# This file was automatically generated by SWIG (http://www.swig.org). # Version 3.0.11 # # Do not make changes to this file unless you know what you are doing--modify # the SWIG interface file instead. from sys import version_info as _swig_python_version_info if _swig_python_version_info >= (2, 7, 0): def swig_import_helper(): import importlib pkg = __name__.rpartition('.')[0] mname = '.'.join((pkg, '_casadi')).lstrip('.') try: return importlib.import_module(mname) except ImportError: return importlib.import_module('_casadi') _casadi = swig_import_helper() del swig_import_helper elif _swig_python_version_info >= (2, 6, 0): def swig_import_helper(): from os.path import dirname import imp fp = None try: fp, pathname, description = imp.find_module('_casadi', [dirname(__file__)]) except ImportError: import _casadi return _casadi if fp is not None: try: _mod = imp.load_module('_casadi', fp, pathname, description) finally: fp.close() return _mod _casadi = swig_import_helper() del swig_import_helper else: import _casadi del _swig_python_version_info try: _swig_property = property except NameError: pass # Python < 2.2 doesn't have 'property'. try: import builtins as __builtin__ except ImportError: import __builtin__ def _swig_setattr_nondynamic(self, class_type, name, value, static=1): if (name == "thisown"): return self.this.own(value) if (name == "this"): if type(value).__name__ == 'SwigPyObject': self.__dict__[name] = value return method = class_type.__swig_setmethods__.get(name, None) if method: return method(self, value) if (not static): if _newclass: object.__setattr__(self, name, value) else: self.__dict__[name] = value else: raise AttributeError("You cannot add attributes to %s" % self) def _swig_setattr(self, class_type, name, value): return _swig_setattr_nondynamic(self, class_type, name, value, 0) def _swig_getattr(self, class_type, name): if (name == "thisown"): return self.this.own() method = class_type.__swig_getmethods__.get(name, None) if method: return method(self) raise AttributeError("'%s' object has no attribute '%s'" % (class_type.__name__, name)) def _swig_repr(self): try: strthis = "proxy of " + self.this.__repr__() except __builtin__.Exception: strthis = "" return "<%s.%s; %s >" % (self.__class__.__module__, self.__class__.__name__, strthis,) try: _object = object _newclass = 1 except __builtin__.Exception: class _object: pass _newclass = 0 try: import weakref weakref_proxy = weakref.proxy except __builtin__.Exception: weakref_proxy = lambda x: x CASADI_INT_TYPE_STR = _casadi.CASADI_INT_TYPE_STR SOLVER_RET_SUCCESS = _casadi.SOLVER_RET_SUCCESS SOLVER_RET_UNKNOWN = _casadi.SOLVER_RET_UNKNOWN SOLVER_RET_LIMITED = _casadi.SOLVER_RET_LIMITED SOLVER_RET_NAN = _casadi.SOLVER_RET_NAN SOLVER_RET_INFEASIBLE = _casadi.SOLVER_RET_INFEASIBLE SOLVER_RET_EXCEPTION = _casadi.SOLVER_RET_EXCEPTION import contextlib class _copyableObject(object): def __copy__(self): return self.__class__(self) def __deepcopy__(self,dummy=None): return self.__class__(self) _object = object = _copyableObject _swig_repr_default = _swig_repr def _swig_repr(self): if hasattr(self,'repr'): return self.repr() else: return _swig_repr_default(self) def DM_from_array(m, check_only=True): import numpy as np if isinstance(m, np.ndarray): if len(m.shape)>2: return False try: m = m.astype(float,casting="same_kind",copy=False) except: return False if check_only: return True else: shape = m.shape + (1, 1) nrow, ncol = shape[0], shape[1] return (nrow,ncol,m.flat) return False def IM_from_array(m, check_only=True): import numpy as np if isinstance(m, np.ndarray): if len(m.shape)>2: return False try: m = m.astype(int,casting="same_kind",copy=False) except: return False if check_only: return True else: shape = m.shape + (1, 1) nrow, ncol = shape[0], shape[1] return (nrow,ncol,m.flat) return False def SX_from_array(m, check_only=True): import numpy as np if isinstance(m, np.ndarray): if len(m.shape)>2: return False if m.dtype!=object: return None shape = m.shape + (1, 1) nrow, ncol = shape[0], shape[1] return (nrow,ncol,m.flat) return False def DM_from_csc(m, check_only=True): if hasattr(m,"tocsc"): m = m.tocsc() if m.__class__.__name__ == "csc_matrix": if len(m.shape)!=2: return False if check_only: return True return m.shape + (m.indptr.flat,m.indices.flat,m.data.flat) return False MNAME = _casadi.MNAME class SwigPyIterator(_object): """ :: SwigPyIterator() -> """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, SwigPyIterator, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, SwigPyIterator, name) def __init__(self, *args, **kwargs): raise AttributeError("No constructor defined - class is abstract") __repr__ = _swig_repr __swig_destroy__ = _casadi.delete_SwigPyIterator def value(self, *args) -> "PyObject *": """ :: value(self) -> PyObject * """ return _casadi.SwigPyIterator_value(self, *args) def incr(self, *args) -> "swig::SwigPyIterator *": """ :: incr(self, size_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator_incr(self, *args) def decr(self, *args) -> "swig::SwigPyIterator *": """ :: decr(self, size_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator_decr(self, *args) def distance(self, *args) -> "ptrdiff_t": """ :: distance(self, SwigPyIterator x) -> ptrdiff_t """ return _casadi.SwigPyIterator_distance(self, *args) def equal(self, *args) -> "bool": """ :: equal(self, SwigPyIterator x) -> bool """ return _casadi.SwigPyIterator_equal(self, *args) def copy(self, *args) -> "swig::SwigPyIterator *": """ :: copy(self) -> SwigPyIterator """ return _casadi.SwigPyIterator_copy(self, *args) def next(self, *args) -> "PyObject *": """ :: next(self) -> PyObject * """ return _casadi.SwigPyIterator_next(self, *args) def __next__(self, *args) -> "PyObject *": """ :: __next__(self) -> PyObject * """ return _casadi.SwigPyIterator___next__(self, *args) def previous(self, *args) -> "PyObject *": """ :: previous(self) -> PyObject * """ return _casadi.SwigPyIterator_previous(self, *args) def advance(self, *args) -> "swig::SwigPyIterator *": """ :: advance(self, ptrdiff_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator_advance(self, *args) def __eq__(self, *args) -> "bool": """ :: __eq__(self, SwigPyIterator x) -> bool """ return _casadi.SwigPyIterator___eq__(self, *args) def __ne__(self, *args) -> "bool": """ :: __ne__(self, SwigPyIterator x) -> bool """ return _casadi.SwigPyIterator___ne__(self, *args) def __iadd__(self, *args) -> "swig::SwigPyIterator &": """ :: __iadd__(self, ptrdiff_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator___iadd__(self, *args) def __isub__(self, *args) -> "swig::SwigPyIterator &": """ :: __isub__(self, ptrdiff_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator___isub__(self, *args) def __add__(self, *args) -> "swig::SwigPyIterator *": """ :: __add__(self, ptrdiff_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator___add__(self, *args) def __sub__(self, *args) -> "ptrdiff_t": """ :: __sub__(self, SwigPyIterator x) -> ptrdiff_t __sub__(self, ptrdiff_t n) -> SwigPyIterator """ return _casadi.SwigPyIterator___sub__(self, *args) def __iter__(self): return self SwigPyIterator_swigregister = _casadi.SwigPyIterator_swigregister SwigPyIterator_swigregister(SwigPyIterator) L_INT = _casadi.L_INT L_BOOL = _casadi.L_BOOL LL = _casadi.LL LR = _casadi.LR L_DICT = _casadi.L_DICT L_DOUBLE = _casadi.L_DOUBLE L_STR = _casadi.L_STR LABEL = _casadi.LABEL if __name__ != "casadi.casadi": raise Exception(""" CasADi is not running from its package context. You probably specified the wrong casadi directory. When setting PYTHONPATH or sys.path.append, take care not to add a trailing '/casadi'. """) def swigtypeconvertor(*args): return swig_typename_convertor_python2cpp(args) def swig_typename_convertor_python2cpp(a): try: import numpy as np except: class NoExist: pass class Temp(object): ndarray = NoExist np = Temp() if isinstance(a,list): if len(a)>0: return "[%s]" % "|".join(set([swig_typename_convertor_python2cpp(i) for i in a])) else: return "[]" elif isinstance(a,tuple): return "(%s)" % ",".join([swig_typename_convertor_python2cpp(i) for i in a]) elif isinstance(a,np.ndarray): return "np.array(%s)" % ",".join(set([swig_typename_convertor_python2cpp(i) for i in np.array(a).flatten().tolist()])) elif isinstance(a,dict): if len(a)>0: return "|".join(set([swig_typename_convertor_python2cpp(i) for i in a.keys()])) +":"+ "|".join(set([swig_typename_convertor_python2cpp(i) for i in a.values()])) else: return "dict" return type(a).__name__ try: from numpy import pi, inf, sum except: pass arcsin = lambda x: _casadi.asin(x) arccos = lambda x: _casadi.acos(x) arctan = lambda x: _casadi.atan(x) arctan2 = lambda x,y: _casadi.atan2(x, y) arctanh = lambda x: _casadi.atanh(x) arcsinh = lambda x: _casadi.asinh(x) arccosh = lambda x: _casadi.acosh(x) def veccat(*args): try: if len(args)==0: return DM(0,1) except: pass return _veccat(args) def vertcat(*args): try: if len(args)==0: return DM(0,1) except: pass return _vertcat(args) def horzcat(*args): try: if len(args)==0: return DM(1,0) except: pass return _horzcat(args) def diagcat(*args): try: if len(args)==0: return DM(0,0) except: pass return _diagcat(args) def vvcat(args): try: if len(args)==0: return DM(0,1) except: pass return _veccat(args) def vcat(args): try: if len(args)==0: return DM(0,1) except: pass return _vertcat(args) def hcat(args): try: if len(args)==0: return DM(1,0) except: pass return _horzcat(args) def dcat(args): try: if len(args)==0: return DM(0,0) except: pass return _diagcat(args) class NZproxy: def __init__(self,matrix): self.matrix = matrix def __getitem__(self,s): return self.matrix.get_nz(False, s) def __setitem__(self,s,val): return self.matrix.set_nz(val, False, s) def __len__(self): return self.matrix.nnz() def __iter__(self): for i in range(len(self)): yield self[i] class PrintableCommon(_object): """ :: PrintableCommon() -> """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, PrintableCommon, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, PrintableCommon, name) __repr__ = _swig_repr def __str__(self): return self.str() def repr(self): return self.type_name() + '(' + self.str() + ')' def __init__(self, *args): """ :: PrintableCommon() PrintableCommon(PrintableCommon other) """ this = _casadi.new_PrintableCommon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_PrintableCommon PrintableCommon_swigregister = _casadi.PrintableCommon_swigregister PrintableCommon_swigregister(PrintableCommon) class GenSharedObject(_object): """ [INTERNAL] C++ includes: generic_shared.hpp :: """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, GenSharedObject, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, GenSharedObject, name) __repr__ = _swig_repr def debug_repr(self, *args) -> "std::string": """ :: debug_repr(self) -> str """ return _casadi.GenSharedObject_debug_repr(self, *args) def is_null(self, *args) -> "bool": """ :: is_null(self) -> bool """ return _casadi.GenSharedObject_is_null(self, *args) def __hash__(self, *args) -> "casadi_int": """ [INTERNAL] :: __hash__(self) -> int Returns a number that is unique for a given Node. If the Object does not point to any node, "0" is returned. Extra doc: https://github.com/casadi/casadi/wiki/L_av Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_shared.hpp#L124 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_shared_impl.hpp#L141-L143 """ return _casadi.GenSharedObject___hash__(self, *args) def __init__(self, *args): """ :: GenSharedObject() GenSharedObject(GenSharedObject other) """ this = _casadi.new_GenSharedObject(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenSharedObject GenSharedObject_swigregister = _casadi.GenSharedObject_swigregister GenSharedObject_swigregister(GenSharedObject) class GenWeakRef(GenSharedObject): """ [INTERNAL] C++ includes: generic_shared.hpp :: """ __swig_setmethods__ = {} for _s in [GenSharedObject]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, GenWeakRef, name, value) __swig_getmethods__ = {} for _s in [GenSharedObject]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, GenWeakRef, name) __repr__ = _swig_repr def is_null(self, *args) -> "bool": """ :: is_null(self) -> bool """ return _casadi.GenWeakRef_is_null(self, *args) def shared(self, *args) -> "casadi::SharedObject": """ :: shared(self) -> SharedObject """ return _casadi.GenWeakRef_shared(self, *args) def alive(self, *args) -> "bool": """ :: alive(self) -> bool """ return _casadi.GenWeakRef_alive(self, *args) def shared_if_alive(self, *args) -> "bool": """ :: shared_if_alive(self, SharedObject shared) -> bool """ return _casadi.GenWeakRef_shared_if_alive(self, *args) def __init__(self, *args): """ :: GenWeakRef(int dummy) GenWeakRef(SharedObject shared) GenWeakRef(GenWeakRef other) """ this = _casadi.new_GenWeakRef(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenWeakRef GenWeakRef_swigregister = _casadi.GenWeakRef_swigregister GenWeakRef_swigregister(GenWeakRef) class SharedObject(GenSharedObject): """ [INTERNAL] :: GenericShared implements a reference counting framework similar for efficient and. easily-maintained memory management. To use the class, both the GenericShared class (the public class), and the GenericSharedInternal class (the internal class) must be inherited from. It can be done in two different files and together with memory management, this approach provides a clear distinction of which methods of the class are to be considered "public", i.e. methods for public use that can be considered to remain over time with small changes, and the internal memory. When interfacing a software, which typically includes including some header file, this is best done only in the file where the internal class is defined, to avoid polluting the global namespace and other side effects. The default constructor always means creating a null pointer to an internal class only. To allocate an internal class (this works only when the internal class isn't abstract), use the constructor with arguments. The copy constructor and the assignment operator perform shallow copies only, to make a deep copy you must use the clone method explicitly. This will give a shared pointer instance. In an inheritance hierarchy, you can cast down automatically, e.g. (SXFunction is a child class of Function): SXFunction derived(...); Function base = derived; To cast up, use the shared_cast template function, which works analogously to dynamic_cast, static_cast, const_cast etc, e.g.: SXFunction derived(...); Function base = derived; SXFunction derived_from_base = shared_cast(base); A failed shared_cast will result in a null pointer (cf. dynamic_cast) Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_as C++ includes: shared_object.hpp """ __swig_setmethods__ = {} for _s in [GenSharedObject]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, SharedObject, name, value) __swig_getmethods__ = {} for _s in [GenSharedObject]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, SharedObject, name) __repr__ = _swig_repr def class_name(self, *args) -> "std::string": """ [INTERNAL] :: class_name(self) -> str Get class name. Extra doc: https://github.com/casadi/casadi/wiki/L_au Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.hpp#L85 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.cpp#L31-L33 """ return _casadi.SharedObject_class_name(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print a description of the object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.hpp#L88 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.cpp#L35-L41 """ return _casadi.SharedObject_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.hpp#L91 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/shared_object.hpp#L91-L95 """ return _casadi.SharedObject_str(self, *args) def print_ptr(self, *args) -> "void": """ :: print_ptr(self) """ return _casadi.SharedObject_print_ptr(self, *args) def __init__(self, *args): """ :: SharedObject() SharedObject(SharedObject other) """ this = _casadi.new_SharedObject(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_SharedObject SharedObject_swigregister = _casadi.SharedObject_swigregister SharedObject_swigregister(SharedObject) class WeakRef(GenWeakRef): """ [INTERNAL] :: Weak reference type. A weak reference to a GenericShared Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_ax C++ includes: shared_object.hpp """ __swig_setmethods__ = {} for _s in [GenWeakRef]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, WeakRef, name, value) __swig_getmethods__ = {} for _s in [GenWeakRef]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, WeakRef, name) __repr__ = _swig_repr def __init__(self, *args): """ :: WeakRef(int dummy) WeakRef(SharedObject shared) WeakRef(WeakRef other) ....... :: WeakRef(WeakRef other) ............. ....... :: WeakRef(int dummy) WeakRef(SharedObject shared) [INTERNAL] ............. """ this = _casadi.new_WeakRef(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_WeakRef WeakRef_swigregister = _casadi.WeakRef_swigregister WeakRef_swigregister(WeakRef) def complement(*args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: complement([int] v, int size) -> [int] Returns the list of all i in [0, size[ not found in supplied list. 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L137 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.cpp#L137-L153 """ return _casadi.complement(*args) def lookupvector(*args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: lookupvector([int] v) -> [int] lookupvector([int] v, int size) -> [int] ....... :: lookupvector([int] v) [INTERNAL] ............. ....... :: lookupvector([int] v, int size) [INTERNAL] Returns a vector for quickly looking up entries of supplied list. 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L155 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.cpp#L155-L164 ............. """ return _casadi.lookupvector(*args) def temporary_file(*args) -> "std::string": """ [INTERNAL] :: temporary_file(str prefix, str suffix) -> str """ return _casadi.temporary_file(*args) def normalized_setup(*args) -> "void": """ [INTERNAL] :: normalized_setup() normalized_setup(std::istream & stream) """ return _casadi.normalized_setup(*args) class StreamStateGuard(_object): """ [INTERNAL] C++ includes: casadi_misc.hpp :: """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, StreamStateGuard, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, StreamStateGuard, name) __repr__ = _swig_repr __swig_destroy__ = _casadi.delete_StreamStateGuard def __init__(self, *args): """ :: StreamStateGuard(std::ostream & os) StreamStateGuard(StreamStateGuard other) ....... :: StreamStateGuard(StreamStateGuard other) ............. ....... :: StreamStateGuard(std::ostream & os) [INTERNAL] ............. """ this = _casadi.new_StreamStateGuard(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this StreamStateGuard_swigregister = _casadi.StreamStateGuard_swigregister StreamStateGuard_swigregister(StreamStateGuard) def normalized_out(*args) -> "void": """ [INTERNAL] :: normalized_out(float val) """ return _casadi.normalized_out(*args) def normalized_in(*args) -> "int": """ [INTERNAL] :: normalized_in(std::istream & stream, double & ret) -> int """ return _casadi.normalized_in(*args) SWIG_IND1 = _casadi.SWIG_IND1 class GenericType(PrintableCommon): """ [INTERNAL] :: Generic data type, can hold different types such as bool, casadi_int, std::string etc. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_17n C++ includes: generic_type.hpp """ __swig_setmethods__ = {} for _s in [PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, GenericType, name, value) __swig_getmethods__ = {} for _s in [PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, GenericType, name) __repr__ = _swig_repr def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_17r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_type.hpp#L249 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_type.cpp#L742-L745 """ return _casadi.GenericType_serialize(self, *args) def deserialize(*args) -> "casadi::GenericType": """ :: deserialize(casadi::DeserializingStream & s) -> GenericType """ return _casadi.GenericType_deserialize(*args) deserialize = staticmethod(deserialize) def __init__(self, *args): """ :: GenericType() GenericType(GenericType other) ....... :: GenericType(GenericType other) ............. ....... :: GenericType() [INTERNAL] Default constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_type.hpp#L85 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_type.cpp#L249-L250 ............. """ this = _casadi.new_GenericType(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenericType GenericType_swigregister = _casadi.GenericType_swigregister GenericType_swigregister(GenericType) def GenericType_deserialize(*args) -> "casadi::GenericType": """ :: deserialize(casadi::DeserializingStream & s) -> GenericType """ return _casadi.GenericType_deserialize(*args) OP_ASSIGN = _casadi.OP_ASSIGN OP_ADD = _casadi.OP_ADD OP_SUB = _casadi.OP_SUB OP_MUL = _casadi.OP_MUL OP_DIV = _casadi.OP_DIV OP_NEG = _casadi.OP_NEG OP_EXP = _casadi.OP_EXP OP_LOG = _casadi.OP_LOG OP_POW = _casadi.OP_POW OP_CONSTPOW = _casadi.OP_CONSTPOW OP_SQRT = _casadi.OP_SQRT OP_SQ = _casadi.OP_SQ OP_TWICE = _casadi.OP_TWICE OP_SIN = _casadi.OP_SIN OP_COS = _casadi.OP_COS OP_TAN = _casadi.OP_TAN OP_ASIN = _casadi.OP_ASIN OP_ACOS = _casadi.OP_ACOS OP_ATAN = _casadi.OP_ATAN OP_LT = _casadi.OP_LT OP_LE = _casadi.OP_LE OP_EQ = _casadi.OP_EQ OP_NE = _casadi.OP_NE OP_NOT = _casadi.OP_NOT OP_AND = _casadi.OP_AND OP_OR = _casadi.OP_OR OP_FLOOR = _casadi.OP_FLOOR OP_CEIL = _casadi.OP_CEIL OP_FMOD = _casadi.OP_FMOD OP_FABS = _casadi.OP_FABS OP_SIGN = _casadi.OP_SIGN OP_COPYSIGN = _casadi.OP_COPYSIGN OP_IF_ELSE_ZERO = _casadi.OP_IF_ELSE_ZERO OP_ERF = _casadi.OP_ERF OP_FMIN = _casadi.OP_FMIN OP_FMAX = _casadi.OP_FMAX OP_INV = _casadi.OP_INV OP_SINH = _casadi.OP_SINH OP_COSH = _casadi.OP_COSH OP_TANH = _casadi.OP_TANH OP_ASINH = _casadi.OP_ASINH OP_ACOSH = _casadi.OP_ACOSH OP_ATANH = _casadi.OP_ATANH OP_ATAN2 = _casadi.OP_ATAN2 OP_CONST = _casadi.OP_CONST OP_INPUT = _casadi.OP_INPUT OP_OUTPUT = _casadi.OP_OUTPUT OP_PARAMETER = _casadi.OP_PARAMETER OP_CALL = _casadi.OP_CALL OP_FIND = _casadi.OP_FIND OP_LOW = _casadi.OP_LOW OP_MAP = _casadi.OP_MAP OP_MTIMES = _casadi.OP_MTIMES OP_SOLVE = _casadi.OP_SOLVE OP_TRANSPOSE = _casadi.OP_TRANSPOSE OP_DETERMINANT = _casadi.OP_DETERMINANT OP_INVERSE = _casadi.OP_INVERSE OP_DOT = _casadi.OP_DOT OP_BILIN = _casadi.OP_BILIN OP_RANK1 = _casadi.OP_RANK1 OP_HORZCAT = _casadi.OP_HORZCAT OP_VERTCAT = _casadi.OP_VERTCAT OP_DIAGCAT = _casadi.OP_DIAGCAT OP_HORZSPLIT = _casadi.OP_HORZSPLIT OP_VERTSPLIT = _casadi.OP_VERTSPLIT OP_DIAGSPLIT = _casadi.OP_DIAGSPLIT OP_RESHAPE = _casadi.OP_RESHAPE OP_SUBREF = _casadi.OP_SUBREF OP_SUBASSIGN = _casadi.OP_SUBASSIGN OP_GETNONZEROS = _casadi.OP_GETNONZEROS OP_GETNONZEROS_PARAM = _casadi.OP_GETNONZEROS_PARAM OP_ADDNONZEROS = _casadi.OP_ADDNONZEROS OP_ADDNONZEROS_PARAM = _casadi.OP_ADDNONZEROS_PARAM OP_SETNONZEROS = _casadi.OP_SETNONZEROS OP_SETNONZEROS_PARAM = _casadi.OP_SETNONZEROS_PARAM OP_PROJECT = _casadi.OP_PROJECT OP_ASSERTION = _casadi.OP_ASSERTION OP_MONITOR = _casadi.OP_MONITOR OP_NORM2 = _casadi.OP_NORM2 OP_NORM1 = _casadi.OP_NORM1 OP_NORMINF = _casadi.OP_NORMINF OP_NORMF = _casadi.OP_NORMF OP_MMIN = _casadi.OP_MMIN OP_MMAX = _casadi.OP_MMAX OP_HORZREPMAT = _casadi.OP_HORZREPMAT OP_HORZREPSUM = _casadi.OP_HORZREPSUM OP_ERFINV = _casadi.OP_ERFINV OP_PRINTME = _casadi.OP_PRINTME OP_LIFT = _casadi.OP_LIFT OP_EINSTEIN = _casadi.OP_EINSTEIN OP_BSPLINE = _casadi.OP_BSPLINE OP_CONVEXIFY = _casadi.OP_CONVEXIFY OP_SPARSITY_CAST = _casadi.OP_SPARSITY_CAST OP_LOG1P = _casadi.OP_LOG1P OP_EXPM1 = _casadi.OP_EXPM1 OP_HYPOT = _casadi.OP_HYPOT OP_LOGSUMEXP = _casadi.OP_LOGSUMEXP OP_REMAINDER = _casadi.OP_REMAINDER class SparsityInterfaceCommon(_object): """ [INTERNAL] :: SparsityInterfaceCommon() -> Sparsity interface class. This is a common base class for GenericMatrix (i.e. MX and Matrix<>) and Sparsity, introducing a uniform syntax and implementing common functionality using the curiously recurring template pattern (CRTP) idiom. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_3d C++ includes: sparsity_interface.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, SparsityInterfaceCommon, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, SparsityInterfaceCommon, name) __repr__ = _swig_repr def __init__(self, *args): """ :: SparsityInterfaceCommon() SparsityInterfaceCommon(SparsityInterfaceCommon other) """ this = _casadi.new_SparsityInterfaceCommon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_SparsityInterfaceCommon SparsityInterfaceCommon_swigregister = _casadi.SparsityInterfaceCommon_swigregister SparsityInterfaceCommon_swigregister(SparsityInterfaceCommon) class Sparsity(SharedObject, SparsityInterfaceCommon, PrintableCommon): """ :: """ __swig_setmethods__ = {} for _s in [SharedObject, SparsityInterfaceCommon, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Sparsity, name, value) __swig_getmethods__ = {} for _s in [SharedObject, SparsityInterfaceCommon, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Sparsity, name) __repr__ = _swig_repr def scalar(*args) -> "casadi::Sparsity": """ :: scalar(bool dense_scalar) -> Sparsity """ return _casadi.Sparsity_scalar(*args) scalar = staticmethod(scalar) def dense(*args) -> "casadi::Sparsity": """ :: dense(int nrow, int ncol) -> Sparsity dense((int,int) rc) -> Sparsity """ return _casadi.Sparsity_dense(*args) dense = staticmethod(dense) def unit(*args) -> "casadi::Sparsity": """ :: unit(int n, int el) -> Sparsity """ return _casadi.Sparsity_unit(*args) unit = staticmethod(unit) def upper(*args) -> "casadi::Sparsity": """ :: upper(int n) -> Sparsity """ return _casadi.Sparsity_upper(*args) upper = staticmethod(upper) def lower(*args) -> "casadi::Sparsity": """ :: lower(int n) -> Sparsity """ return _casadi.Sparsity_lower(*args) lower = staticmethod(lower) def diag(*args) -> "casadi::Sparsity": """ :: diag(int nrow) -> Sparsity diag((int,int) rc) -> Sparsity diag(int nrow, int ncol) -> Sparsity """ return _casadi.Sparsity_diag(*args) diag = staticmethod(diag) def band(*args) -> "casadi::Sparsity": """ :: band(int n, int p) -> Sparsity """ return _casadi.Sparsity_band(*args) band = staticmethod(band) def banded(*args) -> "casadi::Sparsity": """ :: banded(int n, int p) -> Sparsity """ return _casadi.Sparsity_banded(*args) banded = staticmethod(banded) def rowcol(*args) -> "casadi::Sparsity": """ :: rowcol([int] row, [int] col, int nrow, int ncol) -> Sparsity """ return _casadi.Sparsity_rowcol(*args) rowcol = staticmethod(rowcol) def triplet(*args) -> "casadi::Sparsity": """ :: triplet(int nrow, int ncol, [int] row, [int] col) -> Sparsity triplet(int nrow, int ncol, [int] row, [int] col, bool invert_mapping) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_triplet(*args) triplet = staticmethod(triplet) def nonzeros(*args) -> "casadi::Sparsity": """ :: nonzeros(int nrow, int ncol, [int] nz, bool ind1) -> Sparsity """ return _casadi.Sparsity_nonzeros(*args) nonzeros = staticmethod(nonzeros) def compressed(*args) -> "casadi::Sparsity": """ :: compressed([int] v, bool order_rows) -> Sparsity """ return _casadi.Sparsity_compressed(*args) compressed = staticmethod(compressed) def permutation(*args) -> "casadi::Sparsity": """ :: permutation([int] p, bool invert) -> Sparsity """ return _casadi.Sparsity_permutation(*args) permutation = staticmethod(permutation) def permutation_vector(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > > const": """ :: permutation_vector(self, bool invert) -> [int] """ return _casadi.Sparsity_permutation_vector(self, *args) def get_diag(self, *args) -> "casadi::Sparsity": """ :: get_diag(self) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_get_diag(self, *args) def compress(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: compress(self, bool canonical) -> [int] """ return _casadi.Sparsity_compress(self, *args) def is_equal(self, *args) -> "bool": """ :: is_equal(self, Sparsity y) -> bool is_equal(self, int nrow, int ncol, [int] colind, [int] row) -> bool """ return _casadi.Sparsity_is_equal(self, *args) def __eq__(self, *args) -> "bool": """ :: __eq__(self, Sparsity y) -> bool """ return _casadi.Sparsity___eq__(self, *args) def __ne__(self, *args) -> "bool": """ :: __ne__(self, Sparsity y) -> bool """ return _casadi.Sparsity___ne__(self, *args) def is_stacked(self, *args) -> "bool": """ :: is_stacked(self, Sparsity y, int n) -> bool """ return _casadi.Sparsity_is_stacked(self, *args) def size1(self, *args) -> "casadi_int": """ :: size1(self) -> int """ return _casadi.Sparsity_size1(self, *args) def rows(self, *args) -> "casadi_int": """ :: rows(self) -> int """ return _casadi.Sparsity_rows(self, *args) def size2(self, *args) -> "casadi_int": """ :: size2(self) -> int """ return _casadi.Sparsity_size2(self, *args) def columns(self, *args) -> "casadi_int": """ :: columns(self) -> int """ return _casadi.Sparsity_columns(self, *args) def numel(self, *args) -> "casadi_int": """ :: numel(self) -> int """ return _casadi.Sparsity_numel(self, *args) def density(self, *args) -> "double": """ :: density(self) -> float """ return _casadi.Sparsity_density(self, *args) def is_empty(self, *args) -> "bool": """ :: is_empty(self, bool both) -> bool """ return _casadi.Sparsity_is_empty(self, *args) def nnz(self, *args) -> "casadi_int": """ :: nnz(self) -> int """ return _casadi.Sparsity_nnz(self, *args) def nnz_upper(self, *args) -> "casadi_int": """ :: nnz_upper(self, bool strictly) -> int """ return _casadi.Sparsity_nnz_upper(self, *args) def nnz_lower(self, *args) -> "casadi_int": """ :: nnz_lower(self, bool strictly) -> int """ return _casadi.Sparsity_nnz_lower(self, *args) def nnz_diag(self, *args) -> "casadi_int": """ :: nnz_diag(self) -> int """ return _casadi.Sparsity_nnz_diag(self, *args) def bw_upper(self, *args) -> "casadi_int": """ :: bw_upper(self) -> int """ return _casadi.Sparsity_bw_upper(self, *args) def bw_lower(self, *args) -> "casadi_int": """ :: bw_lower(self) -> int """ return _casadi.Sparsity_bw_lower(self, *args) def size(self, *args) -> "casadi_int": """ :: size(self) -> (int,int) size(self, int axis) -> int """ return _casadi.Sparsity_size(self, *args) def info(self, *args) -> "casadi::Dict": """ :: info(self) -> dict """ return _casadi.Sparsity_info(self, *args) def to_file(self, *args) -> "void": """ :: to_file(self, str filename, str format_hint) """ return _casadi.Sparsity_to_file(self, *args) def from_file(*args) -> "casadi::Sparsity": """ :: from_file(str filename, str format_hint) -> Sparsity """ return _casadi.Sparsity_from_file(*args) from_file = staticmethod(from_file) def serialize(self, *args) -> "void": """ :: serialize(self) -> str serialize(self, casadi::SerializingStream & s) """ return _casadi.Sparsity_serialize(self, *args) def deserialize(*args) -> "casadi::Sparsity": """ :: deserialize(std::istream & stream) -> Sparsity deserialize(casadi::DeserializingStream & s) -> Sparsity deserialize(str s) -> Sparsity """ return _casadi.Sparsity_deserialize(*args) deserialize = staticmethod(deserialize) def colind(self, *args) -> "casadi_int": """ :: colind(self) -> [int] colind(self, int cc) -> int """ return _casadi.Sparsity_colind(self, *args) def row(self, *args) -> "casadi_int": """ :: row(self) -> [int] row(self, int el) -> int """ return _casadi.Sparsity_row(self, *args) def get_col(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: get_col(self) -> [int] """ return _casadi.Sparsity_get_col(self, *args) def resize(self, *args) -> "void": """ :: resize(self, int nrow, int ncol) """ return _casadi.Sparsity_resize(self, *args) def add_nz(self, *args) -> "casadi_int": """ :: add_nz(self, int rr, int cc) -> int """ return _casadi.Sparsity_add_nz(self, *args) def has_nz(self, *args) -> "bool": """ :: has_nz(self, int rr, int cc) -> bool """ return _casadi.Sparsity_has_nz(self, *args) def get_nz(self, *args) -> "void": """ :: get_nz(self) -> [int] get_nz(self, int rr, int cc) -> int get_nz(self, [int] rr, [int] cc) -> [int] """ return _casadi.Sparsity_get_nz(self, *args) def get_lower(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: get_lower(self) -> [int] """ return _casadi.Sparsity_get_lower(self, *args) def get_upper(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: get_upper(self) -> [int] """ return _casadi.Sparsity_get_upper(self, *args) def get_ccs(self, *args) -> "void": """ :: get_ccs(self) -> ([int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_get_ccs(self, *args) def get_crs(self, *args) -> "void": """ :: get_crs(self) -> ([int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_get_crs(self, *args) def get_triplet(self, *args) -> "void": """ :: get_triplet(self) -> ([int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_get_triplet(self, *args) def sub(self, *args) -> "casadi::Sparsity": """ :: sub(self, [int] rr, Sparsity sp, bool ind1) -> (Sparsity , [int] OUTPUT) sub(self, [int] rr, [int] cc, bool ind1) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_sub(self, *args) def transpose(self, *args) -> "casadi::Sparsity": """ :: transpose(self, bool invert_mapping) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_transpose(self, *args) def is_transpose(self, *args) -> "bool": """ :: is_transpose(self, Sparsity y) -> bool """ return _casadi.Sparsity_is_transpose(self, *args) def is_reshape(self, *args) -> "bool": """ :: is_reshape(self, Sparsity y) -> bool """ return _casadi.Sparsity_is_reshape(self, *args) def combine(self, *args) -> "casadi::Sparsity": """ :: combine(self, Sparsity y, bool f0x_is_zero, bool function0_is_zero) -> Sparsity """ return _casadi.Sparsity_combine(self, *args) def unite(self, *args) -> "casadi::Sparsity": """ :: unite(self, Sparsity y) -> Sparsity """ return _casadi.Sparsity_unite(self, *args) def __add__(self, *args) -> "casadi::Sparsity": """ :: __add__(self, Sparsity b) -> Sparsity """ return _casadi.Sparsity___add__(self, *args) def intersect(self, *args) -> "casadi::Sparsity": """ :: intersect(self, Sparsity y) -> Sparsity """ return _casadi.Sparsity_intersect(self, *args) def __mul__(self, *args) -> "casadi::Sparsity": """ :: __mul__(self, Sparsity b) -> Sparsity """ return _casadi.Sparsity___mul__(self, *args) def is_subset(self, *args) -> "bool": """ :: is_subset(self, Sparsity rhs) -> bool """ return _casadi.Sparsity_is_subset(self, *args) def sparsity_cast_mod(self, *args) -> "casadi::Sparsity": """ :: sparsity_cast_mod(self, Sparsity X, Sparsity Y) -> Sparsity """ return _casadi.Sparsity_sparsity_cast_mod(self, *args) def pattern_inverse(self, *args) -> "casadi::Sparsity": """ :: pattern_inverse(self) -> Sparsity """ return _casadi.Sparsity_pattern_inverse(self, *args) def enlarge(self, *args) -> "void": """ :: enlarge(self, int nrow, int ncol, [int] rr, [int] cc, bool ind1) """ return _casadi.Sparsity_enlarge(self, *args) def enlargeRows(self, *args) -> "void": """ :: enlargeRows(self, int nrow, [int] rr, bool ind1) """ return _casadi.Sparsity_enlargeRows(self, *args) def enlargeColumns(self, *args) -> "void": """ :: enlargeColumns(self, int ncol, [int] cc, bool ind1) """ return _casadi.Sparsity_enlargeColumns(self, *args) def makeDense(self, *args) -> "casadi::Sparsity": """ :: makeDense(self) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_makeDense(self, *args) def erase(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: erase(self, [int] rr, bool ind1) -> [int] erase(self, [int] rr, [int] cc, bool ind1) -> [int] """ return _casadi.Sparsity_erase(self, *args) def append(self, *args) -> "void": """ :: append(self, Sparsity sp) """ return _casadi.Sparsity_append(self, *args) def appendColumns(self, *args) -> "void": """ :: appendColumns(self, Sparsity sp) """ return _casadi.Sparsity_appendColumns(self, *args) def is_scalar(self, *args) -> "bool": """ :: is_scalar(self, bool scalar_and_dense) -> bool """ return _casadi.Sparsity_is_scalar(self, *args) def is_dense(self, *args) -> "bool": """ :: is_dense(self) -> bool """ return _casadi.Sparsity_is_dense(self, *args) def is_row(self, *args) -> "bool": """ :: is_row(self) -> bool """ return _casadi.Sparsity_is_row(self, *args) def is_column(self, *args) -> "bool": """ :: is_column(self) -> bool """ return _casadi.Sparsity_is_column(self, *args) def is_vector(self, *args) -> "bool": """ :: is_vector(self) -> bool """ return _casadi.Sparsity_is_vector(self, *args) def is_diag(self, *args) -> "bool": """ :: is_diag(self) -> bool """ return _casadi.Sparsity_is_diag(self, *args) def is_square(self, *args) -> "bool": """ :: is_square(self) -> bool """ return _casadi.Sparsity_is_square(self, *args) def is_symmetric(self, *args) -> "bool": """ :: is_symmetric(self) -> bool """ return _casadi.Sparsity_is_symmetric(self, *args) def is_triu(self, *args) -> "bool": """ :: is_triu(self, bool strictly) -> bool """ return _casadi.Sparsity_is_triu(self, *args) def is_tril(self, *args) -> "bool": """ :: is_tril(self, bool strictly) -> bool """ return _casadi.Sparsity_is_tril(self, *args) def is_singular(self, *args) -> "bool": """ :: is_singular(self) -> bool """ return _casadi.Sparsity_is_singular(self, *args) def is_permutation(self, *args) -> "bool": """ :: is_permutation(self) -> bool """ return _casadi.Sparsity_is_permutation(self, *args) def is_selection(self, *args) -> "bool": """ :: is_selection(self, bool allow_empty) -> bool """ return _casadi.Sparsity_is_selection(self, *args) def is_orthonormal(self, *args) -> "bool": """ :: is_orthonormal(self, bool allow_empty) -> bool """ return _casadi.Sparsity_is_orthonormal(self, *args) def is_orthonormal_rows(self, *args) -> "bool": """ :: is_orthonormal_rows(self, bool allow_empty) -> bool """ return _casadi.Sparsity_is_orthonormal_rows(self, *args) def is_orthonormal_columns(self, *args) -> "bool": """ :: is_orthonormal_columns(self, bool allow_empty) -> bool """ return _casadi.Sparsity_is_orthonormal_columns(self, *args) def rowsSequential(self, *args) -> "bool": """ :: rowsSequential(self, bool strictly) -> bool """ return _casadi.Sparsity_rowsSequential(self, *args) def removeDuplicates(self, *args) -> "void": """ :: removeDuplicates(self) -> [int] """ return _casadi.Sparsity_removeDuplicates(self, *args) def etree(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: etree(self, bool ata) -> [int] """ return _casadi.Sparsity_etree(self, *args) def ldl(self, *args) -> "casadi::Sparsity": """ :: ldl(self, bool amd) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_ldl(self, *args) def qr_sparse(self, *args) -> "void": """ :: qr_sparse(self, bool amd) -> (Sparsity OUTPUT, Sparsity OUTPUT, [int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_qr_sparse(self, *args) def dfs(self, *args) -> "casadi_int": """ :: dfs(self, int j, int top, [int] pinv) -> (int , [int] INOUT, [int] INOUT, [bool] INOUT) """ return _casadi.Sparsity_dfs(self, *args) def scc(self, *args) -> "casadi_int": """ :: scc(self) -> (int , [int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_scc(self, *args) def btf(self, *args) -> "casadi_int": """ :: btf(self) -> (int , [int] OUTPUT, [int] OUTPUT, [int] OUTPUT, [int] OUTPUT, [int] OUTPUT, [int] OUTPUT) """ return _casadi.Sparsity_btf(self, *args) def amd(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: amd(self) -> [int] """ return _casadi.Sparsity_amd(self, *args) def find(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: find(self, bool ind1) -> [int] """ return _casadi.Sparsity_find(self, *args) def uni_coloring(self, *args) -> "casadi::Sparsity": """ :: uni_coloring(self, Sparsity AT, int cutoff) -> Sparsity """ return _casadi.Sparsity_uni_coloring(self, *args) def star_coloring(self, *args) -> "casadi::Sparsity": """ :: star_coloring(self, int ordering, int cutoff) -> Sparsity """ return _casadi.Sparsity_star_coloring(self, *args) def star_coloring2(self, *args) -> "casadi::Sparsity": """ :: star_coloring2(self, int ordering, int cutoff) -> Sparsity """ return _casadi.Sparsity_star_coloring2(self, *args) def largest_first(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ :: largest_first(self) -> [int] """ return _casadi.Sparsity_largest_first(self, *args) def pmult(self, *args) -> "casadi::Sparsity": """ :: pmult(self, [int] p, bool permute_rows, bool permute_columns, bool invert_permutation) -> Sparsity """ return _casadi.Sparsity_pmult(self, *args) def dim(self, *args) -> "std::string": """ :: dim(self, bool with_nz) -> str """ return _casadi.Sparsity_dim(self, *args) def postfix_dim(self, *args) -> "std::string": """ :: postfix_dim(self) -> str """ return _casadi.Sparsity_postfix_dim(self, *args) def repr_el(self, *args) -> "std::string": """ :: repr_el(self, int k) -> str """ return _casadi.Sparsity_repr_el(self, *args) def spy(self, *args) -> "void": """ :: spy(self) """ return _casadi.Sparsity_spy(self, *args) def spy_matlab(self, *args) -> "void": """ :: spy_matlab(self, str mfile) """ return _casadi.Sparsity_spy_matlab(self, *args) def export_code(self, *args) -> "void": """ :: export_code(self, str lang, dict options) """ return _casadi.Sparsity_export_code(self, *args) def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Sparsity_type_name(*args) type_name = staticmethod(type_name) def hash(self, *args) -> "std::size_t": """ :: hash(self) -> std::size_t """ return _casadi.Sparsity_hash(self, *args) def test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Sparsity_test_cast(*args) test_cast = staticmethod(test_cast) def kkt(*args) -> "casadi::Sparsity": """ :: kkt(Sparsity H, Sparsity J, bool with_x_diag, bool with_lam_g_diag) -> Sparsity """ return _casadi.Sparsity_kkt(*args) kkt = staticmethod(kkt) def __setstate__(self, state): self.__init__(Sparsity.deserialize(state["serialization"])) def __getstate__(self): return {"serialization": self.serialize()} @property def shape(self): return (self.size1(),self.size2()) @property def T(self): return _casadi.transpose(self) def __array__(self,*args,**kwargs): return DM.ones(self).full() def __init__(self, *args): """ :: Sparsity(int dummy) Sparsity((int,int) rc) Sparsity(Sparsity other) Sparsity(int nrow, int ncol) Sparsity(int nrow, int ncol, [int] colind, [int] row, bool order_rows) """ this = _casadi.new_Sparsity(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Sparsity Sparsity_swigregister = _casadi.Sparsity_swigregister Sparsity_swigregister(Sparsity) def Sparsity_scalar(*args) -> "casadi::Sparsity": """ :: scalar(bool dense_scalar) -> Sparsity """ return _casadi.Sparsity_scalar(*args) def Sparsity_dense(*args) -> "casadi::Sparsity": """ :: dense(int nrow, int ncol) -> Sparsity dense((int,int) rc) -> Sparsity """ return _casadi.Sparsity_dense(*args) def Sparsity_unit(*args) -> "casadi::Sparsity": """ :: unit(int n, int el) -> Sparsity """ return _casadi.Sparsity_unit(*args) def Sparsity_upper(*args) -> "casadi::Sparsity": """ :: upper(int n) -> Sparsity """ return _casadi.Sparsity_upper(*args) def Sparsity_lower(*args) -> "casadi::Sparsity": """ :: lower(int n) -> Sparsity """ return _casadi.Sparsity_lower(*args) def Sparsity_diag(*args) -> "casadi::Sparsity": """ :: diag(int nrow) -> Sparsity diag((int,int) rc) -> Sparsity diag(int nrow, int ncol) -> Sparsity """ return _casadi.Sparsity_diag(*args) def Sparsity_band(*args) -> "casadi::Sparsity": """ :: band(int n, int p) -> Sparsity """ return _casadi.Sparsity_band(*args) def Sparsity_banded(*args) -> "casadi::Sparsity": """ :: banded(int n, int p) -> Sparsity """ return _casadi.Sparsity_banded(*args) def Sparsity_rowcol(*args) -> "casadi::Sparsity": """ :: rowcol([int] row, [int] col, int nrow, int ncol) -> Sparsity """ return _casadi.Sparsity_rowcol(*args) def Sparsity_triplet(*args) -> "casadi::Sparsity": """ :: triplet(int nrow, int ncol, [int] row, [int] col) -> Sparsity triplet(int nrow, int ncol, [int] row, [int] col, bool invert_mapping) -> (Sparsity , [int] OUTPUT) """ return _casadi.Sparsity_triplet(*args) def Sparsity_nonzeros(*args) -> "casadi::Sparsity": """ :: nonzeros(int nrow, int ncol, [int] nz, bool ind1) -> Sparsity """ return _casadi.Sparsity_nonzeros(*args) def Sparsity_compressed(*args) -> "casadi::Sparsity": """ :: compressed([int] v, bool order_rows) -> Sparsity """ return _casadi.Sparsity_compressed(*args) def Sparsity_permutation(*args) -> "casadi::Sparsity": """ :: permutation([int] p, bool invert) -> Sparsity """ return _casadi.Sparsity_permutation(*args) def Sparsity_from_file(*args) -> "casadi::Sparsity": """ :: from_file(str filename, str format_hint) -> Sparsity """ return _casadi.Sparsity_from_file(*args) def Sparsity_deserialize(*args) -> "casadi::Sparsity": """ :: deserialize(std::istream & stream) -> Sparsity deserialize(casadi::DeserializingStream & s) -> Sparsity deserialize(str s) -> Sparsity """ return _casadi.Sparsity_deserialize(*args) def Sparsity_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Sparsity_type_name(*args) def Sparsity_test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Sparsity_test_cast(*args) def Sparsity_kkt(*args) -> "casadi::Sparsity": """ :: kkt(Sparsity H, Sparsity J, bool with_x_diag, bool with_lam_g_diag) -> Sparsity """ return _casadi.Sparsity_kkt(*args) def hash_sparsity(*args) -> "std::size_t": """ :: hash_sparsity(int nrow, int ncol, casadi_int const * colind, casadi_int const * row) -> std::size_t hash_sparsity(int nrow, int ncol, [int] colind, [int] row) -> std::size_t """ return _casadi.hash_sparsity(*args) class Slice(PrintableCommon): """ [INTERNAL] :: Class representing a Slice. Note that Python or Octave do not need to use this class. They can just use slicing utility from the host language ( M[0:6] in Python, M(1:7) ) Extra doc: https://github.com/casadi/casadi/wiki/L_13 C++ includes: slice.hpp """ __swig_setmethods__ = {} for _s in [PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Slice, name, value) __swig_getmethods__ = {} for _s in [PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Slice, name) __repr__ = _swig_repr __swig_getmethods__["start"] = _casadi.Slice_start_get if _newclass: start = _swig_property(_casadi.Slice_start_get) __swig_getmethods__["stop"] = _casadi.Slice_stop_get if _newclass: stop = _swig_property(_casadi.Slice_stop_get) __swig_getmethods__["step"] = _casadi.Slice_step_get if _newclass: step = _swig_property(_casadi.Slice_step_get) def all(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: all(self) -> [int] all(self, int len, bool ind1) -> [int] all(self, Slice outer, int len) -> [int] Get a vector of indices (nested slice) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L75 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L129-L137 ....... :: all(self) [INTERNAL] Get a vector of indices. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L69 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L90-L98 ............. ....... :: all(self, int len, bool ind1) [INTERNAL] Get a vector of indices. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L72 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L100-L102 ............. ....... :: all(self, Slice outer, int len) [INTERNAL] Get a vector of indices (nested slice) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L75 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L129-L137 ............. """ return _casadi.Slice_all(self, *args) def size(self, *args) -> "size_t": """ [INTERNAL] :: size(self) -> size_t Get number of elements. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L78 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L104-L109 """ return _casadi.Slice_size(self, *args) def is_empty(self, *args) -> "bool": """ [INTERNAL] :: is_empty(self) -> bool Check if slice is empty. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L81 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L111-L113 """ return _casadi.Slice_is_empty(self, *args) def is_scalar(self, *args) -> "bool": """ [INTERNAL] :: is_scalar(self, int len) -> bool Is the slice a scalar. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L84 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L139-L144 """ return _casadi.Slice_is_scalar(self, *args) def scalar(self, *args) -> "casadi_int": """ [INTERNAL] :: scalar(self, int len) -> int Get scalar (if is_scalar) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L87 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L146-L150 """ return _casadi.Slice_scalar(self, *args) def __eq__(self, *args) -> "bool": """ :: __eq__(self, Slice other) -> bool """ return _casadi.Slice___eq__(self, *args) def __ne__(self, *args) -> "bool": """ :: __ne__(self, Slice other) -> bool """ return _casadi.Slice___ne__(self, *args) def apply(self, *args) -> "casadi::Slice": """ [INTERNAL] :: apply(self, int len, bool ind1) -> Slice Apply concrete length. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L98 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L66-L88 """ return _casadi.Slice_apply(self, *args) def __sub__(self, *args) -> "casadi::Slice": """ :: __sub__(self, int i) -> Slice """ return _casadi.Slice___sub__(self, *args) def __mul__(self, *args) -> "casadi::Slice": """ :: __mul__(self, int i) -> Slice """ return _casadi.Slice___mul__(self, *args) def type_name(self, *args) -> "std::string": """ [INTERNAL] :: type_name(self) -> str Get name of the class. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L107 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L107-L107 """ return _casadi.Slice_type_name(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print a description of the object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L110 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L115-L127 """ return _casadi.Slice_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L113 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L113-L117 """ return _casadi.Slice_str(self, *args) def info(self, *args) -> "casadi::Dict": """ [INTERNAL] :: info(self) -> dict Obtain information Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L120 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L120-L122 """ return _casadi.Slice_info(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_14 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L127 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L292-L296 """ return _casadi.Slice_serialize(self, *args) def deserialize(*args) -> "casadi::Slice": """ :: deserialize(casadi::DeserializingStream & s) -> Slice """ return _casadi.Slice_deserialize(*args) deserialize = staticmethod(deserialize) def __init__(self, *args): """ :: Slice() Slice(int i, bool ind1) Slice(Slice other) Slice(int start, int stop, int step) Slice(int start, int stop, int step) Slice(int start, int stop, int step) Slice(int start, int stop, int step) ....... :: Slice(Slice other) ............. ....... :: Slice() [INTERNAL] Default constructor - all elements. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L57 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L32-L33 ............. ....... :: Slice(int i, bool ind1) [INTERNAL] A single element (explicit to avoid ambiguity with IM overload. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L60 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L35-L42 ............. ....... :: Slice(int start, int stop, int step) [INTERNAL] A slice. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L63 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L44-L45 ............. ....... :: Slice(int start, int stop, int step) Slice(int start, int stop, int step) Slice(int start, int stop, int step) [INTERNAL] ............. """ this = _casadi.new_Slice(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Slice Slice_swigregister = _casadi.Slice_swigregister Slice_swigregister(Slice) def Slice_deserialize(*args) -> "casadi::Slice": """ :: deserialize(casadi::DeserializingStream & s) -> Slice """ return _casadi.Slice_deserialize(*args) def to_slice(*args) -> "casadi::Slice": """ [INTERNAL] :: to_slice([int] v, bool ind1) -> Slice Construct from an index vector (requires is_slice(v) to be true) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L152 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L152-L168 """ return _casadi.to_slice(*args) def to_slice2(*args) -> "std::pair< casadi::Slice,casadi::Slice >": """ [INTERNAL] :: to_slice2([int] v) -> std::pair< casadi::Slice,casadi::Slice > Construct nested slices from an index vector (requires is_slice2(v) to be true) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L255 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L255-L289 """ return _casadi.to_slice2(*args) def is_slice(*args) -> "bool": """ [INTERNAL] :: is_slice([int] v, bool ind1) -> bool Check if an index vector can be represented more efficiently as a slice. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L170 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L170-L200 """ return _casadi.is_slice(*args) def is_slice2(*args) -> "bool": """ [INTERNAL] :: is_slice2([int] v) -> bool Check if an index vector can be represented more efficiently as two nested slices. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/slice.hpp#L202 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/slice.cpp#L202-L253 """ return _casadi.is_slice2(*args) class GenericMatrixCommon(_object): """ [INTERNAL] :: GenericMatrixCommon() -> Matrix base class. This is a common base class for MX and Matrix<>, introducing a uniform syntax and implementing common functionality using the curiously recurring template pattern (CRTP) idiom. The class is designed with the idea that "everything is a matrix", that is, also scalars and vectors. This philosophy makes it easy to use and to interface in particularly with Python and Matlab/Octave. The syntax tries to stay as close as possible to the ublas syntax when it comes to vector/matrix operations. Index starts with 0. Index vec happens as follows: (rr, cc) -> k = rr+cc*size1() Vectors are column vectors. The storage format is Compressed Column Storage (CCS), similar to that used for sparse matrices in Matlab, but unlike this format, we do allow for elements to be structurally non-zero but numerically zero. The sparsity pattern, which is reference counted and cached, can be accessed with Sparsity& sparsity() Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_1am C++ includes: generic_matrix.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, GenericMatrixCommon, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, GenericMatrixCommon, name) __repr__ = _swig_repr def __mldivide__(x, y): return _casadi.mldivide(x, y) def __rmldivide__(y, x): return _casadi.mldivide(x, y) def __mrdivide__(x, y): return _casadi.mrdivide(x, y) def __rmrdivide__(y, x): return _casadi.mrdivide(x, y) def __mpower__(x, y): return _casadi.mpower(x, y) def __rmpower__(y, x): return _casadi.mpower(x, y) def __init__(self, *args): """ :: GenericMatrixCommon() GenericMatrixCommon(GenericMatrixCommon other) """ this = _casadi.new_GenericMatrixCommon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenericMatrixCommon GenericMatrixCommon_swigregister = _casadi.GenericMatrixCommon_swigregister GenericMatrixCommon_swigregister(GenericMatrixCommon) def index_interp1d(*args) -> "double": """ [INTERNAL] :: index_interp1d([float] x, float xq, bool equidistant) -> float """ return _casadi.index_interp1d(*args) class GenDM(GenericMatrixCommon, SparsityInterfaceCommon): """ :: """ __swig_setmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, GenDM, name, value) __swig_getmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, GenDM, name) __repr__ = _swig_repr def nnz(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz(self) -> int Get the number of (structural) non-zero elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1an Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L84 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1298-L1300 """ return _casadi.GenDM_nnz(self, *args) def nnz_lower(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_lower(self) -> int Get the number of non-zeros in the lower triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ao Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L89 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1303-L1305 """ return _casadi.GenDM_nnz_lower(self, *args) def nnz_upper(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_upper(self) -> int Get the number of non-zeros in the upper triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ap Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L94 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1308-L1310 """ return _casadi.GenDM_nnz_upper(self, *args) def nnz_diag(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_diag(self) -> int Get get the number of non-zeros on the diagonal. Extra doc: https://github.com/casadi/casadi/wiki/L_1aq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1313-L1315 """ return _casadi.GenDM_nnz_diag(self, *args) def numel(self, *args) -> "casadi_int": """ [INTERNAL] :: numel(self) -> int Get the number of elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1ar Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L104 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1318-L1320 """ return _casadi.GenDM_numel(self, *args) def size1(self, *args) -> "casadi_int": """ [INTERNAL] :: size1(self) -> int Get the first dimension (i.e. number of rows) Extra doc: https://github.com/casadi/casadi/wiki/L_1as Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L109 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1323-L1325 """ return _casadi.GenDM_size1(self, *args) def rows(self, *args) -> "casadi_int": """ [INTERNAL] :: rows(self) -> int Get the number of rows, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1at Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114-L114 """ return _casadi.GenDM_rows(self, *args) def size2(self, *args) -> "casadi_int": """ [INTERNAL] :: size2(self) -> int Get the second dimension (i.e. number of columns) Extra doc: https://github.com/casadi/casadi/wiki/L_1au Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L119 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1328-L1330 """ return _casadi.GenDM_size2(self, *args) def columns(self, *args) -> "casadi_int": """ [INTERNAL] :: columns(self) -> int Get the number of columns, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1av Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124-L124 """ return _casadi.GenDM_columns(self, *args) def dim(self, *args) -> "std::string": """ [INTERNAL] :: dim(self, bool with_nz) -> str Get string representation of dimensions. The representation is e.g. "4x5" or "4x5,10nz" Extra doc: https://github.com/casadi/casadi/wiki/L_1aw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1343-L1345 """ return _casadi.GenDM_dim(self, *args) def size(self, *args) -> "casadi_int": """ [INTERNAL] :: size(self) -> (int,int) size(self, int axis) -> int Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ....... :: size(self, int axis) [INTERNAL] Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ............. ....... :: size(self) [INTERNAL] Get the shape. Extra doc: https://github.com/casadi/casadi/wiki/L_1ax Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L136 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1333-L1335 ............. """ return _casadi.GenDM_size(self, *args) def is_empty(self, *args) -> "bool": """ [INTERNAL] :: is_empty(self, bool both) -> bool Check if the sparsity is empty, i.e. if one of the dimensions is zero. (or optionally both dimensions) Extra doc: https://github.com/casadi/casadi/wiki/L_1az Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148-L148 """ return _casadi.GenDM_is_empty(self, *args) def is_dense(self, *args) -> "bool": """ [INTERNAL] :: is_dense(self) -> bool Check if the matrix expression is dense. Extra doc: https://github.com/casadi/casadi/wiki/L_1b0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153-L153 """ return _casadi.GenDM_is_dense(self, *args) def is_scalar(self, *args) -> "bool": """ [INTERNAL] :: is_scalar(self, bool scalar_and_dense) -> bool Check if the matrix expression is scalar. Extra doc: https://github.com/casadi/casadi/wiki/L_1b1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L158 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1348-L1350 """ return _casadi.GenDM_is_scalar(self, *args) def is_square(self, *args) -> "bool": """ [INTERNAL] :: is_square(self) -> bool Check if the matrix expression is square. Extra doc: https://github.com/casadi/casadi/wiki/L_1b2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163-L163 """ return _casadi.GenDM_is_square(self, *args) def is_vector(self, *args) -> "bool": """ [INTERNAL] :: is_vector(self) -> bool Check if the matrix is a row or column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_1b3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168-L168 """ return _casadi.GenDM_is_vector(self, *args) def is_row(self, *args) -> "bool": """ [INTERNAL] :: is_row(self) -> bool Check if the matrix is a row vector (i.e. size1()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173-L173 """ return _casadi.GenDM_is_row(self, *args) def is_column(self, *args) -> "bool": """ [INTERNAL] :: is_column(self) -> bool Check if the matrix is a column vector (i.e. size2()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178-L178 """ return _casadi.GenDM_is_column(self, *args) def is_triu(self, *args) -> "bool": """ [INTERNAL] :: is_triu(self) -> bool Check if the matrix is upper triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183-L183 """ return _casadi.GenDM_is_triu(self, *args) def is_tril(self, *args) -> "bool": """ [INTERNAL] :: is_tril(self) -> bool Check if the matrix is lower triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188-L188 """ return _casadi.GenDM_is_tril(self, *args) def row(self, *args) -> "casadi_int": """ [INTERNAL] :: row(self) -> [int] row(self, int el) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ....... :: row(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194-L194 ............. ....... :: row(self, int el) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ............. """ return _casadi.GenDM_row(self, *args) def colind(self, *args) -> "casadi_int": """ [INTERNAL] :: colind(self) -> [int] colind(self, int col) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ....... :: colind(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195-L195 ............. ....... :: colind(self, int col) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ............. """ return _casadi.GenDM_colind(self, *args) def sparsity(self, *args) -> "casadi::Sparsity const": """ [INTERNAL] :: sparsity(self) -> Sparsity Get the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1b9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L207 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1293-L1295 """ return _casadi.GenDM_sparsity(self, *args) def sym(*args) -> "std::vector< std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >,std::allocator< std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> DM sym(str name, (int,int) rc) -> DM sym(str name, Sparsity sp) -> DM sym(str name, Sparsity sp, int p) -> [DM] sym(str name, int nrow, int ncol, int p) -> [DM] sym(str name, Sparsity sp, int p, int r) -> [[DM]] sym(str name, int nrow, int ncol, int p, int r) -> [[DM]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenDM_sym(*args) sym = staticmethod(sym) def zeros(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: zeros(int nrow, int ncol) -> DM zeros((int,int) rc) -> DM zeros(Sparsity sp) -> DM Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenDM_zeros(*args) zeros = staticmethod(zeros) def ones(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: ones(int nrow, int ncol) -> DM ones((int,int) rc) -> DM ones(Sparsity sp) -> DM Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenDM_ones(*args) ones = staticmethod(ones) def __init__(self, *args): """ :: GenDM() GenDM(GenDM other) """ this = _casadi.new_GenDM(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenDM GenDM_swigregister = _casadi.GenDM_swigregister GenDM_swigregister(GenDM) def GenDM_sym(*args) -> "std::vector< std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >,std::allocator< std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> DM sym(str name, (int,int) rc) -> DM sym(str name, Sparsity sp) -> DM sym(str name, Sparsity sp, int p) -> [DM] sym(str name, int nrow, int ncol, int p) -> [DM] sym(str name, Sparsity sp, int p, int r) -> [[DM]] sym(str name, int nrow, int ncol, int p, int r) -> [[DM]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenDM_sym(*args) def GenDM_zeros(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: zeros(int nrow, int ncol) -> DM zeros((int,int) rc) -> DM zeros(Sparsity sp) -> DM Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenDM_zeros(*args) def GenDM_ones(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: ones(int nrow, int ncol) -> DM ones((int,int) rc) -> DM ones(Sparsity sp) -> DM Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenDM_ones(*args) class GenSX(GenericMatrixCommon, SparsityInterfaceCommon): """ :: """ __swig_setmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, GenSX, name, value) __swig_getmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, GenSX, name) __repr__ = _swig_repr def nnz(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz(self) -> int Get the number of (structural) non-zero elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1an Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L84 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1298-L1300 """ return _casadi.GenSX_nnz(self, *args) def nnz_lower(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_lower(self) -> int Get the number of non-zeros in the lower triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ao Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L89 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1303-L1305 """ return _casadi.GenSX_nnz_lower(self, *args) def nnz_upper(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_upper(self) -> int Get the number of non-zeros in the upper triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ap Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L94 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1308-L1310 """ return _casadi.GenSX_nnz_upper(self, *args) def nnz_diag(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_diag(self) -> int Get get the number of non-zeros on the diagonal. Extra doc: https://github.com/casadi/casadi/wiki/L_1aq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1313-L1315 """ return _casadi.GenSX_nnz_diag(self, *args) def numel(self, *args) -> "casadi_int": """ [INTERNAL] :: numel(self) -> int Get the number of elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1ar Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L104 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1318-L1320 """ return _casadi.GenSX_numel(self, *args) def size1(self, *args) -> "casadi_int": """ [INTERNAL] :: size1(self) -> int Get the first dimension (i.e. number of rows) Extra doc: https://github.com/casadi/casadi/wiki/L_1as Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L109 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1323-L1325 """ return _casadi.GenSX_size1(self, *args) def rows(self, *args) -> "casadi_int": """ [INTERNAL] :: rows(self) -> int Get the number of rows, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1at Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114-L114 """ return _casadi.GenSX_rows(self, *args) def size2(self, *args) -> "casadi_int": """ [INTERNAL] :: size2(self) -> int Get the second dimension (i.e. number of columns) Extra doc: https://github.com/casadi/casadi/wiki/L_1au Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L119 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1328-L1330 """ return _casadi.GenSX_size2(self, *args) def columns(self, *args) -> "casadi_int": """ [INTERNAL] :: columns(self) -> int Get the number of columns, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1av Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124-L124 """ return _casadi.GenSX_columns(self, *args) def dim(self, *args) -> "std::string": """ [INTERNAL] :: dim(self, bool with_nz) -> str Get string representation of dimensions. The representation is e.g. "4x5" or "4x5,10nz" Extra doc: https://github.com/casadi/casadi/wiki/L_1aw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1343-L1345 """ return _casadi.GenSX_dim(self, *args) def size(self, *args) -> "casadi_int": """ [INTERNAL] :: size(self) -> (int,int) size(self, int axis) -> int Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ....... :: size(self, int axis) [INTERNAL] Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ............. ....... :: size(self) [INTERNAL] Get the shape. Extra doc: https://github.com/casadi/casadi/wiki/L_1ax Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L136 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1333-L1335 ............. """ return _casadi.GenSX_size(self, *args) def is_empty(self, *args) -> "bool": """ [INTERNAL] :: is_empty(self, bool both) -> bool Check if the sparsity is empty, i.e. if one of the dimensions is zero. (or optionally both dimensions) Extra doc: https://github.com/casadi/casadi/wiki/L_1az Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148-L148 """ return _casadi.GenSX_is_empty(self, *args) def is_dense(self, *args) -> "bool": """ [INTERNAL] :: is_dense(self) -> bool Check if the matrix expression is dense. Extra doc: https://github.com/casadi/casadi/wiki/L_1b0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153-L153 """ return _casadi.GenSX_is_dense(self, *args) def is_scalar(self, *args) -> "bool": """ [INTERNAL] :: is_scalar(self, bool scalar_and_dense) -> bool Check if the matrix expression is scalar. Extra doc: https://github.com/casadi/casadi/wiki/L_1b1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L158 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1348-L1350 """ return _casadi.GenSX_is_scalar(self, *args) def is_square(self, *args) -> "bool": """ [INTERNAL] :: is_square(self) -> bool Check if the matrix expression is square. Extra doc: https://github.com/casadi/casadi/wiki/L_1b2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163-L163 """ return _casadi.GenSX_is_square(self, *args) def is_vector(self, *args) -> "bool": """ [INTERNAL] :: is_vector(self) -> bool Check if the matrix is a row or column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_1b3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168-L168 """ return _casadi.GenSX_is_vector(self, *args) def is_row(self, *args) -> "bool": """ [INTERNAL] :: is_row(self) -> bool Check if the matrix is a row vector (i.e. size1()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173-L173 """ return _casadi.GenSX_is_row(self, *args) def is_column(self, *args) -> "bool": """ [INTERNAL] :: is_column(self) -> bool Check if the matrix is a column vector (i.e. size2()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178-L178 """ return _casadi.GenSX_is_column(self, *args) def is_triu(self, *args) -> "bool": """ [INTERNAL] :: is_triu(self) -> bool Check if the matrix is upper triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183-L183 """ return _casadi.GenSX_is_triu(self, *args) def is_tril(self, *args) -> "bool": """ [INTERNAL] :: is_tril(self) -> bool Check if the matrix is lower triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188-L188 """ return _casadi.GenSX_is_tril(self, *args) def row(self, *args) -> "casadi_int": """ [INTERNAL] :: row(self) -> [int] row(self, int el) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ....... :: row(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194-L194 ............. ....... :: row(self, int el) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ............. """ return _casadi.GenSX_row(self, *args) def colind(self, *args) -> "casadi_int": """ [INTERNAL] :: colind(self) -> [int] colind(self, int col) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ....... :: colind(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195-L195 ............. ....... :: colind(self, int col) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ............. """ return _casadi.GenSX_colind(self, *args) def sparsity(self, *args) -> "casadi::Sparsity const": """ [INTERNAL] :: sparsity(self) -> Sparsity Get the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1b9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L207 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1293-L1295 """ return _casadi.GenSX_sparsity(self, *args) def sym(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >,std::allocator< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> SX sym(str name, (int,int) rc) -> SX sym(str name, Sparsity sp) -> SX sym(str name, Sparsity sp, int p) -> [SX] sym(str name, int nrow, int ncol, int p) -> [SX] sym(str name, Sparsity sp, int p, int r) -> [[SX]] sym(str name, int nrow, int ncol, int p, int r) -> [[SX]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenSX_sym(*args) sym = staticmethod(sym) def zeros(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: zeros(int nrow, int ncol) -> SX zeros((int,int) rc) -> SX zeros(Sparsity sp) -> SX Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenSX_zeros(*args) zeros = staticmethod(zeros) def ones(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: ones(int nrow, int ncol) -> SX ones((int,int) rc) -> SX ones(Sparsity sp) -> SX Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenSX_ones(*args) ones = staticmethod(ones) def __init__(self, *args): """ :: GenSX() GenSX(GenSX other) """ this = _casadi.new_GenSX(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenSX GenSX_swigregister = _casadi.GenSX_swigregister GenSX_swigregister(GenSX) def GenSX_sym(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >,std::allocator< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> SX sym(str name, (int,int) rc) -> SX sym(str name, Sparsity sp) -> SX sym(str name, Sparsity sp, int p) -> [SX] sym(str name, int nrow, int ncol, int p) -> [SX] sym(str name, Sparsity sp, int p, int r) -> [[SX]] sym(str name, int nrow, int ncol, int p, int r) -> [[SX]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenSX_sym(*args) def GenSX_zeros(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: zeros(int nrow, int ncol) -> SX zeros((int,int) rc) -> SX zeros(Sparsity sp) -> SX Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenSX_zeros(*args) def GenSX_ones(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: ones(int nrow, int ncol) -> SX ones((int,int) rc) -> SX ones(Sparsity sp) -> SX Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenSX_ones(*args) class GenMX(GenericMatrixCommon, SparsityInterfaceCommon): """ :: """ __swig_setmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, GenMX, name, value) __swig_getmethods__ = {} for _s in [GenericMatrixCommon, SparsityInterfaceCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, GenMX, name) __repr__ = _swig_repr def nnz(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz(self) -> int Get the number of (structural) non-zero elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1an Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L84 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1298-L1300 """ return _casadi.GenMX_nnz(self, *args) def nnz_lower(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_lower(self) -> int Get the number of non-zeros in the lower triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ao Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L89 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1303-L1305 """ return _casadi.GenMX_nnz_lower(self, *args) def nnz_upper(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_upper(self) -> int Get the number of non-zeros in the upper triangular half. Extra doc: https://github.com/casadi/casadi/wiki/L_1ap Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L94 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1308-L1310 """ return _casadi.GenMX_nnz_upper(self, *args) def nnz_diag(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_diag(self) -> int Get get the number of non-zeros on the diagonal. Extra doc: https://github.com/casadi/casadi/wiki/L_1aq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1313-L1315 """ return _casadi.GenMX_nnz_diag(self, *args) def numel(self, *args) -> "casadi_int": """ [INTERNAL] :: numel(self) -> int Get the number of elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1ar Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L104 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1318-L1320 """ return _casadi.GenMX_numel(self, *args) def size1(self, *args) -> "casadi_int": """ [INTERNAL] :: size1(self) -> int Get the first dimension (i.e. number of rows) Extra doc: https://github.com/casadi/casadi/wiki/L_1as Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L109 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1323-L1325 """ return _casadi.GenMX_size1(self, *args) def rows(self, *args) -> "casadi_int": """ [INTERNAL] :: rows(self) -> int Get the number of rows, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1at Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L114-L114 """ return _casadi.GenMX_rows(self, *args) def size2(self, *args) -> "casadi_int": """ [INTERNAL] :: size2(self) -> int Get the second dimension (i.e. number of columns) Extra doc: https://github.com/casadi/casadi/wiki/L_1au Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L119 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1328-L1330 """ return _casadi.GenMX_size2(self, *args) def columns(self, *args) -> "casadi_int": """ [INTERNAL] :: columns(self) -> int Get the number of columns, Octave-style syntax. Extra doc: https://github.com/casadi/casadi/wiki/L_1av Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L124-L124 """ return _casadi.GenMX_columns(self, *args) def dim(self, *args) -> "std::string": """ [INTERNAL] :: dim(self, bool with_nz) -> str Get string representation of dimensions. The representation is e.g. "4x5" or "4x5,10nz" Extra doc: https://github.com/casadi/casadi/wiki/L_1aw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1343-L1345 """ return _casadi.GenMX_dim(self, *args) def size(self, *args) -> "casadi_int": """ [INTERNAL] :: size(self) -> (int,int) size(self, int axis) -> int Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ....... :: size(self, int axis) [INTERNAL] Get the size along a particular dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1ay Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1338-L1340 ............. ....... :: size(self) [INTERNAL] Get the shape. Extra doc: https://github.com/casadi/casadi/wiki/L_1ax Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L136 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1333-L1335 ............. """ return _casadi.GenMX_size(self, *args) def is_empty(self, *args) -> "bool": """ [INTERNAL] :: is_empty(self, bool both) -> bool Check if the sparsity is empty, i.e. if one of the dimensions is zero. (or optionally both dimensions) Extra doc: https://github.com/casadi/casadi/wiki/L_1az Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L148-L148 """ return _casadi.GenMX_is_empty(self, *args) def is_dense(self, *args) -> "bool": """ [INTERNAL] :: is_dense(self) -> bool Check if the matrix expression is dense. Extra doc: https://github.com/casadi/casadi/wiki/L_1b0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L153-L153 """ return _casadi.GenMX_is_dense(self, *args) def is_scalar(self, *args) -> "bool": """ [INTERNAL] :: is_scalar(self, bool scalar_and_dense) -> bool Check if the matrix expression is scalar. Extra doc: https://github.com/casadi/casadi/wiki/L_1b1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L158 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1348-L1350 """ return _casadi.GenMX_is_scalar(self, *args) def is_square(self, *args) -> "bool": """ [INTERNAL] :: is_square(self) -> bool Check if the matrix expression is square. Extra doc: https://github.com/casadi/casadi/wiki/L_1b2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L163-L163 """ return _casadi.GenMX_is_square(self, *args) def is_vector(self, *args) -> "bool": """ [INTERNAL] :: is_vector(self) -> bool Check if the matrix is a row or column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_1b3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L168-L168 """ return _casadi.GenMX_is_vector(self, *args) def is_row(self, *args) -> "bool": """ [INTERNAL] :: is_row(self) -> bool Check if the matrix is a row vector (i.e. size1()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L173-L173 """ return _casadi.GenMX_is_row(self, *args) def is_column(self, *args) -> "bool": """ [INTERNAL] :: is_column(self) -> bool Check if the matrix is a column vector (i.e. size2()==1) Extra doc: https://github.com/casadi/casadi/wiki/L_1b5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L178-L178 """ return _casadi.GenMX_is_column(self, *args) def is_triu(self, *args) -> "bool": """ [INTERNAL] :: is_triu(self) -> bool Check if the matrix is upper triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L183-L183 """ return _casadi.GenMX_is_triu(self, *args) def is_tril(self, *args) -> "bool": """ [INTERNAL] :: is_tril(self) -> bool Check if the matrix is lower triangular. Extra doc: https://github.com/casadi/casadi/wiki/L_1b7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L188-L188 """ return _casadi.GenMX_is_tril(self, *args) def row(self, *args) -> "casadi_int": """ [INTERNAL] :: row(self) -> [int] row(self, int el) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ....... :: row(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L194-L194 ............. ....... :: row(self, int el) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L200-L200 ............. """ return _casadi.GenMX_row(self, *args) def colind(self, *args) -> "casadi_int": """ [INTERNAL] :: colind(self) -> [int] colind(self, int col) -> int Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ....... :: colind(self) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L195-L195 ............. ....... :: colind(self, int col) [INTERNAL] Get the sparsity pattern. See the Sparsity class for details. Extra doc: https://github.com/casadi/casadi/wiki/L_1b8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L201-L201 ............. """ return _casadi.GenMX_colind(self, *args) def sparsity(self, *args) -> "casadi::Sparsity const": """ [INTERNAL] :: sparsity(self) -> Sparsity Get the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1b9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L207 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1293-L1295 """ return _casadi.GenMX_sparsity(self, *args) def sym(*args) -> "std::vector< std::vector< casadi::MX,std::allocator< casadi::MX > >,std::allocator< std::vector< casadi::MX,std::allocator< casadi::MX > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> MX sym(str name, (int,int) rc) -> MX sym(str name, Sparsity sp) -> MX sym(str name, Sparsity sp, int p) -> [MX] sym(str name, int nrow, int ncol, int p) -> [MX] sym(str name, Sparsity sp, int p, int r) -> [[MX]] sym(str name, int nrow, int ncol, int p, int r) -> [[MX]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenMX_sym(*args) sym = staticmethod(sym) def zeros(*args) -> "casadi::MX": """ [INTERNAL] :: zeros(int nrow, int ncol) -> MX zeros((int,int) rc) -> MX zeros(Sparsity sp) -> MX Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenMX_zeros(*args) zeros = staticmethod(zeros) def ones(*args) -> "casadi::MX": """ [INTERNAL] :: ones(int nrow, int ncol) -> MX ones((int,int) rc) -> MX ones(Sparsity sp) -> MX Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenMX_ones(*args) ones = staticmethod(ones) def __init__(self, *args): """ :: GenMX() GenMX(GenMX other) """ this = _casadi.new_GenMX(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenMX GenMX_swigregister = _casadi.GenMX_swigregister GenMX_swigregister(GenMX) def GenMX_sym(*args) -> "std::vector< std::vector< casadi::MX,std::allocator< casadi::MX > >,std::allocator< std::vector< casadi::MX,std::allocator< casadi::MX > > > >": """ [INTERNAL] :: sym(str name, int nrow, int ncol) -> MX sym(str name, (int,int) rc) -> MX sym(str name, Sparsity sp) -> MX sym(str name, Sparsity sp, int p) -> [MX] sym(str name, int nrow, int ncol, int p) -> [MX] sym(str name, Sparsity sp, int p, int r) -> [[MX]] sym(str name, int nrow, int ncol, int p, int r) -> [[MX]] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ....... :: sym(str name, (int,int) rc) [INTERNAL] Construct a symbolic primitive with given dimensions. Extra doc: https://github.com/casadi/casadi/wiki/L_1db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1213-L1215 ............. ....... :: sym(str name, int nrow, int ncol, int p) [INTERNAL] Create a vector of length p with nrow-by-ncol symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_1de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1234-L1237 ............. ....... :: sym(str name, int nrow, int ncol) [INTERNAL] Create an nrow-by-ncol symbolic primitive. Extra doc: https://github.com/casadi/casadi/wiki/L_1da Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1206-L1208 ............. ....... :: sym(str name, Sparsity sp, int p) [INTERNAL] Create a vector of length p with with matrices. with symbolic primitives of given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1355-L1365 ............. ....... :: sym(str name, Sparsity sp) [INTERNAL] Create symbolic primitive with a given sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_1dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1220-L1222 ............. ....... :: sym(str name, Sparsity sp, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p with. symbolic primitives with given sparsity Extra doc: https://github.com/casadi/casadi/wiki/L_1df Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1368-L1378 ............. ....... :: sym(str name, int nrow, int ncol, int p, int r) [INTERNAL] Create a vector of length r of vectors of length p. with nrow-by-ncol symbolic primitives Extra doc: https://github.com/casadi/casadi/wiki/L_1dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1253-L1255 ............. """ return _casadi.GenMX_sym(*args) def GenMX_zeros(*args) -> "casadi::MX": """ [INTERNAL] :: zeros(int nrow, int ncol) -> MX zeros((int,int) rc) -> MX zeros(Sparsity sp) -> MX Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ....... :: zeros(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1262-L1264 ............. ....... :: zeros((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1266-L1268 ............. ....... :: zeros(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries zero. Extra doc: https://github.com/casadi/casadi/wiki/L_1dh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1265-L1265 ............. """ return _casadi.GenMX_zeros(*args) def GenMX_ones(*args) -> "casadi::MX": """ [INTERNAL] :: ones(int nrow, int ncol) -> MX ones((int,int) rc) -> MX ones(Sparsity sp) -> MX Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ....... :: ones(int nrow, int ncol) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1275-L1277 ............. ....... :: ones((int,int) rc) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1279-L1281 ............. ....... :: ones(Sparsity sp) [INTERNAL] Create a dense matrix or a matrix with specified sparsity with all entries one. Extra doc: https://github.com/casadi/casadi/wiki/L_1di Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1278-L1278 ............. """ return _casadi.GenMX_ones(*args) class GenericExpressionCommon(_object): """ [INTERNAL] :: GenericExpressionCommon() -> Expression interface. This is a common base class for SX, MX and Matrix<>, introducing a uniform syntax and implementing common functionality using the curiously recurring template pattern (CRTP) idiom. Joel Andersson C++ includes: generic_expression.