand sides | |
>| | | | of the | |
>| | | | constraints | |
>| | | | should be | |
>| | | | considered | |
>| | | | during | |
>| | | | dependency | |
>| | | | detection | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dependency_d | OT_STRING | none | Indicates | CasADi::Ipop |
>| etector | | | which linear | tInternal |
>| | | | solver | |
>| | | | should be | |
>| | | | used to | |
>| | | | detect | |
>| | | | linearly | |
>| | | | dependent | |
>| | | | equality | |
>| | | | constraints. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_STRING | none | Enable | CasADi::Ipop |
>| est | | | derivative | tInternal |
>| | | | checker (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_INTEGER | -2 | Index of | CasADi::Ipop |
>| est_first_in | | | first | tInternal |
>| dex | | | quantity to | |
>| | | | be checked | |
>| | | | by | |
>| | | | derivative | |
>| | | | checker (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_REAL | 0.000 | Size of the | CasADi::Ipop |
>| est_perturba | | | finite | tInternal |
>| tion | | | difference | |
>| | | | perturbation | |
>| | | | in | |
>| | | | derivative | |
>| | | | test. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_STRING | no | Indicates | CasADi::Ipop |
>| est_print_al | | | whether | tInternal |
>| l | | | information | |
>| | | | for all | |
>| | | | estimated | |
>| | | | derivatives | |
>| | | | should be | |
>| | | | printed. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_REAL | 0.000 | Threshold | CasADi::Ipop |
>| est_tol | | | for | tInternal |
>| | | | indicating | |
>| | | | wrong | |
>| | | | derivative. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| diverging_it | OT_REAL | 1.000e+20 | Threshold | CasADi::Ipop |
>| erates_tol | | | for maximal | tInternal |
>| | | | value of | |
>| | | | primal | |
>| | | | iterates. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dual_inf_tol | OT_REAL | 1 | Desired | CasADi::Ipop |
>| | | | threshold | tInternal |
>| | | | for the dual | |
>| | | | infeasibilit | |
>| | | | y. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| epsilon_c | OT_REAL | 0.010 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_min | OT_REAL | 10 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_penalty | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the Armijo | |
>| | | | condition | |
>| | | | for the | |
>| | | | penalty | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_phi | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the Armijo | |
>| | | | condition. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| evaluate_ori | OT_STRING | yes | Determines | CasADi::Ipop |
>| g_obj_at_res | | | if the | tInternal |
>| to_trial | | | original | |
>| | | | objective | |
>| | | | function | |
>| | | | should be | |
>| | | | evaluated at | |
>| | | | restoration | |
>| | | | phase trial | |
>| | | | points. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::NLPS |
>| | | | NLP function | olverInterna |
>| | | | in terms of | l |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX-> SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_f | OT_BOOLEAN | GenericType( | Expand the | CasADi::NLPS |
>| | | ) | objective | olverInterna |
>| | | | function in | l |
>| | | | terms of | |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX-> SX | |
>| | | | . | |
>| | | | Deprecated, | |
>| | | | use "expand" | |
>| | | | instead. | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_g | OT_BOOLEAN | GenericType( | Expand the | CasADi::NLPS |
>| | | ) | constraint | olverInterna |
>| | | | function in | l |
>| | | | terms of | |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX-> SX | |
>| | | | . | |
>| | | | Deprecated, | |
>| | | | use "expand" | |
>| | | | instead. | |
>+--------------+--------------+--------------+--------------+--------------+
>| expect_infea | OT_STRING | no | Enable | CasADi::Ipop |
>| sible_proble | | | heuristics | tInternal |
>| m | | | to quickly | |
>| | | | detect an | |
>| | | | infeasible | |
>| | | | problem. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| expect_infea | OT_REAL | 0.001 | Threshold | CasADi::Ipop |
>| sible_proble | | | for | tInternal |
>| m_ctol | | | disabling "e | |
>| | | | xpect_infeas | |
>| | | | ible_problem | |
>| | | | " option. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| expect_infea | OT_REAL | 100000000 | Multiplier | CasADi::Ipop |
>| sible_proble | | | threshold | tInternal |
>| m_ytol | | | for | |
>| | | | activating " | |
>| | | | expect_infea | |
>| | | | sible_proble | |
>| | | | m" option. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fast_des_fac | OT_REAL | 0.100 | a parameter | CasADi::Ipop |
>| t | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fast_step_co | OT_STRING | no | Indicates if | CasADi::Ipop |
>| mputation | | | the linear | tInternal |
>| | | | system | |
>| | | | should be | |
>| | | | solved | |
>| | | | quickly. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| file_print_l | OT_INTEGER | 5 | Verbosity | CasADi::Ipop |
>| evel | | | level for | tInternal |
>| | | | output file. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| filter_margi | OT_REAL | 0.000 | Factor | CasADi::Ipop |
>| n_fact | | | determining | tInternal |
>| | | | width of | |
>| | | | margin for | |
>| | | | obj-constr- | |
>| | | | filter | |
>| | | | adaptive glo | |
>| | | | balization | |
>| | | | strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| filter_max_m | OT_REAL | 1 | Maximum | CasADi::Ipop |
>| argin | | | width of | tInternal |
>| | | | margin in | |
>| | | | obj-constr- | |
>| | | | filter | |
>| | | | adaptive glo | |
>| | | | balization | |
>| | | | strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| filter_reset | OT_INTEGER | 5 | Number of | CasADi::Ipop |
>| _trigger | | | iterations | tInternal |
>| | | | that trigger | |
>| | | | the filter | |
>| | | | reset. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| findiff_pert | OT_REAL | 0.000 | Size of the | CasADi::Ipop |
>| urbation | | | finite | tInternal |
>| | | | difference | |
>| | | | perturbation | |
>| | | | for | |
>| | | | derivative a | |
>| | | | pproximation | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| first_hessia | OT_REAL | 0.000 | Size of | CasADi::Ipop |
>| n_perturbati | | | first x-s | tInternal |
>| on | | | perturbation | |
>| | | | tried. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fixed_mu_ora | OT_STRING | average_comp | Oracle for | CasADi::Ipop |
>| cle | | l | the barrier | tInternal |
>| | | | parameter | |
>| | | | when | |
>| | | | switching to | |
>| | | | fixed mode. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fixed_variab | OT_STRING | make_paramet | Determines | CasADi::Ipop |
>| le_treatment | | er | how fixed | tInternal |
>| | | | variables | |
>| | | | should be | |
>| | | | handled. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma_hat | OT_REAL | 0.040 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma_phi | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the filter | |
>| | | | margin for | |
>| | | | the barrier | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma_theta | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the filter | |
>| | | | margin for | |
>| | | | the | |
>| | | | constraint | |
>| | | | violation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma_tilde | OT_REAL | 4 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| gauss_newton | OT_BOOLEAN | GenericType( | Deprecated | CasADi::NLPS |
>| | | ) | option. Use | olverInterna |
>| | | | Gauss Newton | l |
>| | | | Hessian appr | |
>| | | | oximation | |
>+--------------+--------------+--------------+--------------+--------------+
>| generate_gra | OT_BOOLEAN | GenericType( | Deprecated | CasADi::NLPS |
>| dient | | ) | option. | olverInterna |
>| | | | Generate a | l |
>| | | | function for | |
>| | | | calculating | |
>| | | | the gradient | |
>| | | | of the | |
>| | | | objective. | |
>+--------------+--------------+--------------+--------------+--------------+
>| generate_hes | OT_BOOLEAN | GenericType( | Deprecated | CasADi::NLPS |
>| sian | | ) | option. | olverInterna |
>| | | | Generate an | l |
>| | | | exact | |
>| | | | Hessian of | |
>| | | | the | |
>| | | | Lagrangian | |
>| | | | if not | |
>| | | | supplied. | |
>+--------------+--------------+--------------+--------------+--------------+
>| generate_jac | OT_BOOLEAN | GenericType( | Deprecated | CasADi::NLPS |
>| obian | | ) | option. | olverInterna |
