The casadi namespace. More...

Classes
class	Callback
	Callback function functionality. More...

class	CallbackInternal

class	Matrix
	Sparse matrix class. SX and DM are specializations. More...

class	casadi_limits
	casadi_limits class More...

class	Logger
	Keeps track of logging output to screen and/or files. More...

class	CasadiMeta
	Collects global CasADi meta information. More...

class	CodeGenerator
	Helper class for C code generation. More...

class	DaeBuilder
	A symbolic representation of a differential-algebraic equations model. More...

struct	Variable
	Holds expressions and meta-data corresponding to a physical quantity evolving in time. More...

class	CasadiException
	Casadi exception class. More...

class	KeyboardInterruptException

class	Function
	Function object. More...

class	FunctionBuffer
	Class to achieve minimal overhead function evaluations. More...

struct	GenericExpressionCommon
	Empty Base. More...

struct	GenericMatrixCommon
	Empty Base. More...

class	GenericMatrix
	Matrix base class. More...

class	GenericType
	Generic data type, can hold different types such as bool, casadi_int, std::string etc. More...

class	GlobalOptions
	Collects global CasADi options. More...

class	Importer
	Importer. More...

class	IOInstruction
	An input or output instruction. More...

class	Input
	Input instruction. More...

class	Output
	Input instruction. More...

class	Linsol
	Linear solver. More...

struct	MatrixCommon
	Empty Base. More...

class	MX
	MX - Matrix expression. More...

class	MXNode
	Node class for MX objects. More...

class	NlpBuilder
	A symbolic NLP representation. More...

class	NonZeros
	Access to a set of nonzeros. More...

class	Opti
	A simplified interface for NLP modeling/solving. More...

struct	IndexAbstraction

struct	MetaCon

struct	MetaVar

class	OptiCallback

class	OptiAdvanced

class	OptiSol
	A simplified interface for NLP modeling/solving. More...

class	OptiNode
	A simplified interface for NLP modeling/solving. More...

class	Polynomial
	Helper class for differentiating and integrating polynomials. More...

struct	PrintableCommon
	Empty Base. More...

class	SerializerBase

class	DeserializerBase

class	StringSerializer

class	FileSerializer

class	StringDeserializer

class	FileDeserializer

class	UniversalNodeOwner

class	DeserializingStream
	Helper class for Serialization. More...

class	SerializingStream
	Helper class for Serialization. More...

class	SharedObject
	SharedObject implements a reference counting framework similar for efficient and. More...

class	WeakRef
	Weak reference type. More...

class	Slice
	Class representing a Slice. More...

class	Solve
	An MX atomic for linear solver solution: x = r * A^-1 or x = r * A^-T. More...

class	LinsolCall
	Linear solve operation with a linear solver instance. More...

class	TriuSolve
	Linear solve with an upper triangular matrix. More...

class	TrilSolve
	Linear solve with an upper triangular matrix. More...

class	SolveUnity
	Linear solve with unity diagonal added. More...

class	TriuSolveUnity
	Linear solve with an upper triangular matrix, unity diagonal. More...

class	TrilSolveUnity
	Linear solve with an upper triangular matrix. More...

class	Sparsity
	General sparsity class. More...

struct	SparsityInterfaceCommon
	Empty Base. More...

class	SubMatrix

class	SubIndex

struct	SXElem

class	XmlFile
	XML parser. More...

struct	AlpaqaMemory

class	AlpaqaInterface

class	AlpaqaProblem

struct	SLEQPMemory

class	SLEQPInterface

Typedefs
typedef Matrix< double >	DM

typedef std::vector< DM >	DMVector

typedef std::vector< DMVector >	DMVectorVector

typedef std::map< std::string, DM >	DMDict

typedef GenericType::Dict	Dict
	C++ equivalent of Python's dict or MATLAB's struct. More...

typedef Matrix< casadi_int >	IM

typedef DM	native_DM

typedef void(*	external_print_callback_t) (const char *s)

typedef const char (	external_transform_t) (char api_version, const char casadi_version, const char in, external_print_callback_t cb_stdout, external_print_callback_t cb_stderr)


typedef std::vector< MX >	MXVector

typedef std::initializer_list< MX >	MXIList

typedef std::vector< MXVector >	MXVectorVector

typedef std::map< std::string, MX >	MXDict


typedef std::map< std::string, Sparsity >	SpDict


typedef Matrix< SXElem >	SX

typedef std::vector< SX >	SXVector

typedef std::initializer_list< SX >	SXIList

typedef std::vector< SXVector >	SXVectorVector

typedef std::map< std::string, SX >	SXDict

Enumerations
enum	UnifiedReturnStatus { SOLVER_RET_SUCCESS , SOLVER_RET_UNKNOWN , SOLVER_RET_LIMITED , SOLVER_RET_NAN , SOLVER_RET_INFEASIBLE , SOLVER_RET_EXCEPTION }

enum class	TypeFmi2 { REAL , INTEGER , BOOLEAN , STRING , ENUM , NUMEL }
	Variable type (FMI 2) More...

enum class	Type { FLOAT32 , FLOAT64 , INT8 , UINT8 , INT16 , UINT16 , INT32 , UINT32 , INT64 , UINT64 , BOOLEAN , STRING , BINARY , ENUMERATION , CLOCK , NUMEL }
	Variable type (FMI 3) More...

enum class	Causality { PARAMETER , CALCULATED_PARAMETER , INPUT , OUTPUT , LOCAL , INDEPENDENT , NUMEL }
	Causality: FMI 2.0 specification, section 2.2.7 or FMI 3.0 specification, section 2.4.7.4. More...

enum class	Variability { CONSTANT , FIXED , TUNABLE , DISCRETE , CONTINUOUS , NUMEL }
	Variability: FMI 2.0 specification, section 2.2.7 or FMI 3.0 specification, section 2.4.7.4. More...

enum class	Initial { EXACT , APPROX , CALCULATED , NA , NUMEL }
	Initial: FMI 2.0 specification, section 2.2.7 or FMI 3.0 specification, section 2.4.7.5. More...

enum class	Attribute { MIN , MAX , NOMINAL , START , VALUE , STRINGVALUE , NUMEL }

enum class	DependenciesKind { DEPENDENT , CONSTANT , FIXED , TUNABLE , DISCRETE , NUMEL }

enum	CollocationPoints { LEGENDRE , RADAU }

enum	ConstraintType { OPTI_GENERIC_EQUALITY , OPTI_GENERIC_INEQUALITY , OPTI_EQUALITY , OPTI_INEQUALITY , OPTI_DOUBLE_INEQUALITY , OPTI_PSD , OPTI_UNKNOWN }

enum	VariableType { OPTI_VAR , OPTI_PAR , OPTI_DUAL_G }

enum	DomainType { OPTI_DOMAIN_REAL , OPTI_DOMAIN_INTEGER }

Functions
template<class T >
bool	is_zero (const T &x)

CASADI_EXPORT std::ostream &	uout ()

CASADI_EXPORT std::ostream &	uerr ()

template<typename T >
bool	in_range (const std::vector< T > &v, casadi_int upper)
	Check if for each element of v holds: v_i < upper. More...

template<typename T >
bool	in_range (const std::vector< T > &v, casadi_int lower, casadi_int upper)
	Check if for each element of v holds: lower <= v_i < upper. More...

CASADI_EXPORT std::vector< casadi_int >	complement (const std::vector< casadi_int > &v, casadi_int size)
	Returns the list of all i in [0, size[ not found in supplied list. More...

CASADI_EXPORT std::vector< casadi_int >	lookupvector (const std::vector< casadi_int > &v, casadi_int size)
	Returns a vector for quickly looking up entries of supplied list. More...

