ghorn

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

$ 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

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

{-# 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

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);

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

-- 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

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

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

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):