jaeandersson

classdef dms_gn < handle
  properties
    % Symbolic representation of the OCP
    ocp
    % OCP data
    data
    % Solver options
    opts
    % Verbose output
    verbose

jaeandersson

from casadi import *

# Simple function:
x = SX.sym('x',2)
y = SX.sym('f',2)
F = Function('F', [x,y],[sin(x)*cos(y), dot(x,y)], ['x','y'], ['f','g'])

# Generate code, including derivatives
CG = CodeGenerator('F')
CG.add(F)

jaeandersson

# Modified version of the rocket example in Section 7.2 of the CasADi v3.2 User Guide
# Cf. http://guide.casadi.org/
from casadi import *
dae = DaeBuilder()
# Add input expressions
a = dae.add_p('a')
b = dae.add_p('b')
u = dae.add_u('u')
h = dae.add_x('h')
v = dae.add_x('v')

jaeandersson

function varargout = import(varargin)
  % Import elements from a package
  %

  % Cache of aliase
  persistent imported;

  % Make sure cell array
  if ~iscell(imported)
    imported = cell(0, 1);

jaeandersson

function import(varargin)
 % Import a package. Only entire packages can be imported currently.
 error(nargchk(1, inf, nargin, 'struct'));
 % Import the packages one-by-one
 for i=1:nargin
   import1(varargin{i});
 end
end

function import1(pkgname)

jaeandersson

# Pendulum collocation
# w position of cart
# w1,y1 position of pendulum

import numpy as NP
from casadi import *
from casadi.tools import *
import matplotlib.pyplot as plt

jaeandersson

classdef Function < casadi.SharedObject
    %General function.
    %
    %A general function $f$ in casadi can be multi-input, multi-output. Number of
    %inputs: nin n_in() Number of outputs: nout n_out()  We can view this
    %function as a being composed of a ( nin, nout) grid of single-input, single-
    %output primitive functions. Each such primitive function $f_ {i, j}
    %\\forall i \\in [0, nin-1], j \\in [0, nout-1]$ can map as $\\mathbf
    %{R}^{n, m}\\to\\mathbf{R}^{p, q}$, in which n, m, p, q can take
    %different values for every (i, j) pair.  When passing input, you specify

jaeandersson

from casadi import *

# 1D
grid = [[0, 1, 2]]
values = [0, 1, 2]
print "grid = ", grid
print "values = ", values

F = interpolant('F', 'linear', grid, values)
print 'F(2.4) = ', F(2.4)

jaeandersson

from casadi import *
c = MX.sym('c')
x = MX.sym('x')
z1 = if_else(c, sin(x), cos(x))
z2 = conditional(c, [sin(x), cos(x)], exp(x)) 

jaeandersson

import casadi as ca
import pylab as pl

# [...]

# A is of type SX, column vector, shape (788, 1), dense
# B is of type sx, column vector, shape (984, 1), dense

# V is of type struct_symSX, shape (1594, 1), dense
# W is a numpy array, matrix with shape (788, 788), almost diagonal