optas.solver.CasADiSolver Class Reference

This is a base class for CasADi solver interfaces. More...

Inheritance diagram for optas.solver.CasADiSolver:

Collaboration diagram for optas.solver.CasADiSolver:

Public Member Functions
def	setup (self, str solver_name, Dict solver_options={})
	Setup the optimization solver. More...
Dict	stats (self)
	Statistics relating to the previous call to solve. More...
bool	did_solve (self)
	True when the solver succeeded, False otherwise. More...
int	number_of_iterations (self)
	Number of iterations it took the solver to converge. More...
Public Member Functions inherited from optas.solver.Solver
def	__init__ (self, Optimization optimization, bool error_on_fail=False)
	Constructor for the base Solver class. More...
type	opt_type (self)
	Optimization type. More...
def	setup (self, *args, **kwargs)
	Setup solver, note this method must return self. More...
None	reset_initial_seed (self, Dict[str, ArrayType] x0)
	Reset initial seed for the optimization problem. More...
None	reset_parameters (self, Dict[str, ArrayType] p)
	Reset the parameters for the optimization problem. More...
Dict	solve (self)
	Solve the optimization problem. More...
Tuple	violated_constraints (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Indicate the violated constraints. More...
CasADiArrayType	evaluate_cost (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Evaluates the cost function for given decision variables x and parameters p. More...
List	evaluate_cost_terms (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Evaluates each cost term for given decision variables and parameters. More...

Static Public Attributes
dictionary	mi_solvers = {"bonmin", "knitro"}
	Possible mixed-integer solvers. More...
dictionary	nlp_solvers = {"ipopt", "knitro", "snopt", "worhp", "scpgen", "sqpmethod"}
	Possible NLP solvers. More...
dictionary	qp_solvers = {"cplex", "gurobi", "ooqp", "qpoases", "sqic", "nlp"}
	Possible QP solvers. More...

Private Member Functions
CasADiArrayType	_solve (self)
	Solve the optimization problem using the CasADi interface. More...

Private Attributes
	_lbg
	Lower bound on constraints. More...
	_ubg
	Upper bound on constraints. More...
	_solver
	Instance of the CasADi solver. More...
	_solution
	_stats

Additional Inherited Members
Static Public Member Functions inherited from optas.solver.Solver
interp1d	interpolate (cs.DM traj, float T, **interp_args)
	Interpolate a trajectory. More...
Public Attributes inherited from optas.solver.Solver
	opt
	Instance of the optimization problem. More...
	x0
	Initial guess for the optimization problem (set using reset_initial_seed). More...
	p
	Parameter vector. More...

Detailed Description

This is a base class for CasADi solver interfaces.

Member Function Documentation

_solve()

CasADiArrayType optas.solver.CasADiSolver._solve (   self )

private

Solve the optimization problem using the CasADi interface.

   @return Solution to the problem.

Reimplemented from optas.solver.Solver.

did_solve()

bool optas.solver.CasADiSolver.did_solve

(

self

)

True when the solver succeeded, False otherwise.

   @return Boolean indicating success of solver.

Reimplemented from optas.solver.Solver.

number_of_iterations()

int optas.solver.CasADiSolver.number_of_iterations

(

self

)

Number of iterations it took the solver to converge.

   @return Number of iterations.

Reimplemented from optas.solver.Solver.

setup()

def optas.solver.CasADiSolver.setup	(		self,
		str	solver_name,
		Dict	solver_options = {}
	)

Setup the optimization solver.

   @param solver_name The name of the solver to be used.
   @param solver_options Solver options passed to the solver. For details, see
       - https://casadi.sourceforge.net/v3.0.0/api/html/d9/d37/group__qpsol.html, and
       - https://casadi.sourceforge.net/v2.0.0/api/html/d6/d07/classcasadi_1_1NlpSolver.html
   @return An instance of the CasADiSovler class.

stats()

Dict optas.solver.CasADiSolver.stats

(

self

)

Statistics relating to the previous call to solve.

   @return Dictionary containing the statistics.

Reimplemented from optas.solver.Solver.

Member Data Documentation

_lbg

optas.solver.CasADiSolver._lbg

private

Lower bound on constraints.

_solution

optas.solver.CasADiSolver._solution

private

_solver

optas.solver.CasADiSolver._solver

private

Instance of the CasADi solver.

_stats

optas.solver.CasADiSolver._stats

private

_ubg

optas.solver.CasADiSolver._ubg

private

Upper bound on constraints.

mi_solvers

dictionary optas.solver.CasADiSolver.mi_solvers = {"bonmin", "knitro"}

static

Possible mixed-integer solvers.

nlp_solvers

dictionary optas.solver.CasADiSolver.nlp_solvers = {"ipopt", "knitro", "snopt", "worhp", "scpgen", "sqpmethod"}

static

Possible NLP solvers.

qp_solvers

dictionary optas.solver.CasADiSolver.qp_solvers = {"cplex", "gurobi", "ooqp", "qpoases", "sqic", "nlp"}

static

Possible QP solvers.

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The documentation for this class was generated from the following file:

• solver.py