jkoendev

function r= dpc_simple_simulate
  % get a random starting state between min state and max state
  x_min = [-1; -pi; -pi; -.05; -1; -1];
  x_max = -x_min;
  x0 = rand(6,1) .* (x_max-x_min)+x_min;

  % simulate
  tspan = 0:0.01:8;
  [tspan, X] = ode45(@dpc_ode, tspan, x0);
  r = struct;

jkoendev

import numpy as np
import math
from scipy.integrate import solve_ivp

def main():
  # get a random starting state between min state and max state
  x_min = np.array([-1, -np.pi, -np.pi, -.05, -1, -1]);
  x_max = -x_min;
  x0 = np.random.uniform(low=0.0, high=1.0, size=6) * \
       (x_max-x_min)+x_min;

jkoendev

x = casadi.MX.sym('x',2);
f = x(1)*x(1) + x(2)*x(2);
g = x(1)+x(2)-10;

% solver = casadi.nlpsol('solver', 'ipopt', struct('x', x, 'f', f, 'g', g),struct('jit',true));
% solver.generate_dependencies('nlp.c');

solver = casadi.nlpsol('solver', 'ipopt', struct('x', x, 'f', f, 'g', g));
solver.generate_dependencies('nlp.c',struct('mex',true));

jkoendev

import casadi.*

% Degree of interpolating polynomial
d = 3;

% Get collocation points
tau_root = [0 collocation_points(d, 'radau')];

% Coefficients of the collocation equation
C = zeros(d+1,d+1);

jkoendev

clear classes % necessary to update/reload .so
MEX_COMPILE = false;

x = casadi.SX.sym('x',2);
f = x;
for i=1:10
  f = sin(f)*cos(f)';
end
df = jacobian(f,x);

jkoendev

% syms x
% 
% f = x;
% 
% for i=1:100
%   f = sin(f)*cos(f);
% end

% diff(f,x)

jkoendev

x = casadi.SX.sym('x',2);
f = x;
for i=1:10
  f = sin(f)*cos(f)';
end
df = jacobian(f,x);

fun = casadi.Function('fun',{x},{f});
jacfun = casadi.Function('jac_fun',{x},{df});

jkoendev

function testIpoptInterface

x = casadi.MX.sym('x',2);
f = x(1)*x(1) + x(2)*x(2);
g = x(1)+x(2)-10;

% https://groups.google.com/forum/#!searchin/casadi-users/generate|sort:relevance/casadi-users/pxhU1tgkaEI/svmrRIzbFwAJ
fGrad = gradient(f,x);
gJac = jacobian(g,x);
lam = casadi.MX.sym('lam', g.sparsity());