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Welcome to the CaΣoS wiki! Here you'll find information about polynomial optimization, sum-of-squares and related cones, and general usage of the software.
CaΣoS aims to bring nonlinear optimization into sum-of-squares programming as well as facilitate the integration of pre-computed polynomials into optimal control solutions. CaΣoS is developed by researchers at the Institute of Flight Mechanics and Control of the University of Stuttgart and distributed open-source under the GPL-3.0 license.
The following requirements need to be met in order to use all functionalities of CaΣoS:
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Download CasADi v3.6.x and add it to your Matlab path.
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Download and install at least one solver for semidefinite (conic) programs, and add the solver(s) to the Matlab Path.
- Currently supported are Mosek (v10.1), SCS (v3.2.4), and SeDuMi (v1.3).
- Note: Mosek requires a separate license. Academic Licenses are available.
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Add the CaΣoS root folder (the one that contains the directory
+casos) to your Matlab path.
Important
CaΣoS requires CasADi version 3.6.0 or newer.
You can check if CaΣoS is ready to go by running the install script in utils/install.m.
- Getting started
- Available conic solvers
- Convex and nonconvex sum-of-squares optimization
- Supported vector, matrix, and polynomial cones
- Some practical tipps for sum-of-squares
- Transitioning from other toolboxes
- Example code snippets
If you use CaΣoS, please cite us.