Title

Functions
CASADI_EXPORT Function	casadi::conic (const std::string &name, const std::string &solver, const SpDict &qp, const Dict &opts=Dict())
CASADI_EXPORT Function	casadi::qpsol (const std::string &name, const std::string &solver, const SXDict &qp, const Dict &opts=Dict())
CASADI_EXPORT Function	casadi::qpsol (const std::string &name, const std::string &solver, const MXDict &qp, const Dict &opts=Dict())
CASADI_EXPORT std::vector< std::string >	casadi::conic_in ()
	Get input scheme of QP solvers. More...
CASADI_EXPORT std::vector< std::string >	casadi::conic_out ()
	Get QP solver output scheme of QP solvers. More...
CASADI_EXPORT std::string	casadi::conic_in (casadi_int ind)
	Get QP solver input scheme name by index. More...
CASADI_EXPORT std::string	casadi::conic_out (casadi_int ind)
	Get output scheme name by index. More...
CASADI_EXPORT casadi_int	casadi::conic_n_in ()
	Get the number of QP solver inputs. More...
CASADI_EXPORT casadi_int	casadi::conic_n_out ()
	Get the number of QP solver outputs. More...
CASADI_EXPORT std::vector< std::string >	casadi::conic_options (const std::string &name)
	Get all options for a plugin. More...
CASADI_EXPORT std::string	casadi::conic_option_type (const std::string &name, const std::string &op)
	Get type info for a particular option. More...
CASADI_EXPORT std::string	casadi::conic_option_info (const std::string &name, const std::string &op)
	Get documentation for a particular option. More...
CASADI_EXPORT bool	casadi::has_conic (const std::string &name)
	Check if a particular plugin is available. More...
CASADI_EXPORT void	casadi::load_conic (const std::string &name)
	Explicitly load a plugin dynamically. More...
CASADI_EXPORT std::string	casadi::doc_conic (const std::string &name)
	Get the documentation string for a plugin. More...
CASADI_EXPORT void	casadi::conic_debug (const Function &f, const std::string &filename)
CASADI_EXPORT void	casadi::conic_debug (const Function &f, std::ostream &file)

Detailed Description

Create a QP solver Solves the following strictly convex problem:

min          1/2 x' H x + g' x
x

subject to
LBA <= A x <= UBA
LBX <= x   <= UBX

resize(Q x, np, np) + P >= 0 (psd)

with :
H sparse (n x n) positive definite
g dense  (n x 1)
A sparse (nc x n)
Q sparse symmetric (np^2 x n)
P sparse symmetric (np x nq)

n: number of decision variables (x)
nc: number of constraints (A)
nq: shape of psd constraint matrix

If H is not positive-definite, the solver should throw an error.

Second-order cone constraints can be added as psd constraints through a helper function 'soc':

x in R^n y in R

|| x ||_2 <= y

<=>

soc(x, y) psd

This can be proven with soc(x, y)=[y*I x; x' y] using the Shur complement.

