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[INTERNAL]::
integrator(str name, str solver, dict:SX dae, dict opts) -> Function integrator(str name, str solver, dict:MX dae, dict opts) -> Function integrator(str name, str solver, Function dae, dict opts) -> Function integrator(str name, str solver, dict:SX dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, dict:SX dae, float t0, float tf, dict opts) -> Function integrator(str name, str solver, dict:MX dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, dict:MX dae, float t0, float tf, dict opts) -> Function integrator(str name, str solver, Function dae, float t0, [float] tout, dict opts) -> Function integrator(str name, str solver, Function dae, float t0, float tf, dict opts) -> Function.......
::
integrator(str name, str solver, dict:SX dae, dict opts)Create an ODE/DAE integrator Solves an initial value problem (IVP) coupled to a terminal value problem with differential equation given as an implicit ODE coupled to an algebraic equation and a set of quadratures:
::
Initial conditions at t=t0 x(t0) = x0 q(t0) = 0 Forward integration from t=t0 to t=tf der(x) = function(x, z, p, t) Forward ODE 0 = fz(x, z, p, t) Forward algebraic equations der(q) = fq(x, z, p, t) Forward quadratures Terminal conditions at t=tf rx(tf) = rx0 rq(tf) = 0 Backward integration from t=tf to t=t0 der(rx) = gx(rx, rz, rp, x, z, p, t) Backward ODE 0 = gz(rx, rz, rp, x, z, p, t) Backward algebraic equations der(rq) = gq(rx, rz, rp, x, z, p, t) Backward quadratures where we assume that both the forward and backwards integrations are index-1 (i.e. dfz/dz, dgz/drz are invertible) and furthermore that gx, gz and gq have a linear dependency on rx, rz and rp.General information
List of available options
+------------------+-----------------+------------------+------------------+ | Id | Type | Description | Used in | +==================+=================+==================+==================+ | ad_weight | OT_DOUBLE | Weighting factor | casadi::Function | | | | for derivative | Internal | | | | calculation.When | | | | | there is an | | | | | option of either | | | | | using forward or | | | | | reverse mode | | | | | directional | | | | | derivatives, the | | | | | condition ad_wei | | | | | ght*nf<=(1- | | | | | ad_weight)*na is | | | | | used where nf | | | | | and na are | | | | | estimates of the | | | | | number of | | | | | forward/reverse | | | | | mode directional | | | | | derivatives | | | | | needed. By | | | | | default, | | | | | ad_weight is | | | | | calculated | | | | | automatically, | | | | | but this can be | | | | | overridden by | | | | | setting this | | | | | option. In | | | | | particular, 0 | | | | | means forcing | | | | | forward mode and | | | | | 1 forcing | | | | | reverse mode. | | | | | Leave unset for | | | | | (class specific) | | | | | heuristics. | | +------------------+-----------------+------------------+------------------+ | ad_weight_sp | OT_DOUBLE | Weighting factor | casadi::Function | | | | for sparsity | Internal | | | | pattern | | | | | calculation calc | | | | | ulation.Override | | | | | s default | | | | | behavior. Set to | | | | | 0 and 1 to force | | | | | forward and | | | | | reverse mode | | | | | respectively. | | | | | Cf. option | | | | | "ad_weight". | | | | | When set to -1, | | | | | sparsity is | | | | | completely | | | | | ignored and | | | | | dense matrices | | | | | are used. | | +------------------+-----------------+------------------+------------------+ | always_inline | OT_BOOL | Force inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | augmented_option | OT_DICT | Options to be | casadi::Integrat | | s | | passed down to | or | | | | the augmented | | | | | integrator, if | | | | | one is | | | | | constructed. | | +------------------+-----------------+------------------+------------------+ | cache | OT_DICT | Prepopulate the | casadi::Function | | | | function cache. | Internal | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | common_options | OT_DICT | Options for | casadi::OracleFu | | | | auto-generated | nction | | | | functions | | +------------------+-----------------+------------------+------------------+ | compiler | OT_STRING | Just-in-time | casadi::Function | | | | compiler plugin | Internal | | | | to be used. | | +------------------+-----------------+------------------+------------------+ | custom_jacobian | OT_FUNCTION | Override | casadi::Function | | | | CasADi's AD. Use | Internal | | | | together with | | | | | 'jac_penalty': | | | | | 0. Note: Highly | | | | | experimental. | | | | | Syntax may break | | | | | often. | | +------------------+-----------------+------------------+------------------+ | der_options | OT_DICT | Default options | casadi::Function | | | | to be used to | Internal | | | | populate | | | | | forward_options, | | | | | reverse_options, | | | | | and | | | | | jacobian_options | | | | | before those | | | | | options are | | | | | merged in. | | +------------------+-----------------+------------------+------------------+ | derivative_of | OT_FUNCTION | The function is | casadi::Function | | | | a derivative