CASADI_EXPORT std::vector< casadi_int >	lookupvector (const std::vector< casadi_int > &v)

template<class T , class S >
void	flatten_nested_vector (const std::vector< std::vector< T > > &nested, std::vector< S > &flat)
	Flatten a nested std::vector tot a single flattened vector. More...

template<class T , class S , class I >
void	flatten_nested_vector (const std::vector< std::vector< T > > &nested, std::vector< S > &flat, std::vector< I > &indices)
	Flatten a nested std::vector tot a single flattened vector. More...

template<typename T >
bool	is_increasing (const std::vector< T > &v)
	Check if the vector is strictly increasing. More...

template<typename T >
bool	is_decreasing (const std::vector< T > &v)
	Check if the vector is strictly decreasing. More...

template<typename T >
bool	is_nonincreasing (const std::vector< T > &v)
	Check if the vector is non-increasing. More...

template<typename T >
bool	is_nondecreasing (const std::vector< T > &v)
	Check if the vector is non-decreasing. More...

template<typename T >
bool	is_monotone (const std::vector< T > &v)
	Check if the vector is monotone. More...

template<typename T >
bool	is_strictly_monotone (const std::vector< T > &v)
	Check if the vector is strictly monotone. More...

template<typename T >
bool	has_negative (const std::vector< T > &v)
	Check if the vector has negative entries. More...

template<typename T >
void	write_matlab (std::ostream &stream, const std::vector< T > &v)
	Print vector, matlab style. More...

template<typename T >
void	write_matlab (std::ostream &stream, const std::vector< std::vector< T > > &v)
	Print matrix, matlab style. More...

template<typename T >
void	read_matlab (std::istream &stream, std::vector< T > &v)
	Read vector, matlab style. More...

template<typename T >
void	read_matlab (std::ifstream &file, std::vector< std::vector< T > > &v)
	Read matrix, matlab style. More...

template<typename T >
bool	is_regular (const std::vector< T > &v)
	Checks if array does not contain NaN or Inf. More...

CASADI_EXPORT std::string	temporary_file (const std::string &prefix, const std::string &suffix)

CASADI_EXPORT void	normalized_setup (std::istream &stream)

CASADI_EXPORT void	normalized_setup (std::ostream &stream)

void	normalized_out (std::ostream &stream, double val)

int	normalized_in (std::istream &stream, double &ret)

CASADI_EXPORT Function	conic (const std::string &name, const std::string &solver, const SpDict &qp, const Dict &opts=Dict())

CASADI_EXPORT Function	qpsol (const std::string &name, const std::string &solver, const SXDict &qp, const Dict &opts=Dict())

CASADI_EXPORT Function	qpsol (const std::string &name, const std::string &solver, const MXDict &qp, const Dict &opts=Dict())

CASADI_EXPORT std::vector< std::string >	conic_in ()
	Get input scheme of QP solvers. More...

CASADI_EXPORT std::vector< std::string >	conic_out ()
	Get QP solver output scheme of QP solvers. More...

CASADI_EXPORT std::string	conic_in (casadi_int ind)
	Get QP solver input scheme name by index. More...

CASADI_EXPORT std::string	conic_out (casadi_int ind)
	Get output scheme name by index. More...

CASADI_EXPORT casadi_int	conic_n_in ()
	Get the number of QP solver inputs. More...

CASADI_EXPORT casadi_int	conic_n_out ()
	Get the number of QP solver outputs. More...

CASADI_EXPORT std::vector< std::string >	conic_options (const std::string &name)
	Get all options for a plugin. More...

CASADI_EXPORT std::string	conic_option_type (const std::string &name, const std::string &op)
	Get type info for a particular option. More...

CASADI_EXPORT std::string	conic_option_info (const std::string &name, const std::string &op)
	Get documentation for a particular option. More...

CASADI_EXPORT bool	has_conic (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_conic (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_conic (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT void	conic_debug (const Function &f, const std::string &filename)

CASADI_EXPORT void	conic_debug (const Function &f, std::ostream &file)

CASADI_EXPORT Function	dplesol (const std::string &name, const std::string &solver, const SpDict &st, const Dict &opts=Dict())

CASADI_EXPORT MX	dplesol (const MX &A, const MX &V, const std::string &solver, const Dict &opts=Dict())

CASADI_EXPORT MXVector	dplesol (const MXVector &A, const MXVector &V, const std::string &solver, const Dict &opts=Dict())

CASADI_EXPORT DMVector	dplesol (const DMVector &A, const DMVector &V, const std::string &solver, const Dict &opts=Dict())

CASADI_EXPORT std::vector< std::string >	dple_in ()
	Get input scheme of DPLE solvers. More...

CASADI_EXPORT std::vector< std::string >	dple_out ()
	Get output scheme of DPLE solvers. More...

CASADI_EXPORT std::string	dple_in (casadi_int ind)
	Get DPLE input scheme name by index. More...

CASADI_EXPORT std::string	dple_out (casadi_int ind)
	Get DPLE output scheme name by index. More...

CASADI_EXPORT casadi_int	dple_n_in ()
	Get the number of QP solver inputs. More...

CASADI_EXPORT casadi_int	dple_n_out ()
	Get the number of QP solver outputs. More...

CASADI_EXPORT bool	has_dple (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_dple (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_dple (const std::string &name)
	Get the documentation string for a plugin. More...

std::string	trim_path (const std::string &full_path)

std::ostream &	message_prefix (std::ostream &stream)

CASADI_EXPORT Function	expmsol (const std::string &name, const std::string &solver, const Sparsity &A, const Dict &opts=Dict())

CASADI_EXPORT casadi_int	expm_n_in ()
	Get the number of expm solver inputs. More...

CASADI_EXPORT casadi_int	expm_n_out ()
	Get the number of expm solver outputs. More...

CASADI_EXPORT bool	has_expm (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_expm (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_expm (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT Function	external (const std::string &name, const Dict &opts=Dict())
	Load an external function from a shared library. More...

CASADI_EXPORT Function	external (const std::string &name, const std::string &bin_name, const Dict &opts=Dict())
	Load an external function from a shared library. More...

CASADI_EXPORT Function	external (const std::string &name, const Importer &li, const Dict &opts=Dict())
	Load a just-in-time compiled external function. More...

void CASADI_EXPORT	_function_buffer_eval (void *raw)

double CASADI_EXPORT	index_interp1d (const std::vector< double > &x, double xq, bool equidistant=false)

bool CASADI_EXPORT	is_slice (const IM &x, bool ind1=false)
	Is the IM a Slice. More...

Slice CASADI_EXPORT	to_slice (const IM &x, bool ind1=false)
	Convert IM to Slice. More...

CASADI_EXPORT void	collocation_interpolators (const std::vector< double > &tau, std::vector< std::vector< double > > &C, std::vector< double > &D)
	Obtain collocation interpolating matrices. More...

CASADI_EXPORT void	collocation_coeff (const std::vector< double > &tau, DM &C, DM &D, DM &B)
	Obtain collocation interpolating matrices. More...

CASADI_EXPORT Function	simpleRK (Function f, casadi_int N=10, casadi_int order=4)
	Construct an explicit Runge-Kutta integrator. More...

CASADI_EXPORT Function	simpleIRK (Function f, casadi_int N=10, casadi_int order=4, const std::string &scheme="radau", const std::string &solver="newton", const Dict &solver_options=Dict())
	Construct an implicit Runge-Kutta integrator using a collocation scheme. More...

CASADI_EXPORT Function	simpleIntegrator (Function f, const std::string &integrator="cvodes", const Dict &integrator_options=Dict())
	Simplified wrapper for the Integrator class. More...

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const SXDict &dae, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const MXDict &dae, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const Function &dae, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const SXDict &dae, double t0, const std::vector< double > &tout, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const MXDict &dae, double t0, const std::vector< double > &tout, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const Function &dae, double t0, const std::vector< double > &tout, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const SXDict &dae, double t0, double tf, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const MXDict &dae, double t0, double tf, const Dict &opts=Dict())

CASADI_EXPORT Function	integrator (const std::string &name, const std::string &solver, const Function &dae, double t0, double tf, const Dict &opts=Dict())

CASADI_EXPORT bool	has_integrator (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_integrator (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_integrator (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT std::vector< std::string >	integrator_in ()
	Get input scheme of integrators. More...