General information

List of available options

Id	Type	Description	Used in
ad_weight	OT_DOUBLE	Weighting factor for derivative calculation.When there is an option of either using forward or reverse mode directional derivatives, the condition ad_weight*nf<=(1-ad_weight)*na is used where nf and na are estimates of the number of forward/reverse mode directional derivatives needed. By default, ad_weight is calculated automatically, but this can be overridden by setting this option. In particular, 0 means forcing forward mode and 1 forcing reverse mode. Leave unset for (class specific) heuristics.	casadi::FunctionInternal
ad_weight_sp	OT_DOUBLE	Weighting factor for sparsity pattern calculation calculation.Overrides default behavior. Set to 0 and 1 to force forward and reverse mode respectively. Cf. option "ad_weight". When set to -1, sparsity is completely ignored and dense matrices are used.	casadi::FunctionInternal
always_inline	OT_BOOL	Force inlining.	casadi::FunctionInternal
cache	OT_DICT	Prepopulate the function cache. Default: empty	casadi::FunctionInternal
compiler	OT_STRING	Just-in-time compiler plugin to be used.	casadi::FunctionInternal
custom_jacobian	OT_FUNCTION	Override CasADi's AD. Use together with 'jac_penalty': 0. Note: Highly experimental. Syntax may break often.	casadi::FunctionInternal
der_options	OT_DICT	Default options to be used to populate forward_options, reverse_options, and jacobian_options before those options are merged in.	casadi::FunctionInternal
derivative_of	OT_FUNCTION	The function is a derivative of another function. The type of derivative (directional derivative, Jacobian) is inferred from the function name.	casadi::FunctionInternal
discrete	OT_BOOLVECTOR	Indicates which of the variables are discrete, i.e. integer-valued	casadi::Conic
dump	OT_BOOL	Dump function to file upon first evaluation. [false]	casadi::FunctionInternal
dump_dir	OT_STRING	Directory to dump inputs/outputs to. Make sure the directory exists [.]	casadi::FunctionInternal
dump_format	OT_STRING	Choose file format to dump matrices. See DM.from_file [mtx]	casadi::FunctionInternal
dump_in	OT_BOOL	Dump numerical values of inputs to file (readable with DM.from_file) [default: false]	casadi::FunctionInternal
dump_out	OT_BOOL	Dump numerical values of outputs to file (readable with DM.from_file) [default: false]	casadi::FunctionInternal
enable_fd	OT_BOOL	Enable derivative calculation by finite differencing. [default: false]]	casadi::FunctionInternal
enable_forward	OT_BOOL	Enable derivative calculation using generated functions for Jacobian-times-vector products - typically using forward mode AD - if available. [default: true]	casadi::FunctionInternal
enable_jacobian	OT_BOOL	Enable derivative calculation using generated functions for Jacobians of all differentiable outputs with respect to all differentiable inputs - if available. [default: true]	casadi::FunctionInternal
enable_reverse	OT_BOOL	Enable derivative calculation using generated functions for transposed Jacobian-times-vector products - typically using reverse mode AD - if available. [default: true]	casadi::FunctionInternal
equality	OT_BOOLVECTOR	Indicate an upfront hint which of the constraints are equalities. Some solvers may be able to exploit this knowledge. When true, the corresponding lower and upper bounds are assumed equal. When false, the corresponding bounds may be equal or different.	casadi::Conic
error_on_fail	OT_BOOL	Throw exceptions when function evaluation fails (default true).	casadi::ProtoFunction
external_transform	OT_VECTORVECTOR	List of external_transform instruction arguments. Default: empty	casadi::FunctionInternal