of | Internal | | | | another | | | | | function. The | | | | | type of | | | | | derivative | | | | | (directional | | | | | derivative, | | | | | Jacobian) is | | | | | inferred from | | | | | the function | | | | | name. | | +------------------+-----------------+------------------+------------------+ | dump | OT_BOOL | Dump function to | casadi::Function | | | | file upon first | Internal | | | | evaluation. | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | dump_dir | OT_STRING | Directory to | casadi::Function | | | | dump | Internal | | | | inputs/outputs | | | | | to. Make sure | | | | | the directory | | | | | exists [.] | | +------------------+-----------------+------------------+------------------+ | dump_format | OT_STRING | Choose file | casadi::Function | | | | format to dump | Internal | | | | matrices. See | | | | | DM.from_file | | | | | [mtx] | | +------------------+-----------------+------------------+------------------+ | dump_in | OT_BOOL | Dump numerical | casadi::Function | | | | values of inputs | Internal | | | | to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | dump_out | OT_BOOL | Dump numerical | casadi::Function | | | | values of | Internal | | | | outputs to file | | | | | (readable with | | | | | DM.from_file ) | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | enable_fd | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation by | | | | | finite | | | | | differencing. | | | | | [default: | | | | | false]] | | +------------------+-----------------+------------------+------------------+ | enable_forward | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using forward | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_jacobian | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | Jacobians of all | | | | | differentiable | | | | | outputs with | | | | | respect to all | | | | | differentiable | | | | | inputs - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | enable_reverse | OT_BOOL | Enable | casadi::Function | | | | derivative | Internal | | | | calculation | | | | | using generated | | | | | functions for | | | | | transposed | | | | | Jacobian-times- | | | | | vector products | | | | | - typically | | | | | using reverse | | | | | mode AD - if | | | | | available. | | | | | [default: true] | | +------------------+-----------------+------------------+------------------+ | error_on_fail | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when function | ction | | | | evaluation fails | | | | | (default true). | | +------------------+-----------------+------------------+------------------+ | expand | OT_BOOL | Replace MX with | casadi::Integrat | | | | SX expressions | or | | | | in problem | | | | | formulation | | | | | [false] | | +------------------+-----------------+------------------+------------------+ | fd_method | OT_STRING | Method for | casadi::Function | | | | finite | Internal | | | | differencing | | | | | [default | | | | | 'central'] | | +------------------+-----------------+------------------+------------------+ | fd_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | finite | | | | | difference | | | | | instance | | +------------------+-----------------+------------------+------------------+ | forward_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | forward mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | gather_stats | OT_BOOL | Deprecated | casadi::Function | | | | option | Internal | | | | (ignored): | | | | | Statistics are | | | | | now always | | | | | collected. | | +------------------+-----------------+------------------+------------------+ | grid | OT_DOUBLEVECTOR | [DEPRECATED] | casadi::Integrat | | | | Time grid | or | +------------------+-----------------+------------------+------------------+ | input_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | inputs_check | OT_BOOL | Throw exceptions | casadi::Function | | | | when the | Internal | | | | numerical values | | | | | of the inputs | | | | | don't make sense | | +------------------+-----------------+------------------+------------------+ | is_diff_in | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each input if it | Internal | | | | should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | is_diff_out | OT_BOOLVECTOR | Indicate for | casadi::Function | | | | each output if | Internal | | | | it should be | | | | | differentiable. | | +------------------+-----------------+------------------+------------------+ | jac_penalty | OT_DOUBLE | When requested | casadi::Function | | | | for a number of | Internal | | | | forward/reverse | | | | | directions, it | | | | | may be cheaper | | | | | to compute first | | | | | the full | | | | | jacobian and | | | | | then multiply | | | | | with seeds, | | | | | rather than | | | | | obtain the | | | | | requested | | | | | directions in a | | | | | straightforward | | | | | manner. Casadi | | | | | uses a heuristic | | | | | to decide which | | | | | is cheaper. A | | | | | high value of | | | | | 'jac_penalty' | | | | | makes it less | | | | | likely for the | | | | | heurstic to | | | | | chose the full | | | | | Jacobian | | | | | strategy. The | | | | | special value -1 | | | | | indicates never | | | | | to use the full | | | | | Jacobian | | | | | strategy | | +------------------+-----------------+------------------+------------------+ | jacobian_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | Jacobian | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | jit | OT_BOOL | Use just-in-time | casadi::Function | | | | compiler to | Internal | | | | speed up the | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | jit_cleanup | OT_BOOL | Cleanup up the | casadi::Function | | | | temporary source | Internal | | | | file that jit | | | | | creates. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | jit_name | OT_STRING | The file name | casadi::Function | | | | used to write | Internal | | | | out code. The | | | | | actual file | | | | | names used | | | | | depend on 'jit_t | | | | | emp_suffix' and | | | | | include | | | | | extensions. | | | | | Default: | | | | | 'jit_tmp' | | +------------------+-----------------+------------------+------------------+ | jit_options | OT_DICT | Options to be | casadi::Function | | | | passed to the | Internal | | | | jit compiler. | | +------------------+-----------------+------------------+------------------+ | jit_serialize | OT_STRING | Specify | casadi::Function | | | | behaviour when | Internal | | | | serializing a | | | | | jitted function: | | | | | SOURCE|link|embe | | | | | d. | | +------------------+-----------------+------------------+------------------+ | jit_temp_suffix | OT_BOOL | Use a temporary | casadi::Function | | | | (seemingly | Internal | | | | random) filename | | | | | suffix for | | | | | generated code | | | | | and libraries. | | | | | This is desired | | | | | for thread- | | | | | safety. This | | | | | behaviour may | | | | | defeat caching | | | | | compiler | | | | | wrappers. | | | | | Default: true | | +------------------+-----------------+------------------+------------------+ | max_io | OT_INT | Acceptable | casadi::Function | | | | number of inputs | Internal | | | | and outputs. | | | | | Warn if | | | | | exceeded. | | +------------------+-----------------+------------------+------------------+ | max_num_dir | OT_INT | Specify the | casadi::Function | | | | maximum number | Internal | | | | of directions | | | | | for derivative | | | | | functions. | | | | | Overrules the | | | | | builtin optimize | | | | | d_num_dir. | | +------------------+-----------------+------------------+------------------+ | monitor | OT_STRINGVECTOR | Set of user | casadi::OracleFu | | | | problem | nction | | | | functions to be | | | | | monitored | | +------------------+-----------------+------------------+------------------+ | nadj | OT_INT | Number of | casadi::Integrat | | | | adjoint | or | | | | sensitivities to | | | | | be calculated | | | | | [0] | | +------------------+-----------------+------------------+------------------+ | never_inline | OT_BOOL | Forbid inlining. | casadi::Function | | | | | Internal | +------------------+-----------------+------------------+------------------+ | nfwd | OT_INT | Number of | casadi::Integrat | | | | forward | or | | | | sensitivities to | | | | | be calculated | | | | | [0] | | +------------------+-----------------+------------------+------------------+ | number_of_finite | OT_INT | Target number of | casadi::Integrat | | _elements | | finite elements. | or | | | | The actual | | | | | number may be | | | | | higher to | | | | | accommodate all | | | | | output times | | +------------------+-----------------+------------------+------------------+ | output_scheme | OT_STRINGVECTOR | Deprecated | casadi::Function | | | | option (ignored) | Internal | +------------------+-----------------+------------------+------------------+ | output_t0 | OT_BOOL | [DEPRECATED] | casadi::Integrat | | | | Output the state | or | | | | at the initial | | | | | time | | +------------------+-----------------+------------------+------------------+ | post_expand | OT_BOOL | After | casadi::Function | | | | construction, | Internal | | | | expand this | | | | | Function . | | | | | Default: False | | +------------------+-----------------+------------------+------------------+ | post_expand_opti | OT_DICT | Options to be | casadi::Function | | ons | | passed to post- | Internal | | | | construction | | | | | expansion. | | | | | Default: empty | | +------------------+-----------------+------------------+------------------+ | print_in | OT_BOOL | Print numerical | casadi::Function | | | | values of inputs | Internal | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_out | OT_BOOL | Print numerical | casadi::Function | | | | values of | Internal | | | | outputs | | | | | [default: false] | | +------------------+-----------------+------------------+------------------+ | print_stats | OT_BOOL | Print out | casadi::Integrat | | | | statistics after | or | | | | integration | | +------------------+-----------------+------------------+------------------+ | print_time | OT_BOOL | print | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time. Implies | | | | | record_time. | | +------------------+-----------------+------------------+------------------+ | record_time | OT_BOOL | record | casadi::ProtoFun | | | | information | ction | | | | about execution | | | | | time, for | | | | | retrieval with | | | | | stats(). | | +------------------+-----------------+------------------+------------------+ | regularity_check | OT_BOOL | Throw exceptions | casadi::ProtoFun | | | | when NaN or Inf | ction | | | | appears during | | | | | evaluation | | +------------------+-----------------+------------------+------------------+ | reverse_options | OT_DICT | Options to be | casadi::Function | | | | passed to a | Internal | | | | reverse mode | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | rootfinder | OT_STRING | An implicit | casadi::Integrat | | | | function solver | or | +------------------+-----------------+------------------+------------------+ | rootfinder_optio | OT_DICT | Options to be | casadi::Integrat | | ns | | passed to the | or | | | | NLP Solver | | +------------------+-----------------+------------------+------------------+ | show_eval_warnin | OT_BOOL | Show warnings | casadi::OracleFu | | gs | | generated from | nction | | | | function | | | | | evaluations | | | | | [true] | | +------------------+-----------------+------------------+------------------+ | simplify | OT_BOOL | Implement as MX | casadi::Integrat | | | | Function (codege | or | | | | neratable/serial | | | | | izable) default: | | | | | false | | +------------------+-----------------+------------------+------------------+ | simplify_options | OT_DICT | Any options to | casadi::Integrat | | | | pass to | or | | | | simplified form | | | | | Function | | | | | constructor | | +------------------+-----------------+------------------+------------------+ | specific_options | OT_DICT | Options for | casadi::OracleFu | | | | specific auto- | nction | | | | generated | | | | | functions, | | | | | overwriting the | | | | | defaults from | | | | | common_options. | | | | | Nested | | | | | dictionary. | | +------------------+-----------------+------------------+------------------+ | t0 | OT_DOUBLE | [DEPRECATED] | casadi::Integrat | | | | Beginning of the | or | | | | time horizon | | +------------------+-----------------+------------------+------------------+ | tf | OT_DOUBLE | [DEPRECATED] End | casadi::Integrat | | | | of the time | or | | | | horizon | | +------------------+-----------------+------------------+------------------+ | user_data | OT_VOIDPTR | A user-defined | casadi::Function | | | | field that can | Internal | | | | be used to | | | | | identify the | | | | | function or pass | | | | | additional | | | | | information | | +------------------+-----------------+------------------+------------------+ | verbose | OT_BOOL | Verbose | casadi::ProtoFun | | | | evaluation for | ction | | | | debugging | | +------------------+-----------------+------------------+------------------+
Input scheme: casadi::IntegratorInput (INTEGRATOR_NUM_IN = 7)
+-------------------+--------+---------------------------------------------+ | Full name | Short | Description | +===================+========+=============================================+ | INTEGRATOR_X0 | x0 | Differential state at the initial time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_Z0 | z0 | Initial guess for the algebraic variable at | | | | the initial time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_P | p | Parameters. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_U | u | Piecewise constant control, a new control | | | | interval starts at each output time. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_XF | adj_xf | Adjoint seeds corresponding to the states | | | | at the output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_ZF | adj_zf | Adjoint seeds corresponding to the | | | | algebraic variables at the output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_QF | adj_qf | Adjoint seeds corresponding to the | | | | quadratures at the output times. | +-------------------+--------+---------------------------------------------+
Output scheme: casadi::IntegratorOutput (INTEGRATOR_NUM_OUT = 7)
+-------------------+--------+---------------------------------------------+ | Full name | Short | Description | +===================+========+=============================================+ | INTEGRATOR_XF | xf | Differential state at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ZF | zf | Algebraic variable at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_QF | qf | Quadrature state at all output times. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_X0 | adj_x0 | Adjoint sensitivities corresponding to the | | | | initial state. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_Z0 | adj_z0 | Adjoint sensitivities corresponding to the | | | | algebraic variable guess. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_P | adj_p | Adjoint sensitivities corresponding to the | | | | parameter vector. | +-------------------+--------+---------------------------------------------+ | INTEGRATOR_ADJ_U | adj_u | Adjoint sensitivities corresponding to the | | | | control vector. | +-------------------+--------+---------------------------------------------+