CASADI_EXPORT std::vector< std::string >	integrator_out ()
	Get integrator output scheme of integrators. More...

CASADI_EXPORT std::string	integrator_in (casadi_int ind)
	Get integrator input scheme name by index. More...

CASADI_EXPORT std::string	integrator_out (casadi_int ind)
	Get output scheme name by index. More...

CASADI_EXPORT casadi_int	integrator_n_in ()
	Get the number of integrator inputs. More...

CASADI_EXPORT casadi_int	integrator_n_out ()
	Get the number of integrator outputs. More...

CASADI_EXPORT std::vector< std::string >	dyn_in ()
	Get input scheme of simulators. More...

CASADI_EXPORT std::vector< std::string >	dyn_out ()
	Get simulator output scheme of simulators. More...

CASADI_EXPORT std::string	dyn_in (casadi_int ind)
	Get simulator input scheme name by index. More...

CASADI_EXPORT std::string	dyn_out (casadi_int ind)
	Get output scheme name by index. More...

CASADI_EXPORT casadi_int	dyn_n_in ()
	Get the number of simulator inputs. More...

CASADI_EXPORT casadi_int	dyn_n_out ()
	Get the number of simulator outputs. More...

CASADI_EXPORT Function	interpolant (const std::string &name, const std::string &solver, const std::vector< std::vector< double > > &grid, const std::vector< double > &values, const Dict &opts=Dict())

CASADI_EXPORT Function	interpolant (const std::string &name, const std::string &solver, const std::vector< std::vector< double > > &grid, casadi_int m=1, const Dict &opts=Dict())
	Parametric variant of interpolant. More...

CASADI_EXPORT Function	interpolant (const std::string &name, const std::string &solver, const std::vector< casadi_int > &grid_dims, casadi_int m=1, const Dict &opts=Dict())
	Parametric variant of interpolant. More...

CASADI_EXPORT Function	interpolant (const std::string &name, const std::string &solver, const std::vector< casadi_int > &grid_dims, const std::vector< double > &values, const Dict &opts=Dict())
	Parametric variant of interpolant. More...

CASADI_EXPORT bool	has_interpolant (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_interpolant (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_interpolant (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT bool	has_linsol (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_linsol (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_linsol (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT void	detect_simple_bounds (const SX &xX, const SX &p, const SX &g, const SX &lbg, const SX &ubg, std::vector< casadi_int > &gi, SX &lbx, SX &ubx, Function &lam_forward, Function &lam_backward)
	Detect simple bounds from general constraints. More...

CASADI_EXPORT void	detect_simple_bounds (const MX &xX, const MX &p, const MX &g, const MX &lbg, const MX &ubg, std::vector< casadi_int > &gi, MX &lbx, MX &ubx, Function &lam_forward, Function &lam_backward)

template<class T >
void	check_sos (casadi_int nx, const std::vector< std::vector< T > > &groups, std::vector< std::vector< double > > &weights, std::vector< casadi_int > &types)
	Check sos structure and generate defaults. More...

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const SXDict &nlp, const Dict &opts=Dict())

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const MXDict &nlp, const Dict &opts=Dict())

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const std::string &fname, const Dict &opts=Dict())

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const Importer &compiler, const Dict &opts=Dict())

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const NlpBuilder &nl, const Dict &opts=Dict())

CASADI_EXPORT Function	nlpsol (const std::string &name, const std::string &solver, const Function &nlp, const Dict &opts=Dict())

CASADI_EXPORT std::vector< std::string >	nlpsol_in ()
	Get input scheme of NLP solvers. More...

CASADI_EXPORT std::vector< std::string >	nlpsol_out ()
	Get NLP solver output scheme of NLP solvers. More...

CASADI_EXPORT std::string	nlpsol_in (casadi_int ind)
	Get NLP solver input scheme name by index. More...

CASADI_EXPORT std::string	nlpsol_out (casadi_int ind)
	Get output scheme name by index. More...

CASADI_EXPORT casadi_int	nlpsol_n_in ()
	Number of NLP solver inputs. More...

CASADI_EXPORT casadi_int	nlpsol_n_out ()
	Number of NLP solver outputs. More...

CASADI_EXPORT std::vector< std::string >	nlpsol_options (const std::string &name)
	Get all options for a plugin. More...

CASADI_EXPORT std::string	nlpsol_option_type (const std::string &name, const std::string &op)
	Get type info for a particular option. More...

CASADI_EXPORT std::string	nlpsol_option_info (const std::string &name, const std::string &op)
	Get documentation for a particular option. More...

CASADI_EXPORT bool	has_nlpsol (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_nlpsol (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_nlpsol (const std::string &name)
	Get the documentation string for a plugin. More...

CASADI_EXPORT Function	rootfinder (const std::string &name, const std::string &solver, const SXDict &rfp, const Dict &opts=Dict())

CASADI_EXPORT Function	rootfinder (const std::string &name, const std::string &solver, const MXDict &rfp, const Dict &opts=Dict())

CASADI_EXPORT Function	rootfinder (const std::string &name, const std::string &solver, const Function &f, const Dict &opts=Dict())

CASADI_EXPORT std::vector< std::string >	rootfinder_in ()
	Get rootfinder input scheme. More...

CASADI_EXPORT std::vector< std::string >	rootfinder_out ()
	Get rootfinder output scheme. More...

CASADI_EXPORT std::string	rootfinder_in (casadi_int ind)
	Get rootfinder input scheme name by index. More...

CASADI_EXPORT std::string	rootfinder_out (casadi_int ind)
	Get rootfinder output scheme name by index. More...

CASADI_EXPORT casadi_int	rootfinder_n_in ()
	Number of rootfinder inputs. More...

CASADI_EXPORT casadi_int	rootfinder_n_out ()
	Number of rootfinder outputs. More...

CASADI_EXPORT std::vector< std::string >	rootfinder_options (const std::string &name)
	Get all options for a plugin. More...

CASADI_EXPORT std::string	rootfinder_option_type (const std::string &name, const std::string &op)
	Get type info for a particular option. More...

CASADI_EXPORT std::string	rootfinder_option_info (const std::string &name, const std::string &op)
	Get documentation for a particular option. More...

CASADI_EXPORT bool	has_rootfinder (const std::string &name)
	Check if a particular plugin is available. More...

CASADI_EXPORT void	load_rootfinder (const std::string &name)
	Explicitly load a plugin dynamically. More...

CASADI_EXPORT std::string	doc_rootfinder (const std::string &name)
	Get the documentation string for a plugin. More...

template<typename T >
casadi_int	einstein_process (const T &A, const T &B, const T &C, const std::vector< casadi_int > &dim_a, const std::vector< casadi_int > &dim_b, const std::vector< casadi_int > &dim_c, const std::vector< casadi_int > &a, const std::vector< casadi_int > &b, const std::vector< casadi_int > &c, std::vector< casadi_int > &iter_dims, std::vector< casadi_int > &strides_a, std::vector< casadi_int > &strides_b, std::vector< casadi_int > &strides_c)

template<typename T >
void	Contraction (const T &a, const T &b, T &r)

template<>
void	Contraction (const bvec_t &a, const bvec_t &b, bvec_t &r)

template<typename T >
void	einstein_eval (casadi_int n_iter, const std::vector< casadi_int > &iter_dims, const std::vector< casadi_int > &strides_a, const std::vector< casadi_int > &strides_b, const std::vector< casadi_int > &strides_c, const T a_in, const T b_in, T *c_in)

Slice CASADI_EXPORT	to_slice (const std::vector< casadi_int > &v, bool ind1=false)
	Construct from an index vector (requires is_slice(v) to be true) More...

std::pair< Slice, Slice > CASADI_EXPORT	to_slice2 (const std::vector< casadi_int > &v)
	Construct nested slices from an index vector (requires is_slice2(v) to be true) More...

bool CASADI_EXPORT	is_slice (const std::vector< casadi_int > &v, bool ind1=false)
	Check if an index vector can be represented more efficiently as a slice. More...

bool CASADI_EXPORT	is_slice2 (const std::vector< casadi_int > &v)
	Check if an index vector can be represented more efficiently as two nested slices. More...

template<typename T >
size_t	hash_value (T v)
	Hash value of an integer. More...

template<typename T >
void	hash_combine (std::size_t &seed, T v)
	Generate a hash value incrementally (function taken from boost) More...

template<typename T >
void	hash_combine (std::size_t &seed, const T *v, std::size_t sz)
	Generate a hash value incrementally, array. More...

template<typename T >
void	hash_combine (std::size_t &seed, const std::vector< T > &v)
	Generate a hash value incrementally (function taken from boost) More...

template<>
size_t	hash_value (std::string v)

CASADI_EXPORT std::size_t	hash_sparsity (casadi_int nrow, casadi_int ncol, const std::vector< casadi_int > &colind, const std::vector< casadi_int > &row)
	Hash a sparsity pattern. More...

