nlp_builder.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    CasADi is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_NLP_BUILDER_HPP
#define CASADI_NLP_BUILDER_HPP
 
#include "mx.hpp"
 
namespace casadi {
 
  class CASADI_EXPORT NlpBuilder
    : public SWIG_IF_ELSE(PrintableCommon, Printable<NlpBuilder>) {
  public:
 
 
    std::vector<MX> x;
 
    MX f;
 
    std::vector<MX> g;
 
    std::vector<double> x_lb, x_ub;
 
    std::vector<double> g_lb, g_ub;
 
    std::vector<double> x_init;
 
    std::vector<double> lambda_init;
 
    std::vector<bool> discrete;
 
    void import_nl(const std::string& filename, const Dict& opts = Dict());
 
    std::string type_name() const {return "NlpBuilder";}
 
    void disp(std::ostream& stream, bool more=false) const;
 
    std::string get_str(bool more=false) const {
      std::stringstream ss;
      disp(ss, more);
      return ss.str();
    }
  };
 
#ifndef SWIG
  class CASADI_EXPORT NlImporter {
  public:
    // Constructor
    NlImporter(NlpBuilder& nlp, const std::string& filename, const Dict& opts);
    // Destructor
    ~NlImporter();
  private:
    int read_int();
    char read_char();
    double read_double();
    short read_short();
    long read_long();
    // Reference to the class
    NlpBuilder& nlp_;
    // Options
    bool verbose_;
    // Binary mode
    bool binary_;
    // File stream
    std::ifstream s_;
    // All variables, including dependent
    std::vector<MX> v_;
    // Number of objectives and constraints
    casadi_int n_var_, n_con_, n_obj_, n_eq_, n_lcon_;
    // nonlinear vars in constraints, objectives, both
    // see JuliaOpt/AmplNLWriter.jl/src/nl_write.jl
    casadi_int nlvc_, nlvo_, nlvb_;
    // Number of discrete variables // see JuliaOpt/AmplNLWriter.jl/src/nl_write.jl
    casadi_int nbv_, niv_, nlvbi_, nlvci_, nlvoi_;
    // objective sign
    MX sign_;
    // Parse the file
    void parse();
    // Imported function description
    void F_segment();
    // Suffix values
    void S_segment();
    // Defined variable definition
    void V_segment();
    // Algebraic constraint body
    void C_segment();
    // Logical constraint expression
    void L_segment();
    // Objective function
    void O_segment();
    // Dual initial guess
    void d_segment();
    // Primal initial guess
    void x_segment();
    // Bounds on algebraic constraint bodies ("ranges")
    void r_segment();
    // Bounds on variable
    void b_segment();
    // Jacobian row counts
    void k_segment();
    // Linear terms in the constraint function
    void J_segment();
    // Linear terms in the objective function
    void G_segment();
    MX expr();
  };
#endif // SWIG
 
} // namespace casadi
 
#endif // CASADI_NLP_BUILDER_HPP