Example of using opengen

opengen-example.py

import casadi.casadi as cs
import opengen as og

u = cs.SX.sym("u", 5)
p = cs.SX.sym("p", 2)

# COST FUNCTION
phi = og.functions.rosenbrock(u, p)

# PENALTY-TYPE CONSTRAINTS
c = cs.vertcat(1.5*u[0] - u[1], u[2] - u[3])

# CONSTRAINTS
xmin = [-2.0, -2.0, -2.0, -2.0, -2.0]
xmax = [2.0, 2.0, 2.0, 2.0, 2.0]
bounds = og.constraints.Rectangle(xmin, xmax)

# CONFIGURATION...
problem = og.builder.Problem(u, p, phi) \
    .with_penalty_constraints(c) \
    .with_constraints(bounds)
meta = og.config.OptimizerMeta() \
    .with_version("0.0.2") \
    .with_authors(["P. Sopasakis", "E. Fresk"]) \
    .with_licence("CC4.0-By") \
    .with_optimizer_name("wow_optimizer")
build_config = og.config.BuildConfiguration() \
    .with_rebuild(False) \
    .with_build_mode("debug") \
    .with_build_directory("python_codegen_builds") \
    .with_open_version("0.3.2")
solver_config = og.config.SolverConfiguration() \
    .with_lfbgs_memory(15) \
    .with_tolerance(1e-5) \
    .with_max_inner_iterations(155) \
    .with_constraints_tolerance(1e-4) \
    .with_max_outer_iterations(15) \
    .with_penalty_weight_update_factor(8.0) \
    .with_initial_penalty_weights([20.0, 5.0]) \
    .with_max_duration_micros(3000)

# BUILD CODE
og.builder.OpEnOptimizerBuilder(problem,
                                metadata=meta,
                                build_configuration=build_config,
                                solver_configuration=solver_config) \
    .with_generate_not_build_flag(False) \
    .build()