CASADI_EXPORT std::size_t	hash_sparsity (casadi_int nrow, casadi_int ncol, const casadi_int colind, const casadi_int row)

template<>
std::string	matrixName< SXElem > ()

CASADI_EXPORT Function	external_transform (const std::string &name, const std::string &op, const Function &f, const Dict &opts=Dict())
	Apply a transformation defined externally. More...

void	casadi_sleqp_func_create (SleqpFunc *star, int num_vars, int num_cons, SLEQPMemory m)

int	slicot_mb03vd (int n, int p, int ilo, int ihi, double a, int lda1, int lda2, double tau, int ldtau, double *dwork=nullptr)

int	slicot_mb03vy (int n, int p, int ilo, int ihi, double a, int lda1, int lda2, const double tau, int ldtau, double *dwork=nullptr, int ldwork=0)

int	slicot_mb03wd (char job, char compz, int n, int p, int ilo, int ihi, int iloz, int ihiz, double h, int ldh1, int ldh2, double z, int ldz1, int ldz2, double wr, double wi, double *dwork=nullptr, int ldwork=0)

int	slicot_mb05nd (int n, double delta, const double a, int lda, double ex, int ldex, double exint, int ldexin, double tol, int iwork, double *dwork, int ldwork)


CASADI_EXPORT std::vector< double >	collocation_points (casadi_int order, const std::string &scheme="radau")
	Obtain collocation points of specific order and scheme. More...


CASADI_EXPORT MXDict	dae_reduce_index (const MXDict &dae, Dict &stats, const Dict &opts={})
	Reduce index. More...

CASADI_EXPORT SXDict	dae_reduce_index (const SXDict &dae, Dict &stats, const Dict &opts={})
	Reduce index. More...


CASADI_EXPORT MXDict	dae_map_semi_expl (const MXDict &dae, const MXDict &dae_red, Function &state_to_orig, Function &phi)
	Turn a reduced DAE into a semi explicit form suitable for CasADi integrator. More...

CASADI_EXPORT SXDict	dae_map_semi_expl (const SXDict &dae, const SXDict &dae_red, Function &state_to_orig, Function &phi)
	Turn a reduced DAE into a semi explicit form suitable for CasADi integrator. More...


CASADI_EXPORT Function	dae_init_gen (const MXDict &dae, const MXDict &dae_red, const std::string &init_solver, const DMDict &init_strength=DMDict(), const Dict &init_solver_options=Dict())
	Obtain a generator Function for producing consistent initial guesses of a reduced DAE. More...

CASADI_EXPORT Function	dae_init_gen (const SXDict &dae, const SXDict &dae_red, const std::string &init_solver, const DMDict &init_strength=DMDict(), const Dict &init_solver_options=Dict())
	Obtain a generator Function for producing consistent initial guesses of a reduced DAE. More...


CASADI_EXPORT double	nlpsol_default_in (casadi_int ind)
	Default input for an NLP solver. More...

CASADI_EXPORT std::vector< double >	nlpsol_default_in ()
	Default input for an NLP solver. More...

Detailed Description

C/C++.

Convenience tools for C++ Standard Library vectors.

Extra doc: https://github.com/casadi/casadi/wiki/L_1aj

Author: Joel Andersson

Date: 2010-2011

Extra doc: https://github.com/casadi/casadi/wiki/L_1l5

Extra doc: https://github.com/casadi/casadi/wiki/L_10g

Typedef Documentation

◆ Dict

typedef std::map< std::string, GenericType > casadi::Dict

Examples: Function/callback_c.cc.

Definition at line 258 of file generic_type.hpp.

◆ DM

typedef Matrix<double> casadi::DM

Examples: Function/callback_c.cc, and misc/all.cc.

Definition at line 33 of file dm_fwd.hpp.

◆ DMDict

typedef std::map<std::string, DM> casadi::DMDict

Definition at line 36 of file dm_fwd.hpp.

◆ DMVector

typedef std::vector<DM> casadi::DMVector

Definition at line 34 of file dm_fwd.hpp.

◆ DMVectorVector

typedef std::vector<DMVector> casadi::DMVectorVector

Definition at line 35 of file dm_fwd.hpp.

◆ external_print_callback_t

typedef void(* casadi::external_print_callback_t) (const char *s)

Definition at line 47 of file tools.hpp.

◆ external_transform_t

typedef const char*(* casadi::external_transform_t) (char api_version, const char *casadi_version, const char *in, external_print_callback_t cb_stdout, external_print_callback_t cb_stderr)

Definition at line 48 of file tools.hpp.

◆ IM

typedef Matrix<casadi_int> casadi::IM

Definition at line 31 of file im_fwd.hpp.

◆ MXDict

typedef std::map<std::string, MX> casadi::MXDict

Readability typedefs

Definition at line 948 of file mx.hpp.

◆ MXIList

typedef std::initializer_list<MX> casadi::MXIList

Readability typedefs

Definition at line 946 of file mx.hpp.

◆ MXVector

typedef std::vector<MX> casadi::MXVector

Readability typedefs

Definition at line 945 of file mx.hpp.

◆ MXVectorVector

typedef std::vector<MXVector> casadi::MXVectorVector

Readability typedefs

Definition at line 947 of file mx.hpp.

◆ native_DM

typedef DM casadi::native_DM

Definition at line 33 of file optistack.hpp.

◆ SpDict

typedef std::map<std::string, Sparsity> casadi::SpDict

Readability typedefs

Definition at line 1490 of file sparsity.hpp.

◆ SX

typedef Matrix<SXElem> casadi::SX

Readability typedefs

Examples: SX/SXaddition.cc.

Definition at line 36 of file sx_fwd.hpp.

◆ SXDict

typedef std::map<std::string, SX> casadi::SXDict

Readability typedefs

Definition at line 40 of file sx_fwd.hpp.

◆ SXIList

typedef std::initializer_list<SX> casadi::SXIList

Readability typedefs

Definition at line 38 of file sx_fwd.hpp.

◆ SXVector

typedef std::vector<SX> casadi::SXVector

Readability typedefs

Definition at line 37 of file sx_fwd.hpp.

◆ SXVectorVector

typedef std::vector<SXVector> casadi::SXVectorVector

Readability typedefs

Definition at line 39 of file sx_fwd.hpp.

Enumeration Type Documentation

◆ Attribute

enum casadi::Attribute

strong

Enumerator
MIN
MAX
NOMINAL
START
VALUE
STRINGVALUE
NUMEL

Definition at line 57 of file dae_builder_internal.hpp.

◆ Causality

enum casadi::Causality

strong

Enumerator
PARAMETER
CALCULATED_PARAMETER
INPUT
OUTPUT
LOCAL
INDEPENDENT
NUMEL

Definition at line 48 of file dae_builder_internal.hpp.

