casadi-bindings-1.9.0.0: 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
{-|
>[INTERNAL] Dynamically created
>function that can be expanded into a series of scalar operations.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| just_in_time | OT_BOOLEAN | false | Just-in-time | CasADi::SXFu |
>| _opencl | | | compilation | nctionIntern |
>| | | | for numeric | al |
>| | | | evaluation | |
>| | | | using OpenCL | |
>| | | | (experimenta | |
>| | | | l) | |
>+--------------+--------------+--------------+--------------+--------------+
>| just_in_time | OT_BOOLEAN | false | Propagate | CasADi::SXFu |
>| _sparsity | | | sparsity | nctionIntern |
>| | | | patterns | al |
>| | | | using just- | |
>| | | | in-time | |
>| | | | compilation | |
>| | | | to a CPU or | |
>| | | | GPU using | |
>| | | | OpenCL | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: sx_function.hpp
-}
newtype SXFunction = SXFunction (ForeignPtr SXFunction')
-- typeclass decl
class SXFunctionClass a where
castSXFunction :: a -> SXFunction
instance SXFunctionClass SXFunction where
castSXFunction = id
-- baseclass instances
instance SharedObjectClass SXFunction where
castSharedObject (SXFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SXFunction where
castPrintableObject (SXFunction x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SXFunction where
castOptionsFunctionality (SXFunction x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SXFunction where
castFunction (SXFunction x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SXFunction where
castIOInterfaceFunction (SXFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SXFunction (Ptr SXFunction') where
marshal (SXFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (SXFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SXFunction"
c_delete_CasADi__SXFunction :: FunPtr (Ptr SXFunction' -> IO ())
instance WrapReturn (Ptr SXFunction') SXFunction where
wrapReturn = (fmap SXFunction) . (newForeignPtr c_delete_CasADi__SXFunction)
-- raw decl
data RKIntegrator'
-- data decl
{-|
>[INTERNAL] Fixed-step explicit
>Runge-Kutta integrator for ODEs Currently implements RK4.
>
>The method is still under development
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fi | OT_INTEGER | 20 | Number of | CasADi::Fixe |
>| nite_element | | | finite | dStepIntegra |
>| s | | | elements | torInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: rk_integrator.hpp
-}
newtype RKIntegrator = RKIntegrator (ForeignPtr RKIntegrator')
-- typeclass decl
class RKIntegratorClass a where
castRKIntegrator :: a -> RKIntegrator
instance RKIntegratorClass RKIntegrator where
castRKIntegrator = id
-- baseclass instances
instance SharedObjectClass RKIntegrator where
castSharedObject (RKIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass RKIntegrator where
castPrintableObject (RKIntegrator x) = PrintableObject (castForeignPtr x)
instance FixedStepIntegratorClass RKIntegrator where
castFixedStepIntegrator (RKIntegrator x) = FixedStepIntegrator (castForeignPtr x)
instance OptionsFunctionalityClass RKIntegrator where
castOptionsFunctionality (RKIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass RKIntegrator where
castFunction (RKIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass RKIntegrator where
castIntegrator (RKIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass RKIntegrator where
castIOInterfaceFunction (RKIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal RKIntegrator (Ptr RKIntegrator') where
marshal (RKIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (RKIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__RKIntegrator"
c_delete_CasADi__RKIntegrator :: FunPtr (Ptr RKIntegrator' -> IO ())
instance WrapReturn (Ptr RKIntegrator') RKIntegrator where
wrapReturn = (fmap RKIntegrator) . (newForeignPtr c_delete_CasADi__RKIntegrator)
-- raw decl
data SQPMethod'
-- data decl
{-|
>[INTERNAL] Sequential Quadratic
>Programming method.
>
>The algorithm is a classical SQP method with either exact (may be also
>provided) or damped BFGS Lagrange Hessian approximation. Two different line-
>search algorithms are available. First, Armijo (Wolfe) condition with
>backtracking (suffers from Maratos effect). Seco::ifndef
>WITHOUT_PRE_1_9_Xnd, a line-search method that checks if the merit function
>is lower than the last k values (no Maratos effect). Both methods employ the
>L1 merit function.
>
>The method solves the problems of form:min F(x) x subject to LBG
><= G(x) <= UBG LBX <= x <= UBX
>
>Nonlinear equalities can be introduced by setting LBG and UBG equal at the
>correct positions.
>
>The method is still under development and should be used with care
>
>Attila Kozma, Joel Andersson and Joris Gillis
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| beta | OT_REAL | 0.800 | Line-search | CasADi::SQPI |
>| | | | parameter, | nternal |
>| | | | restoration | |
>| | | | factor of | |
>| | | | stepsize | |
>+--------------+--------------+--------------+--------------+--------------+
>| c1 | OT_REAL | 0.000 | Armijo | CasADi::SQPI |
>| | | | condition, | nternal |
>| | | | coefficient | |
>| | | | of decrease | |
>| | | | in merit | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | "exact" | limited- | CasADi::SQPI |
>| oximation | | | memory|exact | nternal |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of | CasADi::SQPI |
>| | | | L-BFGS | nternal |
>| | | | memory. | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 50 | Maximum | CasADi::SQPI |
>| | | | number of | nternal |
>| | | | SQP | |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter_ls | OT_INTEGER | 3 | Maximum | CasADi::SQPI |
>| | | | number of | nternal |
>| | | | linesearch | |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| merit_memory | OT_INTEGER | 4 | Size of | CasADi::SQPI |
>| | | | memory to | nternal |
>| | | | store | |
>| | | | history of | |
>| | | | merit | |
>| | | | function | |
>| | | | values | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_step_siz | OT_REAL | 0.000 | The size | CasADi::SQPI |
>| e | | | (inf-norm) | nternal |
>| | | | of the step | |
>| | | | size should | |
>| | | | not become | |
>| | | | smaller than | |
>| | | | this. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::SQPI |
>| | | | uts) (eval_ | nternal |
>| | | | f|eval_g|eva | |
>| | | | l_jac_g|eval | |
>| | | | _grad_f|eval | |
>| | | | _h|qp|dx) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_header | OT_BOOLEAN | true | Print the | CasADi::SQPI |
>| | | | header with | nternal |
>| | | | problem | |
>| | | | statistics | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_time | OT_BOOLEAN | true | Print | CasADi::SQPI |
>| | | | information | nternal |
>| | | | about | |
>| | | | execution | |
>| | | | time | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver | OT_QPSOLVER | GenericType( | The QP | CasADi::SQPI |
>| | | ) | solver to be | nternal |
>| | | | used by the | |
>| | | | SQP method | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver_op | OT_DICTIONAR | GenericType( | Options to | CasADi::SQPI |
>| tions | Y | ) | be passed to | nternal |
>| | | | the QP | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularize | OT_BOOLEAN | false | Automatic re | CasADi::SQPI |
>| | | | gularization | nternal |
>| | | | of Lagrange | |
>| | | | Hessian. | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_du | OT_REAL | 0.000 | Stopping | CasADi::SQPI |
>| | | | criterion | nternal |
>| | | | for dual inf | |
>| | | | easability | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_pr | OT_REAL | 0.000 | Stopping | CasADi::SQPI |
>| | | | criterion | nternal |
>| | | | for primal i | |
>| | | | nfeasibility | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+-------------+--------------------------+
>| Id | Used in |
>+=============+==========================+
>| dx | CasADi::SQPInternal |
>+-------------+--------------------------+
>| eval_f | CasADi::SQPInternal |
>+-------------+--------------------------+
>| eval_g | CasADi::SQPInternal |
>+-------------+--------------------------+
>| eval_grad_f | CasADi::SQPInternal |
>+-------------+--------------------------+
>| eval_h | CasADi::SQPInternal |
>+-------------+--------------------------+
>| eval_jac_g | CasADi::SQPInternal |
>+-------------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>| qp | CasADi::SQPInternal |
>+-------------+--------------------------+
>
>>List of available stats
>+--------------------+---------------------+
>| Id | Used in |
>+====================+=====================+
>| iter_count | CasADi::SQPInternal |
>+--------------------+---------------------+
>| iteration | CasADi::SQPInternal |
>+--------------------+---------------------+
>| iterations | CasADi::SQPInternal |
>+--------------------+---------------------+
>| n_eval_f | CasADi::SQPInternal |
>+--------------------+---------------------+
>| n_eval_g | CasADi::SQPInternal |
>+--------------------+---------------------+
>| n_eval_grad_f | CasADi::SQPInternal |
>+--------------------+---------------------+
>| n_eval_h | CasADi::SQPInternal |
>+--------------------+---------------------+
>| n_eval_jac_g | CasADi::SQPInternal |
>+--------------------+---------------------+
>| return_status | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_callback_fun | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_callback_prepare | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_eval_f | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_eval_g | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_eval_grad_f | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_eval_h | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_eval_jac_g | CasADi::SQPInternal |
>+--------------------+---------------------+
>| t_mainloop | CasADi::SQPInternal |
>+--------------------+---------------------+
>
>Diagrams
>
>C++ includes: sqp_method.hpp
-}
newtype SQPMethod = SQPMethod (ForeignPtr SQPMethod')
-- typeclass decl
class SQPMethodClass a where
castSQPMethod :: a -> SQPMethod
instance SQPMethodClass SQPMethod where
castSQPMethod = id
-- baseclass instances
instance SharedObjectClass SQPMethod where
castSharedObject (SQPMethod x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SQPMethod where
castPrintableObject (SQPMethod x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SQPMethod where
castOptionsFunctionality (SQPMethod x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SQPMethod where
castFunction (SQPMethod x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SQPMethod where
castIOInterfaceFunction (SQPMethod x) = IOInterfaceFunction (castForeignPtr x)
instance NLPSolverClass SQPMethod where
castNLPSolver (SQPMethod x) = NLPSolver (castForeignPtr x)
-- helper instances
instance Marshal SQPMethod (Ptr SQPMethod') where
marshal (SQPMethod x) = return (unsafeForeignPtrToPtr x)
marshalFree (SQPMethod x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SQPMethod"
c_delete_CasADi__SQPMethod :: FunPtr (Ptr SQPMethod' -> IO ())
instance WrapReturn (Ptr SQPMethod') SQPMethod where
wrapReturn = (fmap SQPMethod) . (newForeignPtr c_delete_CasADi__SQPMethod)
-- raw decl
data SharedObject'
-- data decl
{-|
>[INTERNAL] 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 Function): SXFunction derived(...); Function
>base = derived;
>
>To cast up, use the shared_cast template function, which works analogously
>to dynamic_cast, static_cast, const_cast etc, e.g.: SXFunction derived(...);
>Function base = derived; SXFunction derived_from_base =
>shared_cast<SXFunction>(base);
>
>A failed shared_cast will result in a null pointer (cf. dynamic_cast)
>
>Joel Andersson
>
>C++ includes: shared_object.hpp
-}
newtype SharedObject = SharedObject (ForeignPtr SharedObject')
-- typeclass decl
class SharedObjectClass a where
castSharedObject :: a -> SharedObject
instance SharedObjectClass SharedObject where
castSharedObject = id
-- baseclass instances
instance PrintableObjectClass SharedObject where
castPrintableObject (SharedObject x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SharedObject (Ptr SharedObject') where
marshal (SharedObject x) = return (unsafeForeignPtrToPtr x)
marshalFree (SharedObject x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SharedObject"
c_delete_CasADi__SharedObject :: FunPtr (Ptr SharedObject' -> IO ())
instance WrapReturn (Ptr SharedObject') SharedObject where
wrapReturn = (fmap SharedObject) . (newForeignPtr c_delete_CasADi__SharedObject)
-- raw decl
data MXFunction'
-- data decl
{-|
>[INTERNAL] General function
>mapping from/to MX.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: mx_function.hpp
-}
newtype MXFunction = MXFunction (ForeignPtr MXFunction')
-- typeclass decl
class MXFunctionClass a where
castMXFunction :: a -> MXFunction
instance MXFunctionClass MXFunction where
castMXFunction = id
-- baseclass instances
instance SharedObjectClass MXFunction where
castSharedObject (MXFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass MXFunction where
castPrintableObject (MXFunction x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass MXFunction where
castOptionsFunctionality (MXFunction x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass MXFunction where
castFunction (MXFunction x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass MXFunction where
castIOInterfaceFunction (MXFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal MXFunction (Ptr MXFunction') where
marshal (MXFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (MXFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__MXFunction"
c_delete_CasADi__MXFunction :: FunPtr (Ptr MXFunction' -> IO ())
instance WrapReturn (Ptr MXFunction') MXFunction where
wrapReturn = (fmap MXFunction) . (newForeignPtr c_delete_CasADi__MXFunction)
-- raw decl
data HomotopyNLPSolver'
-- data decl
{-|
>[INTERNAL] Base class for
>Homotopy NLP Solvers.
>
>Solves the following parametric nonlinear program (NLP):min
>F(x,p,tau) x subject to LBX <= x <= UBX LBG
><= G(x,p) <= UBG p == P nx: number of decision
>variables ng: number of constraints np: number of parameters
>
>In a homotopy from tau = 0 to tau = 1.
>
>Joris Gillis
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::Homo |
>| | | | NLP function | topyNLPInter |
>| | | | in terms of | nal |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX->SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: homotopy_nlp_solver.hpp
-}
newtype HomotopyNLPSolver = HomotopyNLPSolver (ForeignPtr HomotopyNLPSolver')
-- typeclass decl
class HomotopyNLPSolverClass a where
castHomotopyNLPSolver :: a -> HomotopyNLPSolver
instance HomotopyNLPSolverClass HomotopyNLPSolver where
castHomotopyNLPSolver = id
-- baseclass instances
instance SharedObjectClass HomotopyNLPSolver where
castSharedObject (HomotopyNLPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass HomotopyNLPSolver where
castPrintableObject (HomotopyNLPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass HomotopyNLPSolver where
castOptionsFunctionality (HomotopyNLPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass HomotopyNLPSolver where
castFunction (HomotopyNLPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass HomotopyNLPSolver where
castIOInterfaceFunction (HomotopyNLPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal HomotopyNLPSolver (Ptr HomotopyNLPSolver') where
marshal (HomotopyNLPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (HomotopyNLPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__HomotopyNLPSolver"
c_delete_CasADi__HomotopyNLPSolver :: FunPtr (Ptr HomotopyNLPSolver' -> IO ())
instance WrapReturn (Ptr HomotopyNLPSolver') HomotopyNLPSolver where
wrapReturn = (fmap HomotopyNLPSolver) . (newForeignPtr c_delete_CasADi__HomotopyNLPSolver)
-- raw decl
data StabilizedQPSolver'
-- data decl
{-|
>[INTERNAL]
>StabilizedQPSolver.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA
>LBX <= x <= UBX with : H sparse (n x n) positive
>definite g dense (n x 1) n: number of decision variables (x) nc:
>number of constraints (A)
>
>If H is not positive-definite, the solver should throw an error.
>
>Joel Andersson
>
>>Input scheme: CasADi::StabilizedQPSolverInput (STABILIZED_QP_SOLVER_NUM_IN = 13) [stabilizedQpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| STABILIZED_QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | uba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lbx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | ubx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_X | x0 | dense, (n x 1) |
>| 0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lam_x0 | dense |
>| AM_X0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muR | dense (1 x 1) |
>| UR | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muE | dense (nc x 1) |
>| UE | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | mu | dense (nc x 1) |
>| U | | |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: stabilized_qp_solver.hpp
-}
newtype StabilizedQPSolver = StabilizedQPSolver (ForeignPtr StabilizedQPSolver')
-- typeclass decl
class StabilizedQPSolverClass a where
castStabilizedQPSolver :: a -> StabilizedQPSolver
instance StabilizedQPSolverClass StabilizedQPSolver where
castStabilizedQPSolver = id
-- baseclass instances
instance SharedObjectClass StabilizedQPSolver where
castSharedObject (StabilizedQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass StabilizedQPSolver where
castPrintableObject (StabilizedQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass StabilizedQPSolver where
castOptionsFunctionality (StabilizedQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass StabilizedQPSolver where
castFunction (StabilizedQPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass StabilizedQPSolver where
castIOInterfaceFunction (StabilizedQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal StabilizedQPSolver (Ptr StabilizedQPSolver') where
marshal (StabilizedQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (StabilizedQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__StabilizedQPSolver"
c_delete_CasADi__StabilizedQPSolver :: FunPtr (Ptr StabilizedQPSolver' -> IO ())
instance WrapReturn (Ptr StabilizedQPSolver') StabilizedQPSolver where
wrapReturn = (fmap StabilizedQPSolver) . (newForeignPtr c_delete_CasADi__StabilizedQPSolver)
-- raw decl
data SymbolicNLP'
-- data decl
{-|
>[INTERNAL] A symbolic NLP
>representation.
>
>Joel Andersson
>
>C++ includes: symbolic_nlp.hpp
-}
newtype SymbolicNLP = SymbolicNLP (ForeignPtr SymbolicNLP')
-- typeclass decl
class SymbolicNLPClass a where
castSymbolicNLP :: a -> SymbolicNLP
instance SymbolicNLPClass SymbolicNLP where
castSymbolicNLP = id
-- baseclass instances
instance PrintableObjectClass SymbolicNLP where
castPrintableObject (SymbolicNLP x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SymbolicNLP (Ptr SymbolicNLP') where
marshal (SymbolicNLP x) = return (unsafeForeignPtrToPtr x)
marshalFree (SymbolicNLP x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SymbolicNLP"
c_delete_CasADi__SymbolicNLP :: FunPtr (Ptr SymbolicNLP' -> IO ())
instance WrapReturn (Ptr SymbolicNLP') SymbolicNLP where
wrapReturn = (fmap SymbolicNLP) . (newForeignPtr c_delete_CasADi__SymbolicNLP)
-- raw decl
data CSparse'
-- data decl
{-|
>[INTERNAL] LinearSolver with
>CSparse Interface.
>
>Solves the linear system A*X = B or A^T*X = B for X with A square and non-
>singular
>
>If A is structurally singular, an error will be thrown during init. If A is
>numerically singular, the prepare step will fail.
>
>CSparse is an CasADi::Function 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 = 3) [linsolIn]
>+-----------+-------+------------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+================================================+
>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |
>+-----------+-------+------------------------------------------------+
>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: CasADi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: 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 OptionsFunctionalityClass CSparse where
castOptionsFunctionality (CSparse x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass CSparse where
castFunction (CSparse x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass CSparse where
castIOInterfaceFunction (CSparse x) = IOInterfaceFunction (castForeignPtr x)
instance LinearSolverClass CSparse where
castLinearSolver (CSparse x) = LinearSolver (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 PrintableObject'
-- data decl
{-|
>[INTERNAL] 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 ExpDMatrix'
-- data decl
{-|
>[INTERNAL] Expression
>interface.
>
>This is a common base class for SX, MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. Joel Andersson
>
>C++ includes: generic_expression.hpp
-}
newtype ExpDMatrix = ExpDMatrix (ForeignPtr ExpDMatrix')
-- typeclass decl
class ExpDMatrixClass a where
castExpDMatrix :: a -> ExpDMatrix
instance ExpDMatrixClass ExpDMatrix where
castExpDMatrix = id
-- baseclass instances
-- helper instances
instance Marshal ExpDMatrix (Ptr ExpDMatrix') where
marshal (ExpDMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExpDMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericExpression_CasADi__Matrix_double__"
c_delete_CasADi__GenericExpression_CasADi__Matrix_double__ :: FunPtr (Ptr ExpDMatrix' -> IO ())
instance WrapReturn (Ptr ExpDMatrix') ExpDMatrix where
wrapReturn = (fmap ExpDMatrix) . (newForeignPtr c_delete_CasADi__GenericExpression_CasADi__Matrix_double__)
-- raw decl
data QCQPSolver'
-- data decl
{-|
>[INTERNAL] QCQPSolver.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to 1/2 x' Pi x +
>qi' x + ri <= 0 for i=0..nq-1 LBA <= A x <= UBA
>LBX <= x <= UBX with : H, Pi sparse (n x n) positive
>definite g, qi dense (n x 1) ri scalar n: number of
>decision variables (x) nc: number of linear constraints (A) nq:
>number of quadratic constraints
>
>If H, Pi is not positive-definite, the solver should throw an error.
>
>Joris Gillis
>
>>Input scheme: CasADi::QCQPSolverInput (QCQP_SOLVER_NUM_IN = 13) [qcqpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_P | p | The horizontal stack |
>| | | of all Pi. Each Pi is |
>| | | sparse (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_Q | q | The vertical stack of |
>| | | all qi: dense, (nq n x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_R | r | The vertical stack of |
>| | | all scalars ri (nq x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QCQPSolverOutput (QCQP_SOLVER_NUM_OUT = 5) [qcqpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: qcqp_solver.hpp
-}
newtype QCQPSolver = QCQPSolver (ForeignPtr QCQPSolver')
-- typeclass decl
class QCQPSolverClass a where
castQCQPSolver :: a -> QCQPSolver
instance QCQPSolverClass QCQPSolver where
castQCQPSolver = id
-- baseclass instances
instance SharedObjectClass QCQPSolver where
castSharedObject (QCQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass QCQPSolver where
castPrintableObject (QCQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass QCQPSolver where
castOptionsFunctionality (QCQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass QCQPSolver where
castFunction (QCQPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass QCQPSolver where
castIOInterfaceFunction (QCQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QCQPSolver (Ptr QCQPSolver') where
marshal (QCQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QCQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QCQPSolver"
c_delete_CasADi__QCQPSolver :: FunPtr (Ptr QCQPSolver' -> IO ())
instance WrapReturn (Ptr QCQPSolver') QCQPSolver where
wrapReturn = (fmap QCQPSolver) . (newForeignPtr c_delete_CasADi__QCQPSolver)
-- raw decl
data NLPSolver'
-- data decl
{-|
>[INTERNAL] NLPSolver.
>
>Solves the following parametric nonlinear program (NLP):min F(x,p)
>x subject to LBX <= x <= UBX LBG <= G(x,p) <= UBG
>p == P nx: number of decision variables ng: number of constraints
>np: number of parameters
>
>Joel Andersson
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: nlp_solver.hpp
-}
newtype NLPSolver = NLPSolver (ForeignPtr NLPSolver')
-- typeclass decl
class NLPSolverClass a where
castNLPSolver :: a -> NLPSolver
instance NLPSolverClass NLPSolver where
castNLPSolver = id
-- baseclass instances
instance SharedObjectClass NLPSolver where
castSharedObject (NLPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass NLPSolver where
castPrintableObject (NLPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass NLPSolver where
castOptionsFunctionality (NLPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass NLPSolver where
castFunction (NLPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass NLPSolver where
castIOInterfaceFunction (NLPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal NLPSolver (Ptr NLPSolver') where
marshal (NLPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (NLPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__NLPSolver"
c_delete_CasADi__NLPSolver :: FunPtr (Ptr NLPSolver' -> IO ())
instance WrapReturn (Ptr NLPSolver') NLPSolver where
wrapReturn = (fmap NLPSolver) . (newForeignPtr c_delete_CasADi__NLPSolver)
-- raw decl
data GenericType'
-- data decl
{-|
>[INTERNAL] 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 NLPQPSolver'
-- data decl
{-|
>[INTERNAL] IPOPT QP Solver for
>quadratic programming.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA
>LBX <= x <= UBX with : H sparse (n x n) positive
>definite g dense (n x 1) n: number of decision variables (x) nc:
>number of constraints (A)
>
>If H is not positive-definite, the solver should throw an error.
>
>Joris Gillis
>
>>Input scheme: CasADi::QPSolverInput (QP_SOLVER_NUM_IN = 10) [qpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | The | CasADi::NLPQ |
>| | | ) | NLPSOlver | PInternal |
>| | | | used to | |
>| | | | solve the | |
>| | | | QPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::NLPQ |
>| ptions | Y | ) | be passed to | PInternal |
>| | | | the | |
>| | | | NLPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+------------------+-----------------------+
>| Id | Used in |
>+==================+=======================+
>| nlp_solver_stats | CasADi::NLPQPInternal |
>+------------------+-----------------------+
>
>Diagrams
>
>C++ includes: nlp_qp_solver.hpp
-}
newtype NLPQPSolver = NLPQPSolver (ForeignPtr NLPQPSolver')
-- typeclass decl
class NLPQPSolverClass a where
castNLPQPSolver :: a -> NLPQPSolver
instance NLPQPSolverClass NLPQPSolver where
castNLPQPSolver = id
-- baseclass instances
instance SharedObjectClass NLPQPSolver where
castSharedObject (NLPQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass NLPQPSolver where
castPrintableObject (NLPQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass NLPQPSolver where
castOptionsFunctionality (NLPQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass NLPQPSolver where
castFunction (NLPQPSolver x) = Function (castForeignPtr x)
instance QPSolverClass NLPQPSolver where
castQPSolver (NLPQPSolver x) = QPSolver (castForeignPtr x)
instance IOInterfaceFunctionClass NLPQPSolver where
castIOInterfaceFunction (NLPQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal NLPQPSolver (Ptr NLPQPSolver') where
marshal (NLPQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (NLPQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__NLPQPSolver"
c_delete_CasADi__NLPQPSolver :: FunPtr (Ptr NLPQPSolver' -> IO ())
instance WrapReturn (Ptr NLPQPSolver') NLPQPSolver where
wrapReturn = (fmap NLPQPSolver) . (newForeignPtr c_delete_CasADi__NLPQPSolver)
-- raw decl
data Variable'
-- data decl
{-|
>[INTERNAL] Holds expressions and
>meta-data corresponding to a physical quantity evolving in time.
>
>Joel Andersson
>
>C++ includes: variable.hpp
-}
newtype Variable = Variable (ForeignPtr Variable')
-- typeclass decl
class VariableClass a where
castVariable :: a -> Variable
instance VariableClass Variable where
castVariable = id
-- baseclass instances
instance PrintableObjectClass Variable where
castPrintableObject (Variable x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal Variable (Ptr Variable') where
marshal (Variable x) = return (unsafeForeignPtrToPtr x)
marshalFree (Variable x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Variable"
c_delete_CasADi__Variable :: FunPtr (Ptr Variable' -> IO ())
instance WrapReturn (Ptr Variable') Variable where
wrapReturn = (fmap Variable) . (newForeignPtr c_delete_CasADi__Variable)
-- raw decl
data LPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'LPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype LPStructure = LPStructure (ForeignPtr LPStructure')
-- typeclass decl
class LPStructureClass a where
castLPStructure :: a -> LPStructure
instance LPStructureClass LPStructure where
castLPStructure = id
-- baseclass instances
instance PrintableObjectClass LPStructure where
castPrintableObject (LPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal LPStructure (Ptr LPStructure') where
marshal (LPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (LPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__LPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__LPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr LPStructure' -> IO ())
instance WrapReturn (Ptr LPStructure') LPStructure where
wrapReturn = (fmap LPStructure) . (newForeignPtr c_delete_CasADi__LPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data ImplicitFixedStepIntegrator'
-- data decl
{-|
>[INTERNAL] Base
>class for implicit fixed step integrators.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_IMPLICITF | GenericType( | An implicit | CasADi::Impl |
>| ver | UNCTION | ) | function | icitFixedSte |
>| | | | solver | pIntegratorI |
>| | | | | nternal |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| ver_options | Y | ) | be passed to | icitFixedSte |
>| | | | the NLP | pIntegratorI |
>| | | | Solver | nternal |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fi | OT_INTEGER | 20 | Number of | CasADi::Fixe |
>| nite_element | | | finite | dStepIntegra |
>| s | | | elements | torInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: implicit_fixed_step_integrator.hpp
-}
newtype ImplicitFixedStepIntegrator = ImplicitFixedStepIntegrator (ForeignPtr ImplicitFixedStepIntegrator')
-- typeclass decl
class ImplicitFixedStepIntegratorClass a where
castImplicitFixedStepIntegrator :: a -> ImplicitFixedStepIntegrator
instance ImplicitFixedStepIntegratorClass ImplicitFixedStepIntegrator where
castImplicitFixedStepIntegrator = id
-- baseclass instances
instance SharedObjectClass ImplicitFixedStepIntegrator where
castSharedObject (ImplicitFixedStepIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass ImplicitFixedStepIntegrator where
castPrintableObject (ImplicitFixedStepIntegrator x) = PrintableObject (castForeignPtr x)
instance FixedStepIntegratorClass ImplicitFixedStepIntegrator where
castFixedStepIntegrator (ImplicitFixedStepIntegrator x) = FixedStepIntegrator (castForeignPtr x)
instance OptionsFunctionalityClass ImplicitFixedStepIntegrator where
castOptionsFunctionality (ImplicitFixedStepIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass ImplicitFixedStepIntegrator where
castFunction (ImplicitFixedStepIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass ImplicitFixedStepIntegrator where
castIntegrator (ImplicitFixedStepIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass ImplicitFixedStepIntegrator where
castIOInterfaceFunction (ImplicitFixedStepIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ImplicitFixedStepIntegrator (Ptr ImplicitFixedStepIntegrator') where
marshal (ImplicitFixedStepIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (ImplicitFixedStepIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__ImplicitFixedStepIntegrator"
c_delete_CasADi__ImplicitFixedStepIntegrator :: FunPtr (Ptr ImplicitFixedStepIntegrator' -> IO ())
instance WrapReturn (Ptr ImplicitFixedStepIntegrator') ImplicitFixedStepIntegrator where
wrapReturn = (fmap ImplicitFixedStepIntegrator) . (newForeignPtr c_delete_CasADi__ImplicitFixedStepIntegrator)
-- raw decl
data CSparseCholesky'
-- data decl
{-|
>[INTERNAL] LinearSolver
>with CSparseCholesky Interface.
>
>Solves the linear system A*X = B or A^T*X = B for X with A square and non-
>singular
>
>If A is structurally singular, an error will be thrown during init. If A is
>numerically singular, the prepare step will fail.
>
>CSparseCholesky is an CasADi::Function mapping from 2 inputs [ A (matrix),b
>(vector)] to one output [x (vector)].
>
>A = LL' Ax = b LL'x = b L'x = L^-1 b
>
>The usual procedure to use CSparseCholesky 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 = 3) [linsolIn]
>+-----------+-------+------------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+================================================+
>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |
>+-----------+-------+------------------------------------------------+
>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: CasADi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: csparse_cholesky.hpp
-}
newtype CSparseCholesky = CSparseCholesky (ForeignPtr CSparseCholesky')
-- typeclass decl
class CSparseCholeskyClass a where
castCSparseCholesky :: a -> CSparseCholesky
instance CSparseCholeskyClass CSparseCholesky where
castCSparseCholesky = id
-- baseclass instances
instance SharedObjectClass CSparseCholesky where
castSharedObject (CSparseCholesky x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CSparseCholesky where
castPrintableObject (CSparseCholesky x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass CSparseCholesky where
castOptionsFunctionality (CSparseCholesky x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass CSparseCholesky where
castFunction (CSparseCholesky x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass CSparseCholesky where
castIOInterfaceFunction (CSparseCholesky x) = IOInterfaceFunction (castForeignPtr x)
instance LinearSolverClass CSparseCholesky where
castLinearSolver (CSparseCholesky x) = LinearSolver (castForeignPtr x)
-- helper instances
instance Marshal CSparseCholesky (Ptr CSparseCholesky') where
marshal (CSparseCholesky x) = return (unsafeForeignPtrToPtr x)
marshalFree (CSparseCholesky x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CSparseCholesky"
c_delete_CasADi__CSparseCholesky :: FunPtr (Ptr CSparseCholesky' -> IO ())
instance WrapReturn (Ptr CSparseCholesky') CSparseCholesky where
wrapReturn = (fmap CSparseCholesky) . (newForeignPtr c_delete_CasADi__CSparseCholesky)
-- raw decl
data SDPSOCPSolver'
-- data decl
{-|
>[INTERNAL] SOCP Solver for
>quadratic programming.
