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

#include <optistack_internal.hpp>

Detailed Description

Date: 2017

Author: Joris Gillis, Erik Lambrechts

Extra doc: https://github.com/casadi/casadi/wiki/L_172

Definition at line 55 of file optistack_internal.hpp.

Inheritance diagram for casadi::OptiNode:

[legend]

Public Member Functions
	OptiNode (const std::string &problem_type)
	Create Opti Context. More...

	~OptiNode ()
	Destructor. More...

MX	variable (casadi_int n=1, casadi_int m=1, const std::string &attribute="full")
	Create a decision variable (symbol) More...

MX	variable (const Sparsity &sp, const std::string &attribute="full")

MX	variable (const MX &symbol, const std::string &attribute="full")

MX	parameter (casadi_int n=1, casadi_int m=1, const std::string &attribute="full")
	Create a parameter (symbol); fixed during optimization. More...

MX	parameter (const Sparsity &sp, const std::string &attribute="full")
	Create a parameter (symbol); fixed during optimization. More...

MX	parameter (const MX &symbol, const std::string &attribute="full")

void	minimize (const MX &f, double linear_scale=1)
	Set objective. More...

void	subject_to (const MX &g, const DM &linear_scale=1, const Dict &options=Dict())
	brief Add constraints More...

void	subject_to ()
	Clear constraints. More...

void	solver (const std::string &solver, const Dict &plugin_options=Dict(), const Dict &solver_options=Dict())
	Solver. More...

void	set_domain (const MX &x, const std::string &domain)
	Set domain of variable. More...

void	set_linear_scale (const MX &x, const DM &scale, const DM &offset)
	Set scale of a decision variable. More...

OptiSol	solve (bool accept_limit)
	Crunch the numbers; solve the problem. More...

Opti	copy () const
	Copy. More...

Dict	stats () const
	Get statistics. More...

std::string	return_status () const
	Get return status of solver. More...

bool	return_success (bool accept_limit) const
	Did the solver return successfully? More...

Function	casadi_solver () const
	Get the underlying CasADi solver of the Opti stack. More...

Function	scale_helper (const Function &h) const
	Scale a helper function constructed via opti.x, opti.g, ... More...

std::vector< MX >	initial () const
	get assignment expressions for initial values More...

std::vector< MX >	value_variables () const
	get assignment expressions for latest values More...

std::vector< MX >	value_parameters () const

void	callback_class (OptiCallback *callback)

void	callback_class ()

bool	has_callback_class () const

bool	is_parametric (const MX &expr) const
	return true if expression is only dependant on Opti parameters, not variables More...

MetaCon	canon_expr (const MX &expr, const DM &linear_scale=1) const
	Interpret an expression (for internal use only) More...

MetaVar	get_meta (const MX &m) const
	Get meta-data of symbol (for internal use only) More...

MetaCon	get_meta_con (const MX &m) const
	Get meta-data of symbol (for internal use only) More...

void	set_meta (const MX &m, const MetaVar &meta)
	Set meta-data of an expression. More...

void	set_meta_con (const MX &m, const MetaCon &meta)
	Set meta-data of an expression. More...

void	update_user_dict (const MX &m, const Dict &meta)
	add meta-data of an expression More...

Dict	user_dict (const MX &m) const

MX	dual (const MX &m) const
	get the dual variable More...

void	assert_active_symbol (const MX &m) const

std::vector< MX >	symvar (VariableType type) const

std::vector< MX >	active_symvar (VariableType type) const

std::vector< DM >	active_values (VariableType type) const

std::vector< DM >	active_values (VariableType type, const std::map< VariableType, std::vector< DM > > &store) const

MX	x_lookup (casadi_int i) const

MX	g_lookup (casadi_int i) const

std::string	x_describe (casadi_int i, const Dict &opts=Dict()) const

std::string	g_describe (casadi_int i, const Dict &opts=Dict()) const

std::string	describe (const MX &x, casadi_int indent=0, const Dict &opts=Dict()) const

void	solve_prepare ()

Function	solver_construct (bool callback=true)

DMDict	solve_actual (const DMDict &args)

DMDict	arg () const

void	res (const DMDict &res)

DMDict	res () const

std::vector< MX >	constraints () const

MX	objective () const

OptiAdvanced	baked_copy () const

std::string	class_name () const override

casadi_int	nx () const
	Number of (scalarised) decision variables. More...

casadi_int	np () const
	Number of (scalarised) parameters. More...

casadi_int	ng () const
	Number of (scalarised) constraints. More...