◆ CollocationPoints

enum casadi::CollocationPoints

Enumerator
LEGENDRE
RADAU

Definition at line 123 of file integration_tools.hpp.

◆ ConstraintType

enum casadi::ConstraintType

Enumerator
OPTI_GENERIC_EQUALITY
OPTI_GENERIC_INEQUALITY
OPTI_EQUALITY
OPTI_INEQUALITY
OPTI_DOUBLE_INEQUALITY
OPTI_PSD
OPTI_UNKNOWN

Definition at line 458 of file optistack.hpp.

◆ DependenciesKind

enum casadi::DependenciesKind

strong

Enumerator
DEPENDENT
CONSTANT
FIXED
TUNABLE
DISCRETE
NUMEL

Definition at line 60 of file dae_builder_internal.hpp.

◆ DomainType

enum casadi::DomainType

Enumerator
OPTI_DOMAIN_REAL
OPTI_DOMAIN_INTEGER

Definition at line 471 of file optistack.hpp.

◆ Initial

enum casadi::Initial

strong

Enumerator
EXACT
APPROX
CALCULATED
NA
NUMEL

Definition at line 54 of file dae_builder_internal.hpp.

◆ Type

enum casadi::Type

strong

Enumerator
FLOAT32
FLOAT64
INT8
UINT8
INT16
UINT16
INT32
UINT32
INT64
UINT64
BOOLEAN
STRING
BINARY
ENUMERATION
CLOCK
NUMEL

Definition at line 44 of file dae_builder_internal.hpp.

◆ TypeFmi2

enum casadi::TypeFmi2

strong

Enumerator
REAL
INTEGER
BOOLEAN
STRING
ENUM
NUMEL

Definition at line 41 of file dae_builder_internal.hpp.

◆ UnifiedReturnStatus

enum casadi::UnifiedReturnStatus

Unified return status for solvers

Enumerator
SOLVER_RET_SUCCESS
SOLVER_RET_UNKNOWN
SOLVER_RET_LIMITED
SOLVER_RET_NAN
SOLVER_RET_INFEASIBLE
SOLVER_RET_EXCEPTION

Definition at line 55 of file casadi_types.hpp.

◆ Variability

enum casadi::Variability

strong

Enumerator
CONSTANT
FIXED
TUNABLE
DISCRETE
CONTINUOUS
NUMEL

Definition at line 51 of file dae_builder_internal.hpp.

◆ VariableType

enum casadi::VariableType

Enumerator
OPTI_VAR
OPTI_PAR
OPTI_DUAL_G

Definition at line 466 of file optistack.hpp.

Function Documentation

◆ _function_buffer_eval()

void CASADI_EXPORT casadi::_function_buffer_eval ( void * raw )

◆ casadi_sleqp_func_create()

void casadi::casadi_sleqp_func_create	(	SleqpFunc **	star,
		int	num_vars,
		int	num_cons,
		SLEQPMemory *	m
	)

◆ check_sos()

template<class T >

void casadi::check_sos	(	casadi_int	nx,
		const std::vector< std::vector< T > > &	groups,
		std::vector< std::vector< double > > &	weights,
		std::vector< casadi_int > &	types
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1sx

Definition at line 79 of file nlp_tools.hpp.

◆ collocation_coeff()

CASADI_EXPORT void casadi::collocation_coeff	(	const std::vector< double > &	tau,
		DM &	C,
		DM &	D,
		DM &	B
	)

A collocation method poses a polynomial Pi that interpolates exactly through an initial state (0,X_0) and helper states at collocation points (tau_j,Xc_j) with j=1..degree.

This function computes the linear mapping between dPi/dt and coefficients Z=[X_0 Xc].

Parameters

	tau	location of collocation points (length: degree), as obtained from collocation_points
[out]	C	interpolating coefficients to obtain derivatives. Size: (degree+1)-by-degree

You may find the slopes of Pi at the collocation points as

    dPi/dt @ Xc = (1/h) Z*C,

with h the length of the integration interval.

Parameters

[out] D interpolating coefficients to obtain end state. Size: (degree+1)-by-1

You may find the end point of Pi as

    Pi @X_f = Z*D

Parameters

[out] B quadrature coefficients Size: degree-by-1

Given quadrature righ-hand-sides 'quad' evaluated at the collocation points, you may find the integrated quadratures as

    q = quad*B*h

Extra doc: https://github.com/casadi/casadi/wiki/L_1sq

◆ collocation_interpolators()

CASADI_EXPORT void casadi::collocation_interpolators	(	const std::vector< double > &	tau,
		std::vector< std::vector< double > > &	C,
		std::vector< double > &	D
	)

A collocation method poses a polynomial Pi that interpolates exactly through an initial state (0,X_0) and helper states at collocation points (tau_j,X:collPoint(j)).

This function computes the linear mapping between dPi/dt and coefficients Z=[X_0 X:collPoints].

Parameters

	tau	location of collocation points, as obtained from collocation_points
[out]	C	interpolating coefficients to obtain derivatives. Length: order+1, order+1

    dPi/dt @Z_j = (1/h) Sum_i C[j][i]*Z_i,

with h the length of the integration interval.

Parameters

[out] D interpolating coefficients to obtain end state. Length: order+1

    Pi @X_f = Sum_i D[i]*Z_i

Extra doc: https://github.com/casadi/casadi/wiki/L_1sp

◆ collocation_points()

CASADI_EXPORT std::vector<double> casadi::collocation_points	(	casadi_int	order,
		const std::string &	scheme = `"radau"`
	)

Parameters

order	Which order (1 to 9 supported)
scheme	'radau' or 'legendre'

Extra doc: https://github.com/casadi/casadi/wiki/L_1so

◆ complement()

CASADI_EXPORT std::vector<casadi_int> casadi::complement	(	const std::vector< casadi_int > &	v,
		casadi_int	size
	)

The supplied vector may contain duplicates and may be non-monotonous The supplied vector will be checked for bounds The result vector is guaranteed to be monotonously increasing

Extra doc: https://github.com/casadi/casadi/wiki/L_1lf

◆ Contraction() [1/2]

template<>

void casadi::Contraction	(	const bvec_t &	a,
		const bvec_t &	b,
		bvec_t &	r
	)

inline

Definition at line 156 of file shared.hpp.

◆ Contraction() [2/2]

template<typename T >

void casadi::Contraction	(	const T &	a,
		const T &	b,
		T &	r
	)

Definition at line 151 of file shared.hpp.

◆ dae_init_gen() [1/2]

CASADI_EXPORT Function casadi::dae_init_gen	(	const MXDict &	dae,
		const MXDict &	dae_red,
		const std::string &	init_solver,
		const DMDict &	init_strength = `DMDict()`,
		const Dict &	init_solver_options = `Dict()`
	)

Parameters

[in]	dae	Original (unreduced) DAE structure
[in]	dae_red	Reduced DAE (see dae_reduce_index)
[in]	init_solver	NLP solver plugin name for nlpsol used to construct an initial guess
[in]	init_strength	Influence the nature of the NLP Structure with keys x_impl, dx_impl, z corresponding to inputs of init_gen Each key maps to a DM that should match the variable size corresponding to that key. For each variable the meaning of the corresponding DM value is as follows: When >=0, indicates that the provided initial guess is used in a quadratic penalty (value used as weight) When -1, indicates that the provided initial guess must be observed (simple bound on variable)
[in]	init_solver_options	NLP solver options to be passed to nlpsol

Returns

init_gen A function to generate a consistent initial guess that can be used to pass to an integrator constructed from a semi explict reduced DAE Inputs:

x_impl, dx_impl, z: initial guesses in the original DAE space
p: parameters
t: time Outputs:
x0, z0: (semi explicit) integrator states and algebraic variables; typically used as input for integrators

See also: dae_reduce_index

Extra doc: https://github.com/casadi/casadi/wiki/L_1sv

◆ dae_init_gen() [2/2]