>
>Solves an Second Order Cone Programming (SOCP) problem in standard form.
>
>Primal:
>
>min c' x x subject to || Gi' x + hi ||_2 <= ei' x
>+ fi i = 1..m LBA <= A x <= UBA LBX <= x <= UBX
>with x ( n x 1) c ( n x 1 ) Gi sparse (n x ni) hi dense
>(ni x 1) ei dense (n x 1) fi dense (1 x 1) N =
>Sum_i^m ni A sparse (nc x n) LBA, UBA dense vector (nc x
>1) LBX, UBX dense vector (n x 1)
>
>Joris Gillis
>
>>Input scheme: CasADi::SOCPInput (SOCP_SOLVER_NUM_IN = 11) [socpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_G | g | The horizontal stack |
>| | | of all matrices Gi: ( |
>| | | n x N) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_H | h | The vertical stack of |
>| | | all vectors hi: ( N x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_E | e | The vertical stack of |
>| | | all vectors ei: ( nm x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_F | f | The vertical stack of |
>| | | all scalars fi: ( m x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 5) [socpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_X | x | The primal solution (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| ni | OT_INTEGERVE | GenericType( | Provide the | CasADi::SOCP |
>| | CTOR | ) | size of each | SolverIntern |
>| | | | SOC | al |
>| | | | constraint. | |
>| | | | Must sum up | |
>| | | | to N. | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_proble | OT_BOOLEAN | false | Print out | CasADi::SOCP |
>| m | | | problem | SolverIntern |
>| | | | statement | al |
>| | | | for | |
>| | | | debugging. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver | OT_SDPSOLVER | GenericType( | The | CasADi::SDPS |
>| | | ) | SDPSolver | OCPInternal |
>| | | | used to | |
>| | | | solve the | |
>| | | | SOCPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::SDPS |
>| ptions | Y | ) | be passed to | OCPInternal |
>| | | | the | |
>| | | | SDPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+------------------+-------------------------+
>| Id | Used in |
>+==================+=========================+
>| sdp_solver_stats | CasADi::SDPSOCPInternal |
>+------------------+-------------------------+
>
>Diagrams
>
>C++ includes: sdp_socp_solver.hpp
-}
newtype SDPSOCPSolver = SDPSOCPSolver (ForeignPtr SDPSOCPSolver')
-- typeclass decl
class SDPSOCPSolverClass a where
castSDPSOCPSolver :: a -> SDPSOCPSolver
instance SDPSOCPSolverClass SDPSOCPSolver where
castSDPSOCPSolver = id
-- baseclass instances
instance SharedObjectClass SDPSOCPSolver where
castSharedObject (SDPSOCPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SDPSOCPSolver where
castPrintableObject (SDPSOCPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SDPSOCPSolver where
castOptionsFunctionality (SDPSOCPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SDPSOCPSolver where
castFunction (SDPSOCPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SDPSOCPSolver where
castIOInterfaceFunction (SDPSOCPSolver x) = IOInterfaceFunction (castForeignPtr x)
instance SOCPSolverClass SDPSOCPSolver where
castSOCPSolver (SDPSOCPSolver x) = SOCPSolver (castForeignPtr x)
-- helper instances
instance Marshal SDPSOCPSolver (Ptr SDPSOCPSolver') where
marshal (SDPSOCPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDPSOCPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDPSOCPSolver"
c_delete_CasADi__SDPSOCPSolver :: FunPtr (Ptr SDPSOCPSolver' -> IO ())
instance WrapReturn (Ptr SDPSOCPSolver') SDPSOCPSolver where
wrapReturn = (fmap SDPSOCPSolver) . (newForeignPtr c_delete_CasADi__SDPSOCPSolver)
-- raw decl
data OptionsFunctionality'
-- data decl
{-|
>[INTERNAL] 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 OldCollocationIntegrator'
-- data decl
{-|
>[INTERNAL]
>Collocation integrator ODE/DAE integrator based on collocation.
>
>The method is still under development
>
>Base class for integrators. Solves an initial value problem (IVP) coupled to
>a terminal value problem with differential equation given as an implicit ODE
>coupled to an algebraic equation and a set of quadratures: Initial
>conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0
>to t=tf der(x) = function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t)
>Forward algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| collocation_ | OT_STRING | "radau" | Collocation | CasADi::OldC |
>| scheme | | | scheme (rada | ollocationIn |
>| | | | u|legendre) | tegratorInte |
>| | | | | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_f | OT_BOOLEAN | false | Expand the | CasADi::OldC |
>| | | | ODE/DAE | ollocationIn |
>| | | | residual | tegratorInte |
>| | | | function in | rnal |
>| | | | an SX graph | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_q | OT_BOOLEAN | false | Expand the | CasADi::OldC |
>| | | | quadrature | ollocationIn |
>| | | | function in | tegratorInte |
>| | | | an SX graph | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| hotstart | OT_BOOLEAN | true | Initialize | CasADi::OldC |
>| | | | the | ollocationIn |
>| | | | trajectory | tegratorInte |
>| | | | at the | rnal |
>| | | | previous | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_IMPLICITF | GenericType( | An implicit | CasADi::OldC |
>| ver | UNCTION | ) | function | ollocationIn |
>| | | | solver | tegratorInte |
>| | | | | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_DICTIONAR | GenericType( | Options to | CasADi::OldC |
>| ver_options | Y | ) | be passed to | ollocationIn |
>| | | | the implicit | tegratorInte |
>| | | | solver | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_INTEGER | 3 | Order of the | CasADi::OldC |
>| n_order | | | interpolatin | ollocationIn |
>| | | | g | tegratorInte |
>| | | | polynomials | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fi | OT_INTEGER | 20 | Number of | CasADi::OldC |
>| nite_element | | | finite | ollocationIn |
>| s | | | elements | tegratorInte |
>| | | | | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| quadrature_s | OT_LINEARSOL | GenericType( | An linear | CasADi::OldC |
>| olver | VER | ) | solver to | ollocationIn |
>| | | | solver the | tegratorInte |
>| | | | quadrature | rnal |
>| | | | equations | |
>+--------------+--------------+--------------+--------------+--------------+
>| quadrature_s | OT_DICTIONAR | GenericType( | Options to | CasADi::OldC |
>| olver_option | Y | ) | be passed to | ollocationIn |
>| s | | | the | tegratorInte |
>| | | | quadrature | rnal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| startup_inte | OT_INTEGRATO | GenericType( | An ODE/DAE | CasADi::OldC |
>| grator | R | ) | integrator | ollocationIn |
>| | | | that can be | tegratorInte |
>| | | | used to | rnal |
>| | | | generate a | |
>| | | | startup | |
>| | | | trajectory | |
>+--------------+--------------+--------------+--------------+--------------+
>| startup_inte | OT_DICTIONAR | GenericType( | Options to | CasADi::OldC |
>| grator_optio | Y | ) | be passed to | ollocationIn |
>| ns | | | the startup | tegratorInte |
>| | | | integrator | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: old_collocation_integrator.hpp
-}
newtype OldCollocationIntegrator = OldCollocationIntegrator (ForeignPtr OldCollocationIntegrator')
-- typeclass decl
class OldCollocationIntegratorClass a where
castOldCollocationIntegrator :: a -> OldCollocationIntegrator
instance OldCollocationIntegratorClass OldCollocationIntegrator where
castOldCollocationIntegrator = id
-- baseclass instances
instance SharedObjectClass OldCollocationIntegrator where
castSharedObject (OldCollocationIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass OldCollocationIntegrator where
castPrintableObject (OldCollocationIntegrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass OldCollocationIntegrator where
castOptionsFunctionality (OldCollocationIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass OldCollocationIntegrator where
castFunction (OldCollocationIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass OldCollocationIntegrator where
castIntegrator (OldCollocationIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass OldCollocationIntegrator where
castIOInterfaceFunction (OldCollocationIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal OldCollocationIntegrator (Ptr OldCollocationIntegrator') where
marshal (OldCollocationIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (OldCollocationIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__OldCollocationIntegrator"
c_delete_CasADi__OldCollocationIntegrator :: FunPtr (Ptr OldCollocationIntegrator' -> IO ())
instance WrapReturn (Ptr OldCollocationIntegrator') OldCollocationIntegrator where
wrapReturn = (fmap OldCollocationIntegrator) . (newForeignPtr c_delete_CasADi__OldCollocationIntegrator)
-- raw decl
data FixedStepIntegrator'
-- data decl
{-|
>[INTERNAL] Base class
>for fixed step integrators.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fi | OT_INTEGER | 20 | Number of | CasADi::Fixe |
>| nite_element | | | finite | dStepIntegra |
>| s | | | elements | torInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: fixed_step_integrator.hpp
-}
newtype FixedStepIntegrator = FixedStepIntegrator (ForeignPtr FixedStepIntegrator')
-- typeclass decl
class FixedStepIntegratorClass a where
castFixedStepIntegrator :: a -> FixedStepIntegrator
instance FixedStepIntegratorClass FixedStepIntegrator where
castFixedStepIntegrator = id
-- baseclass instances
instance SharedObjectClass FixedStepIntegrator where
castSharedObject (FixedStepIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass FixedStepIntegrator where
castPrintableObject (FixedStepIntegrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass FixedStepIntegrator where
castOptionsFunctionality (FixedStepIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass FixedStepIntegrator where
castFunction (FixedStepIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass FixedStepIntegrator where
castIntegrator (FixedStepIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass FixedStepIntegrator where
castIOInterfaceFunction (FixedStepIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal FixedStepIntegrator (Ptr FixedStepIntegrator') where
marshal (FixedStepIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (FixedStepIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__FixedStepIntegrator"
c_delete_CasADi__FixedStepIntegrator :: FunPtr (Ptr FixedStepIntegrator' -> IO ())
instance WrapReturn (Ptr FixedStepIntegrator') FixedStepIntegrator where
wrapReturn = (fmap FixedStepIntegrator) . (newForeignPtr c_delete_CasADi__FixedStepIntegrator)
-- raw decl
data CollocationIntegrator'
-- data decl
{-|
>[INTERNAL] Fixed-step
>implicit Runge-Kutta integrator ODE/DAE integrator based on collocation
>schemes.
>
>The method is still under development
>
>Base class for integrators. Solves an initial value problem (IVP) coupled to
>a terminal value problem with differential equation given as an implicit ODE
>coupled to an algebraic equation and a set of quadratures: Initial
>conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0
>to t=tf der(x) = function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t)
>Forward algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| collocation_ | OT_STRING | "radau" | Collocation | CasADi::Coll |
>| scheme | | | scheme (rada | ocationInteg |
>| | | | u|legendre) | ratorInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_IMPLICITF | GenericType( | An implicit | CasADi::Impl |
>| ver | UNCTION | ) | function | icitFixedSte |
>| | | | solver | pIntegratorI |
>| | | | | nternal |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_sol | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| ver_options | Y | ) | be passed to | icitFixedSte |
>| | | | the NLP | pIntegratorI |
>| | | | Solver | nternal |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_INTEGER | 3 | Order of the | CasADi::Coll |
>| n_order | | | interpolatin | ocationInteg |
>| | | | g | ratorInterna |
>| | | | polynomials | l |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_fi | OT_INTEGER | 20 | Number of | CasADi::Fixe |
>| nite_element | | | finite | dStepIntegra |
>| s | | | elements | torInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: collocation_integrator.hpp
-}
newtype CollocationIntegrator = CollocationIntegrator (ForeignPtr CollocationIntegrator')
-- typeclass decl
class CollocationIntegratorClass a where
castCollocationIntegrator :: a -> CollocationIntegrator
instance CollocationIntegratorClass CollocationIntegrator where
castCollocationIntegrator = id
-- baseclass instances
instance SharedObjectClass CollocationIntegrator where
castSharedObject (CollocationIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CollocationIntegrator where
castPrintableObject (CollocationIntegrator x) = PrintableObject (castForeignPtr x)
instance ImplicitFixedStepIntegratorClass CollocationIntegrator where
castImplicitFixedStepIntegrator (CollocationIntegrator x) = ImplicitFixedStepIntegrator (castForeignPtr x)
instance FixedStepIntegratorClass CollocationIntegrator where
castFixedStepIntegrator (CollocationIntegrator x) = FixedStepIntegrator (castForeignPtr x)
instance OptionsFunctionalityClass CollocationIntegrator where
castOptionsFunctionality (CollocationIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass CollocationIntegrator where
castFunction (CollocationIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass CollocationIntegrator where
castIntegrator (CollocationIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass CollocationIntegrator where
castIOInterfaceFunction (CollocationIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal CollocationIntegrator (Ptr CollocationIntegrator') where
marshal (CollocationIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (CollocationIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CollocationIntegrator"
c_delete_CasADi__CollocationIntegrator :: FunPtr (Ptr CollocationIntegrator' -> IO ())
instance WrapReturn (Ptr CollocationIntegrator') CollocationIntegrator where
wrapReturn = (fmap CollocationIntegrator) . (newForeignPtr c_delete_CasADi__CollocationIntegrator)
-- raw decl
data GenSX'
-- data decl
{-|
>[INTERNAL] Matrix base
>class.
>
>This is a common base class for MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. The class 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 vec happens as follows: (rr,cc) -> k = rr+cc*size1() Vectors
>are column vectors. The storage format is Compressed Column Storage (CCS),
>similar to that used for sparse matrices in Matlab, but unlike this format,
>we do allow for elements to be structurally non-zero but numerically zero.
>The sparsity pattern, which is reference counted and cached, can be accessed
>with Sparsity& sparsity() Joel Andersson
>
>C++ includes: generic_matrix.hpp
-}
newtype GenSX = GenSX (ForeignPtr GenSX')
-- typeclass decl
class GenSXClass a where
castGenSX :: a -> GenSX
instance GenSXClass GenSX where
castGenSX = id
-- baseclass instances
-- helper instances
instance Marshal GenSX (Ptr GenSX') where
marshal (GenSX x) = return (unsafeForeignPtrToPtr x)
marshalFree (GenSX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericMatrix_CasADi__Matrix_CasADi__SXElement__"
c_delete_CasADi__GenericMatrix_CasADi__Matrix_CasADi__SXElement__ :: FunPtr (Ptr GenSX' -> IO ())
instance WrapReturn (Ptr GenSX') GenSX where
wrapReturn = (fmap GenSX) . (newForeignPtr c_delete_CasADi__GenericMatrix_CasADi__Matrix_CasADi__SXElement__)
-- raw decl
data IpoptSolver'
-- data decl
{-|
>[INTERNAL] interface to IPOPT
>NLP solver
>
>Solves the following parametric nonlinear program (NLP):min F(x,p)
>x subject to LBX <= x <= UBX LBG <= G(x,p) <= UBG
>p == P nx: number of decision variables ng: number of constraints
>np: number of parameters
>
>When in warmstart mode, output NLP_SOLVER_LAM_X may be used as input
>
>NOTE: Even when max_iter == 0, it is not guaranteed that
>input(NLP_SOLVER_X0) == output(NLP_SOLVER_X). Indeed if bounds on X or
>constraints are unmet, they will differ.
>
>For a good tutorial on IPOPT,
>seehttp://drops.dagstuhl.de/volltexte/2009/2089/pdf/09061.WaechterAndreas.Paper.2089.pdf
>
>A good resource about the algorithms in IPOPT is: Wachter and L. T. Biegler,
>On the Implementation of an Interior-Point Filter Line-Search Algorithm for
>Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp.
>25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center,
>Yorktown, USA
>
>Caveats: with default options, multipliers for the decision variables are
>wrong for equality constraints. Change the 'fixed_variable_treatment' to
>'make_constraint' or 'relax_bounds' to obtain correct results.
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| accept_after | OT_INTEGER | -1 | Accept a | CasADi::Ipop |
>| _max_steps | | | trial point | tInternal |
>| | | | after | |
>| | | | maximal this | |
>| | | | number of | |
>| | | | steps. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| accept_every | OT_STRING | no | Always | CasADi::Ipop |
>| _trial_step | | | accept the | tInternal |
>| | | | first trial | |
>| | | | step. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | CasADi::Ipop |
>| ompl_inf_tol | | | threshold | tInternal |
>| | | | for the comp | |
>| | | | lementarity | |
>| | | | conditions. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_c | OT_REAL | 0.010 | "Acceptance" | CasADi::Ipop |
>| onstr_viol_t | | | threshold | tInternal |
>| ol | | | for the | |
>| | | | constraint | |
>| | | | violation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_d | OT_REAL | 1.000e+10 | "Acceptance" | CasADi::Ipop |
>| ual_inf_tol | | | threshold | tInternal |
>| | | | for the dual | |
>| | | | infeasibilit | |
>| | | | y. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_i | OT_INTEGER | 15 | Number of | CasADi::Ipop |
>| ter | | | "acceptable" | tInternal |
>| | | | iterates | |
>| | | | before | |
>| | | | triggering | |
>| | | | termination. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_o | OT_REAL | 1.000e+20 | "Acceptance" | CasADi::Ipop |
>| bj_change_to | | | stopping | tInternal |
>| l | | | criterion | |
>| | | | based on | |
>| | | | objective | |
>| | | | function | |
>| | | | change. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| acceptable_t | OT_REAL | 0.000 | "Acceptable" | CasADi::Ipop |
>| ol | | | convergence | tInternal |
>| | | | tolerance | |
>| | | | (relative). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | obj-constr- | Globalizatio | CasADi::Ipop |
>| globalizatio | | filter | n strategy | tInternal |
>| n | | | for the | |
>| | | | adaptive mu | |
>| | | | selection | |
>| | | | mode. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | 2-norm- | Norm used | CasADi::Ipop |
>| kkt_norm_typ | | squared | for the KKT | tInternal |
>| e | | | error in the | |
>| | | | adaptive mu | |
>| | | | globalizatio | |
>| | | | n | |
>| | | | strategies. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 1.000 | Sufficient | CasADi::Ipop |
>| kkterror_red | | | decrease | tInternal |
>| _fact | | | factor for | |
>| | | | "kkt-error" | |
>| | | | globalizatio | |
>| | | | n strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_INTEGER | 4 | Maximum | CasADi::Ipop |
>| kkterror_red | | | number of | tInternal |
>| _iters | | | iterations | |
>| | | | requiring | |
>| | | | sufficient | |
>| | | | progress. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 0.800 | Determines | CasADi::Ipop |
>| monotone_ini | | | the initial | tInternal |
>| t_factor | | | value of the | |
>| | | | barrier | |
>| | | | parameter | |
>| | | | when | |
>| | | | switching to | |
>| | | | the monotone | |
>| | | | mode. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_STRING | no | Indicates if | CasADi::Ipop |
>| restore_prev | | | the previous | tInternal |
>| ious_iterate | | | iterate | |
>| | | | should be | |
>| | | | restored if | |
>| | | | the monotone | |
>| | | | mode is | |
>| | | | entered. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| adaptive_mu_ | OT_REAL | 0 | (see IPOPT d | CasADi::Ipop |
>| safeguard_fa | | | ocumentation | tInternal |
>| ctor | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_for_y | OT_STRING | primal | Method to | CasADi::Ipop |
>| | | | determine | tInternal |
>| | | | the step | |
>| | | | size for | |
>| | | | constraint | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_for_y_ | OT_REAL | 10 | Tolerance | CasADi::Ipop |
>| tol | | | for | tInternal |
>| | | | switching to | |
>| | | | full | |
>| | | | equality | |
>| | | | multiplier | |
>| | | | steps. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_min_fr | OT_REAL | 0.050 | Safety | CasADi::Ipop |
>| ac | | | factor for | tInternal |
>| | | | the minimal | |
>| | | | step size | |
>| | | | (before | |
>| | | | switching to | |
>| | | | restoration | |
>| | | | phase). (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alpha_red_fa | OT_REAL | 0.500 | Fractional | CasADi::Ipop |
>| ctor | | | reduction of | tInternal |
>| | | | the trial | |
>| | | | step size in | |
>| | | | the | |
>| | | | backtracking | |
>| | | | line search. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| barrier_tol_ | OT_REAL | 10 | Factor for | CasADi::Ipop |
>| factor | | | mu in | tInternal |
>| | | | barrier stop | |
>| | | | test. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_frac | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| | | | minimum | tInternal |
>| | | | relative | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | point to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_i | OT_STRING | constant | Initializati | CasADi::Ipop |
>| nit_method | | | on method | tInternal |
>| | | | for bound | |
>| | | | multipliers | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_i | OT_REAL | 1 | Initial | CasADi::Ipop |
>| nit_val | | | value for | tInternal |
>| | | | the bound | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_mult_r | OT_REAL | 1000 | Threshold | CasADi::Ipop |
>| eset_thresho | | | for | tInternal |
>| ld | | | resetting | |
>| | | | bound | |
>| | | | multipliers | |
>| | | | after the | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_push | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| | | | minimum | tInternal |
>| | | | absolute | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | point to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| bound_relax_ | OT_REAL | 0.000 | Factor for | CasADi::Ipop |
>| factor | | | initial | tInternal |
>| | | | relaxation | |
>| | | | of the | |
>| | | | bounds. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| check_deriva | OT_STRING | no | Indicates | CasADi::Ipop |
>| tives_for_na | | | whether it | tInternal |
>| ninf | | | is desired | |
>| | | | to check for | |
>| | | | Nan/Inf in | |
>| | | | derivative | |
>| | | | matrices | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_cup | OT_REAL | 1.500 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_hat | OT_REAL | 2 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| chi_tilde | OT_REAL | 5 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| compl_inf_to | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| l | | | threshold | tInternal |
>| | | | for the comp | |
>| | | | lementarity | |
>| | | | conditions. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_integer_ | OT_DICTIONAR | None | Integer | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of integers) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_numeric_ | OT_DICTIONAR | None | Numeric | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of reals) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| con_string_m | OT_DICTIONAR | None | String | CasADi::Ipop |
>| d | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of strings) | |
>| | | | about | |
>| | | | constraints | |
>| | | | to be passed | |
>| | | | to IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_mult_ | OT_REAL | 1000 | Maximum | CasADi::Ipop |
>| init_max | | | allowed | tInternal |
>| | | | least-square | |
>| | | | guess of | |
>| | | | constraint | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_mult_ | OT_REAL | 0 | Threshold | CasADi::Ipop |
>| reset_thresh | | | for | tInternal |
>| old | | | resetting | |
>| | | | equality and | |
>| | | | inequality | |
>| | | | multipliers | |
>| | | | after | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constr_viol_ | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| tol | | | threshold | tInternal |
>| | | | for the | |
>| | | | constraint | |
>| | | | violation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraint_v | OT_STRING | 1-norm | Norm to be | CasADi::Ipop |
>| iolation_nor | | | used for the | tInternal |
>| m_type | | | constraint | |
>| | | | violation in | |
>| | | | the line | |
>| | | | search. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| corrector_co | OT_REAL | 1 | Complementar | CasADi::Ipop |
>| mpl_avrg_red | | | ity | tInternal |
>| _fact | | | tolerance | |
>| | | | factor for | |
>| | | | accepting | |
>| | | | corrector | |
>| | | | step (unsupp | |
>| | | | orted!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| corrector_ty | OT_STRING | none | The type of | CasADi::Ipop |
>| pe | | | corrector | tInternal |
>| | | | steps that | |
>| | | | should be | |
>| | | | taken (unsup | |
>| | | | ported!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| delta | OT_REAL | 1 | Multiplier | CasADi::Ipop |
>| | | | for | tInternal |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| delta_y_max | OT_REAL | 1.000e+12 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dependency_d | OT_STRING | no | Indicates if | CasADi::Ipop |
>| etection_wit | | | the right | tInternal |
>| h_rhs | | | hand sides | |
>| | | | of the | |
>| | | | constraints | |
>| | | | should be | |
>| | | | considered | |
>| | | | during | |
>| | | | dependency | |
>| | | | detection | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dependency_d | OT_STRING | none | Indicates | CasADi::Ipop |
>| etector | | | which linear | tInternal |
>| | | | solver | |
>| | | | should be | |
>| | | | used to | |
>| | | | detect | |
>| | | | linearly | |
>| | | | dependent | |
>| | | | equality | |
>| | | | constraints. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_STRING | none | Enable | CasADi::Ipop |
>| est | | | derivative | tInternal |
>| | | | checker (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_INTEGER | -2 | Index of | CasADi::Ipop |
>| est_first_in | | | first | tInternal |
>| dex | | | quantity to | |
>| | | | be checked | |
>| | | | by | |
>| | | | derivative | |
>| | | | checker (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_REAL | 0.000 | Size of the | CasADi::Ipop |
>| est_perturba | | | finite | tInternal |
>| tion | | | difference | |
>| | | | perturbation | |
>| | | | in | |
>| | | | derivative | |
>| | | | test. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_STRING | no | Indicates | CasADi::Ipop |
>| est_print_al | | | whether | tInternal |
>| l | | | information | |
>| | | | for all | |
>| | | | estimated | |
>| | | | derivatives | |
>| | | | should be | |
>| | | | printed. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_t | OT_REAL | 0.000 | Threshold | CasADi::Ipop |
>| est_tol | | | for | tInternal |
>| | | | indicating | |
>| | | | wrong | |
>| | | | derivative. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| diverging_it | OT_REAL | 1.000e+20 | Threshold | CasADi::Ipop |
>| erates_tol | | | for maximal | tInternal |
>| | | | value of | |
>| | | | primal | |
>| | | | iterates. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dual_inf_tol | OT_REAL | 1 | Desired | CasADi::Ipop |
>| | | | threshold | tInternal |
>| | | | for the dual | |
>| | | | infeasibilit | |
>| | | | y. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| epsilon_c | OT_REAL | 0.010 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_min | OT_REAL | 10 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_penalty | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the Armijo | |
>| | | | condition | |
>| | | | for the | |
>| | | | penalty | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| eta_phi | OT_REAL | 0.000 | Relaxation | CasADi::Ipop |
>| | | | factor in | tInternal |
>| | | | the Armijo | |
>| | | | condition. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| evaluate_ori | OT_STRING | yes | Determines | CasADi::Ipop |
>| g_obj_at_res | | | if the | tInternal |
>| to_trial | | | original | |
>| | | | objective | |
>| | | | function | |
>| | | | should be | |
>| | | | evaluated at | |
>| | | | restoration | |
>| | | | phase trial | |
>| | | | points. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::NLPS |
>| | | | NLP function | olverInterna |
>| | | | in terms of | l |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX->SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| 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::Func |
>| | | | indicate | tionInternal |
>| | | | 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_Function | None | Function for | CasADi::Ipop |
>| | | | calculating | tInternal |
>| | | | the gradient | |
>| | | | of the | |
>| | | | objective | |
>| | | | (column, aut | |
>| | | | ogenerated | |
>| | | | by default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| grad_lag | OT_Function | None | Function for | CasADi::Ipop |
>| | | | calculating | tInternal |
>| | | | the gradient | |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hess_lag | OT_Function | None | Function for | CasADi::Ipop |
>| | | | calculating | tInternal |
>| | | | the Hessian | |
>| | | | of the | |
>| | | | Lagrangian ( | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | exact | Indicates | CasADi::Ipop |
>| oximation | | | what Hessian | tInternal |
>| | | | information | |
>| | | | is to be | |
>| | | | used. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | nonlinear- | Indicates in | CasADi::Ipop |
>| oximation_sp | | variables | which | tInternal |
>| ace | | | subspace the | |
>| | | | Hessian | |
>| | | | information | |
>| | | | is to be app | |
>| | | | roximated. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_cons | OT_STRING | no | Indicates | CasADi::Ipop |
>| tant | | | whether the | tInternal |
>| | | | problem is a | |
>| | | | quadratic | |
>| | | | problem (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| honor_origin | OT_STRING | yes | Indicates | CasADi::Ipop |
>| al_bounds | | | whether | tInternal |
>| | | | final points | |
>| | | | should be | |
>| | | | projected | |
>| | | | into | |
>| | | | original | |
>| | | | bounds. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inf_pr_outpu | OT_STRING | original | Determines | CasADi::Ipop |
>| t | | | what value | tInternal |
>| | | | is printed | |
>| | | | in the | |
>| | | | "inf_pr" | |
>| | | | output | |
>| | | | column. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_c_consta | OT_STRING | no | Indicates | CasADi::Ipop |
>| nt | | | whether all | tInternal |
>| | | | equality | |
>| | | | constraints | |
>| | | | are linear | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_d_consta | OT_STRING | no | Indicates | CasADi::Ipop |
>| nt | | | whether all | tInternal |
>| | | | inequality | |
>| | | | constraints | |
>| | | | are linear | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_f | OT_Function | None | Function for | CasADi::Ipop |
>| | | | calculating | tInternal |
>| | | | the jacobian | |
>| | | | of the | |
>| | | | objective | |
>| | | | (sparse row, | |
>| | | | autogenerate | |
>| | | | d by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jac_g | OT_Function | None | Function for | CasADi::Ipop |
>| | | | calculating | tInternal |
>| | | | the Jacobian | |
>| | | | of the | |
>| | | | constraints | |
>| | | | (autogenerat | |
>| | | | ed by | |
>| | | | default) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_app | OT_STRING | exact | Specifies | CasADi::Ipop |
>| roximation | | | technique to | tInternal |
>| | | | compute | |
>| | | | constraint | |
>| | | | Jacobian | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_reg | OT_REAL | 0.250 | Exponent for | CasADi::Ipop |
>| ularization_ | | | mu in the re | tInternal |
>| exponent | | | gularization | |
>| | | | for rank- | |
>| | | | deficient | |
>| | | | constraint | |
>| | | | Jacobians. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| jacobian_reg | OT_REAL | 0.000 | Size of the | CasADi::Ipop |
>| ularization_ | | | regularizati | tInternal |
>| value | | | on for rank- | |
>| | | | deficient | |
>| | | | constraint | |
>| | | | Jacobians. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_d | OT_REAL | 0.000 | Weight for | CasADi::Ipop |
>| | | | linear | tInternal |
>| | | | damping term | |
>| | | | (to handle | |
>| | | | one-sided | |
>| | | | bounds). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_sigma | OT_REAL | 1.000e+10 | Factor | CasADi::Ipop |
>| | | | limiting the | tInternal |
>| | | | deviation of | |
>| | | | dual | |
>| | | | variables | |
>| | | | from primal | |
>| | | | estimates. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_soc | OT_REAL | 0.990 | Factor in | CasADi::Ipop |
>| | | | the | tInternal |
>| | | | sufficient | |
>| | | | reduction | |
>| | | | rule for | |
>| | | | second order | |
>| | | | correction. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_x_dis | OT_REAL | 100 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| kappa_y_dis | OT_REAL | 10000 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| least_square | OT_STRING | no | Least square | CasADi::Ipop |
>| _init_duals | | | initializati | tInternal |
>| | | | on of all | |
>| | | | dual | |
>| | | | variables | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| least_square | OT_STRING | no | Least square | CasADi::Ipop |
>| _init_primal | | | initializati | tInternal |
>| | | | on of the | |
>| | | | primal | |
>| | | | variables | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | sherman- | Strategy for | CasADi::Ipop |
>| ry_aug_solve | | morrison | solving the | tInternal |
>| r | | | augmented | |
>| | | | system for | |
>| | | | low-rank | |
>| | | | Hessian. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 1 | Value for B0 | CasADi::Ipop |
>| ry_init_val | | | in low-rank | tInternal |
