C++/CasADi/Rosenbrock/main.cpp

This example shows how to generate a problem using CasADi and how to load and solve it using alpaqa.

This example shows how to generate a problem using CasADi and how to load and solve it using alpaqa.

Problem generation using CasADi

import casadi as cs
from sys import argv, path
from os.path import join, dirname
 
py_path = join(dirname(__file__), '..', '..', '..', '..', 'python', 'alpaqa')
path.insert(0, py_path)
import casadi_generator
 
if len(argv) < 2:
    print(f"Usage:    {argv[0]} <name>")
    exit(0)
 
x = cs.SX.sym("x")
y = cs.SX.sym("y")
z = cs.SX.sym("z")
unknowns = cs.vertcat(x, y, z)
 
p = cs.SX.sym("p")
 
# Formulate the NLP
f = x**2 + p * z**2
g = z + (1 - x)**2 - y
 
cg = casadi_generator.generate_casadi_problem(
    cs.Function("f", [unknowns, p], [f]),
    cs.Function("g", [unknowns, p], [g]),
    second_order="full",
    name=argv[1],
)
cg.generate()

Problem solution using alpaqa

#include <alpaqa/example-util.hpp>
#include <alpaqa/inner/directions/panoc/lbfgs.hpp>
#include <alpaqa/inner/panoc.hpp>
#include <alpaqa/outer/alm.hpp>
#include <alpaqa/problem/problem-with-counters.hpp>
 
#include <alpaqa/casadi/CasADiProblem.hpp>
 
#include <filesystem>
#include <iostream>
namespace fs = std::filesystem;
 
int main(int argc, char *argv[]) {
    alpaqa::init_stdout();
    USING_ALPAQA_CONFIG(alpaqa::EigenConfigd);
 
    // Find the problem to load
    fs::path so_name = ROSENBROCK_FUNC_DLL;
    if (argc > 1)
        so_name = fs::path(argv[1]);
    else if (argc > 0)
        so_name = fs::canonical(fs::path(argv[0])).parent_path() / so_name;
    std::cout << "Loading " << so_name << std::endl;
 
    // Load the problem
    alpaqa::CasADiProblem<config_t> problem{so_name.string()};
 
    // Specify the bounds
    const auto inf                = alpaqa::inf<config_t>;
    problem.variable_bounds.upper = vec::Constant(3, +inf);
    problem.variable_bounds.lower = vec::Constant(3, -inf);
    problem.general_bounds.upper  = vec::Constant(1, 0.);
    problem.general_bounds.lower  = vec::Constant(1, 0.);
 
    // Define the solvers to use
    using Direction   = alpaqa::LBFGSDirection<config_t>;
    using InnerSolver = alpaqa::PANOCSolver<Direction>;
    using OuterSolver = alpaqa::ALMSolver<InnerSolver>;
 
    // Settings for the outer augmented Lagrangian method
    OuterSolver::Params almparam;
    almparam.tolerance             = 1e-8; // tolerance
    almparam.dual_tolerance        = 1e-8;
    almparam.penalty_update_factor = 10;
    almparam.max_iter              = 20;
    almparam.print_interval        = 1;
 
    // Settings for the inner PANOC solver
    InnerSolver::Params panocparam;
    panocparam.max_iter       = 500;
    panocparam.print_interval = 10;
    // Settings for the L-BFGS algorithm used by PANOC
    Direction::AcceleratorParams lbfgsparam;
    lbfgsparam.memory = 10;
 
    // Create an ALM solver using PANOC as inner solver
    OuterSolver solver{
        almparam,                 // params for outer solver
        {panocparam, lbfgsparam}, // inner solver
    };
 
    // Initial guess
    vec x(3);
    x << 2.5, 3.0, 0.75;
    vec y(1);
    y << 1;
 
    // Parameter
    problem.param(0) = 100;
 
    // Wrap the problem to count the function evaluations
    auto counted_problem = alpaqa::problem_with_counters_ref(problem);
 
    // Solve the problem
    auto stats = solver(counted_problem, x, y);
 
    // Print the results
    std::cout << '\n' << *counted_problem.evaluations << '\n';
    vec g(problem.num_constraints);
    problem.eval_constraints(x, g);
    std::cout << "status: " << stats.status << '\n'
              << "x = " << x.transpose() << '\n'
              << "y = " << y.transpose() << '\n'
              << "f = " << problem.eval_objective(x) << '\n'
              << "g = " << g.transpose() << '\n'
              << "ε = " << stats.ε << '\n'
              << "δ = " << stats.δ << '\n'
              << "inner: " << stats.inner.iterations << '\n'
              << "outer: " << stats.outer_iterations << '\n'
              << std::endl;
}