>| | | | Generate an | l |
>| | | | exact | |
>| | | | Jacobian of | |
>| | | | the | |
>| | | | constraints | |
>| | | | if not | |
>| | | | supplied. | |
>+--------------+--------------+--------------+--------------+--------------+
>| grad_f | OT_FX | GenericType( | Function for | CasADi::NLPS |
>| | | ) | calculating | olverInterna |
>| | | | the gradient | l |
>| | | | of the | |
>| | | | objective (a | |
>| | | | utogenerated | |
>| | | | by default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| grad_lag | OT_FX | GenericType( | Function for | CasADi::NLPS |
>| | | ) | calculating | olverInterna |
>| | | | the gradient | l |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hess_lag | OT_FX | GenericType( | Function for | CasADi::NLPS |
>| | | ) | calculating | olverInterna |
>| | | | the Hessian | l |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | exact | Indicates | CasADi::Ipop |
>| oximation | | | what Hessian | tInternal |
>| | | | information | |
>| | | | is to be | |
>| | | | used. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | nonlinear- | Indicates in | CasADi::Ipop |
>| oximation_sp | | variables | which | tInternal |
>| ace | | | subspace the | |
>| | | | Hessian | |
>| | | | information | |
>| | | | is to be app | |
>| | | | roximated. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_cons | OT_STRING | no | Indicates | CasADi::Ipop |
>| tant | | | whether the | tInternal |
>| | | | problem is a | |
>| | | | quadratic | |
>| | | | problem (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| honor_origin | OT_STRING | yes | Indicates | CasADi::Ipop |
>| al_bounds | | | whether | tInternal |
>| | | | final points | |
>| | | | should be | |
>| | | | projected | |
>| | | | into | |
>| | | | original | |
>| | | | bounds. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inf_pr_outpu | OT_STRING | original | Determines | CasADi::Ipop |
>| t | | | what value | tInternal |
>| | | | is printed | |
>| | | | in the | |
>| | | | "inf_pr" | |
>| | | | output | |
>| | | | column. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_c_consta | OT_STRING | no | Indicates | CasADi::Ipop |
>| nt | | | whether all | tInternal |
>| | | | equality | |
>| | | | constraints | |
>| | | | are linear | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_d_consta | OT_STRING | no | Indicates | CasADi::Ipop |
>| nt | | | whether all | tInternal |
>| | | | inequality | |
>| | | | constraints | |
>| | | | are linear | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_g | OT_FX | GenericType( | Function for | CasADi::NLPS |
>| | | ) | calculating | olverInterna |
>| | | | the Jacobian | l |
>| | | | of the | |
>| | | | constraints | |
>| | | | (autogenerat | |
>| | | | ed by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_app | OT_STRING | exact | Specifies | CasADi::Ipop |
>| roximation | | | technique to | tInternal |
>| | | | compute | |
>| | | | constraint | |
>| | | | Jacobian | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_reg | OT_REAL | 0.250 | Exponent for | CasADi::Ipop |
>| ularization_ | | | mu in the re | tInternal |
>| exponent | | | gularization | |
>| | | | for rank- | |
>| | | | deficient | |
>| | | | constraint | |
>| | | | Jacobians. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_reg | OT_REAL | 0.000 | Size of the | CasADi::Ipop |
>| ularization_ | | | regularizati | tInternal |
>| value | | | on for rank- | |
>| | | | deficient | |
>| | | | constraint | |
>| | | | Jacobians. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_d | OT_REAL | 0.000 | Weight for | CasADi::Ipop |
>| | | | linear | tInternal |
>| | | | damping term | |
>| | | | (to handle | |
>| | | | one-sided | |
>| | | | bounds). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_sigma | OT_REAL | 1.000e+10 | Factor | CasADi::Ipop |
>| | | | limiting the | tInternal |
>| | | | deviation of | |
>| | | | dual | |
>| | | | variables | |
>| | | | from primal | |
>| | | | estimates. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_soc | OT_REAL | 0.990 | Factor in | CasADi::Ipop |
>| | | | the | tInternal |
>| | | | sufficient | |
>| | | | reduction | |
>| | | | rule for | |
>| | | | second order | |
>| | | | correction. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_x_dis | OT_REAL | 100 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_y_dis | OT_REAL | 10000 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| least_square | OT_STRING | no | Least square | CasADi::Ipop |
>| _init_duals | | | initializati | tInternal |
>| | | | on of all | |
>| | | | dual | |
>| | | | variables | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| least_square | OT_STRING | no | Least square | CasADi::Ipop |
>| _init_primal | | | initializati | tInternal |
>| | | | on of the | |
>| | | | primal | |
>| | | | variables | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | sherman- | Strategy for | CasADi::Ipop |
>| ry_aug_solve | | morrison | solving the | tInternal |
>| r | | | augmented | |
>| | | | system for | |
>| | | | low-rank | |
>| | | | Hessian. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 1 | Value for B0 | CasADi::Ipop |
>| ry_init_val | | | in low-rank | tInternal |
>| | | | update. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 100000000 | Upper bound | CasADi::Ipop |
>| ry_init_val_ | | | on value for | tInternal |
>| max | | | B0 in low- | |
>| | | | rank update. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 0.000 | Lower bound | CasADi::Ipop |
>| ry_init_val_ | | | on value for | tInternal |
>| min | | | B0 in low- | |
>| | | | rank update. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | scalar1 | Initializati | CasADi::Ipop |
>| ry_initializ | | | on strategy | tInternal |
>| ation | | | for the | |
>| | | | limited | |
>| | | | memory | |
>| | | | quasi-Newton | |
>| | | | approximatio | |
>| | | | n. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_INTEGER | 6 | Maximum size | CasADi::Ipop |
>| ry_max_histo | | | of the | tInternal |
>| ry | | | history for | |
>| | | | the limited | |
>| | | | quasi-Newton | |
>| | | | Hessian appr | |
>| | | | oximation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_INTEGER | 2 | Threshold | CasADi::Ipop |
>| ry_max_skipp | | | for | tInternal |
>| ing | | | successive | |
>| | | | iterations | |
>| | | | where update | |
>| | | | is skipped. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | no | Determines | CasADi::Ipop |
>| ry_special_f | | | if the | tInternal |
>| or_resto | | | quasi-Newton | |
>| | | | updates | |
>| | | | should be | |
>| | | | special | |
>| | | | during the | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | bfgs | Quasi-Newton | CasADi::Ipop |
>| ry_update_ty | | | update | tInternal |
>| pe | | | formula for | |
>| | | | the limited | |
>| | | | memory appro | |
>| | | | ximation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| line_search_ | OT_STRING | filter | Globalizatio | CasADi::Ipop |
>| method | | | n method | tInternal |
>| | | | used in | |
>| | | | backtracking | |
>| | | | line search | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_scali | OT_STRING | yes | Flag | CasADi::Ipop |
>| ng_on_demand | | | indicating | tInternal |
>| | | | that linear | |
>| | | | scaling is | |
>| | | | only done if | |
>| | | | it seems | |
>| | | | required. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | ma27 | Linear | CasADi::Ipop |
>| r | | | solver used | tInternal |
>| | | | for step com | |
>| | | | putations. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_syste | OT_STRING | mc19 | Method for | CasADi::Ipop |
>| m_scaling | | | scaling the | tInternal |
>| | | | linear | |
>| | | | system. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_ignore_ | OT_STRING | no | Enables | CasADi::Ipop |
>| singularity | | | MA27's | tInternal |
>| | | | ability to | |
>| | | | solve a | |
>| | | | linear | |
>| | | | system even | |
>| | | | if the | |
>| | | | matrix is | |
>| | | | singular. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_la_init | OT_REAL | 5 | Real | CasADi::Ipop |
>| _factor | | | workspace | tInternal |
>| | | | memory for | |
>| | | | MA27. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_liw_ini | OT_REAL | 5 | Integer | CasADi::Ipop |
>| t_factor | | | workspace | tInternal |
>| | | | memory for | |
>| | | | MA27. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_meminc_ | OT_REAL | 10 | Increment | CasADi::Ipop |
>| factor | | | factor for | tInternal |
>| | | | workspace | |
>| | | | size for | |
