jgillis

/* This file was automatically generated by CasADi 3.6.5+.
 *  It consists of: 
 *   1) content generated by CasADi runtime: not copyrighted
 *   2) template code copied from CasADi source: permissively licensed (MIT-0)
 *   3) user code: owned by the user
 *
 */
#ifdef __cplusplus
extern "C" {
#endif

jgillis

from casadi import *

# Generate 3D data to fit
x = np.linspace(0,2,10)
y = np.linspace(2,4,10)
z = np.linspace(3,5,10)

[X,Y,Z] = np.meshgrid(x,y,z)

xyz_flat = np.vstack((X.ravel(),Y.ravel(),Z.ravel())).T

jgillis

from casadi import *

opti = Opti()

x = opti.variable(10)
y = opti.variable(10)

opti.subject_to(x>=0)
opti.subject_to(x+y==0)
opti.subject_to(y>=0)

jgillis

m = 10 # Limite memory size

x_latest = MX.sym("x_latest",nx)
g_latest = MX.sym("g_latest",nx)

x_prev = MX.sym("x_prev",nx)
g_prev = MX.sym("g_prev",nx)

s_latest = x_latest-x_prev
y_latest = g_latest-g_prev

jgillis

import casadi as cs
import numpy as np

xp = [1, 2, 3]
fp = [3, 2, 0]

x = [2.5,1.1]

print(np.interp(x=x,xp=xp,fp=fp))

jgillis

XYZ_ref = [ simOut.EndEffector_AbsPos{1}.Values.Data,simOut.EndEffector_AbsPos{2}.Values.Data,simOut.EndEffector_AbsPos{3}.Values.Data ]';

Nsim = size(Gantry_out_D.Data,1);
XYZ = zeros(3,Nsim);
for k=1:Nsim
XYZ(:,k) = ForwardKinematicsFun(Gantry_out_D.Data(k,2),...
                     Axis1_Out_D.Data(k,2)/180*pi,...
                     Axis2_Out_D.Data(k,2)/180*pi,...
                     Axis3_Out_D.Data(k,2)/180*pi,...
                     Axis4_Out_D.Data(k,2)/180*pi,...

jgillis

from casadi import *

x = MX.sym("x",30)
x0 = DM.rand(x.shape)

print("Reference approach")

# Repetitive
c = 0

jgillis

import casadi
from casadi import *
from casadi.casadi import OPTI_INEQUALITY, Opti_bounded
import matplotlib.pyplot as plt


# https://epubs.siam.org/doi/pdf/10.1137/16M1062569

m1 = 1
m2 = 0.3

jgillis

class Node:
  def __init__(self,val):
    self.val = val
    self.nodes = []

class AutoBrancher:
  OPEN = 0
  DONE = 1
  def __init__(self):

jgillis

Find and replace in casadi file:

casadi.Function('f',{x},{x},struct('dump_dir','matching_string')).save('test.casadi')
casadi.Function('f',{x},{x},struct('dump_dir','replace__string')).save('test2.casadi')

Check the difference in test and test2 to see the replacement.
Preservation of length only.