ghorn’s gists

ghorn / multiple shooting skeleton

Created November 3, 2014 14:31

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

	module Main where

	import GHC.Generics ( Generic )
	import Data.Vector ( Vector )
	import qualified Data.Vector as V

ghorn / gist:98db127b8680388599d2

Created January 21, 2015 12:49

	ghorn@cowabunga:~/casadi-2.2.0-rc1$ grep -r '_core' *
	casadi/CMakeLists.txt: if(NOT "${name}" STREQUAL "casadi_core")
	casadi/CMakeLists.txt: target_link_libraries(${name} casadi_core)
	casadi/core/matrix/matrix.hpp:#ifdef casadi_core_implementation
	casadi/core/matrix/generic_matrix.hpp:#ifdef casadi_core_implementation
	casadi/core/matrix/generic_matrix.hpp:#ifdef casadi_core_implementation
	casadi/core/matrix/submatrix.hpp:#ifdef casadi_core_implementation
	casadi/core/matrix/nonzeros.hpp:#ifdef casadi_core_implementation
	casadi/core/CMakeLists.txt:casadi_library(casadi_core ${CASADI_SRCS} ${RUNTIME_EMBEDDED_SRC})
	casadi/core/CMakeLists.txt:set_property(GLOBAL APPEND PROPERTY CASADI_SWIG_MODULES casadi_core)

ghorn / gist:1d3be472ec61f666e130

Created January 27, 2015 09:12

SXElement not completely internal

	$ grep -n10 "std::vector<(casadi::SXElement)>" ~/casadi-2.2.0/build/swig/json/casadi.json
	44434- "methodDocslink": "",
	44435- "methodKind": "Normal"
	44436- },
	44437- {
	44438- "methodDocs": "",
	44439- "methodName": "mul_no_alloc",
	44440- "methodParams": [
	44441- "r.q(const).casadi::Matrix<(casadi::SXElement)>",
	44442- "r.q(const).casadi::Matrix<(casadi::SXElement)>",

ghorn / gist:93cb7ebb808fc7535834

Created February 11, 2015 13:29

haskell has no type-level lambda?

	type Compose f g a = f (g a)
	type Apply f a = f a

	-- This one fails with "Compose has 3 arguments but you gave it 2".
	-- All the others work.
	x0 :: Apply (Compose f g) a
	x0 = undefined

	x1 :: (Compose f g) a
	x1 = undefined

ghorn / gist:c7ff80dada9f137d9ad8

Created February 26, 2015 12:13

	This is Ipopt version 3.11.9, running with linear solver ma86.

	Number of nonzeros in equality constraint Jacobian...: 0
	Number of nonzeros in inequality constraint Jacobian.: 0
	Number of nonzeros in Lagrangian Hessian.............: 786

	Total number of variables............................: 109
	variables with only lower bounds: 0
	variables with lower and upper bounds: 0
	variables with only upper bounds: 0

ghorn / gist:04fc265f5dcc1da2f937

Created September 18, 2015 19:26

	cbits/autogen/casadi_wrap_classes.cpp: In function ‘casadi::CodeGenerator* casadi__CodeGenerator__CONSTRUCTOR__0(std::string**)’:

	cbits/autogen/casadi_wrap_classes.cpp:1331:59:
	error: use of deleted function ‘casadi::CodeGenerator::CodeGenerator(casadi::CodeGenerator&&)’
	casadi::CodeGenerator ret = casadi::CodeGenerator();
	^

	In file included from /home/greghorn/casadi_install/include/casadi/core/core.hpp:46:0:
	0,
	from /home/greghorn/casadi_install/include/casadi/casadi.hpp:29,

ghorn / casadi timing format bikeshedding

Last active September 20, 2015 19:15

	proc wall num proc time wall time
	time time evals per eval per eval
	eval_f 0.002 [s] 0.002 [s] 15 0.10 [ms] 0.10 [ms]
	eval_grad_f 0.002 [s] 0.002 [s] 16 0.11 [ms] 0.11 [ms]
	eval_g 0.002 [s] 0.002 [s] 15 0.11 [ms] 0.11 [ms]
	eval_jac_g 0.006 [s] 0.006 [s] 17 0.36 [ms] 0.36 [ms]
	eval_h 0.306 [s] 0.306 [s] 15 20.39 [ms] 20.41 [ms]
	main loop 0.329 [s] 0.330 [s]
	callback function 0.000 [s] 0.000 [s]
	callback preparation 0.000 [s] 0.000 [s]

ghorn / gist:9012f8205af2e77c2855

Last active September 20, 2015 21:06

	proc wall num mean mean
	time time evals proc time wall time
	eval_f 0.368 [s] 0.112 [s] 6 61.27 [ms] 18.62 [ms]
	eval_grad_f 1.256 [s] 0.937 [s] 7 179.38 [ms] 133.85 [ms]
	eval_g 0.360 [s] 0.109 [s] 6 60.02 [ms] 18.09 [ms]
	eval_jac_g 5.360 [s] 5.052 [s] 8 670.00 [ms] 631.47 [ms]
	eval_h 2.749 [s] 2.749 [s] 6 458.21 [ms] 458.11 [ms]
	main loop 10.373 [s] 9.221 [s]

	jit + serial:

ghorn / HackPlotLib.hs

Created November 15, 2015 18:32

work in progress simple matlab-like plotting API with multiple backends

	{-# OPTIONS_GHC -Wall #-}
	{-# LANGUAGE ScopedTypeVariables #-}
	{-# LANGUAGE GeneralizedNewtypeDeriving #-}

	-- \| Some plotting utilities.
	module HackPlotLib
	( Plotter
	-- * plotting functions
	, figure, figure'
	, plot, plot', plot3, plot3'

ghorn / ipopt_inequalities.py

Created March 11, 2016 12:46

	# check for inequalities
	for k in range(arg['lbx'].shape[0]):
	lbx = arg['lbx'].cat[k]
	ubx = arg['ubx'].cat[k]
	if lbx == ubx:
	pass
	elif lbx == -np.inf and ubx == np.inf:
	pass
	else:
	raise ValueError('x index %d is an inequality (%.3g, %.3g)' % (k, lbx, ubx))

Greg Horn ghorn