>| | | | MA27. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_pivtol | OT_REAL | 0.000 | Pivot | CasADi::Ipop |
>| | | | tolerance | tInternal |
>| | | | for the | |
>| | | | linear | |
>| | | | solver MA27. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_pivtolm | OT_REAL | 0.000 | Maximum | CasADi::Ipop |
>| ax | | | pivot | tInternal |
>| | | | tolerance | |
>| | | | for the | |
>| | | | linear | |
>| | | | solver MA27. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma27_skip_in | OT_STRING | no | Always | CasADi::Ipop |
>| ertia_check | | | pretend | tInternal |
>| | | | inertia is | |
>| | | | correct. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma28_pivtol | OT_REAL | 0.010 | Pivot | CasADi::Ipop |
>| | | | tolerance | tInternal |
>| | | | for linear | |
>| | | | solver MA28. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_automat | OT_STRING | yes | Controls | CasADi::Ipop |
>| ic_scaling | | | MA57 | tInternal |
>| | | | automatic | |
>| | | | scaling (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_block_s | OT_INTEGER | 16 | Controls | CasADi::Ipop |
>| ize | | | block size | tInternal |
>| | | | used by | |
>| | | | Level 3 BLAS | |
>| | | | in MA57BD | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_node_am | OT_INTEGER | 16 | Node | CasADi::Ipop |
>| algamation | | | amalgamation | tInternal |
>| | | | parameter | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_pivot_o | OT_INTEGER | 5 | Controls | CasADi::Ipop |
>| rder | | | pivot order | tInternal |
>| | | | in MA57 (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_pivtol | OT_REAL | 0.000 | Pivot | CasADi::Ipop |
>| | | | tolerance | tInternal |
>| | | | for the | |
>| | | | linear | |
>| | | | solver MA57. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_pivtolm | OT_REAL | 0.000 | Maximum | CasADi::Ipop |
>| ax | | | pivot | tInternal |
>| | | | tolerance | |
>| | | | for the | |
>| | | | linear | |
>| | | | solver MA57. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_pre_all | OT_REAL | 1.050 | Safety | CasADi::Ipop |
>| oc | | | factor for | tInternal |
>| | | | work space | |
>| | | | memory | |
>| | | | allocation | |
>| | | | for the | |
>| | | | linear | |
>| | | | solver MA57. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma57_small_p | OT_INTEGER | 0 | If set to 1, | CasADi::Ipop |
>| ivot_flag | | | then when | tInternal |
>| | | | small | |
>| | | | entries | |
>| | | | defined by | |
>| | | | CNTL(2) are | |
>| | | | detected | |
>| | | | they are | |
>| | | | removed and | |
>| | | | the correspo | |
>| | | | nding pivots | |
>| | | | placed at | |
>| | | | the end of | |
>| | | | the factoriz | |
>| | | | ation. This | |
>| | | | can be | |
>| | | | particularly | |
>| | | | efficient if | |
>| | | | the matrix | |
>| | | | is highly | |
>| | | | rank | |
>| | | | deficient. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_nemin | OT_INTEGER | 32 | Node | CasADi::Ipop |
>| | | | Amalgamation | tInternal |
>| | | | parameter | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_print_l | OT_INTEGER | 0 | Debug | CasADi::Ipop |
>| evel | | | printing | tInternal |
>| | | | level for | |
>| | | | the linear | |
>| | | | solver MA86 | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_small | OT_REAL | 0.000 | Zero Pivot | CasADi::Ipop |
>| | | | Threshold | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_static | OT_REAL | 0 | Static | CasADi::Ipop |
>| | | | Pivoting | tInternal |
>| | | | Threshold | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_u | OT_REAL | 0.000 | Pivoting | CasADi::Ipop |
>| | | | Threshold | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ma86_umax | OT_REAL | 0.000 | Maximum | CasADi::Ipop |
>| | | | Pivoting | tInternal |
>| | | | Threshold | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| magic_steps | OT_STRING | no | Enables | CasADi::Ipop |
>| | | | magic steps. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_cpu_time | OT_REAL | 1000000 | Maximum | CasADi::Ipop |
>| | | | number of | tInternal |
>| | | | CPU seconds. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_filter_r | OT_INTEGER | 5 | Maximal | CasADi::Ipop |
>| esets | | | allowed | tInternal |
>| | | | number of | |
>| | | | filter | |
>| | | | resets (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_hessian_ | OT_REAL | 1.000e+20 | Maximum | CasADi::Ipop |
>| perturbation | | | value of reg | tInternal |
>| | | | ularization | |
>| | | | parameter | |
>| | | | for handling | |
>| | | | negative | |
>| | | | curvature. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 3000 | Maximum | CasADi::Ipop |
>| | | | number of | tInternal |
>| | | | iterations. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_refineme | OT_INTEGER | 10 | Maximum | CasADi::Ipop |
>| nt_steps | | | number of | tInternal |
>| | | | iterative | |
>| | | | refinement | |
>| | | | steps per | |
>| | | | linear | |
>| | | | system | |
>| | | | solve. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_resto_it | OT_INTEGER | 3000000 | Maximum | CasADi::Ipop |
>| er | | | number of | tInternal |
>| | | | successive | |
>| | | | iterations | |
>| | | | in | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_soc | OT_INTEGER | 4 | Maximum | CasADi::Ipop |
>| | | | number of | tInternal |
>| | | | second order | |
>| | | | correction | |
>| | | | trial steps | |
>| | | | at each | |
>| | | | iteration. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_soft_res | OT_INTEGER | 10 | Maximum | CasADi::Ipop |
>| to_iters | | | number of | tInternal |
>| | | | iterations | |
>| | | | performed | |
>| | | | successively | |
>| | | | in soft | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mehrotra_alg | OT_STRING | no | Indicates if | CasADi::Ipop |
>| orithm | | | we want to | tInternal |
>| | | | do | |
>| | | | Mehrotra's | |
>| | | | algorithm. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_alpha_pr | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| imal | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_hessian_ | OT_REAL | 0.000 | Smallest | CasADi::Ipop |
>| perturbation | | | perturbation | tInternal |
>| | | | of the | |
>| | | | Hessian | |
>| | | | block. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_refineme | OT_INTEGER | 1 | Minimum | CasADi::Ipop |
>| nt_steps | | | number of | tInternal |
>| | | | iterative | |
>| | | | refinement | |
>| | | | steps per | |
>| | | | linear | |
>| | | | system | |
>| | | | solve. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal Cas |
>| | | | (inputs|outp | ADi::IpoptIn |
>| | | | uts) (eval_ | ternal |
>| | | | f|eval_g|eva | |
>| | | | l_jac_g|eval | |
>| | | | _grad_f) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_allow_fas | OT_STRING | yes | Allow | CasADi::Ipop |
>| t_monotone_d | | | skipping of | tInternal |
>| ecrease | | | barrier | |
>| | | | problem if | |
>| | | | barrier test | |
>| | | | is already | |
>| | | | met. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_init | OT_REAL | 0.100 | Initial | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | the barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_linear_de | OT_REAL | 0.200 | Determines | CasADi::Ipop |
>| crease_facto | | | linear | tInternal |
>| r | | | decrease | |
>| | | | rate of | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_max | OT_REAL | 100000 | Maximum | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_max_fact | OT_REAL | 1000 | Factor for i | CasADi::Ipop |
>| | | | nitializatio | tInternal |
>| | | | n of maximum | |
>| | | | value for | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_min | OT_REAL | 0.000 | Minimum | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_oracle | OT_STRING | quality- | Oracle for a | CasADi::Ipop |
>| | | function | new barrier | tInternal |
>| | | | parameter in | |
>| | | | the adaptive | |
>| | | | strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_strategy | OT_STRING | monotone | Update | CasADi::Ipop |
>| | | | strategy for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_superline | OT_REAL | 1.500 | Determines | CasADi::Ipop |
>| ar_decrease_ | | | superlinear | tInternal |
>| power | | | decrease | |
>| | | | rate of | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_target | OT_REAL | 0 | Desired | CasADi::Ipop |
>| | | | value of com | tInternal |
>| | | | plementarity | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mult_diverg_ | OT_REAL | 0.000 | tolerance | CasADi::Ipop |
