alpaqa.casadi_problem Namespace Reference

Functions
Tuple[cs.CodeGenerator, int, int, int]	generate_casadi_problem (cs.Function f, cs.Function g, bool second_order=False, str name="alpaqa_problem")
Union[pa.Problem, pa.ProblemWithParam]	generate_and_compile_casadi_problem (cs.Function f, cs.Function g, bool second_order=False, str name="alpaqa_problem")

Function Documentation

generate_casadi_problem()

Tuple[cs.CodeGenerator, int, int, int] alpaqa.casadi_problem.generate_casadi_problem	(	cs.Function	f,
		cs.Function	g,
		bool	second_order = False,
		str	name = "alpaqa_problem"
	)

Convert the objective and constraint functions into a CasADi code
generator.

:param f:            Objective function.
:param g:            Constraint function.
:param second_order: Whether to generate functions for evaluating Hessians.
:param name: Optional string description of the problem (used for filename).

:return:   * Code generator that generates the functions and derivatives
             used by the solvers.
           * Dimensions of the decision variables (primal dimension).
           * Number of nonlinear constraints (dual dimension).
           * Number of parameters.

Definition at line 16 of file casadi_problem.py.

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generate_and_compile_casadi_problem()

Union[pa.Problem, pa.ProblemWithParam] alpaqa.casadi_problem.generate_and_compile_casadi_problem	(	cs.Function	f,
		cs.Function	g,
		bool	second_order = False,
		str	name = "alpaqa_problem"
	)

Compile the objective and constraint functions into a alpaqa Problem.

:param f:            Objective function.
:param g:            Constraint function.
:param second_order: Whether to generate functions for evaluating Hessians.
:param name: Optional string description of the problem (used for filename).

:return:   * Problem specification that can be passed to the solvers.

Definition at line 116 of file casadi_problem.py.

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