fd_method	OT_STRING	Method for finite differencing [default 'central']	casadi::FunctionInternal
fd_options	OT_DICT	Options to be passed to the finite difference instance	casadi::FunctionInternal
forward_options	OT_DICT	Options to be passed to a forward mode constructor	casadi::FunctionInternal
gather_stats	OT_BOOL	Deprecated option (ignored): Statistics are now always collected.	casadi::FunctionInternal
input_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
inputs_check	OT_BOOL	Throw exceptions when the numerical values of the inputs don't make sense	casadi::FunctionInternal
is_diff_in	OT_BOOLVECTOR	Indicate for each input if it should be differentiable.	casadi::FunctionInternal
is_diff_out	OT_BOOLVECTOR	Indicate for each output if it should be differentiable.	casadi::FunctionInternal
jac_penalty	OT_DOUBLE	When requested for a number of forward/reverse directions, it may be cheaper to compute first the full jacobian and then multiply with seeds, rather than obtain the requested directions in a straightforward manner. Casadi uses a heuristic to decide which is cheaper. A high value of 'jac_penalty' makes it less likely for the heurstic to chose the full Jacobian strategy. The special value -1 indicates never to use the full Jacobian strategy	casadi::FunctionInternal
jacobian_options	OT_DICT	Options to be passed to a Jacobian constructor	casadi::FunctionInternal
jit	OT_BOOL	Use just-in-time compiler to speed up the evaluation	casadi::FunctionInternal
jit_cleanup	OT_BOOL	Cleanup up the temporary source file that jit creates. Default: true	casadi::FunctionInternal
jit_name	OT_STRING	The file name used to write out code. The actual file names used depend on 'jit_temp_suffix' and include extensions. Default: 'jit_tmp'	casadi::FunctionInternal
jit_options	OT_DICT	Options to be passed to the jit compiler.	casadi::FunctionInternal
jit_serialize	OT_STRING	Specify behaviour when serializing a jitted function: SOURCE|link|embed.	casadi::FunctionInternal
jit_temp_suffix	OT_BOOL	Use a temporary (seemingly random) filename suffix for generated code and libraries. This is desired for thread-safety. This behaviour may defeat caching compiler wrappers. Default: true	casadi::FunctionInternal
max_io	OT_INT	Acceptable number of inputs and outputs. Warn if exceeded.	casadi::FunctionInternal
max_num_dir	OT_INT	Specify the maximum number of directions for derivative functions. Overrules the builtin optimized_num_dir.	casadi::FunctionInternal
never_inline	OT_BOOL	Forbid inlining.	casadi::FunctionInternal
output_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
post_expand	OT_BOOL	After construction, expand this Function. Default: False	casadi::FunctionInternal
post_expand_options	OT_DICT	Options to be passed to post-construction expansion. Default: empty	casadi::FunctionInternal
print_in	OT_BOOL	Print numerical values of inputs [default: false]	casadi::FunctionInternal
print_out	OT_BOOL	Print numerical values of outputs [default: false]	casadi::FunctionInternal
print_problem	OT_BOOL	Print a numeric description of the problem	casadi::Conic
print_time	OT_BOOL	print information about execution time. Implies record_time.	casadi::ProtoFunction
record_time	OT_BOOL	record information about execution time, for retrieval with stats().	casadi::ProtoFunction
regularity_check	OT_BOOL	Throw exceptions when NaN or Inf appears during evaluation	casadi::ProtoFunction
reverse_options	OT_DICT	Options to be passed to a reverse mode constructor	casadi::FunctionInternal
user_data	OT_VOIDPTR	A user-defined field that can be used to identify the function or pass additional information	casadi::FunctionInternal
verbose	OT_BOOL	Verbose evaluation – for debugging	casadi::ProtoFunction