>| feasibility_ | | | for deciding | tInternal |
>| tol | | | if the | |
>| | | | multipliers | |
>| | | | are | |
>| | | | diverging | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mult_diverg_ | OT_REAL | 100000000 | tolerance | CasADi::Ipop |
>| y_tol | | | for deciding | tInternal |
>| | | | if the | |
>| | | | multipliers | |
>| | | | are | |
>| | | | diverging | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_dep_to | OT_REAL | -1 | Pivot | CasADi::Ipop |
>| l | | | threshold | tInternal |
>| | | | for | |
>| | | | detection of | |
>| | | | linearly | |
>| | | | dependent | |
>| | | | constraints | |
>| | | | in MUMPS. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_mem_pe | OT_INTEGER | 1000 | Percentage | CasADi::Ipop |
>| rcent | | | increase in | tInternal |
>| | | | the | |
>| | | | estimated | |
>| | | | working | |
>| | | | space for | |
>| | | | MUMPS. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_permut | OT_INTEGER | 7 | Controls | CasADi::Ipop |
>| ing_scaling | | | permuting | tInternal |
>| | | | and scaling | |
>| | | | in MUMPS | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_pivot_ | OT_INTEGER | 7 | Controls | CasADi::Ipop |
>| order | | | pivot order | tInternal |
>| | | | in MUMPS | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_pivtol | OT_REAL | 0.000 | Pivot | CasADi::Ipop |
>| | | | tolerance | tInternal |
>| | | | for the | |
>| | | | linear | |
>| | | | solver | |
>| | | | MUMPS. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_pivtol | OT_REAL | 0.100 | Maximum | CasADi::Ipop |
>| max | | | pivot | tInternal |
>| | | | tolerance | |
>| | | | for the | |
>| | | | linear | |
>| | | | solver | |
>| | | | MUMPS. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_scalin | OT_INTEGER | 77 | Controls | CasADi::Ipop |
>| g | | | scaling in | tInternal |
>| | | | MUMPS (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| neg_curv_tes | OT_REAL | 0 | Tolerance | CasADi::Ipop |
>| t_tol | | | for | tInternal |
>| | | | heuristic to | |
>| | | | ignore wrong | |
>| | | | inertia. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| never_use_fa | OT_STRING | no | Toggle to | CasADi::Ipop |
>| ct_cgpen_dir | | | switch off | tInternal |
>| ection | | | the fast | |
>| | | | Chen- | |
>| | | | Goldfarb | |
>| | | | direction | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| never_use_pi | OT_STRING | no | Toggle to | CasADi::Ipop |
>| ecewise_pena | | | switch off | tInternal |
>| lty_ls | | | the | |
>| | | | piecewise | |
>| | | | penalty | |
>| | | | method (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_lower_bo | OT_REAL | -1.000e+19 | any bound | CasADi::Ipop |
>| und_inf | | | less or | tInternal |
>| | | | equal this | |
>| | | | value will | |
>| | | | be | |
>| | | | considered | |
>| | | | -inf (i.e. | |
>| | | | not lower | |
>| | | | bounded). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_scaling_ | OT_REAL | 0 | Target value | CasADi::Ipop |
>| constr_targe | | | for | tInternal |
>| t_gradient | | | constraint | |
>| | | | function | |
>| | | | gradient | |
>| | | | size. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_scaling_ | OT_REAL | 100 | Maximum | CasADi::Ipop |
>| max_gradient | | | gradient | tInternal |
>| | | | after NLP | |
>| | | | scaling. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_scaling_ | OT_STRING | gradient- | Select the | CasADi::Ipop |
>| method | | based | technique | tInternal |
>| | | | used for | |
>| | | | scaling the | |
>| | | | NLP. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_scaling_ | OT_REAL | 0.000 | Minimum | CasADi::Ipop |
>| min_value | | | value of | tInternal |
>| | | | gradient- | |
>| | | | based | |
>| | | | scaling | |
>| | | | values. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_scaling_ | OT_REAL | 0 | Target value | CasADi::Ipop |
>| obj_target_g | | | for | tInternal |
>| radient | | | objective | |
>| | | | function | |
>| | | | gradient | |
>| | | | size. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_upper_bo | OT_REAL | 1.000e+19 | any bound | CasADi::Ipop |
>| und_inf | | | greater or | tInternal |
>| | | | this value | |
>| | | | will be | |
>| | | | considered | |
>| | | | +inf (i.e. | |
>| | | | not upper | |
>| | | | bounded). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nu_inc | OT_REAL | 0.000 | Increment of | CasADi::Ipop |
>| | | | the penalty | tInternal |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| nu_init | OT_REAL | 0.000 | Initial | CasADi::Ipop |
>| | | | value of the | tInternal |
>| | | | penalty | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| num_linear_v | OT_INTEGER | 0 | Number of | CasADi::Ipop |
>| ariables | | | linear | tInternal |
>| | | | variables | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| obj_max_inc | OT_REAL | 5 | Determines | CasADi::Ipop |
>| | | | the upper | tInternal |
>| | | | bound on the | |
>| | | | acceptable | |
>| | | | increase of | |
>| | | | barrier | |
>| | | | objective | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| obj_scaling_ | OT_REAL | 1 | Scaling | CasADi::Ipop |
>| factor | | | factor for | tInternal |
>| | | | the | |
>| | | | objective | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| option_file_ | OT_STRING | | File name of | CasADi::Ipop |
>| name | | | options file | tInternal |
>| | | | (to | |
>| | | | overwrite | |
>| | | | default). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| output_file | OT_STRING | | File name of | CasADi::Ipop |
>| | | | desired | tInternal |
>| | | | output file | |
>| | | | (leave unset | |
>| | | | for no file | |
>| | | | output). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| parametric | OT_BOOLEAN | GenericType( | Deprecated | CasADi::NLPS |
>| | | ) | option. | olverInterna |
>| | | | Expect F, G, | l |
>| | | | H, J to have | |
>| | | | an | |
>| | | | additional | |
>| | | | input | |
>| | | | argument | |
>| | | | appended at | |
>| | | | the end, | |
>| | | | denoting | |
>| | | | fixed | |
>| | | | parameters. | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_INTEGER | 5000 | Maximum Size | CasADi::Ipop |
>| _coarse_size | | | of Coarse | tInternal |
>| | | | Grid Matrix | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_REAL | 0.500 | dropping | CasADi::Ipop |
>| _dropping_fa | | | value for | tInternal |
>| ctor | | | incomplete | |
>| | | | factor (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_REAL | 0.100 | dropping | CasADi::Ipop |
>| _dropping_sc | | | value for | tInternal |
>| hur | | | sparsify | |
>| | | | schur | |
>| | | | complement | |
>| | | | factor (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_REAL | 5000000 | (see IPOPT d | CasADi::Ipop |
>| _inverse_nor | | | ocumentation | tInternal |
>| m_factor | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_INTEGER | 10 | Maximum Size | CasADi::Ipop |
>| _max_levels | | | of Grid | tInternal |
>| | | | Levels (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_INTEGER | 10000000 | max fill for | CasADi::Ipop |
>| _max_row_fil | | | each row | tInternal |
>| l | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_REAL | 0.000 | Relative | CasADi::Ipop |
>| _relative_to | | | Residual | tInternal |
>| l | | | Convergence | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_iter | OT_STRING | no | Switch on | CasADi::Ipop |
>| ative | | | iterative | tInternal |
>| | | | solver in | |
>| | | | Pardiso | |
>| | | | library (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_matc | OT_STRING | complete+2x2 | Matching | CasADi::Ipop |
>| hing_strateg | | | strategy to | tInternal |
>| y | | | be used by | |
>| | | | Pardiso (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_max_ | OT_INTEGER | 4 | Maximal | CasADi::Ipop |
>| droptol_corr | | | number of | tInternal |
>| ections | | | decreases of | |
>| | | | drop | |
>| | | | tolerance | |
>| | | | during one | |
>| | | | solve. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_max_ | OT_INTEGER | 500 | Maximum | CasADi::Ipop |
>| iter | | | number of | tInternal |
>| | | | Krylov- | |
>| | | | Subspace | |
>| | | | Iteration | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_msgl | OT_INTEGER | 0 | Pardiso | CasADi::Ipop |
>| vl | | | message | tInternal |
>| | | | level (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_out_ | OT_INTEGER | 0 | Enables out- | CasADi::Ipop |
>| of_core_powe | | | of-core | tInternal |
>| r | | | variant of | |