>| | | | update. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 100000000 | Upper bound | CasADi::Ipop |
>| ry_init_val_ | | | on value for | tInternal |
>| max | | | B0 in low- | |
>| | | | rank update. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_REAL | 0.000 | Lower bound | CasADi::Ipop |
>| ry_init_val_ | | | on value for | tInternal |
>| min | | | B0 in low- | |
>| | | | rank update. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | scalar1 | Initializati | CasADi::Ipop |
>| ry_initializ | | | on strategy | tInternal |
>| ation | | | for the | |
>| | | | limited | |
>| | | | memory | |
>| | | | quasi-Newton | |
>| | | | approximatio | |
>| | | | n. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_INTEGER | 6 | Maximum size | CasADi::Ipop |
>| ry_max_histo | | | of the | tInternal |
>| ry | | | history for | |
>| | | | the limited | |
>| | | | quasi-Newton | |
>| | | | Hessian appr | |
>| | | | oximation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_INTEGER | 2 | Threshold | CasADi::Ipop |
>| ry_max_skipp | | | for | tInternal |
>| ing | | | successive | |
>| | | | iterations | |
>| | | | where update | |
>| | | | is skipped. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | no | Determines | CasADi::Ipop |
>| ry_special_f | | | if the | tInternal |
>| or_resto | | | quasi-Newton | |
>| | | | updates | |
>| | | | should be | |
>| | | | special | |
>| | | | during the | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| limited_memo | OT_STRING | bfgs | Quasi-Newton | CasADi::Ipop |
>| ry_update_ty | | | update | tInternal |
>| pe | | | formula for | |
>| | | | the limited | |
>| | | | memory appro | |
>| | | | ximation. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| line_search_ | OT_STRING | filter | Globalizatio | CasADi::Ipop |
>| method | | | n method | tInternal |
>| | | | used in | |
>| | | | backtracking | |
>| | | | line search | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_scali | OT_STRING | yes | Flag | CasADi::Ipop |
>| ng_on_demand | | | indicating | tInternal |
>| | | | that linear | |
>| | | | scaling is | |
>| | | | only done if | |
>| | | | it seems | |
>| | | | required. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | 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_refineme | OT_INTEGER | 10 | Maximum | CasADi::Ipop |
>| nt_steps | | | number of | tInternal |
>| | | | iterative | |
>| | | | refinement | |
>| | | | steps per | |
>| | | | linear | |
>| | | | system | |
>| | | | solve. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_resto_it | OT_INTEGER | 3000000 | Maximum | CasADi::Ipop |
>| er | | | number of | tInternal |
>| | | | successive | |
>| | | | iterations | |
>| | | | in | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_soc | OT_INTEGER | 4 | Maximum | CasADi::Ipop |
>| | | | number of | tInternal |
>| | | | second order | |
>| | | | correction | |
>| | | | trial steps | |
>| | | | at each | |
>| | | | iteration. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_soft_res | OT_INTEGER | 10 | Maximum | CasADi::Ipop |
>| to_iters | | | number of | tInternal |
>| | | | iterations | |
>| | | | performed | |
>| | | | successively | |
>| | | | in soft | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mehrotra_alg | OT_STRING | no | Indicates if | CasADi::Ipop |
>| orithm | | | we want to | tInternal |
>| | | | do | |
>| | | | Mehrotra's | |
>| | | | algorithm. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_alpha_pr | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| imal | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_hessian_ | OT_REAL | 0.000 | Smallest | CasADi::Ipop |
>| perturbation | | | perturbation | tInternal |
>| | | | of the | |
>| | | | Hessian | |
>| | | | block. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_refineme | OT_INTEGER | 1 | Minimum | CasADi::Ipop |
>| nt_steps | | | number of | tInternal |
>| | | | iterative | |
>| | | | refinement | |
>| | | | steps per | |
>| | | | linear | |
>| | | | system | |
>| | | | solve. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Ipop |
>| | | | uts) (eval_ | tInternal |
>| | | | f|eval_g|eva | |
>| | | | l_jac_g|eval | |
>| | | | _grad_f|eval | |
>| | | | _h) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_allow_fas | OT_STRING | yes | Allow | CasADi::Ipop |
>| t_monotone_d | | | skipping of | tInternal |
>| ecrease | | | barrier | |
>| | | | problem if | |
>| | | | barrier test | |
>| | | | is already | |
>| | | | met. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_init | OT_REAL | 0.100 | Initial | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | the barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_linear_de | OT_REAL | 0.200 | Determines | CasADi::Ipop |
>| crease_facto | | | linear | tInternal |
>| r | | | decrease | |
>| | | | rate of | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_max | OT_REAL | 100000 | Maximum | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_max_fact | OT_REAL | 1000 | Factor for i | CasADi::Ipop |
>| | | | nitializatio | tInternal |
>| | | | n of maximum | |
>| | | | value for | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_min | OT_REAL | 0.000 | Minimum | CasADi::Ipop |
>| | | | value for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_oracle | OT_STRING | quality- | Oracle for a | CasADi::Ipop |
>| | | function | new barrier | tInternal |
>| | | | parameter in | |
>| | | | the adaptive | |
>| | | | strategy. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_strategy | OT_STRING | monotone | Update | CasADi::Ipop |
>| | | | strategy for | tInternal |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_superline | OT_REAL | 1.500 | Determines | CasADi::Ipop |
>| ar_decrease_ | | | superlinear | tInternal |
>| power | | | decrease | |
>| | | | rate of | |
>| | | | barrier | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mu_target | OT_REAL | 0 | Desired | CasADi::Ipop |
>| | | | value of com | tInternal |
>| | | | plementarity | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mult_diverg_ | OT_REAL | 0.000 | tolerance | CasADi::Ipop |
>| feasibility_ | | | for deciding | tInternal |
>| tol | | | if the | |
>| | | | multipliers | |
>| | | | are | |
>| | | | diverging | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mult_diverg_ | OT_REAL | 100000000 | tolerance | CasADi::Ipop |
>| y_tol | | | for deciding | tInternal |
>| | | | if the | |
>| | | | multipliers | |
>| | | | are | |
>| | | | diverging | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| mumps_dep_to | OT_REAL | -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 | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| 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::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| replace_boun | OT_STRING | no | Indicates if | CasADi::Ipop |
>| ds | | | all variable | tInternal |
>| | | | bounds | |
>| | | | should be | |
>| | | | replaced by | |
>| | | | inequality | |
>| | | | constraints | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| required_inf | OT_REAL | 0.900 | Required | CasADi::Ipop |
>| easibility_r | | | reduction of | tInternal |
>| eduction | | | infeasibilit | |
>| | | | y before | |
>| | | | leaving | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_imp | OT_REAL | 1.000 | Minimal | CasADi::Ipop |
>| rovement_fac | | | required | tInternal |
>| tor | | | reduction of | |
>| | | | residual | |
>| | | | test ratio | |
>| | | | in iterative | |
>| | | | refinement. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_rat | OT_REAL | 0.000 | Iterative | CasADi::Ipop |
>| io_max | | | refinement | tInternal |
>| | | | tolerance | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| residual_rat | OT_REAL | 0.000 | Threshold | CasADi::Ipop |
>| io_singular | | | for | tInternal |
>| | | | declaring | |
>| | | | linear | |
>| | | | system | |
>| | | | singular | |
>| | | | after failed | |
>| | | | iterative | |
>| | | | refinement. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_failur | OT_REAL | 0 | Threshold | CasADi::Ipop |
>| e_feasibilit | | | for primal i | tInternal |
>| y_threshold | | | nfeasibility | |
>| | | | to declare | |
>| | | | failure of | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_penalt | OT_REAL | 1000 | Penalty | CasADi::Ipop |
>| y_parameter | | | parameter in | tInternal |
>| | | | the | |
>| | | | restoration | |
>| | | | phase | |
>| | | | objective | |
>| | | | function. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| resto_proxim | OT_REAL | 1 | Weighting | CasADi::Ipop |
>| ity_weight | | | factor for | tInternal |
>| | | | the | |
>| | | | proximity | |
>| | | | term in | |
>| | | | restoration | |
>| | | | phase | |
>| | | | objective. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| rho | OT_REAL | 0.100 | Value in | CasADi::Ipop |
>| | | | penalty | tInternal |
>| | | | parameter | |
>| | | | update | |
>| | | | formula. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_max | OT_REAL | 100 | Scaling | CasADi::Ipop |
>| | | | threshold | tInternal |
>| | | | for the NLP | |
>| | | | error. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_phi | OT_REAL | 2.300 | Exponent for | CasADi::Ipop |
>| | | | linear | tInternal |
>| | | | barrier | |
>| | | | function | |
>| | | | model in the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| s_theta | OT_REAL | 1.100 | Exponent for | CasADi::Ipop |
>| | | | current | tInternal |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sb | OT_STRING | no | (see IPOPT d | CasADi::Ipop |
>| | | | ocumentation | tInternal |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sigma_max | OT_REAL | 100 | Maximum | CasADi::Ipop |
>| | | | value of the | tInternal |
>| | | | centering | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| sigma_min | OT_REAL | 0.000 | Minimum | CasADi::Ipop |
>| | | | value of the | tInternal |
>| | | | centering | |
>| | | | parameter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_corr_if | OT_STRING | yes | Skip the | CasADi::Ipop |
>| _neg_curv | | | corrector | tInternal |
>| | | | step in | |
>| | | | negative | |
>| | | | curvature | |
>| | | | iteration (u | |
>| | | | nsupported!) | |
>| | | | . (see IPOPT | |
>| | | | documentatio | |
>| | | | n) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_corr_in | OT_STRING | yes | Skip the | CasADi::Ipop |
>| _monotone_mo | | | corrector | tInternal |
>| de | | | step during | |
>| | | | monotone | |
>| | | | barrier | |
>| | | | parameter | |
>| | | | mode (unsupp | |
>| | | | orted!). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| skip_finaliz | OT_STRING | no | Indicates if | CasADi::Ipop |
>| e_solution_c | | | call to NLP: | tInternal |
>| all | | | :FinalizeSol | |
>| | | | ution after | |
>| | | | optimization | |
>| | | | should be | |
>| | | | suppressed | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_bound_ | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| frac | | | minimum | tInternal |
>| | | | relative | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | slack to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_bound_ | OT_REAL | 0.010 | Desired | CasADi::Ipop |
>| push | | | minimum | tInternal |
>| | | | absolute | |
>| | | | distance | |
>| | | | from the | |
>| | | | initial | |
>| | | | slack to | |
>| | | | bound. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| slack_move | OT_REAL | 0.000 | Correction | CasADi::Ipop |
>| | | | size for | tInternal |
>| | | | very small | |
>| | | | slacks. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| soft_resto_p | OT_REAL | 1.000 | Required | CasADi::Ipop |
>| derror_reduc | | | reduction in | tInternal |
>| tion_factor | | | primal-dual | |
>| | | | error in the | |
>| | | | soft | |
>| | | | restoration | |
>| | | | phase. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| start_with_r | OT_STRING | no | Tells | CasADi::Ipop |
>| esto | | | algorithm to | tInternal |
>| | | | switch to | |
>| | | | restoration | |
>| | | | phase in | |
>| | | | first | |
>| | | | iteration. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| suppress_all | OT_STRING | no | Undocumented | CasADi::Ipop |
>| _output | | | (see IPOPT d | tInternal |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tau_min | OT_REAL | 0.990 | Lower bound | CasADi::Ipop |
>| | | | on fraction- | tInternal |
>| | | | to-the- | |
>| | | | boundary | |
>| | | | parameter | |
>| | | | tau. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_max_fa | OT_REAL | 10000 | Determines | CasADi::Ipop |
>| ct | | | upper bound | tInternal |
>| | | | for | |
>| | | | constraint | |
>| | | | violation in | |
>| | | | the filter. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_min | OT_REAL | 0.000 | LIFENG | CasADi::Ipop |
>| | | | WRITES THIS. | tInternal |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| theta_min_fa | OT_REAL | 0.000 | Determines | CasADi::Ipop |
>| ct | | | constraint | tInternal |
>| | | | violation | |
>| | | | threshold in | |
>| | | | the | |
>| | | | switching | |
>| | | | rule. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tiny_step_to | OT_REAL | 0.000 | Tolerance | CasADi::Ipop |
>| l | | | for | tInternal |
>| | | | detecting | |
>| | | | numerically | |
>| | | | insignifican | |
>| | | | t steps. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tiny_step_y_ | OT_REAL | 0.010 | Tolerance | CasADi::Ipop |
>| tol | | | for quitting | tInternal |
>| | | | because of | |
>| | | | numerically | |
>| | | | insignifican | |
>| | | | t steps. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol | OT_REAL | 0.000 | Desired | CasADi::Ipop |
>| | | | convergence | tInternal |
>| | | | tolerance | |
>| | | | (relative). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_integer_ | OT_DICTIONAR | None | Integer | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of integers) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_numeric_ | OT_DICTIONAR | None | Numeric | CasADi::Ipop |
>| md | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of reals) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| var_string_m | OT_DICTIONAR | None | String | CasADi::Ipop |
>| d | Y | | metadata (a | tInternal |
>| | | | dictionary | |
>| | | | with lists | |
>| | | | of strings) | |
>| | | | about | |
>| | | | variables to | |
>| | | | be passed to | |
>| | | | IPOPT | |
>+--------------+--------------+--------------+--------------+--------------+
>| vartheta | OT_REAL | 0.500 | a parameter | CasADi::Ipop |
>| | | | used to | tInternal |
>| | | | check if the | |
>| | | | fast | |
>| | | | direction | |
>| | | | can be used | |
>| | | | asthe line | |
>| | | | search | |
>| | | | direction | |
>| | | | (for Chen- | |
>| | | | Goldfarb | |
>| | | | line | |
>| | | | search). | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_b | OT_REAL | 0.001 | same as | CasADi::Ipop |
>| ound_frac | | | bound_frac | tInternal |
>| | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_b | OT_REAL | 0.001 | same as | CasADi::Ipop |
>| ound_push | | | bound_push | tInternal |
>| | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_e | OT_STRING | no | Tells | CasADi::Ipop |
>| ntire_iterat | | | algorithm | tInternal |
>| e | | | whether to | |
>| | | | use the GetW | |
>| | | | armStartIter | |
>| | | | ate method | |
>| | | | in the NLP. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_i | OT_STRING | no | Warm-start | CasADi::Ipop |
>| nit_point | | | for initial | tInternal |
>| | | | point (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_m | OT_REAL | 0.001 | same as mult | CasADi::Ipop |
>| ult_bound_pu | | | _bound_push | tInternal |
>| sh | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_m | OT_REAL | 1000000 | Maximum | CasADi::Ipop |
>| ult_init_max | | | initial | tInternal |
>| | | | value for | |
>| | | | the equality | |
>| | | | multipliers. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_STRING | no | Indicates | CasADi::Ipop |
>| ame_structur | | | whether a | tInternal |
>| e | | | problem with | |
>| | | | a structure | |
>| | | | identical to | |
>| | | | the previous | |
>| | | | one is to be | |
>| | | | solved. (see | |
>| | | | IPOPT docume | |
>| | | | ntation) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_REAL | 0.001 | same as slac | CasADi::Ipop |
>| lack_bound_f | | | k_bound_frac | tInternal |
>| rac | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_s | OT_REAL | 0.001 | same as slac | CasADi::Ipop |
>| lack_bound_p | | | k_bound_push | tInternal |
>| ush | | | for the | |
>| | | | regular | |
>| | | | initializer. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warm_start_t | OT_REAL | 0 | Unsupported! | CasADi::Ipop |
>| arget_mu | | | (see IPOPT d | tInternal |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>| watchdog_sho | OT_INTEGER | 10 | Number of | CasADi::Ipop |
>| rtened_iter_ | | | shortened | tInternal |
>| trigger | | | iterations | |
>| | | | that trigger | |
>| | | | the | |
>| | | | watchdog. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| watchdog_tri | OT_INTEGER | 3 | Maximum | CasADi::Ipop |
>| al_iter_max | | | number of | tInternal |
>| | | | watchdog | |
>| | | | iterations. | |
>| | | | (see IPOPT d | |
>| | | | ocumentation | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| wsmp_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_h | CasADi::IpoptInternal |
>+-------------+--------------------------+
>| eval_jac_g | CasADi::IpoptInternal |
>+-------------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>
>>List of available stats
>+--------------------+-----------------------+
>| Id | Used in |
>+====================+=======================+
>| con_integer_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| con_numeric_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| con_string_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| iter_count | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| iteration | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| iterations | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| n_eval_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| n_eval_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| n_eval_grad_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| n_eval_h | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| n_eval_jac_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| return_status | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_callback_fun | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_callback_prepare | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_grad_f | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_h | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_eval_jac_g | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| t_mainloop | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_integer_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_numeric_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>| var_string_md | CasADi::IpoptInternal |
>+--------------------+-----------------------+
>
>Diagrams
>
>C++ includes: ipopt_solver.hpp
-}
newtype IpoptSolver = IpoptSolver (ForeignPtr IpoptSolver')
-- typeclass decl
class IpoptSolverClass a where
castIpoptSolver :: a -> IpoptSolver
instance IpoptSolverClass IpoptSolver where
castIpoptSolver = id
-- baseclass instances
instance SharedObjectClass IpoptSolver where
castSharedObject (IpoptSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass IpoptSolver where
castPrintableObject (IpoptSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass IpoptSolver where
castOptionsFunctionality (IpoptSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass IpoptSolver where
castFunction (IpoptSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass IpoptSolver where
castIOInterfaceFunction (IpoptSolver x) = IOInterfaceFunction (castForeignPtr x)
instance NLPSolverClass IpoptSolver where
castNLPSolver (IpoptSolver x) = NLPSolver (castForeignPtr x)
-- helper instances
instance Marshal IpoptSolver (Ptr IpoptSolver') where
marshal (IpoptSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (IpoptSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IpoptSolver"
c_delete_CasADi__IpoptSolver :: FunPtr (Ptr IpoptSolver' -> IO ())
instance WrapReturn (Ptr IpoptSolver') IpoptSolver where
wrapReturn = (fmap IpoptSolver) . (newForeignPtr c_delete_CasADi__IpoptSolver)
-- raw decl
data DMatrix'
-- data decl
{-|
>[INTERNAL] Sparse matrix class. SX
>and DMatrix are specializations.
>
>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.
>Index starts with 0. Index vec happens as follows: (rr,cc) -> k =
>rr+cc*size1() Vectors are column vectors. The storage format is Compressed
>Column Storage (CCS), similar to that used for sparse matrices in Matlab,
>but unlike this format, we do allow for elements to be structurally non-zero
>but numerically zero. Matrix<DataType> is polymorphic with a
>std::vector<DataType> that contain all non- identical-zero elements. The
>sparsity can be accessed with Sparsity& sparsity() Joel Andersson
>
>C++ includes: casadi_types.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)
instance ExpDMatrixClass DMatrix where
castExpDMatrix (DMatrix x) = ExpDMatrix (castForeignPtr x)
instance GenDMatrixClass DMatrix where
castGenDMatrix (DMatrix x) = GenDMatrix (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 Sparsity'
-- data decl
{-|
>[INTERNAL] General sparsity class.
>
>The storage format is a compressed column storage (CCS) format. In this
>format, the structural non-zero elements are stored in column-major order,
>starting from the upper left corner of the matrix and ending in the lower
>right corner.
>
>In addition to the dimension ( size1(), size2()), (i.e. the number of rows
>and the number of columns respectively), there are also two vectors of
>integers:
>
>"colind" [length size2()+1], which contains the index to the first non-
>zero element on or after the corresponding column. All the non-zero elements
>of a particular i are thus the elements with index el that fulfils:
>colind[i] <= el < colind[i+1].
>
>"row" [same length as the number of non-zero elements, size()] The rows
>for each of the structural non-zeros.
>
>Note that with this format, it is cheap to loop over all the non-zero
>elements of a particular column, at constant time per element, but expensive
>to jump to access a location (i,j).
>
>If the matrix is dense, i.e. length(row) == size1()*size2(), the format
>reduces to standard dense column major format, which allows access to an
>arbitrary element in constant time.
>
>Since the object is reference counted (it inherits from SharedObject),
>several matrices are allowed to share the same sparsity pattern.
>
>The implementations of some methods of this class has been taken from the
>CSparse package and modified to use C++ standard library and CasADi data
>structures.
>
>See: Matrix
>
>Joel Andersson
>
>C++ includes: sparsity.hpp
-}
newtype Sparsity = Sparsity (ForeignPtr Sparsity')
-- typeclass decl
class SparsityClass a where
castSparsity :: a -> Sparsity
instance SparsityClass Sparsity where
castSparsity = id
-- baseclass instances
instance SharedObjectClass Sparsity where
castSharedObject (Sparsity x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Sparsity where
castPrintableObject (Sparsity x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal Sparsity (Ptr Sparsity') where
marshal (Sparsity x) = return (unsafeForeignPtrToPtr x)
marshalFree (Sparsity x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Sparsity"
c_delete_CasADi__Sparsity :: FunPtr (Ptr Sparsity' -> IO ())
instance WrapReturn (Ptr Sparsity') Sparsity where
wrapReturn = (fmap Sparsity) . (newForeignPtr c_delete_CasADi__Sparsity)
-- raw decl
data ExpMX'
-- data decl
{-|
>[INTERNAL] Expression
>interface.
>
>This is a common base class for SX, MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. Joel Andersson
>
>C++ includes: generic_expression.hpp
-}
newtype ExpMX = ExpMX (ForeignPtr ExpMX')
-- typeclass decl
class ExpMXClass a where
castExpMX :: a -> ExpMX
instance ExpMXClass ExpMX where
castExpMX = id
-- baseclass instances
-- helper instances
instance Marshal ExpMX (Ptr ExpMX') where
marshal (ExpMX x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExpMX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericExpression_CasADi__MX_"
c_delete_CasADi__GenericExpression_CasADi__MX_ :: FunPtr (Ptr ExpMX' -> IO ())
instance WrapReturn (Ptr ExpMX') ExpMX where
wrapReturn = (fmap ExpMX) . (newForeignPtr c_delete_CasADi__GenericExpression_CasADi__MX_)
-- raw decl
data MX'
-- data decl
{-|
>[INTERNAL] 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 SXElement
>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)
instance ExpMXClass MX where
castExpMX (MX x) = ExpMX (castForeignPtr x)
instance GenMXClass MX where
castGenMX (MX x) = GenMX (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 QCQPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'QCQPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype QCQPStructure = QCQPStructure (ForeignPtr QCQPStructure')
-- typeclass decl
class QCQPStructureClass a where
castQCQPStructure :: a -> QCQPStructure
instance QCQPStructureClass QCQPStructure where
castQCQPStructure = id
-- baseclass instances
instance PrintableObjectClass QCQPStructure where
castPrintableObject (QCQPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal QCQPStructure (Ptr QCQPStructure') where
marshal (QCQPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (QCQPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QCQPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__QCQPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr QCQPStructure' -> IO ())
instance WrapReturn (Ptr QCQPStructure') QCQPStructure where
wrapReturn = (fmap QCQPStructure) . (newForeignPtr c_delete_CasADi__QCQPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data DpleSolver'
-- data decl
{-|
>[INTERNAL] Base class for
>Discrete Periodic Lyapunov Equation Solvers.
>
>Given matrices A_k and symmetric V_k, k = 0..K-1
>
>A_k in R^(n x n) V_k in R^n
>
>provides all of P_k that satisfy:
>
>P_0 = A_(K-1)*P_(K-1)*A_(K-1)' + V_k P_k+1 = A_k*P_k*A_k' + V_k for k =
>1..K-1 Joris gillis
>
>>Input scheme: CasADi::DPLEInput (DPLE_NUM_IN = 3) [dpleIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| DPLE_A | a | A matrices (horzcat |
>| | | when const_dim, |
>| | | blkdiag otherwise) . |
>+------------------------+------------------------+------------------------+
>| DPLE_V | v | V matrices (horzcat |
>| | | when const_dim, |
>| | | blkdiag otherwise) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::DPLEOutput (DPLE_NUM_OUT = 2) [dpleOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| DPLE_P | p | Lyapunov matrix |
>| | | (horzcat when |
>| | | const_dim, blkdiag |
>| | | otherwise) (cholesky |
>| | | of P if pos_def) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| const_dim | OT_BOOLEAN | true | Assume | CasADi::Dple |
>| | | | constant | Internal |
>| | | | dimension of | |
>| | | | P | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| eps_unstable | OT_REAL | 0.000 | A margin for | CasADi::Dple |
>| | | | unstability | Internal |
>| | | | detection | |
>+--------------+--------------+--------------+--------------+--------------+
>| error_unstab | OT_BOOLEAN | false | Throw an | CasADi::Dple |
>| le | | | exception | Internal |
>| | | | when it is | |
>| | | | detected | |
>| | | | that Product | |
>| | | | (A_i,i=N..1) | |
>| | | | has | |
>| | | | eigenvalues | |
>| | | | greater than | |
>| | | | 1-eps_unstab | |
>| | | | le | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| pos_def | OT_BOOLEAN | false | Assume P | CasADi::Dple |
>| | | | positive | Internal |
>| | | | definite | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: dple_solver.hpp
-}
newtype DpleSolver = DpleSolver (ForeignPtr DpleSolver')
-- typeclass decl
class DpleSolverClass a where
castDpleSolver :: a -> DpleSolver
instance DpleSolverClass DpleSolver where
castDpleSolver = id
-- baseclass instances
instance SharedObjectClass DpleSolver where
castSharedObject (DpleSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass DpleSolver where
castPrintableObject (DpleSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass DpleSolver where
castOptionsFunctionality (DpleSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass DpleSolver where
castFunction (DpleSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass DpleSolver where
castIOInterfaceFunction (DpleSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal DpleSolver (Ptr DpleSolver') where
marshal (DpleSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (DpleSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__DpleSolver"
c_delete_CasADi__DpleSolver :: FunPtr (Ptr DpleSolver' -> IO ())
instance WrapReturn (Ptr DpleSolver') DpleSolver where
wrapReturn = (fmap DpleSolver) . (newForeignPtr c_delete_CasADi__DpleSolver)
-- raw decl
data SDQPSolver'
-- data decl
{-|
>[INTERNAL] SDQPSolver.
>
>Same as an SDPSolver, but with a quadratic objective 1/2 x' H x
>
>Joel Andersson
>
>>Input scheme: CasADi::SDQPInput (SDQP_SOLVER_NUM_IN = 10) [sdqpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_H | h | The matrix H: sparse ( |
>| | | n x n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_F | f | The horizontal stack |
>| | | of all matrices F_i: ( |
>| | | m x nm) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_G | g | The matrix G: ( m x m) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 8) [sdqpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_X | x | The primal solution (n |
>| | | x 1) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_P | p | The solution P (m x m) |
>| | | - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL | dual | The dual solution (m x |
>| | | m) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver | OT_SDPSOLVER | GenericType( | The | CasADi::SDQP |
>| | | ) | SDQPSolver | SolverIntern |
>| | | | used to | al |
>| | | | solve the | |
>| | | | SDPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::SDQP |
>| ptions | Y | ) | be passed to | SolverIntern |
>| | | | the | al |
>| | | | SDPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: sdqp_solver.hpp
-}
newtype SDQPSolver = SDQPSolver (ForeignPtr SDQPSolver')
-- typeclass decl
class SDQPSolverClass a where
castSDQPSolver :: a -> SDQPSolver
instance SDQPSolverClass SDQPSolver where
castSDQPSolver = id
-- baseclass instances
instance SharedObjectClass SDQPSolver where
castSharedObject (SDQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SDQPSolver where
castPrintableObject (SDQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SDQPSolver where
castOptionsFunctionality (SDQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SDQPSolver where
castFunction (SDQPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SDQPSolver where
castIOInterfaceFunction (SDQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SDQPSolver (Ptr SDQPSolver') where
marshal (SDQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDQPSolver"
c_delete_CasADi__SDQPSolver :: FunPtr (Ptr SDQPSolver' -> IO ())
instance WrapReturn (Ptr SDQPSolver') SDQPSolver where
wrapReturn = (fmap SDQPSolver) . (newForeignPtr c_delete_CasADi__SDQPSolver)
-- raw decl
data QPLPSolver'
-- data decl
{-|
>[INTERNAL] IPOPT QP Solver for
>quadratic programming.
>
>Solves the following linear problem:
>
>min c' x x subject to LBA <= A x <= UBA LBX <= x
><= UBX with x ( n x 1) c ( n x 1 ) A
>sparse matrix ( nc x n) LBA, UBA dense vector (nc x 1)
>LBX, UBX dense vector (n x 1) n: number of decision
>variables (x) nc: number of constraints (A)
>
>Joris Gillis
>
>>Input scheme: CasADi::LPSolverInput (LP_SOLVER_NUM_IN = 7) [lpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_C | c | The vector c: dense (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::LPSolverOutput (LP_SOLVER_NUM_OUT = 5) [lpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver | OT_QPSOLVER | GenericType( | The QPSOlver | CasADi::QPLP |
>| | | ) | used to | Internal |
>| | | | solve the | |
>| | | | LPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver_op | OT_DICTIONAR | GenericType( | Options to | CasADi::QPLP |
>| tions | Y | ) | be passed to | Internal |
>| | | | the QPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+-----------------+----------------------+
>| Id | Used in |
>+=================+======================+
>| qp_solver_stats | CasADi::QPLPInternal |
>+-----------------+----------------------+
>
>Diagrams
>
>C++ includes: qp_lp_solver.hpp
-}
newtype QPLPSolver = QPLPSolver (ForeignPtr QPLPSolver')
-- typeclass decl
class QPLPSolverClass a where
castQPLPSolver :: a -> QPLPSolver
instance QPLPSolverClass QPLPSolver where
castQPLPSolver = id
-- baseclass instances
instance SharedObjectClass QPLPSolver where
castSharedObject (QPLPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass QPLPSolver where
castPrintableObject (QPLPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass QPLPSolver where
castOptionsFunctionality (QPLPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass QPLPSolver where
castFunction (QPLPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass QPLPSolver where
castIOInterfaceFunction (QPLPSolver x) = IOInterfaceFunction (castForeignPtr x)
instance LPSolverClass QPLPSolver where
castLPSolver (QPLPSolver x) = LPSolver (castForeignPtr x)
-- helper instances
instance Marshal QPLPSolver (Ptr QPLPSolver') where
marshal (QPLPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QPLPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QPLPSolver"
c_delete_CasADi__QPLPSolver :: FunPtr (Ptr QPLPSolver' -> IO ())
instance WrapReturn (Ptr QPLPSolver') QPLPSolver where
wrapReturn = (fmap QPLPSolver) . (newForeignPtr c_delete_CasADi__QPLPSolver)
-- raw decl
data SDPSDQPSolver'
-- data decl
{-|
>[INTERNAL] SDP SDQP Solver
>for quadratic programming.
>
>Note: this implementation relies on Cholesky decomposition: Chol(H) = L -> H
>= LL' with L lower triangular This requires Pi, H to be positive definite.
>Positive semi-definite is not sufficient. Notably, H==0 will not work.
>
>A better implementation would rely on matrix square root, but we need
>singular value decomposition to implement that.