Input scheme: casadi::ConicInput (CONIC_NUM_IN = 12)

Full name	Short	Description
CONIC_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.
CONIC_G	g	The vector g: dense, (n x 1)
CONIC_A	a	The matrix A: sparse, (nc x n) - product with x must be dense.
CONIC_LBA	lba	dense, (nc x 1)
CONIC_UBA	uba	dense, (nc x 1)
CONIC_LBX	lbx	dense, (n x 1)
CONIC_UBX	ubx	dense, (n x 1)
CONIC_X0	x0	dense, (n x 1)
CONIC_LAM_X0	lam_x0	dense
CONIC_LAM_A0	lam_a0	dense
CONIC_Q	q	The matrix Q: sparse symmetric, (np^2 x n)
CONIC_P	p	The matrix P: sparse symmetric, (np x np)

Output scheme: casadi::ConicOutput (CONIC_NUM_OUT = 4)

Full name	Short	Description
CONIC_X	x	The primal solution.
CONIC_COST	cost	The optimal cost.
CONIC_LAM_A	lam_a	The dual solution corresponding to linear bounds.
CONIC_LAM_X	lam_x	The dual solution corresponding to simple bounds.

List of plugins

- cbc

- clp

- cplex

- daqp

- fatrop

- gurobi

- highs

- hpipm

- hpmpc

- ooqp

- osqp

- proxqp

- qpoases

- sqic

- superscs

- ipqp

- nlpsol

- qrqp

Note: some of the plugins in this list might not be available on your system. Also, there might be extra plugins available to you that are not listed here. You can obtain their documentation with Conic.doc("myextraplugin")

---

cbc

Interface to Cbc solver for sparse Quadratic Programs

Extra doc: https://github.com/casadi/casadi/wiki/L_221

List of available options

Id	Type	Description
cbc	OT_DICT	Options to be passed to CBC.Three sets of options are supported. The first can be found in OsiSolverParameters.hpp. The second can be found in CbcModel.hpp. The third are options that can be passed to CbcMain1.
hot_start	OT_BOOL	Hot start with x0 [Default false].
sos_groups	OT_INTVECTORVECTOR	Definition of SOS groups by indices.
sos_types	OT_INTVECTOR	Specify 1 or 2 for each SOS group.
sos_weights	OT_DOUBLEVECTORVECTOR	Weights corresponding to SOS entries.

---

clp

Interface to Clp solver for sparse Quadratic Programs

Extra doc: https://github.com/casadi/casadi/wiki/L_22d

List of available options

Id	Type	Description
clp	OT_DICT	Options to be passed to CLP. A first set of options can be found in ClpParameters.hpp. eg. 'PrimalTolerance'. There are other options in additions. 'AutomaticScaling' (bool) is recognised. 'initial_solve' (default off) activates the use of Clp's initialSolve. 'initial_solve_options' takes a dictionary with following keys (see ClpSolve.hpp): SolveType (string), PresolveType (string), NumberPasses, SpecialOptions (intvectorvector), IndependentOptions (intvectorvector).

---

cplex

Interface to Cplex solver for sparse Quadratic Programs

Extra doc: https://github.com/casadi/casadi/wiki/L_22a

List of available options

Id	Type	Description
cplex	OT_DICT	Options to be passed to CPLEX
dep_check	OT_INT	Detect redundant constraints.
dump_filename	OT_STRING	The filename to dump to.
dump_to_file	OT_BOOL	Dumps QP to file in CPLEX format.
mip_start	OT_BOOL	Hot start integers with x0 [Default false].
qp_method	OT_INT	Determines which CPLEX algorithm to use.
sos_groups	OT_INTVECTORVECTOR	Definition of SOS groups by indices.
sos_types	OT_INTVECTOR	Specify 1 or 2 for each SOS group.
sos_weights	OT_DOUBLEVECTORVECTOR	Weights corresponding to SOS entries.
tol	OT_DOUBLE	Tolerance of solver
version_suffix	OT_STRING	Specify version of cplex to load. We will attempt to load libcplex<version_suffix>.[so|dll|dylib]. Default value is taken from CPLEX_VERSION env variable.
warm_start	OT_BOOL	Use warm start with simplex methods (affects only the simplex methods).

---

daqp

Interface to Daqp solver for sparse Quadratic Programs, see daqp.dev for more information and https://www.maths.ed.ac.uk/hall/Daqp/DaqpOptions.html for a list of options.

Extra doc: https://github.com/casadi/casadi/wiki/L_27p

List of available options

Id	Type	Description
daqp	OT_DICT	Options to be passed to Daqp.

---

fatrop

Interface to Fatrop Solver

In order to use this interface, you must:

• Decision variables must only by state and control, and the variable ordering must be [x0 u0 x1 u1 ...]

• The constraints must be in order: [ gap0 lincon0 gap1 lincon1 ]

  gap: Ak+1 = Ak xk + Bk uk lincon: yk= Ck xk + Dk uk

       A0 B0 -I
       C0 D0
              A1 B1 -I
              C1 D1

where I must be a diagonal sparse matrix

• Either supply all of N, nx, ng, nu options or rely on automatic detection

  Extra doc: https://github.com/casadi/casadi/wiki/L_27g

List of available options

Id	Type	Description
N	OT_INT	OCP horizon
fatrop	OT_DICT	Options to be passed to fatrop
ng	OT_INTVECTOR	Number of non-dynamic constraints, length N+1
nu	OT_INTVECTOR	Number of controls, length N
nx	OT_INTVECTOR	Number of states, length N+1
structure_detection	OT_STRING	NONE | auto | manual

