#include <alpaqa/casadi/CasADiProblem.hpp>

Detailed Description

template<Config Conf = EigenConfigd>
class builtin::CasADiProblem< Conf >

Problem definition for a CasADi problem, loaded from a DLL.

Definition at line 40 of file CasADiProblem.hpp.

Inheritance diagram for CasADiProblem< Conf >:

Collaboration diagram for CasADiProblem< Conf >:

Public Types
using	Sparsity = alpaqa::Sparsity< config_t >

Public Member Functions
	CasADiProblem (const std::string &filename)
	Load a problem generated by CasADi (with parameters).

	CasADiProblem (const SerializedCasADiFunctions &functions)
	Create a problem from a collection of serialized CasADi functions.

	CasADiProblem (const CasADiFunctions &functions)
	Create a problem from a collection of CasADi functions.

	~CasADiProblem ()

	CasADiProblem (const CasADiProblem &)

CasADiProblem &	operator= (const CasADiProblem &)

	CasADiProblem (CasADiProblem &&) noexcept

CasADiProblem &	operator= (CasADiProblem &&) noexcept

void	load_numerical_data (const std::filesystem::path &filepath, char sep=',')
	Load the numerical problem data (bounds and parameters) from a CSV file.

real_t	eval_f (crvec x) const

void	eval_grad_f (crvec x, rvec grad_fx) const

real_t	eval_f_grad_f (crvec x, rvec grad_fx) const

void	eval_g (crvec x, rvec g) const

void	eval_grad_g_prod (crvec x, crvec y, rvec grad_gxy) const

void	eval_grad_ψ (crvec x, crvec y, crvec Σ, rvec grad_ψ, rvec work_n, rvec work_m) const

real_t	eval_ψ_grad_ψ (crvec x, crvec y, crvec Σ, rvec grad_ψ, rvec work_n, rvec work_m) const

void	eval_grad_L (crvec x, crvec y, rvec grad_L, rvec work_n) const

real_t	eval_ψ (crvec x, crvec y, crvec Σ, rvec ŷ) const

void	eval_grad_gi (crvec x, index_t i, rvec grad_i) const

Sparsity	get_jac_g_sparsity () const

void	eval_jac_g (crvec x, rvec J_values) const

void	eval_hess_L_prod (crvec x, crvec y, real_t scale, crvec v, rvec Hv) const

Sparsity	get_hess_L_sparsity () const

void	eval_hess_L (crvec x, crvec y, real_t scale, rvec H_values) const

void	eval_hess_ψ_prod (crvec x, crvec y, crvec Σ, real_t scale, crvec v, rvec Hv) const

Sparsity	get_hess_ψ_sparsity () const

void	eval_hess_ψ (crvec x, crvec y, crvec Σ, real_t scale, rvec H_values) const

bool	provides_eval_grad_L () const

bool	provides_eval_ψ () const

bool	provides_eval_grad_ψ () const

bool	provides_eval_ψ_grad_ψ () const

bool	provides_eval_grad_gi () const

bool	provides_eval_jac_g () const

bool	provides_eval_hess_L_prod () const

bool	provides_eval_hess_L () const

bool	provides_eval_hess_ψ_prod () const

bool	provides_eval_hess_ψ () const

std::string	get_name () const

Public Attributes
vec	param

std::string	name = "CasADiProblem"

Private Types
using	Functions = casadi_loader::CasADiFunctionsWithParam< Conf >

Private Attributes
util::copyable_unique_ptr< Functions >	impl

Member Typedef Documentation

◆ Sparsity

template<Config Conf = EigenConfigd>

using Sparsity = alpaqa::Sparsity<config_t>

Definition at line 43 of file CasADiProblem.hpp.

◆ Functions

template<Config Conf = EigenConfigd>

using Functions = casadi_loader::CasADiFunctionsWithParam<Conf>

private

Definition at line 134 of file CasADiProblem.hpp.

Constructor & Destructor Documentation

◆ CasADiProblem() [1/5]

template<Config Conf>

CasADiProblem ( const std::string & filename )

Load a problem generated by CasADi (with parameters).

Parameters

filename Filename of the shared library to load the functions from.

The file should contain functions with the names f, grad_f, g and grad_g. These functions evaluate the objective function, its gradient, the constraints, and the constraint gradient times a vector respectively. For second order solvers, additional functions hess_L, hess_ψ, hess_L_prod and hess_ψ_prod can be provided to evaluate the Hessian of the (augmented) Lagrangian and Hessian-vector products.

Exceptions

std::invalid_argument The dimensions of the loaded functions do not match.

Definition at line 138 of file CasADiProblem.tpp.

◆ CasADiProblem() [2/5]

template<Config Conf>

CasADiProblem ( const SerializedCasADiFunctions & functions )

Create a problem from a collection of serialized CasADi functions.

Definition at line 164 of file CasADiProblem.tpp.

◆ CasADiProblem() [3/5]

template<Config Conf>

CasADiProblem ( const CasADiFunctions & functions )

Create a problem from a collection of CasADi functions.

Definition at line 191 of file CasADiProblem.tpp.