>| | | | Pardiso (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_redo | OT_STRING | no | Toggle for | CasADi::Ipop |
>| _symbolic_fa | | | handling | tInternal |
>| ct_only_if_i | | | case when | |
>| nertia_wrong | | | elements | |
>| | | | were | |
>| | | | perturbed by | |
>| | | | Pardiso. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_repe | OT_STRING | no | Interpretati | CasADi::Ipop |
>| ated_perturb | | | on of | tInternal |
>| ation_means_ | | | perturbed | |
>| singular | | | elements. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pardiso_skip | OT_STRING | no | Always | CasADi::Ipop |
>| _inertia_che | | | pretend | tInternal |
>| ck | | | inertia is | |
>| | | | correct. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pass_nonline | OT_BOOLEAN | False | n/a | CasADi::Ipop |
>| ar_variables | | | | tInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| pen_des_fact | OT_REAL | 0.200 | a parameter | CasADi::Ipop |
>| | | | used in | tInternal |
>| | | | penalty | |
>| | | | parameter | |
>| | | | computation | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pen_init_fac | OT_REAL | 50 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | choose | |
>| | | | initial | |
>| | | | penalty para | |
>| | | | meterswhen | |
>| | | | the | |
>| | | | regularized | |
>| | | | Newton | |
>| | | | method is | |
>| | | | used. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| pen_theta_ma | OT_REAL | 10000 | Determines | CasADi::Ipop |
>| x_fact | | | upper bound | tInternal |
>| | | | for | |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the filter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| penalty_init | OT_REAL | 100000 | Maximal | CasADi::Ipop |
>| _max | | | value for | tInternal |
>| | | | the intial | |
>| | | | penalty | |
>| | | | parameter | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| penalty_init | OT_REAL | 1 | Minimal | CasADi::Ipop |
>| _min | | | value for | tInternal |
>| | | | the intial | |
>| | | | penalty | |
>| | | | parameter | |
>| | | | for line | |
>| | | | search(for | |
>| | | | Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| penalty_max | OT_REAL | 1.000e+30 | Maximal | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | the penalty | |
>| | | | parameter | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| penalty_upda | OT_REAL | 10 | LIFENG | CasADi::Ipop |
>| te_compl_tol | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| penalty_upda | OT_REAL | 0.000 | Threshold | CasADi::Ipop |
>| te_infeasibi | | | for infeasib | tInternal |
>| lity_tol | | | ility in | |
>| | | | penalty | |
>| | | | parameter | |
>| | | | update test. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| perturb_alwa | OT_STRING | no | Active | CasADi::Ipop |
>| ys_cd | | | permanent | tInternal |
>| | | | perturbation | |
>| | | | of | |
>| | | | constraint l | |
>| | | | inearization | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| perturb_dec_ | OT_REAL | 0.333 | Decrease | CasADi::Ipop |
>| fact | | | factor for | tInternal |
>| | | | x-s perturba | |
>| | | | tion. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| perturb_inc_ | OT_REAL | 8 | Increase | CasADi::Ipop |
>| fact | | | factor for | tInternal |
>| | | | x-s perturba | |
>| | | | tion. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| perturb_inc_ | OT_REAL | 100 | Increase | CasADi::Ipop |
>| fact_first | | | factor for | tInternal |
>| | | | x-s | |
>| | | | perturbation | |
>| | | | for very | |
>| | | | first pertur | |
>| | | | bation. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| piecewisepen | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| alty_gamma_i | | | WRITES THIS. | tInternal |
>| nfeasi | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| piecewisepen | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| alty_gamma_o | | | WRITES THIS. | tInternal |
>| bj | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| point_pertur | OT_REAL | 10 | Maximal | CasADi::Ipop |
>| bation_radiu | | | perturbation | tInternal |
>| s | | | of an | |
>| | | | evaluation | |
>| | | | point. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_info_s | OT_STRING | no | Enables | CasADi::Ipop |
>| tring | | | printing of | tInternal |
>| | | | additional | |
>| | | | info string | |
>| | | | at end of | |
>| | | | iteration | |
>| | | | output. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_level | OT_INTEGER | 5 | Output | CasADi::Ipop |
>| | | | verbosity | tInternal |
>| | | | level. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_option | OT_STRING | no | Switch to | CasADi::Ipop |
>| s_documentat | | | print all | tInternal |
>| ion | | | algorithmic | |
>| | | | options. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_option | OT_STRING | no | Undocumented | CasADi::Ipop |
>| s_latex_mode | | | (see IPOPT d | tInternal |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_time | OT_BOOLEAN | True | print | CasADi::Ipop |
>| | | | information | tInternal |
>| | | | about | |
>| | | | execution | |
>| | | | time | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_timing | OT_STRING | no | Switch to | CasADi::Ipop |
>| _statistics | | | print timing | tInternal |
>| | | | statistics. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_user_o | OT_STRING | no | Print all | CasADi::Ipop |
>| ptions | | | options set | tInternal |
>| | | | by the user. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_STRING | none | The | CasADi::Ipop |
>| tion_balanci | | | balancing | tInternal |
>| ng_term | | | term | |
>| | | | included in | |
>| | | | the quality | |
>| | | | function for | |
>| | | | centrality. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_STRING | none | The penalty | CasADi::Ipop |
>| tion_central | | | term for | tInternal |
>| ity | | | centrality | |
>| | | | that is | |
>| | | | included in | |
>| | | | quality | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_INTEGER | 8 | Maximum | CasADi::Ipop |
>| tion_max_sec | | | number of | tInternal |
>| tion_steps | | | search steps | |
>| | | | during | |
>| | | | direct | |
>| | | | search | |
>| | | | procedure | |
>| | | | determining | |
>| | | | the optimal | |
>| | | | centering | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_STRING | 2-norm- | Norm used | CasADi::Ipop |
>| tion_norm_ty | | squared | for | tInternal |
>| pe | | | components | |
>| | | | of the | |
>| | | | quality | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_REAL | 0 | Tolerance | CasADi::Ipop |
>| tion_section | | | for the | tInternal |
>| _qf_tol | | | golden | |
>| | | | section | |
>| | | | search | |
>| | | | procedure | |
>| | | | determining | |
>| | | | the optimal | |
>| | | | centering | |
>| | | | parameter | |
>| | | | (in the | |
>| | | | function | |
>| | | | value | |
>| | | | space). (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| quality_func | OT_REAL | 0.010 | Tolerance | CasADi::Ipop |
>| tion_section | | | for the | tInternal |
>| _sigma_tol | | | section | |
>| | | | search | |
>| | | | procedure | |
>| | | | determining | |
>| | | | the optimal | |
>| | | | centering | |
>| | | | parameter | |
>| | | | (in sigma | |
>| | | | space). (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| recalc_y | OT_STRING | no | Tells the | CasADi::Ipop |
>| | | | algorithm to | tInternal |
>| | | | recalculate | |
>| | | | the equality | |
>| | | | and | |
>| | | | inequality | |
>| | | | multipliers | |
>| | | | as least | |
>| | | | square | |
>| | | | estimates. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| recalc_y_fea | OT_REAL | 0.000 | Feasibility | CasADi::Ipop |
>| s_tol | | | threshold | tInternal |
>| | | | for recomput | |
>| | | | ation of | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| replace_boun | OT_STRING | no | Indicates if | CasADi::Ipop |
>| ds | | | all variable | tInternal |
>| | | | bounds | |
>| | | | should be | |
>| | | | replaced by | |
>| | | | inequality | |
>| | | | constraints | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| required_inf | OT_REAL | 0.900 | Required | CasADi::Ipop |
>| easibility_r | | | reduction of | tInternal |
>| eduction | | | infeasibilit | |
>| | | | y before | |
>| | | | leaving | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_imp | OT_REAL | 1.000 | Minimal | CasADi::Ipop |
>| rovement_fac | | | required | tInternal |
>| tor | | | reduction of | |
>| | | | residual | |
>| | | | test ratio | |
>| | | | in iterative | |
>| | | | refinement. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_rat | OT_REAL | 0.000 | Iterative | CasADi::Ipop |