---

gurobi

Interface to the GUROBI Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_22q

List of available options

Id	Type	Description
gurobi	OT_DICT	Options to be passed to gurobi.
sos_groups	OT_INTVECTORVECTOR	Definition of SOS groups by indices.
sos_types	OT_INTVECTOR	Specify 1 or 2 for each SOS group.
sos_weights	OT_DOUBLEVECTORVECTOR	Weights corresponding to SOS entries.
vtype	OT_STRINGVECTOR	Type of variables: [CONTINUOUS|binary|integer|semicont|semiint]

---

highs

Interface to HiGHS solver for sparse Quadratic Programs, see highs.dev for more information and https://www.maths.ed.ac.uk/hall/HiGHS/HighsOptions.html for a list of options.

Extra doc: https://github.com/casadi/casadi/wiki/L_22f

List of available options

Id	Type	Description
highs	OT_DICT	Options to be passed to HiGHS.

---

hpipm

Interface to HPIPM Solver

In order to use this interface, you must:

• Decision variables must only by state and control, and the variable ordering must be [x0 u0 x1 u1 ...]

• The constraints must be in order: [ gap0 lincon0 gap1 lincon1 ]

  gap: Ak+1 = Ak xk + Bk uk lincon: yk= Ck xk + Dk uk

       A0 B0 -I
       C0 D0
              A1 B1 -I
              C1 D1

where I must be a diagonal sparse matrix

• Either supply all of N, nx, ng, nu options or rely on automatic detection

  Extra doc: https://github.com/casadi/casadi/wiki/L_242

List of available options

Id	Type	Description
N	OT_INT	OCP horizon
hpipm	OT_DICT	Options to be passed to hpipm
inf	OT_DOUBLE	Replace infinities by this amount [default: 1e8]
ng	OT_INTVECTOR	Number of non-dynamic constraints, length N+1
nu	OT_INTVECTOR	Number of controls, length N
nx	OT_INTVECTOR	Number of states, length N+1

---

hpmpc

Interface to HMPC Solver

In order to use this interface, you must:

• Decision variables must only by state and control, and the variable ordering must be [x0 u0 x1 u1 ...]

• The constraints must be in order: [ gap0 lincon0 gap1 lincon1 ]

  gap: Ak+1 = Ak xk + Bk uk lincon: yk= Ck xk + Dk uk

       A0 B0 -I
       C0 D0
              A1 B1 -I
              C1 D1

where I must be a diagonal sparse matrix

• Either supply all of N, nx, ng, nu options or rely on automatic detection

  Extra doc: https://github.com/casadi/casadi/wiki/L_22p

List of available options

Id	Type	Description
N	OT_INT	OCP horizon
blasfeo_target	OT_STRING	hpmpc target
inf	OT_DOUBLE	HPMPC cannot handle infinities. Infinities will be replaced by this option's value.
max_iter	OT_INT	Max number of iterations
mu0	OT_DOUBLE	Max element in cost function as estimate of max multiplier
ng	OT_INTVECTOR	Number of non-dynamic constraints, length N+1
nu	OT_INTVECTOR	Number of controls, length N
nx	OT_INTVECTOR	Number of states, length N+1
print_level	OT_INT	Amount of diagnostic printing [Default: 1].
target	OT_STRING	hpmpc target
tol	OT_DOUBLE	Tolerance in the duality measure
warm_start	OT_BOOL	Use warm-starting

---

ooqp

Interface to the OOQP Solver for quadratic programming The current implementation assumes that OOQP is configured with the MA27 sparse linear solver.

NOTE: when doing multiple calls to evaluate(), check if you need to reInit();

Extra doc: https://github.com/casadi/casadi/wiki/L_222

List of available options

Id	Type	Description
artol	OT_DOUBLE	tolerance as provided with setArTol to OOQP
mutol	OT_DOUBLE	tolerance as provided with setMuTol to OOQP
print_level	OT_INT	Print level. OOQP listens to print_level 0, 10 and 100

---

osqp

Interface to the OSQP Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_220

Interface to the PROXQP Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_243

List of available options

Id	Type	Description
osqp	OT_DICT	const Options to be passed to osqp.
warm_start_dual	OT_BOOL	Use lam_a0 and lam_x0 input to warmstart [Default: truw].
warm_start_primal	OT_BOOL	Use x0 input to warmstart [Default: true].

