CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
LGPL-3.0 License
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Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Grab a binary from the table (for MATLAB, use the newest compatible version below):
Windows 64 bit | Linux (14.04+) | Mac | |
---|---|---|---|
Matlab | R2014b or later | R2014b or later | R2015a or later |
R2014a | R2014a | R2014b | |
R2013a or R2013b | R2014a | ||
Octave | 4.2.1 32bit or 64bit | 4.2.1 | 4.2.1 |
Python | Py27 (py 32bit or py 64bit ) | Py27 | Py27 |
Py35 (py 32bit or py 64bit ) | Py35 | Py35 | |
Py36 (py 32bit or py 64bit ) | Py36 | Py36 |
or see download page for more options/versions ...
Unzip in your home directory and adapt the path:
New: install with pip install casadi
(you must have pip --version
>= 8.1!)
Get started with the example pack.
Getting error "CasADi is not running from its package context." in Python? Check that you have casadi-py27-np1.9.1-v3.2.3/casadi/casadi.py
. If you have casadi-py27-np1.9.1-v3.2.3/casadi.py
instead, that's not good; add an extra casadi
folder.
expm
(requires slicot)interpolant
with 'bspline' solver.CasADi 3.1 included a refactored support for ODE/DAE sensitivity analysis. While more efficient, this also exposed some bugs that have now been fixed in the CasADi 3.2 release, including:
if_else
and conditional
operations are now non-short-circuiting by default for both SX and MX. This means that if_else(c,x,y)
is now equivalent to if_else(c,x,y,False)
and not if_else(c,x,y,True)
as before. Also note that if_else(c,x,y,True)
is only supported for MX. Cf. #1968.Function::jacobian
, Function::derivative
and Function::hessian
, which have had an internal character since CasADi 3.0, have been deprecated and will be removed in their current forms in the next release. The user is encouraged to work with expressions (e.g. J = jacobian(f,x)
or Jv = jtimes(f,x,v)
or [H,g] = hessian(f,x)
) or use Function::factory
(*). To allow a smooth transition, Function::jacobian
and Function::hessian
will be available as Function::jacobian_old
and Function::hessian_old
in this and next release. Cf. #1777.(*) example in Matlab:
x = MX.sym('x')
y = x^2;
f = Function('f',{x},{y})
%J = f.jacobian(0,0) replacement:
J = Function('J',{x},{jacobian(y,x), y}) % alternative 1
J = f.factory('J',{'i0'},{'jac:o0:i0','o0'}) % alternative 2
%H = f.hessian(0,0) replacement:
[H,g] = hessian(y,x);
H = Function('H',{x},{H,g}) % alternative 1
H = f.factory('H',{'i0'},{'hess:o0:i0:i0','grad:o0:i0'}) % alternative 2
-Wall -Werror
. Cf. #1741.e.g.
-DWITH_IPOPT=ON`. Cf.CMAKE_INSTALL_PREFIX
location by default, but this can be changed by explicitly setting the CMake variables BIN_PREFIX
, CMAKE_PREFIX
, INCLUDE_PREFIX
, LIB_PREFIX
, MATLAB_PREFIX
and PYTHON_PREFIX
. A flat installation directory (without subdirectories) can be obtained by setting the WITH_SELFCONTAINED
option. This is the default behavior on Windows. Cf. #1991, #1990
Python 2.6 (#1976), Python 3.6 (#1987) and Octave 4.2 (#2002, #2000) are now supported.
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago
Published by jgillis over 6 years ago