>| io_max | | | refinement | tInternal |
>| | | | tolerance | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_rat | OT_REAL | 0.000 | Threshold | CasADi::Ipop |
>| io_singular | | | for | tInternal |
>| | | | declaring | |
>| | | | linear | |
>| | | | system | |
>| | | | singular | |
>| | | | after failed | |
>| | | | iterative | |
>| | | | refinement. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_failur | OT_REAL | 0 | Threshold | CasADi::Ipop |
>| e_feasibilit | | | for primal i | tInternal |
>| y_threshold | | | nfeasibility | |
>| | | | to declare | |
>| | | | failure of | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_penalt | OT_REAL | 1000 | Penalty | CasADi::Ipop |
>| y_parameter | | | parameter in | tInternal |
>| | | | the | |
>| | | | restoration | |
>| | | | phase | |
>| | | | objective | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_proxim | OT_REAL | 1 | Weighting | CasADi::Ipop |
>| ity_weight | | | factor for | tInternal |
>| | | | the | |
>| | | | proximity | |
>| | | | term in | |
>| | | | restoration | |
>| | | | phase | |
>| | | | objective. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| rho | OT_REAL | 0.100 | Value in | CasADi::Ipop |
>| | | | penalty | tInternal |
>| | | | parameter | |
>| | | | update | |
>| | | | formula. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_max | OT_REAL | 100 | Scaling | CasADi::Ipop |
>| | | | threshold | tInternal |
>| | | | for the NLP | |
>| | | | error. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_phi | OT_REAL | 2.300 | Exponent for | CasADi::Ipop |
>| | | | linear | tInternal |
>| | | | barrier | |
>| | | | function | |
>| | | | model in the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_theta | OT_REAL | 1.100 | Exponent for | CasADi::Ipop |
>| | | | current | tInternal |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sb | OT_STRING | no | (see IPOPT d | CasADi::Ipop |
>| | | | ocumentation | tInternal |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sigma_max | OT_REAL | 100 | Maximum | CasADi::Ipop |
>| | | | value of the | tInternal |
>| | | | centering | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sigma_min | OT_REAL | 0.000 | Minimum | CasADi::Ipop |
>| | | | value of the | tInternal |
>| | | | centering | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_corr_if | OT_STRING | yes | Skip the | CasADi::Ipop |
>| _neg_curv | | | corrector | tInternal |
>| | | | step in | |
>| | | | negative | |
>| | | | curvature | |
>| | | | iteration (u | |
>| | | | nsupported!) | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_corr_in | OT_STRING | yes | Skip the | CasADi::Ipop |
>| _monotone_mo | | | corrector | tInternal |
>| de | | | step during | |
>| | | | monotone | |
>| | | | barrier | |
>| | | | parameter | |
>| | | | mode (unsupp | |
>| | | | orted!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_finaliz | OT_STRING | no | Indicates if | CasADi::Ipop |
>| e_solution_c | | | call to NLP: | tInternal |
>| all | | | :FinalizeSol | |
>| | | | ution after | |
>| | | | optimization | |
>| | | | should be | |
>| | | | suppressed | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_bound_ | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| frac | | | minimum | tInternal |
>| | | | relative | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | slack to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_bound_ | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| push | | | minimum | tInternal |
>| | | | absolute | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | slack to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_move | OT_REAL | 0.000 | Correction | CasADi::Ipop |
>| | | | size for | tInternal |
>| | | | very small | |
>| | | | slacks. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| soft_resto_p | OT_REAL | 1.000 | Required | CasADi::Ipop |
>| derror_reduc | | | reduction in | tInternal |
>| tion_factor | | | primal-dual | |
>| | | | error in the | |
>| | | | soft | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| start_with_r | OT_STRING | no | Tells | CasADi::Ipop |
>| esto | | | algorithm to | tInternal |
>| | | | switch to | |
>| | | | restoration | |
>| | | | phase in | |
>| | | | first | |
>| | | | iteration. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| suppress_all | OT_STRING | no | Undocumented | CasADi::Ipop |
>| _output | | | (see IPOPT d | tInternal |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tau_min | OT_REAL | 0.990 | Lower bound | CasADi::Ipop |
>| | | | on fraction- | tInternal |
>| | | | to-the- | |
>| | | | boundary | |
>| | | | parameter | |
>| | | | tau. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_max_fa | OT_REAL | 10000 | Determines | CasADi::Ipop |
>| ct | | | upper bound | tInternal |
>| | | | for | |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the filter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_min | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_min_fa | OT_REAL | 0.000 | Determines | CasADi::Ipop |
>| ct | | | constraint | tInternal |
>| | | | violation | |
>| | | | threshold in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tiny_step_to | OT_REAL | 0.000 | Tolerance | CasADi::Ipop |
>| l | | | for | tInternal |
>| | | | detecting | |
>| | | | numerically | |
>| | | | insignifican | |
>| | | | t steps. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tiny_step_y_ | OT_REAL | 0.010 | Tolerance | CasADi::Ipop |
>| tol | | | for quitting | tInternal |
>| | | | because of | |
>| | | | numerically | |
>| | | | insignifican | |
>| | | | t steps. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| | | | convergence | tInternal |
>| | | | tolerance | |
>| | | | (relative). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_integer_ | OT_DICTIONAR | None | Integer | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of integers) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_numeric_ | OT_DICTIONAR | None | Numeric | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of reals) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_string_m | OT_DICTIONAR | None | String | CasADi::Ipop |
>| d | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of strings) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| vartheta | OT_REAL | 0.500 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_b | OT_REAL | 0.001 | same as | CasADi::Ipop |
>| ound_frac | | | bound_frac | tInternal |
>| | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_b | OT_REAL | 0.001 | same as | CasADi::Ipop |
>| ound_push | | | bound_push | tInternal |
>| | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_e | OT_STRING | no | Tells | CasADi::Ipop |
>| ntire_iterat | | | algorithm | tInternal |
>| e | | | whether to | |
>| | | | use the GetW | |
>| | | | armStartIter | |
>| | | | ate method | |
>| | | | in the NLP. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_i | OT_STRING | no | Warm-start | CasADi::Ipop |
>| nit_point | | | for initial | tInternal |
>| | | | point (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_m | OT_REAL | 0.001 | same as mult | CasADi::Ipop |
>| ult_bound_pu | | | _bound_push | tInternal |
>| sh | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_m | OT_REAL | 1000000 | Maximum | CasADi::Ipop |
>| ult_init_max | | | initial | tInternal |
>| | | | value for | |
>| | | | the equality | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_STRING | no | Indicates | CasADi::Ipop |
>| ame_structur | | | whether a | tInternal |
>| e | | | problem with | |
>| | | | a structure | |
>| | | | identical to | |
>| | | | the previous | |
>| | | | one is to be | |
>| | | | solved. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_REAL | 0.001 | same as slac | CasADi::Ipop |
>| lack_bound_f | | | k_bound_frac | tInternal |
>| rac | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_REAL | 0.001 | same as slac | CasADi::Ipop |
>| lack_bound_p | | | k_bound_push | tInternal |
>| ush | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_t | OT_REAL | 0 | Unsupported! | CasADi::Ipop |
>| arget_mu | | | (see IPOPT d | tInternal |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>| watchdog_sho | OT_INTEGER | 10 | Number of | CasADi::Ipop |
>| rtened_iter_ | | | shortened | tInternal |
>| trigger | | | iterations | |
>| | | | that trigger | |
>| | | | the | |
>| | | | watchdog. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| watchdog_tri | OT_INTEGER | 3 | Maximum | CasADi::Ipop |
