ghorn

{-# OPTIONS_GHC -Wall #-}

module Main ( main ) where

import LLVM.General
import LLVM.General.Analysis
import LLVM.General.Context
import Control.Monad.Trans.Error

main :: IO ()

ghorn

typedef callback_t .....; // callback function

int run_export(int numX, int numU, callback_t * ode, callback_t * ref, .........){
  
    vector<DifferentialState> xvec;
    vector<Control> uvec;

    for (int k=0; k<numX; k++){
        DifferentialState x;
        xvec.push_back(x);

ghorn

# result of symbolic differentaition
def f_sym(x):
  f = exp(k*x)
  fd = k*exp(k*x)
  return (f,fd)

# result of AD
def f_ad(x):
  f = exp(k*x)
  fd = k*f

ghorn

{-# OPTIONS_GHC -Wall #-}
{-# Language RankNTypes #-}
{-# Language DeriveFunctor #-}
{-# Language DeriveGeneric #-}

module Dyno.Nlp ( Nlp(..) ) where

import Dyno.Vectorize
import Dyno.TypeVecs
import Dyno.TypeNats

ghorn

from casadi import *

##### lets integrate something 100 timesteps with 3 different methods #####
# this is whate we want to integrate
def dynamics_fun(x):
      xdot = # some complicated shit
      return xdot
    
## 1: inline everything, standard approach to AD afaik
def rk4(x0, h):

ghorn

ghorn@adler:~$ cat .xsession
# .xsesssion

# nicer looking cursor
xsetroot -cursor_name left_ptr

# background image
xloadimage -onroot -fullscreen ~/Dropbox/desktop_backgrounds/trex_aviators.jpg

# key repeat delay to 250ms, repeat rate to 35Hz

ghorn

ghorn@adler:~$ cat .xmonad/xmonad.hs
{-# OPTIONS_GHC -Wall #-}

module Main ( main ) where

import XMonad
import qualified XMonad.StackSet as SS
import XMonad.Util.EZConfig ( additionalKeys )
import XMonad.Prompt.Shell ( shellPrompt )
import XMonad.Prompt ( defaultXPConfig )

ghorn

-- put these two files in a directory and the compile with
-- ghc -fforce-recomp -O2 -prof -fprof-auto-calls Woo.hs

-- Vectorize.hs

{-# OPTIONS_GHC -Wall #-}
{-# LANGUAGE TypeOperators #-}

module Vectorize
       ( GVectorize(..)

ghorn

-- multiple shooting
data MsPoint x u a = MsPoint (x a) (u a)
data MsTraj x u n a = MsTraj (Vec n (MsPoint x u a)) (x a)

ghorn

from casadi import *

x0 = MX.sym('x',10,1);
u  = MX.sym('u',10,1);

f = MXFunction([x0,u],[x0])
f.setOption('name','f')
f.init()

h  = MX.sym('h',1,1);