MX	x () const
	Get all (scalarised) decision variables as a symbolic column vector. More...

MX	p () const
	Get all (scalarised) parameters as a symbolic column vector. More...

MX	g () const
	Get all (scalarised) constraint expressions as a column vector. More...

MX	f () const
	Get objective expression. More...

MX	lbg () const

MX	ubg () const

MX	lam_g () const
	Get dual variables as a symbolic column vector. More...

DM	x_linear_scale () const

DM	x_linear_scale_offset () const

DM	g_linear_scale () const

double	f_linear_scale () const

void	assert_empty () const

void	show_infeasibilities (double tol=0, const Dict &opts=Dict()) const

Function	to_function (const std::string &name, const std::vector< MX > &args, const std::vector< MX > &res, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts)
	Create a CasADi Function from the Opti solver. More...

void	disp (std::ostream &stream, bool more=false) const override
	Print representation. More...

void	bake ()
	Fix the structure of the optimization problem. More...

casadi_int	instance_number () const

void	mark_problem_dirty (bool flag=true)

bool	problem_dirty () const

void	mark_solver_dirty (bool flag=true)

bool	solver_dirty () const

void	mark_solved (bool flag=true)

bool	solved () const

void	assert_solved () const

void	assert_baked () const

casadi_int	g_index_reduce_g (casadi_int i) const

casadi_int	g_index_reduce_x (casadi_int i) const

casadi_int	g_index_unreduce_g (casadi_int i) const


void	set_initial (const MX &x, const DM &v)

void	set_initial (const std::vector< MX > &assignments)


void	set_value (const MX &x, const DM &v)
	Set value of parameter. More...

void	set_value (const std::vector< MX > &assignments)
	Set value of parameter. More...


DM	value (const MX &x, const std::vector< MX > &values=std::vector< MX >(), bool scaled=false) const

DM	value (const DM &x, const std::vector< MX > &values=std::vector< MX >(), bool scaled=false) const

DM	value (const SX &x, const std::vector< MX > &values=std::vector< MX >(), bool scaled=false) const


std::vector< MX >	symvar () const

std::vector< MX >	symvar (const MX &expr) const

std::vector< MX >	symvar (const MX &expr, VariableType type) const

Static Public Member Functions
static OptiNode *	create (const std::string &problem_type)

Public Attributes
bool	problem_dirty_

bool	solver_dirty_

bool	solved_

Friends
class	InternalOptiCallback

Constructor & Destructor Documentation

◆ OptiNode()

casadi::OptiNode::OptiNode ( const std::string & problem_type )

◆ ~OptiNode()

casadi::OptiNode::~OptiNode ( )

Member Function Documentation

◆ active_symvar()

std::vector<MX> casadi::OptiNode::active_symvar ( VariableType type ) const

◆ active_values() [1/2]

std::vector<DM> casadi::OptiNode::active_values ( VariableType type ) const

◆ active_values() [2/2]

std::vector<DM> casadi::OptiNode::active_values	(	VariableType	type,
		const std::map< VariableType, std::vector< DM > > &	store
	)		const

◆ arg()

DMDict casadi::OptiNode::arg ( ) const

inline

Definition at line 210 of file optistack_internal.hpp.

◆ assert_active_symbol()

void casadi::OptiNode::assert_active_symbol ( const MX & m ) const

◆ assert_baked()

void casadi::OptiNode::assert_baked ( ) const

◆ assert_empty()

void casadi::OptiNode::assert_empty ( ) const

◆ assert_solved()

void casadi::OptiNode::assert_solved ( ) const

◆ bake()

void casadi::OptiNode::bake ( )

◆ baked_copy()

OptiAdvanced casadi::OptiNode::baked_copy ( ) const

inline

Definition at line 216 of file optistack_internal.hpp.

◆ callback_class() [1/2]

void casadi::OptiNode::callback_class ( )

◆ callback_class() [2/2]

void casadi::OptiNode::callback_class ( OptiCallback * callback )

◆ canon_expr()

MetaCon casadi::OptiNode::canon_expr	(	const MX &	expr,
		const DM &	linear_scale = `1`
	)		const

◆ casadi_solver()

Function casadi::OptiNode::casadi_solver ( ) const

◆ class_name()

std::string casadi::OptiNode::class_name ( ) const

inlineoverride

Definition at line 222 of file optistack_internal.hpp.

◆ constraints()

std::vector<MX> casadi::OptiNode::constraints ( ) const

inline

Definition at line 213 of file optistack_internal.hpp.