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, GenericExpressionCommon, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, GenericExpressionCommon, name) __repr__ = _swig_repr def __hash__(self): try: return self.element_hash() except: return SharedObject.__hash__(self) def __matmul__(x, y): return _casadi.mtimes(x, y) def __rmatmul__(x, y): return _casadi.mtimes(y, x) def __add__(x, y): return _casadi.plus(x, y) def __radd__(x, y): return _casadi.plus(y, x) def __sub__(x, y): return _casadi.minus(x, y) def __rsub__(x, y): return _casadi.minus(y, x) def __mul__(x, y): return _casadi.times(x, y) def __rmul__(x, y): return _casadi.times(y, x) def __div__(x, y): return _casadi.rdivide(x, y) def __rdiv__(x, y): return _casadi.rdivide(y, x) def __truediv__(x, y): return _casadi.rdivide(x, y) def __rtruediv__(x, y): return _casadi.rdivide(y, x) def __lt__(x, y): return _casadi.lt(x, y) def __rlt__(x, y): return _casadi.lt(y, x) def __le__(x, y): return _casadi.le(x, y) def __rle__(x, y): return _casadi.le(y, x) def __gt__(x, y): return _casadi.lt(y, x) def __rgt__(x, y): return _casadi.lt(x, y) def __ge__(x, y): return _casadi.le(y, x) def __rge__(x, y): return _casadi.le(x, y) def __eq__(x, y): return _casadi.eq(x, y) def __req__(x, y): return _casadi.eq(y, x) def __ne__(x, y): return _casadi.ne(x, y) def __rne__(x, y): return _casadi.ne(y, x) def __pow__(x, n): return _casadi.power(x, n) def __rpow__(n, x): return _casadi.power(x, n) def __arctan2__(x, y): return _casadi.atan2(x, y) def __rarctan2__(y, x): return _casadi.atan2(x, y) def fmin(x, y): return _casadi.fmin(x, y) def fmax(x, y): return _casadi.fmax(x, y) def __fmin__(x, y): return _casadi.fmin(x, y) def __rfmin__(y, x): return _casadi.fmin(x, y) def __fmax__(x, y): return _casadi.fmax(x, y) def __rfmax__(y, x): return _casadi.fmax(x, y) def logic_and(x, y): return _casadi.logic_and(x, y) def logic_or(x, y): return _casadi.logic_or(x, y) def fabs(x): return _casadi.fabs(x) def sqrt(x): return _casadi.sqrt(x) def sin(x): return _casadi.sin(x) def cos(x): return _casadi.cos(x) def tan(x): return _casadi.tan(x) def arcsin(x): return _casadi.asin(x) def arccos(x): return _casadi.acos(x) def arctan(x): return _casadi.atan(x) def sinh(x): return _casadi.sinh(x) def cosh(x): return _casadi.cosh(x) def tanh(x): return _casadi.tanh(x) def arcsinh(x): return _casadi.asinh(x) def arccosh(x): return _casadi.acosh(x) def arctanh(x): return _casadi.atanh(x) def exp(x): return _casadi.exp(x) def log(x): return _casadi.log(x) def log10(x): return _casadi.log10(x) def log1p(x): return _casadi.log1p(x) def expm1(x): return _casadi.expm1(x) def floor(x): return _casadi.floor(x) def ceil(x): return _casadi.ceil(x) def erf(x): return _casadi.erf(x) def sign(x): return _casadi.sign(x) def fmod(x, y): return _casadi.mod(x, y) def hypot(x, y): return _casadi.hypot(x, y) def remainder(x, y): return _casadi.remainder(x, y) def __copysign__(x, y): return _casadi.copysign(x, y) def __rcopysign__(y, x): return _casadi.copysign(x, y) def copysign(x, y): return _casadi.copysign(x, y) def rcopysign(y, x): return _casadi.copysign(x, y) def __constpow__(x, y): return _casadi.constpow(x, y) def __rconstpow__(y, x): return _casadi.constpow(x, y) def constpow(x, y): return _casadi.constpow(x, y) def rconstpow(y, x): return _casadi.constpow(x, y) def __init__(self, *args): """ :: GenericExpressionCommon() GenericExpressionCommon(GenericExpressionCommon other) """ this = _casadi.new_GenericExpressionCommon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GenericExpressionCommon GenericExpressionCommon_swigregister = _casadi.GenericExpressionCommon_swigregister GenericExpressionCommon_swigregister(GenericExpressionCommon) IS_GLOBAL = _casadi.IS_GLOBAL IS_MEMBER = _casadi.IS_MEMBER IS_SPARSITY = _casadi.IS_SPARSITY IS_DMATRIX = _casadi.IS_DMATRIX IS_IMATRIX = _casadi.IS_IMATRIX IS_SX = _casadi.IS_SX IS_MX = _casadi.IS_MX IS_DOUBLE = _casadi.IS_DOUBLE class MatrixCommon(_object): """ [INTERNAL] :: MatrixCommon() -> Sparse matrix class. SX and DM are specializations. General sparse matrix class that is designed with the idea that "everything is a matrix", that is, also scalars and vectors. This philosophy makes it easy to use and to interface in particularly with Python and Matlab/Octave. Index starts with 0. Index vec happens as follows: (rr, cc) -> k = rr+cc*size1() Vectors are column vectors. The storage format is Compressed Column Storage (CCS), similar to that used for sparse matrices in Matlab, but unlike this format, we do allow for elements to be structurally non-zero but numerically zero. Matrix is polymorphic with a std::vector that contain all non-identical- zero elements. The sparsity can be accessed with Sparsity& sparsity() Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_18e C++ includes: matrix_decl.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, MatrixCommon, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, MatrixCommon, name) __repr__ = _swig_repr def __init__(self, *args): """ :: MatrixCommon() MatrixCommon(MatrixCommon other) ....... :: MatrixCommon() [INTERNAL] constructors Extra doc: https://github.com/casadi/casadi/wiki/L_18f empty 0-by-0 matrix constructor Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L106 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L576-L577 ............. ....... :: MatrixCommon(MatrixCommon other) ............. """ this = _casadi.new_MatrixCommon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_MatrixCommon MatrixCommon_swigregister = _casadi.MatrixCommon_swigregister MatrixCommon_swigregister(MatrixCommon) class DM(MatrixCommon, GenericExpressionCommon, GenDM, PrintableCommon): """ :: """ __swig_setmethods__ = {} for _s in [MatrixCommon, GenericExpressionCommon, GenDM, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, DM, name, value) __swig_getmethods__ = {} for _s in [MatrixCommon, GenericExpressionCommon, GenDM, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, DM, name) __repr__ = _swig_repr def has_nz(self, *args) -> "bool": """ [INTERNAL] :: has_nz(self, int rr, int cc) -> bool Returns true if the matrix has a non-zero at location rr, cc. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L226 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L65-L67 """ return _casadi.DM_has_nz(self, *args) def __bool__(self, *args) -> "bool": """ [INTERNAL] :: __bool__(self) -> bool Returns the truth value of a Matrix. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L70-L76 """ return _casadi.DM___bool__(self, *args) def get(self, *args) -> "void": """ :: get(self, bool ind1, Sparsity sp) -> DM get(self, bool ind1, Slice rr) -> DM get(self, bool ind1, IM rr) -> DM get(self, bool ind1, Slice rr, Slice cc) -> DM get(self, bool ind1, Slice rr, IM cc) -> DM get(self, bool ind1, IM rr, Slice cc) -> DM get(self, bool ind1, IM rr, IM cc) -> DM """ return _casadi.DM_get(self, *args) def set(self, *args) -> "void": """ :: set(self, DM m, bool ind1, Sparsity sp) set(self, DM m, bool ind1, Slice rr) set(self, DM m, bool ind1, IM rr) set(self, DM m, bool ind1, Slice rr, Slice cc) set(self, DM m, bool ind1, Slice rr, IM cc) set(self, DM m, bool ind1, IM rr, Slice cc) set(self, DM m, bool ind1, IM rr, IM cc) """ return _casadi.DM_set(self, *args) def get_nz(self, *args) -> "void": """ :: get_nz(self, bool ind1, Slice k) -> DM get_nz(self, bool ind1, IM k) -> DM """ return _casadi.DM_get_nz(self, *args) def set_nz(self, *args) -> "void": """ :: set_nz(self, DM m, bool ind1, Slice k) set_nz(self, DM m, bool ind1, IM k) """ return _casadi.DM_set_nz(self, *args) def __pos__(self, *args) -> "casadi::Matrix< double >": """ :: __pos__(self) -> DM """ return _casadi.DM___pos__(self, *args) def __neg__(self, *args) -> "casadi::Matrix< double >": """ :: __neg__(self) -> DM """ return _casadi.DM___neg__(self, *args) def binary(*args) -> "casadi::Matrix< double >": """ :: binary(int op, DM x, DM y) -> DM """ return _casadi.DM_binary(*args) binary = staticmethod(binary) def unary(*args) -> "casadi::Matrix< double >": """ :: unary(int op, DM x) -> DM """ return _casadi.DM_unary(*args) unary = staticmethod(unary) def scalar_matrix(*args) -> "casadi::Matrix< double >": """ :: scalar_matrix(int op, DM x, DM y) -> DM """ return _casadi.DM_scalar_matrix(*args) scalar_matrix = staticmethod(scalar_matrix) def matrix_scalar(*args) -> "casadi::Matrix< double >": """ :: matrix_scalar(int op, DM x, DM y) -> DM """ return _casadi.DM_matrix_scalar(*args) matrix_scalar = staticmethod(matrix_scalar) def matrix_matrix(*args) -> "casadi::Matrix< double >": """ :: matrix_matrix(int op, DM x, DM y) -> DM """ return _casadi.DM_matrix_matrix(*args) matrix_matrix = staticmethod(matrix_matrix) def call(*args) -> "std::vector< double,std::allocator< double > >": """ :: call(Function f, [float] x) -> [float] call(Function f, [DM] x) -> [DM] """ return _casadi.DM_call(*args) call = staticmethod(call) def printme(self, *args) -> "casadi::Matrix< double >": """ :: printme(self, DM y) -> DM """ return _casadi.DM_printme(self, *args) def set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.DM_set_max_depth(*args) set_max_depth = staticmethod(set_max_depth) def get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.DM_get_max_depth(*args) get_max_depth = staticmethod(get_max_depth) def get_input(*args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ :: get_input(Function f) -> [DM] """ return _casadi.DM_get_input(*args) get_input = staticmethod(get_input) def get_free(*args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ :: get_free(Function f) -> [DM] """ return _casadi.DM_get_free(*args) get_free = staticmethod(get_free) def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.DM_type_name(*args) type_name = staticmethod(type_name) def print_split(self, *args) -> "void": """ [INTERNAL] :: print_split(self) -> ([str] OUTPUT, [str] OUTPUT) Get strings corresponding to the nonzeros and the interdependencies. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L906 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L691-L695 """ return _casadi.DM_print_split(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print a representation of the object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L910 """ return _casadi.DM_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L913 """ return _casadi.DM_str(self, *args) def print_scalar(self, *args) -> "void": """ [INTERNAL] :: print_scalar(self) Print scalar. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L916 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L609-L628 """ return _casadi.DM_print_scalar(self, *args) def print_vector(self, *args) -> "void": """ [INTERNAL] :: print_vector(self, bool truncate) Print vector-style. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L919 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L631-L633 """ return _casadi.DM_print_vector(self, *args) def print_dense(self, *args) -> "void": """ [INTERNAL] :: print_dense(self, bool truncate) Print dense matrix-stype. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L922 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L681-L683 """ return _casadi.DM_print_dense(self, *args) def print_sparse(self, *args) -> "void": """ [INTERNAL] :: print_sparse(self, bool truncate) Print sparse matrix style. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L925 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L686-L688 """ return _casadi.DM_print_sparse(self, *args) def clear(self, *args) -> "void": """ [INTERNAL] :: clear(self) """ return _casadi.DM_clear(self, *args) def resize(self, *args) -> "void": """ [INTERNAL] :: resize(self, int nrow, int ncol) """ return _casadi.DM_resize(self, *args) def reserve(self, *args) -> "void": """ [INTERNAL] :: reserve(self, int nnz) reserve(self, int nnz, int ncol) """ return _casadi.DM_reserve(self, *args) def erase(self, *args) -> "void": """ [INTERNAL] :: erase(self, [int] rr, bool ind1) erase(self, [int] rr, [int] cc, bool ind1) Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L974 ....... :: erase(self, [int] rr, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L974 ............. ....... :: erase(self, [int] rr, [int] cc, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase rows and/or columns of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L966 ............. """ return _casadi.DM_erase(self, *args) def remove(self, *args) -> "void": """ [INTERNAL] :: remove(self, [int] rr, [int] cc) Remove columns and rows. Remove/delete rows and/or columns of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19h Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L981 """ return _casadi.DM_remove(self, *args) def enlarge(self, *args) -> "void": """ [INTERNAL] :: enlarge(self, int nrow, int ncol, [int] rr, [int] cc, bool ind1) Enlarge matrix. Make the matrix larger by inserting empty rows and columns, keeping the existing non-zeros Extra doc: https://github.com/casadi/casadi/wiki/L_19i Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L989 """ return _casadi.DM_enlarge(self, *args) def sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: sparsity(self) -> Sparsity Get an owning reference to the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_19j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1016 """ return _casadi.DM_sparsity(self, *args) def get_output(self, *args) -> "casadi::Matrix< double >": """ :: get_output(self, int oind) -> DM """ return _casadi.DM_get_output(self, *args) def triplet(*args) -> "casadi::Matrix< double >": """ :: triplet([int] row, [int] col, DM d) -> DM triplet([int] row, [int] col, DM d, (int,int) rc) -> DM triplet([int] row, [int] col, DM d, int nrow, int ncol) -> DM """ return _casadi.DM_triplet(*args) triplet = staticmethod(triplet) def inf(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: inf(int nrow, int ncol) -> DM inf((int,int) rc) -> DM inf(Sparsity sp) -> DM create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1046 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1045 ............. """ return _casadi.DM_inf(*args) inf = staticmethod(inf) def nan(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: nan(int nrow, int ncol) -> DM nan((int,int) rc) -> DM nan(Sparsity sp) -> DM create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1055 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1054 ............. """ return _casadi.DM_nan(*args) nan = staticmethod(nan) def eye(*args) -> "casadi::Matrix< double >": """ :: eye(int n) -> DM """ return _casadi.DM_eye(*args) eye = staticmethod(eye) def element_hash(self, *args) -> "casadi_int": """ :: element_hash(self) -> int """ return _casadi.DM_element_hash(self, *args) def is_regular(self, *args) -> "bool": """ :: is_regular(self) -> bool """ return _casadi.DM_is_regular(self, *args) def is_smooth(self, *args) -> "bool": """ :: is_smooth(self) -> bool """ return _casadi.DM_is_smooth(self, *args) def is_leaf(self, *args) -> "bool": """ :: is_leaf(self) -> bool """ return _casadi.DM_is_leaf(self, *args) def is_commutative(self, *args) -> "bool": """ :: is_commutative(self) -> bool """ return _casadi.DM_is_commutative(self, *args) def is_symbolic(self, *args) -> "bool": """ :: is_symbolic(self) -> bool """ return _casadi.DM_is_symbolic(self, *args) def is_valid_input(self, *args) -> "bool": """ :: is_valid_input(self) -> bool """ return _casadi.DM_is_valid_input(self, *args) def has_duplicates(self, *args) -> "bool": """ :: has_duplicates(self) -> bool """ return _casadi.DM_has_duplicates(self, *args) def reset_input(self, *args) -> "void": """ :: reset_input(self) """ return _casadi.DM_reset_input(self, *args) def is_constant(self, *args) -> "bool": """ [INTERNAL] :: is_constant(self) -> bool Check if the matrix is constant (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19v Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1142 """ return _casadi.DM_is_constant(self, *args) def is_call(self, *args) -> "bool": """ :: is_call(self) -> bool """ return _casadi.DM_is_call(self, *args) def is_output(self, *args) -> "bool": """ :: is_output(self) -> bool """ return _casadi.DM_is_output(self, *args) def has_output(self, *args) -> "bool": """ :: has_output(self) -> bool """ return _casadi.DM_has_output(self, *args) def which_output(self, *args) -> "casadi_int": """ :: which_output(self) -> int """ return _casadi.DM_which_output(self, *args) def which_function(self, *args) -> "casadi::Function": """ :: which_function(self) -> Function """ return _casadi.DM_which_function(self, *args) def is_integer(self, *args) -> "bool": """ [INTERNAL] :: is_integer(self) -> bool Check if the matrix is integer-valued. (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1174 """ return _casadi.DM_is_integer(self, *args) def is_zero(self, *args) -> "bool": """ [INTERNAL] :: is_zero(self) -> bool check if the matrix is 0 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1179 """ return _casadi.DM_is_zero(self, *args) def is_one(self, *args) -> "bool": """ [INTERNAL] :: is_one(self) -> bool check if the matrix is 1 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19y Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1184 """ return _casadi.DM_is_one(self, *args) def is_minus_one(self, *args) -> "bool": """ [INTERNAL] :: is_minus_one(self) -> bool check if the matrix is -1 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19z Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1189 """ return _casadi.DM_is_minus_one(self, *args) def is_eye(self, *args) -> "bool": """ [INTERNAL] :: is_eye(self) -> bool check if the matrix is an identity matrix (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_1a0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1196 """ return _casadi.DM_is_eye(self, *args) def op(self, *args) -> "casadi_int": """ :: op(self) -> int """ return _casadi.DM_op(self, *args) def is_op(self, *args) -> "bool": """ :: is_op(self, int op) -> bool """ return _casadi.DM_is_op(self, *args) def has_zeros(self, *args) -> "bool": """ [INTERNAL] :: has_zeros(self) -> bool Check if the matrix has any zero entries which are not structural zeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1a1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1207 """ return _casadi.DM_has_zeros(self, *args) def nonzeros(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nonzeros(self) -> [float] Get all nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1a4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1224 """ return _casadi.DM_nonzeros(self, *args) def elements(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: elements(self) -> [float] Get all elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1a3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1217 """ return _casadi.DM_elements(self, *args) def __float__(self, *args) -> "double": """ :: __float__(self) -> float """ return _casadi.DM___float__(self, *args) def __int__(self, *args) -> "casadi_int": """ :: __int__(self) -> int """ return _casadi.DM___int__(self, *args) def name(self, *args) -> "std::string": """ :: name(self) -> str """ return _casadi.DM_name(self, *args) def dep(self, *args) -> "casadi::Matrix< double >": """ :: dep(self, int ch) -> DM """ return _casadi.DM_dep(self, *args) def n_dep(self, *args) -> "casadi_int": """ :: n_dep(self) -> int """ return _casadi.DM_n_dep(self, *args) def set_precision(*args) -> "void": """ :: set_precision(int precision) """ return _casadi.DM_set_precision(*args) set_precision = staticmethod(set_precision) def set_width(*args) -> "void": """ :: set_width(int width) """ return _casadi.DM_set_width(*args) set_width = staticmethod(set_width) def set_scientific(*args) -> "void": """ :: set_scientific(bool scientific) """ return _casadi.DM_set_scientific(*args) set_scientific = staticmethod(set_scientific) def rng(*args) -> "void": """ :: rng(int seed) """ return _casadi.DM_rng(*args) rng = staticmethod(rng) def rand(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: rand(int nrow, int ncol) -> DM rand((int,int) rc) -> DM rand(Sparsity sp) -> DM Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ....... :: rand(int nrow, int ncol) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1279 ............. ....... :: rand((int,int) rc) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ............. ....... :: rand(Sparsity sp) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1282 ............. """ return _casadi.DM_rand(*args) rand = staticmethod(rand) def export_code(self, *args) -> "void": """ [INTERNAL] :: export_code(self, str lang, dict options) Export matrix in specific language. lang: only 'matlab' supported for now :: * options: * inline: Indicates if you want everything on a single line (default: False) * name: Name of exported variable (default: 'm') * indent_level: Level of indentation (default: 0) * spoof_zero: Replace numerical zero by a 1e-200 (default: false) * might be needed for matlab sparse construct, * which doesn't allow numerical zero * Extra doc: https://github.com/casadi/casadi/wiki/L_1ac Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1301 """ return _casadi.DM_export_code(self, *args) def info(self, *args) -> "casadi::Dict": """ :: info(self) -> dict """ return _casadi.DM_info(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self) -> str serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_1ah Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1331 ....... :: serialize(self, casadi::SerializingStream & s) [INTERNAL] Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_1ah Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1331 ............. ....... :: serialize(self) [INTERNAL] Serialize. Extra doc: https://github.com/casadi/casadi/wiki/L_1ae Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1316 ............. """ return _casadi.DM_serialize(self, *args) def deserialize(*args) -> "casadi::Matrix< double >": """ :: deserialize(std::istream & stream) -> DM deserialize(casadi::DeserializingStream & s) -> DM deserialize(str s) -> DM """ return _casadi.DM_deserialize(*args) deserialize = staticmethod(deserialize) def to_file(self, *args) -> "void": """ [INTERNAL] :: to_file(self, str filename, str format) Export numerical matrix to file Supported formats: :: * - .mtx Matrix Market (sparse) * - .txt Ascii full precision representation (sparse) * Whitespace separated, aligned. * Comments with # % or / * Uses C locale * Structural zeros represented by 00 * Does not scale well for large sparse matrices * Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1351 """ return _casadi.DM_to_file(self, *args) def from_file(*args) -> "casadi::Matrix< double >": """ :: from_file(str filename, str format_hint) -> DM """ return _casadi.DM_from_file(*args) from_file = staticmethod(from_file) def __init__(self, *args): """ :: DM() DM(Sparsity sp) DM(float val) DM([[float]] m) DM(DM m) DM([SXElem] x) DM(SX x) DM(int nrow, int ncol) DM(Sparsity sp, DM d) """ this = _casadi.new_DM(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this def assign(self, *args) -> "void": """ :: assign(self, DM rhs) """ return _casadi.DM_assign(self, *args) @property def shape(self): return (self.size1(),self.size2()) def reshape(self,arg): return _casadi.reshape(self,arg) @property def T(self): return _casadi.transpose(self) def __getitem__(self, s): if isinstance(s, tuple) and len(s)==2: if s[1] is None: raise TypeError("Cannot slice with None") return self.get(False, s[0], s[1]) return self.get(False, s) def __iter__(self): raise Exception("""CasADi matrices are not iterable by design. Did you mean to iterate over m.nz, with m IM/DM/SX? Did you mean to iterate over horzsplit(m,1)/vertsplit(m,1) with m IM/DM/SX/MX? """) def __setitem__(self,s,val): if isinstance(s,tuple) and len(s)==2: return self.set(val, False, s[0], s[1]) return self.set(val, False, s) @property def nz(self): return NZproxy(self) def full(self, *args) -> "PyObject *": """ :: full(self) -> PyObject * """ return _casadi.DM_full(self, *args) def sparse(self, *args) -> "PyObject *": """ :: sparse(self) -> PyObject * """ return _casadi.DM_sparse(self, *args) __array_priority__ = 999.0 def __array_wrap__(self,out_arr,context=None): if context is None: return out_arr name = context[0].__name__ args = list(context[1]) if len(context[1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name) if "vectorized" in name: name = name[:-len(" (vectorized)")] conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} if name in conversion: name = conversion[name] if len(context[1])==2 and context[1][1] is self and not(context[1][0] is self): name = 'r' + name args.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' fun=getattr(self, name) return fun(*args[1:]) def __array_ufunc__(self, ufunc, method, *inputs, **kwargs): conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} name = ufunc.__name__ inputs = list(inputs) if len(inputs)==3: import warnings warnings.warn("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name, RuntimeWarning) return NotImplemented if "vectorized" in name: name = name[:-len(" (vectorized)")] if name in conversion: name = conversion[name] if len(inputs)==2 and inputs[1] is self and not(inputs[0] is self): name = 'r' + name inputs.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' if method=="reduce" and name=="add": assert len(inputs)==1 axis = kwargs["axis"] if axis is None: return inputs[0].sum() else: return inputs[0].sum(axis) try: assert method=="__call__" fun=getattr(self, name) return fun(*inputs[1:]) except Exception as e: if "Dimension mismatch" in str(e): import sys if sys.version_info[0] < 3: raise RuntimeError(str(e)) else: raise e #Fall back to numpy conversion new_inputs = list(inputs) try: new_inputs[0] = new_inputs[0].full() except: import warnings warnings.warn("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.", RuntimeWarning) return NotImplemented return new_inputs[0].__array_ufunc__(ufunc, method, *new_inputs, **kwargs) def __array__(self,*args,**kwargs): import numpy as n if len(args) > 1 and isinstance(args[1],tuple) and isinstance(args[1][0],n.ufunc) and isinstance(args[1][0],n.ufunc) and len(args[1])>1 and args[1][0].nin==len(args[1][1]): if len(args[1][1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b'. This is not supported when 'a' is a numpy type, and cannot be supported without changing numpy itself. Either upgrade a to a CasADi type first, or use 'a = a + b'. " % args[1][0].__name__) return n.array([n.nan]) else: if hasattr(self,'__array_custom__'): return self.__array_custom__(*args,**kwargs) else: try: return self.full() except: if self.is_scalar(True): #Needed for#2743 E=n.empty((),dtype=object) E[()] = self return E else: raise Exception("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.") def __array_custom__(self,*args,**kwargs): if "dtype" in kwargs and not(isinstance(kwargs["dtype"],n.double)): return n.array(self.full(),dtype=kwargs["dtype"]) else: return self.full() def tocsc(self): import numpy as np import warnings with warnings.catch_warnings(): warnings.simplefilter("ignore") from scipy.sparse import csc_matrix return csc_matrix( (self.nonzeros(),self.row(),self.colind()), shape = self.shape, dtype=np.double ) def toarray(self,simplify=False): import numpy as np if simplify: if self.is_scalar(): return float(self) elif self.is_vector(): return np.array(self.T.elements()) return np.array(self.T.elements()).reshape(self.shape) def __bool__(self): if self.numel()!=1: raise Exception("Only a scalar can be cast to a float") if self.nnz()==0: return False return float(self)!=0 def __abs__(self): return abs(float(self)) def __setstate__(self, state): self.__init__(DM.deserialize(state["serialization"])) def __getstate__(self): return {"serialization": self.serialize()} __swig_destroy__ = _casadi.delete_DM DM_swigregister = _casadi.DM_swigregister DM_swigregister(DM) def DM_binary(*args) -> "casadi::Matrix< double >": """ :: binary(int op, DM x, DM y) -> DM """ return _casadi.DM_binary(*args) def DM_unary(*args) -> "casadi::Matrix< double >": """ :: unary(int op, DM x) -> DM """ return _casadi.DM_unary(*args) def DM_scalar_matrix(*args) -> "casadi::Matrix< double >": """ :: scalar_matrix(int op, DM x, DM y) -> DM """ return _casadi.DM_scalar_matrix(*args) def DM_matrix_scalar(*args) -> "casadi::Matrix< double >": """ :: matrix_scalar(int op, DM x, DM y) -> DM """ return _casadi.DM_matrix_scalar(*args) def DM_matrix_matrix(*args) -> "casadi::Matrix< double >": """ :: matrix_matrix(int op, DM x, DM y) -> DM """ return _casadi.DM_matrix_matrix(*args) def DM_call(*args) -> "std::vector< double,std::allocator< double > >": """ :: call(Function f, [float] x) -> [float] call(Function f, [DM] x) -> [DM] """ return _casadi.DM_call(*args) def DM_set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.DM_set_max_depth(*args) def DM_get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.DM_get_max_depth(*args) def DM_get_input(*args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ :: get_input(Function f) -> [DM] """ return _casadi.DM_get_input(*args) def DM_get_free(*args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ :: get_free(Function f) -> [DM] """ return _casadi.DM_get_free(*args) def DM_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.DM_type_name(*args) def DM_triplet(*args) -> "casadi::Matrix< double >": """ :: triplet([int] row, [int] col, DM d) -> DM triplet([int] row, [int] col, DM d, (int,int) rc) -> DM triplet([int] row, [int] col, DM d, int nrow, int ncol) -> DM """ return _casadi.DM_triplet(*args) def DM_inf(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: inf(int nrow, int ncol) -> DM inf((int,int) rc) -> DM inf(Sparsity sp) -> DM create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1046 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1045 ............. """ return _casadi.DM_inf(*args) def DM_nan(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: nan(int nrow, int ncol) -> DM nan((int,int) rc) -> DM nan(Sparsity sp) -> DM create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1055 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1054 ............. """ return _casadi.DM_nan(*args) def DM_eye(*args) -> "casadi::Matrix< double >": """ :: eye(int n) -> DM """ return _casadi.DM_eye(*args) def DM_set_precision(*args) -> "void": """ :: set_precision(int precision) """ return _casadi.DM_set_precision(*args) def DM_set_width(*args) -> "void": """ :: set_width(int width) """ return _casadi.DM_set_width(*args) def DM_set_scientific(*args) -> "void": """ :: set_scientific(bool scientific) """ return _casadi.DM_set_scientific(*args) def DM_rng(*args) -> "void": """ :: rng(int seed) """ return _casadi.DM_rng(*args) def DM_rand(*args) -> "casadi::Matrix< double >": """ [INTERNAL] :: rand(int nrow, int ncol) -> DM rand((int,int) rc) -> DM rand(Sparsity sp) -> DM Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ....... :: rand(int nrow, int ncol) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1279 ............. ....... :: rand((int,int) rc) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ............. ....... :: rand(Sparsity sp) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1282 ............. """ return _casadi.DM_rand(*args) def DM_deserialize(*args) -> "casadi::Matrix< double >": """ :: deserialize(std::istream & stream) -> DM deserialize(casadi::DeserializingStream & s) -> DM deserialize(str s) -> DM """ return _casadi.DM_deserialize(*args) def DM_from_file(*args) -> "casadi::Matrix< double >": """ :: from_file(str filename, str format_hint) -> DM """ return _casadi.DM_from_file(*args) class SXElem(_object): """ [INTERNAL] :: SXElem() -> The basic scalar symbolic class of CasADi. SXElem is exposed only as an empty struct to SWIG Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_10i C++ includes: sx_elem.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, SXElem, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, SXElem, name) __repr__ = _swig_repr def __init__(self, *args): """ :: SXElem() SXElem(SXElem other) ....... :: SXElem(SXElem other) ............. ....... :: SXElem() [INTERNAL] Default constructor (not-a-number) Object is initialized as not-a-number. Extra doc: https://github.com/casadi/casadi/wiki/L_10j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.hpp#L87 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.cpp#L53-L56 ............. """ this = _casadi.new_SXElem(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_SXElem SXElem_swigregister = _casadi.SXElem_swigregister SXElem_swigregister(SXElem) try: import numpy def constpow(x,y): pass constpow=numpy.frompyfunc(constpow,2,1) except: pass class SX(MatrixCommon, GenericExpressionCommon, GenSX, PrintableCommon): """ :: """ __swig_setmethods__ = {} for _s in [MatrixCommon, GenericExpressionCommon, GenSX, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, SX, name, value) __swig_getmethods__ = {} for _s in [MatrixCommon, GenericExpressionCommon, GenSX, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, SX, name) __repr__ = _swig_repr def has_nz(self, *args) -> "bool": """ [INTERNAL] :: has_nz(self, int rr, int cc) -> bool Returns true if the matrix has a non-zero at location rr, cc. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L226 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L65-L67 """ return _casadi.SX_has_nz(self, *args) def __bool__(self, *args) -> "bool": """ [INTERNAL] :: __bool__(self) -> bool Returns the truth value of a Matrix. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L70-L76 """ return _casadi.SX___bool__(self, *args) def get(self, *args) -> "void": """ :: get(self, bool ind1, Sparsity sp) -> SX get(self, bool ind1, Slice rr) -> SX get(self, bool ind1, IM rr) -> SX get(self, bool ind1, Slice rr, Slice cc) -> SX get(self, bool ind1, Slice rr, IM cc) -> SX get(self, bool ind1, IM rr, Slice cc) -> SX get(self, bool ind1, IM rr, IM cc) -> SX """ return _casadi.SX_get(self, *args) def set(self, *args) -> "void": """ :: set(self, SX m, bool ind1, Sparsity sp) set(self, SX m, bool ind1, Slice rr) set(self, SX m, bool ind1, IM rr) set(self, SX m, bool ind1, Slice rr, Slice cc) set(self, SX m, bool ind1, Slice rr, IM cc) set(self, SX m, bool ind1, IM rr, Slice cc) set(self, SX m, bool ind1, IM rr, IM cc) """ return _casadi.SX_set(self, *args) def get_nz(self, *args) -> "void": """ :: get_nz(self, bool ind1, Slice k) -> SX get_nz(self, bool ind1, IM k) -> SX """ return _casadi.SX_get_nz(self, *args) def set_nz(self, *args) -> "void": """ :: set_nz(self, SX m, bool ind1, Slice k) set_nz(self, SX m, bool ind1, IM k) """ return _casadi.SX_set_nz(self, *args) def __pos__(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ :: __pos__(self) -> SX """ return _casadi.SX___pos__(self, *args) def __neg__(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ :: __neg__(self) -> SX """ return _casadi.SX___neg__(self, *args) def binary(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: binary(int op, SX x, SX y) -> SX """ return _casadi.SX_binary(*args) binary = staticmethod(binary) def unary(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: unary(int op, SX x) -> SX """ return _casadi.SX_unary(*args) unary = staticmethod(unary) def scalar_matrix(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: scalar_matrix(int op, SX x, SX y) -> SX """ return _casadi.SX_scalar_matrix(*args) scalar_matrix = staticmethod(scalar_matrix) def matrix_scalar(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: matrix_scalar(int op, SX x, SX y) -> SX """ return _casadi.SX_matrix_scalar(*args) matrix_scalar = staticmethod(matrix_scalar) def matrix_matrix(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: matrix_matrix(int op, SX x, SX y) -> SX """ return _casadi.SX_matrix_matrix(*args) matrix_matrix = staticmethod(matrix_matrix) def call(*args) -> "std::vector< casadi::SXElem,std::allocator< casadi::SXElem > >": """ :: call(Function f, [SX] x) -> [SX] call(Function f, [SXElem] x) -> [SXElem] """ return _casadi.SX_call(*args) call = staticmethod(call) def printme(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ :: printme(self, SX y) -> SX """ return _casadi.SX_printme(self, *args) def set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.SX_set_max_depth(*args) set_max_depth = staticmethod(set_max_depth) def get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.SX_get_max_depth(*args) get_max_depth = staticmethod(get_max_depth) def get_input(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ :: get_input(Function f) -> [SX] """ return _casadi.SX_get_input(*args) get_input = staticmethod(get_input) def get_free(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ :: get_free(Function f) -> [SX] """ return _casadi.SX_get_free(*args) get_free = staticmethod(get_free) def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.SX_type_name(*args) type_name = staticmethod(type_name) def print_split(self, *args) -> "void": """ [INTERNAL] :: print_split(self) -> ([str] OUTPUT, [str] OUTPUT) Get strings corresponding to the nonzeros and the interdependencies. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L906 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L691-L695 """ return _casadi.SX_print_split(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print a representation of the object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L910 """ return _casadi.SX_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L913 """ return _casadi.SX_str(self, *args) def print_scalar(self, *args) -> "void": """ [INTERNAL] :: print_scalar(self) Print scalar. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L916 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L609-L628 """ return _casadi.SX_print_scalar(self, *args) def print_vector(self, *args) -> "void": """ [INTERNAL] :: print_vector(self, bool truncate) Print vector-style. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L919 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L631-L633 """ return _casadi.SX_print_vector(self, *args) def print_dense(self, *args) -> "void": """ [INTERNAL] :: print_dense(self, bool truncate) Print dense matrix-stype. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L922 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L681-L683 """ return _casadi.SX_print_dense(self, *args) def print_sparse(self, *args) -> "void": """ [INTERNAL] :: print_sparse(self, bool truncate) Print sparse matrix style. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L925 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_impl.hpp#L686-L688 """ return _casadi.SX_print_sparse(self, *args) def clear(self, *args) -> "void": """ [INTERNAL] :: clear(self) """ return _casadi.SX_clear(self, *args) def resize(self, *args) -> "void": """ [INTERNAL] :: resize(self, int nrow, int ncol) """ return _casadi.SX_resize(self, *args) def reserve(self, *args) -> "void": """ [INTERNAL] :: reserve(self, int nnz) reserve(self, int nnz, int ncol) """ return _casadi.SX_reserve(self, *args) def erase(self, *args) -> "void": """ [INTERNAL] :: erase(self, [int] rr, bool ind1) erase(self, [int] rr, [int] cc, bool ind1) Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L974 ....... :: erase(self, [int] rr, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L974 ............. ....... :: erase(self, [int] rr, [int] cc, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase rows and/or columns of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L966 ............. """ return _casadi.SX_erase(self, *args) def remove(self, *args) -> "void": """ [INTERNAL] :: remove(self, [int] rr, [int] cc) Remove columns and rows. Remove/delete rows and/or columns of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_19h Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L981 """ return _casadi.SX_remove(self, *args) def enlarge(self, *args) -> "void": """ [INTERNAL] :: enlarge(self, int nrow, int ncol, [int] rr, [int] cc, bool ind1) Enlarge matrix. Make the matrix larger by inserting empty rows and columns, keeping the existing non-zeros Extra doc: https://github.com/casadi/casadi/wiki/L_19i Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L989 """ return _casadi.SX_enlarge(self, *args) def sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: sparsity(self) -> Sparsity Get an owning reference to the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_19j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1016 """ return _casadi.SX_sparsity(self, *args) def get_output(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ :: get_output(self, int oind) -> SX """ return _casadi.SX_get_output(self, *args) def triplet(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: triplet([int] row, [int] col, SX d) -> SX triplet([int] row, [int] col, SX d, (int,int) rc) -> SX triplet([int] row, [int] col, SX d, int nrow, int ncol) -> SX """ return _casadi.SX_triplet(*args) triplet = staticmethod(triplet) def inf(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: inf(int nrow, int ncol) -> SX inf((int,int) rc) -> SX inf(Sparsity sp) -> SX create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1046 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1045 ............. """ return _casadi.SX_inf(*args) inf = staticmethod(inf) def nan(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: nan(int nrow, int ncol) -> SX nan((int,int) rc) -> SX nan(Sparsity sp) -> SX create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1055 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1054 ............. """ return _casadi.SX_nan(*args) nan = staticmethod(nan) def eye(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: eye(int n) -> SX """ return _casadi.SX_eye(*args) eye = staticmethod(eye) def element_hash(self, *args) -> "casadi_int": """ :: element_hash(self) -> int """ return _casadi.SX_element_hash(self, *args) def is_regular(self, *args) -> "bool": """ :: is_regular(self) -> bool """ return _casadi.SX_is_regular(self, *args) def is_smooth(self, *args) -> "bool": """ :: is_smooth(self) -> bool """ return _casadi.SX_is_smooth(self, *args) def is_leaf(self, *args) -> "bool": """ :: is_leaf(self) -> bool """ return _casadi.SX_is_leaf(self, *args) def is_commutative(self, *args) -> "bool": """ :: is_commutative(self) -> bool """ return _casadi.SX_is_commutative(self, *args) def is_symbolic(self, *args) -> "bool": """ :: is_symbolic(self) -> bool """ return _casadi.SX_is_symbolic(self, *args) def is_valid_input(self, *args) -> "bool": """ :: is_valid_input(self) -> bool """ return _casadi.SX_is_valid_input(self, *args) def has_duplicates(self, *args) -> "bool": """ :: has_duplicates(self) -> bool """ return _casadi.SX_has_duplicates(self, *args) def reset_input(self, *args) -> "void": """ :: reset_input(self) """ return _casadi.SX_reset_input(self, *args) def is_constant(self, *args) -> "bool": """ [INTERNAL] :: is_constant(self) -> bool Check if the matrix is constant (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19v Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1142 """ return _casadi.SX_is_constant(self, *args) def is_call(self, *args) -> "bool": """ :: is_call(self) -> bool """ return _casadi.SX_is_call(self, *args) def is_output(self, *args) -> "bool": """ :: is_output(self) -> bool """ return _casadi.SX_is_output(self, *args) def has_output(self, *args) -> "bool": """ :: has_output(self) -> bool """ return _casadi.SX_has_output(self, *args) def which_output(self, *args) -> "casadi_int": """ :: which_output(self) -> int """ return _casadi.SX_which_output(self, *args) def which_function(self, *args) -> "casadi::Function": """ :: which_function(self) -> Function """ return _casadi.SX_which_function(self, *args) def is_integer(self, *args) -> "bool": """ [INTERNAL] :: is_integer(self) -> bool Check if the matrix is integer-valued. (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1174 """ return _casadi.SX_is_integer(self, *args) def is_zero(self, *args) -> "bool": """ [INTERNAL] :: is_zero(self) -> bool check if the matrix is 0 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1179 """ return _casadi.SX_is_zero(self, *args) def is_one(self, *args) -> "bool": """ [INTERNAL] :: is_one(self) -> bool check if the matrix is 1 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19y Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1184 """ return _casadi.SX_is_one(self, *args) def is_minus_one(self, *args) -> "bool": """ [INTERNAL] :: is_minus_one(self) -> bool check if the matrix is -1 (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_19z Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1189 """ return _casadi.SX_is_minus_one(self, *args) def is_eye(self, *args) -> "bool": """ [INTERNAL] :: is_eye(self) -> bool check if the matrix is an identity matrix (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_1a0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1196 """ return _casadi.SX_is_eye(self, *args) def op(self, *args) -> "casadi_int": """ :: op(self) -> int """ return _casadi.SX_op(self, *args) def is_op(self, *args) -> "bool": """ :: is_op(self, int op) -> bool """ return _casadi.SX_is_op(self, *args) def has_zeros(self, *args) -> "bool": """ [INTERNAL] :: has_zeros(self) -> bool Check if the matrix has any zero entries which are not structural zeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1a1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1207 """ return _casadi.SX_has_zeros(self, *args) def nonzeros(self, *args) -> "std::vector< casadi::SXElem,std::allocator< casadi::SXElem > >": """ [INTERNAL] :: nonzeros(self) -> [SXElem] Get all nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1a4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1224 """ return _casadi.SX_nonzeros(self, *args) def elements(self, *args) -> "std::vector< casadi::SXElem,std::allocator< casadi::SXElem > >": """ [INTERNAL] :: elements(self) -> [SXElem] Get all elements. Extra doc: https://github.com/casadi/casadi/wiki/L_1a3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1217 """ return _casadi.SX_elements(self, *args) def __float__(self, *args) -> "double": """ :: __float__(self) -> float """ return _casadi.SX___float__(self, *args) def __int__(self, *args) -> "casadi_int": """ :: __int__(self) -> int """ return _casadi.SX___int__(self, *args) def name(self, *args) -> "std::string": """ :: name(self) -> str """ return _casadi.SX_name(self, *args) def dep(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ :: dep(self, int ch) -> SX """ return _casadi.SX_dep(self, *args) def n_dep(self, *args) -> "casadi_int": """ :: n_dep(self) -> int """ return _casadi.SX_n_dep(self, *args) def set_precision(*args) -> "void": """ :: set_precision(int precision) """ return _casadi.SX_set_precision(*args) set_precision = staticmethod(set_precision) def set_width(*args) -> "void": """ :: set_width(int width) """ return _casadi.SX_set_width(*args) set_width = staticmethod(set_width) def set_scientific(*args) -> "void": """ :: set_scientific(bool scientific) """ return _casadi.SX_set_scientific(*args) set_scientific = staticmethod(set_scientific) def rng(*args) -> "void": """ :: rng(int seed) """ return _casadi.SX_rng(*args) rng = staticmethod(rng) def rand(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: rand(int nrow, int ncol) -> SX rand((int,int) rc) -> SX rand(Sparsity sp) -> SX Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ....... :: rand(int nrow, int ncol) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1279 ............. ....... :: rand((int,int) rc) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ............. ....... :: rand(Sparsity sp) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1282 ............. """ return _casadi.SX_rand(*args) rand = staticmethod(rand) def export_code(self, *args) -> "void": """ [INTERNAL] :: export_code(self, str lang, dict options) Export matrix in specific language. lang: only 'matlab' supported for now :: * options: * inline: Indicates if you want everything on a single line (default: False) * name: Name of exported variable (default: 'm') * indent_level: Level of indentation (default: 0) * spoof_zero: Replace numerical zero by a 1e-200 (default: false) * might be needed for matlab sparse construct, * which doesn't allow numerical zero * Extra doc: https://github.com/casadi/casadi/wiki/L_1ac Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1301 """ return _casadi.SX_export_code(self, *args) def info(self, *args) -> "casadi::Dict": """ :: info(self) -> dict """ return _casadi.SX_info(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self) -> str serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_1ah Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1331 ....... :: serialize(self, casadi::SerializingStream & s) [INTERNAL] Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_1ah Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1331 ............. ....... :: serialize(self) [INTERNAL] Serialize. Extra doc: https://github.com/casadi/casadi/wiki/L_1ae Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1316 ............. """ return _casadi.SX_serialize(self, *args) def deserialize(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: deserialize(std::istream & stream) -> SX deserialize(casadi::DeserializingStream & s) -> SX deserialize(str s) -> SX """ return _casadi.SX_deserialize(*args) deserialize = staticmethod(deserialize) def to_file(self, *args) -> "void": """ [INTERNAL] :: to_file(self, str filename, str format) Export numerical matrix to file Supported formats: :: * - .mtx Matrix Market (sparse) * - .txt Ascii full precision representation (sparse) * Whitespace separated, aligned. * Comments with # % or / * Uses C locale * Structural zeros represented by 00 * Does not scale well for large sparse matrices * Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1351 """ return _casadi.SX_to_file(self, *args) def from_file(*args) -> "casadi::Matrix< double >": """ :: from_file(str filename, str format_hint) -> DM """ return _casadi.SX_from_file(*args) from_file = staticmethod(from_file) def __setstate__(self, state): ctx = _current_unpickle_context() if not ctx: raise Exception("Cannot unpickle SX objects without a casadi context. " + "Use something like:\n"+ "with ca.global_unpickle_context(): \n"+ " f_ref = pickle.load(open(filename,'rb'))") ctx.decode(state) self.__init__(ctx.unpack()) def __getstate__(self): ctx = _current_pickle_context() if not ctx: raise Exception("Cannot pickle SX objects without a casadi context. " + "Use something like:\n"+ "with ca.global_pickle_context(): \n"+ " pickle.dump(f,open(filename,'wb'))") ctx.pack(self) return ctx.encode() @property def shape(self): return (self.size1(),self.size2()) def reshape(self,arg): return _casadi.reshape(self,arg) @property def T(self): return _casadi.transpose(self) def __getitem__(self, s): if isinstance(s, tuple) and len(s)==2: if s[1] is None: raise TypeError("Cannot slice with None") return self.get(False, s[0], s[1]) return self.get(False, s) def __iter__(self): raise Exception("""CasADi matrices are not iterable by design. Did you mean to iterate over m.nz, with m IM/DM/SX? Did you mean to iterate over horzsplit(m,1)/vertsplit(m,1) with m IM/DM/SX/MX? """) def __setitem__(self,s,val): if isinstance(s,tuple) and len(s)==2: return self.set(val, False, s[0], s[1]) return self.set(val, False, s) @property def nz(self): return NZproxy(self) __array_priority__ = 1001.0 def __array_wrap__(self,out_arr,context=None): if context is None: return out_arr name = context[0].__name__ args = list(context[1]) if len(context[1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name) if "vectorized" in name: name = name[:-len(" (vectorized)")] conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} if name in conversion: name = conversion[name] if len(context[1])==2 and context[1][1] is self and not(context[1][0] is self): name = 'r' + name args.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' fun=getattr(self, name) return fun(*args[1:]) def __array_ufunc__(self, ufunc, method, *inputs, **kwargs): conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} name = ufunc.__name__ inputs = list(inputs) if len(inputs)==3: import warnings warnings.warn("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name, RuntimeWarning) return NotImplemented if "vectorized" in name: name = name[:-len(" (vectorized)")] if name in conversion: name = conversion[name] if len(inputs)==2 and inputs[1] is self and not(inputs[0] is self): name = 'r' + name inputs.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' if method=="reduce" and name=="add": assert len(inputs)==1 axis = kwargs["axis"] if axis is None: return inputs[0].sum() else: return inputs[0].sum(axis) try: assert method=="__call__" fun=getattr(self, name) return fun(*inputs[1:]) except Exception as e: if "Dimension mismatch" in str(e): import sys if sys.version_info[0] < 3: raise RuntimeError(str(e)) else: raise e #Fall back to numpy conversion new_inputs = list(inputs) try: new_inputs[0] = new_inputs[0].full() except: import warnings warnings.warn("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.", RuntimeWarning) return NotImplemented return new_inputs[0].__array_ufunc__(ufunc, method, *new_inputs, **kwargs) def __array__(self,*args,**kwargs): import numpy as n if len(args) > 1 and isinstance(args[1],tuple) and isinstance(args[1][0],n.ufunc) and isinstance(args[1][0],n.ufunc) and len(args[1])>1 and args[1][0].nin==len(args[1][1]): if len(args[1][1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b'. This is not supported when 'a' is a numpy type, and cannot be supported without changing numpy itself. Either upgrade a to a CasADi type first, or use 'a = a + b'. " % args[1][0].__name__) return n.array([n.nan]) else: if hasattr(self,'__array_custom__'): return self.__array_custom__(*args,**kwargs) else: try: return self.full() except: if self.is_scalar(True): #Needed for#2743 E=n.empty((),dtype=object) E[()] = self return E else: raise Exception("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.") def __init__(self, *args): """ :: SX() SX(Sparsity sp) SX(float val) SX([[float]] m) SX([float] x) SX(DM x) SX(SX m) SX(int nrow, int ncol) SX(Sparsity sp, SX d) """ this = _casadi.new_SX(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_SX SX_swigregister = _casadi.SX_swigregister SX_swigregister(SX) def SX_binary(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: binary(int op, SX x, SX y) -> SX """ return _casadi.SX_binary(*args) def SX_unary(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: unary(int op, SX x) -> SX """ return _casadi.SX_unary(*args) def SX_scalar_matrix(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: scalar_matrix(int op, SX x, SX y) -> SX """ return _casadi.SX_scalar_matrix(*args) def SX_matrix_scalar(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: matrix_scalar(int op, SX x, SX y) -> SX """ return _casadi.SX_matrix_scalar(*args) def SX_matrix_matrix(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: matrix_matrix(int op, SX x, SX y) -> SX """ return _casadi.SX_matrix_matrix(*args) def SX_call(*args) -> "std::vector< casadi::SXElem,std::allocator< casadi::SXElem > >": """ :: call(Function f, [SX] x) -> [SX] call(Function f, [SXElem] x) -> [SXElem] """ return _casadi.SX_call(*args) def SX_set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.SX_set_max_depth(*args) def SX_get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.SX_get_max_depth(*args) def SX_get_input(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ :: get_input(Function f) -> [SX] """ return _casadi.SX_get_input(*args) def SX_get_free(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ :: get_free(Function f) -> [SX] """ return _casadi.SX_get_free(*args) def SX_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.SX_type_name(*args) def SX_triplet(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: triplet([int] row, [int] col, SX d) -> SX triplet([int] row, [int] col, SX d, (int,int) rc) -> SX triplet([int] row, [int] col, SX d, int nrow, int ncol) -> SX """ return _casadi.SX_triplet(*args) def SX_inf(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: inf(int nrow, int ncol) -> SX inf((int,int) rc) -> SX inf(Sparsity sp) -> SX create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1046 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1047 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_19k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1045 ............. """ return _casadi.SX_inf(*args) def SX_nan(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: nan(int nrow, int ncol) -> SX nan((int,int) rc) -> SX nan(Sparsity sp) -> SX create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1055 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1056 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_19l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1054 ............. """ return _casadi.SX_nan(*args) def SX_eye(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: eye(int n) -> SX """ return _casadi.SX_eye(*args) def SX_set_precision(*args) -> "void": """ :: set_precision(int precision) """ return _casadi.SX_set_precision(*args) def SX_set_width(*args) -> "void": """ :: set_width(int width) """ return _casadi.SX_set_width(*args) def SX_set_scientific(*args) -> "void": """ :: set_scientific(bool scientific) """ return _casadi.SX_set_scientific(*args) def SX_rng(*args) -> "void": """ :: rng(int seed) """ return _casadi.SX_rng(*args) def SX_rand(*args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: rand(int nrow, int ncol) -> SX rand((int,int) rc) -> SX rand(Sparsity sp) -> SX Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ....... :: rand(int nrow, int ncol) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1279 ............. ....... :: rand((int,int) rc) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1283 ............. ....... :: rand(Sparsity sp) [INTERNAL] Create a matrix with uniformly distributed random numbers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ab Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L1282 ............. """ return _casadi.SX_rand(*args) def SX_deserialize(*args) -> "casadi::Matrix< casadi::SXElem >": """ :: deserialize(std::istream & stream) -> SX deserialize(casadi::DeserializingStream & s) -> SX deserialize(str s) -> SX """ return _casadi.SX_deserialize(*args) def SX_from_file(*args) -> "casadi::Matrix< double >": """ :: from_file(str filename, str format_hint) -> DM """ return _casadi.SX_from_file(*args) class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject): """ [INTERNAL] :: MX - Matrix expression. The MX class is used to build up trees made up from MXNodes. It is a more general graph representation than the scalar expression, SX, and much less efficient for small objects. On the other hand, the class allows much more general operations than does SX, in particular matrix valued operations and calls to arbitrary differentiable functions. The MX class is designed to have identical syntax with the Matrix<> template class, and uses DM (i.e. Matrix) as its internal representation of the values at a node. By keeping the syntaxes identical, it is possible to switch from one class to the other, as well as inlining MX functions to SXElem functions. Note that an operation is always "lazy", making a matrix multiplication will create a matrix multiplication node, not perform the actual multiplication. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_py C++ includes: mx.hpp """ __swig_setmethods__ = {} for _s in [GenericExpressionCommon, PrintableCommon, GenMX, SharedObject]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, MX, name, value) __swig_getmethods__ = {} for _s in [GenericExpressionCommon, PrintableCommon, GenMX, SharedObject]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, MX, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.MX_type_name(*args) type_name = staticmethod(type_name) __swig_destroy__ = _casadi.delete_MX def __bool__(self, *args) -> "bool": """ [INTERNAL] :: __bool__(self) -> bool Returns the truth value of an MX expression. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L143-L145 """ return _casadi.MX___bool__(self, *args) def sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: sparsity(self) -> Sparsity Get an owning reference to the sparsity pattern. Extra doc: https://github.com/casadi/casadi/wiki/L_qd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L205 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L205-L205 """ return _casadi.MX_sparsity(self, *args) def nonzeros(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: nonzeros(self) -> [MX] Get nonzeros as list of scalar MXes. Since MX is not a containter, the scalar MXes may be complex When the expression satisfies is_valid_input, the results may be simple For example: vertcat(x,y).nonzeros() will return {x,y} See: expr.nz[:] Extra doc: https://github.com/casadi/casadi/wiki/L_2bh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L610-L626 """ return _casadi.MX_nonzeros(self, *args) def erase(self, *args) -> "void": """ [INTERNAL] :: erase(self, [int] rr, bool ind1) erase(self, [int] rr, [int] cc, bool ind1) Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_qf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L235 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L628-L640 ....... :: erase(self, [int] rr, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase elements of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_qf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L235 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L628-L640 ............. ....... :: erase(self, [int] rr, [int] cc, bool ind1) [INTERNAL] Erase a submatrix (leaving structural zeros in its place) Erase rows and/or columns of a matrix Extra doc: https://github.com/casadi/casadi/wiki/L_qe Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L227 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L596-L608 ............. """ return _casadi.MX_erase(self, *args) def enlarge(self, *args) -> "void": """ [INTERNAL] :: enlarge(self, int nrow, int ncol, [int] rr, [int] cc, bool ind1) Enlarge matrix. Make the matrix larger by inserting empty rows and columns, keeping the existing non-zeros Extra doc: https://github.com/casadi/casadi/wiki/L_qg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L242 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L642-L650 """ return _casadi.MX_enlarge(self, *args) def __neg__(self, *args) -> "casadi::MX": """ :: __neg__(self) -> MX """ return _casadi.MX___neg__(self, *args) def dep(self, *args) -> "casadi::MX": """ [INTERNAL] :: dep(self, int ch) -> MX Get the nth dependency as MX. Extra doc: https://github.com/casadi/casadi/wiki/L_qj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L267 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L754-L756 """ return _casadi.MX_dep(self, *args) def n_out(self, *args) -> "casadi_int": """ [INTERNAL] :: n_out(self) -> int Number of outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_qk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L272 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L869-L871 """ return _casadi.MX_n_out(self, *args) def get_output(self, *args) -> "casadi::MX": """ [INTERNAL] :: get_output(self, int oind) -> MX Get an output. Extra doc: https://github.com/casadi/casadi/wiki/L_ql Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L277 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L873-L875 """ return _casadi.MX_get_output(self, *args) def n_dep(self, *args) -> "casadi_int": """ [INTERNAL] :: n_dep(self) -> int Get the number of dependencies of a binary SXElem. Extra doc: https://github.com/casadi/casadi/wiki/L_qm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L282 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L758-L760 """ return _casadi.MX_n_dep(self, *args) def name(self, *args) -> "std::string": """ [INTERNAL] :: name(self) -> str Get the name. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L285 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L762-L764 """ return _casadi.MX_name(self, *args) def __float__(self, *args) -> "double": """ :: __float__(self) -> float """ return _casadi.MX___float__(self, *args) def to_DM(self, *args) -> "casadi::Matrix< double >": """ :: to_DM(self) -> DM """ return _casadi.MX_to_DM(self, *args) def is_symbolic(self, *args) -> "bool": """ [INTERNAL] :: is_symbolic(self) -> bool Check if symbolic. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L294 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L766-L768 """ return _casadi.MX_is_symbolic(self, *args) def is_constant(self, *args) -> "bool": """ [INTERNAL] :: is_constant(self) -> bool Check if constant. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L297 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L770-L772 """ return _casadi.MX_is_constant(self, *args) def is_call(self, *args) -> "bool": """ [INTERNAL] :: is_call(self) -> bool Check if evaluation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L300 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L774-L776 """ return _casadi.MX_is_call(self, *args) def which_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: which_function(self) -> Function Get function - only valid when is_call() is true. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L303 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L778-L780 """ return _casadi.MX_which_function(self, *args) def is_output(self, *args) -> "bool": """ [INTERNAL] :: is_output(self) -> bool Check if evaluation output. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L306 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L782-L784 """ return _casadi.MX_is_output(self, *args) def has_output(self, *args) -> "bool": """ [INTERNAL] :: has_output(self) -> bool Check if a multiple output node. Extra doc: https://github.com/casadi/casadi/wiki/L_284 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L311 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L786-L788 """ return _casadi.MX_has_output(self, *args) def which_output(self, *args) -> "casadi_int": """ [INTERNAL] :: which_output(self) -> int Get the index of evaluation output - only valid when is_output() is true. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L314 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L790-L792 """ return _casadi.MX_which_output(self, *args) def is_op(self, *args) -> "bool": """ [INTERNAL] :: is_op(self, int op) -> bool Is it a certain operation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L317 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L794-L796 """ return _casadi.MX_is_op(self, *args) def is_multiplication(self, *args) -> "bool": """ [INTERNAL] :: is_multiplication(self) -> bool Check if multiplication. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L320 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L798-L800 """ return _casadi.MX_is_multiplication(self, *args) def is_commutative(self, *args) -> "bool": """ [INTERNAL] :: is_commutative(self) -> bool Check if commutative operation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L323 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L850-L855 """ return _casadi.MX_is_commutative(self, *args) def is_norm(self, *args) -> "bool": """ [INTERNAL] :: is_norm(self) -> bool Check if norm. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L326 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L802-L804 """ return _casadi.MX_is_norm(self, *args) def is_valid_input(self, *args) -> "bool": """ [INTERNAL] :: is_valid_input(self) -> bool Check if matrix can be used to define function inputs. Valid inputs for MXFunctions are combinations of Reshape, concatenations and SymbolicMX Extra doc: https://github.com/casadi/casadi/wiki/L_qn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L333 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L925-L927 """ return _casadi.MX_is_valid_input(self, *args) def n_primitives(self, *args) -> "casadi_int": """ [INTERNAL] :: n_primitives(self) -> int Get the number of primitives for MXFunction inputs/outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_qo Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L338 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L929-L931 """ return _casadi.MX_n_primitives(self, *args) def primitives(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: primitives(self) -> [MX] Get primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qp Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L343 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L933-L939 """ return _casadi.MX_primitives(self, *args) def split_primitives(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: split_primitives(self, DM x) -> [DM] split_primitives(self, SX x) -> [SX] split_primitives(self, MX x) -> [MX] Split up an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L351 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L957-L963 ....... :: split_primitives(self, DM x) [INTERNAL] Split up an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L351 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L957-L963 ............. ....... :: split_primitives(self, SX x) [INTERNAL] Split up an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L350 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L949-L955 ............. ....... :: split_primitives(self, MX x) [INTERNAL] Split up an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L349 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L941-L947 ............. """ return _casadi.MX_split_primitives(self, *args) def join_primitives(self, *args) -> "casadi::DM": """ [INTERNAL] :: join_primitives(self, [DM] v) -> DM join_primitives(self, [SX] v) -> SX join_primitives(self, [MX] v) -> MX Join an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L360 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L981-L987 ....... :: join_primitives(self, [DM] v) [INTERNAL] Join an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L360 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L981-L987 ............. ....... :: join_primitives(self, [SX] v) [INTERNAL] Join an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L359 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L973-L979 ............. ....... :: join_primitives(self, [MX] v) [INTERNAL] Join an expression along symbolic primitives. Extra doc: https://github.com/casadi/casadi/wiki/L_qr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L358 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L965-L971 ............. """ return _casadi.MX_join_primitives(self, *args) def has_duplicates(self, *args) -> "bool": """ :: has_duplicates(self) -> bool """ return _casadi.MX_has_duplicates(self, *args) def reset_input(self, *args) -> "void": """ :: reset_input(self) """ return _casadi.MX_reset_input(self, *args) def is_eye(self, *args) -> "bool": """ [INTERNAL] :: is_eye(self) -> bool check if identity Extra doc: https://github.com/casadi/casadi/wiki/L_qu Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L383 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L997-L999 """ return _casadi.MX_is_eye(self, *args) def is_zero(self, *args) -> "bool": """ [INTERNAL] :: is_zero(self) -> bool check if zero (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_qv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L388 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L1001-L1007 """ return _casadi.MX_is_zero(self, *args) def is_one(self, *args) -> "bool": """ [INTERNAL] :: is_one(self) -> bool check if zero (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_qw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L393 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L1009-L1011 """ return _casadi.MX_is_one(self, *args) def is_minus_one(self, *args) -> "bool": """ [INTERNAL] :: is_minus_one(self) -> bool check if zero (note that false negative answers are possible) Extra doc: https://github.com/casadi/casadi/wiki/L_qx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L398 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L1013-L1015 """ return _casadi.MX_is_minus_one(self, *args) def is_transpose(self, *args) -> "bool": """ [INTERNAL] :: is_transpose(self) -> bool Is the expression a transpose? Extra doc: https://github.com/casadi/casadi/wiki/L_qy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L403 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L1017-L1019 """ return _casadi.MX_is_transpose(self, *args) def is_regular(self, *args) -> "bool": """ [INTERNAL] :: is_regular(self) -> bool Checks if expression does not contain NaN or Inf. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L406 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L1021-L1027 """ return _casadi.MX_is_regular(self, *args) def is_binary(self, *args) -> "bool": """ [INTERNAL] :: is_binary(self) -> bool Is binary operation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L409 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L814-L816 """ return _casadi.MX_is_binary(self, *args) def is_unary(self, *args) -> "bool": """ [INTERNAL] :: is_unary(self) -> bool Is unary operation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L412 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L818-L820 """ return _casadi.MX_is_unary(self, *args) def op(self, *args) -> "casadi_int": """ [INTERNAL] :: op(self) -> int Get operation type. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L415 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L822-L824 """ return _casadi.MX_op(self, *args) def info(self, *args) -> "casadi::Dict": """ [INTERNAL] :: info(self) -> dict Obtain information about node Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L418 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L826-L828 """ return _casadi.MX_info(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_qz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L423 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L830-L832 """ return _casadi.MX_serialize(self, *args) def deserialize(*args) -> "casadi::MX": """ :: deserialize(casadi::DeserializingStream & s) -> MX """ return _casadi.MX_deserialize(*args) deserialize = staticmethod(deserialize) def get_temp(self, *args) -> "casadi_int": """ :: get_temp(self) -> int """ return _casadi.MX_get_temp(self, *args) def set_temp(self, *args) -> "void": """ :: set_temp(self, int t) """ return _casadi.MX_set_temp(self, *args) def binary(*args) -> "casadi::MX": """ [INTERNAL] :: binary(int op, MX x, MX y) -> MX Create nodes by their ID. Extra doc: https://github.com/casadi/casadi/wiki/L_r1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L442 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L513-L538 """ return _casadi.MX_binary(*args) binary = staticmethod(binary) def unary(*args) -> "casadi::MX": """ [INTERNAL] :: unary(int op, MX x) -> MX Create nodes by their ID. Extra doc: https://github.com/casadi/casadi/wiki/L_r1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L443 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L540-L542 """ return _casadi.MX_unary(*args) unary = staticmethod(unary) def inf(*args) -> "casadi::MX": """ [INTERNAL] :: inf(int nrow, int ncol) -> MX inf((int,int) rc) -> MX inf(Sparsity sp) -> MX create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L452 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L560-L562 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L451 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L556-L558 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L452 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L560-L562 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L450 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L564-L566 ............. """ return _casadi.MX_inf(*args) inf = staticmethod(inf) def nan(*args) -> "casadi::MX": """ [INTERNAL] :: nan(int nrow, int ncol) -> MX nan((int,int) rc) -> MX nan(Sparsity sp) -> MX create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L461 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L572-L574 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L460 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L568-L570 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L461 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L572-L574 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L459 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L576-L578 ............. """ return _casadi.MX_nan(*args) nan = staticmethod(nan) def eye(*args) -> "casadi::MX": """ :: eye(int n) -> MX """ return _casadi.MX_eye(*args) eye = staticmethod(eye) def get(self, *args) -> "void": """ [INTERNAL] :: get(self, bool ind1, int rr) -> MX get(self, bool ind1, Sparsity sp) -> MX get(self, bool ind1, Slice rr) -> MX get(self, bool ind1, IM rr) -> MX get(self, bool ind1, MX rr) -> MX get(self, bool ind1, int rr, int cc) -> MX get(self, bool ind1, int rr, Slice cc) -> MX get(self, bool ind1, Slice rr, int cc) -> MX get(self, bool ind1, Slice rr, Slice cc) -> MX get(self, bool ind1, Slice rr, IM cc) -> MX get(self, bool ind1, Slice rr, MX cc) -> MX get(self, bool ind1, IM rr, Slice cc) -> MX get(self, bool ind1, IM rr, IM cc) -> MX get(self, bool ind1, MX rr, Slice cc) -> MX get(self, bool ind1, MX rr, MX cc) -> MX Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L504 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L224-L227 ....... :: get(self, bool ind1, IM rr) get(self, bool ind1, Slice rr, IM cc) get(self, bool ind1, IM rr, Slice cc) get(self, bool ind1, IM rr, IM cc) ............. ....... :: get(self, bool ind1, int rr) [INTERNAL] Get a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L480 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L480-L482 ............. ....... :: get(self, bool ind1, Sparsity sp) [INTERNAL] Get a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L478 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L200-L206 ............. ....... :: get(self, bool ind1, Slice rr) [INTERNAL] Get a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L476 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L177-L180 ............. ....... :: get(self, bool ind1, MX rr) [INTERNAL] Get a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L479 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L208-L212 ............. ....... :: get(self, bool ind1, int rr, int cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L498 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L498-L501 ............. ....... :: get(self, bool ind1, int rr, Slice cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L493 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L493-L495 ............. ....... :: get(self, bool ind1, Slice rr, int cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L489 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L489-L491 ............. ....... :: get(self, bool ind1, Slice rr, Slice cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L487 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L147-L150 ............. ....... :: get(self, bool ind1, Slice rr, MX cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L503 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L214-L217 ............. ....... :: get(self, bool ind1, MX rr, Slice cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L502 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L219-L222 ............. ....... :: get(self, bool ind1, MX rr, MX cc) [INTERNAL] Get a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L504 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L224-L227 ............. """ return _casadi.MX_get(self, *args) def set(self, *args) -> "void": """ :: set(self, MX m, bool ind1, Sparsity sp) set(self, MX m, bool ind1, Slice rr) set(self, MX m, bool ind1, IM rr) set(self, MX m, bool ind1, Slice rr, Slice cc) set(self, MX m, bool ind1, Slice rr, IM cc) set(self, MX m, bool ind1, IM rr, Slice cc) set(self, MX m, bool ind1, IM rr, IM cc) ....... :: set(self, MX m, bool ind1, IM rr) set(self, MX m, bool ind1, Slice rr, IM cc) set(self, MX m, bool ind1, IM rr, Slice cc) set(self, MX m, bool ind1, IM rr, IM cc) ............. ....... :: set(self, MX m, bool ind1, Sparsity sp) [INTERNAL] Set a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L511 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L377-L388 ............. ....... :: set(self, MX m, bool ind1, Slice rr) [INTERNAL] Set a submatrix, single argument Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L509 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L304-L307 ............. ....... :: set(self, MX m, bool ind1, Slice rr, Slice cc) [INTERNAL] Set a submatrix, two arguments Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L516 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L229-L232 ............. """ return _casadi.MX_set(self, *args) def get_nz(self, *args) -> "void": """ [INTERNAL] :: get_nz(self, bool ind1, int kk) -> MX get_nz(self, bool ind1, Slice kk) -> MX get_nz(self, bool ind1, IM kk) -> MX get_nz(self, bool ind1, MX kk) -> MX get_nz(self, bool ind1, Slice inner, MX outer) -> MX get_nz(self, bool ind1, MX inner, Slice outer) -> MX get_nz(self, bool ind1, MX inner, MX outer) -> MX Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L532 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L433-L436 ....... :: get_nz(self, bool ind1, IM kk) ............. ....... :: get_nz(self, bool ind1, int kk) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L527 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L527-L529 ............. ....... :: get_nz(self, bool ind1, Slice kk) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L524 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L390-L393 ............. ....... :: get_nz(self, bool ind1, MX kk) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L526 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L428-L431 ............. ....... :: get_nz(self, bool ind1, Slice inner, MX outer) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L531 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L438-L441 ............. ....... :: get_nz(self, bool ind1, MX inner, Slice outer) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L530 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L443-L446 ............. ....... :: get_nz(self, bool ind1, MX inner, MX outer) [INTERNAL] Get a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L532 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L433-L436 ............. """ return _casadi.MX_get_nz(self, *args) def set_nz(self, *args) -> "void": """ [INTERNAL] :: set_nz(self, MX m, bool ind1, int kk) set_nz(self, MX m, bool ind1, Slice kk) set_nz(self, MX m, bool ind1, IM kk) set_nz(self, MX m, bool ind1, MX kk) Set a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L540 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L540-L540 ....... :: set_nz(self, MX m, bool ind1, IM kk) ............. ....... :: set_nz(self, MX m, bool ind1, int kk) [INTERNAL] Set a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L540 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L540-L540 ............. ....... :: set_nz(self, MX m, bool ind1, Slice kk) [INTERNAL] Set a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L537 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L448-L451 ............. ....... :: set_nz(self, MX m, bool ind1, MX kk) [INTERNAL] Set a set of nonzeros Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L539 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L509-L511 ............. """ return _casadi.MX_set_nz(self, *args) def einstein(*args) -> "casadi::MX": """ [INTERNAL] :: einstein(MX A, MX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX einstein(MX A, MX B, MX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L670-L676 ....... :: einstein(MX A, MX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) [INTERNAL] Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L670-L676 ............. ....... :: einstein(MX A, MX B, MX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) [INTERNAL] Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L558 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L662-L668 ............. """ return _casadi.MX_einstein(*args) einstein = staticmethod(einstein) def bspline_dual(*args) -> "casadi::DM": """ [INTERNAL] :: bspline_dual([float] x, [[float]] knots, [int] degree, dict opts) -> DM """ return _casadi.MX_bspline_dual(*args) bspline_dual = staticmethod(bspline_dual) def interpn_linear(*args) -> "casadi::MX": """ :: interpn_linear([MX] x, MX v, [MX] xq, dict opts) -> MX """ return _casadi.MX_interpn_linear(*args) interpn_linear = staticmethod(interpn_linear) def printme(self, *args) -> "casadi::MX": """ [INTERNAL] :: printme(self, MX b) -> MX """ return _casadi.MX_printme(self, *args) def attachAssert(self, *args) -> "casadi::MX": """ [INTERNAL] :: attachAssert(self, MX y, str fail_message) -> MX returns itself, but with an assertion attached If y does not evaluate to 1, a runtime error is raised Extra doc: https://github.com/casadi/casadi/wiki/L_rg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L923 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L723-L728 """ return _casadi.MX_attachAssert(self, *args) def monitor(self, *args) -> "casadi::MX": """ [INTERNAL] :: monitor(self, str comment) -> MX Monitor an expression. Returns itself, but with the side effect of printing the nonzeros along with a comment Extra doc: https://github.com/casadi/casadi/wiki/L_rh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L930 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L730-L732 """ return _casadi.MX_monitor(self, *args) def mapping(self, *args) -> "casadi::Matrix< casadi_int >": """ [INTERNAL] :: mapping(self) -> IM Get an IM representation of a GetNonzeros or SetNonzeros node. Extra doc: https://github.com/casadi/casadi/wiki/L_ri Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L938 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L857-L859 """ return _casadi.MX_mapping(self, *args) def set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.MX_set_max_depth(*args) set_max_depth = staticmethod(set_max_depth) def get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.MX_get_max_depth(*args) get_max_depth = staticmethod(get_max_depth) def test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.MX_test_cast(*args) test_cast = staticmethod(test_cast) def get_input(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ :: get_input(Function f) -> [MX] """ return _casadi.MX_get_input(*args) get_input = staticmethod(get_input) def get_free(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ :: get_free(Function f) -> [MX] """ return _casadi.MX_get_free(*args) get_free = staticmethod(get_free) def eval_mx(self, *args) -> "void": """ [INTERNAL] :: eval_mx(self, [MX] arg) -> [MX] Evaluate the MX node with new symbolic dependencies. Extra doc: https://github.com/casadi/casadi/wiki/L_rn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L969 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L2736-L2743 """ return _casadi.MX_eval_mx(self, *args) def __setstate__(self, state): ctx = _current_unpickle_context() if not ctx: raise Exception("Cannot unpickle MX objects without a casadi context. " + "Use something like:\n"+ "with ca.global_unpickle_context(): \n"+ " f_ref = pickle.load(open(filename,'rb'))") ctx.decode(state) self.