CASADI_EXPORT Function casadi::dae_init_gen	(	const SXDict &	dae,
		const SXDict &	dae_red,
		const std::string &	init_solver,
		const DMDict &	init_strength = `DMDict()`,
		const Dict &	init_solver_options = `Dict()`
	)

Parameters

[in]	dae	Original (unreduced) DAE structure
[in]	dae_red	Reduced DAE (see dae_reduce_index)
[in]	init_solver	NLP solver plugin name for nlpsol used to construct an initial guess
[in]	init_strength	Influence the nature of the NLP Structure with keys x_impl, dx_impl, z corresponding to inputs of init_gen Each key maps to a DM that should match the variable size corresponding to that key. For each variable the meaning of the corresponding DM value is as follows: When >=0, indicates that the provided initial guess is used in a quadratic penalty (value used as weight) When -1, indicates that the provided initial guess must be observed (simple bound on variable)
[in]	init_solver_options	NLP solver options to be passed to nlpsol

Returns

init_gen A function to generate a consistent initial guess that can be used to pass to an integrator constructed from a semi explict reduced DAE Inputs:

x_impl, dx_impl, z: initial guesses in the original DAE space
p: parameters
t: time Outputs:
x0, z0: (semi explicit) integrator states and algebraic variables; typically used as input for integrators

See also: dae_reduce_index

Extra doc: https://github.com/casadi/casadi/wiki/L_1sv

◆ dae_map_semi_expl() [1/2]

CASADI_EXPORT MXDict casadi::dae_map_semi_expl	(	const MXDict &	dae,
		const MXDict &	dae_red,
		Function &	state_to_orig,
		Function &	phi
	)

Parameters

[in]	dae	Original (unreduced) DAE structure
[in]	dae_red	Reduced DAE (see dae_reduce_index)
[out]	state_to_orig	A mapping of integrator (semi explicit) states to states of the original DAE
[out]	phi	A function to compute the invariants of the reduced DAE Inputs: x and z: (semi explicit) integrator states; typically integrator outputs xf and zf p: parameters t: time

Returns: Semi explicit DAE dictionary, suitable to pass to a CasADi integrator

See also: dae_reduce_index

Extra doc: https://github.com/casadi/casadi/wiki/L_1su

◆ dae_map_semi_expl() [2/2]

CASADI_EXPORT SXDict casadi::dae_map_semi_expl	(	const SXDict &	dae,
		const SXDict &	dae_red,
		Function &	state_to_orig,
		Function &	phi
	)

Parameters

[in]	dae	Original (unreduced) DAE structure
[in]	dae_red	Reduced DAE (see dae_reduce_index)
[out]	state_to_orig	A mapping of integrator (semi explicit) states to states of the original DAE
[out]	phi	A function to compute the invariants of the reduced DAE Inputs: x and z: (semi explicit) integrator states; typically integrator outputs xf and zf p: parameters t: time

Returns: Semi explicit DAE dictionary, suitable to pass to a CasADi integrator

See also: dae_reduce_index

Extra doc: https://github.com/casadi/casadi/wiki/L_1su

◆ dae_reduce_index() [1/2]

CASADI_EXPORT MXDict casadi::dae_reduce_index	(	const MXDict &	dae,
		Dict &	stats,
		const Dict &	opts = `{}`
	)

Index reduction leads to a new set of variables and equations.

In the process, a set of constraints (algebraic equations or derivatives) a.k.a invariants is constructed that are invariant to the problem: whenever an initial point satisfies these constraints, the boundary-value-problem outcome will keep satisfying those constraints automatically, even though they are not part of the reduced DAE.

For any practical numerical integration method, there will be numerical drift away from satisfaction of those constraints. In other words, you will see the value of invariants slowly moving away from original zero.

A classic mitigation technique is Baumgarte stabilization: you add these invariants to the reduced DAE as a correction term that acts in a way to make small (numerical) perturbations to the invariants decay to the origin as a dampened linear system.

in which a certain set of constraints (algebraic equations or derivatives) has been dropped in favour of

Parameters

dae	Expression dictionary describing the DAE

Each value must be a dense column vector.

keys:

x_impl: symbol for implicit differential states
dx_impl: symbol for implicit differential state derivatives
z: symbol for algebraic variables
alg: expression for algebraic equations
t: symbol for time
p: symbol for parameters
Parameters

opts Option dictionary

'baumgarte_pole': double Poles (inverse time constants) of the Baumgarte invariant correction term. Must be <0 to dampen out perturbations 0 (default) amounts to no correction. Corresponds to -gamma of equation (1.5) in Ascher, Uri M., Hongsheng Chin, and Sebastian Reich. "Stabilization of DAEs and invariant manifolds." Numerische Mathematik 67.2 (1994): 131-149.

Parameters

stats Statistics

Returns: Expression dictionary describing the reduced DAE

In addition the fields allowed in the input DAE, the following keys occur:

x: symbol for explicit differential states
ode: expression for right-hand-side of explicit differential states
I: expression for invariants

Extra doc: https://github.com/casadi/casadi/wiki/L_23h

◆ dae_reduce_index() [2/2]

CASADI_EXPORT SXDict casadi::dae_reduce_index	(	const SXDict &	dae,
		Dict &	stats,
		const Dict &	opts = `{}`
	)

Index reduction leads to a new set of variables and equations.

In the process, a set of constraints (algebraic equations or derivatives) a.k.a invariants is constructed that are invariant to the problem: whenever an initial point satisfies these constraints, the boundary-value-problem outcome will keep satisfying those constraints automatically, even though they are not part of the reduced DAE.

For any practical numerical integration method, there will be numerical drift away from satisfaction of those constraints. In other words, you will see the value of invariants slowly moving away from original zero.

A classic mitigation technique is Baumgarte stabilization: you add these invariants to the reduced DAE as a correction term that acts in a way to make small (numerical) perturbations to the invariants decay to the origin as a dampened linear system.

in which a certain set of constraints (algebraic equations or derivatives) has been dropped in favour of

Parameters

dae	Expression dictionary describing the DAE

Each value must be a dense column vector.

keys:

x_impl: symbol for implicit differential states
dx_impl: symbol for implicit differential state derivatives
z: symbol for algebraic variables
alg: expression for algebraic equations
t: symbol for time
p: symbol for parameters
Parameters

opts Option dictionary

'baumgarte_pole': double Poles (inverse time constants) of the Baumgarte invariant correction term. Must be <0 to dampen out perturbations 0 (default) amounts to no correction. Corresponds to -gamma of equation (1.5) in Ascher, Uri M., Hongsheng Chin, and Sebastian Reich. "Stabilization of DAEs and invariant manifolds." Numerische Mathematik 67.2 (1994): 131-149.

Parameters

stats Statistics

Returns: Expression dictionary describing the reduced DAE

In addition the fields allowed in the input DAE, the following keys occur:

x: symbol for explicit differential states
ode: expression for right-hand-side of explicit differential states
I: expression for invariants

Extra doc: https://github.com/casadi/casadi/wiki/L_23h

◆ detect_simple_bounds() [1/2]

CASADI_EXPORT void casadi::detect_simple_bounds	(	const MX &	xX,
		const MX &	p,
		const MX &	g,
		const MX &	lbg,
		const MX &	ubg,
		std::vector< casadi_int > &	gi,
		MX &	lbx,
		MX &	ubx,
		Function &	lam_forward,
		Function &	lam_backward
	)

◆ detect_simple_bounds() [2/2]

CASADI_EXPORT void casadi::detect_simple_bounds	(	const SX &	xX,
		const SX &	p,
		const SX &	g,
		const SX &	lbg,
		const SX &	ubg,
		std::vector< casadi_int > &	gi,
		SX &	lbx,
		SX &	ubx,
		Function &	lam_forward,
		Function &	lam_backward
	)

Given parametric constraints:

*   subject to lbg(p) <= g(x,p) <= ubg(p)
*

Returns an equivalent set

*   subject to  lbg(p)(gi) <= g(x,p)(gi) <= ubg(p)(gi)
*               lbx(p) <= x                 <= ubx(p)
*

Parameters

[out]	lam_forward	(lam_g,p)->(lam_sg,lam_x)
[out]	lam_backward	(lam_sg,lam_x,p)->(lam_g)

Extra doc: https://github.com/casadi/casadi/wiki/L_1sw

◆ doc_linsol()

CASADI_EXPORT std::string casadi::doc_linsol ( const std::string & name )

◆ einstein_eval()

template<typename T >

void casadi::einstein_eval	(	casadi_int	n_iter,
		const std::vector< casadi_int > &	iter_dims,
		const std::vector< casadi_int > &	strides_a,
		const std::vector< casadi_int > &	strides_b,
		const std::vector< casadi_int > &	strides_c,
		const T *	a_in,
		const T *	b_in,
		T *	c_in
	)

Definition at line 161 of file shared.hpp.

