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/*
* 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>
using namespace casadi;
/**
* Solve an NLP using codegen
* Part 2: solution
* Joel Andersson, KU Leuven 2013
*/
int main(){
// Create an NLP solver passing derivative information
Function solver = nlpsol("solver", "ipopt", "nlp.casadi");
// Bounds and initial guess
std::map<std::string, DM> arg = {{"lbx", -inf},
{"ubx", inf},
{"lbg", 0},
{"ubg", inf},
{"x0", 0}};
// Solve the NLP
auto res = solver(arg);
// Print solution
std::cout << "-----" << std::endl;
std::cout << "objective at solution = " << res.at("f") << std::endl;
std::cout << "primal solution = " << res.at("x") << std::endl;
std::cout << "dual solution (x) = " << res.at("lam_x") << std::endl;
std::cout << "dual solution (g) = " << res.at("lam_g") << std::endl;
return 0;
}
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