26 #include "fatrop_conic_interface.hpp"
32 "Interface to Fatrop Solver\n"
34 "In order to use this interface, you must:\n"
37 "Decision variables must only by state and control, and the variable \n"
38 "ordering must be [x0 u0 x1 u1 ...]\n"
40 "The constraints must be in order: [ gap0 lincon0 gap1 lincon1 ]\n"
42 "gap: Ak+1 = Ak xk + Bk uk lincon: yk= Ck xk + Dk uk\n"
56 "where I must be a diagonal sparse matrix\n"
57 "Either supply all of N, nx, ng, nu options or rely on automatic \n"
60 "Extra doc: https://github.com/casadi/casadi/wiki/L_27g \n"
64 ">List of available options\n"
66 "+---------------------+--------------+-------------------------------------+\n"
67 "| Id | Type | Description |\n"
68 "+=====================+==============+=====================================+\n"
69 "| N | OT_INT | OCP horizon |\n"
70 "+---------------------+--------------+-------------------------------------+\n"
71 "| fatrop | OT_DICT | Options to be passed to fatrop |\n"
72 "+---------------------+--------------+-------------------------------------+\n"
73 "| ng | OT_INTVECTOR | Number of non-dynamic constraints, |\n"
74 "| | | length N+1 |\n"
75 "+---------------------+--------------+-------------------------------------+\n"
76 "| nu | OT_INTVECTOR | Number of controls, length N |\n"
77 "+---------------------+--------------+-------------------------------------+\n"
78 "| nx | OT_INTVECTOR | Number of states, length N+1 |\n"
79 "+---------------------+--------------+-------------------------------------+\n"
80 "| structure_detection | OT_STRING | NONE | auto | manual |\n"
81 "+---------------------+--------------+-------------------------------------+\n"
static const std::string meta_doc
A documentation string.