Install

Grab a binary from the table (for MATLAB, use the newest compatible version below):

	Windows	Linux	Mac (High Sierra or above)
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), 6.1.0 (32bit / 64bit)	4.4.1, 5.1.0, 5.2.0, 6.1.0	5.2.0, 6.1.0(Mojave or higher)
Python	Py27 (32bit^* / 64bit^), Py35 (32bit^ / 64bit^), Py36 (32bit^ / 64bit^), Py37 (32bit^ / 64bit^), Py38 (32bit^ / 64bit^) Py39 (32bit^ / 64bit^*)	Py27, Py35, Py36, Py37, Py38, Py39	Py27, Py35, Py36, Py37, Py38, Py39
Python	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/Octave Python

Matlab/Octave	Python
`addpath('<yourpath>/casadi-matlabR2014a-v3.5.5') import casadi.* x = MX.sym('x') disp(jacobian(sin(x),x))`	`from sys import path path.append(r"<yourpath>/casadi-py27-v3.5.5") from casadi import * x = MX.sym("x") print(jacobian(sin(x),x))`


addpath('<yourpath>/casadi-matlabR2014a-v3.5.5')
import casadi.*
x = MX.sym('x')
disp(jacobian(sin(x),x))


from sys import path
path.append(r"<yourpath>/casadi-py27-v3.5.5")
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
(3.5.2) Ctrl-C interrupts are now disabled in multi-threaded Maps since they could result in crashes
(3.5.2) Sparsity of Callbacks can be set with has_jacobian_sparsity/get_jacobian_sparsity
(3.5.2) Jitted functions can now be serialized
(3.5.2) BSpline constructor takes an inline option yielding a fully differentiable (but not very scalable) BSpline operation for MX
(3.5.5) Fixed performance deficiency in inline BSline derivatives

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.
(3.5.2) Fixed long-standing bug in cosh derivative
(3.5.2) An MX operation convexify was added
(3.5.2) An inefficiency in MX multiplication sparsity was detected and fixed by Mirko Hahn

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
(3.5.2) fix numpy compatibility (numpy 1.19)
(3.5.3) fix the numpy fix

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
(3.5.2) Printing from a multi-threaded map context is disabled beause it could result in crashes. In linux, you may still see the output from a terminal used to start Matlab

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 for mac
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
(3.5.2) fixed bug of a division looking like a comment
(3.5.2) fixed mem.h regression
(3.5.2) Made main and mex-related functions c89-compliant

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
(3.5.3) AMPL was fixed to allow other solvers than IPOPT
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
(3.5.5) Implemented constraints in IDAS and step size limits in CVODES/IDAS integrators

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 environment. The binaries now require High Sierra or above, and work on Catalina.
(3.5.4) Mac binaries for Python and octave have been switched just like Matlab
(3.5.4) Linux binaries for Matlab and Octave have been switched to the manylinux environment, with gfortran dependency now grafted in (included, with a unique alias to avoid name collision)

Third-party solver interfaces in binaries

Versions used in binaries ( see FAQ ):

software	version	library	license env	build env
IPOPT	3.12.3	shipped	/	/
SNOPT	7.7	libsnopt7.so/snopt7.dll	SNOPT_LICENSE	SNOPT
WORHP	1.13	libworhp.so/worhp.dll	WORHP_LICENSE_FILE	WORHP
KNITRO	10.3	libknitro1030.so/knitro1032.dll	/	KNITRO
CPLEX	windows/mac: 12.8.0, linux:12.6.3	libcplex1263.so / libcplex1280.dll	ILOG_LICENSE_FILE	CPLEX
GUROBI	6.5.0	libgurobi65.so/gurobi65.dll	GRB_LICENSE_FILE	GUROBI_HOME

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