jgillis

Contributor License Agreement

Thank you for your interest in contributing to LaceModelica ("Project"), maintained by YACODA.

By submitting a pull request or otherwise contributing to this Project, you agree to the following terms.

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,

jgillis

% Load the matrices from files
actual = casadi.Sparsity.from_file('debug_fatrop_actual.mtx');
A = casadi.Sparsity.from_file('debug_fatrop_A.mtx');
B = casadi.Sparsity.from_file('debug_fatrop_B.mtx');
C = casadi.Sparsity.from_file('debug_fatrop_C.mtx');
D = casadi.Sparsity.from_file('debug_fatrop_D.mtx');
I = casadi.Sparsity.from_file('debug_fatrop_I.mtx');
errors = row(casadi.Sparsity.from_file('debug_fatrop_errors.mtx'));

% Create a new figure

jgillis

Contributor's Statement of Intellectual Property Transfer

I certify that:
(a) I have read and understood the statement below on Ownership and Transfer of Intellectual Property;
(b) for any contribution I make to the CasADi project, I will make all reasonable efforts to determine the legal owners of the contribution, and I will obtain the permission of the owners of the contribution to make the contribution available under the terms of this agreement;
(c) if I am employed, I have discussed contributing to CasADi with my employer and have obtained their permission to transfer the intellectual property rights or have determined that they do not assert ownership rights to my contributions;
(d) I hereby transfer and assign all rights, title, and interest, including all intellectual property rights, in any contributions that I make to the CasADi project, to the CasADi copyright holders;
(e) I will not knowingly submit any contribution of which I am not the owner or for which I do not have the owner's permission, n

jgillis

from casadi import *

# Example on how to use the DaeBuilder class
# Joel Andersson, UW Madison 2017

# Start with an empty DaeBuilder instance
dae = DaeBuilder('rocket')

# Add input expressions

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

function [x, lam_a, lam_x, f, stats] = qp_casadi(H,g,A,lba,uba,lb,ub,x0,lam_a0,lam_x0,solver,solver_options)
    % QP_CASADI: solves a QP:
    %   
    %   min   1/2*x'Hx + g'x
    %    x      subject to  lba <= Ax <= uba
    %                        lb <= x  <= ub
    %
    %   You may use [] to omit arguments.
    %
    %   Other inputs

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