>
>Same as an SDPSolver, but with a quadratic objective 1/2 x' H x
>
>Joris Gillis
>
>>Input scheme: CasADi::SDQPInput (SDQP_SOLVER_NUM_IN = 10) [sdqpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_H | h | The matrix H: sparse ( |
>| | | n x n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_F | f | The horizontal stack |
>| | | of all matrices F_i: ( |
>| | | m x nm) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_G | g | The matrix G: ( m x m) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::SDQPOutput (SDQP_SOLVER_NUM_OUT = 8) [sdqpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDQP_SOLVER_X | x | The primal solution (n |
>| | | x 1) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_P | p | The solution P (m x m) |
>| | | - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL | dual | The dual solution (m x |
>| | | m) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SDQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver | OT_SDPSOLVER | GenericType( | The | CasADi::SDPS |
>| | | ) | SDPSolver | DQPInternal |
>| | | | used to | |
>| | | | solve the | |
>| | | | SDQPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| sdp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::SDPS |
>| ptions | Y | ) | be passed to | DQPInternal |
>| | | | the | |
>| | | | SDPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+------------------+-------------------------+
>| Id | Used in |
>+==================+=========================+
>| sdp_solver_stats | CasADi::SDPSDQPInternal |
>+------------------+-------------------------+
>
>Diagrams
>
>C++ includes: sdp_sdqp_solver.hpp
-}
newtype SDPSDQPSolver = SDPSDQPSolver (ForeignPtr SDPSDQPSolver')
-- typeclass decl
class SDPSDQPSolverClass a where
castSDPSDQPSolver :: a -> SDPSDQPSolver
instance SDPSDQPSolverClass SDPSDQPSolver where
castSDPSDQPSolver = id
-- baseclass instances
instance SharedObjectClass SDPSDQPSolver where
castSharedObject (SDPSDQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SDPSDQPSolver where
castPrintableObject (SDPSDQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SDPSDQPSolver where
castOptionsFunctionality (SDPSDQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SDPSDQPSolver where
castFunction (SDPSDQPSolver x) = Function (castForeignPtr x)
instance SDQPSolverClass SDPSDQPSolver where
castSDQPSolver (SDPSDQPSolver x) = SDQPSolver (castForeignPtr x)
instance IOInterfaceFunctionClass SDPSDQPSolver where
castIOInterfaceFunction (SDPSDQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SDPSDQPSolver (Ptr SDPSDQPSolver') where
marshal (SDPSDQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDPSDQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDPSDQPSolver"
c_delete_CasADi__SDPSDQPSolver :: FunPtr (Ptr SDPSDQPSolver' -> IO ())
instance WrapReturn (Ptr SDPSDQPSolver') SDPSDQPSolver where
wrapReturn = (fmap SDPSDQPSolver) . (newForeignPtr c_delete_CasADi__SDPSDQPSolver)
-- raw decl
data SDPSolver'
-- data decl
{-|
>[INTERNAL] SDPSolver.
>
>Solves an SDP problem in standard form.
>Seehttp://sdpa.indsys.chuo-u.ac.jp/sdpa/files/sdpa-c.6.2.0.manual.pdf
>
>Primal:
>
>min c' x x subject to P = Sum_i^m F_i x_i - G
>P negative semidefinite LBA <= A x <= UBA LBX <= x <= UBX
>with x ( n x 1) c ( n x 1 ) G, F_i sparse symmetric (m x
>m) X dense symmetric ( m x m ) A sparse matrix ( nc x n)
>LBA, UBA dense vector (nc x 1) LBX, UBX dense vector (n x 1)
>
>This formulation is chosen as primal, because it does not call for a large
>decision variable space.
>
>Dual:
>
>max trace(G Y) Y subject to trace(F_i Y) = c_i Y
>positive semidefinite with Y dense symmetric ( m x m)
>
>On generality: you might have formulation with block partitioning:
>
>Primal:
>
>min c' x x subject to Pj = Sum_i^m F_ij x_i - gj
>for all j Pj negative semidefinite for all j with x ( n x 1)
>c ( n x 1 ) G, F_i sparse symmetric (m x m) X dense
>symmetric ( m x m )
>
>Dual:max Sum_j trace(Gj Yj) Yj subject to Sum_j
>trace(F_ij Yj) = c_i for all j Yj positive semidefinite for
>all j with Y dense symmetric ( m x m)
>
>You can cast this into the standard form with: G = blkdiag(Gj for all j) Fi
>= blkdiag(F_ij for all j)
>
>Implementations of SDPSolver are encouraged to exploit this block structure.
>
>Joel Andersson
>
>>Input scheme: CasADi::SDPInput (SDP_SOLVER_NUM_IN = 9) [sdpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDP_SOLVER_F | f | The horizontal stack |
>| | | of all matrices F_i: ( |
>| | | m x nm) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_G | g | The matrix G: ( m x m) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::SDPOutput (SDP_SOLVER_NUM_OUT = 8) [sdpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SDP_SOLVER_X | x | The primal solution (n |
>| | | x 1) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_P | p | The solution P (m x m) |
>| | | - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_DUAL | dual | The dual solution (m x |
>| | | m) - may be used as |
>| | | initial guess . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_DUAL_COST | dual_cost | The dual optimal cost |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SDP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_dual | OT_BOOLEAN | true | Indicate if | CasADi::SDPS |
>| | | | dual should | olverInterna |
>| | | | be allocated | l |
>| | | | and | |
>| | | | calculated. | |
>| | | | You may want | |
>| | | | to avoid | |
>| | | | calculating | |
>| | | | this | |
>| | | | variable for | |
>| | | | problems | |
>| | | | with n | |
>| | | | large, as is | |
>| | | | always dense | |
>| | | | (m x m). | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_p | OT_BOOLEAN | true | Indicate if | CasADi::SDPS |
>| | | | the P-part | olverInterna |
>| | | | of primal | l |
>| | | | solution | |
>| | | | should be | |
>| | | | allocated | |
>| | | | and | |
>| | | | calculated. | |
>| | | | You may want | |
>| | | | to avoid | |
>| | | | calculating | |
>| | | | this | |
>| | | | variable for | |
>| | | | problems | |
>| | | | with n | |
>| | | | large, as is | |
>| | | | always dense | |
>| | | | (m x m). | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| print_proble | OT_BOOLEAN | false | Print out | CasADi::SDPS |
>| m | | | problem | olverInterna |
>| | | | statement | l |
>| | | | for | |
>| | | | debugging. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: sdp_solver.hpp
-}
newtype SDPSolver = SDPSolver (ForeignPtr SDPSolver')
-- typeclass decl
class SDPSolverClass a where
castSDPSolver :: a -> SDPSolver
instance SDPSolverClass SDPSolver where
castSDPSolver = id
-- baseclass instances
instance SharedObjectClass SDPSolver where
castSharedObject (SDPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SDPSolver where
castPrintableObject (SDPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SDPSolver where
castOptionsFunctionality (SDPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SDPSolver where
castFunction (SDPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SDPSolver where
castIOInterfaceFunction (SDPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SDPSolver (Ptr SDPSolver') where
marshal (SDPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDPSolver"
c_delete_CasADi__SDPSolver :: FunPtr (Ptr SDPSolver' -> IO ())
instance WrapReturn (Ptr SDPSolver') SDPSolver where
wrapReturn = (fmap SDPSolver) . (newForeignPtr c_delete_CasADi__SDPSolver)
-- raw decl
data CasadiOptions'
-- data decl
{-|
>[INTERNAL] 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 Slice'
-- data decl
{-|
>[INTERNAL] Class representing a
>Slice.
>
>Note that Python or Octave do not need to use this class. They can just use
>slicing utility from the host language ( M[0:6] in Python, M(1:7) )
>
>C++ includes: slice.hpp
-}
newtype Slice = Slice (ForeignPtr Slice')
-- typeclass decl
class SliceClass a where
castSlice :: a -> Slice
instance SliceClass Slice where
castSlice = id
-- baseclass instances
instance PrintableObjectClass Slice where
castPrintableObject (Slice x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal Slice (Ptr Slice') where
marshal (Slice x) = return (unsafeForeignPtrToPtr x)
marshalFree (Slice x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Slice"
c_delete_CasADi__Slice :: FunPtr (Ptr Slice' -> IO ())
instance WrapReturn (Ptr Slice') Slice where
wrapReturn = (fmap Slice) . (newForeignPtr c_delete_CasADi__Slice)
-- raw decl
data CustomEvaluate'
-- data decl
{-|
>[INTERNAL] 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 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 GenMX'
-- data decl
{-|
>[INTERNAL] Matrix base
>class.
>
>This is a common base class for MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. The class 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 vec happens as follows: (rr,cc) -> k = rr+cc*size1() Vectors
>are column vectors. The storage format is Compressed Column Storage (CCS),
>similar to that used for sparse matrices in Matlab, but unlike this format,
>we do allow for elements to be structurally non-zero but numerically zero.
>The sparsity pattern, which is reference counted and cached, can be accessed
>with Sparsity& sparsity() Joel Andersson
>
>C++ includes: generic_matrix.hpp
-}
newtype GenMX = GenMX (ForeignPtr GenMX')
-- typeclass decl
class GenMXClass a where
castGenMX :: a -> GenMX
instance GenMXClass GenMX where
castGenMX = id
-- baseclass instances
-- helper instances
instance Marshal GenMX (Ptr GenMX') where
marshal (GenMX x) = return (unsafeForeignPtrToPtr x)
marshalFree (GenMX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericMatrix_CasADi__MX_"
c_delete_CasADi__GenericMatrix_CasADi__MX_ :: FunPtr (Ptr GenMX' -> IO ())
instance WrapReturn (Ptr GenMX') GenMX where
wrapReturn = (fmap GenMX) . (newForeignPtr c_delete_CasADi__GenericMatrix_CasADi__MX_)
-- raw decl
data ControlSimulator'
-- data decl
{-|
>[INTERNAL] Piecewise
>Simulation class.
>
>A ControlSimulator can be seen as a chain of Simulators whereby some
>parameters change from one Simulator to the next.
>
>These changing parameters can typically be interpreted as "controls" in
>the context of dynamic optimization.
>
>We discriminate between the following time steps: Major time-steps. These
>are the time steps provided by the supplied grid. Controls are constant
>inbetween major time-steps Minor time-steps. These are time steps linearly
>interpolated from one major time-step to the next. The option 'nf' regulates
>how many minor time-steps are taken. Integration time-steps. Time steps
>that the supplied integrator might choose to integrate the continous
>dynamics. They are not important what ControlSimulator is concerned. np
>Number of parameters nu Number of controls ns The number of major grid
>points, as supplied in the constructor nf The number of minor grid points
>per major interval
>
>Joris Gillis
>
>>Input scheme: CasADi::ControlSimulatorInput (CONTROLSIMULATOR_NUM_IN = 4) [controlsimulatorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| CONTROLSIMULATOR_X0 | x0 | Differential or |
>| | | algebraic state at t0 |
>| | | (dimension nx-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROLSIMULATOR_P | p | Parameters that are |
>| | | fixed over the entire |
>| | | horizon (dimension np- |
>| | | by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROLSIMULATOR_U | u | Parameters that change |
>| | | over the integration |
>| | | intervals (dimension |
>| | | nu-by-(ns-1)) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| control_endp | OT_BOOLEAN | false | Include a | CasADi::Cont |
>| oint | | | control | rolSimulator |
>| | | | value at the | Internal |
>| | | | end of the | |
>| | | | simulation | |
>| | | | domain. Used | |
>| | | | for interpol | |
>| | | | ation. | |
>+--------------+--------------+--------------+--------------+--------------+
>| control_inte | OT_STRING | "none" | none|nearest | CasADi::Cont |
>| rpolation | | | |linear | rolSimulator |
>| | | | | Internal |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator | OT_INTEGRATO | GenericType( | An | CasADi::Cont |
>| | R | ) | integrator | rolSimulator |
>| | | | creator | Internal |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Cont |
>| ptions | Y | ) | be passed to | rolSimulator |
>| | | | the | Internal |
>| | | | integrator | |
>+--------------+--------------+--------------+--------------+--------------+
>| minor_grid | OT_INTEGERVE | GenericType( | The local | CasADi::Cont |
>| | CTOR | ) | grid used on | rolSimulator |
>| | | | each major | Internal |
>| | | | interval, | |
>| | | | with time | |
>| | | | normalized | |
>| | | | to 1. By | |
>| | | | default, | |
>| | | | option 'nf' | |
>| | | | is used to | |
>| | | | construct a | |
>| | | | linearly | |
>| | | | spaced grid. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nf | OT_INTEGER | 1 | Number of | CasADi::Cont |
>| | | | minor | rolSimulator |
>| | | | grained | Internal |
>| | | | integration | |
>| | | | steps per | |
>| | | | major | |
>| | | | interval. | |
>| | | | nf>0 must | |
>| | | | hold. This | |
>| | | | option is | |
>| | | | not used | |
>| | | | when | |
>| | | | 'minor_grid' | |
>| | | | is provided. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| simulator_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Cont |
>| tions | Y | ) | be passed to | rolSimulator |
>| | | | the | Internal |
>| | | | simulator | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: control_simulator.hpp
-}
newtype ControlSimulator = ControlSimulator (ForeignPtr ControlSimulator')
-- typeclass decl
class ControlSimulatorClass a where
castControlSimulator :: a -> ControlSimulator
instance ControlSimulatorClass ControlSimulator where
castControlSimulator = id
-- baseclass instances
instance SharedObjectClass ControlSimulator where
castSharedObject (ControlSimulator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass ControlSimulator where
castPrintableObject (ControlSimulator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass ControlSimulator where
castOptionsFunctionality (ControlSimulator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass ControlSimulator where
castFunction (ControlSimulator x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass ControlSimulator where
castIOInterfaceFunction (ControlSimulator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ControlSimulator (Ptr ControlSimulator') where
marshal (ControlSimulator x) = return (unsafeForeignPtrToPtr x)
marshalFree (ControlSimulator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__ControlSimulator"
c_delete_CasADi__ControlSimulator :: FunPtr (Ptr ControlSimulator' -> IO ())
instance WrapReturn (Ptr ControlSimulator') ControlSimulator where
wrapReturn = (fmap ControlSimulator) . (newForeignPtr c_delete_CasADi__ControlSimulator)
-- raw decl
data IMatrix'
-- data decl
{-|
>[INTERNAL] Sparse matrix class. SX
>and DMatrix are specializations.
>
>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.
>Index starts with 0. Index vec happens as follows: (rr,cc) -> k =
>rr+cc*size1() Vectors are column vectors. The storage format is Compressed
>Column Storage (CCS), similar to that used for sparse matrices in Matlab,
>but unlike this format, we do allow for elements to be structurally non-zero
>but numerically zero. Matrix<DataType> is polymorphic with a
>std::vector<DataType> that contain all non- identical-zero elements. The
>sparsity can be accessed with Sparsity& sparsity() Joel Andersson
>
>C++ includes: casadi_types.hpp
-}
newtype IMatrix = IMatrix (ForeignPtr IMatrix')
-- typeclass decl
class IMatrixClass a where
castIMatrix :: a -> IMatrix
instance IMatrixClass IMatrix where
castIMatrix = id
-- baseclass instances
instance PrintableObjectClass IMatrix where
castPrintableObject (IMatrix x) = PrintableObject (castForeignPtr x)
instance GenIMatrixClass IMatrix where
castGenIMatrix (IMatrix x) = GenIMatrix (castForeignPtr x)
instance ExpIMatrixClass IMatrix where
castExpIMatrix (IMatrix x) = ExpIMatrix (castForeignPtr x)
-- helper instances
instance Marshal IMatrix (Ptr IMatrix') where
marshal (IMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (IMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Matrix_int_"
c_delete_CasADi__Matrix_int_ :: FunPtr (Ptr IMatrix' -> IO ())
instance WrapReturn (Ptr IMatrix') IMatrix where
wrapReturn = (fmap IMatrix) . (newForeignPtr c_delete_CasADi__Matrix_int_)
-- raw decl
data SXElement'
-- data decl
{-|
>[INTERNAL] The basic scalar
>symbolic class of CasADi.
>
>Joel Andersson
>
>C++ includes: sx_element.hpp
-}
newtype SXElement = SXElement (ForeignPtr SXElement')
-- typeclass decl
class SXElementClass a where
castSXElement :: a -> SXElement
instance SXElementClass SXElement where
castSXElement = id
-- baseclass instances
instance ExpSXElementClass SXElement where
castExpSXElement (SXElement x) = ExpSXElement (castForeignPtr x)
-- helper instances
instance Marshal SXElement (Ptr SXElement') where
marshal (SXElement x) = return (unsafeForeignPtrToPtr x)
marshalFree (SXElement x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SXElement"
c_delete_CasADi__SXElement :: FunPtr (Ptr SXElement' -> IO ())
instance WrapReturn (Ptr SXElement') SXElement where
wrapReturn = (fmap SXElement) . (newForeignPtr c_delete_CasADi__SXElement)
-- raw decl
data SCPgen'
-- data decl
{-|
>[INTERNAL] A structure-exploiting
>sequential quadratic programming (to be come sequential convex programming)
>method for nonlinear programming.
>
>Joel Andersson, Attila Kozma and Joris Gillis
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| beta | OT_REAL | 0.800 | Line-search | CasADi::SCPg |
>| | | | parameter, | enInternal |
>| | | | restoration | |
>| | | | factor of | |
>| | | | stepsize | |
>+--------------+--------------+--------------+--------------+--------------+
>| c1 | OT_REAL | 0.000 | Armijo | CasADi::SCPg |
>| | | | condition, | enInternal |
>| | | | coefficient | |
>| | | | of decrease | |
>| | | | in merit | |
>+--------------+--------------+--------------+--------------+--------------+
>| codegen | OT_BOOLEAN | false | C-code | CasADi::SCPg |
>| | | | generation | enInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| compiler | OT_STRING | "gcc -fPIC | Compiler | CasADi::SCPg |
>| | | -O2" | command to | enInternal |
>| | | | be used for | |
>| | | | compiling | |
>| | | | generated | |
>| | | | code | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | "exact" | gauss- | CasADi::SCPg |
>| oximation | | | newton|exact | enInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of | CasADi::SCPg |
>| | | | L-BFGS | enInternal |
>| | | | memory. | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 50 | Maximum | CasADi::SCPg |
>| | | | number of | enInternal |
>| | | | SQP | |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter_ls | OT_INTEGER | 1 | Maximum | CasADi::SCPg |
>| | | | number of | enInternal |
>| | | | linesearch | |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| merit_memsiz | OT_INTEGER | 4 | Size of | CasADi::SCPg |
>| e | | | memory to | enInternal |
>| | | | store | |
>| | | | history of | |
>| | | | merit | |
>| | | | function | |
>| | | | values | |
>+--------------+--------------+--------------+--------------+--------------+
>| merit_start | OT_REAL | 0.000 | Lower bound | CasADi::SCPg |
>| | | | for the | enInternal |
>| | | | merit | |
>| | | | function | |
>| | | | parameter | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::SCPg |
>| | | | uts) (eval_ | enInternal |
>| | | | f|eval_g|eva | |
>| | | | l_jac_g|eval | |
>| | | | _grad_f|eval | |
>| | | | _h|qp|dx) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| name_x | OT_STRINGVEC | GenericType( | Names of the | CasADi::SCPg |
>| | TOR | ) | variables. | enInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_header | OT_BOOLEAN | true | Print the | CasADi::SCPg |
>| | | | header with | enInternal |
>| | | | problem | |
>| | | | statistics | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_time | OT_BOOLEAN | true | Print | CasADi::SCPg |
>| | | | information | enInternal |
>| | | | about | |
>| | | | execution | |
>| | | | time | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_x | OT_INTEGERVE | GenericType( | Which | CasADi::SCPg |
>| | CTOR | ) | variables to | enInternal |
>| | | | print. | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver | OT_QPSOLVER | GenericType( | The QP | CasADi::SCPg |
>| | | ) | solver to be | enInternal |
>| | | | used by the | |
>| | | | SQP method | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver_op | OT_DICTIONAR | GenericType( | Options to | CasADi::SCPg |
>| tions | Y | ) | be passed to | enInternal |
>| | | | the QP | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| reg_threshol | OT_REAL | 0.000 | Threshold | CasADi::SCPg |
>| d | | | for the regu | enInternal |
>| | | | larization. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularize | OT_BOOLEAN | false | Automatic re | CasADi::SCPg |
>| | | | gularization | enInternal |
>| | | | of Lagrange | |
>| | | | Hessian. | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_du | OT_REAL | 0.000 | Stopping | CasADi::SCPg |
>| | | | criterion | enInternal |
>| | | | for dual inf | |
>| | | | easability | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_pr | OT_REAL | 0.000 | Stopping | CasADi::SCPg |
>| | | | criterion | enInternal |
>| | | | for primal i | |
>| | | | nfeasibility | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_pr_step | OT_REAL | 0.000 | Stopping | CasADi::SCPg |
>| | | | criterion | enInternal |
>| | | | for the step | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_reg | OT_REAL | 0.000 | Stopping | CasADi::SCPg |
>| | | | criterion | enInternal |
>| | | | for regulari | |
>| | | | zation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+-------------+--------------------------+
>| Id | Used in |
>+=============+==========================+
>| dx | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| eval_f | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| eval_g | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| eval_grad_f | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| eval_h | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| eval_jac_g | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+-------------+--------------------------+
>| qp | CasADi::SCPgenInternal |
>+-------------+--------------------------+
>
>>List of available stats
>+------------+------------------------+
>| Id | Used in |
>+============+========================+
>| iter_count | CasADi::SCPgenInternal |
>+------------+------------------------+
>
>Diagrams
>
>C++ includes: scpgen.hpp
-}
newtype SCPgen = SCPgen (ForeignPtr SCPgen')
-- typeclass decl
class SCPgenClass a where
castSCPgen :: a -> SCPgen
instance SCPgenClass SCPgen where
castSCPgen = id
-- baseclass instances
instance SharedObjectClass SCPgen where
castSharedObject (SCPgen x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SCPgen where
castPrintableObject (SCPgen x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SCPgen where
castOptionsFunctionality (SCPgen x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SCPgen where
castFunction (SCPgen x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SCPgen where
castIOInterfaceFunction (SCPgen x) = IOInterfaceFunction (castForeignPtr x)
instance NLPSolverClass SCPgen where
castNLPSolver (SCPgen x) = NLPSolver (castForeignPtr x)
-- helper instances
instance Marshal SCPgen (Ptr SCPgen') where
marshal (SCPgen x) = return (unsafeForeignPtrToPtr x)
marshalFree (SCPgen x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SCPgen"
c_delete_CasADi__SCPgen :: FunPtr (Ptr SCPgen' -> IO ())
instance WrapReturn (Ptr SCPgen') SCPgen where
wrapReturn = (fmap SCPgen) . (newForeignPtr c_delete_CasADi__SCPgen)
-- raw decl
data NLPImplicitSolver'
-- data decl
{-|
>[INTERNAL] Use an
>NLPSolver as ImplicitFunction solver.
>
>The equation:
>
>F(z, x1, x2, ..., xn) == 0
>
>where d_F/dz is invertable, implicitly defines the equation:
>
>z := G(x1, x2, ..., xn)
>
>F should be an Function mapping from (n+1) inputs to m outputs. The first
>output is the residual that should be zero.
>
>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n
>may be zero. The first output is the solved for z.
>
>You can provide an initial guess for z by setting output(0) of
>ImplicitFunction.
>
>Joris Gillis
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraints | OT_INTEGERVE | GenericType( | Constrain | CasADi::Impl |
>| | CTOR | ) | the | icitFunction |
>| | | | unknowns. 0 | Internal |
>| | | | (default): | |
>| | | | no | |
>| | | | constraint | |
>| | | | on ui, 1: ui | |
>| | | | >= 0.0, -1: | |
>| | | | ui <= 0.0, | |
>| | | | 2: ui > 0.0, | |
>| | | | -2: ui < | |
>| | | | 0.0. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_inp | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| ut | | | input that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_out | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| put | | | output that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | User-defined | CasADi::Impl |
>| r | VER | ) | linear | icitFunction |
>| | | | solver | Internal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| r_options | Y | ) | be passed to | icitFunction |
>| | | | the linear | Internal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | The | CasADi::NLPI |
>| | | ) | NLPSolver | mplicitInter |
>| | | | used to | nal |
>| | | | solve the | |
>| | | | implicit | |
>| | | | system. | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::NLPI |
>| ptions | Y | ) | be passed to | mplicitInter |
>| | | | the | nal |
>| | | | NLPSolver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+------------------+-----------------------------+
>| Id | Used in |
>+==================+=============================+
>| nlp_solver_stats | CasADi::NLPImplicitInternal |
>+------------------+-----------------------------+
>
>Diagrams
>
>C++ includes: nlp_implicit_solver.hpp
-}
newtype NLPImplicitSolver = NLPImplicitSolver (ForeignPtr NLPImplicitSolver')
-- typeclass decl
class NLPImplicitSolverClass a where
castNLPImplicitSolver :: a -> NLPImplicitSolver
instance NLPImplicitSolverClass NLPImplicitSolver where
castNLPImplicitSolver = id
-- baseclass instances
instance SharedObjectClass NLPImplicitSolver where
castSharedObject (NLPImplicitSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass NLPImplicitSolver where
castPrintableObject (NLPImplicitSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass NLPImplicitSolver where
castOptionsFunctionality (NLPImplicitSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass NLPImplicitSolver where
castFunction (NLPImplicitSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass NLPImplicitSolver where
castIOInterfaceFunction (NLPImplicitSolver x) = IOInterfaceFunction (castForeignPtr x)
instance ImplicitFunctionClass NLPImplicitSolver where
castImplicitFunction (NLPImplicitSolver x) = ImplicitFunction (castForeignPtr x)
-- helper instances
instance Marshal NLPImplicitSolver (Ptr NLPImplicitSolver') where
marshal (NLPImplicitSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (NLPImplicitSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__NLPImplicitSolver"
c_delete_CasADi__NLPImplicitSolver :: FunPtr (Ptr NLPImplicitSolver' -> IO ())
instance WrapReturn (Ptr NLPImplicitSolver') NLPImplicitSolver where
wrapReturn = (fmap NLPImplicitSolver) . (newForeignPtr c_delete_CasADi__NLPImplicitSolver)
-- raw decl
data ExternalFunction'
-- data decl
{-|
>[INTERNAL] Interface for a
>function that is not implemented by CasADi symbolics.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: external_function.hpp
-}
newtype ExternalFunction = ExternalFunction (ForeignPtr ExternalFunction')
-- typeclass decl
class ExternalFunctionClass a where
castExternalFunction :: a -> ExternalFunction
instance ExternalFunctionClass ExternalFunction where
castExternalFunction = id
-- baseclass instances
instance SharedObjectClass ExternalFunction where
castSharedObject (ExternalFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass ExternalFunction where
castPrintableObject (ExternalFunction x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass ExternalFunction where
castOptionsFunctionality (ExternalFunction x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass ExternalFunction where
castFunction (ExternalFunction x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass ExternalFunction where
castIOInterfaceFunction (ExternalFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ExternalFunction (Ptr ExternalFunction') where
marshal (ExternalFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExternalFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__ExternalFunction"
c_delete_CasADi__ExternalFunction :: FunPtr (Ptr ExternalFunction' -> IO ())
instance WrapReturn (Ptr ExternalFunction') ExternalFunction where
wrapReturn = (fmap ExternalFunction) . (newForeignPtr c_delete_CasADi__ExternalFunction)
-- raw decl
data SimpleIndefDpleSolver'
-- data decl
{-|
>[INTERNAL] Solving
>the Discrete Periodic Lyapunov Equations with regular Linear Solvers.
>
>Given matrices A_k and symmetric V_k, k = 0..K-1
>
>A_k in R^(n x n) V_k in R^n
>
>provides all of P_k that satisfy:
>
>P_0 = A_(K-1)*P_(K-1)*A_(K-1)' + V_k P_k+1 = A_k*P_k*A_k' + V_k for k =
>1..K-1
>
>Uses Periodic Schur Decomposition (simple) and does not assume positive
>definiteness. Based on Periodic Lyapunov equations: some applications and
>new algorithms. Int. J. Control, vol. 67, pp. 69-87, 1997.
>
>Joris gillis
>
>>Input scheme: CasADi::DPLEInput (DPLE_NUM_IN = 3) [dpleIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| DPLE_A | a | A matrices (horzcat |
>| | | when const_dim, |
>| | | blkdiag otherwise) . |
>+------------------------+------------------------+------------------------+
>| DPLE_V | v | V matrices (horzcat |
>| | | when const_dim, |
>| | | blkdiag otherwise) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::DPLEOutput (DPLE_NUM_OUT = 2) [dpleOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| DPLE_P | p | Lyapunov matrix |
>| | | (horzcat when |
>| | | const_dim, blkdiag |
>| | | otherwise) (cholesky |
>| | | of P if pos_def) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| const_dim | OT_BOOLEAN | true | Assume | CasADi::Dple |
>| | | | constant | Internal |
>| | | | dimension of | |
>| | | | P | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| eps_unstable | OT_REAL | 0.000 | A margin for | CasADi::Dple |
>| | | | unstability | Internal |
>| | | | detection | |
>+--------------+--------------+--------------+--------------+--------------+
>| error_unstab | OT_BOOLEAN | false | Throw an | CasADi::Dple |
>| le | | | exception | Internal |
>| | | | when it is | |
>| | | | detected | |
>| | | | that Product | |
>| | | | (A_i,i=N..1) | |
>| | | | has | |
>| | | | eigenvalues | |
>| | | | greater than | |
>| | | | 1-eps_unstab | |
>| | | | le | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | User-defined | CasADi::Simp |
>| r | VER | ) | linear | leIndefDpleI |
>| | | | solver | nternal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Simp |
>| r_options | Y | ) | be passed to | leIndefDpleI |
>| | | | the linear | nternal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| pos_def | OT_BOOLEAN | false | Assume P | CasADi::Dple |
>| | | | positive | Internal |
>| | | | definite | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: simple_indef_dple_solver.hpp
-}
newtype SimpleIndefDpleSolver = SimpleIndefDpleSolver (ForeignPtr SimpleIndefDpleSolver')
-- typeclass decl
class SimpleIndefDpleSolverClass a where
castSimpleIndefDpleSolver :: a -> SimpleIndefDpleSolver
instance SimpleIndefDpleSolverClass SimpleIndefDpleSolver where
castSimpleIndefDpleSolver = id
-- baseclass instances
instance SharedObjectClass SimpleIndefDpleSolver where
castSharedObject (SimpleIndefDpleSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SimpleIndefDpleSolver where
castPrintableObject (SimpleIndefDpleSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SimpleIndefDpleSolver where
castOptionsFunctionality (SimpleIndefDpleSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SimpleIndefDpleSolver where
castFunction (SimpleIndefDpleSolver x) = Function (castForeignPtr x)
instance DpleSolverClass SimpleIndefDpleSolver where
castDpleSolver (SimpleIndefDpleSolver x) = DpleSolver (castForeignPtr x)
instance IOInterfaceFunctionClass SimpleIndefDpleSolver where
castIOInterfaceFunction (SimpleIndefDpleSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SimpleIndefDpleSolver (Ptr SimpleIndefDpleSolver') where
marshal (SimpleIndefDpleSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SimpleIndefDpleSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SimpleIndefDpleSolver"
c_delete_CasADi__SimpleIndefDpleSolver :: FunPtr (Ptr SimpleIndefDpleSolver' -> IO ())
instance WrapReturn (Ptr SimpleIndefDpleSolver') SimpleIndefDpleSolver where
wrapReturn = (fmap SimpleIndefDpleSolver) . (newForeignPtr c_delete_CasADi__SimpleIndefDpleSolver)
-- raw decl
data DirectCollocation'
-- data decl
{-|
>[INTERNAL] Direct
>collocation.