__init__(ctx.unpack()) def __getstate__(self): ctx = _current_pickle_context() if not ctx: raise Exception("Cannot pickle MX objects without a casadi context. " + "Use something like:\n"+ "with ca.global_pickle_context(): \n"+ " pickle.dump(f,open(filename,'wb'))") ctx.pack(self) return ctx.encode() @property def shape(self): return (self.size1(),self.size2()) def reshape(self,arg): return _casadi.reshape(self,arg) @property def T(self): return _casadi.transpose(self) def __getitem__(self, s): if isinstance(s, tuple) and len(s)==2: if s[1] is None: raise TypeError("Cannot slice with None") return self.get(False, s[0], s[1]) return self.get(False, s) def __iter__(self): raise Exception("""CasADi matrices are not iterable by design. Did you mean to iterate over m.nz, with m IM/DM/SX? Did you mean to iterate over horzsplit(m,1)/vertsplit(m,1) with m IM/DM/SX/MX? """) def __setitem__(self,s,val): if isinstance(s,tuple) and len(s)==2: return self.set(val, False, s[0], s[1]) return self.set(val, False, s) @property def nz(self): return NZproxy(self) __array_priority__ = 1002.0 def __array_wrap__(self,out_arr,context=None): if context is None: return out_arr name = context[0].__name__ args = list(context[1]) if len(context[1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name) if "vectorized" in name: name = name[:-len(" (vectorized)")] conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} if name in conversion: name = conversion[name] if len(context[1])==2 and context[1][1] is self and not(context[1][0] is self): name = 'r' + name args.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' fun=getattr(self, name) return fun(*args[1:]) def __array_ufunc__(self, ufunc, method, *inputs, **kwargs): conversion = {"multiply": "mul", "divide": "div", "true_divide": "div", "subtract":"sub","power":"pow","greater_equal":"ge","less_equal": "le", "less": "lt", "greater": "gt", "equal": "eq", "not_equal": "ne"} name = ufunc.__name__ inputs = list(inputs) if len(inputs)==3: import warnings warnings.warn("Error with %s. Looks like you are using an assignment operator, such as 'a+=b' where 'a' is a numpy type. This is not supported, and cannot be supported without changing numpy." % name, RuntimeWarning) return NotImplemented if "vectorized" in name: name = name[:-len(" (vectorized)")] if name in conversion: name = conversion[name] if len(inputs)==2 and inputs[1] is self and not(inputs[0] is self): name = 'r' + name inputs.reverse() if not(hasattr(self,name)) or ('mul' in name): name = '__' + name + '__' if method=="reduce" and name=="add": assert len(inputs)==1 axis = kwargs["axis"] if axis is None: return inputs[0].sum() else: return inputs[0].sum(axis) try: assert method=="__call__" fun=getattr(self, name) return fun(*inputs[1:]) except Exception as e: if "Dimension mismatch" in str(e): import sys if sys.version_info[0] < 3: raise RuntimeError(str(e)) else: raise e #Fall back to numpy conversion new_inputs = list(inputs) try: new_inputs[0] = new_inputs[0].full() except: import warnings warnings.warn("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.", RuntimeWarning) return NotImplemented return new_inputs[0].__array_ufunc__(ufunc, method, *new_inputs, **kwargs) def __array__(self,*args,**kwargs): import numpy as n if len(args) > 1 and isinstance(args[1],tuple) and isinstance(args[1][0],n.ufunc) and isinstance(args[1][0],n.ufunc) and len(args[1])>1 and args[1][0].nin==len(args[1][1]): if len(args[1][1])==3: raise Exception("Error with %s. Looks like you are using an assignment operator, such as 'a+=b'. This is not supported when 'a' is a numpy type, and cannot be supported without changing numpy itself. Either upgrade a to a CasADi type first, or use 'a = a + b'. " % args[1][0].__name__) return n.array([n.nan]) else: if hasattr(self,'__array_custom__'): return self.__array_custom__(*args,**kwargs) else: try: return self.full() except: if self.is_scalar(True): #Needed for#2743 E=n.empty((),dtype=object) E[()] = self return E else: raise Exception("Implicit conversion of symbolic CasADi type to numeric matrix not supported.\n" + "This may occur when you pass a CasADi object to a numpy function.\n" + "Use an equivalent CasADi function instead of that numpy function.") def __init__(self, *args): """ :: MX() MX(Sparsity sp) MX(float x) MX(DM x) MX(MX other) MX(int nrow, int ncol) MX(Sparsity sp, MX val) MX(Sparsity sp, str fname) MX(DM val, str name) ....... :: MX(DM x) MX(MX other) MX(DM val, str name) ............. ....... :: MX() [INTERNAL] Default constructor. Extra doc: https://github.com/casadi/casadi/wiki/L_q0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L102 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L59-L61 ............. ....... :: MX(int nrow, int ncol) [INTERNAL] Create a sparse matrix with all structural zeros. Extra doc: https://github.com/casadi/casadi/wiki/L_q1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L107 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L108-L110 ............. ....... :: MX(Sparsity sp) [INTERNAL] Create a sparse matrix from a sparsity pattern. Same as MX::ones(sparsity) Extra doc: https://github.com/casadi/casadi/wiki/L_q3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L121 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L104-L106 ............. ....... :: MX(float x) [INTERNAL] Create scalar constant (also implicit type conversion) Extra doc: https://github.com/casadi/casadi/wiki/L_q6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L144 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L71-L73 ............. ....... :: MX(Sparsity sp, MX val) [INTERNAL] Construct matrix with a given sparsity and nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_q4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L126 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L83-L102 ............. ....... :: MX(Sparsity sp, str fname) [INTERNAL] Construct matrix with a given sparsity and a file with nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_q5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L120-L122 ............. """ this = _casadi.new_MX(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this MX_swigregister = _casadi.MX_swigregister MX_swigregister(MX) def MX_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.MX_type_name(*args) def MX_deserialize(*args) -> "casadi::MX": """ :: deserialize(casadi::DeserializingStream & s) -> MX """ return _casadi.MX_deserialize(*args) def MX_binary(*args) -> "casadi::MX": """ [INTERNAL] :: binary(int op, MX x, MX y) -> MX Create nodes by their ID. Extra doc: https://github.com/casadi/casadi/wiki/L_r1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L442 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L513-L538 """ return _casadi.MX_binary(*args) def MX_unary(*args) -> "casadi::MX": """ [INTERNAL] :: unary(int op, MX x) -> MX Create nodes by their ID. Extra doc: https://github.com/casadi/casadi/wiki/L_r1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L443 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L540-L542 """ return _casadi.MX_unary(*args) def MX_inf(*args) -> "casadi::MX": """ [INTERNAL] :: inf(int nrow, int ncol) -> MX inf((int,int) rc) -> MX inf(Sparsity sp) -> MX create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L452 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L560-L562 ....... :: inf(int nrow, int ncol) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L451 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L556-L558 ............. ....... :: inf((int,int) rc) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L452 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L560-L562 ............. ....... :: inf(Sparsity sp) [INTERNAL] create a matrix with all inf Extra doc: https://github.com/casadi/casadi/wiki/L_r2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L450 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L564-L566 ............. """ return _casadi.MX_inf(*args) def MX_nan(*args) -> "casadi::MX": """ [INTERNAL] :: nan(int nrow, int ncol) -> MX nan((int,int) rc) -> MX nan(Sparsity sp) -> MX create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L461 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L572-L574 ....... :: nan(int nrow, int ncol) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L460 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L568-L570 ............. ....... :: nan((int,int) rc) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L461 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L572-L574 ............. ....... :: nan(Sparsity sp) [INTERNAL] create a matrix with all nan Extra doc: https://github.com/casadi/casadi/wiki/L_r3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L459 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L576-L578 ............. """ return _casadi.MX_nan(*args) def MX_eye(*args) -> "casadi::MX": """ :: eye(int n) -> MX """ return _casadi.MX_eye(*args) def MX_einstein(*args) -> "casadi::MX": """ [INTERNAL] :: einstein(MX A, MX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX einstein(MX A, MX B, MX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L670-L676 ....... :: einstein(MX A, MX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) [INTERNAL] Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L670-L676 ............. ....... :: einstein(MX A, MX B, MX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) [INTERNAL] Computes an einstein dense tensor contraction. Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L558 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L662-L668 ............. """ return _casadi.MX_einstein(*args) def MX_bspline_dual(*args) -> "casadi::DM": """ [INTERNAL] :: bspline_dual([float] x, [[float]] knots, [int] degree, dict opts) -> DM """ return _casadi.MX_bspline_dual(*args) def MX_interpn_linear(*args) -> "casadi::MX": """ :: interpn_linear([MX] x, MX v, [MX] xq, dict opts) -> MX """ return _casadi.MX_interpn_linear(*args) def MX_set_max_depth(*args) -> "void": """ :: set_max_depth(int eq_depth) """ return _casadi.MX_set_max_depth(*args) def MX_get_max_depth(*args) -> "casadi_int": """ :: get_max_depth() -> int """ return _casadi.MX_get_max_depth(*args) def MX_test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.MX_test_cast(*args) def MX_get_input(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ :: get_input(Function f) -> [MX] """ return _casadi.MX_get_input(*args) def MX_get_free(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ :: get_free(Function f) -> [MX] """ return _casadi.MX_get_free(*args) def attach_return_type(f,t): if not(hasattr(f,'func_annotations')): f.func_annotations = {} if not(isinstance(getattr(f,'func_annotations'),dict)): raise Exception("Cannot annotate this python Method to be a sparsitygenerator. Method has func_annotations attribute with unknown type.") f.func_annotations["return"] = t return f def pyevaluate(f): return attach_return_type(f,None) def pycallback(f): return attach_return_type(f,int) def pyfunction(inputs,outputs): def wrap(f): @pyevaluate def fcustom(f2): res = f([f2.getInput(i) for i in range(f2.n_in())]) if not isinstance(res,list): res = [res] for i in range(f2.n_out()): f2.setOutput(res[i],i) import warnings with warnings.catch_warnings(): warnings.filterwarnings("ignore",category=DeprecationWarning) Fun = CustomFunction("CustomFunction",fcustom,inputs,outputs) return Fun return wrap def PyFunction(name, obj, inputs, outputs, opts={}): @pyevaluate def fcustom(f): res = [f.getOutput(i) for i in range(f.n_out())] obj.evaluate([f.getInput(i) for i in range(f.n_in())],res) for i in range(f.n_out()): f.setOutput(res[i], i) import warnings with warnings.catch_warnings(): warnings.filterwarnings("ignore",category=DeprecationWarning) return CustomFunction("CustomFunction", fcustom, inputs, outputs, opts) class Function(SharedObject, PrintableCommon): """ [INTERNAL] :: Function object. A Function instance is a general multiple-input, multiple-output function where each input and output can be a sparse matrix. For an introduction to this class, see the CasADi user guide. Function is a reference counted and immutable class; copying a class instance is very cheap and its behavior (with some exceptions) is not affected by calling its member functions. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_1uw >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats() . | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ C++ includes: function.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Function, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Function, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Function_type_name(*args) type_name = staticmethod(type_name) def jit(*args) -> "casadi::Function": """ [INTERNAL] :: jit(str name, str body, [str] name_in, [str] name_out, dict opts) -> Function jit(str name, str body, [str] name_in, [str] name_out, [Sparsity] sparsity_in, [Sparsity] sparsity_out, dict opts) -> Function Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L294-L306 ....... :: jit(str name, str body, [str] name_in, [str] name_out, dict opts) [INTERNAL] Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L185 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L285-L292 ............. ....... :: jit(str name, str body, [str] name_in, [str] name_out, [Sparsity] sparsity_in, [Sparsity] sparsity_out, dict opts) [INTERNAL] Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L294-L306 ............. """ return _casadi.Function_jit(*args) jit = staticmethod(jit) __swig_destroy__ = _casadi.delete_Function def expand(self, *args) -> "casadi::Function": """ [INTERNAL] :: expand(self) -> Function expand(self, str name, dict opts) -> Function Expand a function to SX. Extra doc: https://github.com/casadi/casadi/wiki/L_1v5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L207 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L318-L334 ....... :: expand(self) [INTERNAL] Expand a function to SX. Extra doc: https://github.com/casadi/casadi/wiki/L_1v5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L308-L316 ............. ....... :: expand(self, str name, dict opts) [INTERNAL] Expand a function to SX. Extra doc: https://github.com/casadi/casadi/wiki/L_1v5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L207 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L318-L334 ............. """ return _casadi.Function_expand(self, *args) def n_in(self, *args) -> "casadi_int": """ [INTERNAL] :: n_in(self) -> int Get the number of function inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1v8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L228 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L819-L821 """ return _casadi.Function_n_in(self, *args) def n_out(self, *args) -> "casadi_int": """ [INTERNAL] :: n_out(self) -> int Get the number of function outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1v9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L233 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L823-L825 """ return _casadi.Function_n_out(self, *args) def size1_in(self, *args) -> "casadi_int": """ [INTERNAL] :: size1_in(self, int ind) -> int size1_in(self, str iname) -> int Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L240-L240 ....... :: size1_in(self, int ind) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L239 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L827-L829 ............. ....... :: size1_in(self, str iname) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L240-L240 ............. """ return _casadi.Function_size1_in(self, *args) def size2_in(self, *args) -> "casadi_int": """ [INTERNAL] :: size2_in(self, int ind) -> int size2_in(self, str iname) -> int Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L242 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L242-L242 ....... :: size2_in(self, int ind) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L241 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L831-L833 ............. ....... :: size2_in(self, str iname) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L242 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L242-L242 ............. """ return _casadi.Function_size2_in(self, *args) def size_in(self, *args) -> "std::pair< casadi_int,casadi_int >": """ [INTERNAL] :: size_in(self, int ind) -> (int,int) size_in(self, str iname) -> (int,int) Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L244 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L244-L246 ....... :: size_in(self, int ind) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L243 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L843-L845 ............. ....... :: size_in(self, str iname) [INTERNAL] Get input dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1va Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L244 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L244-L246 ............. """ return _casadi.Function_size_in(self, *args) def size1_out(self, *args) -> "casadi_int": """ [INTERNAL] :: size1_out(self, int ind) -> int size1_out(self, str oname) -> int Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L254 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L254-L254 ....... :: size1_out(self, int ind) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L835-L837 ............. ....... :: size1_out(self, str oname) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L254 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L254-L254 ............. """ return _casadi.Function_size1_out(self, *args) def size2_out(self, *args) -> "casadi_int": """ [INTERNAL] :: size2_out(self, int ind) -> int size2_out(self, str oname) -> int Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L256 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L256-L256 ....... :: size2_out(self, int ind) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L255 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L839-L841 ............. ....... :: size2_out(self, str oname) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L256 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L256-L256 ............. """ return _casadi.Function_size2_out(self, *args) def size_out(self, *args) -> "std::pair< casadi_int,casadi_int >": """ [INTERNAL] :: size_out(self, int ind) -> (int,int) size_out(self, str oname) -> (int,int) Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L258 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L258-L260 ....... :: size_out(self, int ind) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L257 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L847-L849 ............. ....... :: size_out(self, str oname) [INTERNAL] Get output dimension. Extra doc: https://github.com/casadi/casadi/wiki/L_1vb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L258 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L258-L260 ............. """ return _casadi.Function_size_out(self, *args) def nnz_in(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_in(self) -> int nnz_in(self, int ind) -> int nnz_in(self, str iname) -> int Get number of input nonzeros. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L271 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L271-L271 ....... :: nnz_in(self) [INTERNAL] Get number of input nonzeros. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L269 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L851-L853 ............. ....... :: nnz_in(self, int ind) [INTERNAL] Get number of input nonzeros. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L270 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L867-L869 ............. ....... :: nnz_in(self, str iname) [INTERNAL] Get number of input nonzeros. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L271 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L271-L271 ............. """ return _casadi.Function_nnz_in(self, *args) def nnz_out(self, *args) -> "casadi_int": """ [INTERNAL] :: nnz_out(self) -> int nnz_out(self, int ind) -> int nnz_out(self, str oname) -> int Get number of output nonzeros. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L282 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L282-L282 ....... :: nnz_out(self) [INTERNAL] Get number of output nonzeros. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L280 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L855-L857 ............. ....... :: nnz_out(self, int ind) [INTERNAL] Get number of output nonzeros. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L281 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L871-L873 ............. ....... :: nnz_out(self, str oname) [INTERNAL] Get number of output nonzeros. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L282 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L282-L282 ............. """ return _casadi.Function_nnz_out(self, *args) def numel_in(self, *args) -> "casadi_int": """ [INTERNAL] :: numel_in(self) -> int numel_in(self, int ind) -> int numel_in(self, str iname) -> int Get number of input elements. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1ve Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L293 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L293-L293 ....... :: numel_in(self) [INTERNAL] Get number of input elements. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1ve Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L291 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L859-L861 ............. ....... :: numel_in(self, int ind) [INTERNAL] Get number of input elements. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1ve Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L292 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L875-L877 ............. ....... :: numel_in(self, str iname) [INTERNAL] Get number of input elements. For a particular input or for all of the inputs Extra doc: https://github.com/casadi/casadi/wiki/L_1ve Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L293 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L293-L293 ............. """ return _casadi.Function_numel_in(self, *args) def numel_out(self, *args) -> "casadi_int": """ [INTERNAL] :: numel_out(self) -> int numel_out(self, int ind) -> int numel_out(self, str oname) -> int Get number of output elements. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L304 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L304-L304 ....... :: numel_out(self) [INTERNAL] Get number of output elements. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L302 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L863-L865 ............. ....... :: numel_out(self, int ind) [INTERNAL] Get number of output elements. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L303 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L879-L881 ............. ....... :: numel_out(self, str oname) [INTERNAL] Get number of output elements. For a particular output or for all of the outputs Extra doc: https://github.com/casadi/casadi/wiki/L_1vf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L304 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L304-L304 ............. """ return _casadi.Function_numel_out(self, *args) def name_in(self, *args) -> "std::string const &": """ [INTERNAL] :: name_in(self) -> [str] name_in(self, int ind) -> str Get input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1vi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L320 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L999-L1005 ....... :: name_in(self, int ind) [INTERNAL] Get input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1vi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L320 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L999-L1005 ............. ....... :: name_in(self) [INTERNAL] Get input scheme. Extra doc: https://github.com/casadi/casadi/wiki/L_1vg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L310 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L961-L963 ............. """ return _casadi.Function_name_in(self, *args) def name_out(self, *args) -> "std::string const &": """ [INTERNAL] :: name_out(self) -> [str] name_out(self, int ind) -> str Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1vj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L325 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1007-L1013 ....... :: name_out(self, int ind) [INTERNAL] Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1vj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L325 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1007-L1013 ............. ....... :: name_out(self) [INTERNAL] Get output scheme. Extra doc: https://github.com/casadi/casadi/wiki/L_1vh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L315 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L965-L967 ............. """ return _casadi.Function_name_out(self, *args) def index_in(self, *args) -> "casadi_int": """ [INTERNAL] :: index_in(self, str name) -> int Find the index for a string describing a particular entry of an input scheme. example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput Extra doc: https://github.com/casadi/casadi/wiki/L_1vk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L333 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L969-L975 """ return _casadi.Function_index_in(self, *args) def index_out(self, *args) -> "casadi_int": """ [INTERNAL] :: index_out(self, str name) -> int Find the index for a string describing a particular entry of an output scheme. example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput Extra doc: https://github.com/casadi/casadi/wiki/L_1vl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L341 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L977-L983 """ return _casadi.Function_index_out(self, *args) def has_in(self, *args) -> "bool": """ [INTERNAL] :: has_in(self, str name) -> bool Does the function have a particularly named input? Extra doc: https://github.com/casadi/casadi/wiki/L_2c9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L346 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L985-L990 """ return _casadi.Function_has_in(self, *args) def has_out(self, *args) -> "bool": """ [INTERNAL] :: has_out(self, str name) -> bool Does the function have a particularly named output? Extra doc: https://github.com/casadi/casadi/wiki/L_2ca Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L350 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L992-L997 """ return _casadi.Function_has_out(self, *args) def default_in(self, *args) -> "double": """ [INTERNAL] :: default_in(self, int ind) -> float Get default input value. Extra doc: https://github.com/casadi/casadi/wiki/L_1vm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L355 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1489-L1491 """ return _casadi.Function_default_in(self, *args) def max_in(self, *args) -> "double": """ [INTERNAL] :: max_in(self, int ind) -> float Get largest input value. Extra doc: https://github.com/casadi/casadi/wiki/L_1vn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L360 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1493-L1495 """ return _casadi.Function_max_in(self, *args) def min_in(self, *args) -> "double": """ [INTERNAL] :: min_in(self, int ind) -> float Get smallest input value. Extra doc: https://github.com/casadi/casadi/wiki/L_1vo Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L365 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1497-L1499 """ return _casadi.Function_min_in(self, *args) def nominal_in(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nominal_in(self, int ind) -> [float] Get nominal input value. Extra doc: https://github.com/casadi/casadi/wiki/L_1vp Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L370 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1501-L1503 """ return _casadi.Function_nominal_in(self, *args) def nominal_out(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nominal_out(self, int ind) -> [float] Get nominal output value. Extra doc: https://github.com/casadi/casadi/wiki/L_1vq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L375 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1505-L1507 """ return _casadi.Function_nominal_out(self, *args) def sparsity_in(self, *args) -> "casadi::Sparsity const &": """ [INTERNAL] :: sparsity_in(self, int ind) -> Sparsity sparsity_in(self, str iname) -> Sparsity Get sparsity of a given input. Extra doc: https://github.com/casadi/casadi/wiki/L_1vr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L382 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1023-L1029 ....... :: sparsity_in(self, int ind) [INTERNAL] Get sparsity of a given input. Extra doc: https://github.com/casadi/casadi/wiki/L_1vr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L381 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1015-L1021 ............. ....... :: sparsity_in(self, str iname) [INTERNAL] Get sparsity of a given input. Extra doc: https://github.com/casadi/casadi/wiki/L_1vr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L382 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1023-L1029 ............. """ return _casadi.Function_sparsity_in(self, *args) def sparsity_out(self, *args) -> "casadi::Sparsity const &": """ [INTERNAL] :: sparsity_out(self, int ind) -> Sparsity sparsity_out(self, str iname) -> Sparsity Get sparsity of a given output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L390 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1039-L1045 ....... :: sparsity_out(self, int ind) [INTERNAL] Get sparsity of a given output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L389 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1031-L1037 ............. ....... :: sparsity_out(self, str iname) [INTERNAL] Get sparsity of a given output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L390 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1039-L1045 ............. """ return _casadi.Function_sparsity_out(self, *args) def is_diff_in(self, *args) -> "std::vector< bool,std::allocator< bool > >": """ [INTERNAL] :: is_diff_in(self) -> [bool] is_diff_in(self, int ind) -> bool Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L399 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1063-L1069 ....... :: is_diff_in(self) [INTERNAL] Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L399 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1063-L1069 ............. ....... :: is_diff_in(self, int ind) [INTERNAL] Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L397 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1047-L1053 ............. """ return _casadi.Function_is_diff_in(self, *args) def is_diff_out(self, *args) -> "std::vector< bool,std::allocator< bool > >": """ [INTERNAL] :: is_diff_out(self) -> [bool] is_diff_out(self, int ind) -> bool Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L400 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1071-L1077 ....... :: is_diff_out(self) [INTERNAL] Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L400 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1071-L1077 ............. ....... :: is_diff_out(self, int ind) [INTERNAL] Get differentiability of inputs/output. Extra doc: https://github.com/casadi/casadi/wiki/L_1vt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L398 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1055-L1061 ............. """ return _casadi.Function_is_diff_out(self, *args) def factory(self, *args) -> "casadi::Function": """ [INTERNAL] :: factory(self, str name, [str] s_in, [str] s_out, dict:[str] aux, dict opts) -> Function """ return _casadi.Function_factory(self, *args) def oracle(self, *args) -> "casadi::Function": """ [INTERNAL] :: oracle(self) -> Function Get oracle. Extra doc: https://github.com/casadi/casadi/wiki/L_1vu Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L416 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1917-L1923 """ return _casadi.Function_oracle(self, *args) def wrap(self, *args) -> "casadi::Function": """ [INTERNAL] :: wrap(self) -> Function Wrap in an Function instance consisting of only one MX call. Extra doc: https://github.com/casadi/casadi/wiki/L_1vv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L421 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1925-L1927 """ return _casadi.Function_wrap(self, *args) def wrap_as_needed(self, *args) -> "casadi::Function": """ [INTERNAL] :: wrap_as_needed(self, dict opts) -> Function Wrap in a Function with options. Extra doc: https://github.com/casadi/casadi/wiki/L_1vw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L426 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1929-L1931 """ return _casadi.Function_wrap_as_needed(self, *args) def which_depends(self, *args) -> "std::vector< bool,std::allocator< bool > >": """ [INTERNAL] :: which_depends(self, str s_in, [str] s_out, int order, bool tr) -> [bool] Which variables enter with some order. Parameters: ----------- order: Only 1 (linear) and 2 (nonlinear) allowed tr: Flip the relationship. Return which expressions contain the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1vx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L434 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1835-L1842 """ return _casadi.Function_which_depends(self, *args) def print_dimensions(self, *args) -> "void": """ [INTERNAL] :: print_dimensions(self) Print dimensions of inputs and outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1vy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L441 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1151-L1153 """ return _casadi.Function_print_dimensions(self, *args) def print_options(self, *args) -> "void": """ [INTERNAL] :: print_options(self) Print options to a stream. Extra doc: https://github.com/casadi/casadi/wiki/L_1vz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L446 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1155-L1157 """ return _casadi.Function_print_options(self, *args) def print_option(self, *args) -> "void": """ [INTERNAL] :: print_option(self, str name) Print all information there is to know about a certain option. Extra doc: https://github.com/casadi/casadi/wiki/L_1w0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L451 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1159-L1161 """ return _casadi.Function_print_option(self, *args) def has_option(self, *args) -> "bool": """ [INTERNAL] :: has_option(self, str option_name) -> bool Does a particular option exist. Extra doc: https://github.com/casadi/casadi/wiki/L_1w1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L456 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1163-L1170 """ return _casadi.Function_has_option(self, *args) def change_option(self, *args) -> "void": """ [INTERNAL] :: change_option(self, str option_name, GenericType option_value) Change option after object creation for debugging. This is only possible for a selected number of options that do not change the numerical results of the computation, e.g. to enable a more verbose output or saving to file. Extra doc: https://github.com/casadi/casadi/wiki/L_1w2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L464 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1172-L1182 """ return _casadi.Function_change_option(self, *args) def reset_dump_count(self, *args) -> "void": """ [INTERNAL] :: reset_dump_count(self) Reset the counter used to name dump files. Extra doc: https://github.com/casadi/casadi/wiki/L_2dy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L469 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1184-L1190 """ return _casadi.Function_reset_dump_count(self, *args) def uses_output(self, *args) -> "bool": """ [INTERNAL] :: uses_output(self) -> bool Do the derivative functions need nondifferentiated outputs? Extra doc: https://github.com/casadi/casadi/wiki/L_1w3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L474 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L883-L885 """ return _casadi.Function_uses_output(self, *args) def jacobian_old(self, *args) -> "casadi::Function": """ [DEPRECATED] Replaced by Function::factory. :: jacobian_old(self, int iind, int oind) -> Function Extra doc: https://github.com/casadi/casadi/wiki/L_1w4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L480 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L888-L894 """ return _casadi.Function_jacobian_old(self, *args) def hessian_old(self, *args) -> "casadi::Function": """ [DEPRECATED] Replaced by Function::factory. :: hessian_old(self, int iind, int oind) -> Function Extra doc: https://github.com/casadi/casadi/wiki/L_1w5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L485 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L896-L904 """ return _casadi.Function_hessian_old(self, *args) def sparsity_jac(self, *args) -> "casadi::Sparsity const": """ [DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian :: sparsity_jac(self, str iind, int oind, bool compact, bool symmetric) -> Sparsity sparsity_jac(self, int iind, int oind, bool compact, bool symmetric) -> Sparsity sparsity_jac(self, int iind, str oind, bool compact, bool symmetric) -> Sparsity sparsity_jac(self, str iind, str oind, bool compact, bool symmetric) -> Sparsity block Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L499 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L499-L502 ....... :: sparsity_jac(self, str iind, int oind, bool compact, bool symmetric) [DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L491 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L491-L494 ............. ....... :: sparsity_jac(self, int iind, int oind, bool compact, bool symmetric) [DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L489 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L907-L913 ............. ....... :: sparsity_jac(self, int iind, str oind, bool compact, bool symmetric) [DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L495 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L495-L498 ............. ....... :: sparsity_jac(self, str iind, str oind, bool compact, bool symmetric) [DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L499 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L499-L502 ............. """ return _casadi.Function_sparsity_jac(self, *args) def jacobian(self, *args) -> "casadi::Function": """ [INTERNAL] :: jacobian(self) -> Function Calculate all Jacobian blocks. Generates a function that takes all non-differentiated inputs and outputs and calculates all Jacobian blocks. Inputs that are not needed by the routine are all-zero sparse matrices with the correct dimensions. Output blocks that are not calculated, e.g. if the corresponding input or output is marked non-differentiated are also all-zero sparse. The Jacobian blocks are sorted starting by all the blocks for the first output, then all the blocks for the second output and so on. E.g. f : (x, y) -> (r, s) results in the function jac_f : (x, y, out_r, out_s) -> (jac_r_x, jac_r_y, jac_s_x, jac_s_y) This function is cached. Extra doc: https://github.com/casadi/casadi/wiki/L_1w6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L522 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L916-L922 """ return _casadi.Function_jacobian(self, *args) def call(self, *args) -> "void": """ [INTERNAL] :: call(self, dict:DM arg, bool always_inline, bool never_inline) -> dict:DM call(self, [DM] arg, bool always_inline, bool never_inline) -> [DM] call(self, [SX] arg, bool always_inline, bool never_inline) -> [SX] call(self, dict:SX arg, bool always_inline, bool never_inline) -> dict:SX call(self, dict:MX arg, bool always_inline, bool never_inline) -> dict:MX call(self, [MX] arg, bool always_inline, bool never_inline) -> [MX] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L538 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1480-L1487 ....... :: call(self, dict:DM arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L534 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1462-L1469 ............. ....... :: call(self, [DM] arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L528 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L357-L364 ............. ....... :: call(self, [SX] arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L530 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L366-L373 ............. ....... :: call(self, dict:SX arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L536 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1471-L1478 ............. ....... :: call(self, dict:MX arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L538 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1480-L1487 ............. ....... :: call(self, [MX] arg, bool always_inline, bool never_inline) [INTERNAL] Evaluate the function symbolically or numerically. Extra doc: https://github.com/casadi/casadi/wiki/L_1w7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L532 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L375-L382 ............. """ return _casadi.Function_call(self, *args) def mapsum(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: mapsum(self, [MX] x, str parallelization) -> [MX] Evaluate symbolically in parallel and sum (matrix graph) Parameters: ----------- parallelization: Type of parallelization used: unroll|serial|openmp Extra doc: https://github.com/casadi/casadi/wiki/L_1wh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L656 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L756-L763 """ return _casadi.Function_mapsum(self, *args) def mapaccum(self, *args) -> "casadi::Function": """ [INTERNAL] :: mapaccum(self, int N, dict opts) -> Function mapaccum(self, str name, int N, dict opts) -> Function mapaccum(self, str name, int N, int n_accum, dict opts) -> Function mapaccum(self, str name, int n, [str] accum_in, [str] accum_out, dict opts) -> Function mapaccum(self, str name, int n, [int] accum_in, [int] accum_out, dict opts) -> Function Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L711 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L516-L518 ....... :: mapaccum(self, int N, dict opts) [INTERNAL] Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L711 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L516-L518 ............. ....... :: mapaccum(self, str name, int N, dict opts) [INTERNAL] Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L700 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L519-L521 ............. ....... :: mapaccum(self, str name, int N, int n_accum, dict opts) [INTERNAL] Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L701 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L522-L550 ............. ....... :: mapaccum(self, str name, int n, [str] accum_in, [str] accum_out, dict opts) [INTERNAL] Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L707 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L627-L635 ............. ....... :: mapaccum(self, str name, int n, [int] accum_in, [int] accum_out, dict opts) [INTERNAL] Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L703 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L597-L625 ............. """ return _casadi.Function_mapaccum(self, *args) def fold(self, *args) -> "casadi::Function": """ [INTERNAL] :: fold(self, int N, dict opts) -> Function Create a mapaccumulated version of this function. Suppose the function has a signature of: :: f: (x, u) -> (x_next , y ) The the mapaccumulated version has the signature: :: F: (x0, U) -> (X , Y ) with U: horzcat([u0, u1, ..., u_(N-1)]) X: horzcat([x1, x2, ..., x_N]) Y: horzcat([y0, y1, ..., y_(N-1)]) and x1, y0 <- f(x0, u0) x2, y1 <- f(x1, u1) ... x_N, y_(N-1) <- f(x_(N-1), u_(N-1)) Mapaccum has the following benefits over writing an equivalent for- loop: much faster at construction time potentially much faster compilation times (for codegen) offers a trade-off between memory and evaluation time The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for- loops of length maximum base. This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base. Set base to -1 to unroll all the way; no gains in memory efficiency here. Extra doc: https://github.com/casadi/casadi/wiki/L_1wi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L712 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L509-L515 """ return _casadi.Function_fold(self, *args) def map(self, *args) -> "casadi::Function": """ [INTERNAL] :: map(self, int n, str parallelization) -> Function map(self, int n, [bool] reduce_in, [bool] reduce_out, dict opts) -> Function map(self, int n, str parallelization, int max_num_threads) -> Function map(self, str name, str parallelization, int n, [str] reduce_in, [str] reduce_out, dict opts) -> Function map(self, str name, str parallelization, int n, [int] reduce_in, [int] reduce_out, dict opts) -> Function Map with reduction. A subset of the inputs are non-repeated and a subset of the outputs summed up. Extra doc: https://github.com/casadi/casadi/wiki/L_1wk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L759 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L637-L643 ....... :: map(self, int n, [bool] reduce_in, [bool] reduce_out, dict opts) [INTERNAL] Map with reduction. A subset of the inputs are non-repeated and a subset of the outputs summed up. Extra doc: https://github.com/casadi/casadi/wiki/L_1wk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L759 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L637-L643 ............. ....... :: map(self, str name, str parallelization, int n, [str] reduce_in, [str] reduce_out, dict opts) [INTERNAL] Map with reduction. A subset of the inputs are non-repeated and a subset of the outputs summed up. Extra doc: https://github.com/casadi/casadi/wiki/L_1wk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L755 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L668-L675 ............. ....... :: map(self, str name, str parallelization, int n, [int] reduce_in, [int] reduce_out, dict opts) [INTERNAL] Map with reduction. A subset of the inputs are non-repeated and a subset of the outputs summed up. Extra doc: https://github.com/casadi/casadi/wiki/L_1wk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L751 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L645-L666 ............. ....... :: map(self, int n, str parallelization, int max_num_threads) [INTERNAL] ............. ....... :: map(self, int n, str parallelization) [INTERNAL] Create a mapped version of this function. Suppose the function has a signature of: :: f: (a, p) -> ( s ) The the mapped version has the signature: :: F: (A, P) -> (S ) with A: horzcat([a0, a1, ..., a_(N-1)]) P: horzcat([p0, p1, ..., p_(N-1)]) S: horzcat([s0, s1, ..., s_(N-1)]) and s0 <- f(a0, p0) s1 <- f(a1, p1) ... s_(N-1) <- f(a_(N-1), p_(N-1)) Parameters: ----------- parallelization: Type of parallelization used: unroll|serial|openmp Extra doc: https://github.com/casadi/casadi/wiki/L_1wj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L740 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L709-L744 ............. """ return _casadi.Function_map(self, *args) def slice(self, *args) -> "casadi::Function": """ [INTERNAL] :: slice(self, str name, [int] order_in, [int] order_out, dict opts) -> Function returns a new function with a selection of inputs/outputs of the original Extra doc: https://github.com/casadi/casadi/wiki/L_1wl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L768 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L747-L754 """ return _casadi.Function_slice(self, *args) def conditional(*args) -> "casadi::Function": """ :: conditional(str name, Function f, dict opts) -> Function conditional(str name, [Function] f, Function f_def, dict opts) -> Function """ return _casadi.Function_conditional(*args) conditional = staticmethod(conditional) def bspline(*args) -> "casadi::Function": """ :: bspline(str name, [[float]] knots, [float] coeffs, [int] degree, int m, dict opts) -> Function """ return _casadi.Function_bspline(*args) bspline = staticmethod(bspline) def if_else(*args) -> "casadi::Function": """ :: if_else(str name, Function f_true, Function f_false, dict opts) -> Function """ return _casadi.Function_if_else(*args) if_else = staticmethod(if_else) def forward(self, *args) -> "casadi::Function": """ [INTERNAL] :: forward(self, int nfwd) -> Function Get a function that calculates nfwd forward derivatives. :: Returns a function with n_in + n_out + n_in inputs and nfwd outputs. The first n_in inputs correspond to nondifferentiated inputs. The next n_out inputs correspond to nondifferentiated outputs. and the last n_in inputs correspond to forward seeds, stacked horizontally The n_out outputs correspond to forward sensitivities, stacked horizontally. * (n_in = n_in(), n_out = n_out()) The functions returned are cached, meaning that if called multiple timed with the same value, then multiple references to the same function will be returned. Extra doc: https://github.com/casadi/casadi/wiki/L_1wq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L814 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1135-L1141 """ return _casadi.Function_forward(self, *args) def reverse(self, *args) -> "casadi::Function": """ [INTERNAL] :: reverse(self, int nadj) -> Function Get a function that calculates nadj adjoint derivatives. :: Returns a function with n_in + n_out + n_out inputs and n_in outputs. The first n_in inputs correspond to nondifferentiated inputs. The next n_out inputs correspond to nondifferentiated outputs. and the last n_out inputs correspond to adjoint seeds, stacked horizontally The n_in outputs correspond to adjoint sensitivities, stacked horizontally. * (n_in = n_in(), n_out = n_out()) (n_in = n_in(), n_out = n_out()) The functions returned are cached, meaning that if called multiple timed with the same value, then multiple references to the same function will be returned. Extra doc: https://github.com/casadi/casadi/wiki/L_1wr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L834 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1143-L1149 """ return _casadi.Function_reverse(self, *args) def jac_sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: jac_sparsity(self, bool compact) -> [Sparsity] jac_sparsity(self, int oind, int iind, bool compact) -> Sparsity Get, if necessary generate, the sparsity of a single Jacobian block. Extra doc: https://github.com/casadi/casadi/wiki/L_1wt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L844 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L951-L959 ....... :: jac_sparsity(self, bool compact) [INTERNAL] Get, if necessary generate, the sparsity of all Jacobian blocks. Extra doc: https://github.com/casadi/casadi/wiki/L_1ws Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L839 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L940-L949 ............. ....... :: jac_sparsity(self, int oind, int iind, bool compact) [INTERNAL] Get, if necessary generate, the sparsity of a single Jacobian block. Extra doc: https://github.com/casadi/casadi/wiki/L_1wt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L844 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L951-L959 ............. """ return _casadi.Function_jac_sparsity(self, *args) def generate(self, *args) -> "std::string": """ [INTERNAL] :: generate(self, dict opts) -> str generate(self, str fname, dict opts) -> str Export / Generate C code for the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1wv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L854 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1197-L1199 ....... :: generate(self, dict opts) [INTERNAL] Export / Generate C code for the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1wv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L854 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1197-L1199 ............. ....... :: generate(self, str fname, dict opts) [INTERNAL] Export / Generate C code for the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1wu Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L849 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1201-L1205 ............. """ return _casadi.Function_generate(self, *args) def generate_dependencies(self, *args) -> "std::string": """ [INTERNAL] :: generate_dependencies(self, str fname, dict opts) -> str Export / Generate C code for the dependency function. Extra doc: https://github.com/casadi/casadi/wiki/L_1ww Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L859 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1207-L1209 """ return _casadi.Function_generate_dependencies(self, *args) def generate_in(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: generate_in(self, str fname) -> [DM] generate_in(self, str fname, [DM] arg) Export an input file that can be passed to generate C code with a main. See: generate_out See: convert_in to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L869 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1241-L1251 ....... :: generate_in(self, str fname) [INTERNAL] Export an input file that can be passed to generate C code with a main. See: generate_out See: convert_in to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L869 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1241-L1251 ............. ....... :: generate_in(self, str fname, [DM] arg) [INTERNAL] Export an input file that can be passed to generate C code with a main. See: generate_out See: convert_in to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L868 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1211-L1224 ............. """ return _casadi.Function_generate_in(self, *args) def generate_out(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: generate_out(self, str fname) -> [DM] generate_out(self, str fname, [DM] arg) Export an output file that can be checked with generated C code output. See: generate_in See: convert_out to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L880 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1253-L1263 ....... :: generate_out(self, str fname) [INTERNAL] Export an output file that can be checked with generated C code output. See: generate_in See: convert_out to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L880 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1253-L1263 ............. ....... :: generate_out(self, str fname, [DM] arg) [INTERNAL] Export an output file that can be checked with generated C code output. See: generate_in See: convert_out to convert between dict/map and vector Extra doc: https://github.com/casadi/casadi/wiki/L_1wy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L879 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1226-L1239 ............. """ return _casadi.Function_generate_out(self, *args) def serialize(self, *args) -> "std::string": """ [INTERNAL] :: serialize(self, dict opts) -> str Serialize. Extra doc: https://github.com/casadi/casadi/wiki/L_1x2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L907 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1283-L1287 """ return _casadi.Function_serialize(self, *args) def save(self, *args) -> "void": """ [INTERNAL] :: save(self, str fname, dict opts) Save Function to a file. See: load Extra doc: https://github.com/casadi/casadi/wiki/L_240 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L914 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1278-L1281 """ return _casadi.Function_save(self, *args) def export_code(self, *args) -> "std::string": """ [INTERNAL] :: export_code(self, str lang, dict options) -> str export_code(self, str lang, str fname, dict options) Export function in specific language. Only allowed for (a subset of) SX/MX Functions Extra doc: https://github.com/casadi/casadi/wiki/L_1wz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L916 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1310-L1314 ....... :: export_code(self, str lang, dict options) [INTERNAL] Export function in specific language. Only allowed for (a subset of) SX/MX Functions Extra doc: https://github.com/casadi/casadi/wiki/L_1wz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L916 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1310-L1314 ............. ....... :: export_code(self, str lang, str fname, dict options) [INTERNAL] Export function in specific language. Only allowed for (a subset of) SX/MX Functions Extra doc: https://github.com/casadi/casadi/wiki/L_1wz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L889 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1270-L1275 ............. """ return _casadi.Function_export_code(self, *args) def stats(self, *args) -> "casadi::Dict": """ [INTERNAL] :: stats(self, int mem) -> dict Get all statistics obtained at the end of the last evaluate call. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L946 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L928-L938 """ return _casadi.Function_stats(self, *args) def sx_in(self, *args) -> "std::vector< casadi::SX,std::allocator< casadi::SX > > const": """ [INTERNAL] :: sx_in(self) -> [SX] sx_in(self, int iind) -> SX sx_in(self, str iname) -> SX Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L958 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1577-L1583 ....... :: sx_in(self) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L958 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1577-L1583 ............. ....... :: sx_in(self, int iind) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L954 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1561-L1567 ............. ....... :: sx_in(self, str iname) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L955 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L955-L957 ............. """ return _casadi.Function_sx_in(self, *args) def mx_in(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > > const": """ [INTERNAL] :: mx_in(self) -> [MX] mx_in(self, int ind) -> MX mx_in(self, str iname) -> MX Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L963 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1601-L1603 ....... :: mx_in(self) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L963 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1601-L1603 ............. ....... :: mx_in(self, int ind) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L959 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1593-L1595 ............. ....... :: mx_in(self, str iname) [INTERNAL] Get symbolic primitives equivalent to the input expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L960 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L960-L962 ............. """ return _casadi.Function_mx_in(self, *args) def sx_out(self, *args) -> "std::vector< casadi::SX,std::allocator< casadi::SX > > const": """ [INTERNAL] :: sx_out(self) -> [SX] sx_out(self, int oind) -> SX sx_out(self, str oname) -> SX Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L976 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1585-L1591 ....... :: sx_out(self) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L976 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1585-L1591 ............. ....... :: sx_out(self, int oind) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L972 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1569-L1575 ............. ....... :: sx_out(self, str oname) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L973 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L973-L975 ............. """ return _casadi.Function_sx_out(self, *args) def mx_out(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > > const": """ [INTERNAL] :: mx_out(self) -> [MX] mx_out(self, int ind) -> MX mx_out(self, str oname) -> MX Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L981 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1605-L1607 ....... :: mx_out(self) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L981 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1605-L1607 ............. ....... :: mx_out(self, int ind) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L977 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1597-L1599 ............. ....... :: mx_out(self, str oname) [INTERNAL] Get symbolic primitives equivalent to the output expressions. There is no guarantee that subsequent calls return unique answers Extra doc: https://github.com/casadi/casadi/wiki/L_1x5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L978 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L978-L980 ............. """ return _casadi.Function_mx_out(self, *args) def nz_from_in(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nz_from_in(self, [DM] arg) -> [float] Convert from/to flat vector of input/output nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1x6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L988 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1609-L1611 """ return _casadi.Function_nz_from_in(self, *args) def nz_from_out(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nz_from_out(self, [DM] arg) -> [float] Convert from/to flat vector of input/output nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1x6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L989 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1613-L1615 """ return _casadi.Function_nz_from_out(self, *args) def nz_to_in(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: nz_to_in(self, [float] arg) -> [DM] Convert from/to flat vector of input/output nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1x6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L990 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1617-L1619 """ return _casadi.Function_nz_to_in(self, *args) def nz_to_out(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: nz_to_out(self, [float] arg) -> [DM] Convert from/to flat vector of input/output nonzeros. Extra doc: https://github.com/casadi/casadi/wiki/L_1x6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L991 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1621-L1623 """ return _casadi.Function_nz_to_out(self, *args) def convert_in(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: convert_in(self, dict:DM arg) -> [DM] convert_in(self, [DM] arg) -> dict:DM convert_in(self, [SX] arg) -> dict:SX convert_in(self, dict:SX arg) -> [SX] convert_in(self, dict:MX arg) -> [MX] convert_in(self, [MX] arg) -> dict:MX Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1010 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1661-L1663 ....... :: convert_in(self, dict:DM arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1002 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1629-L1631 ............. ....... :: convert_in(self, [DM] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1001 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1625-L1627 ............. ....... :: convert_in(self, [SX] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1005 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1641-L1643 ............. ....... :: convert_in(self, dict:SX arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1006 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1645-L1647 ............. ....... :: convert_in(self, dict:MX arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1010 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1661-L1663 ............. ....... :: convert_in(self, [MX] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1009 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1657-L1659 ............. """ return _casadi.Function_convert_in(self, *args) def convert_out(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: convert_out(self, dict:DM arg) -> [DM] convert_out(self, [DM] arg) -> dict:DM convert_out(self, [SX] arg) -> dict:SX convert_out(self, dict:SX arg) -> [SX] convert_out(self, dict:MX arg) -> [MX] convert_out(self, [MX] arg) -> dict:MX Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1012 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1669-L1671 ....... :: convert_out(self, dict:DM arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1004 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1637-L1639 ............. ....... :: convert_out(self, [DM] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1003 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1633-L1635 ............. ....... :: convert_out(self, [SX] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1007 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1649-L1651 ............. ....... :: convert_out(self, dict:SX arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1008 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1653-L1655 ............. ....... :: convert_out(self, dict:MX arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1012 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1669-L1671 ............. ....... :: convert_out(self, [MX] arg) [INTERNAL] Convert from/to input/output lists/map. Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking. Extra doc: https://github.com/casadi/casadi/wiki/L_1x7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1011 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1665-L1667 ............. """ return _casadi.Function_convert_out(self, *args) def has_free(self, *args) -> "bool": """ [INTERNAL] :: has_free(self) -> bool Does the function have free variables. Extra doc: https://github.com/casadi/casadi/wiki/L_1x8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1018 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1706-L1708 """ return _casadi.Function_has_free(self, *args) def get_free(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: get_free(self) -> [str] Get free variables as a string. Extra doc: https://github.com/casadi/casadi/wiki/L_1x9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1023 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1193-L1195 """ return _casadi.Function_get_free(self, *args) def free_sx(self, *args) -> "std::vector< casadi::SX,std::allocator< casadi::SX > >": """ [INTERNAL] :: free_sx(self) -> [SX] Get all the free variables of the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1xa Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1028 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1682-L1688 """ return _casadi.Function_free_sx(self, *args) def free_mx(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: free_mx(self) -> [MX] Get all the free variables of the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1xb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1033 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1690-L1696 """ return _casadi.Function_free_mx(self, *args) def generate_lifted(self, *args) -> "void": """ [INTERNAL] :: generate_lifted(self) -> (Function OUTPUT, Function OUTPUT) Extract the functions needed for the Lifted Newton method. Extra doc: https://github.com/casadi/casadi/wiki/L_1xc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1038 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1710-L1716 """ return _casadi.Function_generate_lifted(self, *args) def n_nodes(self, *args) -> "casadi_int": """ [INTERNAL] :: n_nodes(self) -> int Number of nodes in the algorithm. Extra doc: https://github.com/casadi/casadi/wiki/L_1xd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1044 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1774-L1780 """ return _casadi.Function_n_nodes(self, *args) def n_instructions(self, *args) -> "casadi_int": """ [INTERNAL] :: n_instructions(self) -> int Number of instruction in the algorithm (SXFunction/MXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xe Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1049 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1718-L1724 """ return _casadi.Function_n_instructions(self, *args) def instruction_id(self, *args) -> "casadi_int": """ [INTERNAL] :: instruction_id(self, int k) -> int Identifier index of the instruction (SXFunction/MXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1054 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1742-L1748 """ return _casadi.Function_instruction_id(self, *args) def instruction_input(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: instruction_input(self, int k) -> [int] Locations in the work vector for the inputs of the instruction. (SXFunction/MXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1061 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1750-L1756 """ return _casadi.Function_instruction_input(self, *args) def instruction_constant(self, *args) -> "double": """ [INTERNAL] :: instruction_constant(self, int k) -> float Get the floating point output argument of an instruction (SXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1066 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1758-L1764 """ return _casadi.Function_instruction_constant(self, *args) def instruction_output(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: instruction_output(self, int k) -> [int] Location in the work vector for the output of the instruction. (SXFunction/MXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1073 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1766-L1772 """ return _casadi.Function_instruction_output(self, *args) def instruction_MX(self, *args) -> "casadi::MX": """ [INTERNAL] :: instruction_MX(self, int k) -> MX Get the MX node corresponding to an instruction (MXFunction) Extra doc: https://github.com/casadi/casadi/wiki/L_1xj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1078 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1726-L1732 """ return _casadi.Function_instruction_MX(self, *args) def instructions_sx(self, *args) -> "casadi::SX": """ [INTERNAL] :: instructions_sx(self) -> SX Get the SX node corresponding to all instructions (SXFunction) Note: input and output instructions have no SX representation. This method returns nan for those instructions. Extra doc: https://github.com/casadi/casadi/wiki/L_1xk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1086 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1734-L1740 """ return _casadi.Function_instructions_sx(self, *args) def has_spfwd(self, *args) -> "bool": """ [INTERNAL] :: has_spfwd(self) -> bool Is the class able to propagate seeds through the algorithm? Extra doc: https://github.com/casadi/casadi/wiki/L_1xl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1092 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1698-L1700 """ return _casadi.Function_has_spfwd(self, *args) def has_sprev(self, *args) -> "bool": """ [INTERNAL] :: has_sprev(self) -> bool Is the class able to propagate seeds through the algorithm? Extra doc: https://github.com/casadi/casadi/wiki/L_1xl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1093 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1702-L1704 """ return _casadi.Function_has_sprev(self, *args) def sz_arg(self, *args) -> "size_t": """ [INTERNAL] :: sz_arg(self) -> size_t Get required length of arg field. Extra doc: https://github.com/casadi/casadi/wiki/L_1xm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1099 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1083-L1083 """ return _casadi.Function_sz_arg(self, *args) def sz_res(self, *args) -> "size_t": """ [INTERNAL] :: sz_res(self) -> size_t Get required length of res field. Extra doc: https://github.com/casadi/casadi/wiki/L_1xn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1104 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1085-L1085 """ return _casadi.Function_sz_res(self, *args) def sz_iw(self, *args) -> "size_t": """ [INTERNAL] :: sz_iw(self) -> size_t Get required length of iw field. Extra doc: https://github.com/casadi/casadi/wiki/L_1xo Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1109 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1087-L1087 """ return _casadi.Function_sz_iw(self, *args) def sz_w(self, *args) -> "size_t": """ [INTERNAL] :: sz_w(self) -> size_t Get required length of w field. Extra doc: https://github.com/casadi/casadi/wiki/L_1xp Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1089-L1089 """ return _casadi.Function_sz_w(self, *args) def name(self, *args) -> "std::string const &": """ [INTERNAL] :: name(self) -> str Name of the function. Extra doc: https://github.com/casadi/casadi/wiki/L_1xv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1157 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1316-L1323 """ return _casadi.Function_name(self, *args) def is_a(self, *args) -> "bool": """ [INTERNAL] :: is_a(self, str type, bool recursive) -> bool Check if the function is of a particular type. Optionally check if name matches one of the base classes (default true) Extra doc: https://github.com/casadi/casadi/wiki/L_1xw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1164 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1673-L1675 """ return _casadi.Function_is_a(self, *args) def check_name(*args) -> "bool": """ :: check_name(str name) -> bool """ return _casadi.Function_check_name(*args) check_name = staticmethod(check_name) def fix_name(*args) -> "std::string": """ :: fix_name(str name) -> str """ return _casadi.Function_fix_name(*args) fix_name = staticmethod(fix_name) def load(*args) -> "casadi::Function": """ :: load(str filename) -> Function """ return _casadi.Function_load(*args) load = staticmethod(load) def deserialize(*args) -> "casadi::Function": """ :: deserialize(std::istream & stream) -> Function deserialize(casadi::DeserializingStream & s) -> Function deserialize(str s) -> Function """ return _casadi.Function_deserialize(*args) deserialize = staticmethod(deserialize) def assert_size_in(self, *args) -> "void": """ [INTERNAL] :: assert_size_in(self, int i, int nrow, int ncol) Assert that an input dimension is equal so some given value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1209 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1794-L1800 """ return _casadi.Function_assert_size_in(self, *args) def assert_size_out(self, *args) -> "void": """ [INTERNAL] :: assert_size_out(self, int i, int nrow, int ncol) Assert that an output dimension is equal so some given value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1212 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1802-L1807 """ return _casadi.Function_assert_size_out(self, *args) def assert_sparsity_out(self, *args) -> "void": """ [INTERNAL] :: assert_sparsity_out(self, int i, Sparsity sp, int n, bool allow_all_zero_sparse) Assert that an output sparsity is a multiple of some given sparsity. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1215 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1809-L1818 """ return _casadi.Function_assert_sparsity_out(self, *args) def checkout(self, *args) -> "casadi_int": """ [INTERNAL] :: checkout(self) -> int Checkout a memory object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1219 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1782-L1784 """ return _casadi.Function_checkout(self, *args) def release(self, *args) -> "void": """ [INTERNAL] :: release(self, int mem) Release a memory object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1222 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1786-L1788 """ return _casadi.Function_release(self, *args) def cache(self, *args) -> "casadi::Dict": """ [INTERNAL] :: cache(self) -> dict Get all functions in the cache. Extra doc: https://github.com/casadi/casadi/wiki/L_26i Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1235 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1844-L1851 """ return _casadi.Function_cache(self, *args) def get_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: get_function(self) -> [str] get_function(self, str name) -> Function Get a dependency function. Extra doc: https://github.com/casadi/casadi/wiki/L_1y4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1862-L1868 ....... :: get_function(self, str name) [INTERNAL] Get a dependency function. Extra doc: https://github.com/casadi/casadi/wiki/L_1y4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1245 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1862-L1868 ............. ....... :: get_function(self) [INTERNAL] Get a list of all functions. Extra doc: https://github.com/casadi/casadi/wiki/L_1y3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1853-L1860 ............. """ return _casadi.Function_get_function(self, *args) def has_function(self, *args) -> "bool": """ [INTERNAL] :: has_function(self, str fname) -> bool Check if a particular dependency exists. Extra doc: https://github.com/casadi/casadi/wiki/L_1y5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1250 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1870-L1877 """ return _casadi.Function_has_function(self, *args) def find_functions(self, *args) -> "std::vector< casadi::Function,std::allocator< casadi::Function > >": """ [INTERNAL] :: find_functions(self, int max_depth) -> [Function] Get all functions embedded in the expression graphs. Parameters: ----------- max_depth: Maximum depth - a negative number indicates no maximum Extra doc: https://github.com/casadi/casadi/wiki/L_1y6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1257 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1879-L1895 """ return _casadi.Function_find_functions(self, *args) def find_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: find_function(self, str name, int max_depth) -> Function Get a specific function embedded in the expression graphs. Parameters: ----------- name: Name of function needed max_depth: Maximum depth - a negative number indicates no maximum Extra doc: https://github.com/casadi/casadi/wiki/L_1y7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1265 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1897-L1914 """ return _casadi.Function_find_function(self, *args) def info(self, *args) -> "casadi::Dict": """ [INTERNAL] :: info(self) -> dict Obtain information about function Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1268 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1943-L1945 """ return _casadi.Function_info(self, *args) def __setstate__(self, state): self.