◆ copy()

Opti casadi::OptiNode::copy ( ) const

◆ create()

static OptiNode* casadi::OptiNode::create ( const std::string & problem_type )

static

◆ describe()

std::string casadi::OptiNode::describe	(	const MX &	x,
		casadi_int	indent = `0`,
		const Dict &	opts = `Dict()`
	)		const

◆ disp()

void casadi::OptiNode::disp	(	std::ostream &	stream,
		bool	more = `false`
	)		const

override

◆ dual()

MX casadi::OptiNode::dual ( const MX & m ) const

◆ f()

MX casadi::OptiNode::f ( ) const

inline

Definition at line 261 of file optistack_internal.hpp.

◆ f_linear_scale()

double casadi::OptiNode::f_linear_scale ( ) const

inline

Definition at line 294 of file optistack_internal.hpp.

◆ g()

MX casadi::OptiNode::g ( ) const

inline

Definition at line 255 of file optistack_internal.hpp.

◆ g_describe()

std::string casadi::OptiNode::g_describe	(	casadi_int	i,
		const Dict &	opts = `Dict()`
	)		const

◆ g_index_reduce_g()

casadi_int casadi::OptiNode::g_index_reduce_g ( casadi_int i ) const

◆ g_index_reduce_x()

casadi_int casadi::OptiNode::g_index_reduce_x ( casadi_int i ) const

◆ g_index_unreduce_g()

casadi_int casadi::OptiNode::g_index_unreduce_g ( casadi_int i ) const

◆ g_linear_scale()

DM casadi::OptiNode::g_linear_scale ( ) const

inline

Definition at line 290 of file optistack_internal.hpp.

◆ g_lookup()

MX casadi::OptiNode::g_lookup ( casadi_int i ) const

◆ get_meta()

MetaVar casadi::OptiNode::get_meta ( const MX & m ) const

◆ get_meta_con()

MetaCon casadi::OptiNode::get_meta_con ( const MX & m ) const

◆ has_callback_class()

bool casadi::OptiNode::has_callback_class ( ) const

◆ initial()

std::vector<MX> casadi::OptiNode::initial ( ) const

◆ instance_number()

casadi_int casadi::OptiNode::instance_number ( ) const

◆ is_parametric()

bool casadi::OptiNode::is_parametric ( const MX & expr ) const

◆ lam_g()

MX casadi::OptiNode::lam_g ( ) const

inline

Definition at line 277 of file optistack_internal.hpp.

◆ lbg()

MX casadi::OptiNode::lbg ( ) const

inline

Definition at line 266 of file optistack_internal.hpp.

◆ mark_problem_dirty()

void casadi::OptiNode::mark_problem_dirty ( bool flag = true )

inline

Definition at line 322 of file optistack_internal.hpp.

◆ mark_solved()

void casadi::OptiNode::mark_solved ( bool flag = true )

inline

Definition at line 330 of file optistack_internal.hpp.

◆ mark_solver_dirty()

void casadi::OptiNode::mark_solver_dirty ( bool flag = true )

inline

Definition at line 326 of file optistack_internal.hpp.

◆ minimize()

void casadi::OptiNode::minimize	(	const MX &	f,
		double	linear_scale = `1`
	)

◆ ng()

casadi_int casadi::OptiNode::ng ( ) const

inline

Definition at line 237 of file optistack_internal.hpp.

◆ np()

casadi_int casadi::OptiNode::np ( ) const

inline

Definition at line 231 of file optistack_internal.hpp.

◆ nx()

casadi_int casadi::OptiNode::nx ( ) const

inline

Definition at line 225 of file optistack_internal.hpp.

◆ objective()

MX casadi::OptiNode::objective ( ) const

inline

Definition at line 214 of file optistack_internal.hpp.

◆ p()

MX casadi::OptiNode::p ( ) const

inline

Definition at line 249 of file optistack_internal.hpp.

◆ parameter() [1/3]

MX casadi::OptiNode::parameter	(	casadi_int	n = `1`,
		casadi_int	m = `1`,
		const std::string &	attribute = `"full"`
	)

◆ parameter() [2/3]

MX casadi::OptiNode::parameter	(	const MX &	symbol,
		const std::string &	attribute = `"full"`
	)

◆ parameter() [3/3]

MX casadi::OptiNode::parameter	(	const Sparsity &	sp,
		const std::string &	attribute = `"full"`
	)

◆ problem_dirty()

bool casadi::OptiNode::problem_dirty ( ) const

inline

Definition at line 323 of file optistack_internal.hpp.

