jgillis

def sympy2casadi(sympy_expr,sympy_var,casadi_var):
  import casadi
  assert casadi_var.is_vector()
  if casadi_var.shape[1]>1:
    casadi_var = casadi_var.T
  casadi_var = casadi.vertsplit(casadi_var)
  from sympy.utilities.lambdify import lambdify

  mapping = {'ImmutableDenseMatrix': casadi.blockcat,
             'MutableDenseMatrix': casadi.blockcat,

folkertdev

"""
A sympy-based Lagrange polynomial constructor. 

Given a set of function inputs and outputs, the lagrangePolynomial function will construct an 
expression that for every input gives the corresponding output. For intermediate values,
the polynomial interpolates (giving varying results based on the shape of your input). 
This is useful when the result needs to be used outside of Python, because the 
expression can easily be copied. To convert the expression to a python function object,
use sympy.lambdify.
"""