>| al_iter_max | | | number of | tInternal |
>| | | | watchdog | |
>| | | | iterations. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_inexact | OT_REAL | 0 | Drop | CasADi::Ipop |
>| _droptol | | | tolerance | tInternal |
>| | | | for inexact | |
>| | | | factorizatio | |
>| | | | n preconditi | |
>| | | | oner in | |
>| | | | WISMP. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_inexact | OT_REAL | 0 | Fill-in | CasADi::Ipop |
>| _fillin_limi | | | limit for | tInternal |
>| t | | | inexact fact | |
>| | | | orization pr | |
>| | | | econditioner | |
>| | | | in WISMP. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_iterati | OT_STRING | no | Switches to | CasADi::Ipop |
>| ve | | | iterative | tInternal |
>| | | | solver in | |
>| | | | WSMP. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_max_ite | OT_INTEGER | 1000 | Maximal | CasADi::Ipop |
>| r | | | number of | tInternal |
>| | | | iterations | |
>| | | | in iterative | |
>| | | | WISMP (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_no_pivo | OT_STRING | no | Use the | CasADi::Ipop |
>| ting | | | static | tInternal |
>| | | | pivoting | |
>| | | | option of | |
>| | | | WSMP. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_num_thr | OT_INTEGER | 1 | Number of | CasADi::Ipop |
>| eads | | | threads to | tInternal |
>| | | | be used in | |
>| | | | WSMP (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_orderin | OT_INTEGER | 1 | Determines | CasADi::Ipop |
>| g_option | | | how ordering | tInternal |
>| | | | is done in | |
>| | | | WSMP | |
>| | | | (IPARM(16) | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_orderin | OT_INTEGER | 1 | Determines | CasADi::Ipop |
>| g_option2 | | | how ordering | tInternal |
>| | | | is done in | |
>| | | | WSMP | |
>| | | | (IPARM(20) | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_pivtol | OT_REAL | 0.000 | Pivot | CasADi::Ipop |
>| | | | tolerance | tInternal |
>| | | | for the | |
>| | | | linear | |
>| | | | solver WSMP. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_pivtolm | OT_REAL | 0.100 | Maximum | CasADi::Ipop |
>| ax | | | pivot | tInternal |
>| | | | tolerance | |
>| | | | for the | |
>| | | | linear | |
>| | | | solver WSMP. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_scaling | OT_INTEGER | 0 | Determines | CasADi::Ipop |
>| | | | how the | tInternal |
>| | | | matrix is | |
>| | | | scaled by | |
>| | | | WSMP. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_singula | OT_REAL | 0.000 | WSMP's | CasADi::Ipop |
>| rity_thresho | | | singularity | tInternal |
>| ld | | | threshold. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_skip_in | OT_STRING | no | Always | CasADi::Ipop |
>| ertia_check | | | pretent | tInternal |
>| | | | inertia is | |
>| | | | correct. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_write_m | OT_INTEGER | -1 | Iteration in | CasADi::Ipop |
>| atrix_iterat | | | which the | tInternal |
>| ion | | | matrices are | |
>| | | | written to | |
>| | | | files. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+-------------+-----------------------+
>| Id | Used in |
>+=============+=======================+
>| eval_f | CasADi::IpoptInternal |
>+-------------+-----------------------+
>| eval_g | CasADi::IpoptInternal |
>+-------------+-----------------------+
>| eval_grad_f | CasADi::IpoptInternal |
>+-------------+-----------------------+
>| eval_jac_g | CasADi::IpoptInternal |
>+-------------+-----------------------+
>| inputs | CasADi::FXInternal |
>+-------------+-----------------------+
>| outputs | CasADi::FXInternal |
>+-------------+-----------------------+
>
>>List of available stats
>+--------------------+-----------------------+
>| Id | Used in |
>+====================+=======================+
>| con_integer_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| con_numeric_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| con_string_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| iter_count | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| iteration | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| return_status | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_callback_fun | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_callback_prepare | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_grad_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_h | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_jac_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_mainloop | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_integer_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_numeric_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_string_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>
>Diagrams
>
>C++ includes: ipopt_solver.hpp
-}
newtype IpoptSolver = IpoptSolver (ForeignPtr IpoptSolver')
-- typeclass decl
class IpoptSolverClass a where
castIpoptSolver :: a -> IpoptSolver
instance IpoptSolverClass IpoptSolver where
castIpoptSolver = id
-- baseclass instances
instance SharedObjectClass IpoptSolver where
castSharedObject (IpoptSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass IpoptSolver where
castPrintableObject (IpoptSolver x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass IpoptSolver where
castIOInterfaceFX (IpoptSolver x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass IpoptSolver where
castOptionsFunctionality (IpoptSolver x) = OptionsFunctionality (castForeignPtr x)
instance FXClass IpoptSolver where
castFX (IpoptSolver x) = FX (castForeignPtr x)
-- helper instances
instance Marshal IpoptSolver (Ptr IpoptSolver') where
marshal (IpoptSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (IpoptSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IpoptSolver"
c_delete_CasADi__IpoptSolver :: FunPtr (Ptr IpoptSolver' -> IO ())
instance WrapReturn (Ptr IpoptSolver') IpoptSolver where
wrapReturn = (fmap IpoptSolver) . (newForeignPtr c_delete_CasADi__IpoptSolver)
-- raw decl
data SXMatrix'
-- data decl
{-|
>General sparse matrix class General sparse matrix class that is designed
>with the idea that "everything is a matrix", that is, also scalars and
>vectors. This philosophy makes it easy to use and to interface in
>particularily with Python and Matlab/Octave. .
>
>The syntax tries to stay as close as possible to the ublas syntax when it
>comes to vector/matrix operations.
>
>Index starts with 0. Index flatten happens as follows: (i,j) -> k =
>j+i*size2() Vectors are considered to be column vectors.
>
>The storage format is a (modified) compressed row storage (CRS) format. This
>way, a vector element can always be accessed in constant time.
>
>Matrix<T> is polymorphic with a std::vector<T> that contain all non-
>identical-zero elements. The sparsity can be accessed with CRSSparsity&
>sparsity()
>
>Joel Andersson
>
>C++ includes: matrix.hpp
-}
newtype SXMatrix = SXMatrix (ForeignPtr SXMatrix')
-- typeclass decl
class SXMatrixClass a where
castSXMatrix :: a -> SXMatrix
instance SXMatrixClass SXMatrix where
castSXMatrix = id
-- baseclass instances
instance PrintableObjectClass SXMatrix where
castPrintableObject (SXMatrix x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SXMatrix (Ptr SXMatrix') where
marshal (SXMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (SXMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Matrix_CasADi__SX_"
c_delete_CasADi__Matrix_CasADi__SX_ :: FunPtr (Ptr SXMatrix' -> IO ())
instance WrapReturn (Ptr SXMatrix') SXMatrix where
wrapReturn = (fmap SXMatrix) . (newForeignPtr c_delete_CasADi__Matrix_CasADi__SX_)
-- 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 SharedObjectClass IOScheme where
castSharedObject (IOScheme x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass IOScheme where
castPrintableObject (IOScheme x) = PrintableObject (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 DMatrix'
-- data decl
{-|
>General sparse matrix class General sparse matrix class that is designed
>with the idea that "everything is a matrix", that is, also scalars and
>vectors. This philosophy makes it easy to use and to interface in
>particularily with Python and Matlab/Octave. .
>
>The syntax tries to stay as close as possible to the ublas syntax when it
>comes to vector/matrix operations.
>
>Index starts with 0. Index flatten happens as follows: (i,j) -> k =
>j+i*size2() Vectors are considered to be column vectors.
>
>The storage format is a (modified) compressed row storage (CRS) format. This
>way, a vector element can always be accessed in constant time.