◆ res() [1/2]

DMDict casadi::OptiNode::res ( ) const

inline

Definition at line 212 of file optistack_internal.hpp.

◆ res() [2/2]

void casadi::OptiNode::res ( const DMDict & res )

◆ return_status()

std::string casadi::OptiNode::return_status ( ) const

◆ return_success()

bool casadi::OptiNode::return_success ( bool accept_limit ) const

◆ scale_helper()

Function casadi::OptiNode::scale_helper ( const Function & h ) const

Extra doc: https://github.com/casadi/casadi/wiki/L_2cd

◆ set_domain()

void casadi::OptiNode::set_domain	(	const MX &	x,
		const std::string &	domain
	)

◆ set_initial() [1/2]

void casadi::OptiNode::set_initial	(	const MX &	x,
		const DM &	v
	)

Set initial value for decision variables

◆ set_initial() [2/2]

void casadi::OptiNode::set_initial ( const std::vector< MX > & assignments )

Set initial value for decision variables

◆ set_linear_scale()

void casadi::OptiNode::set_linear_scale	(	const MX &	x,
		const DM &	scale,
		const DM &	offset
	)

◆ set_meta()

void casadi::OptiNode::set_meta	(	const MX &	m,
		const MetaVar &	meta
	)

◆ set_meta_con()

void casadi::OptiNode::set_meta_con	(	const MX &	m,
		const MetaCon &	meta
	)

◆ set_value() [1/2]

void casadi::OptiNode::set_value	(	const MX &	x,
		const DM &	v
	)

Each parameter must be given a value before 'solve' can be called

Extra doc: https://github.com/casadi/casadi/wiki/L_173

◆ set_value() [2/2]

void casadi::OptiNode::set_value ( const std::vector< MX > & assignments )

Each parameter must be given a value before 'solve' can be called

Extra doc: https://github.com/casadi/casadi/wiki/L_173

◆ show_infeasibilities()

void casadi::OptiNode::show_infeasibilities	(	double	tol = `0`,
		const Dict &	opts = `Dict()`
	)		const

◆ solve()

OptiSol casadi::OptiNode::solve ( bool accept_limit )

◆ solve_actual()

DMDict casadi::OptiNode::solve_actual ( const DMDict & args )

◆ solve_prepare()

void casadi::OptiNode::solve_prepare ( )

◆ solved()

bool casadi::OptiNode::solved ( ) const

inline

Definition at line 331 of file optistack_internal.hpp.

◆ solver()

void casadi::OptiNode::solver	(	const std::string &	solver,
		const Dict &	plugin_options = `Dict()`,
		const Dict &	solver_options = `Dict()`
	)

◆ solver_construct()

Function casadi::OptiNode::solver_construct ( bool callback = true )

◆ solver_dirty()

bool casadi::OptiNode::solver_dirty ( ) const

inline

Definition at line 327 of file optistack_internal.hpp.

◆ stats()

Dict casadi::OptiNode::stats ( ) const

◆ subject_to() [1/2]

void casadi::OptiNode::subject_to ( )

◆ subject_to() [2/2]

void casadi::OptiNode::subject_to	(	const MX &	g,
		const DM &	linear_scale = `1`,
		const Dict &	options = `Dict()`
	)

◆ symvar() [1/4]

std::vector<MX> casadi::OptiNode::symvar ( ) const

Get symbols present in expression

◆ symvar() [2/4]

std::vector<MX> casadi::OptiNode::symvar ( const MX & expr ) const

Get symbols present in expression

◆ symvar() [3/4]

std::vector<MX> casadi::OptiNode::symvar	(	const MX &	expr,
		VariableType	type
	)		const

Get symbols present in expression

◆ symvar() [4/4]

std::vector<MX> casadi::OptiNode::symvar ( VariableType type ) const

◆ to_function()

Function casadi::OptiNode::to_function	(	const std::string &	name,
		const std::vector< MX > &	args,
		const std::vector< MX > &	res,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_174

◆ ubg()

MX casadi::OptiNode::ubg ( ) const

inline

Definition at line 271 of file optistack_internal.hpp.

◆ update_user_dict()

void casadi::OptiNode::update_user_dict	(	const MX &	m,
		const Dict &	meta
	)

◆ user_dict()

Dict casadi::OptiNode::user_dict ( const MX & m ) const

◆ value() [1/3]

DM casadi::OptiNode::value	(	const DM &	x,
		const std::vector< MX > &	values = `std::vector<MX>()`,
		bool	scaled = `false`
	)		const

inline

Obtain value of expression at the current value

Definition at line 121 of file optistack_internal.hpp.

