casadi/casadi: 3.5.2

Install Grab a binary from the table (for MATLAB, use the newest compatible version below): WindowsLinuxMac Matlab R2016a or later,R2014b, R2014a, R2013a or R2013b R2014b or later,R2014a R2015a or later,R2014b,R2014a Octave 4.4.1 (32bit / 64bit), 4.4.0 (32bit / 64bit), 5.1.0 (32bit / 64bit), 5.2.0 (32bit / 64bit) 4.4.1, 4.2.2, 5.1.0, 5.2.0 5.2.0 Python Py27 (32bit* / 64bit*), Py35 (32bit* / 64bit*), Py36 (32bit* / 64bit*), Py37 (32bit* / 64bit*), Py38 (32bit* / 64bit*) Py27,Py35,Py36,Py37,Py38 Py27,Py35,Py36,Py37,Py38 or just pip install casadi (needs pip -V>=8.1) (*) Check your Python console if you need 32bit or 64bit - bitness should be printed at startup. Unzip in your home directory and adapt the path: Matlab/OctavePython addpath('/casadi-matlabR2014a-v3.5.2') import casadi.* x = MX.sym('x') disp(jacobian(sin(x),x)) from sys import path path.append(r"/casadi-py27-v3.5.2") from casadi import * x = MX.sym("x") print(jacobian(sin(x),x)) Get started with the example pack. Troubleshooting Release notes CasADi Functions CasADi Functions can be serialized now (#308). f.save('f.casadi') % Dump any CasADi Function to a file f = Function.load('f.casadi') % Loads back in This enables easy sharing of models/solver isntances beteen Matlab/Python/C++ cross-platform, and enables a form of parallelization. You can now evaluate CasADi Functions from C without requiring code-generation. This makes it possible to embed CasADi computations in Fortran, Julia, FMI, ... All CasADi Functions support timing information now (print_time, default true for QP and NLP solvers). Use record_time to make timings available through f.stats() without printing them. map with reduce arguments now has an efficient implementation (no copying/repmat) Low-overhead Callback eval support was changed to eval_buffer FunctionInternal::finalize no longer takes options dict. Options always_inline and never_inline were added Options is_diff_in and is_diff_out were added CasADi expressions breaking: IM type is removed from public API (was used to represent integer sparse matrices). Use DM instead. breaking: linspace(0,1,3) and linspace(0.0,1,3) now both return [0 0.5 1] instead of [0 0 1] for the former MX supports slicing with MX now (symbolic indexing). Issue #2364: breaking: veccat of an empty list now returns 0-by-1 instead of 0-by-0. jtimes output dimensions have changed when any of the arguments is empty. NLP function object's 'lam_p' is now 0-by-1 in case of missing parameters. Interpolation functionality Support for parametric (=changeable only, but not differentiable) grid and/or coefficients for linear/spline interpolation for interpolant, new constructors where added that takes dimensions instead of concrete vectors Support for symbolic (differentiable) grid and coefficients for linear interpolation (set inline option to true). Python specific Overhead-less CasADi Function evaluation API added through Python memoryviews Similar functionality in Callbacks Matlab/Octave specific breaking: a(:)=b now behaves like Matlab builtin matrices when a is a CasADi matrix. Before, only the first column of a would be touched by this statement. (#2363) breaking: Fixed bug where MX constructor treated a numeric row vector as column vector. Now size(MX(ones(1,4))) returns (1,4) as expected. (#2366) Can now use spy directly on DM,MX,SX Opti Opti supports conic problems now: Opti('conic') One can now easily obtain a parametric solution as a CasADi Function from an Opti instance: opti = Opti() x = opti.variable() y = opti.variable() p = opti.parameter() opti.minimize(y**2+sin(x-y-p)**2) opti.subject_to(x+y>=1) opti.solver(nlpsolver,nlpsolver_options) F = opti.to_function("F",[x,p,opti.lam_g],[x,y]) r = F(0,0.1,0) (3.5.1) Improved support for vertcatted inputs to to_function Using Opti together with max_iter is more natural now: use solve_limited() to avoid exceptions to be raised when iterations or time runs out. No need to try/catch. Code-generation breaking: external now looks for a .dylib file, not .so breaking: Codegen API has changes related to thread-local memory: void* mem changed to int mem alloc_mem, init_mem, free_mem have been purged. checkout and release replace them. int mem = checkout(); eval(arg, res, iw, w, mem); release(mem); Codegen 'CODEGEN_PREFIX' has been renamed to 'CASADI_CODEGEN_PREFIX' QP solvers (QRQP, OSQP) and SqpMethod codegenerate now. This means that embedded MPC with CasADi is now more practical. Runge-Kutta and Collocation Integrator objects can be inlined into code-generatable MX Function with the 'simplify' option. (3.5.1) an important flaw was corrected that caused incorrect code for expression graphs with logical 'and' and 'or'. (3.5.1) fixed regression for expression graphs containing inf/nan Solvers breaking: NLP solvers - bound_consistency, an option to post-process the primal and dual solution by projecting it on the bounds, introduced in 3.4, was changed to default off Sundials was patched to support multi-threading WORHP was bumped to v1.13 SNOPT was bumped to v7.7 SuperSCS (conic solver) was added OSQP (QP solver) was added CBC (LP solver) was added breaking: SQP Method regularize_margin option was added regularize (bool) option was removed. To get the effect of regularize=true, specify convexify_strategy='regularize'. Other strategies include clipping eigenvalues. line search was reverted from a custom designed thing, to standard textbook L1 CPLEX and Gurobi got support for sos constraints Conic/qpsol interface extended for semidefinite programming and SOCP Solvers supporting SOCP: Gurobi, SuperSCS, CPLEX breaking: Newton Rootfinder now supports a line_search option (default true) Rootfinder now throws an exception by default ('error_on_fail' option true) when failing to converge Convenience tools Debugging facilities: Function options print_in/print_in print inputs/outputs when numerically evaluating a function Function option dump_in/dump_out dumps to the file system Function option dump dumps the function itself (loadable with Function.load) DM.from_file and DM.to_file with a MatrixMarket and txt support Helping interaction with codegen with main=true: Function.generate_in/Function.nz_from_in/Function.nz_to_in to help creating input text files. Function.convert_in/Function.convert_out to switch between list and dictionary arguments/results Binaries (3.5.1) Mac binaries for Matlab was switched to a different build environemnt. The binaries now require High Sierra or above, and work on Catalina