__init__(Function.deserialize(state["serialization"])) def __getstate__(self): return {"serialization": self.serialize()} def __call__(self, *args, **kwargs): # Either named inputs or ordered inputs if len(args)>0 and len(kwargs)>0: raise SyntaxError('Function evaluation requires all arguments to be named or none') if len(args)>0: # Ordered inputs -> return tuple ret = self.call(args) if len(ret)==0: return None elif len(ret)==1: return ret[0] else: return tuple(ret) else: # Named inputs -> return dictionary return self.call(kwargs) def buffer(self): """ Create a FunctionBuffer object for evaluating with minimal overhead """ import functools fb = FunctionBuffer(self) caller = functools.partial(_casadi._function_buffer_eval, fb._self()) return (fb, caller) def __init__(self, *args): """ :: Function() Function(str fname) Function(Function other) Function(str name, [SX] ex_in, [SX] ex_out, dict opts) Function(str name, [MX] ex_in, [MX] ex_out, dict opts) Function(str name, dict:SX dict, [str] name_in, [str] name_out, dict opts) Function(str name, dict:MX dict, [str] name_in, [str] name_out, dict opts) Function(str name, [SX] ex_in, [SX] ex_out, [str] name_in, [str] name_out, dict opts) Function(str name, [MX] ex_in, [MX] ex_out, [str] name_in, [str] name_out, dict opts) ....... :: Function(Function other) ............. ....... :: Function(str name, [MX] ex_in, [MX] ex_out, dict opts) [INTERNAL] Construct an MX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L101 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L110-L114 ............. ....... :: Function(str name, dict:MX dict, [str] name_in, [str] name_out, dict opts) [INTERNAL] Construct an MX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L111 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L189-L193 ............. ....... :: Function(str name, [MX] ex_in, [MX] ex_out, [str] name_in, [str] name_out, dict opts) [INTERNAL] Construct an MX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L105 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L116-L122 ............. ....... :: Function() [INTERNAL] Default constructor, null pointer. Extra doc: https://github.com/casadi/casadi/wiki/L_1uy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L70 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L58-L59 ............. ....... :: Function(str name, [SX] ex_in, [SX] ex_out, dict opts) [INTERNAL] Construct an SX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L81 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L96-L100 ............. ....... :: Function(str name, dict:SX dict, [str] name_in, [str] name_out, dict opts) [INTERNAL] Construct an SX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L91 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L183-L187 ............. ....... :: Function(str name, [SX] ex_in, [SX] ex_out, [str] name_in, [str] name_out, dict opts) [INTERNAL] Construct an SX function. Extra doc: https://github.com/casadi/casadi/wiki/L_1v0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L85 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L102-L108 ............. ....... :: Function(str fname) [INTERNAL] Construct from a file. Extra doc: https://github.com/casadi/casadi/wiki/L_1uz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L75 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L92-L94 ............. """ this = _casadi.new_Function(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this Function_swigregister = _casadi.Function_swigregister Function_swigregister(Function) def Function_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Function_type_name(*args) def Function_jit(*args) -> "casadi::Function": """ [INTERNAL] :: jit(str name, str body, [str] name_in, [str] name_out, dict opts) -> Function jit(str name, str body, [str] name_in, [str] name_out, [Sparsity] sparsity_in, [Sparsity] sparsity_out, dict opts) -> Function Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L294-L306 ....... :: jit(str name, str body, [str] name_in, [str] name_out, dict opts) [INTERNAL] Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L185 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L285-L292 ............. ....... :: jit(str name, str body, [str] name_in, [str] name_out, [Sparsity] sparsity_in, [Sparsity] sparsity_out, dict opts) [INTERNAL] Create a just-in-time compiled function from a C language string. The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double or another data type with the same API as 'double. Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored. If an error occurs in the evaluation, issue "return 1;"; The final generated function will have a structure similar to: casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; return 0; } Extra doc: https://github.com/casadi/casadi/wiki/L_1v3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L294-L306 ............. """ return _casadi.Function_jit(*args) def Function_conditional(*args) -> "casadi::Function": """ :: conditional(str name, Function f, dict opts) -> Function conditional(str name, [Function] f, Function f_def, dict opts) -> Function """ return _casadi.Function_conditional(*args) def Function_bspline(*args) -> "casadi::Function": """ :: bspline(str name, [[float]] knots, [float] coeffs, [int] degree, int m, dict opts) -> Function """ return _casadi.Function_bspline(*args) def Function_if_else(*args) -> "casadi::Function": """ :: if_else(str name, Function f_true, Function f_false, dict opts) -> Function """ return _casadi.Function_if_else(*args) def Function_check_name(*args) -> "bool": """ :: check_name(str name) -> bool """ return _casadi.Function_check_name(*args) def Function_fix_name(*args) -> "std::string": """ :: fix_name(str name) -> str """ return _casadi.Function_fix_name(*args) def Function_load(*args) -> "casadi::Function": """ :: load(str filename) -> Function """ return _casadi.Function_load(*args) def Function_deserialize(*args) -> "casadi::Function": """ :: deserialize(std::istream & stream) -> Function deserialize(casadi::DeserializingStream & s) -> Function deserialize(str s) -> Function """ return _casadi.Function_deserialize(*args) class FunctionBuffer(_object): """ [INTERNAL] :: Class to achieve minimal overhead function evaluations. Extra doc: https://github.com/casadi/casadi/wiki/L_1y9 C++ includes: function.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, FunctionBuffer, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, FunctionBuffer, name) __repr__ = _swig_repr def set_arg(self, *args) -> "void": """ [INTERNAL] :: set_arg(self, int i, memoryview(ro) a, casadi_int size) Set input buffer for input i. mem.set_arg(0, memoryview(a)) Note that CasADi uses 'fortran' order: column-by-column Extra doc: https://github.com/casadi/casadi/wiki/L_1yb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1346 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1991-L1996 """ return _casadi.FunctionBuffer_set_arg(self, *args) def set_res(self, *args) -> "void": """ [INTERNAL] :: set_res(self, int i, memoryview(rw) a, casadi_int size) Set output buffer for ouput i. mem.set_res(0, memoryview(a)) Note that CasADi uses 'fortran' order: column-by-column Extra doc: https://github.com/casadi/casadi/wiki/L_1yc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1355 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1997-L2002 """ return _casadi.FunctionBuffer_set_res(self, *args) def ret(self, *args) -> "int": """ [INTERNAL] :: ret(self) -> int Get last return value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1357 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L2010-L2012 """ return _casadi.FunctionBuffer_ret(self, *args) def _eval(self, *args) -> "void": """ [INTERNAL] :: _eval(self) """ return _casadi.FunctionBuffer__eval(self, *args) def _self(self, *args) -> "void *": """ [INTERNAL] :: _self(self) -> void* """ return _casadi.FunctionBuffer__self(self, *args) def stats(self, *args) -> "casadi::Dict": """ [INTERNAL] :: stats(self) -> dict """ return _casadi.FunctionBuffer_stats(self, *args) def __init__(self, *args): """ :: FunctionBuffer(FunctionBuffer other) FunctionBuffer(Function f) ....... :: FunctionBuffer(FunctionBuffer other) ............. ....... :: FunctionBuffer(Function f) [INTERNAL] Main constructor. Extra doc: https://github.com/casadi/casadi/wiki/L_1ya Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/function.hpp#L1332 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/function.cpp#L1955-L1963 ............. """ this = _casadi.new_FunctionBuffer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_FunctionBuffer FunctionBuffer_swigregister = _casadi.FunctionBuffer_swigregister FunctionBuffer_swigregister(FunctionBuffer) def _function_buffer_eval(*args) -> "void": """ :: _function_buffer_eval(void* raw) """ return _casadi._function_buffer_eval(*args) def external(*args) -> "casadi::Function": """ [INTERNAL] :: external(str name, dict opts) -> Function external(str name, Importer li, dict opts) -> Function external(str name, str bin_name, dict opts) -> Function Load a just-in-time compiled external function. File name given Extra doc: https://github.com/casadi/casadi/wiki/L_i2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/external.hpp#L42 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/external.cpp#L42-L48 ....... :: external(str name, dict opts) [INTERNAL] Load an external function from a shared library. 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. _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 ./.so Extra doc: https://github.com/casadi/casadi/wiki/L_i0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/external.hpp#L50 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/external.cpp#L50-L52 ............. ....... :: external(str name, str bin_name, dict opts) [INTERNAL] Load an external function from a shared library. 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. _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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/external.hpp#L54 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/external.cpp#L54-L57 ............. ....... :: external(str name, Importer li, dict opts) [INTERNAL] Load a just-in-time compiled external function. File name given Extra doc: https://github.com/casadi/casadi/wiki/L_i2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/external.hpp#L42 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/external.cpp#L42-L48 ............. """ return _casadi.external(*args) def integrator(*args) -> "casadi::Function": """ [INTERNAL] :: integrator(str name, str solver, dict:SX dae, dict opts) -> Function integrator(str name, str solver, dict:MX dae, dict opts) -> Function integrator(str name, str solver, Function dae, dict opts) -> Function integrator(str name, str solver, dict:SX dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, dict:SX dae, float t0, float tf, dict opts) -> Function integrator(str name, str solver, dict:MX dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, dict:MX dae, float t0, float tf, dict opts) -> Function integrator(str name, str solver, Function dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, Function dae, float t0, float tf, dict opts) -> Function ....... :: integrator(str name, str solver, dict:SX dae, dict opts) Create an ODE/DAE integrator Solves an initial value problem (IVP) coupled to a terminal value problem with differential equation given as an implicit ODE coupled to an algebraic equation and a set of quadratures: :: Initial conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0 to t=tf der(x) = function(x, z, p, t) Forward ODE 0 = fz(x, z, p, t) Forward algebraic equations der(q) = fq(x, z, p, t) Forward quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0 Backward integration from t=tf to t=t0 der(rx) = gx(rx, rz, rp, x, z, p, t) Backward ODE 0 = gz(rx, rz, rp, x, z, p, t) Backward algebraic equations der(rq) = gq(rx, rz, rp, x, z, p, t) Backward quadratures where we assume that both the forward and backwards integrations are index-1 (i.e. dfz/dz, dgz/drz are invertible) and furthermore that gx, gz and gq have a linear dependency on rx, rz and rp. General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | augmented_option | OT_DICT | Options to be | casadi::Integrat | | s | | passed down to | or | | | | the augmented | | | | | integrator, if | | | | | one is | | | | | constructed | | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | common_options | OT_DICT | Options for | casadi::OracleFu | | | | auto-generated | nction | | | | functions | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | event_tol | OT_DOUBLE | Termination | casadi::Integrat | | | | tolerance for | or | | | | the event | | | | | iteration | | +------------------+-----------------+------------------+------------------+ | expand | OT_BOOL | Replace MX with | casadi::OracleFu | | | | SX expressions | nction | | | | in problem | | | | | formulation | | | | | [false] This | | | | | happens before | | | | | creating | | | | | derivatives | | | | | unless indicated | | | | | by | | | | | postpone_expand | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | grid | OT_DOUBLEVECTOR | [DEPRECATED] | casadi::Integrat | | | | Time grid | or | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_event_iter | OT_INT | Maximum number | casadi::Integrat | | | | of iterations to | or | | | | zero in on a | | | | | single event | | +------------------+-----------------+------------------+------------------+ | max_events | OT_INT | Maximum total | casadi::Integrat | | | | number of events | or | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | monitor | OT_STRINGVECTOR | Set of user | casadi::OracleFu | | | | problem | nction | | | | functions to be | | | | | monitored | | +------------------+-----------------+------------------+------------------+ | nadj | OT_INT | Number of | casadi::Integrat | | | | adjoint | or | | | | sensitivities to | | | | | be calculated | | | | | [0] | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | nfwd | OT_INT | Number of | casadi::Integrat | | | | forward | or | | | | sensitivities to | | | | | be calculated | | | | | [0] | | +------------------+-----------------+------------------+------------------+ | number_of_finite | OT_INT | Target number of | casadi::Integrat | | _elements | | finite elements. | or | | | | The actual | | | | | number may be | | | | | higher to | | | | | accommodate all | | | | | output times | | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | output_t0 | OT_BOOL | [DEPRECATED] | casadi::Integrat | | | | Output the state | or | | | | at the initial | | | | | time | | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | postpone_expand | OT_BOOL | When expand is | casadi::OracleFu | | | | active, postpone | nction | | | | it until after | | | | | creation of | | | | | derivatives. | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_stats | OT_BOOL | Print out | casadi::Integrat | | | | statistics after | or | | | | integration | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | rootfinder | OT_STRING | An implicit | casadi::Integrat | | | | function solver | or | +------------------+-----------------+------------------+------------------+ | rootfinder_optio | OT_DICT | Options to be | casadi::Integrat | | ns | | passed to the | or | | | | NLP Solver | | +------------------+-----------------+------------------+------------------+ | show_eval_warnin | OT_BOOL | Show warnings | casadi::OracleFu | | gs | | generated from | nction | | | | function | | | | | evaluations | | | | | [true] | | +------------------+-----------------+------------------+------------------+ | simplify | OT_BOOL | Implement as MX | casadi::Integrat | | | | Function (codege | or | | | | neratable/serial | | | | | izable) default: | | | | | false | | +------------------+-----------------+------------------+------------------+ | simplify_options | OT_DICT | Any options to | casadi::Integrat | | | | pass to | or | | | | simplified form | | | | | Function | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | specific_options | OT_DICT | Options for | casadi::OracleFu | | | | specific auto- | nction | | | | generated | | | | | functions, | | | | | overwriting the | | | | | defaults from | | | | | common_options. | | | | | Nested | | | | | dictionary. | | +------------------+-----------------+------------------+------------------+ | t0 | OT_DOUBLE | [DEPRECATED] | casadi::Integrat | | | | Beginning of the | or | | | | time horizon | | +------------------+-----------------+------------------+------------------+ | tf | OT_DOUBLE | [DEPRECATED] End | casadi::Integrat | | | | of the time | or | | | | horizon | | +------------------+-----------------+------------------+------------------+ | transition | OT_FUNCTION | Function to be | casadi::Integrat | | | | called a zero- | or | | | | crossing events | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ >Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 7) +-------------------+--------+---------------------------------------------+ | Full name | Short | Description | +===================+========+=============================================+ | INTEGRATOR_X0 | x0 | Differential state at the initial time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_Z0 | z0 | Initial guess for the algebraic variable at | | | | the initial time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_P | p | Parameters. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_U | u | Piecewise constant control, a new control | | | | interval starts at each output time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_XF | adj_xf | Adjoint seeds corresponding to the states | | | | at the output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_ZF | adj_zf | Adjoint seeds corresponding to the | | | | algebraic variables at the output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_QF | adj_qf | Adjoint seeds corresponding to the | | | | quadratures at the output times. | +-------------------+--------+---------------------------------------------+ >Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7) +-------------------+--------+---------------------------------------------+ | Full name | Short | Description | +===================+========+=============================================+ | INTEGRATOR_XF | xf | Differential state at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ZF | zf | Algebraic variable at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_QF | qf | Quadrature state at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_X0 | adj_x0 | Adjoint sensitivities corresponding to the | | | | initial state. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_Z0 | adj_z0 | Adjoint sensitivities corresponding to the | | | | algebraic variable guess. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_P | adj_p | Adjoint sensitivities corresponding to the | | | | parameter vector. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_U | adj_u | Adjoint sensitivities corresponding to the | | | | control vector. | +-------------------+--------+---------------------------------------------+ List of plugins - cvodes - idas - collocation - rk 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 Integrator.doc("myextraplugin") -------------------------------------------------------------------------------- cvodes ------ Interface to CVodes from the Sundials suite. A call to evaluate will integrate to the end. You can retrieve the entire state trajectory as follows, after the evaluate call: Call reset. Then call integrate(t_i) and getOuput for a series of times t_i. Extra doc: https://github.com/casadi/casadi/wiki/L_228 >List of available options +-----------------------------+-----------+--------------------------------+ | Id | Type | Description | +=============================+===========+================================+ | abstol | OT_DOUBLE | Absolute tolerence for the IVP | | | | solution | +-----------------------------+-----------+--------------------------------+ | always_recalculate_jacobian | OT_BOOL | Recalculate Jacobian before | | | | factorizations, even if | | | | Jacobian is current [default: | | | | true] | +-----------------------------+-----------+--------------------------------+ | disable_internal_warnings | OT_BOOL | Disable SUNDIALS internal | | | | warning messages | +-----------------------------+-----------+--------------------------------+ | fsens_all_at_once | OT_BOOL | Calculate all right hand sides | | | | of the sensitivity equations | | | | at once | +-----------------------------+-----------+--------------------------------+ | fsens_err_con | OT_BOOL | include the forward | | | | sensitivities in all error | | | | controls | +-----------------------------+-----------+--------------------------------+ | interpolation_type | OT_STRING | Type of interpolation for the | | | | adjoint sensitivities | +-----------------------------+-----------+--------------------------------+ | linear_multistep_method | OT_STRING | Integrator scheme: BDF|adams | +-----------------------------+-----------+--------------------------------+ | linear_solver | OT_STRING | A custom linear solver creator | | | | function [default: qr] | +-----------------------------+-----------+--------------------------------+ | linear_solver_options | OT_DICT | Options to be passed to the | | | | linear solver | +-----------------------------+-----------+--------------------------------+ | max_krylov | OT_INT | Maximum Krylov subspace size | +-----------------------------+-----------+--------------------------------+ | max_multistep_order | OT_INT | Maximum order for the | | | | (variable-order) multistep | | | | method | +-----------------------------+-----------+--------------------------------+ | max_num_steps | OT_INT | Maximum number of integrator | | | | steps | +-----------------------------+-----------+--------------------------------+ | max_order | OT_DOUBLE | Maximum order | +-----------------------------+-----------+--------------------------------+ | max_step_size | OT_DOUBLE | Max step size [default: 0/inf] | +-----------------------------+-----------+--------------------------------+ | min_step_size | OT_DOUBLE | Min step size [default: 0/0.0] | +-----------------------------+-----------+--------------------------------+ | newton_scheme | OT_STRING | Linear solver scheme in the | | | | Newton method: | | | | DIRECT|gmres|bcgstab|tfqmr | +-----------------------------+-----------+--------------------------------+ | nonlin_conv_coeff | OT_DOUBLE | Coefficient in the nonlinear | | | | convergence test | +-----------------------------+-----------+--------------------------------+ | nonlinear_solver_iteration | OT_STRING | Nonlinear solver type: | | | | NEWTON|functional | +-----------------------------+-----------+--------------------------------+ | quad_err_con | OT_BOOL | Should the quadratures affect | | | | the step size control | +-----------------------------+-----------+--------------------------------+ | reltol | OT_DOUBLE | Relative tolerence for the IVP | | | | solution | +-----------------------------+-----------+--------------------------------+ | scale_abstol | OT_BOOL | Scale absolute tolerance by | | | | nominal value | +-----------------------------+-----------+--------------------------------+ | second_order_correction | OT_BOOL | Second order correction in the | | | | augmented system Jacobian | | | | [true] | +-----------------------------+-----------+--------------------------------+ | sensitivity_method | OT_STRING | Sensitivity method: | | | | SIMULTANEOUS|staggered | +-----------------------------+-----------+--------------------------------+ | step0 | OT_DOUBLE | initial step size [default: | | | | 0/estimated] | +-----------------------------+-----------+--------------------------------+ | steps_per_checkpoint | OT_INT | Number of steps between two | | | | consecutive checkpoints | +-----------------------------+-----------+--------------------------------+ | stop_at_end | OT_BOOL | [DEPRECATED] Stop the | | | | integrator at the end of the | | | | interval | +-----------------------------+-----------+--------------------------------+ | use_preconditioner | OT_BOOL | Precondition the iterative | | | | solver [default: true] | +-----------------------------+-----------+--------------------------------+ -------------------------------------------------------------------------------- idas ---- Interface to IDAS from the Sundials suite. Extra doc: https://github.com/casadi/casadi/wiki/L_225 >List of available options +---------------------------+-----------------+----------------------------+ | Id | Type | Description | +===========================+=================+============================+ | abstol | OT_DOUBLE | Absolute tolerence for the | | | | IVP solution | +---------------------------+-----------------+----------------------------+ | abstolv | OT_DOUBLEVECTOR | Absolute tolerarance for | | | | each component | +---------------------------+-----------------+----------------------------+ | calc_ic | OT_BOOL | Use IDACalcIC to get | | | | consistent initial | | | | conditions. | +---------------------------+-----------------+----------------------------+ | calc_icB | OT_BOOL | Use IDACalcIC to get | | | | consistent initial | | | | conditions for backwards | | | | system [default: equal to | | | | calc_ic]. | +---------------------------+-----------------+----------------------------+ | cj_scaling | OT_BOOL | IDAS scaling on cj for the | | | | user-defined linear solver | | | | module | +---------------------------+-----------------+----------------------------+ | constraints | OT_INTVECTOR | Constrain the solution | | | | y=[x,z]. 0 (default): no | | | | constraint on yi, 1: yi >= | | | | 0.0, -1: yi <= 0.0, 2: yi | | | | > 0.0, -2: yi < 0.0. | +---------------------------+-----------------+----------------------------+ | disable_internal_warnings | OT_BOOL | Disable SUNDIALS internal | | | | warning messages | +---------------------------+-----------------+----------------------------+ | first_time | OT_DOUBLE | First requested time as a | | | | fraction of the time | | | | interval | +---------------------------+-----------------+----------------------------+ | fsens_err_con | OT_BOOL | include the forward | | | | sensitivities in all error | | | | controls | +---------------------------+-----------------+----------------------------+ | init_xdot | OT_DOUBLEVECTOR | Initial values for the | | | | state derivatives | +---------------------------+-----------------+----------------------------+ | interpolation_type | OT_STRING | Type of interpolation for | | | | the adjoint sensitivities | +---------------------------+-----------------+----------------------------+ | linear_solver | OT_STRING | A custom linear solver | | | | creator function [default: | | | | qr] | +---------------------------+-----------------+----------------------------+ | linear_solver_options | OT_DICT | Options to be passed to | | | | the linear solver | +---------------------------+-----------------+----------------------------+ | max_krylov | OT_INT | Maximum Krylov subspace | | | | size | +---------------------------+-----------------+----------------------------+ | max_multistep_order | OT_INT | Maximum order for the | | | | (variable-order) multistep | | | | method | +---------------------------+-----------------+----------------------------+ | max_num_steps | OT_INT | Maximum number of | | | | integrator steps | +---------------------------+-----------------+----------------------------+ | max_order | OT_DOUBLE | Maximum order | +---------------------------+-----------------+----------------------------+ | max_step_size | OT_DOUBLE | Maximim step size | +---------------------------+-----------------+----------------------------+ | newton_scheme | OT_STRING | Linear solver scheme in | | | | the Newton method: | | | | DIRECT|gmres|bcgstab|tfqmr | +---------------------------+-----------------+----------------------------+ | nonlin_conv_coeff | OT_DOUBLE | Coefficient in the | | | | nonlinear convergence test | +---------------------------+-----------------+----------------------------+ | quad_err_con | OT_BOOL | Should the quadratures | | | | affect the step size | | | | control | +---------------------------+-----------------+----------------------------+ | reltol | OT_DOUBLE | Relative tolerence for the | | | | IVP solution | +---------------------------+-----------------+----------------------------+ | scale_abstol | OT_BOOL | Scale absolute tolerance | | | | by nominal value | +---------------------------+-----------------+----------------------------+ | second_order_correction | OT_BOOL | Second order correction in | | | | the augmented system | | | | Jacobian [true] | +---------------------------+-----------------+----------------------------+ | sensitivity_method | OT_STRING | Sensitivity method: | | | | SIMULTANEOUS|staggered | +---------------------------+-----------------+----------------------------+ | step0 | OT_DOUBLE | initial step size | | | | [default: 0/estimated] | +---------------------------+-----------------+----------------------------+ | steps_per_checkpoint | OT_INT | Number of steps between | | | | two consecutive | | | | checkpoints | +---------------------------+-----------------+----------------------------+ | stop_at_end | OT_BOOL | [DEPRECATED] Stop the | | | | integrator at the end of | | | | the interval | +---------------------------+-----------------+----------------------------+ | suppress_algebraic | OT_BOOL | Suppress algebraic | | | | variables in the error | | | | testing | +---------------------------+-----------------+----------------------------+ | use_preconditioner | OT_BOOL | Precondition the iterative | | | | solver [default: true] | +---------------------------+-----------------+----------------------------+ -------------------------------------------------------------------------------- collocation ----------- Fixed-step implicit Runge-Kutta integrator ODE/DAE integrator based on collocation schemes The method is still under development Extra doc: https://github.com/casadi/casadi/wiki/L_234 >List of available options +---------------------------+-----------+----------------------------------+ | Id | Type | Description | +===========================+===========+==================================+ | collocation_scheme | OT_STRING | Collocation scheme: | | | | radau|legendre | +---------------------------+-----------+----------------------------------+ | interpolation_order | OT_INT | Order of the interpolating | | | | polynomials | +---------------------------+-----------+----------------------------------+ | number_of_finite_elements | OT_INT | Target number of finite | | | | elements. The actual number may | | | | be higher to accommodate all | | | | output times | +---------------------------+-----------+----------------------------------+ | rootfinder | OT_STRING | An implicit function solver | +---------------------------+-----------+----------------------------------+ | rootfinder_options | OT_DICT | Options to be passed to the NLP | | | | Solver | +---------------------------+-----------+----------------------------------+ | simplify | OT_BOOL | Implement as MX Function | | | | (codegeneratable/serializable) | | | | default: false | +---------------------------+-----------+----------------------------------+ | simplify_options | OT_DICT | Any options to pass to | | | | simplified form Function | | | | constructor | +---------------------------+-----------+----------------------------------+ -------------------------------------------------------------------------------- rk -- Fixed-step explicit Runge-Kutta integrator for ODEs Currently implements RK4. The method is still under development Extra doc: https://github.com/casadi/casadi/wiki/L_23a Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_21k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L134 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L134-L137 ............. ....... :: integrator(str name, str solver, dict:MX dae, dict opts) integrator(str name, str solver, Function dae, dict opts) integrator(str name, str solver, dict:SX dae, float t0, [float] tout, dict opts) integrator(str name, str solver, dict:SX dae, float t0, float tf, dict opts) integrator(str name, str solver, dict:MX dae, float t0, [float] tout, dict opts) integrator(str name, str solver, dict:MX dae, float t0, float tf, dict opts) integrator(str name, str solver, Function dae, float t0, [float] tout, dict opts) integrator(str name, str solver, Function dae, float t0, float tf, dict opts) [INTERNAL] ............. """ return _casadi.integrator(*args) def has_integrator(*args) -> "bool": """ [INTERNAL] :: has_integrator(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L122 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L122-L124 """ return _casadi.has_integrator(*args) def load_integrator(*args) -> "void": """ [INTERNAL] :: load_integrator(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L126 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L126-L128 """ return _casadi.load_integrator(*args) def doc_integrator(*args) -> "std::string": """ [INTERNAL] :: doc_integrator(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L130 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L130-L132 """ return _casadi.doc_integrator(*args) def integrator_in(*args) -> "std::string": """ [INTERNAL] :: integrator_in() -> [str] integrator_in(int ind) -> str Get integrator input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_7d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L196 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L196-L208 ....... :: integrator_in() [INTERNAL] Get input scheme of integrators. Extra doc: https://github.com/casadi/casadi/wiki/L_7b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L184 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L184-L188 ............. ....... :: integrator_in(int ind) [INTERNAL] Get integrator input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_7d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L196 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L196-L208 ............. """ return _casadi.integrator_in(*args) def integrator_out(*args) -> "std::string": """ [INTERNAL] :: integrator_out() -> [str] integrator_out(int ind) -> str Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_7e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L210 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L210-L222 ....... :: integrator_out(int ind) [INTERNAL] Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_7e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L210 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L210-L222 ............. ....... :: integrator_out() [INTERNAL] Get integrator output scheme of integrators. Extra doc: https://github.com/casadi/casadi/wiki/L_7c Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L190 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L190-L194 ............. """ return _casadi.integrator_out(*args) def integrator_n_in(*args) -> "casadi_int": """ [INTERNAL] :: integrator_n_in() -> int Get the number of integrator inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_7f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L224 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L224-L226 """ return _casadi.integrator_n_in(*args) def integrator_n_out(*args) -> "casadi_int": """ [INTERNAL] :: integrator_n_out() -> int Get the number of integrator outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_7g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L228 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L228-L230 """ return _casadi.integrator_n_out(*args) def dyn_in(*args) -> "std::string": """ [INTERNAL] :: dyn_in() -> [str] dyn_in(int ind) -> str Get input scheme of a DAE function by index. Extra doc: https://github.com/casadi/casadi/wiki/L_25r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L240-L242 ....... :: dyn_in(int ind) [INTERNAL] Get input scheme of a DAE function by index. Extra doc: https://github.com/casadi/casadi/wiki/L_25r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L240-L242 ............. ....... :: dyn_in() [INTERNAL] Get input scheme of a DAE function. Extra doc: https://github.com/casadi/casadi/wiki/L_25p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L232 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L232-L234 ............. """ return _casadi.dyn_in(*args) def dyn_out(*args) -> "std::string": """ [INTERNAL] :: dyn_out() -> [str] dyn_out(int ind) -> str Get output scheme of a DAE function by index. Extra doc: https://github.com/casadi/casadi/wiki/L_25s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L244 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L244-L246 ....... :: dyn_out() [INTERNAL] Get output scheme of a DAE function. Extra doc: https://github.com/casadi/casadi/wiki/L_25q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L236 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L236-L238 ............. ....... :: dyn_out(int ind) [INTERNAL] Get output scheme of a DAE function by index. Extra doc: https://github.com/casadi/casadi/wiki/L_25s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L244 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L244-L246 ............. """ return _casadi.dyn_out(*args) def dyn_n_in(*args) -> "casadi_int": """ [INTERNAL] :: dyn_n_in() -> int Get the number of inputs for a DAE function. Extra doc: https://github.com/casadi/casadi/wiki/L_25t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L248 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L248-L250 """ return _casadi.dyn_n_in(*args) def dyn_n_out(*args) -> "casadi_int": """ [INTERNAL] :: dyn_n_out() -> int Get the number of outputs for a DAE function. Extra doc: https://github.com/casadi/casadi/wiki/L_25u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L252 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L252-L254 """ return _casadi.dyn_n_out(*args) def event_in(*args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: event_in() -> [str] Get input scheme of an event transition function. Extra doc: https://github.com/casadi/casadi/wiki/L_2b4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L256 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L256-L258 """ return _casadi.event_in(*args) def event_out(*args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: event_out() -> [str] Get output scheme of an event transition functions. Extra doc: https://github.com/casadi/casadi/wiki/L_2b5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.hpp#L260 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integrator.cpp#L260-L262 """ return _casadi.event_out(*args) def conic(*args) -> "casadi::Function": """ [INTERNAL] :: conic(str name, str solver, dict:Sparsity qp, dict opts) -> Function 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 | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | discrete | OT_BOOLVECTOR | Indicates which | casadi::Conic | | | | of the variables | | | | | are discrete, | | | | | i.e. integer- | | | | | valued | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | equality | OT_BOOLVECTOR | Indicate an | casadi::Conic | | | | 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. | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_problem | OT_BOOL | Print a numeric | casadi::Conic | | | | description of | | | | | the problem | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ >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 - clarabel - 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. | +-------------+-----------------------+------------------------------------+ -------------------------------------------------------------------------------- clarabel -------- Interface to the Clarabel solver for sparse Quadratic Programs. See the Clarabel documentation (e.g. clarabel.dev) for more details. Extra doc: https://github.com/casadi/casadi/wiki/L_2bu >List of available options +----------+---------+-----------------------------------+ | Id | Type | Description | +==========+=========+===================================+ | clarabel | OT_DICT | Options to be passed to Clarabel. | +----------+---------+-----------------------------------+ -------------------------------------------------------------------------------- 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 l | | | | ibcplex.[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_29l >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|bin | | | | ary|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_29k >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 [UNKNO | | | | WN|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] | +-----------------+-----------+--------------------------------------------+ Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_21n Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L44 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L44-L47 """ return _casadi.conic(*args) def qpsol(*args) -> "casadi::Function": """ [INTERNAL] :: qpsol(str name, str solver, dict:SX qp, dict opts) -> Function qpsol(str name, str solver, dict:MX qp, dict opts) -> Function """ return _casadi.qpsol(*args) def conic_in(*args) -> "std::string": """ [INTERNAL] :: conic_in() -> [str] conic_in(int ind) -> str Get QP solver input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1eg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L73 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L73-L90 ....... :: conic_in() [INTERNAL] Get input scheme of QP solvers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ee Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L61 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L61-L65 ............. ....... :: conic_in(int ind) [INTERNAL] Get QP solver input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1eg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L73 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L73-L90 ............. """ return _casadi.conic_in(*args) def conic_out(*args) -> "std::string": """ [INTERNAL] :: conic_out() -> [str] conic_out(int ind) -> str Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1eh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L92 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L92-L101 ....... :: conic_out(int ind) [INTERNAL] Get output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1eh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L92 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L92-L101 ............. ....... :: conic_out() [INTERNAL] Get QP solver output scheme of QP solvers. Extra doc: https://github.com/casadi/casadi/wiki/L_1ef Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L67 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L67-L71 ............. """ return _casadi.conic_out(*args) def conic_n_in(*args) -> "casadi_int": """ [INTERNAL] :: conic_n_in() -> int Get the number of QP solver inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1ei Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L103 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L103-L105 """ return _casadi.conic_n_in(*args) def conic_n_out(*args) -> "casadi_int": """ [INTERNAL] :: conic_n_out() -> int Get the number of QP solver outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1ej Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L107 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L107-L109 """ return _casadi.conic_n_out(*args) def conic_options(*args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: conic_options(str name) -> [str] Get all options for a plugin. Extra doc: https://github.com/casadi/casadi/wiki/L_1ek Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L564-L566 """ return _casadi.conic_options(*args) def conic_option_type(*args) -> "std::string": """ [INTERNAL] :: conic_option_type(str name, str op) -> str Get type info for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1el Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L568 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L568-L570 """ return _casadi.conic_option_type(*args) def conic_option_info(*args) -> "std::string": """ [INTERNAL] :: conic_option_info(str name, str op) -> str Get documentation for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1em Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L572 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L572-L574 """ return _casadi.conic_option_info(*args) def has_conic(*args) -> "bool": """ [INTERNAL] :: has_conic(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L32 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L32-L34 """ return _casadi.has_conic(*args) def load_conic(*args) -> "void": """ [INTERNAL] :: load_conic(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L36 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L36-L38 """ return _casadi.load_conic(*args) def doc_conic(*args) -> "std::string": """ [INTERNAL] :: doc_conic(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L40 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L40-L42 """ return _casadi.doc_conic(*args) def conic_debug(*args) -> "void": """ [INTERNAL] :: conic_debug(Function f, std::ostream & file) conic_debug(Function f, str filename) Generate native code in the interfaced language for debugging Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L55 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L55-L59 ....... :: conic_debug(Function f, std::ostream & file) [INTERNAL] Generate native code in the interfaced language for debugging Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L55 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L55-L59 ............. ....... :: conic_debug(Function f, str filename) [INTERNAL] Generate native code in the interfaced language for debugging Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/conic.hpp#L49 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/conic.cpp#L49-L53 ............. """ return _casadi.conic_debug(*args) def nlpsol(*args) -> "casadi::Function": """ [INTERNAL] :: nlpsol(str name, str solver, Importer compiler, dict opts) -> Function nlpsol(str name, str solver, NlpBuilder nl, dict opts) -> Function nlpsol(str name, str solver, dict:SX nlp, dict opts) -> Function nlpsol(str name, str solver, dict:MX nlp, dict opts) -> Function nlpsol(str name, str solver, str fname, dict opts) -> Function nlpsol(str name, str solver, Function nlp, dict opts) -> Function ....... :: nlpsol(str name, str solver, dict:SX nlp, dict opts) [INTERNAL] Create an NLP solver Creates a solver for the following parametric nonlinear program (NLP): :: min F(x, p) x subject to LBX <= x <= UBX LBG <= G(x, p) <= UBG p == P nx: number of decision variables ng: number of constraints np: number of parameters General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | bound_consistenc | OT_BOOL | Ensure that | casadi::Nlpsol | | y | | primal-dual | | | | | solution is | | | | | consistent with | | | | | the bounds | | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | calc_f | OT_BOOL | Calculate 'f' in | casadi::Nlpsol | | | | the Nlpsol base | | | | | class | | +------------------+-----------------+------------------+------------------+ | calc_g | OT_BOOL | Calculate 'g' in | casadi::Nlpsol | | | | the Nlpsol base | | | | | class | | +------------------+-----------------+------------------+------------------+ | calc_lam_p | OT_BOOL | Calculate | casadi::Nlpsol | | | | 'lam_p' in the | | | | | Nlpsol base | | | | | class | | +------------------+-----------------+------------------+------------------+ | calc_lam_x | OT_BOOL | Calculate | casadi::Nlpsol | | | | 'lam_x' in the | | | | | Nlpsol base | | | | | class | | +------------------+-----------------+------------------+------------------+ | calc_multipliers | OT_BOOL | Calculate | casadi::Nlpsol | | | | Lagrange | | | | | multipliers in | | | | | the Nlpsol base | | | | | class | | +------------------+-----------------+------------------+------------------+ | common_options | OT_DICT | Options for | casadi::OracleFu | | | | auto-generated | nction | | | | functions | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | detect_simple_bo | OT_BOOL | Automatically | casadi::Nlpsol | | unds | | detect simple | | | | | bounds (lbx/ubx) | | | | | (default false). | | | | | This is | | | | | hopefully | | | | | beneficial to | | | | | speed and | | | | | robustness but | | | | | may also have | | | | | adverse affects: | | | | | 1) Subtleties in | | | | | heuristics and | | | | | stopping | | | | | criteria may | | | | | change the | | | | | solution, 2) | | | | | IPOPT may lie | | | | | about | | | | | multipliers of | | | | | simple equality | | | | | bounds unless 'f | | | | | ixed_variable_tr | | | | | eatment' is set | | | | | to | | | | | 'relax_bounds'. | | +------------------+-----------------+------------------+------------------+ | detect_simple_bo | OT_BOOLVECTOR | For internal use | casadi::Nlpsol | | unds_is_simple | | only. | | +------------------+-----------------+------------------+------------------+ | detect_simple_bo | OT_FUNCTION | For internal use | casadi::Nlpsol | | unds_parts | | only. | | +------------------+-----------------+------------------+------------------+ | detect_simple_bo | OT_INTVECTOR | For internal use | casadi::Nlpsol | | unds_target_x | | only. | | +------------------+-----------------+------------------+------------------+ | discrete | OT_BOOLVECTOR | Indicates which | casadi::Nlpsol | | | | of the variables | | | | | are discrete, | | | | | i.e. integer- | | | | | valued | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | equality | OT_BOOLVECTOR | Indicate an | casadi::Nlpsol | | | | 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. | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | eval_errors_fata | OT_BOOL | When errors | casadi::Nlpsol | | l | | occur during | | | | | evaluation of | | | | | f,g,...,stop the | | | | | iterations | | +------------------+-----------------+------------------+------------------+ | expand | OT_BOOL | Replace MX with | casadi::OracleFu | | | | SX expressions | nction | | | | in problem | | | | | formulation | | | | | [false] This | | | | | happens before | | | | | creating | | | | | derivatives | | | | | unless indicated | | | | | by | | | | | postpone_expand | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | ignore_check_vec | OT_BOOL | If set to true, | casadi::Nlpsol | | | | the input shape | | | | | of F will not be | | | | | checked. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | iteration_callba | OT_FUNCTION | A function that | casadi::Nlpsol | | ck | | will be called | | | | | at each | | | | | iteration with | | | | | the solver as | | | | | input. Check | | | | | documentation of | | | | | Callback . | | +------------------+-----------------+------------------+------------------+ | iteration_callba | OT_BOOL | If set to true, | casadi::Nlpsol | | ck_ignore_errors | | errors thrown by | | | | | iteration_callba | | | | | ck will be | | | | | ignored. | | +------------------+-----------------+------------------+------------------+ | iteration_callba | OT_INT | Only call the | casadi::Nlpsol | | ck_step | | callback | | | | | function every | | | | | few iterations. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | min_lam | OT_DOUBLE | Minimum allowed | casadi::Nlpsol | | | | multiplier value | | +------------------+-----------------+------------------+------------------+ | monitor | OT_STRINGVECTOR | Set of user | casadi::OracleFu | | | | problem | nction | | | | functions to be | | | | | monitored | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | no_nlp_grad | OT_BOOL | Prevent the | casadi::Nlpsol | | | | creation of the | | | | | 'nlp_grad' | | | | | function | | +------------------+-----------------+------------------+------------------+ | oracle_options | OT_DICT | Options to be | casadi::Nlpsol | | | | passed to the | | | | | oracle function | | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | postpone_expand | OT_BOOL | When expand is | casadi::OracleFu | | | | active, postpone | nction | | | | it until after | | | | | creation of | | | | | derivatives. | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | sens_linsol | OT_STRING | Linear solver | casadi::Nlpsol | | | | used for | | | | | parametric | | | | | sensitivities | | | | | (default 'qr'). | | +------------------+-----------------+------------------+------------------+ | sens_linsol_opti | OT_DICT | Linear solver | casadi::Nlpsol | | ons | | options used for | | | | | parametric | | | | | sensitivities. | | +------------------+-----------------+------------------+------------------+ | show_eval_warnin | OT_BOOL | Show warnings | casadi::OracleFu | | gs | | generated from | nction | | | | function | | | | | evaluations | | | | | [true] | | +------------------+-----------------+------------------+------------------+ | specific_options | OT_DICT | Options for | casadi::OracleFu | | | | specific auto- | nction | | | | generated | | | | | functions, | | | | | overwriting the | | | | | defaults from | | | | | common_options. | | | | | Nested | | | | | dictionary. | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ | verbose_init | OT_BOOL | Print out timing | casadi::Nlpsol | | | | information | | | | | about the | | | | | different stages | | | | | of | | | | | initialization | | +------------------+-----------------+------------------+------------------+ | warn_initial_bou | OT_BOOL | Warn if the | casadi::Nlpsol | | nds | | initial guess | | | | | does not satisfy | | | | | LBX and UBX | | +------------------+-----------------+------------------+------------------+ >Input scheme: casadi::NlpsolInput (NLPSOL_NUM_IN = 8) +---------------+--------+-------------------------------------------------+ | Full name | Short | Description | +===============+========+=================================================+ | NLPSOL_X0 | x0 | Decision variables, initial guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_P | p | Value of fixed parameters (np x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBX | lbx | Decision variables lower bound (nx x 1), | | | | default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBX | ubx | Decision variables upper bound (nx x 1), | | | | default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBG | lbg | Constraints lower bound (ng x 1), default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBG | ubg | Constraints upper bound (ng x 1), default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_X0 | lam_x0 | Lagrange multipliers for bounds on X, initial | | | | guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_G0 | lam_g0 | Lagrange multipliers for bounds on G, initial | | | | guess (ng x 1) | +---------------+--------+-------------------------------------------------+ >Output scheme: casadi::NlpsolOutput (NLPSOL_NUM_OUT = 6) +--------------+-------+---------------------------------------------------+ | Full name | Short | Description | +==============+=======+===================================================+ | NLPSOL_X | x | Decision variables at the optimal solution (nx x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_F | f | Cost function value at the optimal solution (1 x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_G | g | Constraints function at the optimal solution (ng | | | | x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_X | lam_x | Lagrange multipliers for bounds on X at the | | | | solution (nx x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_G | lam_g | Lagrange multipliers for bounds on G at the | | | | solution (ng x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_P | lam_p | Lagrange multipliers for bounds on P at the | | | | solution (np x 1) | +--------------+-------+---------------------------------------------------+ List of plugins - ampl - blocksqp - bonmin - fatrop - ipopt - knitro - madnlp - snopt - worhp - feasiblesqpmethod - qrsqp - scpgen - sqpmethod 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 Nlpsol.doc("myextraplugin") -------------------------------------------------------------------------------- ampl ---- Interface to AMPL Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_22b >List of available options +--------+-----------+--------------------+ | Id | Type | Description | +========+===========+====================+ | solver | OT_STRING | AMPL solver binary | +--------+-----------+--------------------+ -------------------------------------------------------------------------------- blocksqp -------- This is a modified version of blockSQP by Janka et al. Dennis Janka, Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_224 >List of available options +----------------------------+-----------+---------------------------------+ | Id | Type | Description | +============================+===========+=================================+ | block_hess | OT_INT | Blockwise Hessian | | | | approximation? | +----------------------------+-----------+---------------------------------+ | col_eps | OT_DOUBLE | Epsilon for COL scaling | | | | strategy | +----------------------------+-----------+---------------------------------+ | col_tau1 | OT_DOUBLE | tau1 for COL scaling strategy | +----------------------------+-----------+---------------------------------+ | col_tau2 | OT_DOUBLE | tau2 for COL scaling strategy | +----------------------------+-----------+---------------------------------+ | conv_strategy | OT_INT | Convexification strategy | +----------------------------+-----------+---------------------------------+ | delta | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | delta_h0 | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | eps | OT_DOUBLE | Values smaller than this are | | | | regarded as numerically zero | +----------------------------+-----------+---------------------------------+ | eta | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | fallback_scaling | OT_INT | If indefinite update is used, | | | | the type of fallback strategy | +----------------------------+-----------+---------------------------------+ | fallback_update | OT_INT | If indefinite update is used, | | | | the type of fallback strategy | +----------------------------+-----------+---------------------------------+ | gamma_f | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | gamma_theta | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | globalization | OT_BOOL | Enable globalization | +----------------------------+-----------+---------------------------------+ | hess_damp | OT_INT | Activate Powell damping for | | | | BFGS | +----------------------------+-----------+---------------------------------+ | hess_damp_fac | OT_DOUBLE | Damping factor for BFGS Powell | | | | modification | +----------------------------+-----------+---------------------------------+ | hess_lim_mem | OT_INT | Full or limited memory | +----------------------------+-----------+---------------------------------+ | hess_memsize | OT_INT | Memory size for L-BFGS updates | +----------------------------+-----------+---------------------------------+ | hess_scaling | OT_INT | Scaling strategy for Hessian | | | | approximation | +----------------------------+-----------+---------------------------------+ | hess_update | OT_INT | Type of Hessian approximation | +----------------------------+-----------+---------------------------------+ | ini_hess_diag | OT_DOUBLE | Initial Hessian guess: diagonal | | | | matrix diag(iniHessDiag) | +----------------------------+-----------+---------------------------------+ | kappa_f | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | kappa_minus | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | kappa_plus | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | kappa_plus_max | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | kappa_soc | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | linsol | OT_STRING | The linear solver to be used by | | | | the QP method | +----------------------------+-----------+---------------------------------+ | max_consec_reduced_steps | OT_INT | Maximum number of consecutive | | | | reduced steps | +----------------------------+-----------+---------------------------------+ | max_consec_skipped_updates | OT_INT | Maximum number of consecutive | | | | skipped updates | +----------------------------+-----------+---------------------------------+ | max_conv_qp | OT_INT | How many additional QPs may be | | | | solved for convexification per | | | | iteration? | +----------------------------+-----------+---------------------------------+ | max_it_qp | OT_INT | Maximum number of QP iterations | | | | per SQP iteration | +----------------------------+-----------+---------------------------------+ | max_iter | OT_INT | Maximum number of SQP | | | | iterations | +----------------------------+-----------+---------------------------------+ | max_line_search | OT_INT | Maximum number of steps in line | | | | search | +----------------------------+-----------+---------------------------------+ | max_soc_iter | OT_INT | Maximum number of SOC line | | | | search iterations | +----------------------------+-----------+---------------------------------+ | max_time_qp | OT_DOUBLE | Maximum number of time in | | | | seconds per QP solve per SQP | | | | iteration | +----------------------------+-----------+---------------------------------+ | nlinfeastol | OT_DOUBLE | Nonlinear feasibility tolerance | +----------------------------+-----------+---------------------------------+ | obj_lo | OT_DOUBLE | Lower bound on objective | | | | function [-inf] | +----------------------------+-----------+---------------------------------+ | obj_up | OT_DOUBLE | Upper bound on objective | | | | function [inf] | +----------------------------+-----------+---------------------------------+ | opttol | OT_DOUBLE | Optimality tolerance | +----------------------------+-----------+---------------------------------+ | print_header | OT_BOOL | Print solver header at startup | +----------------------------+-----------+---------------------------------+ | print_iteration | OT_BOOL | Print SQP iterations | +----------------------------+-----------+---------------------------------+ | print_maxit_reached | OT_BOOL | Print error when maximum number | | | | of SQP iterations reached | +----------------------------+-----------+---------------------------------+ | qp_init | OT_BOOL | Use warmstarting | +----------------------------+-----------+---------------------------------+ | qpsol | OT_STRING | The QP solver to be used by the | | | | SQP method | +----------------------------+-----------+---------------------------------+ | qpsol_options | OT_DICT | Options to be passed to the QP | | | | solver | +----------------------------+-----------+---------------------------------+ | restore_feas | OT_BOOL | Use feasibility restoration | | | | phase | +----------------------------+-----------+---------------------------------+ | rho | OT_DOUBLE | Feasibility restoration phase | | | | parameter | +----------------------------+-----------+---------------------------------+ | s_f | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | s_theta | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | schur | OT_BOOL | Use qpOASES Schur compliment | | | | approach | +----------------------------+-----------+---------------------------------+ | skip_first_globalization | OT_BOOL | No globalization strategy in | | | | first iteration | +----------------------------+-----------+---------------------------------+ | theta_max | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | theta_min | OT_DOUBLE | Filter line search parameter, | | | | cf. IPOPT paper | +----------------------------+-----------+---------------------------------+ | warmstart | OT_BOOL | Use warmstarting | +----------------------------+-----------+---------------------------------+ | which_second_derv | OT_INT | For which block should second | | | | derivatives be provided by the | | | | user | +----------------------------+-----------+---------------------------------+ | zeta | OT_DOUBLE | Feasibility restoration phase | | | | parameter | +----------------------------+-----------+---------------------------------+ -------------------------------------------------------------------------------- bonmin ------ When in warmstart mode, output NLPSOL_LAM_X may be used as input NOTE: Even when max_iter == 0, it is not guaranteed that input(NLPSOL_X0) == output(NLPSOL_X). Indeed if bounds on X or constraints are unmet, they will differ. For a good tutorial on BONMIN, see https://drops.dagstuhl.de/storage/16dagstuhl-seminar-proceedings/dsp- vol09061/DagSemProc.09061.16/DagSemProc.09061.16.pdf A good resource about the algorithms in BONMIN is: Wachter and L. T. Biegler, On the Implementation of an Interior-Point Filter Line-Search Algorithm for Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp. 25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center, Yorktown, USA Caveats: with default options, multipliers for the decision variables are wrong for equality constraints. Change the 'fixed_variable_treatment' to 'make_constraint' or 'relax_bounds' to obtain correct results. Extra doc: https://github.com/casadi/casadi/wiki/L_223 >List of available options +-------------------------+-----------------------+------------------------+ | Id | Type | Description | +=========================+=======================+========================+ | bonmin | OT_DICT | Options to be passed | | | | to BONMIN | +-------------------------+-----------------------+------------------------+ | con_integer_md | OT_DICT | Integer metadata (a | | | | dictionary with lists | | | | of integers) about | | | | constraints to be | | | | passed to BONMIN | +-------------------------+-----------------------+------------------------+ | con_numeric_md | OT_DICT | Numeric metadata (a | | | | dictionary with lists | | | | of reals) about | | | | constraints to be | | | | passed to BONMIN | +-------------------------+-----------------------+------------------------+ | con_string_md | OT_DICT | String metadata (a | | | | dictionary with lists | | | | of strings) about | | | | constraints to be | | | | passed to BONMIN | +-------------------------+-----------------------+------------------------+ | grad_f | OT_FUNCTION | Function for | | | | calculating the | | | | gradient of the | | | | objective (column, | | | | autogenerated by | | | | default) | +-------------------------+-----------------------+------------------------+ | grad_f_options | OT_DICT | Options for the | | | | autogenerated gradient | | | | of the objective. | +-------------------------+-----------------------+------------------------+ | hess_lag | OT_FUNCTION | Function for | | | | calculating the | | | | Hessian of the | | | | Lagrangian | | | | (autogenerated by | | | | default) | +-------------------------+-----------------------+------------------------+ | hess_lag_options | OT_DICT | Options for the | | | | autogenerated Hessian | | | | of the Lagrangian. | +-------------------------+-----------------------+------------------------+ | jac_g | OT_FUNCTION | Function for | | | | calculating the | | | | Jacobian of the | | | | constraints | | | | (autogenerated by | | | | default) | +-------------------------+-----------------------+------------------------+ | jac_g_options | OT_DICT | Options for the | | | | autogenerated Jacobian | | | | of the constraints. | +-------------------------+-----------------------+------------------------+ | pass_nonlinear_constrai | OT_BOOL | Pass list of | | nts | | constraints entering | | | | nonlinearly to BONMIN | +-------------------------+-----------------------+------------------------+ | pass_nonlinear_variable | OT_BOOL | Pass list of variables | | s | | entering nonlinearly | | | | to BONMIN | +-------------------------+-----------------------+------------------------+ | sos1_groups | OT_INTVECTORVECTOR | Options for the | | | | autogenerated gradient | | | | of the objective. | +-------------------------+-----------------------+------------------------+ | sos1_priorities | OT_INTVECTOR | Options for the | | | | autogenerated gradient | | | | of the objective. | +-------------------------+-----------------------+------------------------+ | sos1_weights | OT_DOUBLEVECTORVECTOR | Options for the | | | | autogenerated gradient | | | | of the objective. | +-------------------------+-----------------------+------------------------+ | var_integer_md | OT_DICT | Integer metadata (a | | | | dictionary with lists | | | | of integers) about | | | | variables to be passed | | | | to BONMIN | +-------------------------+-----------------------+------------------------+ | var_numeric_md | OT_DICT | Numeric metadata (a | | | | dictionary with lists | | | | of reals) about | | | | variables to be passed | | | | to BONMIN | +-------------------------+-----------------------+------------------------+ | var_string_md | OT_DICT | String metadata (a | | | | dictionary with lists | | | | of strings) about | | | | variables to be passed | | | | to BONMIN | +-------------------------+-----------------------+------------------------+ -------------------------------------------------------------------------------- fatrop ------ >List of available options +---------------------+--------------+-------------------------------------+ | Id | Type | Description | +=====================+==============+=====================================+ | N | OT_INT | OCP horizon | +---------------------+--------------+-------------------------------------+ | convexify_margin | OT_DOUBLE | When using a convexification | | | | strategy, make sure that the | | | | smallest eigenvalue is at least | | | | this (default: 1e-7). | +---------------------+--------------+-------------------------------------+ | convexify_strategy | OT_STRING | NONE|regularize|eigen- | | | | reflect|eigen-clip. Strategy to | | | | convexify the Lagrange Hessian | | | | before passing it to the solver. | +---------------------+--------------+-------------------------------------+ | debug | OT_BOOL | Produce debug information (default: | | | | false) | +---------------------+--------------+-------------------------------------+ | 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+1 | +---------------------+--------------+-------------------------------------+ | nx | OT_INTVECTOR | Number of states, length N+1 | +---------------------+--------------+-------------------------------------+ | structure_detection | OT_STRING | NONE | auto | manual | +---------------------+--------------+-------------------------------------+ Fatrop is a solver developed at KU Leuven by Lander Vanroye and Wilm Decre. The algorithm is based on IPOPT, but the linear algebra is much more efficient. With structure_detection = 'none' (default), it will behave as a general- purpose dense nonlinear program solver. With structure_detection = 'manual', you can specify a block structure. Let's say you perform multiply shooting with a system x_k+1 = A_k x_k + B_k u_k Suppose your constraint Jacobian looks like: :: nx0 nu0 nx1 nu1 nx2 nu2 ----------------------------- nx1 |A0 B0 I0 ng1 |C0 D0 nx2 | A1 B1 I1 ng2 | C1 D1 ng3 | C2 D2 with n* capturing the number of states, inputs, and constraints in each block. You can then specify this structure with: N = 2 nx = [nx0 ,nx1, nx2] nu = [nu0, nu1, nu2] ng = [ng1, ng2, ng3] With structure_detection = 'auto', the block-defining parameters nx, nu, ng, and N are automatically detected from the sparsity pattern. -------------------------------------------------------------------------------- ipopt ----- When in warmstart mode, output NLPSOL_LAM_X may be used as input NOTE: Even when max_iter == 0, it is not guaranteed that input(NLPSOL_X0) == output(NLPSOL_X). Indeed if bounds on X or constraints are unmet, they will differ. For a good tutorial on IPOPT, see https://drops.dagstuhl.de/storage/16dagstuhl-seminar-proceedings/dsp- vol09061/DagSemProc.09061.16/DagSemProc.09061.16.pdf A good resource about the algorithms in IPOPT is: Wachter and L. T. Biegler, On the Implementation of an Interior-Point Filter Line-Search Algorithm for Large-Scale Nonlinear Programming, Mathematical Programming 106(1), pp. 25-57, 2006 (As Research Report RC 23149, IBM T. J. Watson Research Center, Yorktown, USA Caveats: with default options, multipliers for the decision variables are wrong for equality constraints. Change the 'fixed_variable_treatment' to 'make_constraint' or 'relax_bounds' to obtain correct results. Extra doc: https://github.com/casadi/casadi/wiki/L_21y >List of available options +--------------------------+-------------+---------------------------------+ | Id | Type | Description | +==========================+=============+=================================+ | clip_inactive_lam | OT_BOOL | Explicitly set Lagrange | | | | multipliers to 0 when bound is | | | | deemed inactive (default: | | | | false). | +--------------------------+-------------+---------------------------------+ | con_integer_md | OT_DICT | Integer metadata (a dictionary | | | | with lists of integers) about | | | | constraints to be passed to | | | | IPOPT | +--------------------------+-------------+---------------------------------+ | con_numeric_md | OT_DICT | Numeric metadata (a dictionary | | | | with lists of reals) about | | | | constraints to be passed to | | | | IPOPT | +--------------------------+-------------+---------------------------------+ | con_string_md | OT_DICT | String metadata (a dictionary | | | | with lists of strings) about | | | | constraints to be passed to | | | | IPOPT | +--------------------------+-------------+---------------------------------+ | convexify_margin | OT_DOUBLE | When using a convexification | | | | strategy, make sure that the | | | | smallest eigenvalue is at least | | | | this (default: 1e-7). | +--------------------------+-------------+---------------------------------+ | convexify_strategy | OT_STRING | NONE|regularize|eigen- | | | | reflect|eigen-clip. Strategy to | | | | convexify the Lagrange Hessian | | | | before passing it to the | | | | solver. | +--------------------------+-------------+---------------------------------+ | grad_f | OT_FUNCTION | Function for calculating the | | | | gradient of the objective | | | | (column, autogenerated by | | | | default) | +--------------------------+-------------+---------------------------------+ | hess_lag | OT_FUNCTION | Function for calculating the | | | | Hessian of the Lagrangian | | | | (autogenerated by default) | +--------------------------+-------------+---------------------------------+ | inactive_lam_strategy | OT_STRING | Strategy to detect if a bound | | | | is inactive. RELTOL: use | | | | solver-defined constraint | | | | tolerance * | | | | inactive_lam_value|abstol: use | | | | inactive_lam_value | +--------------------------+-------------+---------------------------------+ | inactive_lam_value | OT_DOUBLE | Value used in | | | | inactive_lam_strategy (default: | | | | 10). | +--------------------------+-------------+---------------------------------+ | ipopt | OT_DICT | Options to be passed to IPOPT | +--------------------------+-------------+---------------------------------+ | jac_g | OT_FUNCTION | Function for calculating the | | | | Jacobian of the constraints | | | | (autogenerated by default) | +--------------------------+-------------+---------------------------------+ | max_iter_eig | OT_DOUBLE | Maximum number of iterations to | | | | compute an eigenvalue | | | | decomposition (default: 50). | +--------------------------+-------------+---------------------------------+ | pass_nonlinear_variables | OT_BOOL | Pass list of variables entering | | | | nonlinearly to IPOPT | +--------------------------+-------------+---------------------------------+ | var_integer_md | OT_DICT | Integer metadata (a dictionary | | | | with lists of integers) about | | | | variables to be passed to IPOPT | +--------------------------+-------------+---------------------------------+ | var_numeric_md | OT_DICT | Numeric metadata (a dictionary | | | | with lists of reals) about | | | | variables to be passed to IPOPT | +--------------------------+-------------+---------------------------------+ | var_string_md | OT_DICT | String metadata (a dictionary | | | | with lists of strings) about | | | | variables to be passed to IPOPT | +--------------------------+-------------+---------------------------------+ -------------------------------------------------------------------------------- knitro ------ KNITRO interface Extra doc: https://github.com/casadi/casadi/wiki/L_22c >List of available options +--------------------------+--------------------+--------------------------+ | Id | Type | Description | +==========================+====================+==========================+ | complem_variables | OT_INTVECTORVECTOR | List of complementary | | | | constraints on simple | | | | bounds. Pair (i, j) | | | | encodes complementarity | | | | between the bounds on | | | | variable i and variable | | | | j. | +--------------------------+--------------------+--------------------------+ | contype | OT_INTVECTOR | Type of constraint | +--------------------------+--------------------+--------------------------+ | detect_linear_constraint | OT_BOOL | Detect type of | | s | | constraints | +--------------------------+--------------------+--------------------------+ | knitro | OT_DICT | Options to be passed to | | | | KNITRO | +--------------------------+--------------------+--------------------------+ | options_file | OT_STRING | Read options from file | | | | (solver specific) | +--------------------------+--------------------+--------------------------+ -------------------------------------------------------------------------------- madnlp ------ >List of available options +--------------------+--------------+--------------------------------------+ | Id | Type | Description | +====================+==============+======================================+ | convexify_margin | OT_DOUBLE | When using a convexification | | | | strategy, make sure that the | | | | smallest eigenvalue is at least this | | | | (default: 1e-7). | +--------------------+--------------+--------------------------------------+ | convexify_strategy | OT_STRING | NONE|regularize|eigen-reflect|eigen- | | | | clip. Strategy to convexify the | | | | Lagrange Hessian before passing it | | | | to the solver. | +--------------------+--------------+--------------------------------------+ | madnlp | OT_DICT | Options to be passed to madnlp | +--------------------+--------------+--------------------------------------+ | ng | OT_INTVECTOR | Number of constraints | +--------------------+--------------+--------------------------------------+ | nw | OT_INTVECTOR | Number of variables | +--------------------+--------------+--------------------------------------+ -------------------------------------------------------------------------------- snopt ----- SNOPT interface Extra doc: https://github.com/casadi/casadi/wiki/L_22m >List of available options +-------+-----------+---------------------------------------------+ | Id | Type | Description | +=======+===========+=============================================+ | snopt | OT_DICT | Options to be passed to SNOPT | +-------+-----------+---------------------------------------------+ | start | OT_STRING | Warm-start options for Worhp: cold|warm|hot | +-------+-----------+---------------------------------------------+ -------------------------------------------------------------------------------- worhp ----- WORHP interface Designed for Worhp 1.12 >List of available options +-------+---------+-------------------------------+ | Id | Type | Description | +=======+=========+===============================+ | worhp | OT_DICT | Options to be passed to WORHP | +-------+---------+-------------------------------+ -------------------------------------------------------------------------------- feasiblesqpmethod ----------------- A textbook FeasibleSQPMethod Extra doc: https://github.com/casadi/casadi/wiki/L_241 >List of available options +----------------------------+-----------------+---------------------------+ | Id | Type | Description | +============================+=================+===========================+ | anderson_memory | OT_INT | Anderson memory. If | | | | Anderson is used default | | | | is 1, else default is 0. | +----------------------------+-----------------+---------------------------+ | contraction_acceptance_val | OT_DOUBLE | If the empirical | | ue | | contraction rate in the | | | | feasibility iterations is | | | | above this value in the | | | | heuristics the iterations | | | | are aborted. | +----------------------------+-----------------+---------------------------+ | convexify_margin | OT_DOUBLE | When using a | | | | convexification strategy, | | | | make sure that the | | | | smallest eigenvalue4 is | | | | at least this (default: | | | | 1e-7). | +----------------------------+-----------------+---------------------------+ | convexify_strategy | OT_STRING | NONE|regularize|eigen- | | | | reflect|eigen-clip. | | | | Strategy to convexify the | | | | Lagrange Hessian before | | | | passing it to the solver. | +----------------------------+-----------------+---------------------------+ | f | OT_FUNCTION | Function for calculating | | | | the objective function | | | | (autogenerated by | | | | default) | +----------------------------+-----------------+---------------------------+ | feas_tol | OT_DOUBLE | Feasibility tolerance. | | | | Below this tolerance an | | | | iterate is considered to | | | | be feasible. | +----------------------------+-----------------+---------------------------+ | g | OT_FUNCTION | Function for calculating | | | | the constraints | | | | (autogenerated by | | | | default) | +----------------------------+-----------------+---------------------------+ | grad_f | OT_FUNCTION | Function for calculating | | | | the gradient of the | | | | objective (autogenerated | | | | by default) | +----------------------------+-----------------+---------------------------+ | hess_lag | OT_FUNCTION | Function for calculating | | | | the Hessian of the | | | | Lagrangian (autogenerated | | | | by default) | +----------------------------+-----------------+---------------------------+ | hessian_approximation | OT_STRING | limited-memory|exact | +----------------------------+-----------------+---------------------------+ | init_feasible | OT_BOOL | Initialize the QP | | | | subproblems with a | | | | feasible initial value | | | | (default: false). | +----------------------------+-----------------+---------------------------+ | jac_g | OT_FUNCTION | Function for calculating | | | | the Jacobian of the | | | | constraints | | | | (autogenerated by | | | | default) | +----------------------------+-----------------+---------------------------+ | lbfgs_memory | OT_INT | Size of L-BFGS memory. | +----------------------------+-----------------+---------------------------+ | max_inner_iter | OT_DOUBLE | Maximum number of inner | | | | iterations. | +----------------------------+-----------------+---------------------------+ | max_iter | OT_INT | Maximum number of SQP | | | | iterations | +----------------------------+-----------------+---------------------------+ | max_iter_eig | OT_DOUBLE | Maximum number of | | | | iterations to compute an | | | | eigenvalue decomposition | | | | (default: 50). | +----------------------------+-----------------+---------------------------+ | merit_memory | OT_INT | Size of memory to store | | | | history of merit function | | | | values | +----------------------------+-----------------+---------------------------+ | min_iter | OT_INT | Minimum number of SQP | | | | iterations | +----------------------------+-----------------+---------------------------+ | optim_tol | OT_DOUBLE | Optimality tolerance. | | | | Below this value an | | | | iterate is considered to | | | | be optimal. | +----------------------------+-----------------+---------------------------+ | print_header | OT_BOOL | Print the header with | | | | problem statistics | +----------------------------+-----------------+---------------------------+ | print_iteration | OT_BOOL | Print the iterations | +----------------------------+-----------------+---------------------------+ | print_status | OT_BOOL | Print a status message | | | | after solving | +----------------------------+-----------------+---------------------------+ | qpsol | OT_STRING | The QP solver to be used | | | | by the SQP method | | | | [qpoases] | +----------------------------+-----------------+---------------------------+ | qpsol_options | OT_DICT | Options to be passed to | | | | the QP solver | +----------------------------+-----------------+---------------------------+ | solve_type | OT_STRING | The solver type: Either | | | | SQP or SLP. Defaults to | | | | SQP | +----------------------------+-----------------+---------------------------+ | tol_du | OT_DOUBLE | Stopping criterion for | | | | dual infeasability | +----------------------------+-----------------+---------------------------+ | tol_pr | OT_DOUBLE | Stopping criterion for | | | | primal infeasibility | +----------------------------+-----------------+---------------------------+ | tr_acceptance | OT_DOUBLE | Is the trust-region ratio | | | | above this value, the | | | | step is accepted. | +----------------------------+-----------------+---------------------------+ | tr_alpha1 | OT_DOUBLE | Lower alpha in trust- | | | | region size criterion. | +----------------------------+-----------------+---------------------------+ | tr_alpha2 | OT_DOUBLE | Upper alpha in trust- | | | | region size criterion. | +----------------------------+-----------------+---------------------------+ | tr_eta1 | OT_DOUBLE | Lower eta in trust-region | | | | acceptance criterion. | +----------------------------+-----------------+---------------------------+ | tr_eta2 | OT_DOUBLE | Upper eta in trust-region | | | | acceptance criterion. | +----------------------------+-----------------+---------------------------+ | tr_rad0 | OT_DOUBLE | Initial trust-region | | | | radius. | +----------------------------+-----------------+---------------------------+ | tr_rad_max | OT_DOUBLE | Maximum trust-region | | | | radius. | +----------------------------+-----------------+---------------------------+ | tr_rad_min | OT_DOUBLE | Minimum trust-region | | | | radius. | +----------------------------+-----------------+---------------------------+ | tr_scale_vector | OT_DOUBLEVECTOR | Vector that tells where | | | | trust-region is applied. | +----------------------------+-----------------+---------------------------+ | tr_tol | OT_DOUBLE | Trust-region tolerance. | | | | Below this value another | | | | scalar is equal to the | | | | trust region