◆ einstein_process()

template<typename T >

casadi_int casadi::einstein_process	(	const T &	A,
		const T &	B,
		const T &	C,
		const std::vector< casadi_int > &	dim_a,
		const std::vector< casadi_int > &	dim_b,
		const std::vector< casadi_int > &	dim_c,
		const std::vector< casadi_int > &	a,
		const std::vector< casadi_int > &	b,
		const std::vector< casadi_int > &	c,
		std::vector< casadi_int > &	iter_dims,
		std::vector< casadi_int > &	strides_a,
		std::vector< casadi_int > &	strides_b,
		std::vector< casadi_int > &	strides_c
	)

Definition at line 35 of file shared.hpp.

◆ external() [1/3]

CASADI_EXPORT Function casadi::external	(	const std::string &	name,
		const Dict &	opts = `Dict()`
	)

Parameters

name	Name as in the label assigned to a CasADi Function object: Function(name,...,...) Will be used to look up symbols/functions named eg. <name>_eval Use `nm` (linux/osx) or `depends.exe` (win) to check which symbols are present in your shared library

File name is assumed to be ./<name>.so

Extra doc: https://github.com/casadi/casadi/wiki/L_i0

◆ external() [2/3]

CASADI_EXPORT Function casadi::external	(	const std::string &	name,
		const Importer &	li,
		const Dict &	opts = `Dict()`
	)

File name given

Extra doc: https://github.com/casadi/casadi/wiki/L_i2

◆ external() [3/3]

CASADI_EXPORT Function casadi::external	(	const std::string &	name,
		const std::string &	bin_name,
		const Dict &	opts = `Dict()`
	)

Parameters

name	Name as in the label assigned to a CasADi Function object: Function(name,...,...) Will be used to look up symbols/functions named eg. <name>_eval Use `nm` (linux/osx) or `depends.exe` (win) to check which symbols are present in your shared library
bin_name	File name of the shared library

Extra doc: https://github.com/casadi/casadi/wiki/L_i1

◆ external_transform()

CASADI_EXPORT Function casadi::external_transform	(	const std::string &	name,
		const std::string &	op,
		const Function &	f,
		const Dict &	opts = `Dict()`
	)

Parameters

name	Name of the shared library
op	Name of the operation
f	Function to transform
opts	Options Extra doc: https://github.com/casadi/casadi/wiki/L_27i

◆ flatten_nested_vector() [1/2]

template<class T , class S >

void casadi::flatten_nested_vector	(	const std::vector< std::vector< T > > &	nested,
		std::vector< S > &	flat
	)

Contents of nested[i] ends up in flat[indices[i]]..flat[indices[i+1]-1]

Extra doc: https://github.com/casadi/casadi/wiki/L_1lh

◆ flatten_nested_vector() [2/2]

template<class T , class S , class I >

void casadi::flatten_nested_vector	(	const std::vector< std::vector< T > > &	nested,
		std::vector< S > &	flat,
		std::vector< I > &	indices
	)

Contents of nested[i] ends up in flat[indices[i]]..flat[indices[i+1]-1]

Extra doc: https://github.com/casadi/casadi/wiki/L_1li

◆ has_linsol()

CASADI_EXPORT bool casadi::has_linsol ( const std::string & name )

◆ has_negative()

template<typename T >

bool casadi::has_negative ( const std::vector< T > & v )

◆ hash_combine() [1/3]

template<typename T >

void casadi::hash_combine	(	std::size_t &	seed,
		const std::vector< T > &	v
	)

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_dr

Definition at line 1211 of file sparsity.hpp.

◆ hash_combine() [2/3]

template<typename T >

void casadi::hash_combine	(	std::size_t &	seed,
		const T *	v,
		std::size_t	sz
	)

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_dq

Definition at line 1203 of file sparsity.hpp.

◆ hash_combine() [3/3]

template<typename T >

void casadi::hash_combine	(	std::size_t &	seed,
		T	v
	)

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_dp

Definition at line 1195 of file sparsity.hpp.

◆ hash_sparsity() [1/2]

CASADI_EXPORT std::size_t casadi::hash_sparsity	(	casadi_int	nrow,
		casadi_int	ncol,
		const casadi_int *	colind,
		const casadi_int *	row
	)

◆ hash_sparsity() [2/2]

CASADI_EXPORT std::size_t casadi::hash_sparsity	(	casadi_int	nrow,
		casadi_int	ncol,
		const std::vector< casadi_int > &	colind,
		const std::vector< casadi_int > &	row
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_ds

◆ hash_value() [1/2]

template<>

size_t casadi::hash_value ( std::string v )

inline

Definition at line 1216 of file sparsity.hpp.

◆ hash_value() [2/2]

template<typename T >

size_t casadi::hash_value ( T v )

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_do

Definition at line 1189 of file sparsity.hpp.

◆ in_range() [1/2]

template<typename T >

bool casadi::in_range	(	const std::vector< T > &	v,
		casadi_int	lower,
		casadi_int	upper
	)

◆ in_range() [2/2]

template<typename T >

bool casadi::in_range	(	const std::vector< T > &	v,
		casadi_int	upper
	)

◆ index_interp1d()

double CASADI_EXPORT casadi::index_interp1d	(	const std::vector< double > &	x,
		double	xq,
		bool	equidistant = `false`
	)

◆ is_decreasing()

template<typename T >

bool casadi::is_decreasing ( const std::vector< T > & v )

◆ is_increasing()

template<typename T >

bool casadi::is_increasing ( const std::vector< T > & v )

◆ is_monotone()

template<typename T >

bool casadi::is_monotone ( const std::vector< T > & v )

◆ is_nondecreasing()

template<typename T >

bool casadi::is_nondecreasing ( const std::vector< T > & v )

◆ is_nonincreasing()

template<typename T >

bool casadi::is_nonincreasing ( const std::vector< T > & v )

◆ is_regular()

template<typename T >

bool casadi::is_regular ( const std::vector< T > & v )

Definition at line 415 of file casadi_misc.hpp.

◆ is_slice() [1/2]

bool CASADI_EXPORT casadi::is_slice	(	const IM &	x,
		bool	ind1 = `false`
	)

◆ is_slice() [2/2]

bool CASADI_EXPORT casadi::is_slice	(	const std::vector< casadi_int > &	v,
		bool	ind1 = `false`
	)

◆ is_slice2()

bool CASADI_EXPORT casadi::is_slice2 ( const std::vector< casadi_int > & v )

◆ is_strictly_monotone()

template<typename T >

bool casadi::is_strictly_monotone ( const std::vector< T > & v )

◆ is_zero()

template<class T >

bool casadi::is_zero ( const T & x )

inline

Definition at line 87 of file casadi_limits.hpp.