>
>Joel Andersson
>
>>Input scheme: CasADi::OCPInput (OCP_NUM_IN = 14) [ocpIn]
>+------------+--------+----------------------------------------------+
>| Full name | Short | Description |
>+============+========+==============================================+
>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBG | lbg | Lower bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>| OCP_UBG | ubg | Upper bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>
>>Output scheme: CasADi::OCPOutput (OCP_NUM_OUT = 5) [ocpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| OCP_X_OPT | x_opt | Optimal state |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_U_OPT | u_opt | Optimal control |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_P_OPT | p_opt | Optimal parameters . |
>+------------------------+------------------------+------------------------+
>| OCP_COST | cost | Objective/cost |
>| | | function for optimal |
>| | | solution (1 x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| collocation_ | OT_STRING | "radau" | Collocation | CasADi::Dire |
>| scheme | | | scheme (rada | ctCollocatio |
>| | | | u|legendre) | nInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| final_time | OT_REAL | 1 | | CasADi::OCPS |
>| | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_INTEGER | 3 | Order of the | CasADi::Dire |
>| n_order | | | interpolatin | ctCollocatio |
>| | | | g | nInternal |
>| | | | polynomials | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | An NLPSolver | CasADi::Dire |
>| | | ) | creator | ctCollocatio |
>| | | | function | nInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Dire |
>| ptions | Y | ) | be passed to | ctCollocatio |
>| | | | the NLP | nInternal |
>| | | | Solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_gr | OT_INTEGER | 20 | | CasADi::OCPS |
>| id_points | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_pa | OT_INTEGER | 0 | | CasADi::OCPS |
>| rameters | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: direct_collocation.hpp
-}
newtype DirectCollocation = DirectCollocation (ForeignPtr DirectCollocation')
-- typeclass decl
class DirectCollocationClass a where
castDirectCollocation :: a -> DirectCollocation
instance DirectCollocationClass DirectCollocation where
castDirectCollocation = id
-- baseclass instances
instance SharedObjectClass DirectCollocation where
castSharedObject (DirectCollocation x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass DirectCollocation where
castPrintableObject (DirectCollocation x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass DirectCollocation where
castOptionsFunctionality (DirectCollocation x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass DirectCollocation where
castFunction (DirectCollocation x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass DirectCollocation where
castIOInterfaceFunction (DirectCollocation x) = IOInterfaceFunction (castForeignPtr x)
instance OCPSolverClass DirectCollocation where
castOCPSolver (DirectCollocation x) = OCPSolver (castForeignPtr x)
-- helper instances
instance Marshal DirectCollocation (Ptr DirectCollocation') where
marshal (DirectCollocation x) = return (unsafeForeignPtrToPtr x)
marshalFree (DirectCollocation x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__DirectCollocation"
c_delete_CasADi__DirectCollocation :: FunPtr (Ptr DirectCollocation' -> IO ())
instance WrapReturn (Ptr DirectCollocation') DirectCollocation where
wrapReturn = (fmap DirectCollocation) . (newForeignPtr c_delete_CasADi__DirectCollocation)
-- raw decl
data QPStabilizer'
-- data decl
{-|
>[INTERNAL] IPOPT QP Solver for
>quadratic programming.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA
>LBX <= x <= UBX with : H sparse (n x n) positive
>definite g dense (n x 1) n: number of decision variables (x) nc:
>number of constraints (A)
>
>If H is not positive-definite, the solver should throw an error.
>
>Joris Gillis
>
>>Input scheme: CasADi::StabilizedQPSolverInput (STABILIZED_QP_SOLVER_NUM_IN = 13) [stabilizedQpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| STABILIZED_QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | uba | dense, (nc x 1) |
>| BA | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lbx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_U | ubx | dense, (n x 1) |
>| BX | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_X | x0 | dense, (n x 1) |
>| 0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_L | lam_x0 | dense |
>| AM_X0 | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muR | dense (1 x 1) |
>| UR | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | muE | dense (nc x 1) |
>| UE | | |
>+------------------------+------------------------+------------------------+
>| STABILIZED_QP_SOLVER_M | mu | dense (nc x 1) |
>| U | | |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver | OT_QPSOLVER | GenericType( | The QP | CasADi::QPSt |
>| | | ) | solver used | abilizerInte |
>| | | | to solve the | rnal |
>| | | | stabilized | |
>| | | | QPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| qp_solver_op | OT_DICTIONAR | GenericType( | Options to | CasADi::QPSt |
>| tions | Y | ) | be passed to | abilizerInte |
>| | | | the QP | rnal |
>| | | | solver | |
>| | | | instance | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+-----------------+------------------------------+
>| Id | Used in |
>+=================+==============================+
>| qp_solver_stats | CasADi::QPStabilizerInternal |
>+-----------------+------------------------------+
>
>Diagrams
>
>C++ includes: qp_stabilizer.hpp
-}
newtype QPStabilizer = QPStabilizer (ForeignPtr QPStabilizer')
-- typeclass decl
class QPStabilizerClass a where
castQPStabilizer :: a -> QPStabilizer
instance QPStabilizerClass QPStabilizer where
castQPStabilizer = id
-- baseclass instances
instance SharedObjectClass QPStabilizer where
castSharedObject (QPStabilizer x) = SharedObject (castForeignPtr x)
instance StabilizedQPSolverClass QPStabilizer where
castStabilizedQPSolver (QPStabilizer x) = StabilizedQPSolver (castForeignPtr x)
instance PrintableObjectClass QPStabilizer where
castPrintableObject (QPStabilizer x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass QPStabilizer where
castOptionsFunctionality (QPStabilizer x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass QPStabilizer where
castFunction (QPStabilizer x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass QPStabilizer where
castIOInterfaceFunction (QPStabilizer x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QPStabilizer (Ptr QPStabilizer') where
marshal (QPStabilizer x) = return (unsafeForeignPtrToPtr x)
marshalFree (QPStabilizer x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QPStabilizer"
c_delete_CasADi__QPStabilizer :: FunPtr (Ptr QPStabilizer' -> IO ())
instance WrapReturn (Ptr QPStabilizer') QPStabilizer where
wrapReturn = (fmap QPStabilizer) . (newForeignPtr c_delete_CasADi__QPStabilizer)
-- raw decl
data GenIMatrix'
-- data decl
{-|
>[INTERNAL] Matrix base
>class.
>
>This is a common base class for MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. The class 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 vec happens as follows: (rr,cc) -> k = rr+cc*size1() Vectors
>are column vectors. The storage format is Compressed Column Storage (CCS),
>similar to that used for sparse matrices in Matlab, but unlike this format,
>we do allow for elements to be structurally non-zero but numerically zero.
>The sparsity pattern, which is reference counted and cached, can be accessed
>with Sparsity& sparsity() Joel Andersson
>
>C++ includes: generic_matrix.hpp
-}
newtype GenIMatrix = GenIMatrix (ForeignPtr GenIMatrix')
-- typeclass decl
class GenIMatrixClass a where
castGenIMatrix :: a -> GenIMatrix
instance GenIMatrixClass GenIMatrix where
castGenIMatrix = id
-- baseclass instances
-- helper instances
instance Marshal GenIMatrix (Ptr GenIMatrix') where
marshal (GenIMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (GenIMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericMatrix_CasADi__Matrix_int__"
c_delete_CasADi__GenericMatrix_CasADi__Matrix_int__ :: FunPtr (Ptr GenIMatrix' -> IO ())
instance WrapReturn (Ptr GenIMatrix') GenIMatrix where
wrapReturn = (fmap GenIMatrix) . (newForeignPtr c_delete_CasADi__GenericMatrix_CasADi__Matrix_int__)
-- raw decl
data Callback'
-- data decl
{-|
>[INTERNAL] Callback.
>
>In C++, supply a CallbackCPtr function pointer When the callback function
>returns a non-zero integer, the host is signalled of a problem. E.g. an
>NLPSolver may halt iterations if the Callback is something else than 0
>
>In python, supply a callable, annotated with pycallback decorator
>
>C++ includes: functor.hpp
-}
newtype Callback = Callback (ForeignPtr Callback')
-- typeclass decl
class CallbackClass a where
castCallback :: a -> Callback
instance CallbackClass Callback where
castCallback = id
-- baseclass instances
instance SharedObjectClass Callback where
castSharedObject (Callback x) = SharedObject (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 SOCPQCQPSolver'
-- data decl
{-|
>[INTERNAL] SOCP QCQP Solver
>for quadratic programming.
>
>Note: this implementation relies on Cholesky decomposition: Chol(H) = L -> H
>= LL' with L lower triangular This requires Pi, H to be positive definite.
>Positive semi-definite is not sufficient. Notably, H==0 will not work.
>
>A better implementation would rely on matrix square root, but we need
>singular value decomposition to implement that.
>
>This implementation makes use of the epigraph reformulation: min f(x) x
>
>min t x,t f(x) <= t
>
>This implementation makes use of the following identity:
>
>|| Gx+h||_2 <= e'x + f
>
>x'(G'G - ee')x + (2 h'G - 2 f e') x + h'h - f <= 0
>
>where we put e = [0 0 ... 1] for the qadratic constraint arising from the
>epigraph reformulation and e==0 for all other qc.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to 1/2 x' Pi x +
>qi' x + ri <= 0 for i=0..nq-1 LBA <= A x <= UBA
>LBX <= x <= UBX with : H, Pi sparse (n x n) positive
>definite g, qi dense (n x 1) ri scalar n: number of
>decision variables (x) nc: number of linear constraints (A) nq:
>number of quadratic constraints
>
>If H, Pi is not positive-definite, the solver should throw an error.
>
>Joris Gillis
>
>>Input scheme: CasADi::QCQPSolverInput (QCQP_SOLVER_NUM_IN = 13) [qcqpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_P | p | The horizontal stack |
>| | | of all Pi. Each Pi is |
>| | | sparse (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_Q | q | The vertical stack of |
>| | | all qi: dense, (nq n x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_R | r | The vertical stack of |
>| | | all scalars ri (nq x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QCQPSolverOutput (QCQP_SOLVER_NUM_OUT = 5) [qcqpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QCQP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QCQP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| socp_solver | OT_SOCPSOLVE | GenericType( | The | CasADi::SOCP |
>| | R | ) | SOCPSolver | QCQPInternal |
>| | | | used to | |
>| | | | solve the | |
>| | | | QCQPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| socp_solver_ | OT_DICTIONAR | GenericType( | Options to | CasADi::SOCP |
>| options | Y | ) | be passed to | QCQPInternal |
>| | | | the | |
>| | | | SOCPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+-------------------+--------------------------+
>| Id | Used in |
>+===================+==========================+
>| socp_solver_stats | CasADi::SOCPQCQPInternal |
>+-------------------+--------------------------+
>
>Diagrams
>
>C++ includes: socp_qcqp_solver.hpp
-}
newtype SOCPQCQPSolver = SOCPQCQPSolver (ForeignPtr SOCPQCQPSolver')
-- typeclass decl
class SOCPQCQPSolverClass a where
castSOCPQCQPSolver :: a -> SOCPQCQPSolver
instance SOCPQCQPSolverClass SOCPQCQPSolver where
castSOCPQCQPSolver = id
-- baseclass instances
instance SharedObjectClass SOCPQCQPSolver where
castSharedObject (SOCPQCQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SOCPQCQPSolver where
castPrintableObject (SOCPQCQPSolver x) = PrintableObject (castForeignPtr x)
instance QCQPSolverClass SOCPQCQPSolver where
castQCQPSolver (SOCPQCQPSolver x) = QCQPSolver (castForeignPtr x)
instance OptionsFunctionalityClass SOCPQCQPSolver where
castOptionsFunctionality (SOCPQCQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SOCPQCQPSolver where
castFunction (SOCPQCQPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SOCPQCQPSolver where
castIOInterfaceFunction (SOCPQCQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SOCPQCQPSolver (Ptr SOCPQCQPSolver') where
marshal (SOCPQCQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SOCPQCQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SOCPQCQPSolver"
c_delete_CasADi__SOCPQCQPSolver :: FunPtr (Ptr SOCPQCQPSolver' -> IO ())
instance WrapReturn (Ptr SOCPQCQPSolver') SOCPQCQPSolver where
wrapReturn = (fmap SOCPQCQPSolver) . (newForeignPtr c_delete_CasADi__SOCPQCQPSolver)
-- raw decl
data QCQPQPSolver'
-- data decl
{-|
>[INTERNAL] Use a QCQP solver
>to solve q QP.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA
>LBX <= x <= UBX with : H sparse (n x n) positive
>definite g dense (n x 1) n: number of decision variables (x) nc:
>number of constraints (A)
>
>If H is not positive-definite, the solver should throw an error.
>
>Joris Gillis
>
>>Input scheme: CasADi::QPSolverInput (QP_SOLVER_NUM_IN = 10) [qpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| qcqp_solver | OT_QCQPSOLVE | GenericType( | The | CasADi::QCQP |
>| | R | ) | QCQPSolver | QPInternal |
>| | | | used to | |
>| | | | solve the | |
>| | | | QPs. | |
>+--------------+--------------+--------------+--------------+--------------+
>| qcqp_solver_ | OT_DICTIONAR | GenericType( | Options to | CasADi::QCQP |
>| options | Y | ) | be passed to | QPInternal |
>| | | | the | |
>| | | | QCQPSOlver | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+-------------------+------------------------+
>| Id | Used in |
>+===================+========================+
>| qcqp_solver_stats | CasADi::QCQPQPInternal |
>+-------------------+------------------------+
>
>Diagrams
>
>C++ includes: qcqp_qp_solver.hpp
-}
newtype QCQPQPSolver = QCQPQPSolver (ForeignPtr QCQPQPSolver')
-- typeclass decl
class QCQPQPSolverClass a where
castQCQPQPSolver :: a -> QCQPQPSolver
instance QCQPQPSolverClass QCQPQPSolver where
castQCQPQPSolver = id
-- baseclass instances
instance SharedObjectClass QCQPQPSolver where
castSharedObject (QCQPQPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass QCQPQPSolver where
castPrintableObject (QCQPQPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass QCQPQPSolver where
castOptionsFunctionality (QCQPQPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass QCQPQPSolver where
castFunction (QCQPQPSolver x) = Function (castForeignPtr x)
instance QPSolverClass QCQPQPSolver where
castQPSolver (QCQPQPSolver x) = QPSolver (castForeignPtr x)
instance IOInterfaceFunctionClass QCQPQPSolver where
castIOInterfaceFunction (QCQPQPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QCQPQPSolver (Ptr QCQPQPSolver') where
marshal (QCQPQPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QCQPQPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QCQPQPSolver"
c_delete_CasADi__QCQPQPSolver :: FunPtr (Ptr QCQPQPSolver' -> IO ())
instance WrapReturn (Ptr QCQPQPSolver') QCQPQPSolver where
wrapReturn = (fmap QCQPQPSolver) . (newForeignPtr c_delete_CasADi__QCQPQPSolver)
-- raw decl
data ExpSX'
-- data decl
{-|
>[INTERNAL] Expression
>interface.
>
>This is a common base class for SX, MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. Joel Andersson
>
>C++ includes: generic_expression.hpp
-}
newtype ExpSX = ExpSX (ForeignPtr ExpSX')
-- typeclass decl
class ExpSXClass a where
castExpSX :: a -> ExpSX
instance ExpSXClass ExpSX where
castExpSX = id
-- baseclass instances
-- helper instances
instance Marshal ExpSX (Ptr ExpSX') where
marshal (ExpSX x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExpSX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericExpression_CasADi__Matrix_CasADi__SXElement__"
c_delete_CasADi__GenericExpression_CasADi__Matrix_CasADi__SXElement__ :: FunPtr (Ptr ExpSX' -> IO ())
instance WrapReturn (Ptr ExpSX') ExpSX where
wrapReturn = (fmap ExpSX) . (newForeignPtr c_delete_CasADi__GenericExpression_CasADi__Matrix_CasADi__SXElement__)
-- raw decl
data Integrator'
-- data decl
{-|
>[INTERNAL] Base class for
>integrators.
>
>Integrator abstract base class
>
>Solves an initial value problem (IVP) coupled to a terminal value problem
>with differential equation given as an implicit ODE coupled to an algebraic
>equation and a set of quadratures: Initial conditions at t=t0 x(t0) = x0
>q(t0) = 0 Forward integration from t=t0 to t=tf der(x) =
>function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t) Forward
>algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>The Integrator class provides some additional functionality, such as getting
>the value of the state and/or sensitivities at certain time points.
>
>The class does not specify the method used for the integration. This is
>defined in derived classes.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: integrator.hpp
-}
newtype Integrator = Integrator (ForeignPtr Integrator')
-- typeclass decl
class IntegratorClass a where
castIntegrator :: a -> Integrator
instance IntegratorClass Integrator where
castIntegrator = id
-- baseclass instances
instance SharedObjectClass Integrator where
castSharedObject (Integrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Integrator where
castPrintableObject (Integrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass Integrator where
castOptionsFunctionality (Integrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass Integrator where
castFunction (Integrator x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass Integrator where
castIOInterfaceFunction (Integrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Integrator (Ptr Integrator') where
marshal (Integrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (Integrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Integrator"
c_delete_CasADi__Integrator :: FunPtr (Ptr Integrator' -> IO ())
instance WrapReturn (Ptr Integrator') Integrator where
wrapReturn = (fmap Integrator) . (newForeignPtr c_delete_CasADi__Integrator)
-- raw decl
data WeakRef'
-- data decl
{-|
>[INTERNAL] Weak reference type A
>weak reference to a SharedObject.
>
>Joel Andersson
>
>C++ includes: weak_ref.hpp
-}
newtype WeakRef = WeakRef (ForeignPtr WeakRef')
-- typeclass decl
class WeakRefClass a where
castWeakRef :: a -> WeakRef
instance WeakRefClass WeakRef where
castWeakRef = id
-- baseclass instances
instance SharedObjectClass WeakRef where
castSharedObject (WeakRef x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass WeakRef where
castPrintableObject (WeakRef x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal WeakRef (Ptr WeakRef') where
marshal (WeakRef x) = return (unsafeForeignPtrToPtr x)
marshalFree (WeakRef x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__WeakRef"
c_delete_CasADi__WeakRef :: FunPtr (Ptr WeakRef' -> IO ())
instance WrapReturn (Ptr WeakRef') WeakRef where
wrapReturn = (fmap WeakRef) . (newForeignPtr c_delete_CasADi__WeakRef)
-- raw decl
data Simulator'
-- data decl
{-|
>[INTERNAL] Integrator class.
>
>An "simulator" integrates an IVP, stopping at a (fixed) number of grid
>points and evaluates a set of output functions at these points. The internal
>stepsizes of the integrator need not coincide with the gridpoints.
>
>Simulator is an CasADi::Function mapping from CasADi::IntegratorInput to n.
>\\
>
>The output function needs to be a mapping from CasADi::DAEInput to n. The
>default output has n=1 and the output is the (vectorized) differential state
>for each time step.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Simu |
>| | | | uts) (initi | latorInterna |
>| | | | al|step) | l |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+---------+---------------------------+
>| Id | Used in |
>+=========+===========================+
>| initial | CasADi::SimulatorInternal |
>+---------+---------------------------+
>| inputs | CasADi::FunctionInternal |
>+---------+---------------------------+
>| outputs | CasADi::FunctionInternal |
>+---------+---------------------------+
>| step | CasADi::SimulatorInternal |
>+---------+---------------------------+
>
>Diagrams
>
>C++ includes: simulator.hpp
-}
newtype Simulator = Simulator (ForeignPtr Simulator')
-- typeclass decl
class SimulatorClass a where
castSimulator :: a -> Simulator
instance SimulatorClass Simulator where
castSimulator = id
-- baseclass instances
instance SharedObjectClass Simulator where
castSharedObject (Simulator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Simulator where
castPrintableObject (Simulator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass Simulator where
castOptionsFunctionality (Simulator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass Simulator where
castFunction (Simulator x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass Simulator where
castIOInterfaceFunction (Simulator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Simulator (Ptr Simulator') where
marshal (Simulator x) = return (unsafeForeignPtrToPtr x)
marshalFree (Simulator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Simulator"
c_delete_CasADi__Simulator :: FunPtr (Ptr Simulator' -> IO ())
instance WrapReturn (Ptr Simulator') Simulator where
wrapReturn = (fmap Simulator) . (newForeignPtr c_delete_CasADi__Simulator)
-- raw decl
data Parallelizer'
-- data decl
{-|
>[INTERNAL] Parallelizer
>execution of functions.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| parallelizat | OT_STRING | "serial" | (serial|open | CasADi::Para |
>| ion | | | mp|mpi) | llelizerInte |
>| | | | | rnal |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available stats
>+-----------------+------------------------------+
>| Id | Used in |
>+=================+==============================+
>| max_threads | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| num_threads | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_allocation | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_cputime | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_endtime | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_order | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>| task_starttime | CasADi::ParallelizerInternal |
>+-----------------+------------------------------+
>
>Diagrams
>
>C++ includes: parallelizer.hpp
-}
newtype Parallelizer = Parallelizer (ForeignPtr Parallelizer')
-- typeclass decl
class ParallelizerClass a where
castParallelizer :: a -> Parallelizer
instance ParallelizerClass Parallelizer where
castParallelizer = id
-- baseclass instances
instance SharedObjectClass Parallelizer where
castSharedObject (Parallelizer x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Parallelizer where
castPrintableObject (Parallelizer x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass Parallelizer where
castOptionsFunctionality (Parallelizer x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass Parallelizer where
castFunction (Parallelizer x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass Parallelizer where
castIOInterfaceFunction (Parallelizer x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Parallelizer (Ptr Parallelizer') where
marshal (Parallelizer x) = return (unsafeForeignPtrToPtr x)
marshalFree (Parallelizer x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Parallelizer"
c_delete_CasADi__Parallelizer :: FunPtr (Ptr Parallelizer' -> IO ())
instance WrapReturn (Ptr Parallelizer') Parallelizer where
wrapReturn = (fmap Parallelizer) . (newForeignPtr c_delete_CasADi__Parallelizer)
-- raw decl
data SimpleHomotopyNLPSolver'
-- data decl
{-|
>[INTERNAL] Solving
>an NLP homotopy with regular NLP solvers.
>
>Joris Gillis
>
>>Input scheme: CasADi::NLPSolverInput (NLP_SOLVER_NUM_IN = 9) [nlpSolverIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X0 | x0 | Decision variables, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_P | p | Value of fixed |
>| | | parameters (np x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBX | lbx | Decision variables |
>| | | lower bound (nx x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBX | ubx | Decision variables |
>| | | upper bound (nx x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LBG | lbg | Constraints lower |
>| | | bound (ng x 1), |
>| | | default -inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_UBG | ubg | Constraints upper |
>| | | bound (ng x 1), |
>| | | default +inf . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X0 | lam_x0 | Lagrange multipliers |
>| | | for bounds on X, |
>| | | initial guess (nx x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G0 | lam_g0 | Lagrange multipliers |
>| | | for bounds on G, |
>| | | initial guess (ng x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::NLPSolverOutput (NLP_SOLVER_NUM_OUT = 7) [nlpSolverOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| NLP_SOLVER_X | x | Decision variables at |
>| | | the optimal solution |
>| | | (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_F | f | Cost function value at |
>| | | the optimal solution |
>| | | (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_G | g | Constraints function |
>| | | at the optimal |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_X | lam_x | Lagrange multipliers |
>| | | for bounds on X at the |
>| | | solution (nx x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_G | lam_g | Lagrange multipliers |
>| | | for bounds on G at the |
>| | | solution (ng x 1) . |
>+------------------------+------------------------+------------------------+
>| NLP_SOLVER_LAM_P | lam_p | Lagrange multipliers |
>| | | for bounds on P at the |
>| | | solution (np x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand | OT_BOOLEAN | false | Expand the | CasADi::Homo |
>| | | | NLP function | topyNLPInter |
>| | | | in terms of | nal |
>| | | | scalar | |
>| | | | operations, | |
>| | | | i.e. MX->SX | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | The NLP | CasADi::Simp |
>| | | ) | solver to be | leHomotopyNL |
>| | | | used by the | PInternal |
>| | | | Homotopy | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Simp |
>| ptions | Y | ) | be passed to | leHomotopyNL |
>| | | | the Homotopy | PInternal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| num_steps | OT_INTEGER | 10 | Take this | CasADi::Simp |
>| | | | many steps | leHomotopyNL |
>| | | | to go from | PInternal |
>| | | | tau=0 to | |
>| | | | tau=1. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: simple_homotopy_nlp_solver.hpp
-}
newtype SimpleHomotopyNLPSolver = SimpleHomotopyNLPSolver (ForeignPtr SimpleHomotopyNLPSolver')
-- typeclass decl
class SimpleHomotopyNLPSolverClass a where
castSimpleHomotopyNLPSolver :: a -> SimpleHomotopyNLPSolver
instance SimpleHomotopyNLPSolverClass SimpleHomotopyNLPSolver where
castSimpleHomotopyNLPSolver = id
-- baseclass instances
instance HomotopyNLPSolverClass SimpleHomotopyNLPSolver where
castHomotopyNLPSolver (SimpleHomotopyNLPSolver x) = HomotopyNLPSolver (castForeignPtr x)
instance SharedObjectClass SimpleHomotopyNLPSolver where
castSharedObject (SimpleHomotopyNLPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SimpleHomotopyNLPSolver where
castPrintableObject (SimpleHomotopyNLPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SimpleHomotopyNLPSolver where
castOptionsFunctionality (SimpleHomotopyNLPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SimpleHomotopyNLPSolver where
castFunction (SimpleHomotopyNLPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SimpleHomotopyNLPSolver where
castIOInterfaceFunction (SimpleHomotopyNLPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SimpleHomotopyNLPSolver (Ptr SimpleHomotopyNLPSolver') where
marshal (SimpleHomotopyNLPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SimpleHomotopyNLPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SimpleHomotopyNLPSolver"
c_delete_CasADi__SimpleHomotopyNLPSolver :: FunPtr (Ptr SimpleHomotopyNLPSolver' -> IO ())
instance WrapReturn (Ptr SimpleHomotopyNLPSolver') SimpleHomotopyNLPSolver where
wrapReturn = (fmap SimpleHomotopyNLPSolver) . (newForeignPtr c_delete_CasADi__SimpleHomotopyNLPSolver)
-- raw decl
data SundialsIntegrator'
-- data decl
{-|
>[INTERNAL] Interface to
>the Sundials integrators.
>
>Base class for integrators. Solves an initial value problem (IVP) coupled to
>a terminal value problem with differential equation given as an implicit ODE
>coupled to an algebraic equation and a set of quadratures: Initial
>conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0
>to t=tf der(x) = function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t)
>Forward algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| abstol | OT_REAL | 0.000 | Absolute | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| abstolB | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | true | Use exact | CasADi::Sund |
>| an | | | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | forward | |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | GenericType( | Use exact | CasADi::Sund |
>| anB | | ) | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to exa | |
>| | | | ct_jacobian] | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| finite_diffe | OT_BOOLEAN | false | Use finite | CasADi::Sund |
>| rence_fsens | | | differences | ialsInternal |
>| | | | to | |
>| | | | approximate | |
>| | | | the forward | |
>| | | | sensitivity | |
>| | | | equations | |
>| | | | (if AD is | |
>| | | | not | |
>| | | | available) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_abstol | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_err_co | OT_BOOLEAN | true | include the | CasADi::Sund |
>| n | | | forward sens | ialsInternal |
>| | | | itivities in | |
>| | | | all error | |
>| | | | controls | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_reltol | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_scalin | OT_REALVECTO | GenericType( | Scaling | CasADi::Sund |
>| g_factors | R | ) | factor for | ialsInternal |
>| | | | the | |
>| | | | components | |
>| | | | if finite | |
>| | | | differences | |
>| | | | is used | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_sensit | OT_INTEGERVE | GenericType( | Specifies | CasADi::Sund |
>| iviy_paramet | CTOR | ) | which | ialsInternal |
>| ers | | | components | |
>| | | | will be used | |
>| | | | when | |
>| | | | estimating | |
>| | | | the | |
>| | | | sensitivity | |
>| | | | equations | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_STRING | "hermite" | Type of inte | CasADi::Sund |
>| n_type | | | rpolation | ialsInternal |
>| | | | for the | |
>| | | | adjoint sens | |
>| | | | itivities (h | |
>| | | | ermite|polyn | |
>| | | | omial) | |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | "gmres" | (gmres|bcgst | CasADi::Sund |
>| lver | | | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | GenericType( | (gmres|bcgst | CasADi::Sund |
>| lverB | | ) | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| r | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| rB | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_options | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_optionsB | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver_o | |
>| | | | ptions] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | "dense" | (user_define | CasADi::Sund |
>| r_type | | | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | GenericType( | (user_define | CasADi::Sund |
>| r_typeB | | ) | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | Lower band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | lower band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to low | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylov | OT_INTEGER | 10 | Maximum | CasADi::Sund |
>| | | | Krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylovB | OT_INTEGER | GenericType( | Maximum | CasADi::Sund |
>| | | ) | krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_multiste | OT_INTEGER | 5 | | CasADi::Sund |
>| p_order | | | | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| max_num_step | OT_INTEGER | 10000 | Maximum | CasADi::Sund |
>| s | | | number of | ialsInternal |
>| | | | integrator | |
>| | | | steps | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| pretype | OT_STRING | "none" | (none|left|r | CasADi::Sund |
>| | | | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| pretypeB | OT_STRING | GenericType( | (none|left|r | CasADi::Sund |
>| | | ) | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| quad_err_con | OT_BOOLEAN | false | Should the | CasADi::Sund |
>| | | | quadratures | ialsInternal |
>| | | | affect the | |
>| | | | step size | |
>| | | | control | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltol | OT_REAL | 0.000 | Relative | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltolB | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| sensitivity_ | OT_STRING | "simultaneou | (simultaneou | CasADi::Sund |
>| method | | s" | s|staggered) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| steps_per_ch | OT_INTEGER | 20 | Number of | CasADi::Sund |
>| eckpoint | | | steps | ialsInternal |
>| | | | between two | |
>| | | | consecutive | |
>| | | | checkpoints | |
>+--------------+--------------+--------------+--------------+--------------+
>| stop_at_end | OT_BOOLEAN | true | Stop the | CasADi::Sund |
>| | | | integrator | ialsInternal |
>| | | | at the end | |
>| | | | of the | |
>| | | | interval | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to upp | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | false | Precondition | CasADi::Sund |
>| tioner | | | an iterative | ialsInternal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | GenericType( | Precondition | CasADi::Sund |
>| tionerB | | ) | an iterative | ialsInternal |
>| | | | solver for | |
>| | | | the | |
>| | | | backwards | |
>| | | | problem | |
>| | | | [default: | |
>| | | | equal to use | |
>| | | | _preconditio | |
>| | | | ner] | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: sundials_integrator.hpp
-}
newtype SundialsIntegrator = SundialsIntegrator (ForeignPtr SundialsIntegrator')
-- typeclass decl
class SundialsIntegratorClass a where
castSundialsIntegrator :: a -> SundialsIntegrator
instance SundialsIntegratorClass SundialsIntegrator where
castSundialsIntegrator = id
-- baseclass instances
instance SharedObjectClass SundialsIntegrator where
castSharedObject (SundialsIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SundialsIntegrator where
castPrintableObject (SundialsIntegrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SundialsIntegrator where
castOptionsFunctionality (SundialsIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SundialsIntegrator where
castFunction (SundialsIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass SundialsIntegrator where
castIntegrator (SundialsIntegrator x) = Integrator (castForeignPtr x)
instance IOInterfaceFunctionClass SundialsIntegrator where
castIOInterfaceFunction (SundialsIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SundialsIntegrator (Ptr SundialsIntegrator') where
marshal (SundialsIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (SundialsIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SundialsIntegrator"
c_delete_CasADi__SundialsIntegrator :: FunPtr (Ptr SundialsIntegrator' -> IO ())
instance WrapReturn (Ptr SundialsIntegrator') SundialsIntegrator where
wrapReturn = (fmap SundialsIntegrator) . (newForeignPtr c_delete_CasADi__SundialsIntegrator)
-- raw decl
data QPSolver'
-- data decl
{-|
>[INTERNAL] QPSolver.