radius. | +----------------------------+-----------------+---------------------------+ | use_anderson | OT_BOOL | Use Anderson | | | | Acceleration. (default | | | | false) | +----------------------------+-----------------+---------------------------+ | watchdog | OT_INT | Number of watchdog | | | | iterations in feasibility | | | | iterations. After this | | | | amount of iterations, it | | | | is checked with the | | | | contraction acceptance | | | | value, if iterations are | | | | converging. | +----------------------------+-----------------+---------------------------+ -------------------------------------------------------------------------------- qrsqp ----- A textbook SQPMethod Extra doc: https://github.com/casadi/casadi/wiki/L_22u >List of available options +-----------------------+-----------+--------------------------------------+ | Id | Type | Description | +=======================+===========+======================================+ | beta | OT_DOUBLE | Line-search parameter, restoration | | | | factor of stepsize | +-----------------------+-----------+--------------------------------------+ | c1 | OT_DOUBLE | Armijo condition, coefficient of | | | | decrease in merit | +-----------------------+-----------+--------------------------------------+ | hessian_approximation | OT_STRING | limited-memory|exact | +-----------------------+-----------+--------------------------------------+ | lbfgs_memory | OT_INT | Size of L-BFGS memory. | +-----------------------+-----------+--------------------------------------+ | max_iter | OT_INT | Maximum number of SQP iterations | +-----------------------+-----------+--------------------------------------+ | max_iter_ls | OT_INT | Maximum number of linesearch | | | | iterations | +-----------------------+-----------+--------------------------------------+ | merit_memory | OT_INT | Size of memory to store history of | | | | merit function values | +-----------------------+-----------+--------------------------------------+ | min_iter | OT_INT | Minimum number of SQP iterations | +-----------------------+-----------+--------------------------------------+ | min_step_size | OT_DOUBLE | The size (inf-norm) of the step size | | | | should not become smaller than this. | +-----------------------+-----------+--------------------------------------+ | print_header | OT_BOOL | Print the header with problem | | | | statistics | +-----------------------+-----------+--------------------------------------+ | print_iteration | OT_BOOL | Print the iterations | +-----------------------+-----------+--------------------------------------+ | qpsol | OT_STRING | The QP solver to be used by the SQP | | | | method [qrqp] | +-----------------------+-----------+--------------------------------------+ | qpsol_options | OT_DICT | Options to be passed to the QP | | | | solver | +-----------------------+-----------+--------------------------------------+ | regularize | OT_BOOL | Automatic regularization of Lagrange | | | | Hessian. | +-----------------------+-----------+--------------------------------------+ | tol_du | OT_DOUBLE | Stopping criterion for dual | | | | infeasability | +-----------------------+-----------+--------------------------------------+ | tol_pr | OT_DOUBLE | Stopping criterion for primal | | | | infeasibility | +-----------------------+-----------+--------------------------------------+ -------------------------------------------------------------------------------- scpgen ------ A structure-exploiting sequential quadratic programming (to be come sequential convex programming) method for nonlinear programming. Extra doc: https://github.com/casadi/casadi/wiki/L_232 >List of available options +-----------------------+-----------------+--------------------------------+ | Id | Type | Description | +=======================+=================+================================+ | beta | OT_DOUBLE | Line-search parameter, | | | | restoration factor of stepsize | +-----------------------+-----------------+--------------------------------+ | c1 | OT_DOUBLE | Armijo condition, coefficient | | | | of decrease in merit | +-----------------------+-----------------+--------------------------------+ | codegen | OT_BOOL | C-code generation | +-----------------------+-----------------+--------------------------------+ | hessian_approximation | OT_STRING | gauss-newton|exact | +-----------------------+-----------------+--------------------------------+ | lbfgs_memory | OT_INT | Size of L-BFGS memory. | +-----------------------+-----------------+--------------------------------+ | max_iter | OT_INT | Maximum number of SQP | | | | iterations | +-----------------------+-----------------+--------------------------------+ | max_iter_ls | OT_INT | Maximum number of linesearch | | | | iterations | +-----------------------+-----------------+--------------------------------+ | merit_memsize | OT_INT | Size of memory to store | | | | history of merit function | | | | values | +-----------------------+-----------------+--------------------------------+ | merit_start | OT_DOUBLE | Lower bound for the merit | | | | function parameter | +-----------------------+-----------------+--------------------------------+ | name_x | OT_STRINGVECTOR | Names of the variables. | +-----------------------+-----------------+--------------------------------+ | print_header | OT_BOOL | Print the header with problem | | | | statistics | +-----------------------+-----------------+--------------------------------+ | print_x | OT_INTVECTOR | Which variables to print. | +-----------------------+-----------------+--------------------------------+ | qpsol | OT_STRING | The QP solver to be used by | | | | the SQP method | +-----------------------+-----------------+--------------------------------+ | qpsol_options | OT_DICT | Options to be passed to the QP | | | | solver | +-----------------------+-----------------+--------------------------------+ | reg_threshold | OT_DOUBLE | Threshold for the | | | | regularization. | +-----------------------+-----------------+--------------------------------+ | regularize | OT_BOOL | Automatic regularization of | | | | Lagrange Hessian. | +-----------------------+-----------------+--------------------------------+ | tol_du | OT_DOUBLE | Stopping criterion for dual | | | | infeasability | +-----------------------+-----------------+--------------------------------+ | tol_pr | OT_DOUBLE | Stopping criterion for primal | | | | infeasibility | +-----------------------+-----------------+--------------------------------+ | tol_pr_step | OT_DOUBLE | Stopping criterion for the | | | | step size | +-----------------------+-----------------+--------------------------------+ | tol_reg | OT_DOUBLE | Stopping criterion for | | | | regularization | +-----------------------+-----------------+--------------------------------+ -------------------------------------------------------------------------------- sqpmethod --------- A textbook SQPMethod Extra doc: https://github.com/casadi/casadi/wiki/L_22x >List of available options +--------------------------+-------------+---------------------------------+ | Id | Type | Description | +==========================+=============+=================================+ | beta | OT_DOUBLE | Line-search parameter, | | | | restoration factor of stepsize | +--------------------------+-------------+---------------------------------+ | c1 | OT_DOUBLE | Armijo condition, coefficient | | | | of decrease in merit | +--------------------------+-------------+---------------------------------+ | convexify_margin | OT_DOUBLE | When using a convexification | | | | strategy, make sure that the | | | | smallest eigenvalue is at least | | | | this (default: 1e-7). | +--------------------------+-------------+---------------------------------+ | convexify_strategy | OT_STRING | NONE|regularize|eigen- | | | | reflect|eigen-clip. Strategy to | | | | convexify the Lagrange Hessian | | | | before passing it to the | | | | solver. | +--------------------------+-------------+---------------------------------+ | elastic_mode | OT_BOOL | Enable the elastic mode which | | | | is used when the QP is | | | | infeasible (default: false). | +--------------------------+-------------+---------------------------------+ | gamma_0 | OT_DOUBLE | Starting value for the penalty | | | | parameter of elastic mode | | | | (default: 1). | +--------------------------+-------------+---------------------------------+ | gamma_1_min | OT_DOUBLE | Minimum value for gamma_1 | | | | (default: 1e-5). | +--------------------------+-------------+---------------------------------+ | gamma_max | OT_DOUBLE | Maximum value for the penalty | | | | parameter of elastic mode | | | | (default: 1e20). | +--------------------------+-------------+---------------------------------+ | hess_lag | OT_FUNCTION | Function for calculating the | | | | Hessian of the Lagrangian | | | | (autogenerated by default) | +--------------------------+-------------+---------------------------------+ | hessian_approximation | OT_STRING | limited-memory|exact | +--------------------------+-------------+---------------------------------+ | init_feasible | OT_BOOL | Initialize the QP subproblems | | | | with a feasible initial value | | | | (default: false). | +--------------------------+-------------+---------------------------------+ | jac_fg | OT_FUNCTION | Function for calculating the | | | | gradient of the objective and | | | | Jacobian of the constraints | | | | (autogenerated by default) | +--------------------------+-------------+---------------------------------+ | lbfgs_memory | OT_INT | Size of L-BFGS memory. | +--------------------------+-------------+---------------------------------+ | max_iter | OT_INT | Maximum number of SQP | | | | iterations | +--------------------------+-------------+---------------------------------+ | max_iter_eig | OT_DOUBLE | Maximum number of iterations to | | | | compute an eigenvalue | | | | decomposition (default: 50). | +--------------------------+-------------+---------------------------------+ | max_iter_ls | OT_INT | Maximum number of linesearch | | | | iterations | +--------------------------+-------------+---------------------------------+ | merit_memory | OT_INT | Size of memory to store history | | | | of merit function values | +--------------------------+-------------+---------------------------------+ | min_iter | OT_INT | Minimum number of SQP | | | | iterations | +--------------------------+-------------+---------------------------------+ | min_step_size | OT_DOUBLE | The size (inf-norm) of the step | | | | size should not become smaller | | | | than this. | +--------------------------+-------------+---------------------------------+ | print_header | OT_BOOL | Print the header with problem | | | | statistics | +--------------------------+-------------+---------------------------------+ | print_iteration | OT_BOOL | Print the iterations | +--------------------------+-------------+---------------------------------+ | print_status | OT_BOOL | Print a status message after | | | | solving | +--------------------------+-------------+---------------------------------+ | qpsol | OT_STRING | The QP solver to be used by the | | | | SQP method [qpoases] | +--------------------------+-------------+---------------------------------+ | qpsol_options | OT_DICT | Options to be passed to the QP | | | | solver | +--------------------------+-------------+---------------------------------+ | second_order_corrections | OT_BOOL | Enable second order | | | | corrections. These are used | | | | when a step is considered bad | | | | by the merit function and | | | | constraint norm (default: | | | | false). | +--------------------------+-------------+---------------------------------+ | tol_du | OT_DOUBLE | Stopping criterion for dual | | | | infeasability | +--------------------------+-------------+---------------------------------+ | tol_pr | OT_DOUBLE | Stopping criterion for primal | | | | infeasibility | +--------------------------+-------------+---------------------------------+ Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_21q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L118 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L118-L121 ............. ....... :: nlpsol(str name, str solver, Importer compiler, dict opts) nlpsol(str name, str solver, NlpBuilder nl, dict opts) nlpsol(str name, str solver, dict:MX nlp, dict opts) nlpsol(str name, str solver, str fname, dict opts) nlpsol(str name, str solver, Function nlp, dict opts) [INTERNAL] ............. """ return _casadi.nlpsol(*args) def nlpsol_in(*args) -> "std::string": """ [INTERNAL] :: nlpsol_in() -> [str] nlpsol_in(int ind) -> str Get NLP solver input scheme name by index. >Input scheme: casadi::NlpsolInput (NLPSOL_NUM_IN = 8) +---------------+--------+-------------------------------------------------+ | Full name | Short | Description | +===============+========+=================================================+ | NLPSOL_X0 | x0 | Decision variables, initial guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_P | p | Value of fixed parameters (np x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBX | lbx | Decision variables lower bound (nx x 1), | | | | default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBX | ubx | Decision variables upper bound (nx x 1), | | | | default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBG | lbg | Constraints lower bound (ng x 1), default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBG | ubg | Constraints upper bound (ng x 1), default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_X0 | lam_x0 | Lagrange multipliers for bounds on X, initial | | | | guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_G0 | lam_g0 | Lagrange multipliers for bounds on G, initial | | | | guess (ng x 1) | +---------------+--------+-------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1t0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L231 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L231-L244 ....... :: nlpsol_in() [INTERNAL] Get input scheme of NLP solvers. >Input scheme: casadi::NlpsolInput (NLPSOL_NUM_IN = 8) +---------------+--------+-------------------------------------------------+ | Full name | Short | Description | +===============+========+=================================================+ | NLPSOL_X0 | x0 | Decision variables, initial guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_P | p | Value of fixed parameters (np x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBX | lbx | Decision variables lower bound (nx x 1), | | | | default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBX | ubx | Decision variables upper bound (nx x 1), | | | | default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBG | lbg | Constraints lower bound (ng x 1), default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBG | ubg | Constraints upper bound (ng x 1), default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_X0 | lam_x0 | Lagrange multipliers for bounds on X, initial | | | | guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_G0 | lam_g0 | Lagrange multipliers for bounds on G, initial | | | | guess (ng x 1) | +---------------+--------+-------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1sy Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L200-L204 ............. ....... :: nlpsol_in(int ind) [INTERNAL] Get NLP solver input scheme name by index. >Input scheme: casadi::NlpsolInput (NLPSOL_NUM_IN = 8) +---------------+--------+-------------------------------------------------+ | Full name | Short | Description | +===============+========+=================================================+ | NLPSOL_X0 | x0 | Decision variables, initial guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_P | p | Value of fixed parameters (np x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBX | lbx | Decision variables lower bound (nx x 1), | | | | default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBX | ubx | Decision variables upper bound (nx x 1), | | | | default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LBG | lbg | Constraints lower bound (ng x 1), default -inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_UBG | ubg | Constraints upper bound (ng x 1), default +inf. | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_X0 | lam_x0 | Lagrange multipliers for bounds on X, initial | | | | guess (nx x 1) | +---------------+--------+-------------------------------------------------+ | NLPSOL_LAM_G0 | lam_g0 | Lagrange multipliers for bounds on G, initial | | | | guess (ng x 1) | +---------------+--------+-------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1t0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L231 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L231-L244 ............. """ return _casadi.nlpsol_in(*args) def nlpsol_out(*args) -> "std::string": """ [INTERNAL] :: nlpsol_out() -> [str] nlpsol_out(int ind) -> str Get output scheme name by index. >Output scheme: casadi::NlpsolOutput (NLPSOL_NUM_OUT = 6) +--------------+-------+---------------------------------------------------+ | Full name | Short | Description | +==============+=======+===================================================+ | NLPSOL_X | x | Decision variables at the optimal solution (nx x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_F | f | Cost function value at the optimal solution (1 x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_G | g | Constraints function at the optimal solution (ng | | | | x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_X | lam_x | Lagrange multipliers for bounds on X at the | | | | solution (nx x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_G | lam_g | Lagrange multipliers for bounds on G at the | | | | solution (ng x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_P | lam_p | Lagrange multipliers for bounds on P at the | | | | solution (np x 1) | +--------------+-------+---------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1t1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L246 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L246-L257 ....... :: nlpsol_out() [INTERNAL] Get NLP solver output scheme of NLP solvers. >Output scheme: casadi::NlpsolOutput (NLPSOL_NUM_OUT = 6) +--------------+-------+---------------------------------------------------+ | Full name | Short | Description | +==============+=======+===================================================+ | NLPSOL_X | x | Decision variables at the optimal solution (nx x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_F | f | Cost function value at the optimal solution (1 x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_G | g | Constraints function at the optimal solution (ng | | | | x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_X | lam_x | Lagrange multipliers for bounds on X at the | | | | solution (nx x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_G | lam_g | Lagrange multipliers for bounds on G at the | | | | solution (ng x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_P | lam_p | Lagrange multipliers for bounds on P at the | | | | solution (np x 1) | +--------------+-------+---------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1sz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L206-L210 ............. ....... :: nlpsol_out(int ind) [INTERNAL] Get output scheme name by index. >Output scheme: casadi::NlpsolOutput (NLPSOL_NUM_OUT = 6) +--------------+-------+---------------------------------------------------+ | Full name | Short | Description | +==============+=======+===================================================+ | NLPSOL_X | x | Decision variables at the optimal solution (nx x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_F | f | Cost function value at the optimal solution (1 x | | | | 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_G | g | Constraints function at the optimal solution (ng | | | | x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_X | lam_x | Lagrange multipliers for bounds on X at the | | | | solution (nx x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_G | lam_g | Lagrange multipliers for bounds on G at the | | | | solution (ng x 1) | +--------------+-------+---------------------------------------------------+ | NLPSOL_LAM_P | lam_p | Lagrange multipliers for bounds on P at the | | | | solution (np x 1) | +--------------+-------+---------------------------------------------------+ Extra doc: https://github.com/casadi/casadi/wiki/L_1t1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L246 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L246-L257 ............. """ return _casadi.nlpsol_out(*args) def nlpsol_n_in(*args) -> "casadi_int": """ [INTERNAL] :: nlpsol_n_in() -> int Number of NLP solver inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1t2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L259 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L259-L261 """ return _casadi.nlpsol_n_in(*args) def nlpsol_n_out(*args) -> "casadi_int": """ [INTERNAL] :: nlpsol_n_out() -> int Number of NLP solver outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1t3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L263 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L263-L265 """ return _casadi.nlpsol_n_out(*args) def nlpsol_default_in(*args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nlpsol_default_in() -> [float] nlpsol_default_in(int ind) -> float Default input for an NLP solver. Extra doc: https://github.com/casadi/casadi/wiki/L_1t4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L225 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L225-L229 ....... :: nlpsol_default_in() [INTERNAL] Default input for an NLP solver. Extra doc: https://github.com/casadi/casadi/wiki/L_1t4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L225 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L225-L229 ............. ....... :: nlpsol_default_in(int ind) [INTERNAL] Default input for an NLP solver. Extra doc: https://github.com/casadi/casadi/wiki/L_1t4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L212 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L212-L223 ............. """ return _casadi.nlpsol_default_in(*args) def nlpsol_options(*args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: nlpsol_options(str name) -> [str] Get all options for a plugin. Extra doc: https://github.com/casadi/casadi/wiki/L_1t5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L830 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L830-L832 """ return _casadi.nlpsol_options(*args) def nlpsol_option_type(*args) -> "std::string": """ [INTERNAL] :: nlpsol_option_type(str name, str op) -> str Get type info for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1t6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L834 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L834-L836 """ return _casadi.nlpsol_option_type(*args) def nlpsol_option_info(*args) -> "std::string": """ [INTERNAL] :: nlpsol_option_info(str name, str op) -> str Get documentation for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1t7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L838 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L838-L840 """ return _casadi.nlpsol_option_info(*args) def has_nlpsol(*args) -> "bool": """ [INTERNAL] :: has_nlpsol(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L34 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L34-L36 """ return _casadi.has_nlpsol(*args) def load_nlpsol(*args) -> "void": """ [INTERNAL] :: load_nlpsol(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L38 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L38-L40 """ return _casadi.load_nlpsol(*args) def doc_nlpsol(*args) -> "std::string": """ [INTERNAL] :: doc_nlpsol(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.hpp#L42 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlpsol.cpp#L42-L44 """ return _casadi.doc_nlpsol(*args) def rootfinder(*args) -> "casadi::Function": """ [INTERNAL] :: rootfinder(str name, str solver, dict:SX rfp, dict opts) -> Function rootfinder(str name, str solver, dict:MX rfp, dict opts) -> Function rootfinder(str name, str solver, Function f, dict opts) -> Function ....... :: rootfinder(str name, str solver, dict:SX rfp, dict opts) [INTERNAL] Create a solver for rootfinding problems Takes a function where one of the inputs is unknown and one of the outputs is a residual function that is always zero, defines a new function where the the unknown input has been replaced by a guess for the unknown and the residual output has been replaced by the calculated value for the input. For a function [y0, y1, ...,yi, .., yn] = F(x0, x1, ..., xj, ..., xm), where xj is unknown and yi=0, defines a new function [y0, y1, ...,xj, .., yn] = G(x0, x1, ..., xj_guess, ..., xm), xj and yi must have the same dimension and d(yi)/d(xj) must be invertable. By default, the first input is unknown and the first output is the residual. General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | common_options | OT_DICT | Options for | casadi::OracleFu | | | | auto-generated | nction | | | | functions | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | constraints | OT_INTVECTOR | Constrain the | casadi::Rootfind | | | | unknowns. 0 | er | | | | (default): no | | | | | constraint on | | | | | ui, 1: ui >= | | | | | 0.0, -1: ui <= | | | | | 0.0, 2: ui > | | | | | 0.0, -2: ui < | | | | | 0.0. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | expand | OT_BOOL | Replace MX with | casadi::OracleFu | | | | SX expressions | nction | | | | in problem | | | | | formulation | | | | | [false] This | | | | | happens before | | | | | creating | | | | | derivatives | | | | | unless indicated | | | | | by | | | | | postpone_expand | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | implicit_input | OT_INT | Index of the | casadi::Rootfind | | | | input that | er | | | | corresponds to | | | | | the actual root- | | | | | finding | | +------------------+-----------------+------------------+------------------+ | implicit_output | OT_INT | Index of the | casadi::Rootfind | | | | output that | er | | | | corresponds to | | | | | the actual root- | | | | | finding | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_functio | OT_FUNCTION | Function object | casadi::Rootfind | | n | | for calculating | er | | | | the Jacobian | | | | | (autogenerated | | | | | by default) | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | linear_solver | OT_STRING | User-defined | casadi::Rootfind | | | | linear solver | er | | | | class. Needed | | | | | for | | | | | sensitivities. | | +------------------+-----------------+------------------+------------------+ | linear_solver_op | OT_DICT | Options to be | casadi::Rootfind | | tions | | passed to the | er | | | | linear solver. | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | monitor | OT_STRINGVECTOR | Set of user | casadi::OracleFu | | | | problem | nction | | | | functions to be | | | | | monitored | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | postpone_expand | OT_BOOL | When expand is | casadi::OracleFu | | | | active, postpone | nction | | | | it until after | | | | | creation of | | | | | derivatives. | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | show_eval_warnin | OT_BOOL | Show warnings | casadi::OracleFu | | gs | | generated from | nction | | | | function | | | | | evaluations | | | | | [true] | | +------------------+-----------------+------------------+------------------+ | specific_options | OT_DICT | Options for | casadi::OracleFu | | | | specific auto- | nction | | | | generated | | | | | functions, | | | | | overwriting the | | | | | defaults from | | | | | common_options. | | | | | Nested | | | | | dictionary. | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ >Input scheme: casadi::RootfinderInput (ROOTFINDER_NUM_IN = 2) +---------------+-------+---------------------------------+ | Full name | Short | Description | +===============+=======+=================================+ | ROOTFINDER_X0 | x0 | Initial guess for the solution. | +---------------+-------+---------------------------------+ | ROOTFINDER_P | p | Parameters. | +---------------+-------+---------------------------------+ >Output scheme: casadi::RootfinderOutput (ROOTFINDER_NUM_OUT = 1) +--------------+-------+--------------------------------------+ | Full name | Short | Description | +==============+=======+======================================+ | ROOTFINDER_X | x | Solution to the system of equations. | +--------------+-------+--------------------------------------+ List of plugins - kinsol - fast_newton - nlpsol - newton 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 Rootfinder.doc("myextraplugin") -------------------------------------------------------------------------------- kinsol ------ KINSOL interface from the Sundials suite Extra doc: https://github.com/casadi/casadi/wiki/L_226 >List of available options +---------------------------+-----------------+----------------------------+ | Id | Type | Description | +===========================+=================+============================+ | abstol | OT_DOUBLE | Stopping criterion | | | | tolerance | +---------------------------+-----------------+----------------------------+ | disable_internal_warnings | OT_BOOL | Disable KINSOL internal | | | | warning messages | +---------------------------+-----------------+----------------------------+ | exact_jacobian | OT_BOOL | Use exact Jacobian | | | | information | +---------------------------+-----------------+----------------------------+ | f_scale | OT_DOUBLEVECTOR | Equation scaling factors | +---------------------------+-----------------+----------------------------+ | iterative_solver | OT_STRING | gmres|bcgstab|tfqmr | +---------------------------+-----------------+----------------------------+ | linear_solver_type | OT_STRING | dense|banded|iterative|use | | | | r_defined | +---------------------------+-----------------+----------------------------+ | lower_bandwidth | OT_INT | Lower bandwidth for banded | | | | linear solvers | +---------------------------+-----------------+----------------------------+ | max_iter | OT_INT | Maximum number of Newton | | | | iterations. Putting 0 sets | | | | the default value of | | | | KinSol. | +---------------------------+-----------------+----------------------------+ | max_krylov | OT_INT | Maximum Krylov space | | | | dimension | +---------------------------+-----------------+----------------------------+ | pretype | OT_STRING | Type of preconditioner | +---------------------------+-----------------+----------------------------+ | print_level | OT_INT | Verbosity level | +---------------------------+-----------------+----------------------------+ | strategy | OT_STRING | Globalization strategy | +---------------------------+-----------------+----------------------------+ | u_scale | OT_DOUBLEVECTOR | Variable scaling factors | +---------------------------+-----------------+----------------------------+ | upper_bandwidth | OT_INT | Upper bandwidth for banded | | | | linear solvers | +---------------------------+-----------------+----------------------------+ | use_preconditioner | OT_BOOL | Precondition an iterative | | | | solver | +---------------------------+-----------------+----------------------------+ -------------------------------------------------------------------------------- fast_newton ----------- Implements simple newton iterations to solve an implicit function. Extra doc: https://github.com/casadi/casadi/wiki/L_237 >List of available options +------------+-----------+-------------------------------------------------+ | Id | Type | Description | +============+===========+=================================================+ | abstol | OT_DOUBLE | Stopping criterion tolerance on ||g||__inf) | +------------+-----------+-------------------------------------------------+ | abstolStep | OT_DOUBLE | Stopping criterion tolerance on step size | +------------+-----------+-------------------------------------------------+ | max_iter | OT_INT | Maximum number of Newton iterations to perform | | | | before returning. | +------------+-----------+-------------------------------------------------+ -------------------------------------------------------------------------------- nlpsol ------ -------------------------------------------------------------------------------- newton ------ Implements simple newton iterations to solve an implicit function. Extra doc: https://github.com/casadi/casadi/wiki/L_236 >List of available options +-----------------+-----------+--------------------------------------------+ | Id | Type | Description | +=================+===========+============================================+ | abstol | OT_DOUBLE | Stopping criterion tolerance on max(|F|) | +-----------------+-----------+--------------------------------------------+ | abstolStep | OT_DOUBLE | Stopping criterion tolerance on step size | +-----------------+-----------+--------------------------------------------+ | line_search | OT_BOOL | Enable line-search (default: true) | +-----------------+-----------+--------------------------------------------+ | max_iter | OT_INT | Maximum number of Newton iterations to | | | | perform before returning. | +-----------------+-----------+--------------------------------------------+ | print_iteration | OT_BOOL | Print information about each iteration | +-----------------+-----------+--------------------------------------------+ Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_21r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L111 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L111-L114 ............. ....... :: rootfinder(str name, str solver, dict:MX rfp, dict opts) rootfinder(str name, str solver, Function f, dict opts) [INTERNAL] ............. """ return _casadi.rootfinder(*args) def rootfinder_in(*args) -> "std::string": """ [INTERNAL] :: rootfinder_in() -> [str] rootfinder_in(int ind) -> str Get rootfinder input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1u0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L47 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L47-L54 ....... :: rootfinder_in() [INTERNAL] Get rootfinder input scheme. Extra doc: https://github.com/casadi/casadi/wiki/L_1ty Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L35 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L35-L39 ............. ....... :: rootfinder_in(int ind) [INTERNAL] Get rootfinder input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1u0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L47 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L47-L54 ............. """ return _casadi.rootfinder_in(*args) def rootfinder_out(*args) -> "std::string": """ [INTERNAL] :: rootfinder_out() -> [str] rootfinder_out(int ind) -> str Get rootfinder output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1u1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L56 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L56-L62 ....... :: rootfinder_out() [INTERNAL] Get rootfinder output scheme. Extra doc: https://github.com/casadi/casadi/wiki/L_1tz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L41 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L41-L45 ............. ....... :: rootfinder_out(int ind) [INTERNAL] Get rootfinder output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1u1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L56 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L56-L62 ............. """ return _casadi.rootfinder_out(*args) def rootfinder_n_in(*args) -> "casadi_int": """ [INTERNAL] :: rootfinder_n_in() -> int Number of rootfinder inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1u2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L64 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L64-L66 """ return _casadi.rootfinder_n_in(*args) def rootfinder_n_out(*args) -> "casadi_int": """ [INTERNAL] :: rootfinder_n_out() -> int Number of rootfinder outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1u3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L68 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L68-L70 """ return _casadi.rootfinder_n_out(*args) def rootfinder_options(*args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: rootfinder_options(str name) -> [str] Get all options for a plugin. Extra doc: https://github.com/casadi/casadi/wiki/L_1u4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L87 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L87-L89 """ return _casadi.rootfinder_options(*args) def rootfinder_option_type(*args) -> "std::string": """ [INTERNAL] :: rootfinder_option_type(str name, str op) -> str Get type info for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1u5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L91 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L91-L93 """ return _casadi.rootfinder_option_type(*args) def rootfinder_option_info(*args) -> "std::string": """ [INTERNAL] :: rootfinder_option_info(str name, str op) -> str Get documentation for a particular option. Extra doc: https://github.com/casadi/casadi/wiki/L_1u6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L95 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L95-L97 """ return _casadi.rootfinder_option_info(*args) def has_rootfinder(*args) -> "bool": """ [INTERNAL] :: has_rootfinder(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L99-L101 """ return _casadi.has_rootfinder(*args) def load_rootfinder(*args) -> "void": """ [INTERNAL] :: load_rootfinder(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L103 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L103-L105 """ return _casadi.load_rootfinder(*args) def doc_rootfinder(*args) -> "std::string": """ [INTERNAL] :: doc_rootfinder(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.hpp#L107 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/rootfinder.cpp#L107-L109 """ return _casadi.doc_rootfinder(*args) class Linsol(SharedObject, PrintableCommon): """ [INTERNAL] :: Linear solver. Create a solver for linear systems of equations Solves the linear system A*X = B or A^T*X = B for X with A square and non-singular If A is structurally singular, an error will be thrown during init. If A is numerically singular, the prepare step will fail. General informationList of plugins - csparsecholesky - csparse - ma27 - lapacklu - lapackqr - mumps - ldl - qr - tridiag - symbolicqr 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 Linsol.doc("myextraplugin") -------------------------------------------------------------------------------- csparsecholesky --------------- Linsol with CSparseCholesky Interface Extra doc: https://github.com/casadi/casadi/wiki/L_21u -------------------------------------------------------------------------------- csparse ------- Linsol with CSparse Interface Extra doc: https://github.com/casadi/casadi/wiki/L_21t -------------------------------------------------------------------------------- ma27 ---- Interface to the sparse direct linear solver MA27 Works for symmetric indefinite systems Partly adopted from qpOASES 3.2 Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_229 -------------------------------------------------------------------------------- lapacklu -------- This class solves the linear system A.x=b by making an LU factorization of A: A = L.U, with L lower and U upper triangular Extra doc: https://github.com/casadi/casadi/wiki/L_22h >List of available options +-----------------------------+---------+----------------------------------+ | Id | Type | Description | +=============================+=========+==================================+ | allow_equilibration_failure | OT_BOOL | Non-fatal error when | | | | equilibration fails | +-----------------------------+---------+----------------------------------+ | equilibration | OT_BOOL | Equilibrate the matrix | +-----------------------------+---------+----------------------------------+ -------------------------------------------------------------------------------- lapackqr -------- This class solves the linear system A.x=b by making an QR factorization of A: A = Q.R, with Q orthogonal and R upper triangular Extra doc: https://github.com/casadi/casadi/wiki/L_22g >List of available options +----------+--------+------------------------------------------------------+ | Id | Type | Description | +==========+========+======================================================+ | max_nrhs | OT_INT | Maximum number of right-hand-sides that get | | | | processed in a single pass [default:10]. | +----------+--------+------------------------------------------------------+ -------------------------------------------------------------------------------- mumps ----- Interface to the sparse direct linear solver MUMPS Works for symmetric indefinite systems Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_22t >List of available options +-----------+---------+-------------------+ | Id | Type | Description | +===========+=========+===================+ | posdef | OT_BOOL | Positive definite | +-----------+---------+-------------------+ | symmetric | OT_BOOL | Symmetric matrix | +-----------+---------+-------------------+ -------------------------------------------------------------------------------- ldl --- Linear solver using sparse direct LDL factorization Extra doc: https://github.com/casadi/casadi/wiki/L_233 >List of available options +-------------+---------+-----------------------------------------------+ | Id | Type | Description | +=============+=========+===============================================+ | incomplete | OT_BOOL | Incomplete factorization, without any fill-in | +-------------+---------+-----------------------------------------------+ | preordering | OT_BOOL | Approximate minimal degree (AMD) preordering | +-------------+---------+-----------------------------------------------+ -------------------------------------------------------------------------------- qr -- Linear solver using sparse direct QR factorization Extra doc: https://github.com/casadi/casadi/wiki/L_22z >List of available options +-------+-----------+------------------------------------------------------+ | Id | Type | Description | +=======+===========+======================================================+ | cache | OT_DOUBLE | Amount of factorisations to remember (thread-local) | | | | [0] | +-------+-----------+------------------------------------------------------+ | eps | OT_DOUBLE | Minimum R entry before singularity is declared | | | | [1e-12] | +-------+-----------+------------------------------------------------------+ -------------------------------------------------------------------------------- tridiag ------- Linear solver for tridiagonal matrices Extra doc: https://github.com/casadi/casadi/wiki/L_22v -------------------------------------------------------------------------------- symbolicqr ---------- Linear solver for sparse least-squares problems Inspired from https://github.com/scipy/scipy/blob/v0.14.0/scipy/sparse/linalg/isolve/lsqr.py#L96 Extra doc: https://github.com/casadi/casadi/wiki/L_230 Linsol based on QR factorization with sparsity pattern based reordering without partial pivoting Extra doc: https://github.com/casadi/casadi/wiki/L_231 >List of available options +-------+---------+----------------------------------------------------+ | Id | Type | Description | +=======+=========+====================================================+ | fopts | OT_DICT | Options to be passed to generated function objects | +-------+---------+----------------------------------------------------+ Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_1kh C++ includes: linsol.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Linsol, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Linsol, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Linsol_type_name(*args) type_name = staticmethod(type_name) def has_plugin(*args) -> "bool": """ :: has_plugin(str name) -> bool """ return _casadi.Linsol_has_plugin(*args) has_plugin = staticmethod(has_plugin) def load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.Linsol_load_plugin(*args) load_plugin = staticmethod(load_plugin) def doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.Linsol_doc(*args) doc = staticmethod(doc) def plugin_name(self, *args) -> "std::string": """ [INTERNAL] :: plugin_name(self) -> str Query plugin name. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L97 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L65-L67 """ return _casadi.Linsol_plugin_name(self, *args) def sparsity(self, *args) -> "casadi::Sparsity const &": """ [INTERNAL] :: sparsity(self) -> Sparsity Get linear system sparsity. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L100 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L69-L71 """ return _casadi.Linsol_sparsity(self, *args) def sfact(self, *args) -> "void": """ [INTERNAL] :: sfact(self, DM A) Symbolic factorization of the linear system, e.g. selecting pivots. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L103 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L105-L108 """ return _casadi.Linsol_sfact(self, *args) def nfact(self, *args) -> "void": """ [INTERNAL] :: nfact(self, DM A) Numeric factorization of the linear system. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L106 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L127-L130 """ return _casadi.Linsol_nfact(self, *args) def solve(self, *args) -> "casadi::MX": """ [INTERNAL] :: solve(self, DM A, DM B, bool tr) -> DM solve(self, MX A, MX B, bool tr) -> MX Solve linear system of equations Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L111 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L101-L103 ....... :: solve(self, DM A, DM B, bool tr) [INTERNAL] Solve linear system of equations Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L110 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L73-L99 ............. ....... :: solve(self, MX A, MX B, bool tr) [INTERNAL] Solve linear system of equations Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L111 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L101-L103 ............. """ return _casadi.Linsol_solve(self, *args) def neig(self, *args) -> "casadi_int": """ [INTERNAL] :: neig(self, DM A) -> int Number of negative eigenvalues. Not available for all solvers Extra doc: https://github.com/casadi/casadi/wiki/L_1kk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L119 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L166-L171 """ return _casadi.Linsol_neig(self, *args) def rank(self, *args) -> "casadi_int": """ [INTERNAL] :: rank(self, DM A) -> int Matrix rank. Not available for all solvers Extra doc: https://github.com/casadi/casadi/wiki/L_1kl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L126 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L177-L182 """ return _casadi.Linsol_rank(self, *args) def stats(self, *args) -> "casadi::Dict": """ [INTERNAL] :: stats(self, int mem) -> dict Get all statistics obtained at the end of the last evaluate call. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L129 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L218-L222 """ return _casadi.Linsol_stats(self, *args) def __init__(self, *args): """ :: Linsol() Linsol(Linsol other) Linsol(str name, str solver, Sparsity sp, dict opts) ....... :: Linsol(Linsol other) ............. ....... :: Linsol() [INTERNAL] Default constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L63 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L32-L33 ............. ....... :: Linsol(str name, str solver, Sparsity sp, dict opts) [INTERNAL] Constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L66 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L35-L39 ............. """ this = _casadi.new_Linsol(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Linsol Linsol_swigregister = _casadi.Linsol_swigregister Linsol_swigregister(Linsol) def Linsol_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Linsol_type_name(*args) def Linsol_has_plugin(*args) -> "bool": """ :: has_plugin(str name) -> bool """ return _casadi.Linsol_has_plugin(*args) def Linsol_load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.Linsol_load_plugin(*args) def Linsol_doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.Linsol_doc(*args) def has_linsol(*args) -> "bool": """ [INTERNAL] :: has_linsol(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L206-L208 """ return _casadi.has_linsol(*args) def load_linsol(*args) -> "void": """ [INTERNAL] :: load_linsol(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L210 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L210-L212 """ return _casadi.load_linsol(*args) def doc_linsol(*args) -> "std::string": """ [INTERNAL] :: doc_linsol(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.hpp#L214 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/linsol.cpp#L214-L216 """ return _casadi.doc_linsol(*args) def dplesol(*args) -> "casadi::DMVector": """ [INTERNAL] :: dplesol([DM] A, [DM] V, str solver, dict opts) -> [DM] dplesol(MX A, MX V, str solver, dict opts) -> MX dplesol([MX] A, [MX] V, str solver, dict opts) -> [MX] dplesol(str name, str solver, dict:Sparsity st, dict opts) -> Function ....... :: dplesol([DM] A, [DM] V, str solver, dict opts) dplesol(MX A, MX V, str solver, dict opts) dplesol([MX] A, [MX] V, str solver, dict opts) [INTERNAL] ............. ....... :: dplesol(str name, str solver, dict:Sparsity st, dict opts) [INTERNAL] Discrete periodic Lyapunov Equation solver Given matrices $A_k$ and symmetric $V_k, k = 0..K-1$ :: A_k in R^(n x n) V_k in R^n provides all of $P_k$ that satisfy: :: P_0 = A_(K-1)*P_(K-1)*A_(K-1)' + V_k P_k+1 = A_k*P_k*A_k' + V_k for k = 1..K-1 General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | const_dim | OT_BOOL | Assume constant | casadi::Dple | | | | dimension of P | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | eps_unstable | OT_DOUBLE | A margin for | casadi::Dple | | | | unstability | | | | | detection | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | error_unstable | OT_BOOL | Throw an | casadi::Dple | | | | exception when | | | | | it is detected | | | | | that | | | | | Product(A_i, | | | | | i=N..1)has | | | | | eigenvalues | | | | | greater than | | | | | 1-eps_unstable | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | pos_def | OT_BOOL | Assume P | casadi::Dple | | | | positive | | | | | definite | | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ >Input scheme: casadi::DpleInput (DPLE_NUM_IN = 2) +-----------+-------+------------------------------------------------------+ | Full name | Short | Description | +===========+=======+======================================================+ | DPLE_A | a | A matrices (horzcat when const_dim, diagcat | | | | otherwise) [a]. | +-----------+-------+------------------------------------------------------+ | DPLE_V | v | V matrices (horzcat when const_dim, diagcat | | | | otherwise) [v]. | +-----------+-------+------------------------------------------------------+ >Output scheme: casadi::DpleOutput (DPLE_NUM_OUT = 1) +-----------+-------+------------------------------------------------------+ | Full name | Short | Description | +===========+=======+======================================================+ | DPLE_P | p | Lyapunov matrix (horzcat when const_dim, diagcat | | | | otherwise) (Cholesky of P if pos_def) [p]. | +-----------+-------+------------------------------------------------------+ List of plugins - slicot 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 Dple.doc("myextraplugin") -------------------------------------------------------------------------------- slicot ------ An efficient solver for Discrete Periodic Lyapunov Equations using SLICOT Uses Periodic Schur Decomposition ('psd') and does not assume positive definiteness. Based on Periodic Lyapunov equations: some applications and new algorithms. Int. J. Control, vol. 67, pp. 69-87, 1997. Overview of the method: J. Gillis Practical Methods for Approximate Robust Periodic Optimal Control ofNonlinear Mechanical Systems, PhD Thesis, KULeuven, 2015 Extra doc: https://github.com/casadi/casadi/wiki/L_22j >List of available options +-----------------------+-----------+--------------------------------------+ | Id | Type | Description | +=======================+===========+======================================+ | linear_solver | OT_STRING | User-defined linear solver class. | | | | Needed for sensitivities. | +-----------------------+-----------+--------------------------------------+ | linear_solver_options | OT_DICT | Options to be passed to the linear | | | | solver. | +-----------------------+-----------+--------------------------------------+ | psd_num_zero | OT_DOUBLE | Numerical zero used in Periodic | | | | Schur decomposition with slicot.This | | | | option is needed when your systems | | | | has Floquet multiplierszero or close | | | | to zero | +-----------------------+-----------+--------------------------------------+ Joris Gillis Extra doc: https://github.com/casadi/casadi/wiki/L_21o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L97 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L97-L100 ............. """ return _casadi.dplesol(*args) def dple_in(*args) -> "std::string": """ [INTERNAL] :: dple_in() -> [str] dple_in(int ind) -> str Get DPLE input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1ne Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L114-L121 ....... :: dple_in() [INTERNAL] Get input scheme of DPLE solvers. Extra doc: https://github.com/casadi/casadi/wiki/L_1nc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L102 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L102-L106 ............. ....... :: dple_in(int ind) [INTERNAL] Get DPLE input scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1ne Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L114 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L114-L121 ............. """ return _casadi.dple_in(*args) def dple_out(*args) -> "std::string": """ [INTERNAL] :: dple_out() -> [str] dple_out(int ind) -> str Get DPLE output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1nf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L123 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L123-L129 ....... :: dple_out(int ind) [INTERNAL] Get DPLE output scheme name by index. Extra doc: https://github.com/casadi/casadi/wiki/L_1nf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L123 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L123-L129 ............. ....... :: dple_out() [INTERNAL] Get output scheme of DPLE solvers. Extra doc: https://github.com/casadi/casadi/wiki/L_1nd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L108 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L108-L112 ............. """ return _casadi.dple_out(*args) def dple_n_in(*args) -> "casadi_int": """ [INTERNAL] :: dple_n_in() -> int Get the number of QP solver inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1ng Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L131-L133 """ return _casadi.dple_n_in(*args) def dple_n_out(*args) -> "casadi_int": """ [INTERNAL] :: dple_n_out() -> int Get the number of QP solver outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_1nh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L135 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L135-L137 """ return _casadi.dple_n_out(*args) def has_dple(*args) -> "bool": """ [INTERNAL] :: has_dple(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L31 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L31-L33 """ return _casadi.has_dple(*args) def load_dple(*args) -> "void": """ [INTERNAL] :: load_dple(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L35 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L35-L37 """ return _casadi.load_dple(*args) def doc_dple(*args) -> "std::string": """ [INTERNAL] :: doc_dple(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dple.hpp#L39 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dple.cpp#L39-L41 """ return _casadi.doc_dple(*args) def expmsol(*args) -> "casadi::Function": """ [INTERNAL] :: expmsol(str name, str solver, Sparsity A, dict opts) -> Function Performs a matrix exponentiation expm(A) General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | const_A | OT_BOOL | Assume A is | casadi::Expm | | | | constant. | | | | | Default: false. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ List of plugins - slicot 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 Expm.doc("myextraplugin") -------------------------------------------------------------------------------- slicot ------ Extra doc: https://github.com/casadi/casadi/wiki/L_22l Joris Gillis Extra doc: https://github.com/casadi/casadi/wiki/L_21l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L44 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L44-L47 """ return _casadi.expmsol(*args) def expm_n_in(*args) -> "casadi_int": """ [INTERNAL] :: expm_n_in() -> int Get the number of expm solver inputs. Extra doc: https://github.com/casadi/casadi/wiki/L_rs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L49 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L49-L51 """ return _casadi.expm_n_in(*args) def expm_n_out(*args) -> "casadi_int": """ [INTERNAL] :: expm_n_out() -> int Get the number of expm solver outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_rt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L53 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L53-L55 """ return _casadi.expm_n_out(*args) def has_expm(*args) -> "bool": """ [INTERNAL] :: has_expm(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L32 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L32-L34 """ return _casadi.has_expm(*args) def load_expm(*args) -> "void": """ [INTERNAL] :: load_expm(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L36 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L36-L38 """ return _casadi.load_expm(*args) def doc_expm(*args) -> "std::string": """ [INTERNAL] :: doc_expm(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/expm.hpp#L40 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/expm.cpp#L40-L42 """ return _casadi.doc_expm(*args) def interpolant(*args) -> "casadi::Function": """ [INTERNAL] :: interpolant(str name, str solver, [[float]] grid, int m, dict opts) -> Function interpolant(str name, str solver, [int] grid_dims, int m, dict opts) -> Function interpolant(str name, str solver, [[float]] grid, [float] values, dict opts) -> Function interpolant(str name, str solver, [int] grid_dims, [float] values, dict opts) -> Function Parametric variant of interpolant. The resulting function will have an additional argument for the grid By default, derivatives wrt the coefficients are not supported (zero). Some interpolant plugins may support the inline=true which enables correct derivatives Extra doc: https://github.com/casadi/casadi/wiki/L_1p5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L171 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L171-L187 ....... :: interpolant(str name, str solver, [[float]] grid, [float] values, dict opts) [INTERNAL] An interpolant function for lookup table data Parameters: ----------- name: label for the resulting Function solver: name of the plugin grid: collection of 1D grids whose outer product defines the full N-D rectangular grid values: flattened vector of all values for all gridpoints Syntax 1D :: * # Python * xgrid = np.linspace(1,6,6) * V = [-1,-1,-2,-3,0,2] * LUT = casadi.interpolant("LUT","bspline",[xgrid],V) * print(LUT(2.5)) * :: * % Matlab * xgrid = 1:6; * V = [-1 -1 -2 -3 0 2]; * LUT = casadi.interpolant('LUT','bspline',{xgrid},V); * LUT(2.5) * Syntax 2D :: * # Python * xgrid = np.linspace(-5,5,11) * ygrid = np.linspace(-4,4,9) * X,Y = np.meshgrid(xgrid,ygrid,indexing='ij') * R = np.sqrt(5*X**2 + Y**2)+ 1 * data = np.sin(R)/R * data_flat = data.ravel(order='F') * LUT = casadi.interpolant('name','bspline',[xgrid,ygrid],data_flat) * print(LUT([0.5,1])) * \\enverbatim * \\verbatim * % Matlab * xgrid = -5:1:5; * ygrid = -4:1:4; * R = sqrt(5*X.^2 + Y.^2)+ 1; * V = sin(R)./(R); * LUT = interpolant('LUT','bspline',{xgrid, ygrid},V(:)); * LUT([0.5 1]) * General information >List of available options +------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*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. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s 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. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | batch_x | OT_INT | Evaluate a batch | casadi::Interpol | | | | of different | ant | | | | inputs at once | | | | | (default 1). | | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | | | | A counter is | | | | | used to generate | | | | | unique names. | | | | | The counter may | | | | | be reset using r | | | | | eset_dump_count. | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | external_transfo | OT_VECTORVECTOR | List of external | casadi::Function | | rm | | _transform | Internal | | | | instruction | | | | | arguments. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | inline | OT_BOOL | Implement the | casadi::Interpol | | | | lookup table in | ant | | | | MX primitives. | | | | | Useful when you | | | | | need derivatives | | | | | with respect to | | | | | grid and/or | | | | | coefficients. | | | | | Such derivatives | | | | | are | | | | | fundamentally | | | | | dense, so use | | | | | with caution. | | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | 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 | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | lookup_mode | OT_STRINGVECTOR | Specifies, for | casadi::Interpol | | | | each grid | ant | | | | dimension, the | | | | | lookup algorithm | | | | | used to find the | | | | | correct index. | | | | | 'linear' uses a | | | | | for-loop + | | | | | break; (default | | | | | when | | | | | #knots<=100), | | | | | 'exact' uses | | | | | floored division | | | | | (only for | | | | | uniform grids), | | | | | 'binary' uses a | | | | | binary search. | | | | | (default when | | | | | #knots>100). | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_canonical | OT_BOOL | When printing | casadi::Function | | | | numerical | Internal | | | | matrices, use a | | | | | format that is | | | | | exact and | | | | | reproducible in | | | | | generated C | | | | | code. | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+ List of plugins - bspline - linear 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 Interpolant.doc("myextraplugin") -------------------------------------------------------------------------------- bspline ------- Extra doc: https://github.com/casadi/casadi/wiki/L_239 >List of available options +-----------------------+--------------+-----------------------------------+ | Id | Type | Description | +=======================+==============+===================================+ | algorithm | OT_STRING | Algorithm used for fitting the | | | | data: 'not_a_knot' (default, same | | | | as Matlab), 'smooth_linear'. | +-----------------------+--------------+-----------------------------------+ | degree | OT_INTVECTOR | Sets, for each grid dimension, | | | | the degree of the spline. | +-----------------------+--------------+-----------------------------------+ | linear_solver | OT_STRING | Solver used for constructing the | | | | coefficient tensor. | +-----------------------+--------------+-----------------------------------+ | linear_solver_options | OT_DICT | Options to be passed to the | | | | linear solver. | +-----------------------+--------------+-----------------------------------+ | smooth_linear_frac | OT_DOUBLE | When 'smooth_linear' algorithm is | | | | active, determines sharpness | | | | between 0 (sharp, as linear | | | | interpolation) and 0.5 | | | | (smooth).Default value is 0.1. | +-----------------------+--------------+-----------------------------------+ -------------------------------------------------------------------------------- linear ------ Extra doc: https://github.com/casadi/casadi/wiki/L_23b >List of available options +-------------+-----------------+------------------------------------------+ | Id | Type | Description | +=============+=================+==========================================+ | lookup_mode | OT_STRINGVECTOR | Sets, for each grid dimenion, the lookup | | | | algorithm used to find the correct | | | | index. 'linear' uses a for-loop + break; | | | | 'exact' uses floored division (only for | | | | uniform grids). | +-------------+-----------------+------------------------------------------+ Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_21p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L125 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L125-L147 ............. ....... :: interpolant(str name, str solver, [[float]] grid, int m, dict opts) [INTERNAL] Parametric variant of interpolant. The resulting function will have an additional argument for the coefficients By default, derivatives wrt the coefficients are not supported (zero). Some interpolant plugins may support the inline=true which enables correct derivatives Extra doc: https://github.com/casadi/casadi/wiki/L_1p3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L189-L203 ............. ....... :: interpolant(str name, str solver, [int] grid_dims, int m, dict opts) [INTERNAL] Parametric variant of interpolant. The resulting function will have additional arguments for the grid and coefficients By default, derivatives wrt the coefficients are not supported (zero). Some interpolant plugins may support the inline=true which enables correct derivatives Extra doc: https://github.com/casadi/casadi/wiki/L_1p4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L205 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L205-L213 ............. ....... :: interpolant(str name, str solver, [int] grid_dims, [float] values, dict opts) [INTERNAL] Parametric variant of interpolant. The resulting function will have an additional argument for the grid By default, derivatives wrt the coefficients are not supported (zero). Some interpolant plugins may support the inline=true which enables correct derivatives Extra doc: https://github.com/casadi/casadi/wiki/L_1p5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L171 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L171-L187 ............. """ return _casadi.interpolant(*args) def has_interpolant(*args) -> "bool": """ [INTERNAL] :: has_interpolant(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L34 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L34-L36 """ return _casadi.has_interpolant(*args) def load_interpolant(*args) -> "void": """ [INTERNAL] :: load_interpolant(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L38 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L38-L40 """ return _casadi.load_interpolant(*args) def doc_interpolant(*args) -> "std::string": """ [INTERNAL] :: doc_interpolant(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.hpp#L42 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/interpolant.cpp#L42-L44 """ return _casadi.doc_interpolant(*args) def blazing_spline(*args) -> "casadi::Function": """ [INTERNAL] :: blazing_spline(str name, [[float]] knots, dict opts) -> Function Construct a specialized parametric BSpline. Specialized in these ways: order 3 is assumed up to dimension 3 supported a single scalar output (m=1) Extra doc: https://github.com/casadi/casadi/wiki/L_2b9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/blazing_spline.hpp#L38 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/blazing_spline.cpp#L38-L42 """ return _casadi.blazing_spline(*args) class CodeGenerator(_object): """ [INTERNAL] :: Helper class for C code generation. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_ru C++ includes: code_generator.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, CodeGenerator, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, CodeGenerator, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: CodeGenerator(str name, dict opts) Constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.hpp#L46 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.cpp#L37-L201 """ this = _casadi.new_CodeGenerator(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this def add(self, *args) -> "void": """ [INTERNAL] :: add(self, Function f, bool with_jac_sparsity) Add a function (name generated) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.hpp#L49 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.cpp#L331-L374 """ return _casadi.CodeGenerator_add(self, *args) def dump(self, *args) -> "std::string": """ [INTERNAL] :: dump(self) -> str Generate a file, return code as string. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.hpp#L57 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.cpp#L376-L380 """ return _casadi.CodeGenerator_dump(self, *args) def generate(self, *args) -> "std::string": """ [INTERNAL] :: generate(self, str prefix) -> str Generate file(s) The "prefix" argument will be prepended to the generated files and may be a directory or a file prefix. returns the filename Extra doc: https://github.com/casadi/casadi/wiki/L_rv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.hpp#L66 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.cpp#L468-L533 """ return _casadi.CodeGenerator_generate(self, *args) def add_include(self, *args) -> "void": """ [INTERNAL] :: add_include(self, str new_include, bool relative_path, str use_ifdef) Add an include file optionally using a relative path "..." instead of an absolute path <...> Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.hpp#L69 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/code_generator.cpp#L1122-L1142 """ return _casadi.CodeGenerator_add_include(self, *args) __swig_destroy__ = _casadi.delete_CodeGenerator CodeGenerator_swigregister = _casadi.CodeGenerator_swigregister CodeGenerator_swigregister(CodeGenerator) FLAG = _casadi.FLAG def _horzcat(*args) -> "casadi::Matrix< casadi::SXElem >": """ Concatenate horizontally, six matrices. :: _horzcat([Sparsity] v) -> Sparsity _horzcat([DM] v) -> DM _horzcat([SX] v) -> SX _horzcat([MX] v) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_4e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L502 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L502-L505 """ return _casadi._horzcat(*args) def _vertcat(*args) -> "casadi::Matrix< casadi::SXElem >": """ Concatenate vertically, six matrices. :: _vertcat([Sparsity] v) -> Sparsity _vertcat([DM] v) -> DM _vertcat([SX] v) -> SX _vertcat([MX] v) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_4j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L540 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L540-L543 """ return _casadi._vertcat(*args) def horzsplit(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ split horizontally, retaining fixed-sized groups of columns :: horzsplit(Sparsity v, int incr) -> [Sparsity] horzsplit(DM v, int incr) -> [DM] horzsplit(SX v, int incr) -> [SX] horzsplit(MX v, int incr) -> [MX] horzsplit(Sparsity v, [int] offset) -> [Sparsity] horzsplit(DM v, [int] offset) -> [DM] horzsplit(SX v, [int] offset) -> [SX] horzsplit(MX v, [int] offset) -> [MX] Parameters: ----------- incr: Size (width) of each group of columns horzcat(horzsplit(x, ...)) = x \\seealso horzsplit_n Extra doc: https://github.com/casadi/casadi/wiki/L_3h Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L134 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L134-L136 """ return _casadi.horzsplit(*args) def horzsplit_n(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ split horizontally, retaining fixed-sized groups of columns :: horzsplit_n(Sparsity v, int n) -> [Sparsity] horzsplit_n(DM v, int n) -> [DM] horzsplit_n(SX v, int n) -> [SX] horzsplit_n(MX v, int n) -> [MX] Parameters: ----------- n: Number of groups of columns Will error when the number of columns is not a multiple of n horzcat(horzsplit(x, ...)) = x \\seealso horzsplit Extra doc: https://github.com/casadi/casadi/wiki/L_277 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L149 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L149-L151 """ return _casadi.horzsplit_n(*args) def offset(*args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ Helper function, get offsets corresponding to a vector of matrices. :: offset([Sparsity] v, bool vert) -> [int] offset([DM] v, bool vert) -> [int] offset([SX] v, bool vert) -> [int] offset([MX] v, bool vert) -> [int] Extra doc: https://github.com/casadi/casadi/wiki/L_3j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L169 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L169-L171 """ return _casadi.offset(*args) def vertsplit(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ split vertically, retaining fixed-sized groups of rows :: vertsplit(Sparsity v, int incr) -> [Sparsity] vertsplit(DM v, int incr) -> [DM] vertsplit(SX v, int incr) -> [SX] vertsplit(MX v, int incr) -> [MX] vertsplit(Sparsity v, [int] offset) -> [Sparsity] vertsplit(DM v, [int] offset) -> [DM] vertsplit(SX v, [int] offset) -> [SX] vertsplit(MX v, [int] offset) -> [MX] Parameters: ----------- incr: Size of each group of rows vertcat(vertsplit(x, ...)) = x :: >>> print vertsplit(SX.sym("a",4)) [SX(a_0), SX(a_1), SX(a_2), SX(a_3)] :: >>> print vertsplit(SX.sym("a",4),2) [SX([a_0, a_1]), SX([a_2, a_3])] If the number of rows is not a multiple of incr, the last entry returned will have a size smaller than incr. :: >>> print vertsplit(DM([0,1,2,3,4]),2) [DM([0, 1]), DM([2, 3]), DM(4)] \\seealso vertsplit_n Extra doc: https://github.com/casadi/casadi/wiki/L_3k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L204 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L204-L206 """ return _casadi.vertsplit(*args) def vertsplit_n(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ split vertically, retaining fixed-sized groups of rows :: vertsplit_n(Sparsity v, int n) -> [Sparsity] vertsplit_n(DM v, int n) -> [DM] vertsplit_n(SX v, int n) -> [SX] vertsplit_n(MX v, int n) -> [MX] Parameters: ----------- n: Number of groups of rows Will error when the number of rows is not a multiple of n vertcat(vertsplit(x, ...)) = x \\seealso vertsplit Extra doc: https://github.com/casadi/casadi/wiki/L_278 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L219 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L219-L221 """ return _casadi.vertsplit_n(*args) def blocksplit(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >,std::allocator< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > > > >": """ chop up into blocks :: blocksplit(Sparsity x, int vert_incr, int horz_incr) -> [[Sparsity]] blocksplit(DM x, int vert_incr, int horz_incr) -> [[DM]] blocksplit(SX x, int vert_incr, int horz_incr) -> [[SX]] blocksplit(MX x, int vert_incr, int horz_incr) -> [[MX]] blocksplit(Sparsity x, [int] vert_offset, [int] horz_offset) -> [[Sparsity]] blocksplit(DM x, [int] vert_offset, [int] horz_offset) -> [[DM]] blocksplit(SX x, [int] vert_offset, [int] horz_offset) -> [[SX]] blocksplit(MX x, [int] vert_offset, [int] horz_offset) -> [[MX]] Parameters: ----------- vert_incr: Defines the increment for block boundaries in row dimension horz_incr: Defines the increment for block boundaries in column dimension blockcat(blocksplit(x,..., ...)) = x Extra doc: https://github.com/casadi/casadi/wiki/L_3o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L262 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L262-L264 """ return _casadi.blocksplit(*args) def _diagcat(*args) -> "casadi::Matrix< casadi::SXElem >": """ Concatenate along diagonal, six matrices. :: _diagcat([Sparsity] A) -> Sparsity _diagcat([DM] A) -> DM _diagcat([SX] A) -> SX _diagcat([MX] A) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_4o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L578 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L578-L581 """ return _casadi._diagcat(*args) def diagsplit(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ split diagonally, retaining fixed-sized matrices :: diagsplit(Sparsity x, int incr) -> [Sparsity] diagsplit(DM x, int incr) -> [DM] diagsplit(SX x, int incr) -> [SX] diagsplit(MX x, int incr) -> [MX] diagsplit(Sparsity x, [int] output_offset) -> [Sparsity] diagsplit(DM x, [int] output_offset) -> [DM] diagsplit(SX x, [int] output_offset) -> [SX] diagsplit(MX x, [int] output_offset) -> [MX] diagsplit(Sparsity x, int incr1, int incr2) -> [Sparsity] diagsplit(Sparsity x, [int] output_offset1, [int] output_offset2) -> [Sparsity] diagsplit(DM x, int incr1, int incr2) -> [DM] diagsplit(DM x, [int] output_offset1, [int] output_offset2) -> [DM] diagsplit(SX x, int incr1, int incr2) -> [SX] diagsplit(SX x, [int] output_offset1, [int] output_offset2) -> [SX] diagsplit(MX x, int incr1, int incr2) -> [MX] diagsplit(MX x, [int] output_offset1, [int] output_offset2) -> [MX] Parameters: ----------- incr1: Row dimension of each matrix incr2: Column dimension of each matrix diagsplit(diagsplit(x, ...)) = x Extra doc: https://github.com/casadi/casadi/wiki/L_3t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L324 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L324-L326 """ return _casadi.diagsplit(*args) def _veccat(*args) -> "casadi::Matrix< casadi::SXElem >": """ concatenate vertically while vectorizing all arguments with vec :: _veccat([Sparsity] x) -> Sparsity _veccat([DM] x) -> DM _veccat([SX] x) -> SX _veccat([MX] x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_3u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L331 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L331-L333 """ return _casadi._veccat(*args) def mtimes(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix product of n matrices. :: mtimes([Sparsity] args) -> Sparsity mtimes([DM] args) -> DM mtimes([SX] args) -> SX mtimes([MX] args) -> MX mtimes(Sparsity x, Sparsity y) -> Sparsity mtimes(DM x, DM y) -> DM mtimes(SX x, SX y) -> SX mtimes(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_3w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L345 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L345-L347 """ return _casadi.mtimes(*args) def mac(*args) -> "casadi::Matrix< casadi::SXElem >": """ Multiply-accumulate operation. :: mac(Sparsity X, Sparsity Y, Sparsity Z) -> Sparsity mac(DM X, DM Y, DM Z) -> DM mac(SX X, SX Y, SX Z) -> SX mac(MX X, MX Y, MX Z) -> MX Matrix product of two matrices (x and y), adding the result to a third matrix z. The result has the same sparsity pattern as C meaning that other entries of (x*y) are ignored. The operation is equivalent to: z+mtimes(x,y).project(z.sparsity()). Extra doc: https://github.com/casadi/casadi/wiki/L_3x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L358 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L358-L360 """ return _casadi.mac(*args) def transpose(*args) -> "casadi::Matrix< casadi::SXElem >": """ Transpose. :: transpose(Sparsity X) -> Sparsity transpose(DM X) -> DM transpose(SX X) -> SX transpose(MX X) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_3y Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L365 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L365-L367 """ return _casadi.transpose(*args) def vec(*args) -> "casadi::Matrix< casadi::SXElem >": """ make a vector :: vec(Sparsity a) -> Sparsity vec(DM a) -> DM vec(SX a) -> SX vec(MX a) -> MX Reshapes/vectorizes the matrix such that the shape becomes (expr.numel(), 1). Columns are stacked on top of each other. Same as reshape(expr, expr.numel(), 1) a c b d turns into a b c d Extra doc: https://github.com/casadi/casadi/wiki/L_3z Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L386 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L386-L388 """ return _casadi.vec(*args) def reshape(*args) -> "casadi::Matrix< casadi::SXElem >": """ Reshape the matrix. :: reshape(Sparsity a, (int,int) rc) -> Sparsity reshape(Sparsity a, Sparsity sp) -> Sparsity reshape(DM a, (int,int) rc) -> DM reshape(DM a, Sparsity sp) -> DM reshape(SX a, (int,int) rc) -> SX reshape(SX a, Sparsity sp) -> SX reshape(MX a, (int,int) rc) -> MX reshape(MX a, Sparsity sp) -> MX reshape(Sparsity a, int nrow, int ncol) -> Sparsity reshape(DM a, int nrow, int ncol) -> DM reshape(SX a, int nrow, int ncol) -> SX reshape(MX a, int nrow, int ncol) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_42 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L407 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L407-L409 """ return _casadi.reshape(*args) def sparsity_cast(*args) -> "casadi::Matrix< casadi::SXElem >": """ Cast matrix nonzeros to different Sparsity. :: sparsity_cast(Sparsity a, Sparsity sp) -> Sparsity sparsity_cast(DM a, Sparsity sp) -> DM sparsity_cast(SX a, Sparsity sp) -> SX sparsity_cast(MX a, Sparsity sp) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_24z Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L414 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L414-L416 """ return _casadi.sparsity_cast(*args) def sprank(*args) -> "casadi_int": """ :: sprank(Sparsity A) -> int sprank(DM A) -> int sprank(SX A) -> int sprank(MX A) -> int """ return _casadi.sprank(*args) def norm_0_mul(*args) -> "casadi_int": """ :: norm_0_mul(Sparsity x, Sparsity y) -> int norm_0_mul(DM x, DM y) -> int norm_0_mul(SX x, SX y) -> int norm_0_mul(MX x, MX y) -> int """ return _casadi.norm_0_mul(*args) def triu(*args) -> "casadi::Matrix< casadi::SXElem >": """ Get the upper triangular part of a matrix. :: triu(Sparsity a, bool includeDiagonal) -> Sparsity triu(DM a, bool includeDiagonal) -> DM triu(SX a, bool includeDiagonal) -> SX triu(MX a, bool includeDiagonal) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_45 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L435 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L435-L437 """ return _casadi.triu(*args) def tril(*args) -> "casadi::Matrix< casadi::SXElem >": """ Get the lower triangular part of a matrix. :: tril(Sparsity a, bool includeDiagonal) -> Sparsity tril(DM a, bool includeDiagonal) -> DM tril(SX a, bool includeDiagonal) -> SX tril(MX a, bool includeDiagonal) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_46 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L442 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L442-L444 """ return _casadi.tril(*args) def kron(*args) -> "casadi::Matrix< casadi::SXElem >": """ Kronecker tensor product. :: kron(Sparsity a, Sparsity b) -> Sparsity kron(DM a, DM b) -> DM kron(SX a, SX b) -> SX kron(MX a, MX b) -> MX Creates a block matrix in which each element (i, j) is a_ij*b Extra doc: https://github.com/casadi/casadi/wiki/L_47 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L451 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L451-L453 """ return _casadi.kron(*args) def repmat(*args) -> "casadi::Matrix< casadi::SXElem >": """ Repeat matrix A n times vertically and m times horizontally. :: repmat(Sparsity A, int n, int m) -> Sparsity repmat(Sparsity A, (int,int) rc) -> Sparsity repmat(DM A, int n, int m) -> DM repmat(DM A, (int,int) rc) -> DM repmat(SX A, int n, int m) -> SX repmat(SX A, (int,int) rc) -> SX repmat(MX A, int n, int m) -> MX repmat(MX A, (int,int) rc) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_49 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L465 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L465-L467 """ return _casadi.repmat(*args) def sum2(*args) -> "casadi::Matrix< casadi::SXElem >": """ Return a column-wise summation of elements. :: sum2(Sparsity x) -> Sparsity sum2(DM x) -> DM sum2(SX x) -> SX sum2(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_4q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L591 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L591-L591 """ return _casadi.sum2(*args) def sum1(*args) -> "casadi::Matrix< casadi::SXElem >": """ Return a row-wise summation of elements. :: sum1(Sparsity x) -> Sparsity sum1(DM x) -> DM sum1(SX x) -> SX sum1(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_4p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L586 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L586-L586 """ return _casadi.sum1(*args) def sum(*args) -> "casadi::Matrix< casadi::SXElem >": """ sum :: sum(Sparsity x) -> Sparsity sum(DM x) -> DM sum(SX x) -> SX sum(MX x) -> MX sum(Sparsity x, int dim) -> Sparsity sum(DM x, int dim) -> DM sum(SX x, int dim) -> SX sum(MX x, int dim) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1ll Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L930 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L930-L934 """ return _casadi.sum(*args) def plus(*args) -> "double": """ :: plus(float x, float y) -> float plus(DM x, DM y) -> DM plus(SX x, SX y) -> SX plus(MX x, MX y) -> MX """ return _casadi.plus(*args) def minus(*args) -> "double": """ Subtraction: (x,y) -> x - y. :: minus(float x, float y) -> float minus(DM x, DM y) -> DM minus(SX x, SX y) -> SX minus(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_oo Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L83 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L83-L85 """ return _casadi.minus(*args) def times(*args) -> "double": """ Elementwise multiplication: (x,y) -> x .