◆ value() [2/3]

DM casadi::OptiNode::value	(	const MX &	x,
		const std::vector< MX > &	values = `std::vector< MX >()`,
		bool	scaled = `false`
	)		const

Obtain value of expression at the current value

◆ value() [3/3]

DM casadi::OptiNode::value	(	const SX &	x,
		const std::vector< MX > &	values = `std::vector<MX>()`,
		bool	scaled = `false`
	)		const

inline

Obtain value of expression at the current value

Definition at line 123 of file optistack_internal.hpp.

◆ value_parameters()

std::vector<MX> casadi::OptiNode::value_parameters ( ) const

◆ value_variables()

std::vector<MX> casadi::OptiNode::value_variables ( ) const

◆ variable() [1/3]

MX casadi::OptiNode::variable	(	casadi_int	n = `1`,
		casadi_int	m = `1`,
		const std::string &	attribute = `"full"`
	)

◆ variable() [2/3]

MX casadi::OptiNode::variable	(	const MX &	symbol,
		const std::string &	attribute = `"full"`
	)

◆ variable() [3/3]

MX casadi::OptiNode::variable	(	const Sparsity &	sp,
		const std::string &	attribute = `"full"`
	)

◆ x()

MX casadi::OptiNode::x ( ) const

inline

Definition at line 243 of file optistack_internal.hpp.

◆ x_describe()

std::string casadi::OptiNode::x_describe	(	casadi_int	i,
		const Dict &	opts = `Dict()`
	)		const

◆ x_linear_scale()

DM casadi::OptiNode::x_linear_scale ( ) const

inline

Definition at line 282 of file optistack_internal.hpp.

◆ x_linear_scale_offset()

DM casadi::OptiNode::x_linear_scale_offset ( ) const

inline

Definition at line 286 of file optistack_internal.hpp.

◆ x_lookup()

MX casadi::OptiNode::x_lookup ( casadi_int i ) const

Friends And Related Function Documentation

◆ InternalOptiCallback

friend class InternalOptiCallback

friend

Definition at line 57 of file optistack_internal.hpp.

Member Data Documentation

◆ problem_dirty_

bool casadi::OptiNode::problem_dirty_

Definition at line 321 of file optistack_internal.hpp.

◆ solved_

bool casadi::OptiNode::solved_

Definition at line 329 of file optistack_internal.hpp.

◆ solver_dirty_

bool casadi::OptiNode::solver_dirty_

Definition at line 325 of file optistack_internal.hpp.

The documentation for this class was generated from the following file:

optistack_internal.hpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Constructor & Destructor Documentation

◆ OptiNode()

◆ ~OptiNode()

Member Function Documentation

◆ active_symvar()

◆ active_values() [1/2]

◆ active_values() [2/2]

◆ arg()

◆ assert_active_symbol()

◆ assert_baked()

◆ assert_empty()

◆ assert_solved()

◆ bake()

◆ baked_copy()

◆ callback_class() [1/2]

◆ callback_class() [2/2]

◆ canon_expr()

◆ casadi_solver()

◆ class_name()

◆ constraints()

◆ copy()

◆ create()

◆ describe()

◆ disp()

◆ dual()

◆ f()

◆ f_linear_scale()

◆ g()

◆ g_describe()

◆ g_index_reduce_g()

◆ g_index_reduce_x()

◆ g_index_unreduce_g()

◆ g_linear_scale()

◆ g_lookup()

◆ get_meta()

◆ get_meta_con()

◆ has_callback_class()

◆ initial()

◆ instance_number()

◆ is_parametric()

◆ lam_g()

◆ lbg()

◆ mark_problem_dirty()

◆ mark_solved()

◆ mark_solver_dirty()

◆ minimize()

◆ ng()

◆ np()

◆ nx()

◆ objective()

◆ p()

◆ parameter() [1/3]

◆ parameter() [2/3]

◆ parameter() [3/3]

◆ problem_dirty()

◆ res() [1/2]

◆ res() [2/2]

◆ return_status()

◆ return_success()

◆ scale_helper()

◆ set_domain()

◆ set_initial() [1/2]

◆ set_initial() [2/2]

◆ set_linear_scale()

◆ set_meta()

◆ set_meta_con()

◆ set_value() [1/2]

◆ set_value() [2/2]

◆ show_infeasibilities()

◆ solve()

◆ solve_actual()

◆ solve_prepare()

◆ solved()

◆ solver()

◆ solver_construct()