>
>Solves the following strictly convex problem:
>
>min 1/2 x' H x + g' x x subject to LBA <= A x <= UBA
>LBX <= x <= UBX with : H sparse (n x n) positive
>definite g dense (n x 1) n: number of decision variables (x) nc:
>number of constraints (A)
>
>If H is not positive-definite, the solver should throw an error.
>
>Joel Andersson
>
>>Input scheme: CasADi::QPSolverInput (QP_SOLVER_NUM_IN = 10) [qpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_H | h | The square matrix H: |
>| | | sparse, (n x n). Only |
>| | | the lower triangular |
>| | | part is actually used. |
>| | | The matrix is assumed |
>| | | to be symmetrical. . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_G | g | The vector g: dense, |
>| | | (n x 1) . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_X0 | x0 | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X0 | lam_x0 | dense |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::QPSolverOutput (QP_SOLVER_NUM_OUT = 5) [qpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| QP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| QP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: qp_solver.hpp
-}
newtype QPSolver = QPSolver (ForeignPtr QPSolver')
-- typeclass decl
class QPSolverClass a where
castQPSolver :: a -> QPSolver
instance QPSolverClass QPSolver where
castQPSolver = id
-- baseclass instances
instance SharedObjectClass QPSolver where
castSharedObject (QPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass QPSolver where
castPrintableObject (QPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass QPSolver where
castOptionsFunctionality (QPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass QPSolver where
castFunction (QPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass QPSolver where
castIOInterfaceFunction (QPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal QPSolver (Ptr QPSolver') where
marshal (QPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (QPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QPSolver"
c_delete_CasADi__QPSolver :: FunPtr (Ptr QPSolver' -> IO ())
instance WrapReturn (Ptr QPSolver') QPSolver where
wrapReturn = (fmap QPSolver) . (newForeignPtr c_delete_CasADi__QPSolver)
-- raw decl
data Nullspace'
-- data decl
{-|
>[INTERNAL] Base class for
>nullspace construction.
>
>Constructs a basis for the null-space of a fat matrix A. i.e. finds Z such
>that AZ = 0 holds.
>
>The nullspace is also known as the orthogonal complement of the rowspace of
>a matrix.
>
>It is assumed that the matrix A is of full rank.
>
>Implementations are not required to construct an orthogonal or orthonormal
>basis Joris Gillis
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| dense | OT_BOOLEAN | true | Indicates | CasADi::Null |
>| | | | that dense | spaceInterna |
>| | | | matrices can | l |
>| | | | be assumed | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: nullspace.hpp
-}
newtype Nullspace = Nullspace (ForeignPtr Nullspace')
-- typeclass decl
class NullspaceClass a where
castNullspace :: a -> Nullspace
instance NullspaceClass Nullspace where
castNullspace = id
-- baseclass instances
instance SharedObjectClass Nullspace where
castSharedObject (Nullspace x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Nullspace where
castPrintableObject (Nullspace x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass Nullspace where
castOptionsFunctionality (Nullspace x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass Nullspace where
castFunction (Nullspace x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass Nullspace where
castIOInterfaceFunction (Nullspace x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Nullspace (Ptr Nullspace') where
marshal (Nullspace x) = return (unsafeForeignPtrToPtr x)
marshalFree (Nullspace x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Nullspace"
c_delete_CasADi__Nullspace :: FunPtr (Ptr Nullspace' -> IO ())
instance WrapReturn (Ptr Nullspace') Nullspace where
wrapReturn = (fmap Nullspace) . (newForeignPtr c_delete_CasADi__Nullspace)
-- raw decl
data IdasIntegrator'
-- data decl
{-|
>[INTERNAL] Interface to IDAS
>from the Sundials suite.
>
>Base class for integrators. Solves an initial value problem (IVP) coupled to
>a terminal value problem with differential equation given as an implicit ODE
>coupled to an algebraic equation and a set of quadratures: Initial
>conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0
>to t=tf der(x) = function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t)
>Forward algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>Joel Andersson
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| abstol | OT_REAL | 0.000 | Absolute | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| abstolB | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| abstolv | OT_REALVECTO | | | CasADi::Idas |
>| | R | | | Internal |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_ic | OT_BOOLEAN | true | Use | CasADi::Idas |
>| | | | IDACalcIC to | Internal |
>| | | | get | |
>| | | | consistent | |
>| | | | initial | |
>| | | | conditions. | |
>+--------------+--------------+--------------+--------------+--------------+
>| calc_icB | OT_BOOLEAN | GenericType( | Use | CasADi::Idas |
>| | | ) | IDACalcIC to | Internal |
>| | | | get | |
>| | | | consistent | |
>| | | | initial | |
>| | | | conditions | |
>| | | | for | |
>| | | | backwards | |
>| | | | system | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | calc_ic]. | |
>+--------------+--------------+--------------+--------------+--------------+
>| cj_scaling | OT_BOOLEAN | false | IDAS scaling | CasADi::Idas |
>| | | | on cj for | Internal |
>| | | | the user- | |
>| | | | defined | |
>| | | | linear | |
>| | | | solver | |
>| | | | module | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| disable_inte | OT_BOOLEAN | false | Disable IDAS | CasADi::Idas |
>| rnal_warning | | | internal | Internal |
>| s | | | warning | |
>| | | | messages | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | true | Use exact | CasADi::Sund |
>| an | | | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | forward | |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | GenericType( | Use exact | CasADi::Sund |
>| anB | | ) | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to exa | |
>| | | | ct_jacobian] | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| extra_fsens_ | OT_BOOLEAN | false | Call calc ic | CasADi::Idas |
>| calc_ic | | | an extra | Internal |
>| | | | time, with | |
>| | | | fsens=0 | |
>+--------------+--------------+--------------+--------------+--------------+
>| finite_diffe | OT_BOOLEAN | false | Use finite | CasADi::Sund |
>| rence_fsens | | | differences | ialsInternal |
>| | | | to | |
>| | | | approximate | |
>| | | | the forward | |
>| | | | sensitivity | |
>| | | | equations | |
>| | | | (if AD is | |
>| | | | not | |
>| | | | available) | |
>+--------------+--------------+--------------+--------------+--------------+
>| first_time | OT_REAL | GenericType( | First | CasADi::Idas |
>| | | ) | requested | Internal |
>| | | | time as a | |
>| | | | fraction of | |
>| | | | the time | |
>| | | | interval | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_abstol | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_abstol | OT_REALVECTO | | | CasADi::Idas |
>| v | R | | | Internal |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_err_co | OT_BOOLEAN | true | include the | CasADi::Sund |
>| n | | | forward sens | ialsInternal |
>| | | | itivities in | |
>| | | | all error | |
>| | | | controls | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_reltol | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_scalin | OT_REALVECTO | GenericType( | Scaling | CasADi::Sund |
>| g_factors | R | ) | factor for | ialsInternal |
>| | | | the | |
>| | | | components | |
>| | | | if finite | |
>| | | | differences | |
>| | | | is used | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_sensit | OT_INTEGERVE | GenericType( | Specifies | CasADi::Sund |
>| iviy_paramet | CTOR | ) | which | ialsInternal |
>| ers | | | components | |
>| | | | will be used | |
>| | | | when | |
>| | | | estimating | |
>| | | | the | |
>| | | | sensitivity | |
>| | | | equations | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| init_xdot | OT_REALVECTO | GenericType( | Initial | CasADi::Idas |
>| | R | ) | values for | Internal |
>| | | | the state | |
>| | | | derivatives | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_STRING | "hermite" | Type of inte | CasADi::Sund |
>| n_type | | | rpolation | ialsInternal |
>| | | | for the | |
>| | | | adjoint sens | |
>| | | | itivities (h | |
>| | | | ermite|polyn | |
>| | | | omial) | |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | "gmres" | (gmres|bcgst | CasADi::Sund |
>| lver | | | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | GenericType( | (gmres|bcgst | CasADi::Sund |
>| lverB | | ) | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| r | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| rB | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_options | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_optionsB | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver_o | |
>| | | | ptions] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | "dense" | (user_define | CasADi::Sund |
>| r_type | | | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | GenericType( | (user_define | CasADi::Sund |
>| r_typeB | | ) | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | Lower band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | lower band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to low | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylov | OT_INTEGER | 10 | Maximum | CasADi::Sund |
>| | | | Krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylovB | OT_INTEGER | GenericType( | Maximum | CasADi::Sund |
>| | | ) | krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_multiste | OT_INTEGER | 5 | | CasADi::Sund |
>| p_order | | | | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| max_num_step | OT_INTEGER | 10000 | Maximum | CasADi::Sund |
>| s | | | number of | ialsInternal |
>| | | | integrator | |
>| | | | steps | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_step_siz | OT_REAL | 0 | Maximim step | CasADi::Idas |
>| e | | | size | Internal |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Idas |
>| | | | uts) (corre | Internal |
>| | | | ctInitialCon | |
>| | | | ditions|res| | |
>| | | | resS|resB|rh | |
>| | | | sQB|bjacB|jt | |
>| | | | imesB|psetup | |
>| | | | B|psolveB|ps | |
>| | | | etup) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| pretype | OT_STRING | "none" | (none|left|r | CasADi::Sund |
>| | | | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| pretypeB | OT_STRING | GenericType( | (none|left|r | CasADi::Sund |
>| | | ) | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| quad_err_con | OT_BOOLEAN | false | Should the | CasADi::Sund |
>| | | | quadratures | ialsInternal |
>| | | | affect the | |
>| | | | step size | |
>| | | | control | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltol | OT_REAL | 0.000 | Relative | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltolB | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| sensitivity_ | OT_STRING | "simultaneou | (simultaneou | CasADi::Sund |
>| method | | s" | s|staggered) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| steps_per_ch | OT_INTEGER | 20 | Number of | CasADi::Sund |
>| eckpoint | | | steps | ialsInternal |
>| | | | between two | |
>| | | | consecutive | |
>| | | | checkpoints | |
>+--------------+--------------+--------------+--------------+--------------+
>| stop_at_end | OT_BOOLEAN | true | Stop the | CasADi::Sund |
>| | | | integrator | ialsInternal |
>| | | | at the end | |
>| | | | of the | |
>| | | | interval | |
>+--------------+--------------+--------------+--------------+--------------+
>| suppress_alg | OT_BOOLEAN | false | Supress | CasADi::Idas |
>| ebraic | | | algebraic | Internal |
>| | | | variables in | |
>| | | | the error | |
>| | | | testing | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to upp | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | false | Precondition | CasADi::Sund |
>| tioner | | | an iterative | ialsInternal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | GenericType( | Precondition | CasADi::Sund |
>| tionerB | | ) | an iterative | ialsInternal |
>| | | | solver for | |
>| | | | the | |
>| | | | backwards | |
>| | | | problem | |
>| | | | [default: | |
>| | | | equal to use | |
>| | | | _preconditio | |
>| | | | ner] | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+--------------------------+--------------------------+
>| Id | Used in |
>+==========================+==========================+
>| bjacB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| correctInitialConditions | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+--------------------------+--------------------------+
>| jtimesB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+--------------------------+--------------------------+
>| psetup | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| psetupB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| psolveB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| res | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| resB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| resS | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>| rhsQB | CasADi::IdasInternal |
>+--------------------------+--------------------------+
>
>>List of available stats
>+-------------+----------------------+
>| Id | Used in |
>+=============+======================+
>| nlinsetups | CasADi::IdasInternal |
>+-------------+----------------------+
>| nlinsetupsB | CasADi::IdasInternal |
>+-------------+----------------------+
>| nsteps | CasADi::IdasInternal |
>+-------------+----------------------+
>| nstepsB | CasADi::IdasInternal |
>+-------------+----------------------+
>
>Diagrams
>
>C++ includes: idas_integrator.hpp
-}
newtype IdasIntegrator = IdasIntegrator (ForeignPtr IdasIntegrator')
-- typeclass decl
class IdasIntegratorClass a where
castIdasIntegrator :: a -> IdasIntegrator
instance IdasIntegratorClass IdasIntegrator where
castIdasIntegrator = id
-- baseclass instances
instance SharedObjectClass IdasIntegrator where
castSharedObject (IdasIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass IdasIntegrator where
castPrintableObject (IdasIntegrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass IdasIntegrator where
castOptionsFunctionality (IdasIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass IdasIntegrator where
castFunction (IdasIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass IdasIntegrator where
castIntegrator (IdasIntegrator x) = Integrator (castForeignPtr x)
instance SundialsIntegratorClass IdasIntegrator where
castSundialsIntegrator (IdasIntegrator x) = SundialsIntegrator (castForeignPtr x)
instance IOInterfaceFunctionClass IdasIntegrator where
castIOInterfaceFunction (IdasIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal IdasIntegrator (Ptr IdasIntegrator') where
marshal (IdasIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (IdasIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IdasIntegrator"
c_delete_CasADi__IdasIntegrator :: FunPtr (Ptr IdasIntegrator' -> IO ())
instance WrapReturn (Ptr IdasIntegrator') IdasIntegrator where
wrapReturn = (fmap IdasIntegrator) . (newForeignPtr c_delete_CasADi__IdasIntegrator)
-- raw decl
data ExpSXElement'
-- data decl
{-|
>[INTERNAL] Expression
>interface.
>
>This is a common base class for SX, MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. Joel Andersson
>
>C++ includes: generic_expression.hpp
-}
newtype ExpSXElement = ExpSXElement (ForeignPtr ExpSXElement')
-- typeclass decl
class ExpSXElementClass a where
castExpSXElement :: a -> ExpSXElement
instance ExpSXElementClass ExpSXElement where
castExpSXElement = id
-- baseclass instances
-- helper instances
instance Marshal ExpSXElement (Ptr ExpSXElement') where
marshal (ExpSXElement x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExpSXElement x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericExpression_CasADi__SXElement_"
c_delete_CasADi__GenericExpression_CasADi__SXElement_ :: FunPtr (Ptr ExpSXElement' -> IO ())
instance WrapReturn (Ptr ExpSXElement') ExpSXElement where
wrapReturn = (fmap ExpSXElement) . (newForeignPtr c_delete_CasADi__GenericExpression_CasADi__SXElement_)
-- raw decl
data NewtonImplicitSolver'
-- data decl
{-|
>[INTERNAL] Implements
>simple newton iterations to solve an implicit function.
>
>The equation:
>
>F(z, x1, x2, ..., xn) == 0
>
>where d_F/dz is invertable, implicitly defines the equation:
>
>z := G(x1, x2, ..., xn)
>
>F should be an Function mapping from (n+1) inputs to m outputs. The first
>output is the residual that should be zero.
>
>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n
>may be zero. The first output is the solved for z.
>
>You can provide an initial guess for z by setting output(0) of
>ImplicitFunction.
>
>Joris Gillis
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| abstol | OT_REAL | 0.000 | Stopping | CasADi::Newt |
>| | | | criterion | onImplicitIn |
>| | | | tolerance on | ternal |
>| | | | max(|F|) | |
>+--------------+--------------+--------------+--------------+--------------+
>| abstolStep | OT_REAL | 0.000 | Stopping | CasADi::Newt |
>| | | | criterion | onImplicitIn |
>| | | | tolerance on | ternal |
>| | | | step size | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraints | OT_INTEGERVE | GenericType( | Constrain | CasADi::Impl |
>| | CTOR | ) | the | icitFunction |
>| | | | unknowns. 0 | Internal |
>| | | | (default): | |
>| | | | no | |
>| | | | constraint | |
>| | | | on ui, 1: ui | |
>| | | | >= 0.0, -1: | |
>| | | | ui <= 0.0, | |
>| | | | 2: ui > 0.0, | |
>| | | | -2: ui < | |
>| | | | 0.0. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_inp | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| ut | | | input that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_out | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| put | | | output that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | User-defined | CasADi::Impl |
>| r | VER | ) | linear | icitFunction |
>| | | | solver | Internal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| r_options | Y | ) | be passed to | icitFunction |
>| | | | the linear | Internal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 1000 | Maximum | CasADi::Newt |
>| | | | number of | onImplicitIn |
>| | | | Newton | ternal |
>| | | | iterations | |
>| | | | to perform | |
>| | | | before | |
>| | | | returning. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Newt |
>| | | | uts) (step| | onImplicitIn |
>| | | | stepsize|J|F | ternal |
>| | | | |normF) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+----------+--------------------------------+
>| Id | Used in |
>+==========+================================+
>| F | CasADi::NewtonImplicitInternal |
>+----------+--------------------------------+
>| J | CasADi::NewtonImplicitInternal |
>+----------+--------------------------------+
>| inputs | CasADi::FunctionInternal |
>+----------+--------------------------------+
>| normF | CasADi::NewtonImplicitInternal |
>+----------+--------------------------------+
>| outputs | CasADi::FunctionInternal |
>+----------+--------------------------------+
>| step | CasADi::NewtonImplicitInternal |
>+----------+--------------------------------+
>| stepsize | CasADi::NewtonImplicitInternal |
>+----------+--------------------------------+
>
>>List of available stats
>+---------------+--------------------------------+
>| Id | Used in |
>+===============+================================+
>| iter | CasADi::NewtonImplicitInternal |
>+---------------+--------------------------------+
>| return_status | CasADi::NewtonImplicitInternal |
>+---------------+--------------------------------+
>
>Diagrams
>
>C++ includes: newton_implicit_solver.hpp
-}
newtype NewtonImplicitSolver = NewtonImplicitSolver (ForeignPtr NewtonImplicitSolver')
-- typeclass decl
class NewtonImplicitSolverClass a where
castNewtonImplicitSolver :: a -> NewtonImplicitSolver
instance NewtonImplicitSolverClass NewtonImplicitSolver where
castNewtonImplicitSolver = id
-- baseclass instances
instance SharedObjectClass NewtonImplicitSolver where
castSharedObject (NewtonImplicitSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass NewtonImplicitSolver where
castPrintableObject (NewtonImplicitSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass NewtonImplicitSolver where
castOptionsFunctionality (NewtonImplicitSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass NewtonImplicitSolver where
castFunction (NewtonImplicitSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass NewtonImplicitSolver where
castIOInterfaceFunction (NewtonImplicitSolver x) = IOInterfaceFunction (castForeignPtr x)
instance ImplicitFunctionClass NewtonImplicitSolver where
castImplicitFunction (NewtonImplicitSolver x) = ImplicitFunction (castForeignPtr x)
-- helper instances
instance Marshal NewtonImplicitSolver (Ptr NewtonImplicitSolver') where
marshal (NewtonImplicitSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (NewtonImplicitSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__NewtonImplicitSolver"
c_delete_CasADi__NewtonImplicitSolver :: FunPtr (Ptr NewtonImplicitSolver' -> IO ())
instance WrapReturn (Ptr NewtonImplicitSolver') NewtonImplicitSolver where
wrapReturn = (fmap NewtonImplicitSolver) . (newForeignPtr c_delete_CasADi__NewtonImplicitSolver)
-- raw decl
data KinsolSolver'
-- data decl
{-|
>[INTERNAL] Kinsol solver
>class.
>
>The equation:
>
>F(z, x1, x2, ..., xn) == 0
>
>where d_F/dz is invertable, implicitly defines the equation:
>
>z := G(x1, x2, ..., xn)
>
>F should be an Function mapping from (n+1) inputs to m outputs. The first
>output is the residual that should be zero.
>
>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n
>may be zero. The first output is the solved for z.
>
>You can provide an initial guess for z by setting output(0) of
>ImplicitFunction. You can provide an initial guess by setting output(0). A
>good initial guess may be needed to avoid errors like "The linear solver's
>setup function failed in an unrecoverable manner."
>
>The constraints option expects an integer entry for each variable u: 0 then
>no constraint is imposed on ui. 1 then ui will be constrained to be ui >=
>0.0. 1 then ui will be constrained to be ui <= 0.0. 2 then ui will be
>constrained to be ui > 0.0. 2 then ui will be constrained to be ui < 0.0.
>
>See: ImplicitFunction for more information
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| abstol | OT_REAL | 0.000 | Stopping | CasADi::Kins |
>| | | | criterion | olInternal |
>| | | | tolerance | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraints | OT_INTEGERVE | GenericType( | Constrain | CasADi::Impl |
>| | CTOR | ) | the | icitFunction |
>| | | | unknowns. 0 | Internal |
>| | | | (default): | |
>| | | | no | |
>| | | | constraint | |
>| | | | on ui, 1: ui | |
>| | | | >= 0.0, -1: | |
>| | | | ui <= 0.0, | |
>| | | | 2: ui > 0.0, | |
>| | | | -2: ui < | |
>| | | | 0.0. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| disable_inte | OT_BOOLEAN | false | Disable | CasADi::Kins |
>| rnal_warning | | | KINSOL | olInternal |
>| s | | | internal | |
>| | | | warning | |
>| | | | messages | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | true | | CasADi::Kins |
>| an | | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| f_scale | OT_REALVECTO | | | CasADi::Kins |
>| | R | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_inp | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| ut | | | input that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_out | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| put | | | output that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | "gmres" | gmres|bcgsta | CasADi::Kins |
>| lver | | | b|tfqmr | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | User-defined | CasADi::Impl |
>| r | VER | ) | linear | icitFunction |
>| | | | solver | Internal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| r_options | Y | ) | be passed to | icitFunction |
>| | | | the linear | Internal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | "dense" | dense|banded | CasADi::Kins |
>| r_type | | | |iterative|u | olInternal |
>| | | | ser_defined | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | | | CasADi::Kins |
>| dth | | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 0 | Maximum | CasADi::Kins |
>| | | | number of | olInternal |
>| | | | Newton | |
>| | | | iterations. | |
>| | | | Putting 0 | |
>| | | | sets the | |
>| | | | default | |
>| | | | value of | |
>| | | | KinSol. | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylov | OT_INTEGER | 0 | | CasADi::Kins |
>| | | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Kins |
>| | | | uts) (eval_ | olInternal |
>| | | | f|eval_djac) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| pretype | OT_STRING | "none" | (none|left|r | CasADi::Kins |
>| | | | ight|both) | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| strategy | OT_STRING | "none" | Globalizatio | CasADi::Kins |
>| | | | n strategy ( | olInternal |
>| | | | none|linesea | |
>| | | | rch) | |
>+--------------+--------------+--------------+--------------+--------------+
>| u_scale | OT_REALVECTO | | | CasADi::Kins |
>| | R | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | | | CasADi::Kins |
>| dth | | | | olInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | false | precondition | CasADi::Kins |
>| tioner | | | an iterative | olInternal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+-----------+--------------------------+
>| Id | Used in |
>+===========+==========================+
>| eval_djac | CasADi::KinsolInternal |
>+-----------+--------------------------+
>| eval_f | CasADi::KinsolInternal |
>+-----------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+-----------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+-----------+--------------------------+
>
>Diagrams
>
>C++ includes: kinsol_solver.hpp
-}
newtype KinsolSolver = KinsolSolver (ForeignPtr KinsolSolver')
-- typeclass decl
class KinsolSolverClass a where
castKinsolSolver :: a -> KinsolSolver
instance KinsolSolverClass KinsolSolver where
castKinsolSolver = id
-- baseclass instances
instance SharedObjectClass KinsolSolver where
castSharedObject (KinsolSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass KinsolSolver where
castPrintableObject (KinsolSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass KinsolSolver where
castOptionsFunctionality (KinsolSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass KinsolSolver where
castFunction (KinsolSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass KinsolSolver where
castIOInterfaceFunction (KinsolSolver x) = IOInterfaceFunction (castForeignPtr x)
instance ImplicitFunctionClass KinsolSolver where
castImplicitFunction (KinsolSolver x) = ImplicitFunction (castForeignPtr x)
-- helper instances
instance Marshal KinsolSolver (Ptr KinsolSolver') where
marshal (KinsolSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (KinsolSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__KinsolSolver"
c_delete_CasADi__KinsolSolver :: FunPtr (Ptr KinsolSolver' -> IO ())
instance WrapReturn (Ptr KinsolSolver') KinsolSolver where
wrapReturn = (fmap KinsolSolver) . (newForeignPtr c_delete_CasADi__KinsolSolver)
-- raw decl
data QPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'QPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype QPStructure = QPStructure (ForeignPtr QPStructure')
-- typeclass decl
class QPStructureClass a where
castQPStructure :: a -> QPStructure
instance QPStructureClass QPStructure where
castQPStructure = id
-- baseclass instances
instance PrintableObjectClass QPStructure where
castPrintableObject (QPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal QPStructure (Ptr QPStructure') where
marshal (QPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (QPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__QPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__QPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr QPStructure' -> IO ())
instance WrapReturn (Ptr QPStructure') QPStructure where
wrapReturn = (fmap QPStructure) . (newForeignPtr c_delete_CasADi__QPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data CasadiMeta'
-- data decl
{-|
>[INTERNAL] 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 SymbolicQR'
-- data decl
{-|
>[INTERNAL] LinearSolver based
>on QR factorization with sparsity pattern based reordering without partial
>pivoting.
>
>Solves the linear system A*X = B or A^T*X = B for X with A square and non-
>singular
>
>If A is structurally singular, an error will be thrown during init. If A is
>numerically singular, the prepare step will fail. Joel Andersson
>
>>Input scheme: CasADi::LinsolInput (LINSOL_NUM_IN = 3) [linsolIn]
>+-----------+-------+------------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+================================================+
>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |
>+-----------+-------+------------------------------------------------+
>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: CasADi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| codegen | OT_BOOLEAN | false | C-code | CasADi::Symb |
>| | | | generation | olicQRIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| compiler | OT_STRING | "gcc -fPIC | Compiler | CasADi::Symb |
>| | | -O2" | command to | olicQRIntern |
>| | | | be used for | al |
>| | | | compiling | |
>| | | | generated | |
>| | | | code | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: symbolic_qr.hpp
-}
newtype SymbolicQR = SymbolicQR (ForeignPtr SymbolicQR')
-- typeclass decl
class SymbolicQRClass a where
castSymbolicQR :: a -> SymbolicQR
instance SymbolicQRClass SymbolicQR where
castSymbolicQR = id
-- baseclass instances
instance SharedObjectClass SymbolicQR where
castSharedObject (SymbolicQR x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SymbolicQR where
castPrintableObject (SymbolicQR x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SymbolicQR where
castOptionsFunctionality (SymbolicQR x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SymbolicQR where
castFunction (SymbolicQR x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SymbolicQR where
castIOInterfaceFunction (SymbolicQR x) = IOInterfaceFunction (castForeignPtr x)
instance LinearSolverClass SymbolicQR where
castLinearSolver (SymbolicQR x) = LinearSolver (castForeignPtr x)
-- helper instances
instance Marshal SymbolicQR (Ptr SymbolicQR') where
marshal (SymbolicQR x) = return (unsafeForeignPtrToPtr x)
marshalFree (SymbolicQR x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SymbolicQR"
c_delete_CasADi__SymbolicQR :: FunPtr (Ptr SymbolicQR' -> IO ())
instance WrapReturn (Ptr SymbolicQR') SymbolicQR where
wrapReturn = (fmap SymbolicQR) . (newForeignPtr c_delete_CasADi__SymbolicQR)
-- raw decl
data DirectSingleShooting'
-- data decl
{-|
>[INTERNAL] Direct
>Single Shooting.
>
>ns: Number of shooting nodes: from option number_of_grid_points nx: Number
>of differential states: from ffcn.input(INTEGRATOR_X0).size() nc: Number of
>constants during intergation: ffcn.input(INTEGRATOR_P).size() nu: Number of
>controls: from nc - np np: Number of parameters: from option
>number_of_parameters nh: Number of point constraints: from
>cfcn.input(0).size()
>
>Joel Andersson
>
>>Input scheme: CasADi::OCPInput (OCP_NUM_IN = 14) [ocpIn]
>+------------+--------+----------------------------------------------+
>| Full name | Short | Description |
>+============+========+==============================================+
>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBG | lbg | Lower bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>| OCP_UBG | ubg | Upper bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>
>>Output scheme: CasADi::OCPOutput (OCP_NUM_OUT = 5) [ocpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| OCP_X_OPT | x_opt | Optimal state |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_U_OPT | u_opt | Optimal control |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_P_OPT | p_opt | Optimal parameters . |
>+------------------------+------------------------+------------------------+
>| OCP_COST | cost | Objective/cost |
>| | | function for optimal |
>| | | solution (1 x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| final_time | OT_REAL | 1 | | CasADi::OCPS |
>| | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator | OT_INTEGRATO | GenericType( | An | CasADi::Dire |
>| | R | ) | integrator | ctSingleShoo |
>| | | | creator | tingInternal |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Dire |
>| ptions | Y | ) | be passed to | ctSingleShoo |
>| | | | the | tingInternal |
>| | | | integrator | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | An NLPSolver | CasADi::Dire |
>| | | ) | creator | ctSingleShoo |
>| | | | function | tingInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Dire |
>| ptions | Y | ) | be passed to | ctSingleShoo |
>| | | | the NLP | tingInternal |
>| | | | Solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_gr | OT_INTEGER | 20 | | CasADi::OCPS |
>| id_points | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_pa | OT_INTEGER | 0 | | CasADi::OCPS |
>| rameters | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| parallelizat | OT_STRING | GenericType( | Passed on to | CasADi::Dire |
>| ion | | ) | CasADi::Para | ctSingleShoo |
>| | | | llelizer | tingInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: direct_single_shooting.hpp
-}
newtype DirectSingleShooting = DirectSingleShooting (ForeignPtr DirectSingleShooting')
-- typeclass decl
class DirectSingleShootingClass a where
castDirectSingleShooting :: a -> DirectSingleShooting
instance DirectSingleShootingClass DirectSingleShooting where
castDirectSingleShooting = id
-- baseclass instances
instance SharedObjectClass DirectSingleShooting where
castSharedObject (DirectSingleShooting x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass DirectSingleShooting where
castPrintableObject (DirectSingleShooting x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass DirectSingleShooting where
castOptionsFunctionality (DirectSingleShooting x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass DirectSingleShooting where
castFunction (DirectSingleShooting x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass DirectSingleShooting where
castIOInterfaceFunction (DirectSingleShooting x) = IOInterfaceFunction (castForeignPtr x)
instance OCPSolverClass DirectSingleShooting where
castOCPSolver (DirectSingleShooting x) = OCPSolver (castForeignPtr x)
-- helper instances
instance Marshal DirectSingleShooting (Ptr DirectSingleShooting') where
marshal (DirectSingleShooting x) = return (unsafeForeignPtrToPtr x)
marshalFree (DirectSingleShooting x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__DirectSingleShooting"
c_delete_CasADi__DirectSingleShooting :: FunPtr (Ptr DirectSingleShooting' -> IO ())
instance WrapReturn (Ptr DirectSingleShooting') DirectSingleShooting where
wrapReturn = (fmap DirectSingleShooting) . (newForeignPtr c_delete_CasADi__DirectSingleShooting)
-- raw decl
data SX'
-- data decl
{-|
>[INTERNAL] Sparse matrix class. SX
>and DMatrix are specializations.
>
>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.