---

proxqp

List of available options

Id	Type	Description
proxqp	OT_DICT	const proxqp options.
warm_start_dual	OT_BOOL	Use y and z input to warmstart [Default: true].
warm_start_primal	OT_BOOL	Use x input to warmstart [Default: true].

---

qpoases

Interface to QPOases Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_22o 

List of available options

Id	Type	Description
CPUtime	OT_DOUBLE	The maximum allowed CPU time in seconds for the whole initialisation (and the actually required one on output). Disabled if unset.
boundRelaxation	OT_DOUBLE	Initial relaxation of bounds to start homotopy and initial value for far bounds.
boundTolerance	OT_DOUBLE	If upper and lower bounds differ less than this tolerance, they are regarded equal, i.e. as equality constraint.
enableCholeskyRefactorisation	OT_INT	Specifies the frequency of a full re-factorisation of projected Hessian matrix: 0: turns them off, 1: uses them at each iteration etc.
enableDriftCorrection	OT_INT	Specifies the frequency of drift corrections: 0: turns them off.
enableEqualities	OT_BOOL	Specifies whether equalities should be treated as always active (True) or not (False)
enableFarBounds	OT_BOOL	Enables the use of far bounds.
enableFlippingBounds	OT_BOOL	Enables the use of flipping bounds.
enableFullLITests	OT_BOOL	Enables condition-hardened (but more expensive) LI test.
enableInertiaCorrection	OT_BOOL	Should working set be repaired when negative curvature is discovered during hotstart.
enableNZCTests	OT_BOOL	Enables nonzero curvature tests.
enableRamping	OT_BOOL	Enables ramping.
enableRegularisation	OT_BOOL	Enables automatic Hessian regularisation.
epsDen	OT_DOUBLE	Denominator tolerance for ratio tests.
epsFlipping	OT_DOUBLE	Tolerance of squared Cholesky diagonal factor which triggers flipping bound.
epsIterRef	OT_DOUBLE	Early termination tolerance for iterative refinement.
epsLITests	OT_DOUBLE	Tolerance for linear independence tests.
epsNZCTests	OT_DOUBLE	Tolerance for nonzero curvature tests.
epsNum	OT_DOUBLE	Numerator tolerance for ratio tests.
epsRegularisation	OT_DOUBLE	Scaling factor of identity matrix used for Hessian regularisation.
finalRamping	OT_DOUBLE	Final value for ramping strategy.
growFarBounds	OT_DOUBLE	Factor to grow far bounds.
hessian_type	OT_STRING	Type of Hessian - see qpOASES documentation [UNKNOWN|posdef|semidef|indef|zero|identity]]
initialFarBounds	OT_DOUBLE	Initial size for far bounds.
initialRamping	OT_DOUBLE	Start value for ramping strategy.
initialStatusBounds	OT_STRING	Initial status of bounds at first iteration.
linsol_plugin	OT_STRING	Linear solver plugin
maxDualJump	OT_DOUBLE	Maximum allowed jump in dual variables in linear independence tests.
maxPrimalJump	OT_DOUBLE	Maximum allowed jump in primal variables in nonzero curvature tests.
max_schur	OT_INT	Maximal number of Schur updates [75]
nWSR	OT_INT	The maximum number of working set recalculations to be performed during the initial homotopy. Default is 5(nx + nc)
numRefinementSteps	OT_INT	Maximum number of iterative refinement steps.
numRegularisationSteps	OT_INT	Maximum number of successive regularisation steps.
printLevel	OT_STRING	Defines the amount of text output during QP solution, see Section 5.7
schur	OT_BOOL	Use Schur Complement Approach [false]
sparse	OT_BOOL	Formulate the QP using sparse matrices. [false]
terminationTolerance	OT_DOUBLE	Relative termination tolerance to stop homotopy.