◆ load_linsol()

CASADI_EXPORT void casadi::load_linsol ( const std::string & name )

◆ lookupvector() [1/2]

CASADI_EXPORT std::vector<casadi_int> casadi::lookupvector ( const std::vector< casadi_int > & v )

◆ lookupvector() [2/2]

CASADI_EXPORT std::vector<casadi_int> casadi::lookupvector	(	const std::vector< casadi_int > &	v,
		casadi_int	size
	)

lookupvector[i]!=-1 <=> v contains i v[lookupvector[i]] == i <=> v contains i

Duplicates are treated by looking up last occurrence

Extra doc: https://github.com/casadi/casadi/wiki/L_1lg

◆ matrixName< SXElem >()

template<>

std::string casadi::matrixName< SXElem > ( )

inline

Definition at line 33 of file sx.hpp.

◆ message_prefix()

std::ostream& casadi::message_prefix ( std::ostream & stream )

inline

Definition at line 119 of file exception.hpp.

◆ normalized_in()

int casadi::normalized_in	(	std::istream &	stream,
		double &	ret
	)

inline

Definition at line 440 of file casadi_misc.hpp.

◆ normalized_out()

void casadi::normalized_out	(	std::ostream &	stream,
		double	val
	)

inline

Definition at line 429 of file casadi_misc.hpp.

◆ normalized_setup() [1/2]

CASADI_EXPORT void casadi::normalized_setup ( std::istream & stream )

◆ normalized_setup() [2/2]

CASADI_EXPORT void casadi::normalized_setup ( std::ostream & stream )

◆ read_matlab() [1/2]

template<typename T >

void casadi::read_matlab	(	std::ifstream &	file,
		std::vector< std::vector< T > > &	v
	)

◆ read_matlab() [2/2]

template<typename T >

void casadi::read_matlab	(	std::istream &	stream,
		std::vector< T > &	v
	)

◆ simpleIntegrator()

CASADI_EXPORT Function casadi::simpleIntegrator	(	Function	f,
		const std::string &	integrator = `"cvodes"`,
		const Dict &	integrator_options = `Dict()`
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1st

◆ simpleIRK()

CASADI_EXPORT Function casadi::simpleIRK	(	Function	f,
		casadi_int	N = `10`,
		casadi_int	order = `4`,
		const std::string &	scheme = `"radau"`,
		const std::string &	solver = `"newton"`,
		const Dict &	solver_options = `Dict()`
	)

The constructed function has three inputs, corresponding to initial state (x0), parameter (p) and integration time (h) and one output, corresponding to final state (xf).

Parameters

f	ODE function with two inputs (x and p) and one output (xdot)
N	Number of integrator steps
order	Order of interpolating polynomials
scheme	Collocation scheme, as excepted by collocationPoints function.
solver	Solver plugin
solver_options	Options to be passed to the solver plugin

Extra doc: https://github.com/casadi/casadi/wiki/L_1ss

◆ simpleRK()

CASADI_EXPORT Function casadi::simpleRK	(	Function	f,
		casadi_int	N = `10`,
		casadi_int	order = `4`
	)

The constructed function has three inputs, corresponding to initial state (x0), parameter (p) and integration time (h) and one output, corresponding to final state (xf).

Parameters

f	ODE function with two inputs (x and p) and one output (xdot)
N	Number of integrator steps
order	Order of interpolating polynomials

Extra doc: https://github.com/casadi/casadi/wiki/L_1sr

◆ slicot_mb03vd()

int casadi::slicot_mb03vd	(	int	n,
		int	p,
		int	ilo,
		int	ihi,
		double *	a,
		int	lda1,
		int	lda2,
		double *	tau,
		int	ldtau,
		double *	dwork = `nullptr`
	)

◆ slicot_mb03vy()

int casadi::slicot_mb03vy	(	int	n,
		int	p,
		int	ilo,
		int	ihi,
		double *	a,
		int	lda1,
		int	lda2,
		const double *	tau,
		int	ldtau,
		double *	dwork = `nullptr`,
		int	ldwork = `0`
	)

◆ slicot_mb03wd()

int casadi::slicot_mb03wd	(	char	job,
		char	compz,
		int	n,
		int	p,
		int	ilo,
		int	ihi,
		int	iloz,
		int	ihiz,
		double *	h,
		int	ldh1,
		int	ldh2,
		double *	z,
		int	ldz1,
		int	ldz2,
		double *	wr,
		double *	wi,
		double *	dwork = `nullptr`,
		int	ldwork = `0`
	)

◆ slicot_mb05nd()

int casadi::slicot_mb05nd	(	int	n,
		double	delta,
		const double *	a,
		int	lda,
		double *	ex,
		int	ldex,
		double *	exint,
		int	ldexin,
		double	tol,
		int *	iwork,
		double *	dwork,
		int	ldwork
	)

◆ temporary_file()

CASADI_EXPORT std::string casadi::temporary_file	(	const std::string &	prefix,
		const std::string &	suffix
	)

◆ to_slice() [1/2]

Slice CASADI_EXPORT casadi::to_slice	(	const IM &	x,
		bool	ind1 = `false`
	)

◆ to_slice() [2/2]

Slice CASADI_EXPORT casadi::to_slice	(	const std::vector< casadi_int > &	v,
		bool	ind1 = `false`
	)

◆ to_slice2()

std::pair<Slice, Slice> CASADI_EXPORT casadi::to_slice2 ( const std::vector< casadi_int > & v )

◆ trim_path()

std::string casadi::trim_path ( const std::string & full_path )

inline

Definition at line 107 of file exception.hpp.

◆ uerr()

CASADI_EXPORT std::ostream& casadi::uerr ( )

◆ uout()

CASADI_EXPORT std::ostream& casadi::uout ( )

◆ write_matlab() [1/2]

template<typename T >

void casadi::write_matlab	(	std::ostream &	stream,
		const std::vector< std::vector< T > > &	v
	)

◆ write_matlab() [2/2]

template<typename T >

void casadi::write_matlab	(	std::ostream &	stream,
		const std::vector< T > &	v
	)

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ Dict

◆ DM

◆ DMDict

◆ DMVector

◆ DMVectorVector

◆ external_print_callback_t

◆ external_transform_t

◆ IM

◆ MXDict

◆ MXIList

◆ MXVector

◆ MXVectorVector

◆ native_DM

◆ SpDict

◆ SX

◆ SXDict

◆ SXIList

◆ SXVector

◆ SXVectorVector

Enumeration Type Documentation

◆ Attribute

◆ Causality

◆ CollocationPoints

◆ ConstraintType

◆ DependenciesKind

◆ DomainType

◆ Initial

◆ Type

◆ TypeFmi2

◆ UnifiedReturnStatus

◆ Variability

◆ VariableType

Function Documentation

◆ _function_buffer_eval()

◆ casadi_sleqp_func_create()

◆ check_sos()

◆ collocation_coeff()

◆ collocation_interpolators()

◆ collocation_points()

◆ complement()

◆ Contraction() [1/2]

◆ Contraction() [2/2]

◆ dae_init_gen() [1/2]

◆ dae_init_gen() [2/2]

◆ dae_map_semi_expl() [1/2]

◆ dae_map_semi_expl() [2/2]

◆ dae_reduce_index() [1/2]

◆ dae_reduce_index() [2/2]

◆ detect_simple_bounds() [1/2]

◆ detect_simple_bounds() [2/2]

◆ doc_linsol()

◆ einstein_eval()

◆ einstein_process()

◆ external() [1/3]

◆ external() [2/3]

◆ external() [3/3]

◆ external_transform()

◆ flatten_nested_vector() [1/2]

◆ flatten_nested_vector() [2/2]

◆ has_linsol()

◆ has_negative()

◆ hash_combine() [1/3]

◆ hash_combine() [2/3]

◆ hash_combine() [3/3]

◆ hash_sparsity() [1/2]

◆ hash_sparsity() [2/2]

◆ hash_value() [1/2]

◆ hash_value() [2/2]

◆ in_range() [1/2]

◆ in_range() [2/2]

◆ index_interp1d()

◆ is_decreasing()

◆ is_increasing()

◆ is_monotone()