List of plugins
cvodes
idas
collocation
rk
Note: some of the plugins in this list might not be available on your
system. Also, there might be extra plugins available to you that are not listed here. You can obtain their documentation with
Integrator.doc("myextraplugin")
Interface to CVodes from the Sundials suite.
A call to evaluate will integrate to the end.
You can retrieve the entire state trajectory as follows, after the evaluate call: Call reset. Then call integrate(t_i) and getOuput for a series of times t_i.
Extra doc: https://github.com/casadi/casadi/wiki/L_228
List of available options
+----------------------------+-----------+---------------------------------+ | Id | Type | Description | +============================+===========+=================================+ | abstol | OT_DOUBLE | Absolute tolerence for the IVP | | | | solution | +----------------------------+-----------+---------------------------------+ | disable_internal_warnings | OT_BOOL | Disable SUNDIALS internal | | | | warning messages | +----------------------------+-----------+---------------------------------+ | fsens_all_at_once | OT_BOOL | Calculate all right hand sides | | | | of the sensitivity equations at | | | | once | +----------------------------+-----------+---------------------------------+ | fsens_err_con | OT_BOOL | include the forward | | | | sensitivities in all error | | | | controls | +----------------------------+-----------+---------------------------------+ | interpolation_type | OT_STRING | Type of interpolation for the | | | | adjoint sensitivities | +----------------------------+-----------+---------------------------------+ | linear_multistep_method | OT_STRING | Integrator scheme: BDF|adams | +----------------------------+-----------+---------------------------------+ | linear_solver | OT_STRING | A custom linear solver creator | | | | function [default: qr] | +----------------------------+-----------+---------------------------------+ | linear_solver_options | OT_DICT | Options to be passed to the | | | | linear solver | +----------------------------+-----------+---------------------------------+ | max_krylov | OT_INT | Maximum Krylov subspace size | +----------------------------+-----------+---------------------------------+ | max_multistep_order | OT_INT | Maximum order for the | | | | (variable-order) multistep | | | | method | +----------------------------+-----------+---------------------------------+ | max_num_steps | OT_INT | Maximum number of integrator | | | | steps | +----------------------------+-----------+---------------------------------+ | max_order | OT_DOUBLE | Maximum order | +----------------------------+-----------+---------------------------------+ | max_step_size | OT_DOUBLE | Max step size [default: 0/inf] | +----------------------------+-----------+---------------------------------+ | min_step_size | OT_DOUBLE | Min step size [default: 0/0.0] | +----------------------------+-----------+---------------------------------+ | newton_scheme | OT_STRING | Linear solver scheme in the | | | | Newton method: | | | | DIRECT|gmres|bcgstab|tfqmr | +----------------------------+-----------+---------------------------------+ | nonlin_conv_coeff | OT_DOUBLE | Coefficient in the nonlinear | | | | convergence test | +----------------------------+-----------+---------------------------------+ | nonlinear_solver_iteration | OT_STRING | Nonlinear solver type: | | | | NEWTON|functional | +----------------------------+-----------+---------------------------------+ | quad_err_con | OT_BOOL | Should the quadratures affect | | | | the step size control | +----------------------------+-----------+---------------------------------+ | reltol | OT_DOUBLE | Relative tolerence for the IVP | | | | solution | +----------------------------+-----------+---------------------------------+ | scale_abstol | OT_BOOL | Scale absolute tolerance by | | | | nominal value | +----------------------------+-----------+---------------------------------+ | second_order_correction | OT_BOOL | Second order correction in the | | | | augmented system Jacobian | | | | [true] | +----------------------------+-----------+---------------------------------+ | sensitivity_method | OT_STRING | Sensitivity method: | | | | SIMULTANEOUS|staggered | +----------------------------+-----------+---------------------------------+ | step0 | OT_DOUBLE | initial step size [default: | | | | 0/estimated] | +----------------------------+-----------+---------------------------------+ | steps_per_checkpoint | OT_INT | Number of steps between two | | | | consecutive checkpoints | +----------------------------+-----------+---------------------------------+ | stop_at_end | OT_BOOL | [DEPRECATED] Stop the | | | | integrator at the end of the | | | | interval | +----------------------------+-----------+---------------------------------+ | use_preconditioner | OT_BOOL | Precondition the iterative | | | | solver [default: true] | +----------------------------+-----------+---------------------------------+
Interface to IDAS from the Sundials suite.
