1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
|
/*
* This file is part of CasADi.
*
* CasADi -- A symbolic framework for dynamic optimization.
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
* KU Leuven. All rights reserved.
* Copyright (C) 2011-2014 Greg Horn
*
* CasADi is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* CasADi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with CasADi; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
#include <casadi/casadi.hpp>
#include <fstream>
using namespace casadi;
/**
* Solve an NLP using codegen
* Part 1: generation
* Joel Andersson, KU Leuven 2013
*/
int main(){
/** Test problem
*
* min x0^2 + x1^2
* s.t. x0 + x1 - 10 = 0
*/
// Optimization variables
MX x = MX::sym("x",2);
// Objective
MX f = x[0]*x[0] + x[1]*x[1];
// Constraints
MX g = x[0]+x[1]-10;
// Infinity
double inf = std::numeric_limits<double>::infinity();
// Create IPOPT instance
Function solver = nlpsol("solver", "ipopt", {{"x", x}, {"f", f}, {"g", g}});
// Generate C code for the NLP functions
solver.generate_dependencies("nlp.c");
// Generate Makefile
std::ofstream makefile;
makefile.open("./CMakeLists.txt");
makefile << "cmake_minimum_required(VERSION 3.10.2)" << std::endl;
makefile << "project(nlp-codegen-autogen C)" << std::endl;
// Generate compilation instructions
makefile << "add_library(nlp SHARED nlp.c)" << std::endl;
makefile << "set_target_properties(nlp PROPERTIES PREFIX \"\")" << std::endl;
makefile << "set_target_properties(nlp PROPERTIES SUFFIX \".casadi\")" << std::endl;
makefile << std::endl;
// Finalize makefile
makefile.close();
return 0;
}
|