* y. :: times(float x, float y) -> float times(DM x, DM y) -> DM times(SX x, SX y) -> SX times(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_op Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L99-L101 """ return _casadi.times(*args) def rdivide(*args) -> "double": """ Elementwise division: (x,y) -> x ./ y. :: rdivide(float x, float y) -> float rdivide(DM x, DM y) -> DM rdivide(SX x, SX y) -> SX rdivide(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_oq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L115 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L115-L117 """ return _casadi.rdivide(*args) def ldivide(*args) -> "double": """ :: ldivide(float x, float y) -> float ldivide(DM x, DM y) -> DM ldivide(SX x, SX y) -> SX ldivide(MX x, MX y) -> MX """ return _casadi.ldivide(*args) def lt(*args) -> "double": """ Logical less than: (x,y) -> x < y. :: lt(float x, float y) -> float lt(DM x, DM y) -> DM lt(SX x, SX y) -> SX lt(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_or Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L131-L133 """ return _casadi.lt(*args) def le(*args) -> "double": """ Logical less or equal to: (x,y) -> x <= y. :: le(float x, float y) -> float le(DM x, DM y) -> DM le(SX x, SX y) -> SX le(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_os Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L146 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L146-L148 """ return _casadi.le(*args) def gt(*args) -> "double": """ Logical greater than: (x,y) -> x > y. :: gt(float x, float y) -> float gt(DM x, DM y) -> DM gt(SX x, SX y) -> SX gt(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_ot Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L161 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L161-L163 """ return _casadi.gt(*args) def ge(*args) -> "double": """ Logical greater or equal to: (x,y) -> x >= y. :: ge(float x, float y) -> float ge(DM x, DM y) -> DM ge(SX x, SX y) -> SX ge(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_ou Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L176 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L176-L178 """ return _casadi.ge(*args) def eq(*args) -> "double": """ Logical equal to: (x,y) -> x == y. :: eq(float x, float y) -> float eq(DM x, DM y) -> DM eq(SX x, SX y) -> SX eq(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_ov Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L191 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L191-L193 """ return _casadi.eq(*args) def ne(*args) -> "double": """ Logical not equal to: (x,y) -> x != y. :: ne(float x, float y) -> float ne(DM x, DM y) -> DM ne(SX x, SX y) -> SX ne(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_ow Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L206-L208 """ return _casadi.ne(*args) def logic_and(*args) -> "double": """ :: logic_and(float x, float y) -> float logic_and(DM x, DM y) -> DM logic_and(SX x, SX y) -> SX logic_and(MX x, MX y) -> MX """ return _casadi.logic_and(*args) def logic_or(*args) -> "double": """ :: logic_or(float x, float y) -> float logic_or(DM x, DM y) -> DM logic_or(SX x, SX y) -> SX logic_or(MX x, MX y) -> MX """ return _casadi.logic_or(*args) def logic_not(*args) -> "double": """ :: logic_not(float x) -> float logic_not(DM x) -> DM logic_not(SX x) -> SX logic_not(MX x) -> MX """ return _casadi.logic_not(*args) def fabs(*args) -> "double": """ Absolute value: x -> abs(x) :: fabs(float x) -> float fabs(DM x) -> DM fabs(SX x) -> SX fabs(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L275 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L275-L277 """ return _casadi.fabs(*args) def sqrt(*args) -> "double": """ Square root: x -> sqrt(x) :: sqrt(float x) -> float sqrt(DM x) -> DM sqrt(SX x) -> SX sqrt(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L290 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L290-L292 """ return _casadi.sqrt(*args) def sin(*args) -> "double": """ Sine: x -> sin(x) :: sin(float x) -> float sin(DM x) -> DM sin(SX x) -> SX sin(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L314 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L314-L316 """ return _casadi.sin(*args) def cos(*args) -> "double": """ Cosine: x -> cos(x) :: cos(float x) -> float cos(DM x) -> DM cos(SX x) -> SX cos(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L326 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L326-L328 """ return _casadi.cos(*args) def tan(*args) -> "double": """ Tangent: x -> tan(x) :: tan(float x) -> float tan(DM x) -> DM tan(SX x) -> SX tan(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L338 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L338-L340 """ return _casadi.tan(*args) def atan(*args) -> "double": """ Arc tangent: x -> atan(x) :: atan(float x) -> float atan(DM x) -> DM atan(SX x) -> SX atan(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L350 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L350-L352 """ return _casadi.atan(*args) def asin(*args) -> "double": """ Arc sine: x -> asin(x) :: asin(float x) -> float asin(DM x) -> DM asin(SX x) -> SX asin(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L362 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L362-L364 """ return _casadi.asin(*args) def acos(*args) -> "double": """ Arc cosine: x -> acos(x) :: acos(float x) -> float acos(DM x) -> DM acos(SX x) -> SX acos(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L374 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L374-L376 """ return _casadi.acos(*args) def tanh(*args) -> "double": """ Hyperbolic tangent: x -> tanh(x) :: tanh(float x) -> float tanh(DM x) -> DM tanh(SX x) -> SX tanh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_p9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L386 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L386-L388 """ return _casadi.tanh(*args) def sinh(*args) -> "double": """ Hyperbolic sin: x -> sinh(x) :: sinh(float x) -> float sinh(DM x) -> DM sinh(SX x) -> SX sinh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pa Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L398 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L398-L400 """ return _casadi.sinh(*args) def cosh(*args) -> "double": """ Hyperbolic cosine: x -> cosh(x) :: cosh(float x) -> float cosh(DM x) -> DM cosh(SX x) -> SX cosh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L410 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L410-L412 """ return _casadi.cosh(*args) def atanh(*args) -> "double": """ Inverse hyperbolic tangent: x -> atanh(x) :: atanh(float x) -> float atanh(DM x) -> DM atanh(SX x) -> SX atanh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L422 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L422-L424 """ return _casadi.atanh(*args) def asinh(*args) -> "double": """ Inverse hyperbolic sin: x -> asinh(x) :: asinh(float x) -> float asinh(DM x) -> DM asinh(SX x) -> SX asinh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L434 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L434-L436 """ return _casadi.asinh(*args) def acosh(*args) -> "double": """ Inverse hyperbolic cosine: x -> acosh(x) :: acosh(float x) -> float acosh(DM x) -> DM acosh(SX x) -> SX acosh(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pe Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L446 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L446-L448 """ return _casadi.acosh(*args) def exp(*args) -> "double": """ Elementwise exponential: x -> exp(x) :: exp(float x) -> float exp(DM x) -> DM exp(SX x) -> SX exp(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L458 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L458-L460 """ return _casadi.exp(*args) def log(*args) -> "double": """ Natural logarithm: x -> log(x) :: log(float x) -> float log(DM x) -> DM log(SX x) -> SX log(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L470 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L470-L472 """ return _casadi.log(*args) def log10(*args) -> "double": """ Base-10 logarithm: x -> log10(x) :: log10(float x) -> float log10(DM x) -> DM log10(SX x) -> SX log10(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_ph Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L482 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L482-L484 """ return _casadi.log10(*args) def log1p(*args) -> "double": """ Precision variant for natural logarithm: x -> log(x+1) :: log1p(float x) -> float log1p(DM x) -> DM log1p(SX x) -> SX log1p(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L494 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L494-L496 """ return _casadi.log1p(*args) def expm1(*args) -> "double": """ Precision variant for elementwise exponential: x -> exp(x)-1. :: expm1(float x) -> float expm1(DM x) -> DM expm1(SX x) -> SX expm1(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L506 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L506-L508 """ return _casadi.expm1(*args) def floor(*args) -> "double": """ Round down to nearest integer: x -> floor(x) :: floor(float x) -> float floor(DM x) -> DM floor(SX x) -> SX floor(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pk Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L518 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L518-L520 """ return _casadi.floor(*args) def ceil(*args) -> "double": """ Round up to nearest integer: x -> ceil(x) :: ceil(float x) -> float ceil(DM x) -> DM ceil(SX x) -> SX ceil(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L530 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L530-L532 """ return _casadi.ceil(*args) def erf(*args) -> "double": """ Error function: x -> erf(x) :: erf(float x) -> float erf(DM x) -> DM erf(SX x) -> SX erf(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L542 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L542-L544 """ return _casadi.erf(*args) def erfinv(*args) -> "double": """ Inverse error function: x -> erfinv(x) :: erfinv(float x) -> float erfinv(DM x) -> DM erfinv(SX x) -> SX erfinv(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L554 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L554-L556 """ return _casadi.erfinv(*args) def sign(*args) -> "double": """ Sign function: :: sign(float x) -> float sign(DM x) -> DM sign(SX x) -> SX sign(MX x) -> MX sign(x) := -1 for x<0 sign(x) := 1 for x>0, sign(0) := 0 sign(NaN) := NaN Extra doc: https://github.com/casadi/casadi/wiki/L_po Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L571 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L571-L573 """ return _casadi.sign(*args) def power(*args) -> "double": """ :: power(float x, float n) -> float power(DM x, DM n) -> DM power(SX x, SX n) -> SX power(MX x, MX n) -> MX """ return _casadi.power(*args) def fmod(*args) -> "double": """ Remainder after division: (x,y) -> fmod(x,y) :: fmod(float x, float y) -> float fmod(DM x, DM y) -> DM fmod(SX x, SX y) -> SX fmod(MX x, MX y) -> MX This Function follows the convention of https://en.cppreference.com/w/c/numeric/math/fmod Notably: fmod(5,3) -> 2 fmod(5,-3) -> 2 fmod(-5,3) -> -2 fmod(-5,-3) -> -2 This is equivalent to Python's numpy.fmod and Matlab's rem. \\seealso remainder :: Extra doc: https://github.com/casadi/casadi/wiki/L_pq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L613 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L613-L615 """ return _casadi.fmod(*args) def remainder(*args) -> "double": """ Remainder after division: (x,y) -> remainder(x,y) :: remainder(float x, float y) -> float remainder(DM x, DM y) -> DM remainder(SX x, SX y) -> SX remainder(MX x, MX y) -> MX This Function follows the convention of https://en.cppreference.com/w/c/numeric/math/remainder Notably: remainder(5,3) -> -1 remainder(5,-3) -> -1 remainder(-5,3) -> 1 remainder(-5,-3) -> 1 This is equivalent to Python's math.remainder. There is no equivalence in Matlab. \\seealso fmod :: Extra doc: https://github.com/casadi/casadi/wiki/L_24x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L634 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L634-L636 """ return _casadi.remainder(*args) def atan2(*args) -> "double": """ Two argument arc tangent: (y,x) -> atan2(y,x) :: atan2(float x, float y) -> float atan2(DM x, DM y) -> DM atan2(SX x, SX y) -> SX atan2(MX x, MX y) -> MX theta = atan2(y,x) corresponds to x = r cos(theta), y = r sin(theta) Extra doc: https://github.com/casadi/casadi/wiki/L_pr Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L648 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L648-L650 """ return _casadi.atan2(*args) def fmin(*args) -> "double": """ Smallest of two values: (x,y) -> min(x,y) :: fmin(float x, float y) -> float fmin(DM x, DM y) -> DM fmin(SX x, SX y) -> SX fmin(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pt Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L672 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L672-L674 """ return _casadi.fmin(*args) def fmax(*args) -> "double": """ Largest of two values: (x,y) -> max(x,y) :: fmax(float x, float y) -> float fmax(DM x, DM y) -> DM fmax(SX x, SX y) -> SX fmax(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pu Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L684 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L684-L686 """ return _casadi.fmax(*args) def hypot(*args) -> "double": """ Precision variant for 2 norm: (x,y) -> sqrt(x^2+y^2) :: hypot(float x, float y) -> float hypot(DM x, DM y) -> DM hypot(SX x, SX y) -> SX hypot(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_pw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L742 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L742-L744 """ return _casadi.hypot(*args) def simplify(*args) -> "double": """ Simplify an expression. :: simplify(float x) -> float simplify(DM x) -> DM simplify(SX x) -> SX simplify(MX x) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1123 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1123-L1125 """ return _casadi.simplify(*args) def is_equal(*args) -> "bool": """ Check if two nodes are equivalent up to a given depth. :: is_equal(float x, float y, int depth) -> bool is_equal(DM x, DM y, int depth) -> bool is_equal(SX x, SX y, int depth) -> bool is_equal(MX x, MX y, int depth) -> bool Depth=0 checks if the expressions are identical, i.e. points to the same node. a = x*x b = x*x is_equal(a,b,0) will return false, but a.is_equal(a,b,1) will return true Extra doc: https://github.com/casadi/casadi/wiki/L_pv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L703 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L703-L705 """ return _casadi.is_equal(*args) def copysign(*args) -> "double": """ Copy sign :: copysign(float x, float y) -> float copysign(DM x, DM y) -> DM copysign(SX x, SX y) -> SX copysign(MX x, MX y) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L710 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L710-L712 """ return _casadi.copysign(*args) def constpow(*args) -> "double": """ Elementwise power with const power :: constpow(float x, float y) -> float constpow(DM x, DM y) -> DM constpow(SX x, SX y) -> SX constpow(MX x, MX y) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L720 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_expression.hpp#L720-L722 """ return _casadi.constpow(*args) def mpower(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix power x^n. :: mpower(DM x, DM n) -> DM mpower(SX x, SX n) -> SX mpower(MX x, MX n) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L319 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L319-L321 """ return _casadi.mpower(*args) def mrdivide(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix divide (cf. slash '/' in MATLAB) :: mrdivide(DM x, DM y) -> DM mrdivide(SX x, SX y) -> SX mrdivide(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bl Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L376 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L376-L378 """ return _casadi.mrdivide(*args) def mldivide(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix divide (cf. backslash '\\' in MATLAB) :: mldivide(DM x, DM y) -> DM mldivide(SX x, SX y) -> SX mldivide(MX x, MX y) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L383 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L383-L385 """ return _casadi.mldivide(*args) def symvar(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ Get symbols present in expression. :: symvar(DM x) -> [DM] symvar(SX x) -> [SX] symvar(MX x) -> [MX] Returned vector is ordered according to the order of variable()/parameter() calls used to create the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L578 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L532-L538 """ return _casadi.symvar(*args) def bilin(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate bilinear/quadratic form x^T A y. :: bilin(DM A, DM x) -> DM bilin(SX A, SX x) -> SX bilin(MX A, MX x) -> MX bilin(DM A, DM x, DM y) -> DM bilin(SX A, SX x, SX y) -> SX bilin(MX A, MX x, MX y) -> MX Parameters: ----------- y: can be omitted, in which case x^T A x is calculated Extra doc: https://github.com/casadi/casadi/wiki/L_1bo Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L409 """ return _casadi.bilin(*args) def rank1(*args) -> "casadi::Matrix< casadi::SXElem >": """ Make a rank-1 update to a matrix A. :: rank1(DM A, DM alpha, DM x, DM y) -> DM rank1(SX A, SX alpha, SX x, SX y) -> SX rank1(MX A, MX alpha, MX x, MX y) -> MX Calculates A + 1/2 * alpha * x*y' Extra doc: https://github.com/casadi/casadi/wiki/L_1bp Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L422 """ return _casadi.rank1(*args) def sumsqr(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate sum of squares: sum_ij X_ij^2. :: sumsqr(DM X) -> DM sumsqr(SX X) -> SX sumsqr(MX X) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L429 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L429-L431 """ return _casadi.sumsqr(*args) def linspace(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matlab's linspace. :: linspace(DM a, DM b, int nsteps) -> DM linspace(SX a, SX b, int nsteps) -> SX linspace(MX a, MX b, int nsteps) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L857 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L857-L868 """ return _casadi.linspace(*args) def logsumexp(*args) -> "casadi::Matrix< casadi::SXElem >": """ Scaled version of logsumexp. :: logsumexp(DM a) -> DM logsumexp(SX a) -> SX logsumexp(MX a) -> MX logsumexp(DM a, DM margin) -> DM logsumexp(SX a, SX margin) -> SX logsumexp(MX a, MX margin) -> MX Scaled such that max(x) <= logsumexp(x, margin) <= max(x)+margin Extra doc: https://github.com/casadi/casadi/wiki/L_1bs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L451 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L451-L454 """ return _casadi.logsumexp(*args) def interp1d(*args) -> "casadi::Matrix< casadi::SXElem >": """ Performs 1d linear interpolation. :: interp1d([float] x, DM v, [float] xq, str mode, bool equidistant) -> DM interp1d([float] x, SX v, [float] xq, str mode, bool equidistant) -> SX interp1d([float] x, MX v, [float] xq, str mode, bool equidistant) -> MX The data-points to be interpolated are given as (x[i], v[i]). xq[j] is used as interpolating value Extra doc: https://github.com/casadi/casadi/wiki/L_1bh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L311 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L311-L314 """ return _casadi.interp1d(*args) def soc(*args) -> "casadi::Matrix< casadi::SXElem >": """ Construct second-order-convex. :: soc(DM x, DM y) -> DM soc(SX x, SX y) -> SX soc(MX x, MX y) -> MX Parameters: ----------- x: vector expression of size n y: scalar expression soc(x,y) computes [y*eye(n) x; x' y] soc(x,y) positive semi definite <=> || x ||_2 <= y Extra doc: https://github.com/casadi/casadi/wiki/L_1bj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L334 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L334-L336 """ return _casadi.soc(*args) def cross(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matlab's cross command. :: cross(DM a, DM b, int dim) -> DM cross(SX a, SX b, int dim) -> SX cross(MX a, MX b, int dim) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bu Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L467 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L467-L469 """ return _casadi.cross(*args) def skew(*args) -> "casadi::Matrix< casadi::SXElem >": """ Generate a skew symmetric matrix from a 3-vector. :: skew(DM a) -> DM skew(SX a) -> SX skew(MX a) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L474 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L474-L476 """ return _casadi.skew(*args) def inv_skew(*args) -> "casadi::Matrix< casadi::SXElem >": """ Generate the 3-vector progenitor of a skew symmetric matrix. :: inv_skew(DM a) -> DM inv_skew(SX a) -> SX inv_skew(MX a) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L481 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L481-L483 """ return _casadi.inv_skew(*args) def det(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix determinant (experimental) :: det(DM A) -> DM det(SX A) -> SX det(MX A) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1bx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L488 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L488-L488 """ return _casadi.det(*args) def inv_minor(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix inverse (experimental) :: inv_minor(DM A) -> DM inv_minor(SX A) -> SX inv_minor(MX A) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1by Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L493 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L493-L493 """ return _casadi.inv_minor(*args) def inv(*args) -> "casadi::Matrix< casadi::SXElem >": """ Element-wise inverse. :: inv(DM A) -> DM inv(SX A) -> SX inv(MX A) -> MX inv(DM A, str lsolver, dict opts) -> DM inv(SX A, str lsolver, dict opts) -> SX inv(MX A, str lsolver, dict opts) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_10y Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.hpp#L242 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.cpp#L166-L172 """ return _casadi.inv(*args) def trace(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix trace. :: trace(DM a) -> DM trace(SX a) -> SX trace(MX a) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L514 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L514-L514 """ return _casadi.trace(*args) def tril2symm(*args) -> "casadi::Matrix< casadi::SXElem >": """ Convert a lower triangular matrix to a symmetric one. :: tril2symm(DM a) -> DM tril2symm(SX a) -> SX tril2symm(MX a) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L519 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L519-L519 """ return _casadi.tril2symm(*args) def triu2symm(*args) -> "casadi::Matrix< casadi::SXElem >": """ Convert a upper triangular matrix to a symmetric one. :: triu2symm(DM a) -> DM triu2symm(SX a) -> SX triu2symm(MX a) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L524 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L524-L524 """ return _casadi.triu2symm(*args) def norm_fro(*args) -> "casadi::Matrix< casadi::SXElem >": """ Frobenius norm. :: norm_fro(DM x) -> DM norm_fro(SX x) -> SX norm_fro(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L529 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L529-L529 """ return _casadi.norm_fro(*args) def norm_2(*args) -> "casadi::Matrix< casadi::SXElem >": """ 2-norm :: norm_2(DM x) -> DM norm_2(SX x) -> SX norm_2(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L534 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L534-L534 """ return _casadi.norm_2(*args) def norm_1(*args) -> "casadi::Matrix< casadi::SXElem >": """ 1-norm :: norm_1(DM x) -> DM norm_1(SX x) -> SX norm_1(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L539 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L539-L539 """ return _casadi.norm_1(*args) def norm_inf(*args) -> "casadi::Matrix< casadi::SXElem >": """ Infinity-norm. :: norm_inf(DM x) -> DM norm_inf(SX x) -> SX norm_inf(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1c7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L544 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L544-L544 """ return _casadi.norm_inf(*args) def dot(*args) -> "casadi::Matrix< casadi::SXElem >": """ Inner product of two matrices. :: dot(DM x, DM y) -> DM dot(SX x, SX y) -> SX dot(MX x, MX y) -> MX with x and y matrices of the same dimension Extra doc: https://github.com/casadi/casadi/wiki/L_1ca Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L565 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L565-L567 """ return _casadi.dot(*args) def nullspace(*args) -> "casadi::Matrix< casadi::SXElem >": """ Computes the nullspace of a matrix A. :: nullspace(DM A) -> DM nullspace(SX A) -> SX nullspace(MX A) -> MX Finds Z m-by-(m-n) such that AZ = 0 with A n-by-m with m > n Assumes A is full rank Inspired by Numerical Methods in Scientific Computing by Ake Bjorck Extra doc: https://github.com/casadi/casadi/wiki/L_1cb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L579 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L579-L581 """ return _casadi.nullspace(*args) def polyval(*args) -> "casadi::Matrix< casadi::SXElem >": """ Evaluate a polynomial with coefficients p in x. :: polyval(DM p, DM x) -> DM polyval(SX p, SX x) -> SX polyval(MX p, MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1cc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L586 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L586-L588 """ return _casadi.polyval(*args) def diag(*args) -> "casadi::Matrix< casadi::SXElem >": """ Get the diagonal of a matrix or construct a diagonal. :: diag(DM A) -> DM diag(SX A) -> SX diag(MX A) -> MX When the input is square, the diagonal elements are returned. If the input is vector-like, a diagonal matrix is constructed with it. Extra doc: https://github.com/casadi/casadi/wiki/L_1cd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L596 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L596-L598 """ return _casadi.diag(*args) def unite(*args) -> "casadi::Matrix< casadi::SXElem >": """ Unite two matrices no overlapping sparsity. :: unite(DM A, DM B) -> DM unite(SX A, SX B) -> SX unite(MX A, MX B) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1ce Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L603 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L603-L605 """ return _casadi.unite(*args) def densify(*args) -> "casadi::Matrix< casadi::SXElem >": """ Make the matrix dense and assign nonzeros to a value. :: densify(DM x) -> DM densify(SX x) -> SX densify(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1cg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L617 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L617-L619 """ return _casadi.densify(*args) def project(*args) -> "casadi::Matrix< casadi::SXElem >": """ Create a new matrix with a given sparsity pattern but with the. :: project(DM A, Sparsity sp, bool intersect) -> DM project(SX A, Sparsity sp, bool intersect) -> SX project(MX A, Sparsity sp, bool intersect) -> MX nonzeros taken from an existing matrix Extra doc: https://github.com/casadi/casadi/wiki/L_1ch Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L626 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L626-L629 """ return _casadi.project(*args) def if_else(*args) -> "casadi::Matrix< casadi::SXElem >": """ Ternary if_else: x ? y : z. :: if_else(DM cond, DM if_true, DM if_false, bool short_circuit) -> DM if_else(SX cond, SX if_true, SX if_false, bool short_circuit) -> SX if_else(MX cond, MX if_true, MX if_false, bool short_circuit) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_113 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.hpp#L285 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sx_elem.hpp#L285-L287 """ return _casadi.if_else(*args) def conditional(*args) -> "casadi::Matrix< casadi::SXElem >": """ Create a switch. :: conditional(DM ind, [DM] x, DM x_default, bool short_circuit) -> DM conditional(SX ind, [SX] x, SX x_default, bool short_circuit) -> SX conditional(MX ind, [MX] x, MX x_default, bool short_circuit) -> MX If the condition Parameters: ----------- ind: evaluates to the integer k, where 0<=k "bool": """ Check if expression depends on the argument. :: depends_on(DM f, DM arg) -> bool depends_on(SX f, SX arg) -> bool depends_on(MX f, MX arg) -> bool The argument must be symbolic The dependency is in a mathematical way: Does the value of the argument affect the value of the expression? Equivalently, will the corresponding entry of the Jacobian by a non-zero? The symbol could still be present in the expression graph. To check that kind of dependency, use contains(symvar(f),arg) Extra doc: https://github.com/casadi/casadi/wiki/L_1ck Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L665 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L665-L667 """ return _casadi.depends_on(*args) def contains(*args) -> "bool": """ Check if expression n is listed in v. :: contains([DM] v, DM n) -> bool contains([SX] v, SX n) -> bool contains([MX] v, MX n) -> bool This function checks for correspondence between nodes. The detection does not descend into the expression graph. contains({a,b},b) -> true contains({a+b},b) -> false e = a+b contains({e},e) -> true For mathematical dependency, see depends_on See: depends_on Extra doc: https://github.com/casadi/casadi/wiki/L_2c8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L685 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L685-L687 """ return _casadi.contains(*args) def contains_all(*args) -> "bool": """ Check if expression n is listed in v. :: contains_all([DM] v, [DM] n) -> bool contains_all([SX] v, [SX] n) -> bool contains_all([MX] v, [MX] n) -> bool This function checks for correspondence between nodes. The detection does not descend into the expression graph. contains({a,b},b) -> true contains({a+b},b) -> false e = a+b contains({e},e) -> true For mathematical dependency, see depends_on See: depends_on Extra doc: https://github.com/casadi/casadi/wiki/L_2c8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L689 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L689-L691 """ return _casadi.contains_all(*args) def contains_any(*args) -> "bool": """ Check if expression n is listed in v. :: contains_any([DM] v, [DM] n) -> bool contains_any([SX] v, [SX] n) -> bool contains_any([MX] v, [MX] n) -> bool This function checks for correspondence between nodes. The detection does not descend into the expression graph. contains({a,b},b) -> true contains({a+b},b) -> false e = a+b contains({e},e) -> true For mathematical dependency, see depends_on See: depends_on Extra doc: https://github.com/casadi/casadi/wiki/L_2c8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L693 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L693-L695 """ return _casadi.contains_any(*args) def solve(*args) -> "casadi::Matrix< casadi::SXElem >": """ Crunch the numbers; solve the problem. :: solve(DM A, DM b) -> DM solve(SX A, SX b) -> SX solve(MX A, MX b) -> MX solve(DM A, DM b, str lsolver, dict opts) -> DM solve(SX A, SX b, str lsolver, dict opts) -> SX solve(MX A, MX b, str lsolver, dict opts) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L213-L219 """ return _casadi.solve(*args) def pinv(*args) -> "casadi::Matrix< casadi::SXElem >": """ Computes the Moore-Penrose pseudo-inverse. :: pinv(DM A) -> DM pinv(SX A) -> SX pinv(MX A) -> MX pinv(DM A, str lsolver, dict opts) -> DM pinv(SX A, str lsolver, dict opts) -> SX pinv(MX A, str lsolver, dict opts) -> MX If the matrix A is fat (size1>size2), mul(A, pinv(A)) is unity. If the matrix A is slender (size2 "casadi::Matrix< casadi::SXElem >": """ Calculate Matrix exponential. :: expm_const(DM A, DM t) -> DM expm_const(SX A, SX t) -> SX expm_const(MX A, MX t) -> MX Computes expm(A*t) with A constant Parameters: ----------- A[in]: Square matrix t[in]: Scalar Extra doc: https://github.com/casadi/casadi/wiki/L_23v Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L838 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L838-L840 """ return _casadi.expm_const(*args) def expm(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate Matrix exponential. :: expm(DM A) -> DM expm(SX A) -> SX expm(MX A) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_23w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L846 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L846-L848 """ return _casadi.expm(*args) def jacobian(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate Jacobian. :: jacobian(DM ex, DM arg, dict opts) -> DM jacobian(SX ex, SX arg, dict opts) -> SX jacobian(MX ex, MX arg, dict opts) -> MX Sparse matrix Extra doc: https://github.com/casadi/casadi/wiki/L_1cv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L855 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L855-L858 """ return _casadi.jacobian(*args) def jtimes(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate the Jacobian and multiply by a vector from the right. :: jtimes(DM ex, DM arg, DM v, bool tr, dict opts) -> DM jtimes(SX ex, SX arg, SX v, bool tr, dict opts) -> SX jtimes(MX ex, MX arg, MX v, bool tr, dict opts) -> MX This is equivalent to mul(jacobian(ex, arg), v) or mul(jacobian(ex, arg).T, v) for tr set to false and true respectively. If contrast to these expressions, it will use directional derivatives which is typically (but not necessarily) more efficient if the complete Jacobian is not needed and v has few rows. Extra doc: https://github.com/casadi/casadi/wiki/L_1cw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L888 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L888-L891 """ return _casadi.jtimes(*args) def linearize(*args) -> "casadi::Matrix< casadi::SXElem >": """ Linearize an expression. :: linearize(DM f, DM x, DM x0) -> DM linearize(SX f, SX x, SX x0) -> SX linearize(MX f, MX x, MX x0) -> MX [DEPRECATED] confusing behaviour This function linearizes an expression around a point x0, using x as delta around that point. :: >>> linearize(sin(x),x,x0) -> sin(x0)+cos(x0)*x For a variant that returns sin(x0)+cos(x0)*(x-x0), see taylor. See: taylor, linear_coeff Extra doc: https://github.com/casadi/casadi/wiki/L_1cs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L795 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L795-L798 """ return _casadi.linearize(*args) def which_depends(*args) -> "std::vector< bool,std::allocator< bool > >": """ Find out which variables enter with some order. :: which_depends(DM expr, DM var, int order, bool tr) -> [bool] which_depends(SX expr, SX var, int order, bool tr) -> [bool] which_depends(MX expr, MX var, int order, bool tr) -> [bool] Extra doc: https://github.com/casadi/casadi/wiki/L_1cz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L930 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L930-L933 """ return _casadi.which_depends(*args) def jacobian_sparsity(*args) -> "casadi::Sparsity": """ Get the sparsity pattern of a jacobian. :: jacobian_sparsity(DM f, DM x) -> Sparsity jacobian_sparsity(SX f, SX x) -> Sparsity jacobian_sparsity(MX f, MX x) -> Sparsity Equivalent to, but cheaper to compute than, jacobian(f,x). sparsity() Extra doc: https://github.com/casadi/casadi/wiki/L_259 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L940 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L940-L942 """ return _casadi.jacobian_sparsity(*args) def is_linear(*args) -> "bool": """ Is expr linear in var? :: is_linear(DM expr, DM var) -> bool is_linear(SX expr, SX var) -> bool is_linear(MX expr, MX var) -> bool False negatives are possible (an expression may not be recognised as linear while it really is), false positives not. Extra doc: https://github.com/casadi/casadi/wiki/L_1d0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L951 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L951-L953 """ return _casadi.is_linear(*args) def is_quadratic(*args) -> "bool": """ Is expr quadratic in var? :: is_quadratic(DM expr, DM var) -> bool is_quadratic(SX expr, SX var) -> bool is_quadratic(MX expr, MX var) -> bool False negatives are possible (an expression may not be recognised as quadratic while it really is), false positives not. Extra doc: https://github.com/casadi/casadi/wiki/L_1d1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L962 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L962-L964 """ return _casadi.is_quadratic(*args) def gradient(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate the gradient of an expression. :: gradient(DM ex, DM arg, dict opts) -> DM gradient(SX ex, SX arg, dict opts) -> SX gradient(MX ex, MX arg, dict opts) -> MX Parameters: ----------- ex[in]: Scalar expression to take the gradient of arg[in]: Vector expression of symbols opts[in]: Options Dense column vector Extra doc: https://github.com/casadi/casadi/wiki/L_23x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L868 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L868-L870 """ return _casadi.gradient(*args) def tangent(*args) -> "casadi::Matrix< casadi::SXElem >": """ Calculate the tangent of an expression. :: tangent(DM ex, DM arg, dict opts) -> DM tangent(SX ex, SX arg, dict opts) -> SX tangent(MX ex, MX arg, dict opts) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_23y Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L875 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L875-L877 """ return _casadi.tangent(*args) def hessian(*args) -> "casadi::Matrix< casadi::SXElem > &": """ Hessian and (optionally) gradient. :: hessian(DM ex, DM arg, dict opts) -> (DM , DM OUTPUT1) hessian(SX ex, SX arg, dict opts) -> (SX , SX OUTPUT1) hessian(MX ex, MX arg, dict opts) -> (MX , MX OUTPUT1) Extra doc: https://github.com/casadi/casadi/wiki/L_23z Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L921 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L921-L924 """ return _casadi.hessian(*args) def quadratic_coeff(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &": """ Recognizes quadratic form in scalar expression. :: quadratic_coeff(DM ex, DM arg, bool check) -> (DM OUTPUT1, DM OUTPUT2, DM OUTPUT3) quadratic_coeff(SX ex, SX arg, bool check) -> (SX OUTPUT1, SX OUTPUT2, SX OUTPUT3) quadratic_coeff(MX ex, MX arg, bool check) -> (MX OUTPUT1, MX OUTPUT2, MX OUTPUT3) 1/2*x' A x + b' x + c e = 0.5*bilin(A,x,x)+dot(b,x)+c Parameters: ----------- check[in]: When true (default), A is checked to be independent of x. Provided to deal with false positive dependency checks. Extra doc: https://github.com/casadi/casadi/wiki/L_1d2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L976 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L976-L979 """ return _casadi.quadratic_coeff(*args) def linear_coeff(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &": """ Recognizes linear form in vector expression. :: linear_coeff(DM ex, DM arg, bool check) -> (DM OUTPUT1, DM OUTPUT2) linear_coeff(SX ex, SX arg, bool check) -> (SX OUTPUT1, SX OUTPUT2) linear_coeff(MX ex, MX arg, bool check) -> (MX OUTPUT1, MX OUTPUT2) A x + b Parameters: ----------- check[in]: When true (default)m, A is checked to be independent of x. Provided to deal with false positive dependency checks. Extra doc: https://github.com/casadi/casadi/wiki/L_1d3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L989 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L989-L992 """ return _casadi.linear_coeff(*args) def n_nodes(*args) -> "casadi_int": """ :: n_nodes(DM A) -> int n_nodes(SX A) -> int n_nodes(MX A) -> int """ return _casadi.n_nodes(*args) def print_operator(*args) -> "std::string": """ Get a string representation for a binary MatType, using custom :: print_operator(DM xb, [str] args) -> str print_operator(SX xb, [str] args) -> str print_operator(MX xb, [str] args) -> str arguments. Extra doc: https://github.com/casadi/casadi/wiki/L_1d4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1131-L1133 """ return _casadi.print_operator(*args) def repsum(*args) -> "casadi::Matrix< casadi::SXElem >": """ Given a repeated matrix, computes the sum of repeated parts. :: repsum(DM A, int n, int m) -> DM repsum(SX A, int n, int m) -> SX repsum(MX A, int n, int m) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1d7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1159 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1159-L1161 """ return _casadi.repsum(*args) def diff(*args) -> "casadi::Matrix< casadi::SXElem >": """ diff :: diff(DM A, int n, int axis) -> DM diff(SX A, int n, int axis) -> SX diff(MX A, int n, int axis) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1ln Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L959 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L959-L966 """ return _casadi.diff(*args) def cumsum(*args) -> "casadi::Matrix< casadi::SXElem >": """ cumulative sum :: cumsum(DM A, int axis) -> DM cumsum(SX A, int axis) -> SX cumsum(MX A, int axis) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1lm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L937 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L937-L945 """ return _casadi.cumsum(*args) def einstein(*args) -> "casadi::Matrix< casadi::SXElem >": """ Computes an einstein dense tensor contraction. :: einstein(DM A, DM B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> DM einstein(SX A, SX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> SX einstein(MX A, MX B, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX einstein(DM A, DM B, DM C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> DM einstein(SX A, SX B, SX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> SX einstein(MX A, MX B, MX C, [int] dim_a, [int] dim_b, [int] dim_c, [int] a, [int] b, [int] c) -> MX Computes the product: C_c = A_a + B_b where a b c are index/einstein notation in an encoded form For example, an matrix-matrix product may be written as: C_ij = A_ik B_kj The encoded form uses strictly negative numbers to indicate labels. For the above example, we would have: a {-1, -3} b {-3, -2} c {-1 -2} Extra doc: https://github.com/casadi/casadi/wiki/L_r5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.cpp#L670-L676 """ return _casadi.einstein(*args) def mmin(*args) -> "casadi::Matrix< casadi::SXElem >": """ Smallest element in a matrix. :: mmin(DM x) -> DM mmin(SX x) -> SX mmin(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1d8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1167 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1167-L1169 """ return _casadi.mmin(*args) def mmax(*args) -> "casadi::Matrix< casadi::SXElem >": """ Largest element in a matrix. :: mmax(DM x) -> DM mmax(SX x) -> SX mmax(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1d9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1176 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1176-L1178 """ return _casadi.mmax(*args) def evalf(*args) -> "casadi::DM": """ Evaluates the expression numerically. :: evalf(DM x) -> DM evalf(SX x) -> DM evalf(MX x) -> DM An error is raised when the expression contains symbols Extra doc: https://github.com/casadi/casadi/wiki/L_rf Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L873 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L873-L875 """ return _casadi.evalf(*args) def separate_linear(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &": """ :: separate_linear(DM expr, DM sym_lin, DM sym_const) -> (DM OUTPUT1, DM OUTPUT2, DM OUTPUT3) separate_linear(DM expr, [DM] sym_lin, [DM] sym_const) -> (DM OUTPUT1, DM OUTPUT2, DM OUTPUT3) separate_linear(SX expr, SX sym_lin, SX sym_const) -> (SX OUTPUT1, SX OUTPUT2, SX OUTPUT3) separate_linear(SX expr, [SX] sym_lin, [SX] sym_const) -> (SX OUTPUT1, SX OUTPUT2, SX OUTPUT3) separate_linear(MX expr, MX sym_lin, MX sym_const) -> (MX OUTPUT1, MX OUTPUT2, MX OUTPUT3) separate_linear(MX expr, [MX] sym_lin, [MX] sym_const) -> (MX OUTPUT1, MX OUTPUT2, MX OUTPUT3) """ return _casadi.separate_linear(*args) def cse(*args) -> "casadi::Matrix< casadi::SXElem >": """ Common subexpression elimination. :: cse(DM e) -> DM cse([DM] e) -> [DM] cse([SX] e) -> [SX] cse(SX e) -> SX cse(MX e) -> MX cse([MX] e) -> [MX] Extra doc: https://github.com/casadi/casadi/wiki/L_1cp Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L739 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L739-L741 """ return _casadi.cse(*args) def extract_parametric(*args) -> "std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &": """ Extract purely parametric parts from an expression graph. :: extract_parametric(DM expr, DM par, dict opts) -> (DM OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) extract_parametric(DM expr, [DM] par, dict opts) -> (DM OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) extract_parametric([DM] expr, DM par, dict opts) -> ([DM] OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) extract_parametric([DM] expr, [DM] par, dict opts) -> ([DM] OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) extract_parametric(SX expr, SX par, dict opts) -> (SX OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) extract_parametric(SX expr, [SX] par, dict opts) -> (SX OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) extract_parametric([SX] expr, SX par, dict opts) -> ([SX] OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) extract_parametric([SX] expr, [SX] par, dict opts) -> ([SX] OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) extract_parametric(MX expr, MX par, dict opts) -> (MX OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) extract_parametric(MX expr, [MX] par, dict opts) -> (MX OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) extract_parametric([MX] expr, MX par, dict opts) -> ([MX] OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) extract_parametric([MX] expr, [MX] par, dict opts) -> ([MX] OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) The purpose of extract_parametric is ultimately to save on evaluation time of an expression, by extracting out the parts that are only solely dependent on parameters. For any: [expr_ret, symbols, parametric] = extract_parametric(expr, par) It holds that: substitute(expr_ret,symbols,parametric) == expr parametric is only dependant on par expr_ret is not dependant on par, but is dependant on symbols Example: [expr_ret, symbols, parametric] = extract_parametric((x-sqrt(p))*y+cos(p)**2, p) expr_ret: (((x-extracted1)*y)+extracted2) symbols: [extracted1, extracted2] parametric: [sqrt(p),cos(p)**2] Options to control the name of new symbols: offset (int), default 0: Offset for new symbol counter prefix (str), default 'e_': Prefix for new symbols suffix (str), default '': Suffix for new symbols Option 'extract_trivial' controls the behaviour for extracted parts that consist of pure symbols. If false (default), these parts are not extracted. Extra doc: https://github.com/casadi/casadi/wiki/L_288 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1025 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1025-L1031 """ return _casadi.extract_parametric(*args) def forward(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >,std::allocator< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > > > >": """ Forward directional derivative. :: forward([DM] ex, [DM] arg, [[DM]] v, dict opts) -> [[DM]] forward([SX] ex, [SX] arg, [[SX]] v, dict opts) -> [[SX]] forward([MX] ex, [MX] arg, [[MX]] v, dict opts) -> [[MX]] Extra doc: https://github.com/casadi/casadi/wiki/L_1cx Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L897 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L897-L901 """ return _casadi.forward(*args) def reverse(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >,std::allocator< std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > > > >": """ Reverse a list. :: reverse([DM] ex, [DM] arg, [[DM]] v, dict opts) -> [[DM]] reverse([SX] ex, [SX] arg, [[SX]] v, dict opts) -> [[SX]] reverse([MX] ex, [MX] arg, [[MX]] v, dict opts) -> [[MX]] Extra doc: https://github.com/casadi/casadi/wiki/L_1la Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L603 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L603-L607 """ return _casadi.reverse(*args) def substitute(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ Substitute variable var with expression expr in multiple expressions. :: substitute(DM ex, DM v, DM vdef) -> DM substitute([DM] ex, [DM] v, [DM] vdef) -> [DM] substitute(SX ex, SX v, SX vdef) -> SX substitute([SX] ex, [SX] v, [SX] vdef) -> [SX] substitute(MX ex, MX v, MX vdef) -> MX substitute([MX] ex, [MX] v, [MX] vdef) -> [MX] Extra doc: https://github.com/casadi/casadi/wiki/L_1cm Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L710 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L710-L713 """ return _casadi.substitute(*args) def substitute_inplace(*args) -> "std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &": """ Inplace substitution with piggyback expressions. :: substitute_inplace([DM] v, bool reverse) -> ([DM] INOUT1, [DM] INOUT2) substitute_inplace([SX] v, bool reverse) -> ([SX] INOUT1, [SX] INOUT2) substitute_inplace([MX] v, bool reverse) -> ([MX] INOUT1, [MX] INOUT2) Substitute variables v out of the expressions vdef sequentially, as well as out of a number of other expressions piggyback Extra doc: https://github.com/casadi/casadi/wiki/L_1cn Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L722 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L722-L726 """ return _casadi.substitute_inplace(*args) def extract(*args) -> "std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &": """ Introduce intermediate variables for selected nodes in a graph. :: extract([DM] ex, dict opts) -> ([DM] OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) extract([SX] ex, dict opts) -> ([SX] OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) extract([MX] ex, dict opts) -> ([MX] OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) Extra doc: https://github.com/casadi/casadi/wiki/L_1d5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1138 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1138-L1143 """ return _casadi.extract(*args) def shared(*args) -> "std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &, std::vector< casadi::Matrix< casadi::SXElem > > &": """ Extract shared subexpressions from an set of expressions. :: shared([DM] ex, str v_prefix, str v_suffix) -> ([DM] OUTPUT1, [DM] OUTPUT2, [DM] OUTPUT3) shared([SX] ex, str v_prefix, str v_suffix) -> ([SX] OUTPUT1, [SX] OUTPUT2, [SX] OUTPUT3) shared([MX] ex, str v_prefix, str v_suffix) -> ([MX] OUTPUT1, [MX] OUTPUT2, [MX] OUTPUT3) Extra doc: https://github.com/casadi/casadi/wiki/L_1d6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1148 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/generic_matrix.hpp#L1148-L1154 """ return _casadi.shared(*args) def blockcat(*args) -> "casadi::Matrix< casadi::SXElem >": """ Construct a matrix from 4 blocks. :: blockcat([[DM]] v) -> DM blockcat([[SX]] v) -> SX blockcat([[MX]] v) -> MX blockcat(Sparsity A, Sparsity B, Sparsity C, Sparsity D) -> Sparsity blockcat(DM A, DM B, DM C, DM D) -> DM blockcat(SX A, SX B, SX C, SX D) -> SX blockcat(MX A, MX B, MX C, MX D) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_3m Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L234 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/sparsity_interface.hpp#L234-L236 """ return _casadi.blockcat(*args) def logic_all(*args) -> "casadi::Matrix< casadi::SXElem >": """ Check if all arguments are true. :: logic_all(DM x) -> DM logic_all(SX x) -> SX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L77 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.cpp#L77-L82 """ return _casadi.logic_all(*args) def logic_any(*args) -> "casadi::Matrix< casadi::SXElem >": """ Check if any arguments are true. :: logic_any(DM x) -> DM logic_any(SX x) -> SX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L84 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.cpp#L84-L89 """ return _casadi.logic_any(*args) def adj(*args) -> "casadi::Matrix< casadi::SXElem >": """ Matrix adjoint. :: adj(DM A) -> DM adj(SX A) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_18p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L529 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L529-L531 """ return _casadi.adj(*args) def minor(*args) -> "casadi::Matrix< casadi::SXElem >": """ Get the (i,j) minor matrix. :: minor(DM x, int i, int j) -> DM minor(SX x, int i, int j) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_18q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L536 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L536-L538 """ return _casadi.minor(*args) def cofactor(*args) -> "casadi::Matrix< casadi::SXElem >": """ Get the (i,j) cofactor matrix. :: cofactor(DM x, int i, int j) -> DM cofactor(SX x, int i, int j) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_18r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L543 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L543-L545 """ return _casadi.cofactor(*args) def qr(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &": """ QR factorization using the modified Gram-Schmidt algorithm. :: qr(DM A) -> (DM OUTPUT1, DM OUTPUT2) qr(SX A) -> (SX OUTPUT1, SX OUTPUT2) More stable than the classical Gram-Schmidt, but may break down if the rows of A are nearly linearly dependent See J. Demmel: Applied Numerical Linear Algebra (algorithm 3.1.). Note that in SWIG, Q and R are returned by value. Extra doc: https://github.com/casadi/casadi/wiki/L_18s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L555 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L555-L557 """ return _casadi.qr(*args) def qr_sparse(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &, std::vector< casadi_int > &, std::vector< casadi_int > &": """ Sparse direct QR factorization. :: qr_sparse(DM A, bool amd) -> (DM OUTPUT1, DM OUTPUT2, DM OUTPUT3, [int] OUTPUT4, [int] OUTPUT5) qr_sparse(SX A, bool amd) -> (SX OUTPUT1, SX OUTPUT2, SX OUTPUT3, [int] OUTPUT4, [int] OUTPUT5) See T. Davis: Direct Methods for Sparse Linear Systems Extra doc: https://github.com/casadi/casadi/wiki/L_18t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L564-L568 """ return _casadi.qr_sparse(*args) def qr_solve(*args) -> "casadi::Matrix< casadi::SXElem >": """ Solve using a sparse QR factorization. :: qr_solve(DM b, DM v, DM r, DM beta, [int] prinv, [int] pc, bool tr) -> DM qr_solve(SX b, SX v, SX r, SX beta, [int] prinv, [int] pc, bool tr) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_18u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L574 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L574-L579 """ return _casadi.qr_solve(*args) def ldl(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &, std::vector< casadi_int > &": """ Sparse LDL^T factorization. :: ldl(DM A, bool amd) -> (DM OUTPUT1, DM OUTPUT2, [int] OUTPUT3) ldl(SX A, bool amd) -> (SX OUTPUT1, SX OUTPUT2, [int] OUTPUT3) Returns D and the strictly upper triangular entries of L^T I.e. ones on the diagonal are ignored. Only guarenteed to work for positive definite matrices. Extra doc: https://github.com/casadi/casadi/wiki/L_18w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L598 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L598-L601 """ return _casadi.ldl(*args) def ldl_solve(*args) -> "casadi::Matrix< casadi::SXElem >": """ Solve using a sparse LDL^T factorization. :: ldl_solve(DM b, DM D, DM LT, [int] p) -> DM ldl_solve(SX b, SX D, SX LT, [int] p) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_18x Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L607 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L607-L610 """ return _casadi.ldl_solve(*args) def chol(*args) -> "casadi::Matrix< casadi::SXElem >": """ Obtain a Cholesky factorisation of a matrix. :: chol(DM A) -> DM chol(SX A) -> SX Performs and LDL transformation [L,D] = ldl(A) and returns diag(sqrt(D))*L' Extra doc: https://github.com/casadi/casadi/wiki/L_18v Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L587 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L587-L589 """ return _casadi.chol(*args) def norm_inf_mul(*args) -> "casadi::Matrix< casadi::SXElem >": """ Inf-norm of a Matrix-Matrix product. :: norm_inf_mul(DM x, DM y) -> DM norm_inf_mul(SX x, SX y) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_190 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L630 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L630-L632 """ return _casadi.norm_inf_mul(*args) def sparsify(*args) -> "casadi::Matrix< casadi::SXElem >": """ Make a matrix sparse by removing numerical zeros. :: sparsify(DM A, float tol) -> DM sparsify(SX A, float tol) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_191 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L638 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L638-L640 """ return _casadi.sparsify(*args) def expand(*args) -> "casadi::Matrix< casadi::SXElem > &, casadi::Matrix< casadi::SXElem > &": """ Expand the expression as a weighted sum (with constant weights) :: expand(DM ex) -> (DM OUTPUT1, DM OUTPUT2) expand(SX ex) -> (SX OUTPUT1, SX OUTPUT2) Extra doc: https://github.com/casadi/casadi/wiki/L_192 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L645 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L645-L648 """ return _casadi.expand(*args) def pw_const(*args) -> "casadi::Matrix< casadi::SXElem >": """ Create a piecewise constant function. :: pw_const(DM t, DM tval, DM val) -> DM pw_const(SX t, SX tval, SX val) -> SX Create a piecewise constant function with n=val.size() intervals Inputs: Parameters: ----------- t: a scalar variable (e.g. time) tval: vector with the discrete values of t at the interval transitions (length n-1) val: vector with the value of the function for each interval (length n) Extra doc: https://github.com/casadi/casadi/wiki/L_193 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L660 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L660-L664 """ return _casadi.pw_const(*args) def pw_lin(*args) -> "casadi::Matrix< casadi::SXElem >": """ t a scalar variable (e.g. time) :: pw_lin(DM t, DM tval, DM val) -> DM pw_lin(SX t, SX tval, SX val) -> SX Create a piecewise linear function Create a piecewise linear function: Inputs: tval vector with the the discrete values of t (monotonically increasing) val vector with the corresponding function values (same length as tval) :: Extra doc: https://github.com/casadi/casadi/wiki/L_194 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L677 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L677-L680 """ return _casadi.pw_lin(*args) def heaviside(*args) -> "casadi::Matrix< casadi::SXElem >": """ Heaviside function. :: heaviside(DM x) -> DM heaviside(SX x) -> SX \\[ \\begin {cases} H(x) = 0 & x<0 \\\\ H(x) = 1/2 & x=0 \\\\ H(x) = 1 & x>0 \\\\ \\end {cases} \\] Extra doc: https://github.com/casadi/casadi/wiki/L_195 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L693 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L693-L695 """ return _casadi.heaviside(*args) def rectangle(*args) -> "casadi::Matrix< casadi::SXElem >": """ rectangle function :: rectangle(DM x) -> DM rectangle(SX x) -> SX \\[ \\begin {cases} \\Pi(x) = 1 & |x| < 1/2 \\\\ \\Pi(x) = 1/2 & |x| = 1/2 \\\\ \\Pi(x) = 0 & |x| > 1/2 \\\\ \\end {cases} \\] Also called: gate function, block function, band function, pulse function, window function Extra doc: https://github.com/casadi/casadi/wiki/L_23n Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L710 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L710-L712 """ return _casadi.rectangle(*args) def triangle(*args) -> "casadi::Matrix< casadi::SXElem >": """ triangle function :: triangle(DM x) -> DM triangle(SX x) -> SX \\[ \\begin {cases} \\Lambda(x) = 0 & |x| >= 1 \\\\ \\Lambda(x) = 1-|x| & |x| < 1 \\end {cases} \\] Extra doc: https://github.com/casadi/casadi/wiki/L_23o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L725 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L725-L727 """ return _casadi.triangle(*args) def ramp(*args) -> "casadi::Matrix< casadi::SXElem >": """ ramp function :: ramp(DM x) -> DM ramp(SX x) -> SX \\[ \\begin {cases} R(x) = 0 & x <= 1 \\\\ R(x) = x & x > 1 \\\\ \\end {cases} \\] Also called: slope function Extra doc: https://github.com/casadi/casadi/wiki/L_23p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L742 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L742-L744 """ return _casadi.ramp(*args) def gauss_quadrature(*args) -> "casadi::Matrix< casadi::SXElem >": """ Integrate f from a to b using Gaussian quadrature with n points. :: gauss_quadrature(DM f, DM x, DM a, DM b, int order) -> DM gauss_quadrature(SX f, SX x, SX a, SX b, int order) -> SX gauss_quadrature(DM f, DM x, DM a, DM b, int order, DM w) -> DM gauss_quadrature(SX f, SX x, SX a, SX b, int order, SX w) -> SX Extra doc: https://github.com/casadi/casadi/wiki/L_196 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L757 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L757-L761 """ return _casadi.gauss_quadrature(*args) def taylor(*args) -> "casadi::Matrix< casadi::SXElem >": """ univariate Taylor series expansion :: taylor(DM ex, DM x, DM a, int order) -> DM taylor(SX ex, SX x, SX a, int order) -> SX Calculate the Taylor expansion of expression 'ex' up to order 'order' with respect to variable 'x' around the point 'a' $(x)=f(a)+f'(a)(x-a)+f''(a)\\frac {(x-a)^2}{2!}+f'''(a)\\frac{(x-a)^3}{3!}+\\ldots$ Example usage: :: >>> taylor(sin(x), x) :: >> x :: >>> taylor(sin(x),x,x0) -> sin(x0)+cos(x0)*(x-x0) See: linearize, mtaylor, linear_coeff Extra doc: https://github.com/casadi/casadi/wiki/L_23q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L789 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L789-L791 """ return _casadi.taylor(*args) def mtaylor(*args) -> "casadi::Matrix< casadi::SXElem >": """ multivariate Taylor series expansion :: mtaylor(DM ex, DM x, DM a, int order) -> DM mtaylor(SX ex, SX x, SX a, int order) -> SX mtaylor(DM ex, DM x, DM a, int order, [int] order_contributions) -> DM mtaylor(SX ex, SX x, SX a, int order, [int] order_contributions) -> SX Do Taylor expansions until the aggregated order of a term is equal to 'order'. The aggregated order of $x^n y^m$ equals $n+m$. The argument order_contributions can denote how match each variable contributes to the aggregated order. If x=[x, y] and order_contributions=[1, 2], then the aggregated order of $x^n y^m$ equals $1n+2m$. Example usage :: >>> taylor(sin(x+y),[x, y],[a, b], 1) $ \\sin(b+a)+\\cos(b+a)(x-a)+\\cos(b+a)(y-b) $ :: >>> taylor(sin(x+y),[x, y],[0, 0], 4) $ y+x-(x^3+3y x^2+3 y^2 x+y^3)/6 $ :: >>> taylor(sin(x+y),[x, y],[0, 0], 4,[1, 2]) $ (-3 x^2 y-x^3)/6+y+x $ See: taylor Extra doc: https://github.com/casadi/casadi/wiki/L_23s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L834 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L834-L838 """ return _casadi.mtaylor(*args) def poly_coeff(*args) -> "casadi::Matrix< casadi::SXElem >": """ extracts polynomial coefficients from an expression :: poly_coeff(DM ex, DM x) -> DM poly_coeff(SX ex, SX x) -> SX Parameters: ----------- ex: Scalar expression that represents a polynomial x: Scalar symbol that the polynomial is build up with Extra doc: https://github.com/casadi/casadi/wiki/L_197 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L846 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L846-L849 """ return _casadi.poly_coeff(*args) def poly_roots(*args) -> "casadi::Matrix< casadi::SXElem >": """ Attempts to find the roots of a polynomial. :: poly_roots(DM p) -> DM poly_roots(SX p) -> SX This will only work for polynomials up to order 3 It is assumed that the roots are real. Extra doc: https://github.com/casadi/casadi/wiki/L_198 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L857 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L857-L859 """ return _casadi.poly_roots(*args) def eig_symbolic(*args) -> "casadi::Matrix< casadi::SXElem >": """ Attempts to find the eigenvalues of a symbolic matrix. :: eig_symbolic(DM m) -> DM eig_symbolic(SX m) -> SX This will only work for up to 3x3 matrices Extra doc: https://github.com/casadi/casadi/wiki/L_199 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L866 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/matrix_decl.hpp#L866-L868 """ return _casadi.eig_symbolic(*args) def find(*args) -> "casadi::MX": """ find nonzeros :: find(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_1le Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L632 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/casadi_misc.hpp#L632-L638 """ return _casadi.find(*args) def low(*args) -> "casadi::MX": """ Find first nonzero. :: low(MX v, MX p, dict options) -> MX If failed, returns the number of rows Extra doc: https://github.com/casadi/casadi/wiki/L_r8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L757 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L757-L759 """ return _casadi.low(*args) def inv_node(*args) -> "casadi::MX": """ Inverse node. :: inv_node(MX x) -> MX Extra doc: https://github.com/casadi/casadi/wiki/L_re Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L864 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L864-L866 """ return _casadi.inv_node(*args) def matrix_expand(*args) -> "casadi::MX": """ Expand MX graph to SXFunction call. :: matrix_expand(MX e, [MX] boundary, dict options) -> MX matrix_expand([MX] e, [MX] boundary, dict options) -> [MX] Expand the given expression e, optionally supplying expressions contained in it at which expansion should stop. Extra doc: https://github.com/casadi/casadi/wiki/L_rc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L816 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L816-L820 """ return _casadi.matrix_expand(*args) def graph_substitute(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ Substitute multiple expressions in graph. :: graph_substitute(MX ex, [MX] v, [MX] vdef) -> MX graph_substitute([MX] ex, [MX] v, [MX] vdef) -> [MX] Substitute variable var with expression expr in multiple expressions, preserving nodes Extra doc: https://github.com/casadi/casadi/wiki/L_ra Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L783 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L783-L787 """ return _casadi.graph_substitute(*args) def bspline(*args) -> "casadi::MX": """ :: bspline(MX x, DM coeffs, [[float]] knots, [int] degree, int m, dict opts) -> MX bspline(MX x, MX coeffs, [[float]] knots, [int] degree, int m, dict opts) -> MX """ return _casadi.bspline(*args) def convexify(*args) -> "casadi::MX": """ :: convexify(MX H, dict opts) -> MX """ return _casadi.convexify(*args) def stop_diff(*args) -> "casadi::MX": """ Stop derivatives of an expression wrt to a select set of symbolic :: stop_diff(MX expr, int order) -> MX stop_diff(MX expr, MX var, int order) -> MX variables. Extra doc: https://github.com/casadi/casadi/wiki/L_25o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L906 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L906-L908 """ return _casadi.stop_diff(*args) def difference(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ \\bried Return all elements of a that do not occur in b, preserving :: difference([MX] a, [MX] b) -> [MX] order Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L911 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L911-L913 """ return _casadi.difference(*args) def no_hess(*args) -> "casadi::MX": """ Stop second derivatives of an expression wrt to all its symbolic :: no_hess(MX expr) -> MX variables. \\seealso stop_diff Extra doc: https://github.com/casadi/casadi/wiki/L_25n Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L898 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L898-L900 """ return _casadi.no_hess(*args) def no_grad(*args) -> "casadi::MX": """ Stop first derivatives of an expression wrt to all its symbolic :: no_grad(MX expr) -> MX variables. \\seealso stop_diff Extra doc: https://github.com/casadi/casadi/wiki/L_25m Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L889 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/mx.hpp#L889-L891 """ return _casadi.no_grad(*args) class Importer(SharedObject, PrintableCommon): """ [INTERNAL] :: Importer. Just-in-time compilation of code General informationList of plugins - clang - shell 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 Importer.doc("myextraplugin") -------------------------------------------------------------------------------- clang ----- Interface to the JIT compiler CLANG Extra doc: https://github.com/casadi/casadi/wiki/L_21v >List of available options +--------------+-----------------+-----------------------------------------+ | Id | Type | Description | +==============+=================+=========================================+ | flags | OT_STRINGVECTOR | Compile flags for the JIT compiler. | | | | Default: None | +--------------+-----------------+-----------------------------------------+ | include_path | OT_STRING | Include paths for the JIT compiler. The | | | | include directory shipped with CasADi | | | | will be automatically appended. | +--------------+-----------------+-----------------------------------------+ -------------------------------------------------------------------------------- shell ----- Interface to the JIT compiler SHELL Extra doc: https://github.com/casadi/casadi/wiki/L_22w >List of available options +----------------------+-----------------+---------------------------------+ | Id | Type | Description | +======================+=================+=================================+ | cleanup | OT_BOOL | Cleanup temporary files when | | | | unloading. Default: true | +----------------------+-----------------+---------------------------------+ | compiler | OT_STRING | Compiler command | +----------------------+-----------------+---------------------------------+ | compiler_flags | OT_STRINGVECTOR | Alias for 'compiler_flags' | +----------------------+-----------------+---------------------------------+ | compiler_output_flag | OT_STRING | Compiler flag to denote object | | | | output. Default: '-o ' | +----------------------+-----------------+---------------------------------+ | compiler_setup | OT_STRING | Compiler setup command. | | | | Intended to be fixed. The | | | | 'flag' option is the prefered | | | | way to set custom flags. | +----------------------+-----------------+---------------------------------+ | directory | OT_STRING | Directory to put temporary | | | | objects in. Must end with a | | | | file separator. | +----------------------+-----------------+---------------------------------+ | extra_suffixes | OT_STRINGVECTOR | List of suffixes for extra | | | | files that the compiler may | | | | generate. Default: None | +----------------------+-----------------+---------------------------------+ | flags | OT_STRINGVECTOR | Compile flags for the JIT | | | | compiler. Default: None | +----------------------+-----------------+---------------------------------+ | linker | OT_STRING | Linker command | +----------------------+-----------------+---------------------------------+ | linker_flags | OT_STRINGVECTOR | Linker flags for the JIT | | | | compiler. Default: None | +----------------------+-----------------+---------------------------------+ | linker_output_flag | OT_STRING | Linker flag to denote shared | | | | library output. Default: '-o ' | +----------------------+-----------------+---------------------------------+ | linker_setup | OT_STRING | Linker setup command. Intended | | | | to be fixed. The 'flag' option | | | | is the prefered way to set | | | | custom flags. | +----------------------+-----------------+---------------------------------+ | name | OT_STRING | The file name used to write out | | | | compiled objects/libraries. The | | | | actual file names used depend | | | | on 'temp_suffix' and include | | | | extensions. Default: | | | | 'tmp_casadi_compiler_shell' | +----------------------+-----------------+---------------------------------+ | temp_suffix | OT_BOOL | Use a temporary (seemingly | | | | random) filename suffix for | | | | file names. This is desired for | | | | thread-safety. This behaviour | | | | may defeat caching compiler | | | | wrappers. Default: true | +----------------------+-----------------+---------------------------------+ Joris Gillis Extra doc: https://github.com/casadi/casadi/wiki/L_161 C++ includes: importer.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Importer, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Importer, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Importer_type_name(*args) type_name = staticmethod(type_name) def test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Importer_test_cast(*args) test_cast = staticmethod(test_cast) def has_plugin(*args) -> "bool": """ :: has_plugin(str name) -> bool """ return _casadi.Importer_has_plugin(*args) has_plugin = staticmethod(has_plugin) def load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.Importer_load_plugin(*args) load_plugin = staticmethod(load_plugin) def doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.Importer_doc(*args) doc = staticmethod(doc) def plugin_name(self, *args) -> "std::string": """ [INTERNAL] :: plugin_name(self) -> str Query plugin name. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L118 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L71-L73 """ return _casadi.Importer_plugin_name(self, *args) def has_function(self, *args) -> "bool": """ [INTERNAL] :: has_function(self, str symname) -> bool """ return _casadi.Importer_has_function(self, *args) def has_meta(self, *args) -> "bool": """ [INTERNAL] :: has_meta(self, str cmd, int ind) -> bool Does a meta entry exist? Extra doc: https://github.com/casadi/casadi/wiki/L_165 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L145 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L83-L85 """ return _casadi.Importer_has_meta(self, *args) def get_meta(self, *args) -> "std::string": """ [INTERNAL] :: get_meta(self, str cmd, int ind) -> str Get entry as a text. Extra doc: https://github.com/casadi/casadi/wiki/L_166 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L150 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L87-L89 """ return _casadi.Importer_get_meta(self, *args) def inlined(self, *args) -> "bool": """ [INTERNAL] :: inlined(self, str symname) -> bool Check if a function is inlined. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L153 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L91-L93 """ return _casadi.Importer_inlined(self, *args) def body(self, *args) -> "std::string": """ [INTERNAL] :: body(self, str symname) -> str Get the function body, if inlined. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L156 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L95-L97 """ return _casadi.Importer_body(self, *args) def library(self, *args) -> "std::string": """ [INTERNAL] :: library(self) -> str Get library name. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L159 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L99-L101 """ return _casadi.Importer_library(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_16c Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L211 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L103-L105 """ return _casadi.Importer_serialize(self, *args) def deserialize(*args) -> "casadi::Importer": """ :: deserialize(casadi::DeserializingStream & s) -> Importer """ return _casadi.Importer_deserialize(*args) deserialize = staticmethod(deserialize) def __init__(self, *args): """ :: Importer() Importer(Importer other) Importer(str name, str compiler, dict opts) ....... :: Importer(Importer other) ............. ....... :: Importer() [INTERNAL] Default constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L94 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L31-L32 ............. ....... :: Importer(str name, str compiler, dict opts) [INTERNAL] Importer factory. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/importer.hpp#L97 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/importer.cpp#L34-L45 ............. """ this = _casadi.new_Importer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Importer Importer_swigregister = _casadi.Importer_swigregister Importer_swigregister(Importer) def Importer_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Importer_type_name(*args) def Importer_test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Importer_test_cast(*args) def Importer_has_plugin(*args) -> "bool": """ :: has_plugin(str name) -> bool """ return _casadi.Importer_has_plugin(*args) def Importer_load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.Importer_load_plugin(*args) def Importer_doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.Importer_doc(*args) def Importer_deserialize(*args) -> "casadi::Importer": """ :: deserialize(casadi::DeserializingStream & s) -> Importer """ return _casadi.Importer_deserialize(*args) class Callback(Function): """ [INTERNAL] :: Callback function functionality. This class provides a public API to the FunctionInternal class that can be subclassed by the user, who is then able to implement the different virtual method. Note that the Function class also provides a public API to FunctionInternal, but only allows calling, not being called. The user is responsible for not deleting this class for the lifetime of the internal function object. Joris Gillis, Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_o0 C++ includes: callback.hpp """ __swig_setmethods__ = {} for _s in [Function]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Callback, name, value) __swig_getmethods__ = {} for _s in [Function]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Callback, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Callback_type_name(*args) type_name = staticmethod(type_name) def __init__(self, *args): """ [INTERNAL] :: Callback(self) Callback(self, Callback obj) Copy constructor (throws an error) Extra doc: https://github.com/casadi/casadi/wiki/L_o3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L64 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L32-L34 ....... :: Callback(self) [INTERNAL] Default constructor. Extra doc: https://github.com/casadi/casadi/wiki/L_o2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L59 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L29-L30 ............. ....... :: Callback(self, Callback obj) [INTERNAL] Copy constructor (throws an error) Extra doc: https://github.com/casadi/casadi/wiki/L_o3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L64 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L32-L34 ............. """ if self.__class__ == Callback: _self = None else: _self = self this = _casadi.new_Callback(_self, *args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Callback def construct(self, *args) -> "void": """ [INTERNAL] :: construct(self, str name, dict opts) Construct internal object. This is the step that actually construct the internal object, as the class constructor only creates a null pointer. It should be called from the user constructor. Extra doc: https://github.com/casadi/casadi/wiki/L_o5 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L78 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L36-L42 """ return _casadi.Callback_construct(self, *args) def init(self, *args) -> "void": """ [INTERNAL] :: init(self) Initialize the object. This function is called after the object construction (for the whole class hierarchy) is complete, but before the finalization step. It is called recursively for the whole class hierarchy, starting with the lowest level. Extra doc: https://github.com/casadi/casadi/wiki/L_o6 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L88 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L88-L88 """ return _casadi.Callback_init(self, *args) def finalize(self, *args) -> "void": """ [INTERNAL] :: finalize(self) Finalize the object. This function is called after the construction and init steps are completed, but before user functions are called. It is called recursively for the whole class hierarchy, starting with the highest level. Extra doc: https://github.com/casadi/casadi/wiki/L_o7 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L98 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L98-L98 """ return _casadi.Callback_finalize(self, *args) def eval(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: eval(self, [DM] arg) -> [DM] Evaluate numerically, using temporary matrices and work vectors. This signature is not thread-safe. For guaranteed thread-safety, use eval_buffer Extra doc: https://github.com/casadi/casadi/wiki/L_o8 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L106 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L60-L62 """ return _casadi.Callback_eval(self, *args) def eval_buffer(self, *args) -> "int": """ [INTERNAL] :: eval_buffer(self, double const ** arg, [int] sizes_arg, double ** res, [int] sizes_res) -> int A copy-free low level interface. In Python, you will be passed two tuples of memoryview objects Note that only the structural nonzeros are present in the memoryview objects/buffers. Make sure to override has_eval_buffer() to indicate support for this method. Extra doc: https://github.com/casadi/casadi/wiki/L_o9 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L116 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L53-L56 """ return _casadi.Callback_eval_buffer(self, *args) def has_eval_buffer(self, *args) -> "bool": """ [INTERNAL] :: has_eval_buffer(self) -> bool Does the Callback class support a copy-free low level interface ? Extra doc: https://github.com/casadi/casadi/wiki/L_265 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L122 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L57-L59 """ return _casadi.Callback_has_eval_buffer(self, *args) def get_n_in(self, *args) -> "casadi_int": """ [INTERNAL] :: get_n_in(self) -> int Get the number of inputs. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_oa Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L129 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L64-L66 """ return _casadi.Callback_get_n_in(self, *args) def get_n_out(self, *args) -> "casadi_int": """ [INTERNAL] :: get_n_out(self) -> int Get the number of outputs. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_ob Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L136 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L68-L70 """ return _casadi.Callback_get_n_out(self, *args) def get_sparsity_in(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: get_sparsity_in(self, int i) -> Sparsity Get the sparsity of an input. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_oc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L143 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L72-L74 """ return _casadi.Callback_get_sparsity_in(self, *args) def get_sparsity_out(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: get_sparsity_out(self, int i) -> Sparsity Get the sparsity of an output. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_od Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L150 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L76-L78 """ return _casadi.Callback_get_sparsity_out(self, *args) def get_name_in(self, *args) -> "std::string": """ [INTERNAL] :: get_name_in(self, int i) -> str Get the name of an input. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_oe Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L157 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L80-L82 """ return _casadi.Callback_get_name_in(self, *args) def get_name_out(self, *args) -> "std::string": """ [INTERNAL] :: get_name_out(self, int i) -> str Get the name of an output. This function is called during construction. Extra doc: https://github.com/casadi/casadi/wiki/L_of Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L164 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L84-L86 """ return _casadi.Callback_get_name_out(self, *args) def uses_output(self, *args) -> "bool": """ [INTERNAL] :: uses_output(self) -> bool Do the derivative functions need nondifferentiated outputs? Extra doc: https://github.com/casadi/casadi/wiki/L_og Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L169 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L88-L90 """ return _casadi.Callback_uses_output(self, *args) def get_factory(self, *args) -> "casadi::Function": """ [INTERNAL] :: get_factory(self, str name, [str] s_in, [str] s_out, dict:[str] aux, dict opts) -> Function Customize calls to the function factory. Extra doc: https://github.com/casadi/casadi/wiki/L_2de Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L174 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L92-L98 """ return _casadi.Callback_get_factory(self, *args) def has_jacobian(self, *args) -> "bool": """ [INTERNAL] :: has_jacobian(self) -> bool Return Jacobian of all input elements with respect to all output elements. Extra doc: https://github.com/casadi/casadi/wiki/L_oh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L184 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L100-L102 """ return _casadi.Callback_has_jacobian(self, *args) def get_jacobian(self, *args) -> "casadi::Function": """ [INTERNAL] :: get_jacobian(self, str name, [str] inames, [str] onames, dict opts) -> Function Return Jacobian of all input elements with respect to all output elements. Extra doc: https://github.com/casadi/casadi/wiki/L_oh Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L185 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L105-L110 """ return _casadi.Callback_get_jacobian(self, *args) def has_forward(self, *args) -> "bool": """ [INTERNAL] :: has_forward(self, int nfwd) -> bool Return function that calculates forward derivatives. forward(nfwd) returns a cached instance if available, and calls Function get_forward(casadi_int nfwd) if no cached version is available. Extra doc: https://github.com/casadi/casadi/wiki/L_oi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L199 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L120-L122 """ return _casadi.Callback_has_forward(self, *args) def get_forward(self, *args) -> "casadi::Function": """ [INTERNAL] :: get_forward(self, int nfwd, str name, [str] inames, [str] onames, dict opts) -> Function Return function that calculates forward derivatives. forward(nfwd) returns a cached instance if available, and calls Function get_forward(casadi_int nfwd) if no cached version is available. Extra doc: https://github.com/casadi/casadi/wiki/L_oi Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L113-L118 """ return _casadi.Callback_get_forward(self, *args) def has_reverse(self, *args) -> "bool": """ [INTERNAL] :: has_reverse(self, int nadj) -> bool Return function that calculates adjoint derivatives. reverse(nadj) returns a cached instance if available, and calls Function get_reverse(casadi_int nadj) if no cached version is available. Extra doc: https://github.com/casadi/casadi/wiki/L_oj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L214 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L132-L134 """ return _casadi.Callback_has_reverse(self, *args) def get_reverse(self, *args) -> "casadi::Function": """ [INTERNAL] :: get_reverse(self, int nadj, str name, [str] inames, [str] onames, dict opts) -> Function Return function that calculates adjoint derivatives. reverse(nadj) returns a cached instance if available, and calls Function get_reverse(casadi_int nadj) if no cached version is available. Extra doc: https://github.com/casadi/casadi/wiki/L_oj Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L215 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.cpp#L125-L130 """ return _casadi.Callback_get_reverse(self, *args) def has_jac_sparsity(self, *args) -> "bool": """ [INTERNAL] :: has_jac_sparsity(self, int oind, int iind) -> bool Return sparsity of Jacobian of all input elements. with respect to all output elements Extra doc: https://github.com/casadi/casadi/wiki/L_ok Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L227 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L227-L227 """ return _casadi.Callback_has_jac_sparsity(self, *args) def get_jac_sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: get_jac_sparsity(self, int oind, int iind, bool symmetric) -> Sparsity Return sparsity of Jacobian of all input elements. with respect to all output elements Extra doc: https://github.com/casadi/casadi/wiki/L_ok Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L228 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/callback.hpp#L228-L229 """ return _casadi.Callback_get_jac_sparsity(self, *args) def __disown__(self): self.this.disown() _casadi.disown_Callback(self) return weakref_proxy(self) Callback_swigregister = _casadi.Callback_swigregister Callback_swigregister(Callback) def Callback_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Callback_type_name(*args) class GlobalOptions(_object): """ [INTERNAL] :: Collects global CasADi options. Note to developers: use sparingly. Global options are - in general - a rather bad idea this class must never be instantiated. Access its static members directly Joris Gillis Extra doc: https://github.com/casadi/casadi/wiki/L_23m C++ includes: global_options.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, GlobalOptions, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, GlobalOptions, name) __repr__ = _swig_repr def setSimplificationOnTheFly(*args) -> "void": """ :: setSimplificationOnTheFly(bool flag) """ return _casadi.GlobalOptions_setSimplificationOnTheFly(*args) setSimplificationOnTheFly = staticmethod(setSimplificationOnTheFly) def getSimplificationOnTheFly(*args) -> "bool": """ :: getSimplificationOnTheFly() -> bool """ return _casadi.GlobalOptions_getSimplificationOnTheFly(*args) getSimplificationOnTheFly = staticmethod(getSimplificationOnTheFly) def setHierarchicalSparsity(*args) -> "void": """ :: setHierarchicalSparsity(bool flag) """ return _casadi.GlobalOptions_setHierarchicalSparsity(*args) setHierarchicalSparsity = staticmethod(setHierarchicalSparsity) def getHierarchicalSparsity(*args) -> "bool": """ :: getHierarchicalSparsity() -> bool """ return _casadi.GlobalOptions_getHierarchicalSparsity(*args) getHierarchicalSparsity = staticmethod(getHierarchicalSparsity) def setCasadiPath(*args) -> "void": """ :: setCasadiPath(str path) """ return _casadi.GlobalOptions_setCasadiPath(*args) setCasadiPath = staticmethod(setCasadiPath) def getCasadiPath(*args) -> "std::string": """ :: getCasadiPath() -> str """ return _casadi.GlobalOptions_getCasadiPath(*args) getCasadiPath = staticmethod(getCasadiPath) def setCasadiIncludePath(*args) -> "void": """ :: setCasadiIncludePath(str path) """ return _casadi.GlobalOptions_setCasadiIncludePath(*args) setCasadiIncludePath = staticmethod(setCasadiIncludePath) def getCasadiIncludePath(*args) -> "std::string": """ :: getCasadiIncludePath() -> str """ return _casadi.GlobalOptions_getCasadiIncludePath(*args) getCasadiIncludePath = staticmethod(getCasadiIncludePath) def setMaxNumDir(*args) -> "void": """ :: setMaxNumDir(int ndir) """ return _casadi.GlobalOptions_setMaxNumDir(*args) setMaxNumDir = staticmethod(setMaxNumDir) def getMaxNumDir(*args) -> "casadi_int": """ :: getMaxNumDir() -> int """ return _casadi.GlobalOptions_getMaxNumDir(*args) getMaxNumDir = staticmethod(getMaxNumDir) def setCopyElisionMinSize(*args) -> "void": """ :: setCopyElisionMinSize(int sz) """ return _casadi.GlobalOptions_setCopyElisionMinSize(*args) setCopyElisionMinSize = staticmethod(setCopyElisionMinSize) def getCopyElisionMinSize(*args) -> "casadi_int": """ :: getCopyElisionMinSize() -> int """ return _casadi.GlobalOptions_getCopyElisionMinSize(*args) getCopyElisionMinSize = staticmethod(getCopyElisionMinSize) def __init__(self, *args): """ :: GlobalOptions(GlobalOptions other) """ this = _casadi.new_GlobalOptions(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_GlobalOptions GlobalOptions_swigregister = _casadi.GlobalOptions_swigregister GlobalOptions_swigregister(GlobalOptions) def GlobalOptions_setSimplificationOnTheFly(*args) -> "void": """ :: setSimplificationOnTheFly(bool flag) """ return _casadi.GlobalOptions_setSimplificationOnTheFly(*args) def GlobalOptions_getSimplificationOnTheFly(*args) -> "bool": """ :: getSimplificationOnTheFly() -> bool """ return _casadi.GlobalOptions_getSimplificationOnTheFly(*args) def GlobalOptions_setHierarchicalSparsity(*args) -> "void": """ :: setHierarchicalSparsity(bool flag) """ return _casadi.GlobalOptions_setHierarchicalSparsity(*args) def GlobalOptions_getHierarchicalSparsity(*args) -> "bool": """ :: getHierarchicalSparsity() -> bool """ return _casadi.GlobalOptions_getHierarchicalSparsity(*args) def GlobalOptions_setCasadiPath(*args) -> "void": """ :: setCasadiPath(str path) """ return _casadi.GlobalOptions_setCasadiPath(*args) def GlobalOptions_getCasadiPath(*args) -> "std::string": """ :: getCasadiPath() -> str """ return _casadi.GlobalOptions_getCasadiPath(*args) def GlobalOptions_setCasadiIncludePath(*args) -> "void": """ :: setCasadiIncludePath(str path) """ return _casadi.GlobalOptions_setCasadiIncludePath(*args) def GlobalOptions_getCasadiIncludePath(*args) -> "std::string": """ :: getCasadiIncludePath() -> str """ return _casadi.GlobalOptions_getCasadiIncludePath(*args) def GlobalOptions_setMaxNumDir(*args) -> "void": """ :: setMaxNumDir(int ndir) """ return _casadi.GlobalOptions_setMaxNumDir(*args) def GlobalOptions_getMaxNumDir(*args) -> "casadi_int": """ :: getMaxNumDir() -> int """ return _casadi.GlobalOptions_getMaxNumDir(*args) def GlobalOptions_setCopyElisionMinSize(*args) -> "void": """ :: setCopyElisionMinSize(int sz) """ return _casadi.GlobalOptions_setCopyElisionMinSize(*args) def GlobalOptions_getCopyElisionMinSize(*args) -> "casadi_int": """ :: getCopyElisionMinSize() -> int """ return _casadi.GlobalOptions_getCopyElisionMinSize(*args) class CasadiMeta(_object): """ [INTERNAL] :: Collects global CasADi meta information. Joris Gillis Extra doc: https://github.com/casadi/casadi/wiki/L_23k C++ includes: casadi_meta.hpp """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, CasadiMeta, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, CasadiMeta, name) __repr__ = _swig_repr def version(*args) -> "char const *": """ :: version() -> char const * """ return _casadi.CasadiMeta_version(*args) version = staticmethod(version) def git_revision(*args) -> "char const *": """ :: git_revision() -> char const * """ return _casadi.CasadiMeta_git_revision(*args) git_revision = staticmethod(git_revision) def git_describe(*args) -> "char const *": """ :: git_describe() -> char const * """ return _casadi.CasadiMeta_git_describe(*args) git_describe = staticmethod(git_describe) def feature_list(*args) -> "char const *": """ :: feature_list() -> char const * """ return _casadi.CasadiMeta_feature_list(*args) feature_list = staticmethod(feature_list) def build_type(*args) -> "char const *": """ :: build_type() -> char const * """ return _casadi.CasadiMeta_build_type(*args) build_type = staticmethod(build_type) def compiler_id(*args) -> "char const *": """ :: compiler_id() -> char const * """ return _casadi.CasadiMeta_compiler_id(*args) compiler_id = staticmethod(compiler_id) def compiler(*args) -> "char const *": """ :: compiler() -> char const * """ return _casadi.CasadiMeta_compiler(*args) compiler = staticmethod(compiler) def compiler_flags(*args) -> "char const *": """ :: compiler_flags() -> char const * """ return _casadi.CasadiMeta_compiler_flags(*args) compiler_flags = staticmethod(compiler_flags) def modules(*args) -> "char const *": """ :: modules() -> char const * """ return _casadi.CasadiMeta_modules(*args) modules = staticmethod(modules) def plugins(*args) -> "char const *": """ :: plugins() -> char const * """ return _casadi.CasadiMeta_plugins(*args) plugins = staticmethod(plugins) def install_prefix(*args) -> "char const *": """ :: install_prefix() -> char const * """ return _casadi.CasadiMeta_install_prefix(*args) install_prefix = staticmethod(install_prefix) def shared_library_prefix(*args) -> "char const *": """ :: shared_library_prefix() -> char const * """ return _casadi.CasadiMeta_shared_library_prefix(*args) shared_library_prefix = staticmethod(shared_library_prefix) def shared_library_suffix(*args) -> "char const *": """ :: shared_library_suffix() -> char const * """ return _casadi.CasadiMeta_shared_library_suffix(*args) shared_library_suffix = staticmethod(shared_library_suffix) def object_file_suffix(*args) -> "char const *": """ :: object_file_suffix() -> char const * """ return _casadi.CasadiMeta_object_file_suffix(*args) object_file_suffix = staticmethod(object_file_suffix) def swig_flags(*args) -> "char const *": """ :: swig_flags() -> char const * """ return _casadi.CasadiMeta_swig_flags(*args) swig_flags = staticmethod(swig_flags) def __init__(self, *args): """ :: CasadiMeta(CasadiMeta other) """ this = _casadi.new_CasadiMeta(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_CasadiMeta CasadiMeta_swigregister = _casadi.CasadiMeta_swigregister CasadiMeta_swigregister(CasadiMeta) def CasadiMeta_version(*args) -> "char const *": """ :: version() -> char const * """ return _casadi.CasadiMeta_version(*args) def CasadiMeta_git_revision(*args) -> "char const *": """ :: git_revision() -> char const * """ return _casadi.CasadiMeta_git_revision(*args) def CasadiMeta_git_describe(*args) -> "char const *": """ :: git_describe() -> char const * """ return _casadi.CasadiMeta_git_describe(*args) def CasadiMeta_feature_list(*args) -> "char const *": """ :: feature_list() -> char const * """ return _casadi.CasadiMeta_feature_list(*args) def CasadiMeta_build_type(*args) -> "char const *": """ :: build_type() -> char const * """ return _casadi.CasadiMeta_build_type(*args) def CasadiMeta_compiler_id(*args) -> "char const *": """ :: compiler_id() -> char const * """ return _casadi.CasadiMeta_compiler_id(*args) def CasadiMeta_compiler(*args) -> "char const *": """ :: compiler() -> char const * """ return _casadi.CasadiMeta_compiler(*args) def CasadiMeta_compiler_flags(*args) -> "char const *": """ :: compiler_flags() -> char const * """ return _casadi.CasadiMeta_compiler_flags(*args) def CasadiMeta_modules(*args) -> "char const *": """ :: modules() -> char const * """ return _casadi.CasadiMeta_modules(*args) def CasadiMeta_plugins(*args) -> "char const *": """ :: plugins() -> char const * """ return _casadi.CasadiMeta_plugins(*args) def CasadiMeta_install_prefix(*args) -> "char const *": """ :: install_prefix() -> char const * """ return _casadi.CasadiMeta_install_prefix(*args) def CasadiMeta_shared_library_prefix(*args) -> "char const *": """ :: shared_library_prefix() -> char const * """ return _casadi.CasadiMeta_shared_library_prefix(*args) def CasadiMeta_shared_library_suffix(*args) -> "char const *": """ :: shared_library_suffix() -> char const * """ return _casadi.CasadiMeta_shared_library_suffix(*args) def CasadiMeta_object_file_suffix(*args) -> "char const *": """ :: object_file_suffix() -> char const * """ return _casadi.CasadiMeta_object_file_suffix(*args) def CasadiMeta_swig_flags(*args) -> "char const *": """ :: swig_flags() -> char const * """ return _casadi.CasadiMeta_swig_flags(*args) def collocation_points(*args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: collocation_points(int order, str scheme) -> [float] Obtain collocation points of specific order and scheme. Parameters: ----------- order: Which order (1 to 9 supported) scheme: 'radau' or 'legendre' Extra doc: https://github.com/casadi/casadi/wiki/L_1so Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L120 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L120-L122 """ return _casadi.collocation_points(*args) def collocation_interpolators(*args) -> "std::vector< std::vector< double > > &, std::vector< double > &": """ [INTERNAL] :: collocation_interpolators([float] tau) -> ([[float]] OUTPUT, [float] OUTPUT) Obtain collocation interpolating matrices. 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 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: ----------- 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L189 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L189-L231 """ return _casadi.collocation_interpolators(*args) def collocation_coeff(*args) -> "casadi::Matrix< double > &, casadi::Matrix< double > &, casadi::Matrix< double > &": """ [INTERNAL] :: collocation_coeff([float] tau) -> (DM OUTPUT, DM OUTPUT, DM OUTPUT) Obtain collocation interpolating matrices. 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 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: ----------- 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: ----------- 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L233 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L233-L287 """ return _casadi.collocation_coeff(*args) LEGENDRE = _casadi.LEGENDRE RADAU = _casadi.RADAU def simpleRK(*args) -> "casadi::Function": """ [INTERNAL] :: simpleRK(Function f, int N, int order) -> Function Construct an explicit Runge-Kutta integrator. 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L128 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L128-L187 """ return _casadi.simpleRK(*args) def simpleIRK(*args) -> "casadi::Function": """ [INTERNAL] :: simpleIRK(Function f, int N, int order, str scheme, str solver, dict solver_options) -> Function Construct an implicit Runge-Kutta integrator using a collocation scheme. 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L289 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L289-L354 """ return _casadi.simpleIRK(*args) def simpleIntegrator(*args) -> "casadi::Function": """ [INTERNAL] :: simpleIntegrator(Function f, str integrator, dict integrator_options) -> Function Simplified wrapper for the Integrator class. Extra doc: https://github.com/casadi/casadi/wiki/L_1st Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L356 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L356-L395 """ return _casadi.simpleIntegrator(*args) def dae_reduce_index(*args) -> "std::map< std::string,casadi::GenericType > &": """ [INTERNAL] :: dae_reduce_index(dict:SX dae, dict opts) -> (dict:SX , dict OUTPUT) dae_reduce_index(dict:MX dae, dict opts) -> (dict:MX , dict OUTPUT) Reduce index. 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 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1071 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1071-L1073 ....... :: dae_reduce_index(dict:SX dae, dict opts) [INTERNAL] Reduce index. 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 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1071 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1071-L1073 ............. ....... :: dae_reduce_index(dict:MX dae, dict opts) [INTERNAL] Reduce index. 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 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1067 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1067-L1069 ............. """ return _casadi.dae_reduce_index(*args) def dae_map_semi_expl(*args) -> "casadi::Function &, casadi::Function &": """ [INTERNAL] :: dae_map_semi_expl(dict:SX dae, dict:SX dae_red) -> (dict:SX , Function OUTPUT, Function OUTPUT) dae_map_semi_expl(dict:MX dae, dict:MX dae_red) -> (dict:MX , Function OUTPUT, Function OUTPUT) Turn a reduced DAE into a semi explicit form suitable for CasADi integrator. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) state_to_orig: A mapping of integrator (semi explicit) states to states of the original DAE 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 Semi explicit DAE dictionary, suitable to pass to a CasADi integrator See: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1su Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1216 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1216-L1219 ....... :: dae_map_semi_expl(dict:SX dae, dict:SX dae_red) [INTERNAL] Turn a reduced DAE into a semi explicit form suitable for CasADi integrator. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) state_to_orig: A mapping of integrator (semi explicit) states to states of the original DAE 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 Semi explicit DAE dictionary, suitable to pass to a CasADi integrator See: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1su Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1216 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1216-L1219 ............. ....... :: dae_map_semi_expl(dict:MX dae, dict:MX dae_red) [INTERNAL] Turn a reduced DAE into a semi explicit form suitable for CasADi integrator. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) state_to_orig: A mapping of integrator (semi explicit) states to states of the original DAE 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 Semi explicit DAE dictionary, suitable to pass to a CasADi integrator See: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1su Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1211 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1211-L1214 ............. """ return _casadi.dae_map_semi_expl(*args) def dae_init_gen(*args) -> "casadi::Function": """ [INTERNAL] :: dae_init_gen(dict:SX dae, dict:SX dae_red, str init_solver, dict:DM init_strength, dict init_solver_options) -> Function dae_init_gen(dict:MX dae, dict:MX dae_red, str init_solver, dict:DM init_strength, dict init_solver_options) -> Function Obtain a generator Function for producing consistent initial guesses of a reduced DAE. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) init_solver: NLP solver plugin name for nlpsol used to construct an initial guess 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) init_solver_options: NLP solver options to be passed to nlpsol 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: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1sv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1226 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1226-L1229 ....... :: dae_init_gen(dict:SX dae, dict:SX dae_red, str init_solver, dict:DM init_strength, dict init_solver_options) [INTERNAL] Obtain a generator Function for producing consistent initial guesses of a reduced DAE. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) init_solver: NLP solver plugin name for nlpsol used to construct an initial guess 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) init_solver_options: NLP solver options to be passed to nlpsol 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: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1sv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1226 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1226-L1229 ............. ....... :: dae_init_gen(dict:MX dae, dict:MX dae_red, str init_solver, dict:DM init_strength, dict init_solver_options) [INTERNAL] Obtain a generator Function for producing consistent initial guesses of a reduced DAE. Parameters: ----------- dae: Original (unreduced) DAE structure dae_red: Reduced DAE (see dae_reduce_index) init_solver: NLP solver plugin name for nlpsol used to construct an initial guess 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) init_solver_options: NLP solver options to be passed to nlpsol 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: dae_reduce_index Extra doc: https://github.com/casadi/casadi/wiki/L_1sv Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.hpp#L1221 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/integration_tools.cpp#L1221-L1224 ............. """ return _casadi.dae_init_gen(*args) def detect_simple_bounds(*args) -> "std::vector< casadi_int > &, casadi::MX &, casadi::MX &, casadi::Function &, casadi::Function &": """ [INTERNAL] :: detect_simple_bounds(SX xX, SX p, SX g, SX lbg, SX ubg) -> ([int] OUTPUT, SX OUTPUT, SX OUTPUT, Function OUTPUT, Function OUTPUT) detect_simple_bounds(MX xX, MX p, MX g, MX lbg, MX ubg) -> ([int] OUTPUT, MX OUTPUT, MX OUTPUT, Function OUTPUT, Function OUTPUT) ....... :: detect_simple_bounds(SX xX, SX p, SX g, SX lbg, SX ubg) [INTERNAL] Detect simple bounds from general constraints. 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: ----------- lam_forward: (lam_g,p)->(lam_sg,lam_x) lam_backward: (lam_sg,lam_x,p)->(lam_g) Extra doc: https://github.com/casadi/casadi/wiki/L_1sw Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_tools.hpp#L217 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_tools.cpp#L217-L225 ............. ....... :: detect_simple_bounds(MX xX, MX p, MX g, MX lbg, MX ubg) [INTERNAL] ............. """ return _casadi.detect_simple_bounds(*args) def external_transform(*args) -> "casadi::Function": """ [INTERNAL] :: external_transform(str name, str op, Function f, dict opts) -> Function Apply a transformation defined externally. 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 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/tools.hpp#L45 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/tools.cpp#L45-L77 """ return _casadi.external_transform(*args) class NlpBuilder(PrintableCommon): """ [INTERNAL] :: A symbolic NLP representation. Joel Andersson :: Extra doc: https://github.com/casadi/casadi/wiki/L_1e2 C++ includes: nlp_builder.hpp """ __swig_setmethods__ = {} for _s in [PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, NlpBuilder, name, value) __swig_getmethods__ = {} for _s in [PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, NlpBuilder, name) __repr__ = _swig_repr __swig_getmethods__["x"] = _casadi.NlpBuilder_x_get if _newclass: x = _swig_property(_casadi.NlpBuilder_x_get) __swig_getmethods__["f"] = _casadi.NlpBuilder_f_get if _newclass: f = _swig_property(_casadi.NlpBuilder_f_get) __swig_getmethods__["g"] = _casadi.NlpBuilder_g_get if _newclass: g = _swig_property(_casadi.NlpBuilder_g_get) __swig_getmethods__["x_lb"] = _casadi.NlpBuilder_x_lb_get if _newclass: x_lb = _swig_property(_casadi.NlpBuilder_x_lb_get) __swig_getmethods__["x_ub"] = _casadi.NlpBuilder_x_ub_get if _newclass: x_ub = _swig_property(_casadi.NlpBuilder_x_ub_get) __swig_getmethods__["g_lb"] = _casadi.NlpBuilder_g_lb_get if _newclass: g_lb = _swig_property(_casadi.NlpBuilder_g_lb_get) __swig_getmethods__["g_ub"] = _casadi.NlpBuilder_g_ub_get if _newclass: g_ub = _swig_property(_casadi.NlpBuilder_g_ub_get) __swig_getmethods__["x_init"] = _casadi.NlpBuilder_x_init_get if _newclass: x_init = _swig_property(_casadi.NlpBuilder_x_init_get) __swig_getmethods__["lambda_init"] = _casadi.NlpBuilder_lambda_init_get if _newclass: lambda_init = _swig_property(_casadi.NlpBuilder_lambda_init_get) __swig_getmethods__["discrete"] = _casadi.NlpBuilder_discrete_get if _newclass: discrete = _swig_property(_casadi.NlpBuilder_discrete_get) def import_nl(self, *args) -> "void": """ [INTERNAL] :: import_nl(self, str filename, dict opts) Import an .nl file. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L74 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.cpp#L32-L35 """ return _casadi.NlpBuilder_import_nl(self, *args) def type_name(self, *args) -> "std::string": """ [INTERNAL] :: type_name(self) -> str Readable name of the class. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L77 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L77-L77 """ return _casadi.NlpBuilder_type_name(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print a description of the object. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L80 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.cpp#L37-L45 """ return _casadi.NlpBuilder_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L83 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/nlp_builder.hpp#L83-L87 """ return _casadi.NlpBuilder_str(self, *args) def __init__(self, *args): """ :: NlpBuilder() NlpBuilder(NlpBuilder other) """ this = _casadi.new_NlpBuilder(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_NlpBuilder NlpBuilder_swigregister = _casadi.NlpBuilder_swigregister NlpBuilder_swigregister(NlpBuilder) class DaeBuilder(SharedObject, PrintableCommon): """ [INTERNAL] :: A symbolic representation of a differential-algebraic equations model. Variables: ========== :: t: independent variable (usually time) c: constants p: parameters d: dependent parameters (time independent) u: controls w: dependent variables (time dependent) x: differential states z: algebraic variables q: quadrature states y: outputs Equations: ========== :: differential equations: \\dot{x} == ode(...) algebraic equations: 0 == alg(...) quadrature equations: \\dot{q} == quad(...) dependent parameters: d == ddef(d_prev,p) dependent variables: w == wdef(w_prev,x,z,u,p,t) output equations: y == ydef(...) initial equations: init_lhs == init_rhs(...) events: when when_cond < 0: when_lhs := when_rhs Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_5c C++ includes: dae_builder.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, DaeBuilder, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, DaeBuilder, name) __repr__ = _swig_repr def type_name(self, *args) -> "std::string": """ [INTERNAL] :: type_name(self) -> str Readable name of the class. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L74 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L74-L74 """ return _casadi.DaeBuilder_type_name(self, *args) def name(self, *args) -> "std::string const &": """ [INTERNAL] :: name(self) -> str Name of instance. Extra doc: https://github.com/casadi/casadi/wiki/L_5d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L86 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L59-L61 """ return _casadi.DaeBuilder_name(self, *args) def time(self, *args) -> "casadi::MX const &": """ [INTERNAL] :: time(self) -> MX Expression for independent variable (usually time) Extra doc: https://github.com/casadi/casadi/wiki/L_2by Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L93 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L63-L71 """ return _casadi.DaeBuilder_time(self, *args) def t_new(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: t_new(self) -> [str] Independent variable (usually time) Extra doc: https://github.com/casadi/casadi/wiki/L_2bz Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L98 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L98-L98 """ return _casadi.DaeBuilder_t_new(self, *args) def x(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: x(self) -> [str] Differential states. Extra doc: https://github.com/casadi/casadi/wiki/L_5f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L103 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L103-L103 """ return _casadi.DaeBuilder_x(self, *args) def y(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: y(self) -> [str] Outputs */. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L106 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L73-L80 """ return _casadi.DaeBuilder_y(self, *args) def ode(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: ode(self) -> [MX] Ordinary differential equations (ODE) Extra doc: https://github.com/casadi/casadi/wiki/L_5g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L111 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L82-L89 """ return _casadi.DaeBuilder_ode(self, *args) def z(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: z(self) -> [str] Algebraic variables. Extra doc: https://github.com/casadi/casadi/wiki/L_5h Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L116 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L116-L116 """ return _casadi.DaeBuilder_z(self, *args) def alg(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: alg(self) -> [MX] Algebraic equations. Extra doc: https://github.com/casadi/casadi/wiki/L_5i Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L121 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L91-L98 """ return _casadi.DaeBuilder_alg(self, *args) def q(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: q(self) -> [str] Quadrature states. Extra doc: https://github.com/casadi/casadi/wiki/L_5j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L126 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L126-L126 """ return _casadi.DaeBuilder_q(self, *args) def quad(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: quad(self) -> [MX] Quadrature equations. Extra doc: https://github.com/casadi/casadi/wiki/L_5k Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L131 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L100-L107 """ return _casadi.DaeBuilder_quad(self, *args) def zero(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: zero(self) -> [MX] Zero-crossing functions. Extra doc: https://github.com/casadi/casadi/wiki/L_2b0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L136 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L109-L115 """ return _casadi.DaeBuilder_zero(self, *args) def ydef(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: ydef(self) -> [MX] Definitions of output variables. Extra doc: https://github.com/casadi/casadi/wiki/L_5m Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L141 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L117-L124 """ return _casadi.DaeBuilder_ydef(self, *args) def set_y(self, *args) -> "void": """ [INTERNAL] :: set_y(self, [str] name) Set all output variables. Extra doc: https://github.com/casadi/casadi/wiki/L_2db Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L146 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L126-L160 """ return _casadi.DaeBuilder_set_y(self, *args) def rate(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: rate(self) -> [str] Get all rate variables. Extra doc: https://github.com/casadi/casadi/wiki/L_2dc Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L151 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L162-L169 """ return _casadi.DaeBuilder_rate(self, *args) def set_rate(self, *args) -> "void": """ [INTERNAL] :: set_rate(self, [str] name) Set rate variables. Extra doc: https://github.com/casadi/casadi/wiki/L_2dd Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L156 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L171-L178 """ return _casadi.DaeBuilder_set_rate(self, *args) def u(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: u(self) -> [str] Free controls. Extra doc: https://github.com/casadi/casadi/wiki/L_5n Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L161 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L161-L161 """ return _casadi.DaeBuilder_u(self, *args) def p(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: p(self) -> [str] Parameters. Extra doc: https://github.com/casadi/casadi/wiki/L_5o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L166 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L166-L166 """ return _casadi.DaeBuilder_p(self, *args) def c(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: c(self) -> [str] Named constants. Extra doc: https://github.com/casadi/casadi/wiki/L_5p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L171 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L171-L171 """ return _casadi.DaeBuilder_c(self, *args) def cdef(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: cdef(self) -> [MX] Definitions of named constants. Extra doc: https://github.com/casadi/casadi/wiki/L_5q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L176 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L180-L187 """ return _casadi.DaeBuilder_cdef(self, *args) def d(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: d(self) -> [str] Dependent parameters. Extra doc: https://github.com/casadi/casadi/wiki/L_5r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L181 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L181-L181 """ return _casadi.DaeBuilder_d(self, *args) def ddef(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: ddef(self) -> [MX] Definitions of dependent parameters. Interdependencies are allowed but must be non-cyclic. Extra doc: https://github.com/casadi/casadi/wiki/L_5s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L188 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L189-L196 """ return _casadi.DaeBuilder_ddef(self, *args) def w(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: w(self) -> [str] Dependent variables. Extra doc: https://github.com/casadi/casadi/wiki/L_5t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L193 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L193-L193 """ return _casadi.DaeBuilder_w(self, *args) def wdef(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: wdef(self) -> [MX] Dependent variables and corresponding definitions. Interdependencies are allowed but must be non-cyclic. Extra doc: https://github.com/casadi/casadi/wiki/L_5u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L200 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L198-L205 """ return _casadi.DaeBuilder_wdef(self, *args) def init_lhs(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: init_lhs(self) -> [MX] Initial conditions, left-hand-side. Extra doc: https://github.com/casadi/casadi/wiki/L_2b1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L205 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L207-L209 """ return _casadi.DaeBuilder_init_lhs(self, *args) def init_rhs(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: init_rhs(self) -> [MX] Initial conditions, right-hand-side. Extra doc: https://github.com/casadi/casadi/wiki/L_2b2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L210 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L211-L213 """ return _casadi.DaeBuilder_init_rhs(self, *args) def outputs(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: outputs(self) -> [str] Model structure: outputs. Extra doc: https://github.com/casadi/casadi/wiki/L_61 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L215 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L215-L222 """ return _casadi.DaeBuilder_outputs(self, *args) def derivatives(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: derivatives(self) -> [str] Model structure: derivatives. Extra doc: https://github.com/casadi/casadi/wiki/L_62 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L220 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L224-L231 """ return _casadi.DaeBuilder_derivatives(self, *args) def initial_unknowns(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: initial_unknowns(self) -> [str] Model structure: initial unknowns. Extra doc: https://github.com/casadi/casadi/wiki/L_63 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L225 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L233-L240 """ return _casadi.DaeBuilder_initial_unknowns(self, *args) def has_t(self, *args) -> "bool": """ [INTERNAL] :: has_t(self) -> bool Is there a time variable? Extra doc: https://github.com/casadi/casadi/wiki/L_64 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L233 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L242-L249 """ return _casadi.DaeBuilder_has_t(self, *args) def has_rate(self, *args) -> "bool": """ [INTERNAL] :: has_rate(self) -> bool Is there a rate output? Extra doc: https://github.com/casadi/casadi/wiki/L_2dg Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L238 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L251-L258 """ return _casadi.DaeBuilder_has_rate(self, *args) def nx(self, *args) -> "casadi_int": """ [INTERNAL] :: nx(self) -> int Differential states. Extra doc: https://github.com/casadi/casadi/wiki/L_65 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L243 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L260-L262 """ return _casadi.DaeBuilder_nx(self, *args) def nz(self, *args) -> "casadi_int": """ [INTERNAL] :: nz(self) -> int Algebraic variables. Extra doc: https://github.com/casadi/casadi/wiki/L_66 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L248 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L264-L266 """ return _casadi.DaeBuilder_nz(self, *args) def nq(self, *args) -> "casadi_int": """ [INTERNAL] :: nq(self) -> int Quadrature states. Extra doc: https://github.com/casadi/casadi/wiki/L_67 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L253 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L268-L270 """ return _casadi.DaeBuilder_nq(self, *args) def nzero(self, *args) -> "casadi_int": """ [INTERNAL] :: nzero(self) -> int Zero-crossing functions. Extra doc: https://github.com/casadi/casadi/wiki/L_2cb Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L258 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L272-L274 """ return _casadi.DaeBuilder_nzero(self, *args) def ny(self, *args) -> "casadi_int": """ [INTERNAL] :: ny(self) -> int Output variables. Extra doc: https://github.com/casadi/casadi/wiki/L_68 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L263 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L276-L278 """ return _casadi.DaeBuilder_ny(self, *args) def nu(self, *args) -> "casadi_int": """ [INTERNAL] :: nu(self) -> int Free controls. Extra doc: https://github.com/casadi/casadi/wiki/L_69 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L268 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L280-L282 """ return _casadi.DaeBuilder_nu(self, *args) def np(self, *args) -> "casadi_int": """ [INTERNAL] :: np(self) -> int Parameters. Extra doc: https://github.com/casadi/casadi/wiki/L_6a Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L273 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L284-L286 """ return _casadi.DaeBuilder_np(self, *args) def nc(self, *args) -> "casadi_int": """ [INTERNAL] :: nc(self) -> int Named constants. Extra doc: https://github.com/casadi/casadi/wiki/L_6b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L288-L290 """ return _casadi.DaeBuilder_nc(self, *args) def nd(self, *args) -> "casadi_int": """ [INTERNAL] :: nd(self) -> int Dependent parameters. Extra doc: https://github.com/casadi/casadi/wiki/L_6c Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L283 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L292-L294 """ return _casadi.DaeBuilder_nd(self, *args) def nw(self, *args) -> "casadi_int": """ [INTERNAL] :: nw(self) -> int Dependent variables. Extra doc: https://github.com/casadi/casadi/wiki/L_6d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L288 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L296-L298 """ return _casadi.DaeBuilder_nw(self, *args) def add(self, *args) -> "void": """ [INTERNAL] :: add(self, str name, dict opts) -> MX add(self, str name, str causality, dict opts) -> MX add(self, str name, str causality, str variability, dict opts) -> MX add(self, str name, str causality, str variability, MX expr, dict opts) Add a new model variable, symbolic expression already available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L312 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L659-L672 ....... :: add(self, str name, str causality, str variability, MX expr, dict opts) [INTERNAL] Add a new model variable, symbolic expression already available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L312 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L659-L672 ............. ....... :: add(self, str name, str causality, str variability, dict opts) [INTERNAL] Add a new model variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L297 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L630-L639 ............. ....... :: add(self, str name, dict opts) [INTERNAL] Add a new model variable, default variability and causality. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L308 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L650-L657 ............. ....... :: add(self, str name, str causality, dict opts) [INTERNAL] Add a new model variable, default variability. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L303 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L641-L648 ............. """ return _casadi.DaeBuilder_add(self, *args) def t(self, *args) -> "casadi::MX const &": """ [DEPRECATED] Renamed "time" :: t(self) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L320 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L320-L320 """ return _casadi.DaeBuilder_t(self, *args) def add_t(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_t(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L323 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L675-L677 """ return _casadi.DaeBuilder_add_t(self, *args) def add_p(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_p(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L326 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L679-L682 """ return _casadi.DaeBuilder_add_p(self, *args) def add_u(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_u(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L329 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L684-L687 """ return _casadi.DaeBuilder_add_u(self, *args) def add_x(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_x(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L332 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L689-L692 """ return _casadi.DaeBuilder_add_x(self, *args) def add_z(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_z(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L335 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L694-L697 """ return _casadi.DaeBuilder_add_z(self, *args) def add_q(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add :: add_q(self, str name) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L338 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L699-L702 """ return _casadi.DaeBuilder_add_q(self, *args) def add_c(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add and eq :: add_c(self, str name, MX new_cdef) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L341 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L704-L708 """ return _casadi.DaeBuilder_add_c(self, *args) def add_d(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add and eq :: add_d(self, str name, MX new_ddef) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L344 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L710-L714 """ return _casadi.DaeBuilder_add_d(self, *args) def add_w(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add and eq :: add_w(self, str name, MX new_wdef) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L347 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L716-L720 """ return _casadi.DaeBuilder_add_w(self, *args) def add_y(self, *args) -> "casadi::MX": """ [DEPRECATED] Replaced by add and eq :: add_y(self, str name, MX new_ydef) -> MX Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L350 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L722-L726 """ return _casadi.DaeBuilder_add_y(self, *args) def set_beq(self, *args) -> "void": """ [DEPRECATED] Replaced by eq :: set_beq(self, str name, MX val) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L353 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L728-L734 """ return _casadi.DaeBuilder_set_beq(self, *args) def eq(self, *args) -> "void": """ [INTERNAL] :: eq(self, MX lhs, MX rhs, dict opts) Add a simple equation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L358 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L738-L744 """ return _casadi.DaeBuilder_eq(self, *args) def when(self, *args) -> "void": """ [INTERNAL] :: when(self, MX cond, [str] eqs, dict opts) Add when equations. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L361 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L746-L752 """ return _casadi.DaeBuilder_when(self, *args) def assign(self, *args) -> "std::string": """ [INTERNAL] :: assign(self, str name, MX val) -> str Assignment inside a when-equation or if-else equation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L364 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L754-L761 """ return _casadi.DaeBuilder_assign(self, *args) def reinit(self, *args) -> "std::string": """ [INTERNAL] :: reinit(self, str name, MX val) -> str Reinitialize a state inside when-equations. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L367 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L763-L770 """ return _casadi.DaeBuilder_reinit(self, *args) def set_init(self, *args) -> "void": """ [INTERNAL] :: set_init(self, str name, MX init_rhs) Specify the initial equation for a variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L370 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L772-L778 """ return _casadi.DaeBuilder_set_init(self, *args) def set_ode(self, *args) -> "void": """ [DEPRECATED] Replaced by eq :: set_ode(self, str name, MX ode_rhs) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L374 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L374-L376 """ return _casadi.DaeBuilder_set_ode(self, *args) def set_alg(self, *args) -> "void": """ [DEPRECATED] Replaced by eq :: set_alg(self, str name, MX alg_rhs) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L379 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L379-L382 """ return _casadi.DaeBuilder_set_alg(self, *args) def add_init(self, *args) -> "void": """ [DEPRECATED] Replaced by set_init :: add_init(self, MX lhs, MX rhs) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L385 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L385-L387 """ return _casadi.DaeBuilder_add_init(self, *args) def ne(self, *args) -> "casadi_int": """ [DEPRECATED] Replaced by nzero() :: ne(self) -> int Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L390 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L390-L390 """ return _casadi.DaeBuilder_ne(self, *args) def e(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [DEPRECATED] Use all("zero") */ :: e(self) -> [str] Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L393 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L393-L393 """ return _casadi.DaeBuilder_e(self, *args) def sanity_check(self, *args) -> "void": """ [INTERNAL] :: sanity_check(self) Check if dimensions match. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L398 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L780-L786 """ return _casadi.DaeBuilder_sanity_check(self, *args) def reorder(self, *args) -> "void": """ [INTERNAL] :: reorder(self, str cat, [str] v) Reorder variables in a category. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L402 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L615-L628 """ return _casadi.DaeBuilder_reorder(self, *args) def clear_all(self, *args) -> "void": """ [DEPRECATED] Use set_variability, set_causality or set_category to :: clear_all(self, str v) change variable category Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L406 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L590-L597 """ return _casadi.DaeBuilder_clear_all(self, *args) def set_all(self, *args) -> "void": """ [DEPRECATED] Use set_variability, set_causality, set_category and/or :: set_all(self, str v, [str] name) reorder Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L409 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L599-L611 """ return _casadi.DaeBuilder_set_all(self, *args) def register_t(self, *args) -> "void": """ [INTERNAL] :: register_t(self, str name) """ return _casadi.DaeBuilder_register_t(self, *args) def register_p(self, *args) -> "void": """ [INTERNAL] :: register_p(self, str name) """ return _casadi.DaeBuilder_register_p(self, *args) def register_u(self, *args) -> "void": """ [INTERNAL] :: register_u(self, str name) """ return _casadi.DaeBuilder_register_u(self, *args) def register_x(self, *args) -> "void": """ [INTERNAL] :: register_x(self, str name) """ return _casadi.DaeBuilder_register_x(self, *args) def register_z(self, *args) -> "void": """ [INTERNAL] :: register_z(self, str name) """ return _casadi.DaeBuilder_register_z(self, *args) def register_q(self, *args) -> "void": """ [INTERNAL] :: register_q(self, str name) """ return _casadi.DaeBuilder_register_q(self, *args) def register_c(self, *args) -> "void": """ [INTERNAL] :: register_c(self, str name) """ return _casadi.DaeBuilder_register_c(self, *args) def register_d(self, *args) -> "void": """ [INTERNAL] :: register_d(self, str name) """ return _casadi.DaeBuilder_register_d(self, *args) def register_w(self, *args) -> "void": """ [INTERNAL] :: register_w(self, str name) """ return _casadi.DaeBuilder_register_w(self, *args) def register_y(self, *args) -> "void": """ [INTERNAL] :: register_y(self, str name) """ return _casadi.DaeBuilder_register_y(self, *args) def register_e(self, *args) -> "void": """ [INTERNAL] :: register_e(self, str name) """ return _casadi.DaeBuilder_register_e(self, *args) def eliminate_d(self, *args) -> "void": """ [DEPRECATED] Use eliminate("d") :: eliminate_d(self) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L427 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L542-L548 """ return _casadi.DaeBuilder_eliminate_d(self, *args) def eliminate_w(self, *args) -> "void": """ [DEPRECATED] Use eliminate("w") :: eliminate_w(self) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L430 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L550-L556 """ return _casadi.DaeBuilder_eliminate_w(self, *args) def eliminate_quad(self, *args) -> "void": """ [DEPRECATED] Use eliminate("q") :: eliminate_quad(self) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L433 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L558-L564 """ return _casadi.DaeBuilder_eliminate_quad(self, *args) def sort_d(self, *args) -> "void": """ [DEPRECATED] Use sort("d") :: sort_d(self) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L436 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L566-L572 """ return _casadi.DaeBuilder_sort_d(self, *args) def sort_w(self, *args) -> "void": """ [DEPRECATED] Use sort("w") :: sort_w(self) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L439 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L574-L580 """ return _casadi.DaeBuilder_sort_w(self, *args) def sort_z(self, *args) -> "void": """ [DEPRECATED] Use reorder("z", new_order) :: sort_z(self, [str] z_order) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L442 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L582-L588 """ return _casadi.DaeBuilder_sort_z(self, *args) def eliminate(self, *args) -> "void": """ [INTERNAL] :: eliminate(self, str cat) Eliminate all dependent parameters. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L453 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L883-L889 """ return _casadi.DaeBuilder_eliminate(self, *args) def sort(self, *args) -> "void": """ [INTERNAL] :: sort(self, str cat) Sort dependent parameters. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L456 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L891-L897 """ return _casadi.DaeBuilder_sort(self, *args) def lift(self, *args) -> "void": """ [INTERNAL] :: lift(self, bool lift_shared, bool lift_calls) Lift problem formulation by extracting shared subexpressions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L459 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L899-L905 """ return _casadi.DaeBuilder_lift(self, *args) def prune(self, *args) -> "void": """ [INTERNAL] :: prune(self, bool prune_p, bool prune_u) Prune unused controls. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L462 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L326-L332 """ return _casadi.DaeBuilder_prune(self, *args) def tear(self, *args) -> "void": """ [INTERNAL] :: tear(self) Identify iteration variables and residual equations using naming convention. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L465 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L334-L340 """ return _casadi.DaeBuilder_tear(self, *args) def add_fun(self, *args) -> "casadi::Function": """ [INTERNAL] :: add_fun(self, Function f) -> Function add_fun(self, str name, Importer compiler, dict opts) -> Function add_fun(self, str name, [str] arg, [str] res, dict opts) -> Function Add an external function. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L482 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1153-L1156 ....... :: add_fun(self, Function f) [INTERNAL] Add an already existing function. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L479 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1134-L1141 ............. ....... :: add_fun(self, str name, [str] arg, [str] res, dict opts) [INTERNAL] Add a function from loaded expressions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L474 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1143-L1151 ............. ....... :: add_fun(self, str name, Importer compiler, dict opts) [INTERNAL] Add an external function. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L482 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1153-L1156 ............. """ return _casadi.DaeBuilder_add_fun(self, *args) def has_fun(self, *args) -> "bool": """ [INTERNAL] :: has_fun(self, str name) -> bool Does a particular function already exist? Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L486 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1158-L1165 """ return _casadi.DaeBuilder_has_fun(self, *args) def fun(self, *args) -> "std::vector< casadi::Function,std::allocator< casadi::Function > >": """ [INTERNAL] :: fun(self) -> [Function] fun(self, str name) -> Function Get all functions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L492 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1197-L1199 ....... :: fun(self, str name) [INTERNAL] Get function by name. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L489 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1167-L1174 ............. ....... :: fun(self) [INTERNAL] Get all functions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L492 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1197-L1199 ............. """ return _casadi.DaeBuilder_fun(self, *args) def gather_fun(self, *args) -> "void": """ [INTERNAL] :: gather_fun(self, int max_depth) Collect embedded functions from the expression graph. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L495 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1176-L1195 """ return _casadi.DaeBuilder_gather_fun(self, *args) def parse_fmi(self, *args) -> "void": """ [INTERNAL] :: parse_fmi(self, str filename) Import existing problem from FMI/XML Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L502 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L502-L502 """ return _casadi.DaeBuilder_parse_fmi(self, *args) def provides_directional_derivatives(self, *args) -> "bool": """ [INTERNAL] :: provides_directional_derivatives(self) -> bool Does the FMU provide support for analytic derivatives. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L505 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L308-L316 """ return _casadi.DaeBuilder_provides_directional_derivatives(self, *args) def provides_directional_derivative(self, *args) -> "bool": """ [INTERNAL] :: provides_directional_derivative(self) -> bool Does the FMU provide support for analytic derivatives (FMI 2 naming) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L508 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L508-L508 """ return _casadi.DaeBuilder_provides_directional_derivative(self, *args) def load_fmi_description(self, *args) -> "void": """ [INTERNAL] :: load_fmi_description(self, str filename) Import problem description from FMI or XML. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L511 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L300-L306 """ return _casadi.DaeBuilder_load_fmi_description(self, *args) def export_fmu(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: export_fmu(self, dict opts) -> [str] Export instance into an FMU. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L514 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L318-L324 """ return _casadi.DaeBuilder_export_fmu(self, *args) def add_lc(self, *args) -> "void": """ [INTERNAL] :: add_lc(self, str name, [str] f_out) Add a named linear combination of output expressions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L517 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1094-L1101 """ return _casadi.DaeBuilder_add_lc(self, *args) def create(self, *args) -> "casadi::Function": """ [INTERNAL] :: create(self) -> Function create(self, str fname, dict opts) -> Function create(self, str name, [str] name_in, [str] name_out, dict opts) -> Function create(self, str fname, [str] name_in, [str] name_out, bool sx, bool lifted_calls) -> Function Create a function with standard integrator DAE signature, default naming. Extra doc: https://github.com/casadi/casadi/wiki/L_2c1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L549 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L549-L549 ....... :: create(self, str name, [str] name_in, [str] name_out, dict opts) [INTERNAL] Construct a function object, names provided. Parameters: ----------- name: Name assigned to the resulting function object name_in: Names of all the inputs name_out: Names of all the outputs opts: Optional settings Extra doc: https://github.com/casadi/casadi/wiki/L_6e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L532 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1114-L1123 ............. ....... :: create(self, str fname, [str] name_in, [str] name_out, bool sx, bool lifted_calls) [INTERNAL] Construct a function object, legacy syntax. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L520 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1103-L1112 ............. ....... :: create(self) [INTERNAL] Create a function with standard integrator DAE signature, default naming. Extra doc: https://github.com/casadi/casadi/wiki/L_2c1 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L549 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L549-L549 ............. ....... :: create(self, str fname, dict opts) [INTERNAL] Create a function with standard integrator DAE signature. Parameters: ----------- name: Name assigned to the resulting function object opts: Optional settings Extra doc: https://github.com/casadi/casadi/wiki/L_2c0 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L544 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1125-L1132 ............. """ return _casadi.DaeBuilder_create(self, *args) def dependent_fun(self, *args) -> "casadi::Function": """ [INTERNAL] :: dependent_fun(self, str fname, [str] s_in, [str] s_out) -> Function Construct a function for evaluating dependent parameters. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L552 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1210-L1219 """ return _casadi.DaeBuilder_dependent_fun(self, *args) def transition(self, *args) -> "casadi::Function": """ [INTERNAL] :: transition(self) -> Function transition(self, str fname) -> Function transition(self, str fname, int index) -> Function Construct an event transition function, default naming. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L563 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L563-L563 ....... :: transition(self) [INTERNAL] Construct an event transition function, default naming. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L563 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L563-L563 ............. ....... :: transition(self, str fname) [INTERNAL] Construct a function describing transition at any events. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L560 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1230-L1237 ............. ....... :: transition(self, str fname, int index) [INTERNAL] Construct a function describing transition at a specific events. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L557 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1221-L1228 ............. """ return _casadi.DaeBuilder_transition(self, *args) def var(self, *args) -> "casadi::MX": """ [INTERNAL] :: var(self, str name) -> MX Get variable expression by name Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L567 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L788-L795 """ return _casadi.DaeBuilder_var(self, *args) def __call__(self, *args) -> "casadi::MX": """ :: __call__(self, str name) -> MX """ return _casadi.DaeBuilder___call__(self, *args) def has_beq(self, *args) -> "bool": """ [INTERNAL] :: has_beq(self, str name) -> bool Does a variable have a binding equation? Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L587 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L864-L871 """ return _casadi.DaeBuilder_has_beq(self, *args) def beq(self, *args) -> "casadi::MX": """ [INTERNAL] :: beq(self, str name) -> MX Get the binding equation for a variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L590 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L873-L881 """ return _casadi.DaeBuilder_beq(self, *args) def value_reference(self, *args) -> "casadi_int": """ [INTERNAL] :: value_reference(self, str name) -> int Get/set value reference Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L594 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L907-L909 """ return _casadi.DaeBuilder_value_reference(self, *args) def set_value_reference(self, *args) -> "void": """ [INTERNAL] :: set_value_reference(self, str name, int val) Get/set value reference Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L595 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L911-L913 """ return _casadi.DaeBuilder_set_value_reference(self, *args) def description(self, *args) -> "std::string": """ [INTERNAL] :: description(self, str name) -> str Get/set description Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L600 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L915-L917 """ return _casadi.DaeBuilder_description(self, *args) def set_description(self, *args) -> "void": """ [INTERNAL] :: set_description(self, str name, str val) Get/set description Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L601 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L919-L921 """ return _casadi.DaeBuilder_set_description(self, *args) def type(self, *args) -> "std::string": """ [INTERNAL] :: type(self, str name, int fmi_version) -> str Get/set the type Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L606 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L923-L932 """ return _casadi.DaeBuilder_type(self, *args) def set_type(self, *args) -> "void": """ [INTERNAL] :: set_type(self, str name, str val) Get/set the type Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L607 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L934-L941 """ return _casadi.DaeBuilder_set_type(self, *args) def causality(self, *args) -> "std::string": """ [INTERNAL] :: causality(self, str name) -> str Get the causality. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L611 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L943-L950 """ return _casadi.DaeBuilder_causality(self, *args) def set_causality(self, *args) -> "void": """ [INTERNAL] :: set_causality(self, str name, str val) Set the causality, if permitted. The following changes are permitted: For controls 'u' (variability 'continuous', causality 'input'), free parameters 'p' (variability 'tunable', causality 'parameter') and fixed parameters 'c' (variability 'fixed', causality 'parameter'), causality can only be changed indirectly, by updating the variability Add or remove an output 'y' by setting the causality to 'output' or 'local', respectively No other changes are permitted. Extra doc: https://github.com/casadi/casadi/wiki/L_2c2 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L626 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L952-L958 """ return _casadi.DaeBuilder_set_causality(self, *args) def variability(self, *args) -> "std::string": """ [INTERNAL] :: variability(self, str name) -> str Get the variability. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L629 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L960-L967 """ return _casadi.DaeBuilder_variability(self, *args) def set_variability(self, *args) -> "void": """ [INTERNAL] :: set_variability(self, str name, str val) Set the variability, if permitted. For controls 'u' (variability 'continuous', causality 'input'), free parameters 'p' (variability 'tunable', causality 'parameter') and fixed parameters 'c' (variability 'fixed', causality 'parameter'), update variability in order to change the category. Causality is updated accordingly. Other changes are not permitted :: Extra doc: https://github.com/casadi/casadi/wiki/L_2c3 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L641 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L969-L975 """ return _casadi.DaeBuilder_set_variability(self, *args) def category(self, *args) -> "std::string": """ [INTERNAL] :: category(self, str name) -> str Get the variable category. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L644 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L977-L984 """ return _casadi.DaeBuilder_category(self, *args) def set_category(self, *args) -> "void": """ [INTERNAL] :: set_category(self, str name, str val) Set the variable category, if permitted. The following changes are permitted: Controls 'u' can be changed to/from tunable parameters 'p' or fixed parameters 'c' Differential states that do not appear in the right-hand-sides can be changed between regular states 'x' and quadrature states 'q' Other changes are not permitted. Causality and variability is updated accordingly. Extra doc: https://github.com/casadi/casadi/wiki/L_2c4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L656 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L986-L992 """ return _casadi.DaeBuilder_set_category(self, *args) def initial(self, *args) -> "std::string": """ [INTERNAL] :: initial(self, str name) -> str Get/set the initial property Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L660 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L994-L996 """ return _casadi.DaeBuilder_initial(self, *args) def set_initial(self, *args) -> "void": """ [INTERNAL] :: set_initial(self, str name, str val) Get/set the initial property Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L661 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L998-L1000 """ return _casadi.DaeBuilder_set_initial(self, *args) def unit(self, *args) -> "std::string": """ [INTERNAL] :: unit(self, str name) -> str Get/set the unit Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L666 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1002-L1004 """ return _casadi.DaeBuilder_unit(self, *args) def set_unit(self, *args) -> "void": """ [INTERNAL] :: set_unit(self, str name, str val) Get/set the unit Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L667 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1006-L1008 """ return _casadi.DaeBuilder_set_unit(self, *args) def display_unit(self, *args) -> "std::string": """ [INTERNAL] :: display_unit(self, str name) -> str Get/set the display unit Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L672 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1010-L1012 """ return _casadi.DaeBuilder_display_unit(self, *args) def set_display_unit(self, *args) -> "void": """ [INTERNAL] :: set_display_unit(self, str name, str val) Get/set the display unit Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L673 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1014-L1016 """ return _casadi.DaeBuilder_set_display_unit(self, *args) def numel(self, *args) -> "casadi_int": """ [INTERNAL] :: numel(self, str name) -> int Get the number of elements of a variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L677 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1018-L1020 """ return _casadi.DaeBuilder_numel(self, *args) def dimension(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: dimension(self, str name) -> [int] Get the dimensions of a variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L680 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1022-L1024 """ return _casadi.DaeBuilder_dimension(self, *args) def start_time(self, *args) -> "double": """ [INTERNAL] :: start_time(self) -> float Get the start time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L683 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1026-L1033 """ return _casadi.DaeBuilder_start_time(self, *args) def set_start_time(self, *args) -> "void": """ [INTERNAL] :: set_start_time(self, float val) Set the start time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L686 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1035-L1041 """ return _casadi.DaeBuilder_set_start_time(self, *args) def stop_time(self, *args) -> "double": """ [INTERNAL] :: stop_time(self) -> float Get the stop time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L689 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1043-L1050 """ return _casadi.DaeBuilder_stop_time(self, *args) def set_stop_time(self, *args) -> "void": """ [INTERNAL] :: set_stop_time(self, float val) Set the stop time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L692 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1052-L1058 """ return _casadi.DaeBuilder_set_stop_time(self, *args) def tolerance(self, *args) -> "double": """ [INTERNAL] :: tolerance(self) -> float Get the tolerance. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L695 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1060-L1067 """ return _casadi.DaeBuilder_tolerance(self, *args) def set_tolerance(self, *args) -> "void": """ [INTERNAL] :: set_tolerance(self, float val) Set the tolerance. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L698 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1069-L1075 """ return _casadi.DaeBuilder_set_tolerance(self, *args) def step_size(self, *args) -> "double": """ [INTERNAL] :: step_size(self) -> float Get the step size. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L701 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1077-L1084 """ return _casadi.DaeBuilder_step_size(self, *args) def set_step_size(self, *args) -> "void": """ [INTERNAL] :: set_step_size(self, float val) Set the step size. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L704 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1086-L1092 """ return _casadi.DaeBuilder_set_step_size(self, *args) def der(self, *args) -> "std::string": """ [INTERNAL] :: der(self, [str] name) -> [str] der(self, MX v) -> MX der(self, MX v) -> MX der(self, str name) -> str Get the time derivative of model variables, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L710 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L797-L810 ....... :: der(self, [str] name) [INTERNAL] Get the time derivative of model variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L572 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L842-L851 ............. ....... :: der(self, str name) [INTERNAL] Get the time derivative of model variables, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L710 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L797-L810 ............. ....... :: der(self, MX v) [INTERNAL] Differentiate an expression with respect to time Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L577 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1260-L1267 ............. ....... :: der(self, MX v) [INTERNAL] Differentiate an expression with respect to time Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L576 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1251-L1258 ............. """ return _casadi.DaeBuilder_der(self, *args) def pre(self, *args) -> "std::string": """ [INTERNAL] :: pre(self, [str] name) -> [str] pre(self, MX v) -> MX pre(self, str name) -> str Get the pre-variables of model variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L713 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L812-L825 ....... :: pre(self, MX v) [INTERNAL] Get the pre-expression given variable expression. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L584 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L827-L840 ............. ....... :: pre(self, [str] name) [INTERNAL] Get the pre-variables of model variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L581 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L853-L862 ............. ....... :: pre(self, str name) [INTERNAL] Get the pre-variables of model variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L713 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L812-L825 ............. """ return _casadi.DaeBuilder_pre(self, *args) def reset(self, *args) -> "void": """ [INTERNAL] :: reset(self) """ return _casadi.DaeBuilder_reset(self, *args) def attribute(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: attribute(self, str a, [str] name) -> [float] attribute(self, str a, str name) -> float Get an attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L763 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1278-L1286 ....... :: attribute(self, str a, str name) [INTERNAL] Get an attribute, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L716 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1269-L1276 ............. ....... :: attribute(self, str a, [str] name) [INTERNAL] Get an attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L763 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1278-L1286 ............. """ return _casadi.DaeBuilder_attribute(self, *args) def set_attribute(self, *args) -> "void": """ [INTERNAL] :: set_attribute(self, str a, [str] name, [float] val) set_attribute(self, str a, str name, float val) Set an attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L766 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1296-L1303 ....... :: set_attribute(self, str a, str name, float val) [INTERNAL] Set an attribute, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L719 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1288-L1294 ............. ....... :: set_attribute(self, str a, [str] name, [float] val) [INTERNAL] Set an attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L766 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1296-L1303 ............. """ return _casadi.DaeBuilder_set_attribute(self, *args) def min(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: min(self, [str] name) -> [float] min(self, str name) -> float Get the lower bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L770 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1314-L1321 ....... :: min(self, str name) [INTERNAL] Get the lower bound, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L722 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1305-L1312 ............. ....... :: min(self, [str] name) [INTERNAL] Get the lower bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L770 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1314-L1321 ............. """ return _casadi.DaeBuilder_min(self, *args) def set_min(self, *args) -> "void": """ [INTERNAL] :: set_min(self, [str] name, [float] val) set_min(self, str name, float val) Set the lower bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L773 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1331-L1337 ....... :: set_min(self, str name, float val) [INTERNAL] Set the lower bound, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L725 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1323-L1329 ............. ....... :: set_min(self, [str] name, [float] val) [INTERNAL] Set the lower bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L773 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1331-L1337 ............. """ return _casadi.DaeBuilder_set_min(self, *args) def max(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: max(self, [str] name) -> [float] max(self, str name) -> float Get the upper bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L776 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1348-L1355 ....... :: max(self, str name) [INTERNAL] Get the upper bound, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L728 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1339-L1346 ............. ....... :: max(self, [str] name) [INTERNAL] Get the upper bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L776 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1348-L1355 ............. """ return _casadi.DaeBuilder_max(self, *args) def set_max(self, *args) -> "void": """ [INTERNAL] :: set_max(self, [str] name, [float] val) set_max(self, str name, float val) Set the upper bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L779 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1365-L1371 ....... :: set_max(self, str name, float val) [INTERNAL] Set the upper bound, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L731 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1357-L1363 ............. ....... :: set_max(self, [str] name, [float] val) [INTERNAL] Set the upper bound. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L779 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1365-L1371 ............. """ return _casadi.DaeBuilder_set_max(self, *args) def nominal(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: nominal(self, [str] name) -> [float] nominal(self, str name) -> float Get the nominal value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L782 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1382-L1389 ....... :: nominal(self, str name) [INTERNAL] Get the nominal value, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L734 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1373-L1380 ............. ....... :: nominal(self, [str] name) [INTERNAL] Get the nominal value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L782 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1382-L1389 ............. """ return _casadi.DaeBuilder_nominal(self, *args) def set_nominal(self, *args) -> "void": """ [INTERNAL] :: set_nominal(self, [str] name, [float] val) set_nominal(self, str name, float val) Set the nominal value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L785 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1399-L1405 ....... :: set_nominal(self, str name, float val) [INTERNAL] Set the nominal value, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L737 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1391-L1397 ............. ....... :: set_nominal(self, [str] name, [float] val) [INTERNAL] Set the nominal value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L785 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1399-L1405 ............. """ return _casadi.DaeBuilder_set_nominal(self, *args) def start(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: start(self, [str] name) -> [float] start(self, str name) -> [float] Get the start attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L788 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1416-L1423 ....... :: start(self, [str] name) [INTERNAL] Get the start attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L788 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1416-L1423 ............. ....... :: start(self, str name) [INTERNAL] Get the start attribute, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L740 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1407-L1414 ............. """ return _casadi.DaeBuilder_start(self, *args) def set_start(self, *args) -> "void": """ [INTERNAL] :: set_start(self, [str] name, [float] val) set_start(self, str name, [float] val) set_start(self, str name, float val) Set the start attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L791 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1441-L1447 ....... :: set_start(self, [str] name, [float] val) [INTERNAL] Set the start attribute. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L791 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1441-L1447 ............. ....... :: set_start(self, str name, [float] val) [INTERNAL] Set the start attribute, vector argument. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L746 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1433-L1439 ............. ....... :: set_start(self, str name, float val) [INTERNAL] Set the start attribute, single variable. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L743 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1425-L1431 ............. """ return _casadi.DaeBuilder_set_start(self, *args) def set(self, *args) -> "void": """ [INTERNAL] :: set(self, [str] name, [float] val) set(self, [str] name, [str] val) set(self, str name, float val) set(self, str name, str val) Set the current value (string) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L797 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1481-L1488 ....... :: set(self, [str] name, [str] val) [INTERNAL] Set the current value (string) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L797 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1481-L1488 ............. ....... :: set(self, str name, float val) set(self, str name, str val) [INTERNAL] ............. ....... :: set(self, [str] name, [float] val) [INTERNAL] Set the current value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L794 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1473-L1479 ............. """ return _casadi.DaeBuilder_set(self, *args) def get(self, *args) -> "std::vector< casadi::GenericType,std::allocator< casadi::GenericType > >": """ [INTERNAL] :: get(self, [str] name) -> [GenericType] get(self, str name) -> GenericType Evaluate the values for a set of variables at the initial time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L800 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1494-L1511 ....... :: get(self, [str] name) [INTERNAL] Evaluate the values for a set of variables at the initial time. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L800 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1494-L1511 ............. ....... :: get(self, str name) [INTERNAL] Evaluate the values for a set of variables at the initial time, single value. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L758 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1490-L1492 ............. """ return _casadi.DaeBuilder_get(self, *args) def has(self, *args) -> "bool": """ [INTERNAL] :: has(self, str name) -> bool Check if a particular variable exists. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L803 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L342-L349 """ return _casadi.DaeBuilder_has(self, *args) def all(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: all(self) -> [str] all(self, str cat) -> [str] Get a list of all variables of a particular category. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L809 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L360-L367 ....... :: all(self) [INTERNAL] Get a list of all variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L806 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L351-L358 ............. ....... :: all(self, str cat) [INTERNAL] Get a list of all variables of a particular category. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L809 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L360-L367 ............. """ return _casadi.DaeBuilder_all(self, *args) def add_variable(self, *args) -> "void": """ [INTERNAL] :: add_variable(self, MX new_v) add_variable(self, str name, int n) -> MX add_variable(self, str name, Sparsity sp) -> MX Add a new variable from symbolic expressions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L819 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L475-L478 ....... :: add_variable(self, MX new_v) [INTERNAL] Add a new variable from symbolic expressions. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L819 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L475-L478 ............. ....... :: add_variable(self, str name, int n) [DEPRECATED] Use add Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L813 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L465-L467 ............. ....... :: add_variable(self, str name, Sparsity sp) [DEPRECATED] Use add Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L816 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L469-L473 ............. """ return _casadi.DaeBuilder_add_variable(self, *args) def add_variable_new(self, *args) -> "size_t": """ [DEPRECATED] Use add :: add_variable_new(self, MX new_v) -> size_t add_variable_new(self, str name, int n) -> size_t add_variable_new(self, str name, Sparsity sp) -> size_t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L828 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L490-L494 ....... :: add_variable_new(self, MX new_v) [DEPRECATED] Use add Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L828 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L490-L494 ............. ....... :: add_variable_new(self, str name, int n) [DEPRECATED] Use add Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L822 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L480-L482 ............. ....... :: add_variable_new(self, str name, Sparsity sp) [DEPRECATED] Use add Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L825 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L484-L488 ............. """ return _casadi.DaeBuilder_add_variable_new(self, *args) def has_variable(self, *args) -> "bool": """ [DEPRECATED] Ranamed "has" :: has_variable(self, str name) -> bool Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L831 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L831-L831 """ return _casadi.DaeBuilder_has_variable(self, *args) def all_variables(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: all_variables(self) -> [str] Get a list of all variables. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L834 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L834-L834 """ return _casadi.DaeBuilder_all_variables(self, *args) def oracle(self, *args) -> "casadi::Function": """ [INTERNAL] :: oracle(self, bool sx, bool elim_w, bool lifted_calls) -> Function Get the (cached) oracle, SX or MX. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L838 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1201-L1208 """ return _casadi.DaeBuilder_oracle(self, *args) def jac_sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: jac_sparsity(self, [str] onames, [str] inames) -> Sparsity Get Jacobian sparsity. Extra doc: https://github.com/casadi/casadi/wiki/L_6g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L843 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L1513-L1521 """ return _casadi.DaeBuilder_jac_sparsity(self, *args) def __init__(self, *args): """ :: DaeBuilder() DaeBuilder(DaeBuilder other) DaeBuilder(str name, str path, dict opts) ....... :: DaeBuilder(DaeBuilder other) ............. ....... :: DaeBuilder(str name, str path, dict opts) [INTERNAL] Construct a DaeBuilder instance. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L80 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L54-L57 ............. ....... :: DaeBuilder() [INTERNAL] Default constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.hpp#L77 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/dae_builder.cpp#L51-L52 ............. """ this = _casadi.new_DaeBuilder(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_DaeBuilder DaeBuilder_swigregister = _casadi.DaeBuilder_swigregister DaeBuilder_swigregister(DaeBuilder) class XmlFile(SharedObject, PrintableCommon): """ [INTERNAL] :: XML parser. Can be used for parsing XML files into CasADi data structures. Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_7k C++ includes: xml_file.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, XmlFile, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, XmlFile, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.XmlFile_type_name(*args) type_name = staticmethod(type_name) __swig_destroy__ = _casadi.delete_XmlFile def load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.XmlFile_load_plugin(*args) load_plugin = staticmethod(load_plugin) def doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.XmlFile_doc(*args) doc = staticmethod(doc) def __init__(self, *args): """ :: XmlFile() XmlFile(XmlFile other) XmlFile(str name) ....... :: XmlFile(XmlFile other) ............. ....... :: XmlFile() XmlFile(str name) [INTERNAL] ............. """ this = _casadi.new_XmlFile(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this XmlFile_swigregister = _casadi.XmlFile_swigregister XmlFile_swigregister(XmlFile) def XmlFile_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.XmlFile_type_name(*args) def XmlFile_load_plugin(*args) -> "void": """ :: load_plugin(str name) """ return _casadi.XmlFile_load_plugin(*args) def XmlFile_doc(*args) -> "std::string": """ :: doc(str name) -> str """ return _casadi.XmlFile_doc(*args) def has_archiver(*args) -> "bool": """ [INTERNAL] :: has_archiver(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.hpp#L38 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.cpp#L38-L40 """ return _casadi.has_archiver(*args) def load_archiver(*args) -> "void": """ [INTERNAL] :: load_archiver(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.hpp#L42 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.cpp#L42-L44 """ return _casadi.load_archiver(*args) def doc_archiver(*args) -> "std::string": """ [INTERNAL] :: doc_archiver(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.hpp#L46 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/archiver.cpp#L46-L48 """ return _casadi.doc_archiver(*args) def has_filesystem(*args) -> "bool": """ [INTERNAL] :: has_filesystem(str name) -> bool Check if a particular plugin is available. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.hpp#L92 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.cpp#L92-L94 """ return _casadi.has_filesystem(*args) def load_filesystem(*args) -> "void": """ [INTERNAL] :: load_filesystem(str name) Explicitly load a plugin dynamically. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.hpp#L96 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.cpp#L96-L98 """ return _casadi.load_filesystem(*args) def doc_filesystem(*args) -> "std::string": """ [INTERNAL] :: doc_filesystem(str name) -> str Get the documentation string for a plugin. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.hpp#L100 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/filesystem.cpp#L100-L102 """ return _casadi.doc_filesystem(*args) class Options(_object): """ :: Options() -> """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, Options, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, Options, name) __repr__ = _swig_repr def all(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ :: all(self) -> [str] """ return _casadi.Options_all(self, *args) def type(self, *args) -> "std::string": """ :: type(self, str name) -> str """ return _casadi.Options_type(self, *args) def info(self, *args) -> "std::string": """ :: info(self, str name) -> str """ return _casadi.Options_info(self, *args) def word_distance(*args) -> "double": """ :: word_distance(str a, str b) -> float """ return _casadi.Options_word_distance(*args) word_distance = staticmethod(word_distance) def suggestions(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ :: suggestions(self, str word, int amount) -> [str] """ return _casadi.Options_suggestions(self, *args) def best_matches(self, *args) -> "void": """ :: best_matches(self, str word, std::vector< std::pair< double,std::string >,std::allocator< std::pair< double,std::string > > > & best) """ return _casadi.Options_best_matches(self, *args) def has_dot(*args) -> "bool": """ :: has_dot(dict opts) -> bool """ return _casadi.Options_has_dot(*args) has_dot = staticmethod(has_dot) def has_null(*args) -> "bool": """ :: has_null(dict opts) -> bool """ return _casadi.Options_has_null(*args) has_null = staticmethod(has_null) def is_sane(*args) -> "bool": """ :: is_sane(dict opts) -> bool """ return _casadi.Options_is_sane(*args) is_sane = staticmethod(is_sane) def sanitize(*args) -> "casadi::Dict": """ :: sanitize(dict opts, bool top_level) -> dict """ return _casadi.Options_sanitize(*args) sanitize = staticmethod(sanitize) def check(self, *args) -> "void": """ :: check(self, dict opts) """ return _casadi.Options_check(self, *args) def print_all(self, *args) -> "void": """ :: print_all(self) """ return _casadi.Options_print_all(self, *args) def print_one(self, *args) -> "void": """ :: print_one(self, str name) """ return _casadi.Options_print_one(self, *args) def __init__(self, *args): """ :: Options() Options(Options other) """ this = _casadi.new_Options(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Options Options_swigregister = _casadi.Options_swigregister Options_swigregister(Options) def Options_word_distance(*args) -> "double": """ :: word_distance(str a, str b) -> float """ return _casadi.Options_word_distance(*args) def Options_has_dot(*args) -> "bool": """ :: has_dot(dict opts) -> bool """ return _casadi.Options_has_dot(*args) def Options_has_null(*args) -> "bool": """ :: has_null(dict opts) -> bool """ return _casadi.Options_has_null(*args) def Options_is_sane(*args) -> "bool": """ :: is_sane(dict opts) -> bool """ return _casadi.Options_is_sane(*args) def Options_sanitize(*args) -> "casadi::Dict": """ :: sanitize(dict opts, bool top_level) -> dict """ return _casadi.Options_sanitize(*args) class SerializerBase(_object): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, SerializerBase, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, SerializerBase, name) def __init__(self, *args, **kwargs): raise AttributeError("No constructor defined") __repr__ = _swig_repr __swig_destroy__ = _casadi.delete_SerializerBase def pack(self, *args) -> "void": """ [INTERNAL] :: pack(self, Linsol e) pack(self, std::vector< casadi::Linsol,std::allocator< casadi::Linsol > > const & e) pack(self, int e) pack(self, float e) pack(self, [Sparsity] e) pack(self, Sparsity e) pack(self, [float] e) pack(self, [int] e) pack(self, [str] e) pack(self, DM e) pack(self, [DM] e) pack(self, SX e) pack(self, [SX] e) pack(self, MX e) pack(self, [MX] e) pack(self, str e) pack(self, [Function] e) pack(self, Function e) pack(self, [GenericType] e) pack(self, GenericType e) ....... :: pack(self, DM e) pack(self, [DM] e) pack(self, SX e) pack(self, [SX] e) ............. ....... :: pack(self, Linsol e) pack(self, std::vector< casadi::Linsol,std::allocator< casadi::Linsol > > const & e) pack(self, int e) pack(self, float e) pack(self, [Sparsity] e) pack(self, Sparsity e) pack(self, [float] e) pack(self, [int] e) pack(self, [str] e) pack(self, MX e) pack(self, [MX] e) pack(self, str e) pack(self, [Function] e) pack(self, Function e) pack(self, [GenericType] e) pack(self, GenericType e) [INTERNAL] ............. """ return _casadi.SerializerBase_pack(self, *args) _SERIALIZED_SPARSITY = _casadi.SerializerBase__SERIALIZED_SPARSITY _SERIALIZED_MX_v1 = _casadi.SerializerBase__SERIALIZED_MX_v1 _SERIALIZED_DM = _casadi.SerializerBase__SERIALIZED_DM _SERIALIZED_SX_v1 = _casadi.SerializerBase__SERIALIZED_SX_v1 _SERIALIZED_LINSOL = _casadi.SerializerBase__SERIALIZED_LINSOL _SERIALIZED_FUNCTION = _casadi.SerializerBase__SERIALIZED_FUNCTION _SERIALIZED_GENERICTYPE = _casadi.SerializerBase__SERIALIZED_GENERICTYPE _SERIALIZED_INT = _casadi.SerializerBase__SERIALIZED_INT _SERIALIZED_DOUBLE = _casadi.SerializerBase__SERIALIZED_DOUBLE _SERIALIZED_STRING = _casadi.SerializerBase__SERIALIZED_STRING _SERIALIZED_SPARSITY_VECTOR = _casadi.SerializerBase__SERIALIZED_SPARSITY_VECTOR _SERIALIZED_MX_VECTOR_v1 = _casadi.SerializerBase__SERIALIZED_MX_VECTOR_v1 _SERIALIZED_DM_VECTOR = _casadi.SerializerBase__SERIALIZED_DM_VECTOR _SERIALIZED_SX_VECTOR_v1 = _casadi.SerializerBase__SERIALIZED_SX_VECTOR_v1 _SERIALIZED_LINSOL_VECTOR = _casadi.SerializerBase__SERIALIZED_LINSOL_VECTOR _SERIALIZED_FUNCTION_VECTOR = _casadi.SerializerBase__SERIALIZED_FUNCTION_VECTOR _SERIALIZED_GENERICTYPE_VECTOR = _casadi.SerializerBase__SERIALIZED_GENERICTYPE_VECTOR _SERIALIZED_INT_VECTOR = _casadi.SerializerBase__SERIALIZED_INT_VECTOR _SERIALIZED_DOUBLE_VECTOR = _casadi.SerializerBase__SERIALIZED_DOUBLE_VECTOR _SERIALIZED_STRING_VECTOR = _casadi.SerializerBase__SERIALIZED_STRING_VECTOR _SERIALIZED_MX = _casadi.SerializerBase__SERIALIZED_MX _SERIALIZED_SX = _casadi.SerializerBase__SERIALIZED_SX _SERIALIZED_MX_VECTOR = _casadi.SerializerBase__SERIALIZED_MX_VECTOR _SERIALIZED_SX_VECTOR = _casadi.SerializerBase__SERIALIZED_SX_VECTOR def type_to_string(*args) -> "std::string": """ :: type_to_string(casadi::SerializerBase::SerializationType type) -> str """ return _casadi.SerializerBase_type_to_string(*args) type_to_string = staticmethod(type_to_string) def connect(self, *args) -> "void": """ [INTERNAL] :: connect(self, DeserializerBase s) """ return _casadi.SerializerBase_connect(self, *args) def reset(self, *args) -> "void": """ [INTERNAL] :: reset(self) """ return _casadi.SerializerBase_reset(self, *args) SerializerBase_swigregister = _casadi.SerializerBase_swigregister SerializerBase_swigregister(SerializerBase) def SerializerBase_type_to_string(*args) -> "std::string": """ :: type_to_string(casadi::SerializerBase::SerializationType type) -> str """ return _casadi.SerializerBase_type_to_string(*args) class DeserializerBase(_object): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, DeserializerBase, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, DeserializerBase, name) def __init__(self, *args, **kwargs): raise AttributeError("No constructor defined") __repr__ = _swig_repr __swig_destroy__ = _casadi.delete_DeserializerBase def _pop_type(self, *args) -> "casadi::SerializerBase::SerializationType": """ [INTERNAL] :: _pop_type(self) -> casadi::SerializerBase::SerializationType """ return _casadi.DeserializerBase__pop_type(self, *args) def blind_unpack_sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: blind_unpack_sparsity(self) -> Sparsity """ return _casadi.DeserializerBase_blind_unpack_sparsity(self, *args) def blind_unpack_mx(self, *args) -> "casadi::MX": """ [INTERNAL] :: blind_unpack_mx(self) -> MX """ return _casadi.DeserializerBase_blind_unpack_mx(self, *args) def blind_unpack_mx_v1(self, *args) -> "casadi::MX": """ [INTERNAL] :: blind_unpack_mx_v1(self) -> MX """ return _casadi.DeserializerBase_blind_unpack_mx_v1(self, *args) def blind_unpack_dm(self, *args) -> "casadi::Matrix< double >": """ [INTERNAL] :: blind_unpack_dm(self) -> DM """ return _casadi.DeserializerBase_blind_unpack_dm(self, *args) def blind_unpack_sx(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: blind_unpack_sx(self) -> SX """ return _casadi.DeserializerBase_blind_unpack_sx(self, *args) def blind_unpack_sx_v1(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: blind_unpack_sx_v1(self) -> SX """ return _casadi.DeserializerBase_blind_unpack_sx_v1(self, *args) def blind_unpack_linsol(self, *args) -> "casadi::Linsol": """ [INTERNAL] :: blind_unpack_linsol(self) -> Linsol """ return _casadi.DeserializerBase_blind_unpack_linsol(self, *args) def blind_unpack_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: blind_unpack_function(self) -> Function """ return _casadi.DeserializerBase_blind_unpack_function(self, *args) def blind_unpack_generictype(self, *args) -> "casadi::GenericType": """ [INTERNAL] :: blind_unpack_generictype(self) -> GenericType """ return _casadi.DeserializerBase_blind_unpack_generictype(self, *args) def blind_unpack_int(self, *args) -> "casadi_int": """ [INTERNAL] :: blind_unpack_int(self) -> int """ return _casadi.DeserializerBase_blind_unpack_int(self, *args) def blind_unpack_double(self, *args) -> "double": """ [INTERNAL] :: blind_unpack_double(self) -> float """ return _casadi.DeserializerBase_blind_unpack_double(self, *args) def blind_unpack_string(self, *args) -> "std::string": """ [INTERNAL] :: blind_unpack_string(self) -> str """ return _casadi.DeserializerBase_blind_unpack_string(self, *args) def blind_unpack_sparsity_vector(self, *args) -> "std::vector< casadi::Sparsity,std::allocator< casadi::Sparsity > >": """ [INTERNAL] :: blind_unpack_sparsity_vector(self) -> [Sparsity] """ return _casadi.DeserializerBase_blind_unpack_sparsity_vector(self, *args) def blind_unpack_mx_vector(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: blind_unpack_mx_vector(self) -> [MX] """ return _casadi.DeserializerBase_blind_unpack_mx_vector(self, *args) def blind_unpack_mx_vector_v1(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: blind_unpack_mx_vector_v1(self) -> [MX] """ return _casadi.DeserializerBase_blind_unpack_mx_vector_v1(self, *args) def blind_unpack_dm_vector(self, *args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ [INTERNAL] :: blind_unpack_dm_vector(self) -> [DM] """ return _casadi.DeserializerBase_blind_unpack_dm_vector(self, *args) def blind_unpack_sx_vector(self, *args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ [INTERNAL] :: blind_unpack_sx_vector(self) -> [SX] """ return _casadi.DeserializerBase_blind_unpack_sx_vector(self, *args) def blind_unpack_sx_vector_v1(self, *args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ [INTERNAL] :: blind_unpack_sx_vector_v1(self) -> [SX] """ return _casadi.DeserializerBase_blind_unpack_sx_vector_v1(self, *args) def blind_unpack_linsol_vector(self, *args) -> "std::vector< casadi::Linsol,std::allocator< casadi::Linsol > >": """ [INTERNAL] :: blind_unpack_linsol_vector(self) -> std::vector< casadi::Linsol,std::allocator< casadi::Linsol > > """ return _casadi.DeserializerBase_blind_unpack_linsol_vector(self, *args) def blind_unpack_function_vector(self, *args) -> "std::vector< casadi::Function,std::allocator< casadi::Function > >": """ [INTERNAL] :: blind_unpack_function_vector(self) -> [Function] """ return _casadi.DeserializerBase_blind_unpack_function_vector(self, *args) def blind_unpack_generictype_vector(self, *args) -> "std::vector< casadi::GenericType,std::allocator< casadi::GenericType > >": """ [INTERNAL] :: blind_unpack_generictype_vector(self) -> [GenericType] """ return _casadi.DeserializerBase_blind_unpack_generictype_vector(self, *args) def blind_unpack_int_vector(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: blind_unpack_int_vector(self) -> [int] """ return _casadi.DeserializerBase_blind_unpack_int_vector(self, *args) def blind_unpack_double_vector(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: blind_unpack_double_vector(self) -> [float] """ return _casadi.DeserializerBase_blind_unpack_double_vector(self, *args) def blind_unpack_string_vector(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: blind_unpack_string_vector(self) -> [str] """ return _casadi.DeserializerBase_blind_unpack_string_vector(self, *args) def unpack_sparsity(self, *args) -> "casadi::Sparsity": """ [INTERNAL] :: unpack_sparsity(self) -> Sparsity """ return _casadi.DeserializerBase_unpack_sparsity(self, *args) def unpack_mx(self, *args) -> "casadi::MX": """ [INTERNAL] :: unpack_mx(self) -> MX """ return _casadi.DeserializerBase_unpack_mx(self, *args) def unpack_dm(self, *args) -> "casadi::Matrix< double >": """ [INTERNAL] :: unpack_dm(self) -> DM """ return _casadi.DeserializerBase_unpack_dm(self, *args) def unpack_sx(self, *args) -> "casadi::Matrix< casadi::SXElem >": """ [INTERNAL] :: unpack_sx(self) -> SX """ return _casadi.DeserializerBase_unpack_sx(self, *args) def unpack_linsol(self, *args) -> "casadi::Linsol": """ [INTERNAL] :: unpack_linsol(self) -> Linsol """ return _casadi.DeserializerBase_unpack_linsol(self, *args) def unpack_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: unpack_function(self) -> Function """ return _casadi.DeserializerBase_unpack_function(self, *args) def unpack_generictype(self, *args) -> "casadi::GenericType": """ [INTERNAL] :: unpack_generictype(self) -> GenericType """ return _casadi.DeserializerBase_unpack_generictype(self, *args) def unpack_int(self, *args) -> "casadi_int": """ [INTERNAL] :: unpack_int(self) -> int """ return _casadi.DeserializerBase_unpack_int(self, *args) def unpack_double(self, *args) -> "double": """ [INTERNAL] :: unpack_double(self) -> float """ return _casadi.DeserializerBase_unpack_double(self, *args) def unpack_string(self, *args) -> "std::string": """ [INTERNAL] :: unpack_string(self) -> str """ return _casadi.DeserializerBase_unpack_string(self, *args) def unpack_sparsity_vector(self, *args) -> "std::vector< casadi::Sparsity,std::allocator< casadi::Sparsity > >": """ [INTERNAL] :: unpack_sparsity_vector(self) -> [Sparsity] """ return _casadi.DeserializerBase_unpack_sparsity_vector(self, *args) def unpack_mx_vector(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: unpack_mx_vector(self) -> [MX] """ return _casadi.DeserializerBase_unpack_mx_vector(self, *args) def unpack_dm_vector(self, *args) -> "std::vector< casadi::Matrix< double >,std::allocator< casadi::Matrix< double > > >": """ [INTERNAL] :: unpack_dm_vector(self) -> [DM] """ return _casadi.DeserializerBase_unpack_dm_vector(self, *args) def unpack_sx_vector(self, *args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocator< casadi::Matrix< casadi::SXElem > > >": """ [INTERNAL] :: unpack_sx_vector(self) -> [SX] """ return _casadi.DeserializerBase_unpack_sx_vector(self, *args) def unpack_linsol_vector(self, *args) -> "std::vector< casadi::Linsol,std::allocator< casadi::Linsol > >": """ [INTERNAL] :: unpack_linsol_vector(self) -> std::vector< casadi::Linsol,std::allocator< casadi::Linsol > > """ return _casadi.DeserializerBase_unpack_linsol_vector(self, *args) def unpack_function_vector(self, *args) -> "std::vector< casadi::Function,std::allocator< casadi::Function > >": """ [INTERNAL] :: unpack_function_vector(self) -> [Function] """ return _casadi.DeserializerBase_unpack_function_vector(self, *args) def unpack_generictype_vector(self, *args) -> "std::vector< casadi::GenericType,std::allocator< casadi::GenericType > >": """ [INTERNAL] :: unpack_generictype_vector(self) -> [GenericType] """ return _casadi.DeserializerBase_unpack_generictype_vector(self, *args) def unpack_int_vector(self, *args) -> "std::vector< casadi_int,std::allocator< casadi_int > >": """ [INTERNAL] :: unpack_int_vector(self) -> [int] """ return _casadi.DeserializerBase_unpack_int_vector(self, *args) def unpack_double_vector(self, *args) -> "std::vector< double,std::allocator< double > >": """ [INTERNAL] :: unpack_double_vector(self) -> [float] """ return _casadi.DeserializerBase_unpack_double_vector(self, *args) def unpack_string_vector(self, *args) -> "std::vector< std::string,std::allocator< std::string > >": """ [INTERNAL] :: unpack_string_vector(self) -> [str] """ return _casadi.DeserializerBase_unpack_string_vector(self, *args) def connect(self, *args) -> "void": """ [INTERNAL] :: connect(self, SerializerBase s) """ return _casadi.DeserializerBase_connect(self, *args) def reset(self, *args) -> "void": """ [INTERNAL] :: reset(self) """ return _casadi.DeserializerBase_reset(self, *args) def unpack(self): type = SerializerBase.type_to_string(self._pop_type()) f = getattr(self, "blind_unpack_"+type) return f() DeserializerBase_swigregister = _casadi.DeserializerBase_swigregister DeserializerBase_swigregister(DeserializerBase) class StringSerializer(SerializerBase): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} for _s in [SerializerBase]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, StringSerializer, name, value) __swig_getmethods__ = {} for _s in [SerializerBase]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, StringSerializer, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: StringSerializer(dict opts) Advanced serialization of CasADi objects. This class is intended for advanced users that want to circumvent the restrictions of standard pickling/matlab save load, ie no raw SX/MX symbols allowed. :: x = SX.sym('x'); s = StringSerializer(); s.pack(x); s.pack(sin(x)); data = s.encode(); s = StringDeserializer(data); a = s.unpack(); b = s.unpack(); Note: Saving SX/MX objects individually has a substantial overhead (both time and length of encoded string). You are encouraged to use the vector/list variants of 'save' for SX/MX to reduce the overhead. See: Function::save, Function::serialize, StringDeserializer, FileSerializer Extra doc: https://github.com/casadi/casadi/wiki/L_7o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L211 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L38-L40 """ this = _casadi.new_StringSerializer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_StringSerializer def encode(self, *args) -> "std::string": """ [INTERNAL] :: encode(self) -> str Returns a string that holds the serialized objects. As a side effect, this method clears the internal buffer Extra doc: https://github.com/casadi/casadi/wiki/L_7p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L219 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L87-L92 """ return _casadi.StringSerializer_encode(self, *args) StringSerializer_swigregister = _casadi.StringSerializer_swigregister StringSerializer_swigregister(StringSerializer) class FileSerializer(SerializerBase): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} for _s in [SerializerBase]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, FileSerializer, name, value) __swig_getmethods__ = {} for _s in [SerializerBase]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, FileSerializer, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: FileSerializer(str fname, dict opts) Advanced serialization of CasADi objects. See: StringSerializer, FileDeserializer Extra doc: https://github.com/casadi/casadi/wiki/L_7q Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L229 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L42-L47 """ this = _casadi.new_FileSerializer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_FileSerializer FileSerializer_swigregister = _casadi.FileSerializer_swigregister FileSerializer_swigregister(FileSerializer) class StringDeserializer(DeserializerBase): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} for _s in [DeserializerBase]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, StringDeserializer, name, value) __swig_getmethods__ = {} for _s in [DeserializerBase]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, StringDeserializer, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: StringDeserializer(str string) Advanced deserialization of CasADi objects. See: StringDeserializer Extra doc: https://github.com/casadi/casadi/wiki/L_7r Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L241 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L117-L120 """ this = _casadi.new_StringDeserializer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_StringDeserializer def decode(self, *args) -> "void": """ [INTERNAL] :: decode(self, str string) Sets the string to deserialize objects from. Extra doc: https://github.com/casadi/casadi/wiki/L_7s Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L248 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L93-L99 """ return _casadi.StringDeserializer_decode(self, *args) StringDeserializer_swigregister = _casadi.StringDeserializer_swigregister StringDeserializer_swigregister(StringDeserializer) class FileDeserializer(DeserializerBase): """ [INTERNAL] C++ includes: serializer.hpp :: """ __swig_setmethods__ = {} for _s in [DeserializerBase]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, FileDeserializer, name, value) __swig_getmethods__ = {} for _s in [DeserializerBase]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, FileDeserializer, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: FileDeserializer(str fname) Advanced deserialization of CasADi objects. See: FileSerializer Extra doc: https://github.com/casadi/casadi/wiki/L_7t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.hpp#L258 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/serializer.cpp#L109-L115 """ this = _casadi.new_FileDeserializer(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_FileDeserializer FileDeserializer_swigregister = _casadi.FileDeserializer_swigregister FileDeserializer_swigregister(FileDeserializer) try: import threading _thread_local = threading.local() except: threading_available = True _thread_local = globals() def _current_pickle_context(): return getattr(_thread_local, "casadi_pickle_ctx", None) def _current_unpickle_context(): return getattr(_thread_local, "casadi_unpickle_ctx", None) class global_pickle_context: def __enter__(self): self.ctx = StringSerializer() _thread_local.casadi_pickle_ctx = self.ctx return self.ctx def __exit__(self, *args): _thread_local.casadi_pickle_ctx = None class global_unpickle_context: def __enter__(self): self.ctx = StringDeserializer("") _thread_local.casadi_unpickle_ctx = self.ctx return self.ctx def __exit__(self, *args): _thread_local.casadi_unpickle_ctx = None class Opti(PrintableCommon, SharedObject): """ [INTERNAL] :: A simplified interface for NLP modeling/solving. This class offers a view with model description facilities The API is guaranteed to be stable. Example NLP: :: opti = casadi.Opti(); x = opti.variable(); y = opti.variable(); opti.minimize( (y-x^2)^2 ); opti.subject_to( x^2+y^2==1 ); opti.subject_to( x+y>=1 ); opti.solver('ipopt'); sol = opti.solve(); sol.value(x) sol.value(y) Example parametric NLP: :: opti = casadi.Opti(); x = opti.variable(2,1); p = opti.parameter(); opti.minimize( (p*x(2)-x(1)^2)^2 ); opti.subject_to( 1<=sum(x)<=2 ); opti.solver('ipopt'); opti.set_value(p, 3); sol = opti.solve(); sol.value(x) opti.set_value(p, 5); sol = opti.solve(); sol.value(x) Joris Gillis, Erik Lambrechts, Joel Andersson Extra doc: https://github.com/casadi/casadi/wiki/L_16 C++ includes: optistack.hpp """ __swig_setmethods__ = {} for _s in [PrintableCommon, SharedObject]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Opti, name, value) __swig_getmethods__ = {} for _s in [PrintableCommon, SharedObject]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Opti, name) __repr__ = _swig_repr def _variable(self, *args) -> "casadi::MX": """ [INTERNAL] :: _variable(self, int n, int m, str attribute) -> MX _variable(self, Sparsity sp, str attribute) -> MX _variable(self, MX symbol, str attribute) -> MX ....... :: _variable(self, int n, int m, str attribute) [INTERNAL] Create a decision variable (symbol) The order of creation matters. The order will be reflected in the optimization problem. It is not required for decision variables to actualy appear in the optimization problem. Parameters: ----------- n: number of rows (default 1) m: number of columnss (default 1) attribute: 'full' (default) or 'symmetric' Extra doc: https://github.com/casadi/casadi/wiki/L_18 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L112 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L51-L57 ............. ....... :: _variable(self, Sparsity sp, str attribute) _variable(self, MX symbol, str attribute) [INTERNAL] ............. """ return _casadi.Opti__variable(self, *args) def _parameter(self, *args) -> "casadi::MX": """ [INTERNAL] :: _parameter(self, int n, int m, str attribute) -> MX _parameter(self, Sparsity sp, str attribute) -> MX _parameter(self, MX symbol, str attribute) -> MX ....... :: _parameter(self, Sparsity sp, str attribute) _parameter(self, MX symbol, str attribute) [INTERNAL] ............. ....... :: _parameter(self, int n, int m, str attribute) [INTERNAL] Create a parameter (symbol); fixed during optimization. The order of creation does not matter. It is not required for parameter to actualy appear in the optimization problem. Parameters that do appear, must be given a value before the problem can be solved. Parameters: ----------- n: number of rows (default 1) m: number of columnss (default 1) attribute: 'full' (default) or 'symmetric' Extra doc: https://github.com/casadi/casadi/wiki/L_19 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L127 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L90-L96 ............. """ return _casadi.Opti__parameter(self, *args) def minimize(self, *args) -> "void": """ [INTERNAL] :: minimize(self, MX f, float linear_scale) Set objective. Objective must be a scalar. Default objective: 0 When method is called multiple times, the last call takes effect Extra doc: https://github.com/casadi/casadi/wiki/L_1a Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L137 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L114-L120 """ return _casadi.Opti_minimize(self, *args) def _subject_to(self, *args) -> "void": """ [INTERNAL] :: _subject_to(self) _subject_to(self, MX g, dict options) _subject_to(self, [MX] g, dict options) _subject_to(self, MX g, DM linear_scale, dict options) _subject_to(self, [MX] g, DM linear_scale, dict options) Clear constraints. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L172 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L146-L152 ....... :: _subject_to(self, MX g, dict options) [INTERNAL] Add constraints. Examples: :: * \\begin{itemize} * opti.subject_to( sqrt(x+y) >= 1); * opti.subject_to( sqrt(x+y) > 1)}: same as above * opti.subject_to( 1<= sqrt(x+y) )}: same as above * opti.subject_to( 5*x+y==1 )}: equality * * Python * opti.subject_to([x*y>=1,x==3]) * opti.subject_to(opti.bounded(0,x,1)) * * MATLAB * opti.subject_to({x*y>=1,x==3}) * opti.subject_to( 0<=x<=1 ) * Related functionalities: opti.lbg,opti.g,opti.ubg represent the vector of flattened constraints opti.debug.show_infeasibilities() may be used to inspect which constraints are violated Extra doc: https://github.com/casadi/casadi/wiki/L_1b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L165 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L122-L128 ............. ....... :: _subject_to(self, [MX] g, dict options) [INTERNAL] Add constraints. Examples: :: * \\begin{itemize} * opti.subject_to( sqrt(x+y) >= 1); * opti.subject_to( sqrt(x+y) > 1)}: same as above * opti.subject_to( 1<= sqrt(x+y) )}: same as above * opti.subject_to( 5*x+y==1 )}: equality * * Python * opti.subject_to([x*y>=1,x==3]) * opti.subject_to(opti.bounded(0,x,1)) * * MATLAB * opti.subject_to({x*y>=1,x==3}) * opti.subject_to( 0<=x<=1 ) * Related functionalities: opti.lbg,opti.g,opti.ubg represent the vector of flattened constraints opti.debug.show_infeasibilities() may be used to inspect which constraints are violated Extra doc: https://github.com/casadi/casadi/wiki/L_1b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L166 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L130-L132 ............. ....... :: _subject_to(self, MX g, DM linear_scale, dict options) [INTERNAL] Add constraints. Examples: :: * \\begin{itemize} * opti.subject_to( sqrt(x+y) >= 1); * opti.subject_to( sqrt(x+y) > 1)}: same as above * opti.subject_to( 1<= sqrt(x+y) )}: same as above * opti.subject_to( 5*x+y==1 )}: equality * * Python * opti.subject_to([x*y>=1,x==3]) * opti.subject_to(opti.bounded(0,x,1)) * * MATLAB * opti.subject_to({x*y>=1,x==3}) * opti.subject_to( 0<=x<=1 ) * Related functionalities: opti.lbg,opti.g,opti.ubg represent the vector of flattened constraints opti.debug.show_infeasibilities() may be used to inspect which constraints are violated Extra doc: https://github.com/casadi/casadi/wiki/L_1b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L167 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L134-L140 ............. ....... :: _subject_to(self, [MX] g, DM linear_scale, dict options) [INTERNAL] Add constraints. Examples: :: * \\begin{itemize} * opti.subject_to( sqrt(x+y) >= 1); * opti.subject_to( sqrt(x+y) > 1)}: same as above * opti.subject_to( 1<= sqrt(x+y) )}: same as above * opti.subject_to( 5*x+y==1 )}: equality * * Python * opti.subject_to([x*y>=1,x==3]) * opti.subject_to(opti.bounded(0,x,1)) * * MATLAB * opti.subject_to({x*y>=1,x==3}) * opti.subject_to( 0<=x<=1 ) * Related functionalities: opti.lbg,opti.g,opti.ubg represent the vector of flattened constraints opti.debug.show_infeasibilities() may be used to inspect which constraints are violated Extra doc: https://github.com/casadi/casadi/wiki/L_1b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L168 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L142-L144 ............. ....... :: _subject_to(self) [INTERNAL] Clear constraints. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L172 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L146-L152 ............. """ return _casadi.Opti__subject_to(self, *args) def solver(self, *args) -> "void": """ [INTERNAL] :: solver(self, str solver, dict plugin_options, dict solver_options) Set a solver. Parameters: ----------- solver: any of the nlpsol plugins can be used here In practice, not all nlpsol plugins may be supported yet options: passed on to nlpsol plugin No stability can be guaranteed about this part of the API options: to be passed to nlpsol solver No stability can be guaranteed about this part of the API Extra doc: https://github.com/casadi/casadi/wiki/L_1c Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L184 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L155-L163 """ return _casadi.Opti_solver(self, *args) def set_initial(self, *args) -> "void": """ [INTERNAL] :: set_initial(self, [MX] assignments) set_initial(self, MX x, DM v) Set initial guess for decision variables :: * opti.set_initial(x, 2) * opti.set_initial(10*x(1), 2) * Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L196 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L172-L178 ....... :: set_initial(self, [MX] assignments) [INTERNAL] Set initial guess for decision variables :: * opti.set_initial(x, 2) * opti.set_initial(10*x(1), 2) * Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L196 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L172-L178 ............. ....... :: set_initial(self, MX x, DM v) [INTERNAL] Set initial guess for decision variables :: * opti.set_initial(x, 2) * opti.set_initial(10*x(1), 2) * Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L195 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L165-L171 ............. """ return _casadi.Opti_set_initial(self, *args) def set_value(self, *args) -> "void": """ [INTERNAL] :: set_value(self, [MX] assignments) set_value(self, MX x, DM v) Set value of parameter. Each parameter must be given a value before 'solve' can be called Extra doc: https://github.com/casadi/casadi/wiki/L_1d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L205-L211 ....... :: set_value(self, [MX] assignments) [INTERNAL] Set value of parameter. Each parameter must be given a value before 'solve' can be called Extra doc: https://github.com/casadi/casadi/wiki/L_1d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L206 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L205-L211 ............. ....... :: set_value(self, MX x, DM v) [INTERNAL] Set value of parameter. Each parameter must be given a value before 'solve' can be called Extra doc: https://github.com/casadi/casadi/wiki/L_1d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L205 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L181-L187 ............. """ return _casadi.Opti_set_value(self, *args) def set_domain(self, *args) -> "void": """ [INTERNAL] :: set_domain(self, MX x, str domain) Set domain of a decision variable. Parameters: ----------- x: decision variable type: 'real', 'integer' (default: real) :: * opti.set_domain(x, "real") * opti.set_domain(x, "integer") * Extra doc: https://github.com/casadi/casadi/wiki/L_27t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L221 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L189-L195 """ return _casadi.Opti_set_domain(self, *args) def set_linear_scale(self, *args) -> "void": """ [INTERNAL] :: set_linear_scale(self, MX x, DM scale, DM offset) Set scale of a decision variable. (x-offset)/scale will be used in the optimization problem Parameters: ----------- x: decision variable scale: scaling value (default: 1) offset: scaling value (default: 0) :: * opti.set_linear_scale(x, 20) * opti.set_linear_scale(x, 20, 273.15) * Extra doc: https://github.com/casadi/casadi/wiki/L_2bs Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L237 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L197-L203 """ return _casadi.Opti_set_linear_scale(self, *args) def solve(self, *args) -> "casadi::OptiSol": """ [INTERNAL] :: solve(self) -> OptiSol Crunch the numbers; solve the problem. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L240 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L213-L219 """ return _casadi.Opti_solve(self, *args) def solve_limited(self, *args) -> "casadi::OptiSol": """ [INTERNAL] :: solve_limited(self) -> OptiSol Crunch the numbers; solve the problem. Allows the solver to return without error when an iteration or time limit is reached Extra doc: https://github.com/casadi/casadi/wiki/L_1e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L248 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L221-L227 """ return _casadi.Opti_solve_limited(self, *args) def value(self, *args) -> "casadi::native_DM": """ [INTERNAL] :: value(self, DM x, [MX] values) -> double value(self, SX x, [MX] values) -> double value(self, MX x, [MX] values) -> double Set domain of a decision variable. Parameters: ----------- x: decision variable type: 'real', 'integer' (default: real) :: * opti.set_domain(x, "real") * opti.set_domain(x, "integer") * Extra doc: https://github.com/casadi/casadi/wiki/L_27t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L261 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L246-L252 ....... :: value(self, DM x, [MX] values) [INTERNAL] Set domain of a decision variable. Parameters: ----------- x: decision variable type: 'real', 'integer' (default: real) :: * opti.set_domain(x, "real") * opti.set_domain(x, "integer") * Extra doc: https://github.com/casadi/casadi/wiki/L_27t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L260 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L238-L244 ............. ....... :: value(self, SX x, [MX] values) [INTERNAL] Set domain of a decision variable. Parameters: ----------- x: decision variable type: 'real', 'integer' (default: real) :: * opti.set_domain(x, "real") * opti.set_domain(x, "integer") * Extra doc: https://github.com/casadi/casadi/wiki/L_27t Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L261 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L246-L252 ............. ....... :: value(self, MX x, [MX] values) [INTERNAL] Obtain value of expression at the current value In regular mode, teh current value is the converged solution In debug mode, the value can be non-converged Parameters: ----------- values: Optional assignment expressions (e.g. x==3) to overrule the current value Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L259 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L229-L235 ............. """ return _casadi.Opti_value(self, *args) def stats(self, *args) -> "casadi::Dict": """ [INTERNAL] :: stats(self) -> dict Get statistics. nlpsol stats are passed as-is. No stability can be guaranteed about this part of the API Extra doc: https://github.com/casadi/casadi/wiki/L_1f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L270 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L262-L268 """ return _casadi.Opti_stats(self, *args) def return_status(self, *args) -> "std::string": """ [INTERNAL] :: return_status(self) -> str Get return status of solver. :: passed as-is from nlpsol No stability can be guaranteed about this part of the API Extra doc: https://github.com/casadi/casadi/wiki/L_1g Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L278 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L270-L276 """ return _casadi.Opti_return_status(self, *args) def initial(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: initial(self) -> [MX] get assignment expressions for initial values Extra doc: https://github.com/casadi/casadi/wiki/L_266 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L283 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L278-L284 """ return _casadi.Opti_initial(self, *args) def value_variables(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: value_variables(self) -> [MX] get assignment expressions for latest values Extra doc: https://github.com/casadi/casadi/wiki/L_267 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L288 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L286-L292 """ return _casadi.Opti_value_variables(self, *args) def value_parameters(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: value_parameters(self) -> [MX] """ return _casadi.Opti_value_parameters(self, *args) def scale_helper(self, *args) -> "casadi::Function": """ [INTERNAL] :: scale_helper(self, Function h) -> Function Scale a helper function constructed via opti.x, opti.g, ... Extra doc: https://github.com/casadi/casadi/wiki/L_2ci Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L294 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L254-L260 """ return _casadi.Opti_scale_helper(self, *args) def dual(self, *args) -> "casadi::MX": """ [INTERNAL] :: dual(self, MX m) -> MX get the dual variable m must be a constraint expression. The returned value is still a symbolic expression. Use value on it to obtain the numerical value. Extra doc: https://github.com/casadi/casadi/wiki/L_1h Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L303 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L302-L308 """ return _casadi.Opti_dual(self, *args) def _nx(self, *args) -> "casadi_int": """ [INTERNAL] :: _nx(self) -> int Number of (scalarised) decision variables. Extra doc: https://github.com/casadi/casadi/wiki/L_268 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L308 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L310-L316 """ return _casadi.Opti__nx(self, *args) def _np(self, *args) -> "casadi_int": """ [INTERNAL] :: _np(self) -> int Number of (scalarised) parameters. Extra doc: https://github.com/casadi/casadi/wiki/L_269 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L313 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L318-L324 """ return _casadi.Opti__np(self, *args) def _ng(self, *args) -> "casadi_int": """ [INTERNAL] :: _ng(self) -> int Number of (scalarised) constraints. Extra doc: https://github.com/casadi/casadi/wiki/L_26a Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L318 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L326-L332 """ return _casadi.Opti__ng(self, *args) def _x(self, *args) -> "casadi::MX": """ [INTERNAL] :: _x(self) -> MX Get all (scalarised) decision variables as a symbolic column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_26b Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L323 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L334-L340 """ return _casadi.Opti__x(self, *args) def _p(self, *args) -> "casadi::MX": """ [INTERNAL] :: _p(self) -> MX Get all (scalarised) parameters as a symbolic column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_26c Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L328 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L342-L348 """ return _casadi.Opti__p(self, *args) def _g(self, *args) -> "casadi::MX": """ [INTERNAL] :: _g(self) -> MX Get all (scalarised) constraint expressions as a column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_26d Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L333 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L350-L356 """ return _casadi.Opti__g(self, *args) def _f(self, *args) -> "casadi::MX": """ [INTERNAL] :: _f(self) -> MX Get objective expression. Extra doc: https://github.com/casadi/casadi/wiki/L_26e Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L338 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L358-L364 """ return _casadi.Opti__f(self, *args) def _lbg(self, *args) -> "casadi::MX": """ [INTERNAL] :: _lbg(self) -> MX Get all (scalarised) bounds on constraints as a column vector. Extra doc: https://github.com/casadi/casadi/wiki/L_26f Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L343 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L366-L372 """ return _casadi.Opti__lbg(self, *args) def _ubg(self, *args) -> "casadi::MX": """ [INTERNAL] :: _ubg(self) -> MX """ return _casadi.Opti__ubg(self, *args) def _x_linear_scale(self, *args) -> "casadi::DM": """ [INTERNAL] :: _x_linear_scale(self) -> DM """ return _casadi.Opti__x_linear_scale(self, *args) def _x_linear_scale_offset(self, *args) -> "casadi::DM": """ [INTERNAL] :: _x_linear_scale_offset(self) -> DM """ return _casadi.Opti__x_linear_scale_offset(self, *args) def _g_linear_scale(self, *args) -> "casadi::DM": """ [INTERNAL] :: _g_linear_scale(self) -> DM """ return _casadi.Opti__g_linear_scale(self, *args) def _f_linear_scale(self, *args) -> "double": """ [INTERNAL] :: _f_linear_scale(self) -> float """ return _casadi.Opti__f_linear_scale(self, *args) def _lam_g(self, *args) -> "casadi::MX": """ [INTERNAL] :: _lam_g(self) -> MX Get all (scalarised) dual variables as a symbolic column vector. Useful for obtaining the Lagrange Hessian: :: * sol.value(hessian(opti.f+opti.lam_g'*opti.g,opti.x)) % MATLAB * sol.value(hessian(opti.f+dot(opti.lam_g,opti.g),opti.x)[0]) # Python * Extra doc: https://github.com/casadi/casadi/wiki/L_1i Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L360 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L383-L389 """ return _casadi.Opti__lam_g(self, *args) def to_function(self, *args) -> "casadi::Function": """ [INTERNAL] :: to_function(self, str name, [MX] args, [MX] res, dict opts) -> Function to_function(self, str name, dict:MX dict, [str] name_in, [str] name_out, dict opts) -> Function to_function(self, str name, [MX] args, [MX] res, [str] name_in, [str] name_out, dict opts) -> Function Create a CasADi Function from the Opti solver. Parameters: ----------- name: Name of the resulting CasADi Function args: List of parameters and decision/dual variables (which can be given an initial guess) with the resulting Function res: List of expressions that will get evaluated at the optimal solution opts: Standard CasADi Funcion options Extra doc: https://github.com/casadi/casadi/wiki/L_1j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L382 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L441-L461 ....... :: to_function(self, str name, [MX] args, [MX] res, dict opts) [INTERNAL] Create a CasADi Function from the Opti solver. Parameters: ----------- name: Name of the resulting CasADi Function args: List of parameters and decision/dual variables (which can be given an initial guess) with the resulting Function res: List of expressions that will get evaluated at the optimal solution opts: Standard CasADi Funcion options Extra doc: https://github.com/casadi/casadi/wiki/L_1j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L372 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L435-L439 ............. ....... :: to_function(self, str name, dict:MX dict, [str] name_in, [str] name_out, dict opts) [INTERNAL] Create a CasADi Function from the Opti solver. Parameters: ----------- name: Name of the resulting CasADi Function args: List of parameters and decision/dual variables (which can be given an initial guess) with the resulting Function res: List of expressions that will get evaluated at the optimal solution opts: Standard CasADi Funcion options Extra doc: https://github.com/casadi/casadi/wiki/L_1j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L382 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L441-L461 ............. ....... :: to_function(self, str name, [MX] args, [MX] res, [str] name_in, [str] name_out, dict opts) [INTERNAL] Create a CasADi Function from the Opti solver. Parameters: ----------- name: Name of the resulting CasADi Function args: List of parameters and decision/dual variables (which can be given an initial guess) with the resulting Function res: List of expressions that will get evaluated at the optimal solution opts: Standard CasADi Funcion options Extra doc: https://github.com/casadi/casadi/wiki/L_1j Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L376 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L423-L433 ............. """ return _casadi.Opti_to_function(self, *args) def bounded(*args) -> "casadi::MX": """ :: bounded(MX lb, MX expr, MX ub) -> MX """ return _casadi.Opti_bounded(*args) bounded = staticmethod(bounded) def _debug(self, *args) -> "casadi::OptiAdvanced": """ [INTERNAL] :: _debug(self) -> OptiAdvanced Get a copy with advanced functionality. You get access to more methods, but you have no guarantees about API stability The copy is effectively a deep copy: Updating the state of the copy does not update the original. Extra doc: https://github.com/casadi/casadi/wiki/L_1l Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L408 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L847-L849 """ return _casadi.Opti__debug(self, *args) def _advanced(self, *args) -> "casadi::OptiAdvanced": """ [INTERNAL] :: _advanced(self) -> OptiAdvanced Get a copy with advanced functionality. You get access to more methods, but you have no guarantees about API stability The copy is effectively a deep copy: Updating the state of the copy does not update the original. Extra doc: https://github.com/casadi/casadi/wiki/L_1m Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L418 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L850-L852 """ return _casadi.Opti__advanced(self, *args) def copy(self, *args) -> "casadi::Opti": """ [INTERNAL] :: copy(self) -> Opti Get a copy of the. The copy is effectively a deep copy: Updating the state of the copy does not update the original. Extra doc: https://github.com/casadi/casadi/wiki/L_1n Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L426 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L853-L855 """ return _casadi.Opti_copy(self, *args) def update_user_dict(self, *args) -> "void": """ [INTERNAL] :: update_user_dict(self, MX m, dict meta) update_user_dict(self, [MX] m, dict meta) ....... :: update_user_dict(self, MX m, dict meta) [INTERNAL] add user data Add arbitrary data in the form of a dictionary to symbols or constraints Extra doc: https://github.com/casadi/casadi/wiki/L_1o Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L434 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L479-L485 ............. ....... :: update_user_dict(self, [MX] m, dict meta) [INTERNAL] ............. """ return _casadi.Opti_update_user_dict(self, *args) def user_dict(self, *args) -> "casadi::Dict": """ [INTERNAL] :: user_dict(self, MX m) -> dict Get user data. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L437 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L492-L498 """ return _casadi.Opti_user_dict(self, *args) def type_name(self, *args) -> "std::string": """ [INTERNAL] :: type_name(self) -> str Readable name of the class. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L440 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L440-L440 """ return _casadi.Opti_type_name(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) Print representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L443 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L750-L770 """ return _casadi.Opti_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str Get string representation. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L446 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L772-L776 """ return _casadi.Opti_str(self, *args) def callback_class(self, *args) -> "void": """ [INTERNAL] :: callback_class(self) callback_class(self, OptiCallback callback) Helper methods for callback() Do not use directly. Extra doc: https://github.com/casadi/casadi/wiki/L_1p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L455 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L471-L477 ....... :: callback_class(self) [INTERNAL] Helper methods for callback() Do not use directly. Extra doc: https://github.com/casadi/casadi/wiki/L_1p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L455 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L471-L477 ............. ....... :: callback_class(self, OptiCallback callback) [INTERNAL] Helper methods for callback() Do not use directly. Extra doc: https://github.com/casadi/casadi/wiki/L_1p Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L454 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L463-L469 ............. """ return _casadi.Opti_callback_class(self, *args) @property def debug(self): return self._debug() @property def advanced(self): return self._advanced() @property def f(self): return self._f() @property def g(self): return self._g() @property def x(self): return self._x() @property def p(self): return self._p() @property def lam_g(self): return self._lam_g() @property def lbg(self): return self._lbg() @property def ubg(self): return self._ubg() @property def nx(self): return self._nx() @property def np(self): return self._np() @property def ng(self): return self._ng() @property def x_linear_scale(self): return self._x_linear_scale() @property def x_linear_scale_offset(self): return self._x_linear_scale_offset() @property def g_linear_scale(self): return self._g_linear_scale() @property def f_linear_scale(self): return self._f_linear_scale() @property def casadi_solver(self): return self._casadi_solver() def parameter(self,*args): import sys import os try: frame = sys._getframe(1) except: frame = {} meta = {} if frame is None else {"stacktrace": [{"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}]} ret = self._parameter(*args) if len(meta)>0: self.update_user_dict(ret, meta) return ret def variable(self,*args): import sys import os try: frame = sys._getframe(1) except: frame = {} meta = {} if frame is None else {"stacktrace": [{"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}]} ret = self._variable(*args) if len(meta)>0: self.update_user_dict(ret, meta) return ret def subject_to(self,*args): if len(args)==0: return self._subject_to() import sys import os stacktrace = [] for i in range(1,10000): try: frame = sys._getframe(i) stacktrace.append({"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}) except Exception as e: break args = list(args) if len(args)==3 and isinstance(args[2],dict): args[2] = dict(args[2]) if "stacktrace" not in args[2]: args[2]["stacktrace"] = stacktrace elif len(args)==2 and isinstance(args[1],dict): args[1] = dict(args[1]) if "stacktrace" not in args[1]: args[1]["stacktrace"] = stacktrace elif len(args)==1: args = [args[0], {"stacktrace": stacktrace}] elif len(args)==2: args = [args[0], args[1], {"stacktrace": stacktrace}] ret = self._subject_to(*args) return ret @staticmethod def _callback(self,fh=None): if fh is None: self.callback_class(); return class OptiCallbackHelper(OptiCallback): def __init__(self, callback): OptiCallback.__init__(self) self.callback = callback def call(self, i): self.callback(i) self._fh = fh self._cb = OptiCallbackHelper(fh); self.callback_class(self._cb); def callback(self,fh=None): self._callback(self,fh) def __init__(self, *args): """ :: Opti(str problem_type) Opti(Opti other) ....... :: Opti(Opti other) ............. ....... :: Opti(str problem_type) [INTERNAL] Create Opti Context. Parameters: ----------- problem_type: of optimization 'nlp' or 'conic' (default nlp) Extra doc: https://github.com/casadi/casadi/wiki/L_17 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L99 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L47-L49 ............. """ this = _casadi.new_Opti(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Opti Opti_swigregister = _casadi.Opti_swigregister Opti_swigregister(Opti) def Opti_bounded(*args) -> "casadi::MX": """ :: bounded(MX lb, MX expr, MX ub) -> MX """ return _casadi.Opti_bounded(*args) OPTI_GENERIC_EQUALITY = _casadi.OPTI_GENERIC_EQUALITY OPTI_GENERIC_INEQUALITY = _casadi.OPTI_GENERIC_INEQUALITY OPTI_EQUALITY = _casadi.OPTI_EQUALITY OPTI_INEQUALITY = _casadi.OPTI_INEQUALITY OPTI_DOUBLE_INEQUALITY = _casadi.OPTI_DOUBLE_INEQUALITY OPTI_PSD = _casadi.OPTI_PSD OPTI_UNKNOWN = _casadi.OPTI_UNKNOWN OPTI_VAR = _casadi.OPTI_VAR OPTI_PAR = _casadi.OPTI_PAR OPTI_DUAL_G = _casadi.OPTI_DUAL_G OPTI_DOMAIN_REAL = _casadi.OPTI_DOMAIN_REAL OPTI_DOMAIN_INTEGER = _casadi.OPTI_DOMAIN_INTEGER class IndexAbstraction(_object): """ :: IndexAbstraction() -> """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, IndexAbstraction, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, IndexAbstraction, name) __repr__ = _swig_repr __swig_getmethods__["start"] = _casadi.IndexAbstraction_start_get if _newclass: start = _swig_property(_casadi.IndexAbstraction_start_get) __swig_getmethods__["stop"] = _casadi.IndexAbstraction_stop_get if _newclass: stop = _swig_property(_casadi.IndexAbstraction_stop_get) def __init__(self, *args): """ :: IndexAbstraction() IndexAbstraction(IndexAbstraction other) """ this = _casadi.new_IndexAbstraction(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_IndexAbstraction IndexAbstraction_swigregister = _casadi.IndexAbstraction_swigregister IndexAbstraction_swigregister(IndexAbstraction) class MetaCon(IndexAbstraction): """ :: MetaCon() -> """ __swig_setmethods__ = {} for _s in [IndexAbstraction]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, MetaCon, name, value) __swig_getmethods__ = {} for _s in [IndexAbstraction]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, MetaCon, name) __repr__ = _swig_repr __swig_getmethods__["original"] = _casadi.MetaCon_original_get if _newclass: original = _swig_property(_casadi.MetaCon_original_get) __swig_getmethods__["canon"] = _casadi.MetaCon_canon_get if _newclass: canon = _swig_property(_casadi.MetaCon_canon_get) __swig_getmethods__["type"] = _casadi.MetaCon_type_get if _newclass: type = _swig_property(_casadi.MetaCon_type_get) __swig_getmethods__["lb"] = _casadi.MetaCon_lb_get if _newclass: lb = _swig_property(_casadi.MetaCon_lb_get) __swig_getmethods__["ub"] = _casadi.MetaCon_ub_get if _newclass: ub = _swig_property(_casadi.MetaCon_ub_get) __swig_getmethods__["n"] = _casadi.MetaCon_n_get if _newclass: n = _swig_property(_casadi.MetaCon_n_get) __swig_getmethods__["flipped"] = _casadi.MetaCon_flipped_get if _newclass: flipped = _swig_property(_casadi.MetaCon_flipped_get) __swig_getmethods__["dual_canon"] = _casadi.MetaCon_dual_canon_get if _newclass: dual_canon = _swig_property(_casadi.MetaCon_dual_canon_get) __swig_getmethods__["dual"] = _casadi.MetaCon_dual_get if _newclass: dual = _swig_property(_casadi.MetaCon_dual_get) __swig_getmethods__["extra"] = _casadi.MetaCon_extra_get if _newclass: extra = _swig_property(_casadi.MetaCon_extra_get) __swig_getmethods__["linear_scale"] = _casadi.MetaCon_linear_scale_get if _newclass: linear_scale = _swig_property(_casadi.MetaCon_linear_scale_get) def __init__(self, *args): """ :: MetaCon() MetaCon(MetaCon other) """ this = _casadi.new_MetaCon(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_MetaCon MetaCon_swigregister = _casadi.MetaCon_swigregister MetaCon_swigregister(MetaCon) class MetaVar(IndexAbstraction): """ :: MetaVar() -> """ __swig_setmethods__ = {} for _s in [IndexAbstraction]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, MetaVar, name, value) __swig_getmethods__ = {} for _s in [IndexAbstraction]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, MetaVar, name) __repr__ = _swig_repr __swig_getmethods__["attribute"] = _casadi.MetaVar_attribute_get if _newclass: attribute = _swig_property(_casadi.MetaVar_attribute_get) __swig_getmethods__["n"] = _casadi.MetaVar_n_get if _newclass: n = _swig_property(_casadi.MetaVar_n_get) __swig_getmethods__["m"] = _casadi.MetaVar_m_get if _newclass: m = _swig_property(_casadi.MetaVar_m_get) __swig_getmethods__["type"] = _casadi.MetaVar_type_get if _newclass: type = _swig_property(_casadi.MetaVar_type_get) __swig_getmethods__["domain"] = _casadi.MetaVar_domain_get if _newclass: domain = _swig_property(_casadi.MetaVar_domain_get) __swig_getmethods__["count"] = _casadi.MetaVar_count_get if _newclass: count = _swig_property(_casadi.MetaVar_count_get) __swig_getmethods__["i"] = _casadi.MetaVar_i_get if _newclass: i = _swig_property(_casadi.MetaVar_i_get) __swig_getmethods__["active_i"] = _casadi.MetaVar_active_i_get if _newclass: active_i = _swig_property(_casadi.MetaVar_active_i_get) __swig_getmethods__["extra"] = _casadi.MetaVar_extra_get if _newclass: extra = _swig_property(_casadi.MetaVar_extra_get) def __init__(self, *args): """ :: MetaVar() MetaVar(MetaVar other) """ this = _casadi.new_MetaVar(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_MetaVar MetaVar_swigregister = _casadi.MetaVar_swigregister MetaVar_swigregister(MetaVar) class OptiCallback(_object): """ [INTERNAL] C++ includes: optistack.hpp :: """ __swig_setmethods__ = {} __setattr__ = lambda self, name, value: _swig_setattr(self, OptiCallback, name, value) __swig_getmethods__ = {} __getattr__ = lambda self, name: _swig_getattr(self, OptiCallback, name) __repr__ = _swig_repr def __init__(self, *args): """ [INTERNAL] :: OptiCallback(self) OptiCallback(self, OptiCallback obj) """ if self.__class__ == OptiCallback: _self = None else: _self = self this = _casadi.new_OptiCallback(_self, *args) try: self.this.append(this) except __builtin__.Exception: self.this = this def call(self, *args) -> "void": """ [INTERNAL] :: call(self, int i) """ return _casadi.OptiCallback_call(self, *args) __swig_destroy__ = _casadi.delete_OptiCallback def __disown__(self): self.this.disown() _casadi.disown_OptiCallback(self) return weakref_proxy(self) OptiCallback_swigregister = _casadi.OptiCallback_swigregister OptiCallback_swigregister(OptiCallback) class OptiAdvanced(Opti): """ [INTERNAL] C++ includes: optistack.hpp :: """ __swig_setmethods__ = {} for _s in [Opti]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, OptiAdvanced, name, value) __swig_getmethods__ = {} for _s in [Opti]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, OptiAdvanced, name) __repr__ = _swig_repr __swig_destroy__ = _casadi.delete_OptiAdvanced def _casadi_solver(self, *args) -> "casadi::Function": """ [INTERNAL] :: _casadi_solver(self) -> Function Get the underlying CasADi solver of the Opti stack. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L564 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L500-L506 """ return _casadi.OptiAdvanced__casadi_solver(self, *args) def is_parametric(self, *args) -> "bool": """ [INTERNAL] :: is_parametric(self, MX expr) -> bool return true if expression is only dependant on Opti parameters, not variables Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L567 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L508-L514 """ return _casadi.OptiAdvanced_is_parametric(self, *args) def symvar(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: symvar(self) -> [MX] symvar(self, MX expr) -> [MX] symvar(self, MX expr, casadi::VariableType type) -> [MX] Get symbols present in expression. Returned vector is ordered according to the order of variable()/parameter() calls used to create the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L578 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L532-L538 ....... :: symvar(self) [INTERNAL] Get symbols present in expression. Returned vector is ordered according to the order of variable()/parameter() calls used to create the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L576 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L516-L522 ............. ....... :: symvar(self, MX expr) [INTERNAL] Get symbols present in expression. Returned vector is ordered according to the order of variable()/parameter() calls used to create the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L577 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L524-L530 ............. ....... :: symvar(self, MX expr, casadi::VariableType type) [INTERNAL] Get symbols present in expression. Returned vector is ordered according to the order of variable()/parameter() calls used to create the variables Extra doc: https://github.com/casadi/casadi/wiki/L_1u Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L578 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L532-L538 ............. """ return _casadi.OptiAdvanced_symvar(self, *args) def canon_expr(self, *args) -> "casadi::MetaCon": """ [INTERNAL] :: canon_expr(self, MX expr) -> MetaCon Interpret an expression (for internal use only) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L582 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L540-L546 """ return _casadi.OptiAdvanced_canon_expr(self, *args) def get_meta(self, *args) -> "casadi::MetaVar": """ [INTERNAL] :: get_meta(self, MX m) -> MetaVar Get meta-data of symbol (for internal use only) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L585 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L548-L554 """ return _casadi.OptiAdvanced_get_meta(self, *args) def get_meta_con(self, *args) -> "casadi::MetaCon": """ [INTERNAL] :: get_meta_con(self, MX m) -> MetaCon Get meta-data of symbol (for internal use only) Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L588 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L556-L562 """ return _casadi.OptiAdvanced_get_meta_con(self, *args) def set_meta(self, *args) -> "void": """ [INTERNAL] :: set_meta(self, MX m, MetaVar meta) Set meta-data of an expression. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L591 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L564-L570 """ return _casadi.OptiAdvanced_set_meta(self, *args) def set_meta_con(self, *args) -> "void": """ [INTERNAL] :: set_meta_con(self, MX m, MetaCon meta) Set meta-data of an expression. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L594 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L572-L578 """ return _casadi.OptiAdvanced_set_meta_con(self, *args) def assert_active_symbol(self, *args) -> "void": """ [INTERNAL] :: assert_active_symbol(self, MX m) """ return _casadi.OptiAdvanced_assert_active_symbol(self, *args) def active_symvar(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: active_symvar(self, casadi::VariableType type) -> [MX] """ return _casadi.OptiAdvanced_active_symvar(self, *args) def active_values(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >": """ [INTERNAL] :: active_values(self, casadi::VariableType type) -> [DM] """ return _casadi.OptiAdvanced_active_values(self, *args) def x_lookup(self, *args) -> "casadi::MX": """ [INTERNAL] :: x_lookup(self, int i) -> MX """ return _casadi.OptiAdvanced_x_lookup(self, *args) def g_lookup(self, *args) -> "casadi::MX": """ [INTERNAL] :: g_lookup(self, int i) -> MX """ return _casadi.OptiAdvanced_g_lookup(self, *args) def g_index_reduce_g(self, *args) -> "casadi_index": """ [INTERNAL] :: g_index_reduce_g(self, int i) -> int """ return _casadi.OptiAdvanced_g_index_reduce_g(self, *args) def g_index_reduce_x(self, *args) -> "casadi_index": """ [INTERNAL] :: g_index_reduce_x(self, int i) -> int """ return _casadi.OptiAdvanced_g_index_reduce_x(self, *args) def g_index_unreduce_g(self, *args) -> "casadi_index": """ [INTERNAL] :: g_index_unreduce_g(self, int i) -> int """ return _casadi.OptiAdvanced_g_index_unreduce_g(self, *args) def x_describe(self, *args) -> "std::string": """ [INTERNAL] :: x_describe(self, int i, dict opts) -> str """ return _casadi.OptiAdvanced_x_describe(self, *args) def g_describe(self, *args) -> "std::string": """ [INTERNAL] :: g_describe(self, int i, dict opts) -> str """ return _casadi.OptiAdvanced_g_describe(self, *args) def describe(self, *args) -> "std::string": """ [INTERNAL] :: describe(self, MX x, int indent, dict opts) -> str """ return _casadi.OptiAdvanced_describe(self, *args) def show_infeasibilities(self, *args) -> "void": """ [INTERNAL] :: show_infeasibilities(self, float tol, dict opts) """ return _casadi.OptiAdvanced_show_infeasibilities(self, *args) def solve_prepare(self, *args) -> "void": """ [INTERNAL] :: solve_prepare(self) """ return _casadi.OptiAdvanced_solve_prepare(self, *args) def solve_actual(self, *args) -> "casadi::DMDict": """ [INTERNAL] :: solve_actual(self, dict:DM args) -> dict:DM """ return _casadi.OptiAdvanced_solve_actual(self, *args) def arg(self, *args) -> "casadi::DMDict": """ [INTERNAL] :: arg(self) -> dict:DM """ return _casadi.OptiAdvanced_arg(self, *args) def res(self, *args) -> "casadi::DMDict": """ [INTERNAL] :: res(self) -> dict:DM res(self, dict:DM res) """ return _casadi.OptiAdvanced_res(self, *args) def constraints(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: constraints(self) -> [MX] """ return _casadi.OptiAdvanced_constraints(self, *args) def objective(self, *args) -> "casadi::MX": """ [INTERNAL] :: objective(self) -> MX """ return _casadi.OptiAdvanced_objective(self, *args) def baked_copy(self, *args) -> "casadi::OptiAdvanced": """ [INTERNAL] :: baked_copy(self) -> OptiAdvanced """ return _casadi.OptiAdvanced_baked_copy(self, *args) def assert_empty(self, *args) -> "void": """ [INTERNAL] :: assert_empty(self) """ return _casadi.OptiAdvanced_assert_empty(self, *args) def bake(self, *args) -> "void": """ [INTERNAL] :: bake(self) Fix the structure of the optimization problem. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L629 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L778-L784 """ return _casadi.OptiAdvanced_bake(self, *args) __swig_getmethods__["problem_dirty_"] = _casadi.OptiAdvanced_problem_dirty__get if _newclass: problem_dirty_ = _swig_property(_casadi.OptiAdvanced_problem_dirty__get) def mark_problem_dirty(self, *args) -> "void": """ [INTERNAL] :: mark_problem_dirty(self, bool flag) """ return _casadi.OptiAdvanced_mark_problem_dirty(self, *args) def problem_dirty(self, *args) -> "bool": """ [INTERNAL] :: problem_dirty(self) -> bool """ return _casadi.OptiAdvanced_problem_dirty(self, *args) __swig_getmethods__["solver_dirty_"] = _casadi.OptiAdvanced_solver_dirty__get if _newclass: solver_dirty_ = _swig_property(_casadi.OptiAdvanced_solver_dirty__get) def mark_solver_dirty(self, *args) -> "void": """ [INTERNAL] :: mark_solver_dirty(self, bool flag) """ return _casadi.OptiAdvanced_mark_solver_dirty(self, *args) def solver_dirty(self, *args) -> "bool": """ [INTERNAL] :: solver_dirty(self) -> bool """ return _casadi.OptiAdvanced_solver_dirty(self, *args) __swig_getmethods__["solved_"] = _casadi.OptiAdvanced_solved__get if _newclass: solved_ = _swig_property(_casadi.OptiAdvanced_solved__get) def mark_solved(self, *args) -> "void": """ [INTERNAL] :: mark_solved(self, bool flag) """ return _casadi.OptiAdvanced_mark_solved(self, *args) def solved(self, *args) -> "bool": """ [INTERNAL] :: solved(self) -> bool """ return _casadi.OptiAdvanced_solved(self, *args) def assert_solved(self, *args) -> "void": """ [INTERNAL] :: assert_solved(self) """ return _casadi.OptiAdvanced_assert_solved(self, *args) def assert_baked(self, *args) -> "void": """ [INTERNAL] :: assert_baked(self) """ return _casadi.OptiAdvanced_assert_baked(self, *args) def instance_number(self, *args) -> "casadi_int": """ [INTERNAL] :: instance_number(self) -> int """ return _casadi.OptiAdvanced_instance_number(self, *args) def __init__(self, *args): """ :: OptiAdvanced(OptiAdvanced other) OptiAdvanced(Opti x) ....... :: OptiAdvanced(OptiAdvanced other) ............. ....... :: OptiAdvanced(Opti x) [INTERNAL] ............. """ this = _casadi.new_OptiAdvanced(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this OptiAdvanced_swigregister = _casadi.OptiAdvanced_swigregister OptiAdvanced_swigregister(OptiAdvanced) class OptiSol(PrintableCommon): """ [INTERNAL] :: A simplified interface for NLP modeling/solving. This class offers a view with solution retrieval facilities The API is guaranteed to be stable. Joris Gillis, Erik Lambrechts Extra doc: https://github.com/casadi/casadi/wiki/L_1v C++ includes: optistack.hpp """ __swig_setmethods__ = {} for _s in [PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, OptiSol, name, value) __swig_getmethods__ = {} for _s in [PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, OptiSol, name) __repr__ = _swig_repr def type_name(self, *args) -> "std::string": """ [INTERNAL] :: type_name(self) -> str """ return _casadi.OptiSol_type_name(self, *args) def disp(self, *args) -> "void": """ [INTERNAL] :: disp(self, bool more) """ return _casadi.OptiSol_disp(self, *args) def str(self, *args) -> "std::string": """ [INTERNAL] :: str(self, bool more) -> str """ return _casadi.OptiSol_str(self, *args) def value(self, *args) -> "casadi::native_DM": """ [INTERNAL] :: value(self, DM x, [MX] values) -> double value(self, SX x, [MX] values) -> double value(self, MX x, [MX] values) -> double Obtain value of expression at the current value In regular mode, teh current value is the converged solution In debug mode, the value can be non-converged Parameters: ----------- values: Optional assignment expressions (e.g. x==3) to overrule the current value Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L679 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L874-L876 ....... :: value(self, DM x, [MX] values) [INTERNAL] Obtain value of expression at the current value In regular mode, teh current value is the converged solution In debug mode, the value can be non-converged Parameters: ----------- values: Optional assignment expressions (e.g. x==3) to overrule the current value Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L678 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L871-L873 ............. ....... :: value(self, SX x, [MX] values) [INTERNAL] Obtain value of expression at the current value In regular mode, teh current value is the converged solution In debug mode, the value can be non-converged Parameters: ----------- values: Optional assignment expressions (e.g. x==3) to overrule the current value Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L679 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L874-L876 ............. ....... :: value(self, MX x, [MX] values) [INTERNAL] Obtain value of expression at the current value In regular mode, teh current value is the converged solution In debug mode, the value can be non-converged Parameters: ----------- values: Optional assignment expressions (e.g. x==3) to overrule the current value Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L677 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L868-L870 ............. """ return _casadi.OptiSol_value(self, *args) def value_variables(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: value_variables(self) -> [MX] get assignment expressions for the optimal solution Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L683 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L878-L880 """ return _casadi.OptiSol_value_variables(self, *args) def value_parameters(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >": """ [INTERNAL] :: value_parameters(self) -> [MX] """ return _casadi.OptiSol_value_parameters(self, *args) def stats(self, *args) -> "casadi::Dict": """ [INTERNAL] :: stats(self) -> dict Get statistics. nlpsol stats are passed as-is. No stability can be guaranteed about this part of the API Extra doc: https://github.com/casadi/casadi/wiki/L_1w Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.hpp#L692 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/optistack.cpp#L886-L888 """ return _casadi.OptiSol_stats(self, *args) def _opti(self, *args) -> "casadi::Opti": """ [INTERNAL] :: _opti(self) -> Opti """ return _casadi.OptiSol__opti(self, *args) @property def opti(self): return self._opti() @property def debug(self): return self._debug() def __init__(self, *args): """ :: OptiSol(OptiSol other) """ this = _casadi.new_OptiSol(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_OptiSol OptiSol_swigregister = _casadi.OptiSol_swigregister OptiSol_swigregister(OptiSol) class Resource(SharedObject, PrintableCommon): """ [INTERNAL] :: RAII class for reading from a zip file. Extra doc: https://github.com/casadi/casadi/wiki/L_2cn C++ includes: resource.hpp """ __swig_setmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {})) __setattr__ = lambda self, name, value: _swig_setattr(self, Resource, name, value) __swig_getmethods__ = {} for _s in [SharedObject, PrintableCommon]: __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {})) __getattr__ = lambda self, name: _swig_getattr(self, Resource, name) __repr__ = _swig_repr def type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Resource_type_name(*args) type_name = staticmethod(type_name) def test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Resource_test_cast(*args) test_cast = staticmethod(test_cast) def path(self, *args) -> "std::string const &": """ [INTERNAL] :: path(self) -> str Get path for a consumer. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/resource.hpp#L83 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/resource.cpp#L70-L72 """ return _casadi.Resource_path(self, *args) def serialize(self, *args) -> "void": """ [INTERNAL] :: serialize(self, casadi::SerializingStream & s) Serialize an object. Extra doc: https://github.com/casadi/casadi/wiki/L_2cq Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/resource.hpp#L88 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/resource.cpp#L78-L80 """ return _casadi.Resource_serialize(self, *args) def change_option(self, *args) -> "void": """ [INTERNAL] :: change_option(self, str option_name, GenericType option_value) Change option after object creation for debugging. This is only possible for a selected number of options that do not change the numerical results of the comput Extra doc: https://github.com/casadi/casadi/wiki/L_2d4 Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/resource.hpp#L96 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/resource.cpp#L74-L76 """ return _casadi.Resource_change_option(self, *args) def deserialize(*args) -> "casadi::Resource": """ :: deserialize(casadi::DeserializingStream & s) -> Resource """ return _casadi.Resource_deserialize(*args) deserialize = staticmethod(deserialize) def __init__(self, *args): """ :: Resource() Resource(Resource other) Resource(str path) ....... :: Resource(Resource other) ............. ....... :: Resource() [INTERNAL] Default constructor. Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/resource.hpp#L56 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/resource.cpp#L32-L33 ............. ....... :: Resource(str path) [INTERNAL] Initialize with a path. If the path is a directory or empty, the path is passed through to the consumer. Otherwise, the zip file is extracted to a temporary directory. Upon destruction, the temporary directory is removed. Extra doc: https://github.com/casadi/casadi/wiki/L_2co Doc source: https://github.com/casadi/casadi/blob/main/casadi/core/resource.hpp#L54 Implementation: https://github.com/casadi/casadi/blob/main/casadi/core/resource.cpp#L35-L42 ............. """ this = _casadi.new_Resource(*args) try: self.this.append(this) except __builtin__.Exception: self.this = this __swig_destroy__ = _casadi.delete_Resource Resource_swigregister = _casadi.Resource_swigregister Resource_swigregister(Resource) def Resource_type_name(*args) -> "std::string": """ :: type_name() -> str """ return _casadi.Resource_type_name(*args) def Resource_test_cast(*args) -> "bool": """ :: test_cast(casadi::SharedObjectInternal const * ptr) -> bool """ return _casadi.Resource_test_cast(*args) def Resource_deserialize(*args) -> "casadi::Resource": """ :: deserialize(casadi::DeserializingStream & s) -> Resource """ return _casadi.Resource_deserialize(*args) # This file is compatible with both classic and new-style classes.