Extra doc: https://github.com/casadi/casadi/wiki/L_225
List of available options
+---------------------------+-----------------+----------------------------+ | Id | Type | Description | +===========================+=================+============================+ | abstol | OT_DOUBLE | Absolute tolerence for the | | | | IVP solution | +---------------------------+-----------------+----------------------------+ | abstolv | OT_DOUBLEVECTOR | Absolute tolerarance for | | | | each component | +---------------------------+-----------------+----------------------------+ | calc_ic | OT_BOOL | Use IDACalcIC to get | | | | consistent initial | | | | conditions. | +---------------------------+-----------------+----------------------------+ | calc_icB | OT_BOOL | Use IDACalcIC to get | | | | consistent initial | | | | conditions for backwards | | | | system [default: equal to | | | | calc_ic]. | +---------------------------+-----------------+----------------------------+ | cj_scaling | OT_BOOL | IDAS scaling on cj for the | | | | user-defined linear solver | | | | module | +---------------------------+-----------------+----------------------------+ | constraints | OT_INTVECTOR | Constrain the solution | | | | y=[x,z]. 0 (default): no | | | | constraint on yi, 1: yi >= | | | | 0.0, -1: yi <= 0.0, 2: yi | | | | > 0.0, -2: yi < 0.0. | +---------------------------+-----------------+----------------------------+ | disable_internal_warnings | OT_BOOL | Disable SUNDIALS internal | | | | warning messages | +---------------------------+-----------------+----------------------------+ | first_time | OT_DOUBLE | First requested time as a | | | | fraction of the time | | | | interval | +---------------------------+-----------------+----------------------------+ | fsens_err_con | OT_BOOL | include the forward | | | | sensitivities in all error | | | | controls | +---------------------------+-----------------+----------------------------+ | init_xdot | OT_DOUBLEVECTOR | Initial values for the | | | | state derivatives | +---------------------------+-----------------+----------------------------+ | interpolation_type | OT_STRING | Type of interpolation for | | | | the adjoint sensitivities | +---------------------------+-----------------+----------------------------+ | linear_solver | OT_STRING | A custom linear solver | | | | creator function [default: | | | | qr] | +---------------------------+-----------------+----------------------------+ | linear_solver_options | OT_DICT | Options to be passed to | | | | the linear solver | +---------------------------+-----------------+----------------------------+ | max_krylov | OT_INT | Maximum Krylov subspace | | | | size | +---------------------------+-----------------+----------------------------+ | max_multistep_order | OT_INT | Maximum order for the | | | | (variable-order) multistep | | | | method | +---------------------------+-----------------+----------------------------+ | max_num_steps | OT_INT | Maximum number of | | | | integrator steps | +---------------------------+-----------------+----------------------------+ | max_order | OT_DOUBLE | Maximum order | +---------------------------+-----------------+----------------------------+ | max_step_size | OT_DOUBLE | Maximim step size | +---------------------------+-----------------+----------------------------+ | newton_scheme | OT_STRING | Linear solver scheme in | | | | the Newton method: | | | | DIRECT|gmres|bcgstab|tfqmr | +---------------------------+-----------------+----------------------------+ | nonlin_conv_coeff | OT_DOUBLE | Coefficient in the | | | | nonlinear convergence test | +---------------------------+-----------------+----------------------------+ | quad_err_con | OT_BOOL | Should the quadratures | | | | affect the step size | | | | control | +---------------------------+-----------------+----------------------------+ | reltol | OT_DOUBLE | Relative tolerence for the | | | | IVP solution | +---------------------------+-----------------+----------------------------+ | scale_abstol | OT_BOOL | Scale absolute tolerance | | | | by nominal value | +---------------------------+-----------------+----------------------------+ | second_order_correction | OT_BOOL | Second order correction in | | | | the augmented system | | | | Jacobian [true] | +---------------------------+-----------------+----------------------------+ | sensitivity_method | OT_STRING | Sensitivity method: | | | | SIMULTANEOUS|staggered | +---------------------------+-----------------+----------------------------+ | step0 | OT_DOUBLE | initial step size | | | | [default: 0/estimated] | +---------------------------+-----------------+----------------------------+ | steps_per_checkpoint | OT_INT | Number of steps between | | | | two consecutive | | | | checkpoints | +---------------------------+-----------------+----------------------------+ | stop_at_end | OT_BOOL | [DEPRECATED] Stop the | | | | integrator at the end of | | | | the interval | +---------------------------+-----------------+----------------------------+ | suppress_algebraic | OT_BOOL | Suppress algebraic | | | | variables in the error | | | | testing | +---------------------------+-----------------+----------------------------+ | use_preconditioner | OT_BOOL | Precondition the iterative | | | | solver [default: true] | +---------------------------+-----------------+----------------------------+
Fixed-step implicit Runge-Kutta integrator ODE/DAE integrator based on collocation schemes
The method is still under development
Extra doc: https://github.com/casadi/casadi/wiki/L_234
List of available options
+---------------------------+-----------+----------------------------------+ | Id | Type | Description | +===========================+===========+==================================+ | collocation_scheme | OT_STRING | Collocation scheme: | | | | radau|legendre | +---------------------------+-----------+----------------------------------+ | interpolation_order | OT_INT | Order of the interpolating | | | | polynomials | +---------------------------+-----------+----------------------------------+ | number_of_finite_elements | OT_INT | Target number of finite | | | | elements. The actual number may | | | | be higher to accommodate all | | | | output times | +---------------------------+-----------+----------------------------------+ | rootfinder | OT_STRING | An implicit function solver | +---------------------------+-----------+----------------------------------+ | rootfinder_options | OT_DICT | Options to be passed to the NLP | | | | Solver | +---------------------------+-----------+----------------------------------+ | simplify | OT_BOOL | Implement as MX Function | | | | (codegeneratable/serializable) | | | | default: false | +---------------------------+-----------+----------------------------------+ | simplify_options | OT_DICT | Any options to pass to | | | | simplified form Function | | | | constructor | +---------------------------+-----------+----------------------------------+
Fixed-step explicit Runge-Kutta integrator for ODEs Currently implements RK4.
The method is still under development
Extra doc: https://github.com/casadi/casadi/wiki/L_23a
Joel Andersson
Extra doc: https://github.com/casadi/casadi/wiki/L_21k
Doc source: https://github.com/casadi/casadi/blob/develop/casadi/core/integrator.hpp#L109
Implementation: https://github.com/casadi/casadi/blob/develop/casadi/core/integrator.cpp#L109-L112
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integrator(str name, str solver, dict:MX dae, dict opts) integrator(str name, str solver, Function dae, dict opts) integrator(str name, str solver, dict:SX dae, float t0, [float] tout, dict opts) integrator(str name, str solver, dict:SX dae, float t0, float tf, dict opts) integrator(str name, str solver, dict:MX dae, float t0, [float] tout, dict opts) integrator(str name, str solver, dict:MX dae, float t0, float tf, dict opts) integrator(str name, str solver, Function dae, float t0, [float] tout, dict opts) integrator(str name, str solver, Function dae, float t0, float tf, dict opts)[INTERNAL]
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