◆ ~CasADiProblem()

template<Config Conf>

~CasADiProblem ( )

default

◆ CasADiProblem() [4/5]

template<Config Conf>

CasADiProblem ( const CasADiProblem< Conf > & )

default

◆ CasADiProblem() [5/5]

template<Config Conf>

CasADiProblem ( CasADiProblem< Conf > && )

defaultnoexcept

Member Function Documentation

◆ operator=() [1/2]

template<Config Conf>

CasADiProblem< Conf > & operator= ( const CasADiProblem< Conf > & )

default

◆ operator=() [2/2]

template<Config Conf>

CasADiProblem< Conf > & operator= ( CasADiProblem< Conf > && )

defaultnoexcept

◆ load_numerical_data()

template<Config Conf>

void load_numerical_data	(	const std::filesystem::path &	filepath,
		char	sep = `','`
	)

Load the numerical problem data (bounds and parameters) from a CSV file.

The file should contain 7 rows, with the following contents:

C lower bound [n]
C upper bound [n]
D lower bound [m]
D upper bound [m]
param [p]
l1_reg [0, 1 or n]
penalty_alm_split [1]

Line endings are encoded using a single line feed (\n), and the column separator can be specified using the sep argument.

Definition at line 213 of file CasADiProblem.tpp.

◆ eval_f()

template<Config Conf>

auto eval_f ( crvec x ) const

Definition at line 278 of file CasADiProblem.tpp.

◆ eval_grad_f()

template<Config Conf>

void eval_grad_f	(	crvec	x,
		rvec	grad_fx
	)		const

Definition at line 285 of file CasADiProblem.tpp.

◆ eval_f_grad_f()

template<Config Conf>

auto eval_f_grad_f	(	crvec	x,
		rvec	grad_fx
	)		const

Definition at line 291 of file CasADiProblem.tpp.

◆ eval_g()

template<Config Conf>

void eval_g	(	crvec	x,
		rvec	g
	)		const

Definition at line 298 of file CasADiProblem.tpp.

◆ eval_grad_g_prod()

template<Config Conf>

void eval_grad_g_prod	(	crvec	x,
		crvec	y,
		rvec	grad_gxy
	)		const

Definition at line 308 of file CasADiProblem.tpp.

◆ eval_grad_ψ()

template<Config Conf>

void eval_grad_ψ	(	crvec	x,
		crvec	y,
		crvec	Σ,
		rvec	grad_ψ,
		rvec	work_n,
		rvec	work_m
	)		const

Definition at line 320 of file CasADiProblem.tpp.

◆ eval_ψ_grad_ψ()

template<Config Conf>

CasADiProblem< Conf >::real_t eval_ψ_grad_ψ	(	crvec	x,
		crvec	y,
		crvec	Σ,
		rvec	grad_ψ,
		rvec	work_n,
		rvec	work_m
	)		const

Definition at line 335 of file CasADiProblem.tpp.

◆ eval_grad_L()

template<Config Conf>

void eval_grad_L	(	crvec	x,
		crvec	y,
		rvec	grad_L,
		rvec	work_n
	)		const

Definition at line 347 of file CasADiProblem.tpp.

◆ eval_ψ()

template<Config Conf>

CasADiProblem< Conf >::real_t eval_ψ	(	crvec	x,
		crvec	y,
		crvec	Σ,
		rvec	ŷ
	)		const

Definition at line 356 of file CasADiProblem.tpp.

◆ eval_grad_gi()

template<Config Conf>

void eval_grad_gi	(	crvec	x,
		index_t	i,
		rvec	grad_i
	)		const

Definition at line 367 of file CasADiProblem.tpp.

◆ get_jac_g_sparsity()

template<Config Conf>

auto get_jac_g_sparsity ( ) const

Definition at line 387 of file CasADiProblem.tpp.

◆ eval_jac_g()

template<Config Conf>

void eval_jac_g	(	crvec	x,
		rvec	J_values
	)		const

Definition at line 402 of file CasADiProblem.tpp.

◆ eval_hess_L_prod()

template<Config Conf>

void eval_hess_L_prod	(	crvec	x,
		crvec	y,
		real_t	scale,
		crvec	v,
		rvec	Hv
	)		const

Definition at line 409 of file CasADiProblem.tpp.

◆ get_hess_L_sparsity()

template<Config Conf>

auto get_hess_L_sparsity ( ) const

Definition at line 418 of file CasADiProblem.tpp.

◆ eval_hess_L()

template<Config Conf>

void eval_hess_L	(	crvec	x,
		crvec	y,
		real_t	scale,
		rvec	H_values
	)		const

Definition at line 432 of file CasADiProblem.tpp.

◆ eval_hess_ψ_prod()

template<Config Conf>

void eval_hess_ψ_prod	(	crvec	x,
		crvec	y,
		crvec	Σ,
		real_t	scale,
		crvec	v,
		rvec	Hv
	)		const

Definition at line 441 of file CasADiProblem.tpp.

◆ get_hess_ψ_sparsity()

template<Config Conf>

auto get_hess_ψ_sparsity ( ) const

Definition at line 453 of file CasADiProblem.tpp.

