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#
# MIT No Attribution
#
# Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy of this
# software and associated documentation files (the "Software"), to deal in the Software
# without restriction, including without limitation the rights to use, copy, modify,
# merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
# INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
# PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
# SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#
# -*- coding: utf-8 -*-
from casadi import *
# Declare variables
x = SX.sym("x",2)
# Form the NLP
f = x[0]**2 + x[1]**2 # objective
g = x[0]+x[1]-10 # constraint
nlp = {'x':x, 'f':f, 'g':g}
# Pick an NLP solver
MySolver = "ipopt"
#MySolver = "worhp"
#MySolver = "sqpmethod"
# Solver options
opts = {}
if MySolver=="sqpmethod":
opts["qpsol"] = "qpoases"
opts["qpsol_options"] = {"printLevel":"none"}
# Allocate a solver
solver = nlpsol("solver", MySolver, nlp, opts)
# Solve the NLP
sol = solver(lbg=0)
# Print solution
print("-----")
print("objective at solution = ", sol["f"])
print("primal solution = ", sol["x"])
print("dual solution (x) = ", sol["lam_x"])
print("dual solution (g) = ", sol["lam_g"])
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