>Index starts with 0. Index vec happens as follows: (rr,cc) -> k =
>rr+cc*size1() Vectors are column vectors. The storage format is Compressed
>Column Storage (CCS), similar to that used for sparse matrices in Matlab,
>but unlike this format, we do allow for elements to be structurally non-zero
>but numerically zero. Matrix<DataType> is polymorphic with a
>std::vector<DataType> that contain all non- identical-zero elements. The
>sparsity can be accessed with Sparsity& sparsity() Joel Andersson
>
>C++ includes: casadi_types.hpp
-}
newtype SX = SX (ForeignPtr SX')
-- typeclass decl
class SXClass a where
castSX :: a -> SX
instance SXClass SX where
castSX = id
-- baseclass instances
instance PrintableObjectClass SX where
castPrintableObject (SX x) = PrintableObject (castForeignPtr x)
instance GenSXClass SX where
castGenSX (SX x) = GenSX (castForeignPtr x)
instance ExpSXClass SX where
castExpSX (SX x) = ExpSX (castForeignPtr x)
-- helper instances
instance Marshal SX (Ptr SX') where
marshal (SX x) = return (unsafeForeignPtrToPtr x)
marshalFree (SX x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Matrix_CasADi__SXElement_"
c_delete_CasADi__Matrix_CasADi__SXElement_ :: FunPtr (Ptr SX' -> IO ())
instance WrapReturn (Ptr SX') SX where
wrapReturn = (fmap SX) . (newForeignPtr c_delete_CasADi__Matrix_CasADi__SXElement_)
-- raw decl
data DirectMultipleShooting'
-- data decl
{-|
>[INTERNAL] Direct
>Multiple Shooting.
>
>ns: Number of shooting nodes: from option number_of_grid_points nx: Number
>of differential states: from ffcn.input(INTEGRATOR_X0).size() nc: Number of
>constants during intergation: ffcn.input(INTEGRATOR_P).size() nu: Number of
>controls: from nc - np np: Number of parameters: from option
>number_of_parameters nh: Number of point constraints: from
>cfcn.input(0).size()
>
>Joel Andersson
>
>>Input scheme: CasADi::OCPInput (OCP_NUM_IN = 14) [ocpIn]
>+------------+--------+----------------------------------------------+
>| Full name | Short | Description |
>+============+========+==============================================+
>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBG | lbg | Lower bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>| OCP_UBG | ubg | Upper bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>
>>Output scheme: CasADi::OCPOutput (OCP_NUM_OUT = 5) [ocpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| OCP_X_OPT | x_opt | Optimal state |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_U_OPT | u_opt | Optimal control |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_P_OPT | p_opt | Optimal parameters . |
>+------------------------+------------------------+------------------------+
>| OCP_COST | cost | Objective/cost |
>| | | function for optimal |
>| | | solution (1 x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| final_time | OT_REAL | 1 | | CasADi::OCPS |
>| | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator | OT_INTEGRATO | GenericType( | An | CasADi::Dire |
>| | R | ) | integrator | ctMultipleSh |
>| | | | creator | ootingIntern |
>| | | | function | al |
>+--------------+--------------+--------------+--------------+--------------+
>| integrator_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Dire |
>| ptions | Y | ) | be passed to | ctMultipleSh |
>| | | | the | ootingIntern |
>| | | | integrator | al |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver | OT_NLPSOLVER | GenericType( | An NLPSolver | CasADi::Dire |
>| | | ) | creator | ctMultipleSh |
>| | | | function | ootingIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| nlp_solver_o | OT_DICTIONAR | GenericType( | Options to | CasADi::Dire |
>| ptions | Y | ) | be passed to | ctMultipleSh |
>| | | | the NLP | ootingIntern |
>| | | | Solver | al |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_gr | OT_INTEGER | 20 | | CasADi::OCPS |
>| id_points | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_pa | OT_INTEGER | 0 | | CasADi::OCPS |
>| rameters | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| parallelizat | OT_STRING | GenericType( | Passed on to | CasADi::Dire |
>| ion | | ) | CasADi::Para | ctMultipleSh |
>| | | | llelizer | ootingIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: direct_multiple_shooting.hpp
-}
newtype DirectMultipleShooting = DirectMultipleShooting (ForeignPtr DirectMultipleShooting')
-- typeclass decl
class DirectMultipleShootingClass a where
castDirectMultipleShooting :: a -> DirectMultipleShooting
instance DirectMultipleShootingClass DirectMultipleShooting where
castDirectMultipleShooting = id
-- baseclass instances
instance SharedObjectClass DirectMultipleShooting where
castSharedObject (DirectMultipleShooting x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass DirectMultipleShooting where
castPrintableObject (DirectMultipleShooting x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass DirectMultipleShooting where
castOptionsFunctionality (DirectMultipleShooting x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass DirectMultipleShooting where
castFunction (DirectMultipleShooting x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass DirectMultipleShooting where
castIOInterfaceFunction (DirectMultipleShooting x) = IOInterfaceFunction (castForeignPtr x)
instance OCPSolverClass DirectMultipleShooting where
castOCPSolver (DirectMultipleShooting x) = OCPSolver (castForeignPtr x)
-- helper instances
instance Marshal DirectMultipleShooting (Ptr DirectMultipleShooting') where
marshal (DirectMultipleShooting x) = return (unsafeForeignPtrToPtr x)
marshalFree (DirectMultipleShooting x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__DirectMultipleShooting"
c_delete_CasADi__DirectMultipleShooting :: FunPtr (Ptr DirectMultipleShooting' -> IO ())
instance WrapReturn (Ptr DirectMultipleShooting') DirectMultipleShooting where
wrapReturn = (fmap DirectMultipleShooting) . (newForeignPtr c_delete_CasADi__DirectMultipleShooting)
-- raw decl
data IOInterfaceFunction'
-- data decl
{-|
>[INTERNAL] Interface for
>accessing input and output data structures.
>
>Joel Andersson
>
>C++ includes: io_interface.hpp
-}
newtype IOInterfaceFunction = IOInterfaceFunction (ForeignPtr IOInterfaceFunction')
-- typeclass decl
class IOInterfaceFunctionClass a where
castIOInterfaceFunction :: a -> IOInterfaceFunction
instance IOInterfaceFunctionClass IOInterfaceFunction where
castIOInterfaceFunction = id
-- baseclass instances
-- helper instances
instance Marshal IOInterfaceFunction (Ptr IOInterfaceFunction') where
marshal (IOInterfaceFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (IOInterfaceFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IOInterface_CasADi__Function_"
c_delete_CasADi__IOInterface_CasADi__Function_ :: FunPtr (Ptr IOInterfaceFunction' -> IO ())
instance WrapReturn (Ptr IOInterfaceFunction') IOInterfaceFunction where
wrapReturn = (fmap IOInterfaceFunction) . (newForeignPtr c_delete_CasADi__IOInterface_CasADi__Function_)
-- raw decl
data SDQPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'SDQPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype SDQPStructure = SDQPStructure (ForeignPtr SDQPStructure')
-- typeclass decl
class SDQPStructureClass a where
castSDQPStructure :: a -> SDQPStructure
instance SDQPStructureClass SDQPStructure where
castSDQPStructure = id
-- baseclass instances
instance PrintableObjectClass SDQPStructure where
castPrintableObject (SDQPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SDQPStructure (Ptr SDQPStructure') where
marshal (SDQPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDQPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDQPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__SDQPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr SDQPStructure' -> IO ())
instance WrapReturn (Ptr SDQPStructure') SDQPStructure where
wrapReturn = (fmap SDQPStructure) . (newForeignPtr c_delete_CasADi__SDQPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data SDPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'SDPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype SDPStructure = SDPStructure (ForeignPtr SDPStructure')
-- typeclass decl
class SDPStructureClass a where
castSDPStructure :: a -> SDPStructure
instance SDPStructureClass SDPStructure where
castSDPStructure = id
-- baseclass instances
instance PrintableObjectClass SDPStructure where
castPrintableObject (SDPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SDPStructure (Ptr SDPStructure') where
marshal (SDPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (SDPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SDPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__SDPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr SDPStructure' -> IO ())
instance WrapReturn (Ptr SDPStructure') SDPStructure where
wrapReturn = (fmap SDPStructure) . (newForeignPtr c_delete_CasADi__SDPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data GenDMatrix'
-- data decl
{-|
>[INTERNAL] Matrix base
>class.
>
>This is a common base class for MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. The class 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 vec happens as follows: (rr,cc) -> k = rr+cc*size1() Vectors
>are column vectors. The storage format is Compressed Column Storage (CCS),
>similar to that used for sparse matrices in Matlab, but unlike this format,
>we do allow for elements to be structurally non-zero but numerically zero.
>The sparsity pattern, which is reference counted and cached, can be accessed
>with Sparsity& sparsity() Joel Andersson
>
>C++ includes: generic_matrix.hpp
-}
newtype GenDMatrix = GenDMatrix (ForeignPtr GenDMatrix')
-- typeclass decl
class GenDMatrixClass a where
castGenDMatrix :: a -> GenDMatrix
instance GenDMatrixClass GenDMatrix where
castGenDMatrix = id
-- baseclass instances
-- helper instances
instance Marshal GenDMatrix (Ptr GenDMatrix') where
marshal (GenDMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (GenDMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericMatrix_CasADi__Matrix_double__"
c_delete_CasADi__GenericMatrix_CasADi__Matrix_double__ :: FunPtr (Ptr GenDMatrix' -> IO ())
instance WrapReturn (Ptr GenDMatrix') GenDMatrix where
wrapReturn = (fmap GenDMatrix) . (newForeignPtr c_delete_CasADi__GenericMatrix_CasADi__Matrix_double__)
-- raw decl
data ExpIMatrix'
-- data decl
{-|
>[INTERNAL] Expression
>interface.
>
>This is a common base class for SX, MX and Matrix<>, introducing a uniform
>syntax and implementing common functionality using the curiously recurring
>template pattern (CRTP) idiom. Joel Andersson
>
>C++ includes: generic_expression.hpp
-}
newtype ExpIMatrix = ExpIMatrix (ForeignPtr ExpIMatrix')
-- typeclass decl
class ExpIMatrixClass a where
castExpIMatrix :: a -> ExpIMatrix
instance ExpIMatrixClass ExpIMatrix where
castExpIMatrix = id
-- baseclass instances
-- helper instances
instance Marshal ExpIMatrix (Ptr ExpIMatrix') where
marshal (ExpIMatrix x) = return (unsafeForeignPtrToPtr x)
marshalFree (ExpIMatrix x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__GenericExpression_CasADi__Matrix_int__"
c_delete_CasADi__GenericExpression_CasADi__Matrix_int__ :: FunPtr (Ptr ExpIMatrix' -> IO ())
instance WrapReturn (Ptr ExpIMatrix') ExpIMatrix where
wrapReturn = (fmap ExpIMatrix) . (newForeignPtr c_delete_CasADi__GenericExpression_CasADi__Matrix_int__)
-- raw decl
data CustomFunction'
-- data decl
{-|
>[INTERNAL] Interface to a
>custom function.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: custom_function.hpp
-}
newtype CustomFunction = CustomFunction (ForeignPtr CustomFunction')
-- typeclass decl
class CustomFunctionClass a where
castCustomFunction :: a -> CustomFunction
instance CustomFunctionClass CustomFunction where
castCustomFunction = id
-- baseclass instances
instance SharedObjectClass CustomFunction where
castSharedObject (CustomFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CustomFunction where
castPrintableObject (CustomFunction x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass CustomFunction where
castOptionsFunctionality (CustomFunction x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass CustomFunction where
castFunction (CustomFunction x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass CustomFunction where
castIOInterfaceFunction (CustomFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal CustomFunction (Ptr CustomFunction') where
marshal (CustomFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (CustomFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CustomFunction"
c_delete_CasADi__CustomFunction :: FunPtr (Ptr CustomFunction' -> IO ())
instance WrapReturn (Ptr CustomFunction') CustomFunction where
wrapReturn = (fmap CustomFunction) . (newForeignPtr c_delete_CasADi__CustomFunction)
-- raw decl
data LPSolver'
-- data decl
{-|
>[INTERNAL] LPSolver.
>
>Solves the following linear problem:
>
>min c' x x subject to LBA <= A x <= UBA LBX <= x
><= UBX with x ( n x 1) c ( n x 1 ) A
>sparse matrix ( nc x n) LBA, UBA dense vector (nc x 1)
>LBX, UBX dense vector (n x 1) n: number of decision
>variables (x) nc: number of constraints (A)
>
>Joris Gillis
>
>>Input scheme: CasADi::LPSolverInput (LP_SOLVER_NUM_IN = 7) [lpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_C | c | The vector c: dense (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_A | a | The matrix A: sparse, |
>| | | (nc x n) - product |
>| | | with x must be dense. |
>| | | . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBA | lba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBA | uba | dense, (nc x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LBX | lbx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_UBX | ubx | dense, (n x 1) |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::LPSolverOutput (LP_SOLVER_NUM_OUT = 5) [lpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| LP_SOLVER_X | x | The primal solution . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_COST | cost | The optimal cost . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to |
>| | | linear bounds . |
>+------------------------+------------------------+------------------------+
>| LP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: lp_solver.hpp
-}
newtype LPSolver = LPSolver (ForeignPtr LPSolver')
-- typeclass decl
class LPSolverClass a where
castLPSolver :: a -> LPSolver
instance LPSolverClass LPSolver where
castLPSolver = id
-- baseclass instances
instance SharedObjectClass LPSolver where
castSharedObject (LPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass LPSolver where
castPrintableObject (LPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass LPSolver where
castOptionsFunctionality (LPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass LPSolver where
castFunction (LPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass LPSolver where
castIOInterfaceFunction (LPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal LPSolver (Ptr LPSolver') where
marshal (LPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (LPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__LPSolver"
c_delete_CasADi__LPSolver :: FunPtr (Ptr LPSolver' -> IO ())
instance WrapReturn (Ptr LPSolver') LPSolver where
wrapReturn = (fmap LPSolver) . (newForeignPtr c_delete_CasADi__LPSolver)
-- raw decl
data OCPSolver'
-- data decl
{-|
>[INTERNAL] Base class for OCP
>solvers.
>
>Joel Andersson
>
>>Input scheme: CasADi::OCPInput (OCP_NUM_IN = 14) [ocpIn]
>+------------+--------+----------------------------------------------+
>| Full name | Short | Description |
>+============+========+==============================================+
>| OCP_LBX | lbx | States lower bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBX | ubx | States upper bounds (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_X_INIT | x_init | States initial guess (nx x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBU | lbu | Controls lower bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBU | ubu | Controls upper bounds (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_U_INIT | u_init | Controls initial guess (nu x ns) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBP | lbp | Parameters lower bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBP | ubp | Parameters upper bounds (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_P_INIT | p_init | Parameters initial guess (np x 1) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBH | lbh | Point constraint lower bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_UBH | ubh | Point constraint upper bound (nh x (ns+1)) . |
>+------------+--------+----------------------------------------------+
>| OCP_LBG | lbg | Lower bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>| OCP_UBG | ubg | Upper bound for the coupling constraints . |
>+------------+--------+----------------------------------------------+
>
>>Output scheme: CasADi::OCPOutput (OCP_NUM_OUT = 5) [ocpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| OCP_X_OPT | x_opt | Optimal state |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_U_OPT | u_opt | Optimal control |
>| | | trajectory . |
>+------------------------+------------------------+------------------------+
>| OCP_P_OPT | p_opt | Optimal parameters . |
>+------------------------+------------------------+------------------------+
>| OCP_COST | cost | Objective/cost |
>| | | function for optimal |
>| | | solution (1 x 1) . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| final_time | OT_REAL | 1 | | CasADi::OCPS |
>| | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_gr | OT_INTEGER | 20 | | CasADi::OCPS |
>| id_points | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| number_of_pa | OT_INTEGER | 0 | | CasADi::OCPS |
>| rameters | | | | olverInterna |
>| | | | | l |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: ocp_solver.hpp
-}
newtype OCPSolver = OCPSolver (ForeignPtr OCPSolver')
-- typeclass decl
class OCPSolverClass a where
castOCPSolver :: a -> OCPSolver
instance OCPSolverClass OCPSolver where
castOCPSolver = id
-- baseclass instances
instance SharedObjectClass OCPSolver where
castSharedObject (OCPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass OCPSolver where
castPrintableObject (OCPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass OCPSolver where
castOptionsFunctionality (OCPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass OCPSolver where
castFunction (OCPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass OCPSolver where
castIOInterfaceFunction (OCPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal OCPSolver (Ptr OCPSolver') where
marshal (OCPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (OCPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__OCPSolver"
c_delete_CasADi__OCPSolver :: FunPtr (Ptr OCPSolver' -> IO ())
instance WrapReturn (Ptr OCPSolver') OCPSolver where
wrapReturn = (fmap OCPSolver) . (newForeignPtr c_delete_CasADi__OCPSolver)
-- raw decl
data LinearSolver'
-- data decl
{-|
>[INTERNAL] Base class for the
>linear solver classes.
>
>Solves the linear system A*X = B or A^T*X = B for X with A square and non-
>singular
>
>If A is structurally singular, an error will be thrown during init. If A is
>numerically singular, the prepare step will fail. Joel Andersson
>
>>Input scheme: CasADi::LinsolInput (LINSOL_NUM_IN = 3) [linsolIn]
>+-----------+-------+------------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+================================================+
>| LINSOL_A | A | The square matrix A: sparse, (n x n). . |
>+-----------+-------+------------------------------------------------+
>| LINSOL_B | B | The right-hand-side matrix b: dense, (n x m) . |
>+-----------+-------+------------------------------------------------+
>
>>Output scheme: CasADi::LinsolOutput (LINSOL_NUM_OUT = 2) [linsolOut]
>+-----------+-------+----------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+==============================================+
>| LINSOL_X | X | Solution to the linear system of equations . |
>+-----------+-------+----------------------------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: linear_solver.hpp
-}
newtype LinearSolver = LinearSolver (ForeignPtr LinearSolver')
-- typeclass decl
class LinearSolverClass a where
castLinearSolver :: a -> LinearSolver
instance LinearSolverClass LinearSolver where
castLinearSolver = id
-- baseclass instances
instance SharedObjectClass LinearSolver where
castSharedObject (LinearSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass LinearSolver where
castPrintableObject (LinearSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass LinearSolver where
castOptionsFunctionality (LinearSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass LinearSolver where
castFunction (LinearSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass LinearSolver where
castIOInterfaceFunction (LinearSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal LinearSolver (Ptr LinearSolver') where
marshal (LinearSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (LinearSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__LinearSolver"
c_delete_CasADi__LinearSolver :: FunPtr (Ptr LinearSolver' -> IO ())
instance WrapReturn (Ptr LinearSolver') LinearSolver where
wrapReturn = (fmap LinearSolver) . (newForeignPtr c_delete_CasADi__LinearSolver)
-- raw decl
data SymbolicOCP'
-- data decl
{-|
>[INTERNAL] A flat OCP
>representation coupled to an XML file.
>
>Variables:
>
>x: differential states z: algebraic states p : independent
>parameters t : time u : control signals q : quadrature states y :
>dependent variables
>
>Equations:
>
>explicit or implicit ODE: \\dot{x} = ode(t,x,z,u,p_free,pi,pd) or 0 =
>ode(t,x,z,\\dot{x},u,p_free,pi,pd) algebraic equations: 0 =
>alg(t,x,z,u,p_free,pi,pd) quadratures: \\dot{q} =
>quad(t,x,z,u,p_free,pi,pd) dependent equations: y =
>dep(t,x,z,u,p_free,pi,pd) initial equations: 0 =
>initial(t,x,z,u,p_free,pi,pd)
>
>Objective function terms:
>
>Mayer terms: \\sum{mterm_k} Lagrange terms:
>\\sum{\\integral{mterm}}
>
>Note that when parsed, all dynamic equations end up in the implicit category
>"dae". At a later state, the DAE can be reformulated, for example in semi-
>explicit form, possibly in addition to a set of quadrature states.
>
>Usage skeleton:
>
>Call default constructor SymbolicOCP ocp;
>
>Parse an FMI conformant XML file ocp.parseFMI(xml_file_name)
>
>Modify/add variables, equations, optimization ...
>
>When the optimal control problem is in a suitable form, it is possible to
>either generate functions for numeric/symbolic evaluation or exporting the
>OCP formulation into a new FMI conformant XML file. The latter functionality
>is not yet available.
>
>Joel Andersson
>
>C++ includes: symbolic_ocp.hpp
-}
newtype SymbolicOCP = SymbolicOCP (ForeignPtr SymbolicOCP')
-- typeclass decl
class SymbolicOCPClass a where
castSymbolicOCP :: a -> SymbolicOCP
instance SymbolicOCPClass SymbolicOCP where
castSymbolicOCP = id
-- baseclass instances
instance PrintableObjectClass SymbolicOCP where
castPrintableObject (SymbolicOCP x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SymbolicOCP (Ptr SymbolicOCP') where
marshal (SymbolicOCP x) = return (unsafeForeignPtrToPtr x)
marshalFree (SymbolicOCP x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SymbolicOCP"
c_delete_CasADi__SymbolicOCP :: FunPtr (Ptr SymbolicOCP' -> IO ())
instance WrapReturn (Ptr SymbolicOCP') SymbolicOCP where
wrapReturn = (fmap SymbolicOCP) . (newForeignPtr c_delete_CasADi__SymbolicOCP)
-- raw decl
data Function'
-- data decl
{-|
>[INTERNAL] General function.
>
>A general function $f$ in casadi can be multi-input, multi-output. Number of
>inputs: nin getNumInputs() Number of outputs: nout getNumOutputs() We can
>view this function as a being composed of a (nin, nout) grid of single-
>input, single-output primitive functions. Each such primitive function
>$f_{i,j} \\forall i \\in [0,nin-1], j \\in [0,nout-1]$ can map as
>$\\mathbf{R}^{n,m}\\to\\mathbf{R}^{p,q}$, in which n,m,p,q can take
>different values for every (i,j) pair. When passing input, you specify
>which partition i is active. You pass the numbers vectorized, as a vector of
>size $(n*m)$. When requesting output, you specify which partition j is
>active. You get the numbers vectorized, as a vector of size $(p*q)$. To
>calculate jacobians, you need to have $(m=1,q=1)$.
>
>Write the jacobian as $J_{i,j} = \\nabla f_{i,j} = \\frac{\\partial
>f_{i,j}(\\vec{x})}{\\partial \\vec{x}}$.
>
>Using $\\vec{v} \\in \\mathbf{R}^n$ as a forward seed: setFwdSeed(v,i)
>Retrieving $\\vec{s}_f \\in \\mathbf{R}^p$ from: getFwdSens(sf,j)
>Using $\\vec{w} \\in \\mathbf{R}^p$ as a forward seed: setAdjSeed(w,j)
>Retrieving $\\vec{s}_a \\in \\mathbf{R}^n $ from: getAdjSens(sa,i) We
>have the following relationships for function mapping from a row vector to a
>row vector:
>
>$ \\vec{s}_f = \\nabla f_{i,j} . \\vec{v}$ $ \\vec{s}_a = (\\nabla
>f_{i,j})^T . \\vec{w}$
>
>Some quantities is these formulas must be transposed: input col: transpose
>$ \\vec{v} $ and $\\vec{s}_a$ output col: transpose $ \\vec{w} $ and
>$\\vec{s}_f$ NOTE: Function's are allowed to modify their input arguments
>when evaluating: implicitFunction, IDAS solver Futher releases may disallow
>this.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+---------+--------------------------+
>| Id | Used in |
>+=========+==========================+
>| inputs | CasADi::FunctionInternal |
>+---------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+---------+--------------------------+
>
>Diagrams
>
>C++ includes: function.hpp
-}
newtype Function = Function (ForeignPtr Function')
-- typeclass decl
class FunctionClass a where
castFunction :: a -> Function
instance FunctionClass Function where
castFunction = id
-- baseclass instances
instance SharedObjectClass Function where
castSharedObject (Function x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass Function where
castPrintableObject (Function x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass Function where
castOptionsFunctionality (Function x) = OptionsFunctionality (castForeignPtr x)
instance IOInterfaceFunctionClass Function where
castIOInterfaceFunction (Function x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal Function (Ptr Function') where
marshal (Function x) = return (unsafeForeignPtrToPtr x)
marshalFree (Function x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__Function"
c_delete_CasADi__Function :: FunPtr (Ptr Function' -> IO ())
instance WrapReturn (Ptr Function') Function where
wrapReturn = (fmap Function) . (newForeignPtr c_delete_CasADi__Function)
-- raw decl
data SOCPSolver'
-- data decl
{-|
>[INTERNAL] SOCPSolver.
>
>Solves an Second Order Cone Programming (SOCP) problem in standard form.
>
>Primal:
>
>min c' x x subject to || Gi' x + hi ||_2 <= ei' x
>+ fi i = 1..m LBA <= A x <= UBA LBX <= x <= UBX
>with x ( n x 1) c ( n x 1 ) Gi sparse (n x ni) hi dense
>(ni x 1) ei dense (n x 1) fi dense (1 x 1) N =
>Sum_i^m ni A sparse (nc x n) LBA, UBA dense vector (nc x
>1) LBX, UBX dense vector (n x 1)
>
>Joris Gillis
>
>>Input scheme: CasADi::SOCPInput (SOCP_SOLVER_NUM_IN = 11) [socpIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_G | g | The horizontal stack |
>| | | of all matrices Gi: ( |
>| | | n x N) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_H | h | The vertical stack of |
>| | | all vectors hi: ( N x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_E | e | The vertical stack of |
>| | | all vectors ei: ( nm x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_F | f | The vertical stack of |
>| | | all scalars fi: ( m x |
>| | | 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_C | c | The vector c: ( n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_A | a | The matrix A: ( nc x |
>| | | n) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBA | lba | Lower bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBA | uba | Upper bounds on Ax ( |
>| | | nc x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LBX | lbx | Lower bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_UBX | ubx | Upper bounds on x ( n |
>| | | x 1 ) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::SOCPOutput (SOCP_SOLVER_NUM_OUT = 5) [socpOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| SOCP_SOLVER_X | x | The primal solution (n |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_COST | cost | The primal optimal |
>| | | cost (1 x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_A | lam_a | The dual solution |
>| | | corresponding to the |
>| | | linear constraints (nc |
>| | | x 1) . |
>+------------------------+------------------------+------------------------+
>| SOCP_SOLVER_LAM_X | lam_x | The dual solution |
>| | | corresponding to |
>| | | simple bounds (n x 1) |
>| | | . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| ni | OT_INTEGERVE | GenericType( | Provide the | CasADi::SOCP |
>| | CTOR | ) | size of each | SolverIntern |
>| | | | SOC | al |
>| | | | constraint. | |
>| | | | Must sum up | |
>| | | | to N. | |
>+--------------+--------------+--------------+--------------+--------------+
>| print_proble | OT_BOOLEAN | false | Print out | CasADi::SOCP |
>| m | | | problem | SolverIntern |
>| | | | statement | al |
>| | | | for | |
>| | | | debugging. | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: socp_solver.hpp
-}
newtype SOCPSolver = SOCPSolver (ForeignPtr SOCPSolver')
-- typeclass decl
class SOCPSolverClass a where
castSOCPSolver :: a -> SOCPSolver
instance SOCPSolverClass SOCPSolver where
castSOCPSolver = id
-- baseclass instances
instance SharedObjectClass SOCPSolver where
castSharedObject (SOCPSolver x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass SOCPSolver where
castPrintableObject (SOCPSolver x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass SOCPSolver where
castOptionsFunctionality (SOCPSolver x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass SOCPSolver where
castFunction (SOCPSolver x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass SOCPSolver where
castIOInterfaceFunction (SOCPSolver x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal SOCPSolver (Ptr SOCPSolver') where
marshal (SOCPSolver x) = return (unsafeForeignPtrToPtr x)
marshalFree (SOCPSolver x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SOCPSolver"
c_delete_CasADi__SOCPSolver :: FunPtr (Ptr SOCPSolver' -> IO ())
instance WrapReturn (Ptr SOCPSolver') SOCPSolver where
wrapReturn = (fmap SOCPSolver) . (newForeignPtr c_delete_CasADi__SOCPSolver)
-- raw decl
data DerivativeGenerator'
-- data decl
{-|
>[INTERNAL] Derivative
>Generator Functor.
>
>In C++, supply a DerivativeGeneratorCPtr function pointer
>
>In python, supply a callable, annotated with derivativegenerator decorator
>
>C++ includes: functor.hpp
-}
newtype DerivativeGenerator = DerivativeGenerator (ForeignPtr DerivativeGenerator')
-- typeclass decl
class DerivativeGeneratorClass a where
castDerivativeGenerator :: a -> DerivativeGenerator
instance DerivativeGeneratorClass DerivativeGenerator where
castDerivativeGenerator = id
-- baseclass instances
instance SharedObjectClass DerivativeGenerator where
castSharedObject (DerivativeGenerator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass DerivativeGenerator where
castPrintableObject (DerivativeGenerator x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal DerivativeGenerator (Ptr DerivativeGenerator') where
marshal (DerivativeGenerator x) = return (unsafeForeignPtrToPtr x)
marshalFree (DerivativeGenerator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__DerivativeGenerator"
c_delete_CasADi__DerivativeGenerator :: FunPtr (Ptr DerivativeGenerator' -> IO ())
instance WrapReturn (Ptr DerivativeGenerator') DerivativeGenerator where
wrapReturn = (fmap DerivativeGenerator) . (newForeignPtr c_delete_CasADi__DerivativeGenerator)
-- raw decl
data SOCPStructure'
-- data decl
{-|
>[INTERNAL] Helper
>function for 'SOCPStruct'
>
>C++ includes: casadi_types.hpp
-}
newtype SOCPStructure = SOCPStructure (ForeignPtr SOCPStructure')
-- typeclass decl
class SOCPStructureClass a where
castSOCPStructure :: a -> SOCPStructure
instance SOCPStructureClass SOCPStructure where
castSOCPStructure = id
-- baseclass instances
instance PrintableObjectClass SOCPStructure where
castPrintableObject (SOCPStructure x) = PrintableObject (castForeignPtr x)
-- helper instances
instance Marshal SOCPStructure (Ptr SOCPStructure') where
marshal (SOCPStructure x) = return (unsafeForeignPtrToPtr x)
marshalFree (SOCPStructure x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__SOCPStructIOSchemeVector_CasADi__Sparsity_"
c_delete_CasADi__SOCPStructIOSchemeVector_CasADi__Sparsity_ :: FunPtr (Ptr SOCPStructure' -> IO ())
instance WrapReturn (Ptr SOCPStructure') SOCPStructure where
wrapReturn = (fmap SOCPStructure) . (newForeignPtr c_delete_CasADi__SOCPStructIOSchemeVector_CasADi__Sparsity_)
-- raw decl
data ImplicitFunction'
-- data decl
{-|
>[INTERNAL] Abstract base
>class for the implicit function classes.
>
>The equation:
>
>F(z, x1, x2, ..., xn) == 0
>
>where d_F/dz is invertable, implicitly defines the equation:
>
>z := G(x1, x2, ..., xn)
>
>F should be an Function mapping from (n+1) inputs to m outputs. The first
>output is the residual that should be zero.
>
>ImplicitFunction (G) is an Function mapping from n inputs to m outputs. n
>may be zero. The first output is the solved for z.
>
>You can provide an initial guess for z by setting output(0) of
>ImplicitFunction.