---

sqic

Interface to the SQIC solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_21s

---

superscs

Interface to the SuperSCS solver for conic programming

Joris Gillis, 2019

Extra doc: https://github.com/casadi/casadi/wiki/L_21z

List of available options

Id	Type	Description
superscs	OT_DICT	Options to be passed to superscs.

---

ipqp

Solves QPs using a Mehrotra predictor-corrector interior point method

Extra doc: https://github.com/casadi/casadi/wiki/L_23c

List of available options

Id	Type	Description
constr_viol_tol	OT_DOUBLE	Constraint violation tolerance [1e-8].
dual_inf_tol	OT_DOUBLE	Dual feasibility violation tolerance [1e-8]
linear_solver	OT_STRING	A custom linear solver creator function [default: ldl]
linear_solver_options	OT_DICT	Options to be passed to the linear solver
max_iter	OT_INT	Maximum number of iterations [1000].
min_lam	OT_DOUBLE	Smallest multiplier treated as inactive for the initial active set [0].
print_header	OT_BOOL	Print header [true].
print_info	OT_BOOL	Print info [true].
print_iter	OT_BOOL	Print iterations [true].

---

nlpsol

Solve QPs using an Nlpsol Use the 'nlpsol' option to specify the NLP solver to use.

Extra doc: https://github.com/casadi/casadi/wiki/L_235

List of available options

Id	Type	Description
nlpsol	OT_STRING	Name of solver.
nlpsol_options	OT_DICT	Options to be passed to solver.

---

qrqp

Solve QPs using an active-set method

Extra doc: https://github.com/casadi/casadi/wiki/L_22y

List of available options

Id	Type	Description
constr_viol_tol	OT_DOUBLE	Constraint violation tolerance [1e-8].
dual_inf_tol	OT_DOUBLE	Dual feasibility violation tolerance [1e-8]
max_iter	OT_INT	Maximum number of iterations [1000].
min_lam	OT_DOUBLE	Smallest multiplier treated as inactive for the initial active set [0].
print_header	OT_BOOL	Print header [true].
print_info	OT_BOOL	Print info [true].
print_iter	OT_BOOL	Print iterations [true].
print_lincomb	OT_BOOL	Print dependant linear combinations of constraints [false]. Printed numbers are 0-based indices into the vector of [simple bounds;linear bounds]

Author

Joel Andersson

Date

2011-2015

Extra doc: https://github.com/casadi/casadi/wiki/L_21n

Function Documentation

conic()

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

conic_debug() [1/2]

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

Generate native code in the interfaced language for debugging

conic_debug() [2/2]

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

Generate native code in the interfaced language for debugging

conic_in() [1/2]

CASADI_EXPORT std::vector<std::string> casadi::conic_in

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1ee

conic_in() [2/2]

CASADI_EXPORT std::string casadi::conic_in

(

casadi_int

ind

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1eg

conic_n_in()

CASADI_EXPORT casadi_int casadi::conic_n_in

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1ei

conic_n_out()

CASADI_EXPORT casadi_int casadi::conic_n_out

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1ej

conic_option_info()

CASADI_EXPORT std::string casadi::conic_option_info	(	const std::string &	name,
		const std::string &	op
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1em

conic_option_type()

CASADI_EXPORT std::string casadi::conic_option_type	(	const std::string &	name,
		const std::string &	op
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1el

conic_options()

CASADI_EXPORT std::vector<std::string> casadi::conic_options

(

const std::string &

name

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1ek

conic_out() [1/2]

CASADI_EXPORT std::vector<std::string> casadi::conic_out

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1ef

conic_out() [2/2]

CASADI_EXPORT std::string casadi::conic_out

(

casadi_int

ind

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1eh

doc_conic()

CASADI_EXPORT std::string casadi::doc_conic

(

const std::string &

name

)

has_conic()

CASADI_EXPORT bool casadi::has_conic

(

const std::string &

name

)

load_conic()

CASADI_EXPORT void casadi::load_conic

(

const std::string &

name

)

qpsol() [1/2]

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

qpsol() [2/2]

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