◆ eval_hess_ψ()

template<Config Conf>

void eval_hess_ψ	(	crvec	x,
		crvec	y,
		crvec	Σ,
		real_t	scale,
		rvec	H_values
	)		const

Definition at line 467 of file CasADiProblem.tpp.

◆ provides_eval_grad_L()

template<Config Conf>

bool provides_eval_grad_L ( ) const

See also: TypeErasedProblem::provides_eval_grad_L

Definition at line 493 of file CasADiProblem.tpp.

◆ provides_eval_ψ()

template<Config Conf>

bool provides_eval_ψ ( ) const

See also: TypeErasedProblem::provides_eval_ψ

Definition at line 481 of file CasADiProblem.tpp.

◆ provides_eval_grad_ψ()

template<Config Conf>

bool provides_eval_grad_ψ ( ) const

See also: TypeErasedProblem::provides_eval_grad_ψ

Definition at line 485 of file CasADiProblem.tpp.

◆ provides_eval_ψ_grad_ψ()

template<Config Conf>

bool provides_eval_ψ_grad_ψ ( ) const

See also: TypeErasedProblem::provides_eval_ψ_grad_ψ

Definition at line 489 of file CasADiProblem.tpp.

◆ provides_eval_grad_gi()

template<Config Conf>

bool provides_eval_grad_gi ( ) const

See also: TypeErasedProblem::provides_eval_grad_gi

Definition at line 477 of file CasADiProblem.tpp.

◆ provides_eval_jac_g()

template<Config Conf>

bool provides_eval_jac_g ( ) const

See also: TypeErasedProblem::provides_eval_jac_g

Definition at line 497 of file CasADiProblem.tpp.

◆ provides_eval_hess_L_prod()

template<Config Conf>

bool provides_eval_hess_L_prod ( ) const

See also: TypeErasedProblem::provides_eval_hess_L_prod

Definition at line 501 of file CasADiProblem.tpp.

◆ provides_eval_hess_L()

template<Config Conf>

bool provides_eval_hess_L ( ) const

See also: TypeErasedProblem::provides_eval_hess_L

Definition at line 505 of file CasADiProblem.tpp.

◆ provides_eval_hess_ψ_prod()

template<Config Conf>

bool provides_eval_hess_ψ_prod ( ) const

See also: TypeErasedProblem::provides_eval_hess_ψ_prod

Definition at line 509 of file CasADiProblem.tpp.

◆ provides_eval_hess_ψ()

template<Config Conf>

bool provides_eval_hess_ψ ( ) const

See also: TypeErasedProblem::provides_eval_hess_ψ

Definition at line 513 of file CasADiProblem.tpp.

◆ get_name()

template<Config Conf>

std::string get_name ( ) const

See also: TypeErasedProblem::get_name

Definition at line 518 of file CasADiProblem.tpp.

Member Data Documentation

◆ param

template<Config Conf = EigenConfigd>

vec param

Definition at line 44 of file CasADiProblem.hpp.

◆ name

template<Config Conf = EigenConfigd>

std::string name = "CasADiProblem"

Definition at line 45 of file CasADiProblem.hpp.

◆ impl

template<Config Conf = EigenConfigd>

util::copyable_unique_ptr<Functions> impl

private

Definition at line 135 of file CasADiProblem.hpp.

The documentation for this class was generated from the following files:

src/interop/casadi/include/alpaqa/casadi/CasADiProblem.hpp
src/interop/casadi/include/alpaqa/implementation/casadi/CasADiProblem.tpp

Detailed Description

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Member Typedef Documentation

◆ Sparsity

◆ Functions

Constructor & Destructor Documentation

◆ CasADiProblem() [1/5]

◆ CasADiProblem() [2/5]

◆ CasADiProblem() [3/5]

◆ ~CasADiProblem()

◆ CasADiProblem() [4/5]

◆ CasADiProblem() [5/5]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ load_numerical_data()

◆ eval_f()

◆ eval_grad_f()

◆ eval_f_grad_f()

◆ eval_g()

◆ eval_grad_g_prod()

◆ eval_grad_ψ()

◆ eval_ψ_grad_ψ()

◆ eval_grad_L()

◆ eval_ψ()

◆ eval_grad_gi()

◆ get_jac_g_sparsity()

◆ eval_jac_g()

◆ eval_hess_L_prod()

◆ get_hess_L_sparsity()

◆ eval_hess_L()

◆ eval_hess_ψ_prod()

◆ get_hess_ψ_sparsity()

◆ eval_hess_ψ()

◆ provides_eval_grad_L()

◆ provides_eval_ψ()

◆ provides_eval_grad_ψ()

◆ provides_eval_ψ_grad_ψ()

◆ provides_eval_grad_gi()

◆ provides_eval_jac_g()

◆ provides_eval_hess_L_prod()

◆ provides_eval_hess_L()

◆ provides_eval_hess_ψ_prod()

◆ provides_eval_hess_ψ()

◆ get_name()

Member Data Documentation

◆ param

◆ name

◆ impl