>
>Matrix<T> is polymorphic with a std::vector<T> that contain all non-
>identical-zero elements. The sparsity can be accessed with CRSSparsity&
>sparsity()
>
>Joel Andersson
>
>C++ includes: matrix.hpp
-}
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__Matrix_double_"
c_delete_CasADi__Matrix_double_ :: FunPtr (Ptr DMatrix' -> IO ())
instance WrapReturn (Ptr DMatrix') DMatrix where
wrapReturn = (fmap DMatrix) . (newForeignPtr c_delete_CasADi__Matrix_double_)
-- raw decl
data MX'
-- data decl
{-|
>MX - Matrix expression The MX class is used to build up trees made up from
>MXNodes. It is a more general graph representation than the scalar
>expression, SX, and much less efficient for small objects. On the other
>hand, the class allows much more general operations than does SX, in
>particular matrix valued operations and calls to arbitrary differentiable
>functions.
>
>The MX class is designed to have identical syntax with the Matrix<> template
>class, and uses Matrix<double> as its internal representation of the values
>at a node. By keeping the syntaxes identical, it is possible to switch from
>one class to the other, as well as inlining MX functions to SX functions.
>
>Note that an operation is always "lazy", making a matrix multiplication
>will create a matrix multiplication node, not perform the actual
>multiplication.
>
>Joel Andersson
>
>C++ includes: mx.hpp
-}
newtype MX = MX (ForeignPtr MX')
-- typeclass decl
class MXClass a where
castMX :: a -> MX
instance MXClass MX where
castMX = id
-- baseclass instances
instance SharedObjectClass MX where
castSharedObject (MX x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass MX where
castPrintableObject (MX x) = PrintableObject (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 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 Callback'
-- data decl
{-|
>Callback.
>
>In C++, supply a CallbackCPtr function pointer
>
>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 SharedObjectClass Callback where
castSharedObject (Callback x) = SharedObject (castForeignPtr x)
instance FunctorClass Callback where
castFunctor (Callback x) = Functor (castForeignPtr x)
instance PrintableObjectClass Callback where
castPrintableObject (Callback x) = PrintableObject (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 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 SharedObjectClass CustomEvaluate where
castSharedObject (CustomEvaluate x) = SharedObject (castForeignPtr x)
instance FunctorClass CustomEvaluate where
castFunctor (CustomEvaluate x) = Functor (castForeignPtr x)
instance PrintableObjectClass CustomEvaluate where
castPrintableObject (CustomEvaluate x) = PrintableObject (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 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::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | 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 SharedObjectClass ExternalFunction where
castSharedObject (ExternalFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass ExternalFunction where
castPrintableObject (ExternalFunction x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass ExternalFunction where
castIOInterfaceFX (ExternalFunction x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass ExternalFunction where
castOptionsFunctionality (ExternalFunction x) = OptionsFunctionality (castForeignPtr x)
instance FXClass ExternalFunction where
castFX (ExternalFunction x) = FX (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 CSparse'
-- data decl
{-|
>LinearSolver with CSparse Interface.
>
>Solves the linear system X*A = B or X*A^T = 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.
>
>Note: the transposed form is equivalent to A X^T = B^T which is the same as
>A x = b with x = X^T, b = B^T
>
>CSparse is an CasADi::FX mapping from 2 inputs [ A (matrix),b (vector)] to
>one output [x (vector)].
>
>The usual procedure to use CSparse 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.
>
>>Input scheme: CasADi::LinsolInput (LINSOL_NUM_IN = 4) [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, (m x n) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: CasADi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: csparse.hpp
-}
newtype CSparse = CSparse (ForeignPtr CSparse')
-- typeclass decl
class CSparseClass a where
castCSparse :: a -> CSparse
instance CSparseClass CSparse where
castCSparse = id
-- baseclass instances
instance SharedObjectClass CSparse where
castSharedObject (CSparse x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CSparse where
castPrintableObject (CSparse x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass CSparse where
castIOInterfaceFX (CSparse x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass CSparse where
castOptionsFunctionality (CSparse x) = OptionsFunctionality (castForeignPtr x)
instance FXClass CSparse where
castFX (CSparse x) = FX (castForeignPtr x)
-- helper instances
instance Marshal CSparse (Ptr CSparse') where
marshal (CSparse x) = return (unsafeForeignPtrToPtr x)
marshalFree (CSparse x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CSparse"
c_delete_CasADi__CSparse :: FunPtr (Ptr CSparse' -> IO ())
instance WrapReturn (Ptr CSparse') CSparse where
wrapReturn = (fmap CSparse) . (newForeignPtr c_delete_CasADi__CSparse)
-- raw decl
data SX'
-- data decl
{-|
>The basic scalar symbolic class of CasADi.
>
>Joel Andersson
>
>C++ includes: sx.hpp
-}
newtype SX = SX (ForeignPtr SX')
-- typeclass decl
class SXClass a where
castSX :: a -> SX
instance SXClass SX where
castSX = id
-- baseclass instances
-- 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 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 Functor'
-- data decl
{-|
>Internal class for 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 SharedObjectClass Functor where
castSharedObject (Functor x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Functor where
castPrintableObject (Functor x) = PrintableObject (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 CustomFunction'
-- data decl
{-|
>Interface to a custom function.
>
>Note: max_number_of_fwd_dir and max_number_of_adj_dir will be default zero
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::FXIn |
>| | | | calculate | ternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::FXIn |
>| | | | indicate | ternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| | | | exceptions | ternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_gen | OT_JACOBIANG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that returns | ternal |
>| | | | a Jacobian | |
>| | | | function | |
>| | | | given a set | |
>| | | | of desired | |
>| | | | Jacobian | |
>| | | | blocks, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of J | |
>| | | | acobianGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_adj_dir | | m_dir | r_of_adj_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_number_o | OT_INTEGER | optimized_nu | Allow "numbe | CasADi::FXIn |
>| f_fwd_dir | | m_dir | r_of_fwd_dir | ternal |
>| | | | " to grow | |
>| | | | until it | |
>| | | | reaches this | |
>| | | | number | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::FXIn |
>| | TOR | ) | be activated | ternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_ad | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| j_dir | | | adjoint | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fw | OT_INTEGER | 1 | number of | CasADi::FXIn |
>| d_dir | | | forward | ternal |
>| | | | derivatives | |
>| | | | to be | |
>| | | | calculated s | |
>| | | | imultanously | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_hess | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| ian | | | Hessians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| numeric_jaco | OT_BOOLEAN | false | Calculate | CasADi::FXIn |
>| bian | | | Jacobians | ternal |
>| | | | numerically | |
>| | | | (using | |
>| | | | directional | |
>| | | | derivatives) | |
>| | | | rather than | |
>| | | | with the | |
>| | | | built-in | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::FXIn |
>| heck | | | exceptions | ternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sparse | OT_BOOLEAN | true | function is | CasADi::FXIn |
>| | | | sparse | ternal |
>+--------------+--------------+--------------+--------------+--------------+
>| sparsity_gen | OT_SPARSITYG | GenericType( | Function | CasADi::FXIn |
>| erator | ENERATOR | ) | that | ternal |
>| | | | provides | |
>| | | | sparsity for | |
>| | | | a given | |
>| | | | input output | |
>| | | | block, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of S | |
>| | | | parsityGener | |
>| | | | ator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| store_jacobi | OT_BOOLEAN | false | keep | CasADi::FXIn |
>| ans | | | references | ternal |
>| | | | to generated | |
>| | | | Jacobians in | |
>| | | | order to | |
>| | | | avoid | |
>| | | | generating | |
>| | | | identical | |
>| | | | Jacobians | |
>| | | | multiple | |
>| | | | times | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::FXIn |
>| | | ) | defined | ternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | verbose | CasADi::FXIn |
>| | | | evaluation | ternal |
>| | | | 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 SharedObjectClass CustomFunction where
castSharedObject (CustomFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CustomFunction where
castPrintableObject (CustomFunction x) = PrintableObject (castForeignPtr x)
instance IOInterfaceFXClass CustomFunction where
castIOInterfaceFX (CustomFunction x) = IOInterfaceFX (castForeignPtr x)
instance OptionsFunctionalityClass CustomFunction where
castOptionsFunctionality (CustomFunction x) = OptionsFunctionality (castForeignPtr x)
instance FXClass CustomFunction where
castFX (CustomFunction x) = FX (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)