>
>Joel Andersson
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| constraints | OT_INTEGERVE | GenericType( | Constrain | CasADi::Impl |
>| | CTOR | ) | the | icitFunction |
>| | | | unknowns. 0 | Internal |
>| | | | (default): | |
>| | | | no | |
>| | | | constraint | |
>| | | | on ui, 1: ui | |
>| | | | >= 0.0, -1: | |
>| | | | ui <= 0.0, | |
>| | | | 2: ui > 0.0, | |
>| | | | -2: ui < | |
>| | | | 0.0. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_inp | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| ut | | | input that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| implicit_out | OT_INTEGER | 0 | Index of the | CasADi::Impl |
>| put | | | output that | icitFunction |
>| | | | corresponds | Internal |
>| | | | to the | |
>| | | | actual root- | |
>| | | | finding | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | User-defined | CasADi::Impl |
>| r | VER | ) | linear | icitFunction |
>| | | | solver | Internal |
>| | | | class. | |
>| | | | Needed for s | |
>| | | | ensitivities | |
>| | | | . | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Impl |
>| r_options | Y | ) | be passed to | icitFunction |
>| | | | the linear | Internal |
>| | | | solver. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | |
>| | | | uts) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>Diagrams
>
>C++ includes: implicit_function.hpp
-}
newtype ImplicitFunction = ImplicitFunction (ForeignPtr ImplicitFunction')
-- typeclass decl
class ImplicitFunctionClass a where
castImplicitFunction :: a -> ImplicitFunction
instance ImplicitFunctionClass ImplicitFunction where
castImplicitFunction = id
-- baseclass instances
instance SharedObjectClass ImplicitFunction where
castSharedObject (ImplicitFunction x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass ImplicitFunction where
castPrintableObject (ImplicitFunction x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass ImplicitFunction where
castOptionsFunctionality (ImplicitFunction x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass ImplicitFunction where
castFunction (ImplicitFunction x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass ImplicitFunction where
castIOInterfaceFunction (ImplicitFunction x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal ImplicitFunction (Ptr ImplicitFunction') where
marshal (ImplicitFunction x) = return (unsafeForeignPtrToPtr x)
marshalFree (ImplicitFunction x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__ImplicitFunction"
c_delete_CasADi__ImplicitFunction :: FunPtr (Ptr ImplicitFunction' -> IO ())
instance WrapReturn (Ptr ImplicitFunction') ImplicitFunction where
wrapReturn = (fmap ImplicitFunction) . (newForeignPtr c_delete_CasADi__ImplicitFunction)
-- raw decl
data CVodesIntegrator'
-- data decl
{-|
>[INTERNAL] Interface to
>CVodes from the Sundials suite.
>
>Base class for integrators. Solves an initial value problem (IVP) coupled to
>a terminal value problem with differential equation given as an implicit ODE
>coupled to an algebraic equation and a set of quadratures: Initial
>conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0
>to t=tf der(x) = function(x,z,p,t) Forward ODE 0 = fz(x,z,p,t)
>Forward algebraic equations der(q) = fq(x,z,p,t) Forward
>quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0
>Backward integration from t=tf to t=t0 der(rx) = gx(rx,rz,rp,x,z,p,t)
>Backward ODE 0 = gz(rx,rz,rp,x,z,p,t) Backward algebraic equations
>der(rq) = gq(rx,rz,rp,x,z,p,t) Backward quadratures where we assume
>that both the forward and backwards integrations are index-1 (i.e. dfz/dz,
>dgz/drz are invertible) and furthermore that gx, gz and gq have a linear
>dependency on rx, rz and rp.
>
>A call to evaluate will integrate to the end.
>
>You can retrieve the entire state trajectory as follows, after the evaluate
>call: Call reset. Then call integrate(t_i) and getOuput for a series of
>times t_i.
>
>>Input scheme: CasADi::IntegratorInput (INTEGRATOR_NUM_IN = 7) [integratorIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_X0 | x0 | Differential state at |
>| | | the initial time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_P | p | Parameters . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_Z0 | z0 | Initial guess for the |
>| | | algebraic variable . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RX0 | rx0 | Backward differential |
>| | | state at the final |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RP | rp | Backward parameter |
>| | | vector . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZ0 | rz0 | Initial guess for the |
>| | | backwards algebraic |
>| | | variable . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) [integratorOut]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| INTEGRATOR_XF | xf | Differential state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_QF | qf | Quadrature state at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_ZF | zf | Algebraic variable at |
>| | | the final time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RXF | rxf | Backward differential |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RQF | rqf | Backward quadrature |
>| | | state at the initial |
>| | | time . |
>+------------------------+------------------------+------------------------+
>| INTEGRATOR_RZF | rzf | Backward algebraic |
>| | | variable at the |
>| | | initial time . |
>+------------------------+------------------------+------------------------+
>
>>List of available options
>+--------------+--------------+--------------+--------------+--------------+
>| Id | Type | Default | Description | Used in |
>+==============+==============+==============+==============+==============+
>| abstol | OT_REAL | 0.000 | Absolute | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| abstolB | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| augmented_op | OT_DICTIONAR | GenericType( | Options to | CasADi::Inte |
>| tions | Y | ) | be passed | gratorIntern |
>| | | | down to the | al |
>| | | | augmented | |
>| | | | integrator, | |
>| | | | if one is | |
>| | | | constructed. | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| disable_inte | OT_BOOLEAN | false | Disable | CasADi::CVod |
>| rnal_warning | | | CVodes | esInternal |
>| s | | | internal | |
>| | | | warning | |
>| | | | messages | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | true | Use exact | CasADi::Sund |
>| an | | | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | forward | |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| exact_jacobi | OT_BOOLEAN | GenericType( | Use exact | CasADi::Sund |
>| anB | | ) | Jacobian | ialsInternal |
>| | | | information | |
>| | | | for the | |
>| | | | backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to exa | |
>| | | | ct_jacobian] | |
>+--------------+--------------+--------------+--------------+--------------+
>| expand_augme | OT_BOOLEAN | true | If DAE | CasADi::Inte |
>| nted | | | callback | gratorIntern |
>| | | | functions | al |
>| | | | are | |
>| | | | SXFunction , | |
>| | | | have | |
>| | | | augmented | |
>| | | | DAE callback | |
>| | | | function | |
>| | | | also be | |
>| | | | SXFunction . | |
>+--------------+--------------+--------------+--------------+--------------+
>| finite_diffe | OT_BOOLEAN | false | Use finite | CasADi::Sund |
>| rence_fsens | | | differences | ialsInternal |
>| | | | to | |
>| | | | approximate | |
>| | | | the forward | |
>| | | | sensitivity | |
>| | | | equations | |
>| | | | (if AD is | |
>| | | | not | |
>| | | | available) | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_abstol | OT_REAL | GenericType( | Absolute | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | abstol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_all_at | OT_BOOLEAN | true | Calculate | CasADi::CVod |
>| _once | | | all right | esInternal |
>| | | | hand sides | |
>| | | | of the | |
>| | | | sensitivity | |
>| | | | equations at | |
>| | | | once | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_err_co | OT_BOOLEAN | true | include the | CasADi::Sund |
>| n | | | forward sens | ialsInternal |
>| | | | itivities in | |
>| | | | all error | |
>| | | | controls | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_reltol | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | forward | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_scalin | OT_REALVECTO | GenericType( | Scaling | CasADi::Sund |
>| g_factors | R | ) | factor for | ialsInternal |
>| | | | the | |
>| | | | components | |
>| | | | if finite | |
>| | | | differences | |
>| | | | is used | |
>+--------------+--------------+--------------+--------------+--------------+
>| fsens_sensit | OT_INTEGERVE | GenericType( | Specifies | CasADi::Sund |
>| iviy_paramet | CTOR | ) | which | ialsInternal |
>| ers | | | components | |
>| | | | will be used | |
>| | | | when | |
>| | | | estimating | |
>| | | | the | |
>| | | | sensitivity | |
>| | | | equations | |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | wether | |
>| | | | statistics | |
>| | | | must be | |
>| | | | gathered | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| interpolatio | OT_STRING | "hermite" | Type of inte | CasADi::Sund |
>| n_type | | | rpolation | ialsInternal |
>| | | | for the | |
>| | | | adjoint sens | |
>| | | | itivities (h | |
>| | | | ermite|polyn | |
>| | | | omial) | |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | "gmres" | (gmres|bcgst | CasADi::Sund |
>| lver | | | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| iterative_so | OT_STRING | GenericType( | (gmres|bcgst | CasADi::Sund |
>| lverB | | ) | ab|tfqmr) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_multi | OT_STRING | "bdf" | Integrator | CasADi::CVod |
>| step_method | | | scheme | esInternal |
>| | | | (bdf|adams) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| r | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_LINEARSOL | GenericType( | A custom | CasADi::Sund |
>| rB | VER | ) | linear | ialsInternal |
>| | | | solver | |
>| | | | creator | |
>| | | | function for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_options | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_DICTIONAR | GenericType( | Options to | CasADi::Sund |
>| r_optionsB | Y | ) | be passed to | ialsInternal |
>| | | | the linear | |
>| | | | solver for | |
>| | | | backwards | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to lin | |
>| | | | ear_solver_o | |
>| | | | ptions] | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | "dense" | (user_define | CasADi::Sund |
>| r_type | | | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| linear_solve | OT_STRING | GenericType( | (user_define | CasADi::Sund |
>| r_typeB | | ) | d|dense|band | ialsInternal |
>| | | | ed|iterative | |
>| | | | ) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | Lower band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| lower_bandwi | OT_INTEGER | GenericType( | lower band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to low | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylov | OT_INTEGER | 10 | Maximum | CasADi::Sund |
>| | | | Krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_krylovB | OT_INTEGER | GenericType( | Maximum | CasADi::Sund |
>| | | ) | krylov | ialsInternal |
>| | | | subspace | |
>| | | | size | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_multiste | OT_INTEGER | 5 | | CasADi::Sund |
>| p_order | | | | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| max_num_step | OT_INTEGER | 10000 | Maximum | CasADi::Sund |
>| s | | | number of | ialsInternal |
>| | | | integrator | |
>| | | | steps | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::CVod |
>| | | | uts) (res|r | esInternal |
>| | | | esB|resQB|re | |
>| | | | set|psetupB| | |
>| | | | djacB) | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nonlinear_so | OT_STRING | "newton" | (newton|func | CasADi::CVod |
>| lver_iterati | | | tional) | esInternal |
>| on | | | | |
>+--------------+--------------+--------------+--------------+--------------+
>| pretype | OT_STRING | "none" | (none|left|r | CasADi::Sund |
>| | | | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| pretypeB | OT_STRING | GenericType( | (none|left|r | CasADi::Sund |
>| | | ) | ight|both) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_stats | OT_BOOLEAN | false | Print out | CasADi::Inte |
>| | | | statistics | gratorIntern |
>| | | | after | al |
>| | | | integration | |
>+--------------+--------------+--------------+--------------+--------------+
>| quad_err_con | OT_BOOLEAN | false | Should the | CasADi::Sund |
>| | | | quadratures | ialsInternal |
>| | | | affect the | |
>| | | | step size | |
>| | | | control | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltol | OT_REAL | 0.000 | Relative | CasADi::Sund |
>| | | | tolerence | ialsInternal |
>| | | | for the IVP | |
>| | | | solution | |
>+--------------+--------------+--------------+--------------+--------------+
>| reltolB | OT_REAL | GenericType( | Relative | CasADi::Sund |
>| | | ) | tolerence | ialsInternal |
>| | | | for the | |
>| | | | adjoint | |
>| | | | sensitivity | |
>| | | | solution | |
>| | | | [default: | |
>| | | | equal to | |
>| | | | reltol] | |
>+--------------+--------------+--------------+--------------+--------------+
>| sensitivity_ | OT_STRING | "simultaneou | (simultaneou | CasADi::Sund |
>| method | | s" | s|staggered) | ialsInternal |
>+--------------+--------------+--------------+--------------+--------------+
>| steps_per_ch | OT_INTEGER | 20 | Number of | CasADi::Sund |
>| eckpoint | | | steps | ialsInternal |
>| | | | between two | |
>| | | | consecutive | |
>| | | | checkpoints | |
>+--------------+--------------+--------------+--------------+--------------+
>| stop_at_end | OT_BOOLEAN | true | Stop the | CasADi::Sund |
>| | | | integrator | ialsInternal |
>| | | | at the end | |
>| | | | of the | |
>| | | | interval | |
>+--------------+--------------+--------------+--------------+--------------+
>| t0 | OT_REAL | 0 | Beginning of | CasADi::Inte |
>| | | | the time | gratorIntern |
>| | | | horizon | al |
>+--------------+--------------+--------------+--------------+--------------+
>| tf | OT_REAL | 1 | End of the | CasADi::Inte |
>| | | | time horizon | gratorIntern |
>| | | | | al |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dth | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | Jacobian (es | |
>| | | | timations) | |
>+--------------+--------------+--------------+--------------+--------------+
>| upper_bandwi | OT_INTEGER | GenericType( | Upper band- | CasADi::Sund |
>| dthB | | ) | width of | ialsInternal |
>| | | | banded | |
>| | | | jacobians | |
>| | | | for backward | |
>| | | | integration | |
>| | | | [default: | |
>| | | | equal to upp | |
>| | | | er_bandwidth | |
>| | | | ] | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | false | Precondition | CasADi::Sund |
>| tioner | | | an iterative | ialsInternal |
>| | | | solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| use_precondi | OT_BOOLEAN | GenericType( | Precondition | CasADi::Sund |
>| tionerB | | ) | an iterative | ialsInternal |
>| | | | solver for | |
>| | | | the | |
>| | | | backwards | |
>| | | | problem | |
>| | | | [default: | |
>| | | | equal to use | |
>| | | | _preconditio | |
>| | | | ner] | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+---------+--------------------------+
>| Id | Used in |
>+=========+==========================+
>| djacB | CasADi::CVodesInternal |
>+---------+--------------------------+
>| inputs | CasADi::FunctionInternal |
>+---------+--------------------------+
>| outputs | CasADi::FunctionInternal |
>+---------+--------------------------+
>| psetupB | CasADi::CVodesInternal |
>+---------+--------------------------+
>| res | CasADi::CVodesInternal |
>+---------+--------------------------+
>| resB | CasADi::CVodesInternal |
>+---------+--------------------------+
>| resQB | CasADi::CVodesInternal |
>+---------+--------------------------+
>| reset | CasADi::CVodesInternal |
>+---------+--------------------------+
>
>>List of available stats
>+-------------+------------------------+
>| Id | Used in |
>+=============+========================+
>| nlinsetups | CasADi::CVodesInternal |
>+-------------+------------------------+
>| nlinsetupsB | CasADi::CVodesInternal |
>+-------------+------------------------+
>| nsteps | CasADi::CVodesInternal |
>+-------------+------------------------+
>| nstepsB | CasADi::CVodesInternal |
>+-------------+------------------------+
>
>Diagrams
>
>C++ includes: cvodes_integrator.hpp
-}
newtype CVodesIntegrator = CVodesIntegrator (ForeignPtr CVodesIntegrator')
-- typeclass decl
class CVodesIntegratorClass a where
castCVodesIntegrator :: a -> CVodesIntegrator
instance CVodesIntegratorClass CVodesIntegrator where
castCVodesIntegrator = id
-- baseclass instances
instance SharedObjectClass CVodesIntegrator where
castSharedObject (CVodesIntegrator x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass CVodesIntegrator where
castPrintableObject (CVodesIntegrator x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass CVodesIntegrator where
castOptionsFunctionality (CVodesIntegrator x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass CVodesIntegrator where
castFunction (CVodesIntegrator x) = Function (castForeignPtr x)
instance IntegratorClass CVodesIntegrator where
castIntegrator (CVodesIntegrator x) = Integrator (castForeignPtr x)
instance SundialsIntegratorClass CVodesIntegrator where
castSundialsIntegrator (CVodesIntegrator x) = SundialsIntegrator (castForeignPtr x)
instance IOInterfaceFunctionClass CVodesIntegrator where
castIOInterfaceFunction (CVodesIntegrator x) = IOInterfaceFunction (castForeignPtr x)
-- helper instances
instance Marshal CVodesIntegrator (Ptr CVodesIntegrator') where
marshal (CVodesIntegrator x) = return (unsafeForeignPtrToPtr x)
marshalFree (CVodesIntegrator x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__CVodesIntegrator"
c_delete_CasADi__CVodesIntegrator :: FunPtr (Ptr CVodesIntegrator' -> IO ())
instance WrapReturn (Ptr CVodesIntegrator') CVodesIntegrator where
wrapReturn = (fmap CVodesIntegrator) . (newForeignPtr c_delete_CasADi__CVodesIntegrator)
-- raw decl
data IndexList'
-- data decl
{-|
>[INTERNAL] Class representing a
>non-regular (and thus non-slice) index list
>
>C++ includes: slice.hpp
-}
newtype IndexList = IndexList (ForeignPtr IndexList')
-- typeclass decl
class IndexListClass a where
castIndexList :: a -> IndexList
instance IndexListClass IndexList where
castIndexList = id
-- baseclass instances
-- helper instances
instance Marshal IndexList (Ptr IndexList') where
marshal (IndexList x) = return (unsafeForeignPtrToPtr x)
marshalFree (IndexList x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__IndexList"
c_delete_CasADi__IndexList :: FunPtr (Ptr IndexList' -> IO ())
instance WrapReturn (Ptr IndexList') IndexList where
wrapReturn = (fmap IndexList) . (newForeignPtr c_delete_CasADi__IndexList)
-- raw decl
data StabilizedSQPMethod'
-- data decl
{-|
>[INTERNAL] Stabilized
>Sequential Quadratic Programming method.
>
>Slava Kung
>
>>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 |
>+==============+==============+==============+==============+==============+
>| TReta1 | OT_REAL | 0.800 | Required | CasADi::Stab |
>| | | | predicted / | ilizedSQPInt |
>| | | | actual | ernal |
>| | | | decrease for | |
>| | | | TR increase | |
>+--------------+--------------+--------------+--------------+--------------+
>| TReta2 | OT_REAL | 0.200 | Required | CasADi::Stab |
>| | | | predicted / | ilizedSQPInt |
>| | | | actual | ernal |
>| | | | decrease for | |
>| | | | TR decrease | |
>+--------------+--------------+--------------+--------------+--------------+
>| ad_mode | OT_STRING | "automatic" | How to | CasADi::Func |
>| | | | calculate | tionInternal |
>| | | | the | |
>| | | | Jacobians. | |
>| | | | (forward: | |
>| | | | only forward | |
>| | | | mode|reverse | |
>| | | | : only | |
>| | | | adjoint mode | |
>| | | | |automatic: | |
>| | | | a heuristic | |
>| | | | decides | |
>| | | | which is | |
>| | | | more | |
>| | | | appropriate) | |
>+--------------+--------------+--------------+--------------+--------------+
>| alphaMin | OT_REAL | 0.001 | Used to | CasADi::Stab |
>| | | | check | ilizedSQPInt |
>| | | | whether to | ernal |
>| | | | increase | |
>| | | | rho. | |
>+--------------+--------------+--------------+--------------+--------------+
>| beta | OT_REAL | 0.500 | Line-search | CasADi::Stab |
>| | | | parameter, | ilizedSQPInt |
>| | | | restoration | ernal |
>| | | | factor of | |
>| | | | stepsize | |
>+--------------+--------------+--------------+--------------+--------------+
>| c1 | OT_REAL | 0.001 | Armijo | CasADi::Stab |
>| | | | condition, | ilizedSQPInt |
>| | | | coefficient | ernal |
>| | | | of decrease | |
>| | | | in merit | |
>+--------------+--------------+--------------+--------------+--------------+
>| derivative_g | OT_DERIVATIV | GenericType( | Function | CasADi::Func |
>| enerator | EGENERATOR | ) | that returns | tionInternal |
>| | | | a derivative | |
>| | | | function | |
>| | | | given a | |
>| | | | number of | |
>| | | | forward and | |
>| | | | reverse | |
>| | | | directional | |
>| | | | derivative, | |
>| | | | overrides | |
>| | | | internal | |
>| | | | routines. | |
>| | | | Check docume | |
>| | | | ntation of D | |
>| | | | erivativeGen | |
>| | | | erator . | |
>+--------------+--------------+--------------+--------------+--------------+
>| dvMax0 | OT_REAL | 100 | Parameter | CasADi::Stab |
>| | | | used to | ilizedSQPInt |
>| | | | defined the | ernal |
>| | | | max step | |
>| | | | length. | |
>+--------------+--------------+--------------+--------------+--------------+
>| eps_active | OT_REAL | 0.000 | Threshold | CasADi::Stab |
>| | | | for the | ilizedSQPInt |
>| | | | epsilon- | ernal |
>| | | | active set. | |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma1 | OT_REAL | 2 | Trust region | CasADi::Stab |
>| | | | increase | ilizedSQPInt |
>| | | | parameter | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma2 | OT_REAL | 1 | Trust region | CasADi::Stab |
>| | | | update | ilizedSQPInt |
>| | | | parameter | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| gamma3 | OT_REAL | 1 | Trust region | CasADi::Stab |
>| | | | decrease | ilizedSQPInt |
>| | | | parameter | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| gather_stats | OT_BOOLEAN | false | Flag to | CasADi::Func |
>| | | | indicate | tionInternal |
>| | | | 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| hessian_appr | OT_STRING | "exact" | limited- | CasADi::Stab |
>| oximation | | | memory|exact | ilizedSQPInt |
>| | | | | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| ignore_check | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| _vec | | | true, the | olverInterna |
>| | | | input shape | l |
>| | | | of F will | |
>| | | | not be | |
>| | | | checked. | |
>+--------------+--------------+--------------+--------------+--------------+
>| inputs_check | OT_BOOLEAN | true | Throw | CasADi::Func |
>| | | | exceptions | tionInternal |
>| | | | when the | |
>| | | | numerical | |
>| | | | values of | |
>| | | | the inputs | |
>| | | | don't make | |
>| | | | sense | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_CALLBACK | GenericType( | A function | CasADi::NLPS |
>| llback | | ) | that will be | olverInterna |
>| | | | called at | l |
>| | | | each | |
>| | | | iteration | |
>| | | | with the | |
>| | | | solver as | |
>| | | | input. Check | |
>| | | | documentatio | |
>| | | | n of | |
>| | | | Callback . | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_BOOLEAN | false | If set to | CasADi::NLPS |
>| llback_ignor | | | true, errors | olverInterna |
>| e_errors | | | thrown by it | l |
>| | | | eration_call | |
>| | | | back will be | |
>| | | | ignored. | |
>+--------------+--------------+--------------+--------------+--------------+
>| iteration_ca | OT_INTEGER | 1 | Only call | CasADi::NLPS |
>| llback_step | | | the callback | olverInterna |
>| | | | function | l |
>| | | | every few | |
>| | | | iterations. | |
>+--------------+--------------+--------------+--------------+--------------+
>| lbfgs_memory | OT_INTEGER | 10 | Size of | CasADi::Stab |
>| | | | L-BFGS | ilizedSQPInt |
>| | | | memory. | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter | OT_INTEGER | 100 | Maximum | CasADi::Stab |
>| | | | number of | ilizedSQPInt |
>| | | | SQP | ernal |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| max_iter_ls | OT_INTEGER | 20 | Maximum | CasADi::Stab |
>| | | | number of | ilizedSQPInt |
>| | | | linesearch | ernal |
>| | | | iterations | |
>+--------------+--------------+--------------+--------------+--------------+
>| merit_memory | OT_INTEGER | 4 | Size of | CasADi::Stab |
>| | | | memory to | ilizedSQPInt |
>| | | | store | ernal |
>| | | | history of | |
>| | | | merit | |
>| | | | function | |
>| | | | values | |
>+--------------+--------------+--------------+--------------+--------------+
>| min_step_siz | OT_REAL | 0.000 | The size | CasADi::Stab |
>| e | | | (inf-norm) | ilizedSQPInt |
>| | | | of the step | ernal |
>| | | | size should | |
>| | | | not become | |
>| | | | smaller than | |
>| | | | this. | |
>+--------------+--------------+--------------+--------------+--------------+
>| monitor | OT_STRINGVEC | GenericType( | Monitors to | CasADi::Func |
>| | TOR | ) | be activated | tionInternal |
>| | | | (inputs|outp | CasADi::Stab |
>| | | | uts) (eval_ | ilizedSQPInt |
>| | | | f|eval_g|eva | ernal |
>| | | | l_jac_g|eval | |
>| | | | _grad_f|eval | |
>| | | | _h|qp|dx) | |
>+--------------+--------------+--------------+--------------+--------------+
>| muR0 | OT_REAL | 0.000 | Initial | CasADi::Stab |
>| | | | choice of re | ilizedSQPInt |
>| | | | gularization | ernal |
>| | | | parameter | |
>+--------------+--------------+--------------+--------------+--------------+
>| name | OT_STRING | "unnamed_sha | name of the | CasADi::Opti |
>| | | red_object" | object | onsFunctiona |
>| | | | | lityNode |
>+--------------+--------------+--------------+--------------+--------------+
>| nu | OT_REAL | 1 | Parameter | CasADi::Stab |
>| | | | for primal- | ilizedSQPInt |
>| | | | dual | ernal |
>| | | | augmented | |
>| | | | Lagrangian. | |
>+--------------+--------------+--------------+--------------+--------------+
>| 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. | |
>+--------------+--------------+--------------+--------------+--------------+
>| phiWeight | OT_REAL | 0.000 | Weight used | CasADi::Stab |
>| | | | in pseudo- | ilizedSQPInt |
>| | | | filter. | ernal |
>+--------------+--------------+--------------+--------------+--------------+
>| print_header | OT_BOOLEAN | true | Print the | CasADi::Stab |
>| | | | header with | ilizedSQPInt |
>| | | | problem | ernal |
>| | | | statistics | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularity_c | OT_BOOLEAN | true | Throw | CasADi::Func |
>| heck | | | exceptions | tionInternal |
>| | | | when NaN or | |
>| | | | Inf appears | |
>| | | | during | |
>| | | | evaluation | |
>+--------------+--------------+--------------+--------------+--------------+
>| regularize | OT_BOOLEAN | false | Automatic re | CasADi::Stab |
>| | | | gularization | ilizedSQPInt |
>| | | | of Lagrange | ernal |
>| | | | Hessian. | |
>+--------------+--------------+--------------+--------------+--------------+
>| stabilized_q | OT_STABILIZE | GenericType( | The | CasADi::Stab |
>| p_solver | DQPSOLVER | ) | Stabilized | ilizedSQPInt |
>| | | | QP solver to | ernal |
>| | | | be used by | |
>| | | | the SQP | |
>| | | | method | |
>+--------------+--------------+--------------+--------------+--------------+
>| stabilized_q | OT_DICTIONAR | GenericType( | Options to | CasADi::Stab |
>| p_solver_opt | Y | ) | be passed to | ilizedSQPInt |
>| ions | | | the | ernal |
>| | | | Stabilized | |
>| | | | QP solver | |
>+--------------+--------------+--------------+--------------+--------------+
>| tau0 | OT_REAL | 0.010 | Initial | CasADi::Stab |
>| | | | parameter | ilizedSQPInt |
>| | | | for the | ernal |
>| | | | merit | |
>| | | | function | |
>| | | | optimality | |
>| | | | threshold. | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_du | OT_REAL | 0.000 | Stopping | CasADi::Stab |
>| | | | criterion | ilizedSQPInt |
>| | | | for dual inf | ernal |
>| | | | easability | |
>+--------------+--------------+--------------+--------------+--------------+
>| tol_pr | OT_REAL | 0.000 | Stopping | CasADi::Stab |
>| | | | criterion | ilizedSQPInt |
>| | | | for primal i | ernal |
>| | | | nfeasibility | |
>+--------------+--------------+--------------+--------------+--------------+
>| user_data | OT_VOIDPTR | GenericType( | A user- | CasADi::Func |
>| | | ) | defined | tionInternal |
>| | | | field that | |
>| | | | can be used | |
>| | | | to identify | |
>| | | | the function | |
>| | | | or pass | |
>| | | | additional | |
>| | | | information | |
>+--------------+--------------+--------------+--------------+--------------+
>| verbose | OT_BOOLEAN | false | Verbose | CasADi::Func |
>| | | | evaluation | tionInternal |
>| | | | for | |
>| | | | debugging | |
>+--------------+--------------+--------------+--------------+--------------+
>| warn_initial | OT_BOOLEAN | false | Warn if the | CasADi::NLPS |
>| _bounds | | | initial | olverInterna |
>| | | | guess does | l |
>| | | | not satisfy | |
>| | | | LBX and UBX | |
>+--------------+--------------+--------------+--------------+--------------+
>| yEinitial | OT_STRING | "simple" | Initial | CasADi::Stab |
>| | | | multiplier. | ilizedSQPInt |
>| | | | Simple (all | ernal |
>| | | | zero) or | |
>| | | | least (LSQ). | |
>+--------------+--------------+--------------+--------------+--------------+
>
>>List of available monitors
>+-------------+-------------------------------+
>| Id | Used in |
>+=============+===============================+
>| dx | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| eval_f | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| eval_g | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| eval_grad_f | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| eval_h | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| eval_jac_g | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>| inputs | CasADi::FunctionInternal |
>+-------------+-------------------------------+
>| outputs | CasADi::FunctionInternal |
>+-------------+-------------------------------+
>| qp | CasADi::StabilizedSQPInternal |
>+-------------+-------------------------------+
>
>>List of available stats
>+---------------+-------------------------------+
>| Id | Used in |
>+===============+===============================+
>| iter_count | CasADi::StabilizedSQPInternal |
>+---------------+-------------------------------+
>| return_status | CasADi::StabilizedSQPInternal |
>+---------------+-------------------------------+
>
>Diagrams
>
>C++ includes: stabilized_sqp_method.hpp
-}
newtype StabilizedSQPMethod = StabilizedSQPMethod (ForeignPtr StabilizedSQPMethod')
-- typeclass decl
class StabilizedSQPMethodClass a where
castStabilizedSQPMethod :: a -> StabilizedSQPMethod
instance StabilizedSQPMethodClass StabilizedSQPMethod where
castStabilizedSQPMethod = id
-- baseclass instances
instance SharedObjectClass StabilizedSQPMethod where
castSharedObject (StabilizedSQPMethod x) = SharedObject (castForeignPtr x)
instance PrintableObjectClass StabilizedSQPMethod where
castPrintableObject (StabilizedSQPMethod x) = PrintableObject (castForeignPtr x)
instance OptionsFunctionalityClass StabilizedSQPMethod where
castOptionsFunctionality (StabilizedSQPMethod x) = OptionsFunctionality (castForeignPtr x)
instance FunctionClass StabilizedSQPMethod where
castFunction (StabilizedSQPMethod x) = Function (castForeignPtr x)
instance IOInterfaceFunctionClass StabilizedSQPMethod where
castIOInterfaceFunction (StabilizedSQPMethod x) = IOInterfaceFunction (castForeignPtr x)
instance NLPSolverClass StabilizedSQPMethod where
castNLPSolver (StabilizedSQPMethod x) = NLPSolver (castForeignPtr x)
-- helper instances
instance Marshal StabilizedSQPMethod (Ptr StabilizedSQPMethod') where
marshal (StabilizedSQPMethod x) = return (unsafeForeignPtrToPtr x)
marshalFree (StabilizedSQPMethod x) _ = touchForeignPtr x
foreign import ccall unsafe "&delete_CasADi__StabilizedSQPMethod"
c_delete_CasADi__StabilizedSQPMethod :: FunPtr (Ptr StabilizedSQPMethod' -> IO ())
instance WrapReturn (Ptr StabilizedSQPMethod') StabilizedSQPMethod where
wrapReturn = (fmap StabilizedSQPMethod) . (newForeignPtr c_delete_CasADi__StabilizedSQPMethod)
-- raw decl
data IOScheme'
-- data decl
{-|
>[INTERNAL] 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)