solvers/KinsolSolver.py

This example looks at a use of rootfinders

View output (PDF) | source (python)

See also
casadi::rootfinder();
casadi::rootfinder
CASADI_EXPORT Function rootfinder(const std::string &name, const std::string &solver, const SXDict &rfp, const Dict &opts=Dict())
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27 import casadi as ca
28 from numpy import *
29 from pylab import *
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43 eps = ca.SX.sym("eps")
44 mu = ca.SX.sym("mu")
45 alpha = ca.SX.sym("alpha")
46 k = ca.SX.sym("k")
47 sigma = ca.SX.sym("sigma")
48 params = [eps,mu,alpha,k,sigma]
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52 a = ca.SX.sym("a")
53 gamma = ca.SX.sym("gamma")
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57 res0 = mu*a+1.0/2*k*a*sin(gamma)
58 res1 = -sigma * a + 3.0/4*alpha*a**3+k*a*cos(gamma)
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62 sigma_ = 0.1
63 alpha_ = 0.1
64 k_ = 0.2
65 params_ = [0.1,0.1,alpha_,k_,sigma_]
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69 f=ca.Function("f", [ca.vertcat(a,gamma),ca.vertcat(*params)],[ca.vertcat(res0,res1)])
70 opts = {}
71 opts["strategy"] = "linesearch"
72 opts["abstol"] = 1e-14
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76 opts["constraints"] = [2,-2]
77 s=ca.rootfinder("s", "kinsol", f, opts)
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81 x_ = s([1,-1], params_)
82 print("Solution = ", x_)
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86 x = [sqrt(4.0/3*sigma_/alpha_),-0.5*pi]
87 print("Reference solution = ", x)
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91 residual = f(x_, params_)
92 print("residual = ", residual)
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94 for i in range(1):
95  assert(abs(x_[i]-x[i])<1e-6)
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99 print(s.stats())