optimization_engine 0.4.0-alpha

A pure Rust framework for embedded nonconvex optimization. Ideal for robotics!
Documentation 
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function [phi_fun, jphi_fun] = casadi_generate_c_code(...
    u, p, phi, cstr_penalty, build_directory, function_name)
%CASADI_GENERATE_C_CODE generates code for a given function and its
%Jacobian
%   
%Syntax:
% [phi_fun, jphi_fun] = casadi_generate_c_code(u, p, phi, fun_name)
%
%Input arguments:
% u              casadi symbol for u
% p              casadi symbol for p
% phi            casadi function phi (cost function)
% cstr_penalty   constraints of the penalty type
% fun_name       desired function name (default: 'phi')

if nargin < 6, function_name = 'phi'; end
build_icasadi_directory  = fullfile(build_directory, 'icasadi');

nu = length(u); np = length(p); 

cost_fname = function_name;
grad_fname = strcat('grad_', cost_fname);
cstr_penalty_name = 'constraints_as_penalty';

c_extension = '.c';
cost_c_file = strcat('auto_casadi_cost', c_extension);
grad_c_file = strcat('auto_casadi_grad', c_extension);


cost_c_path = fullfile(build_icasadi_directory, 'extern', cost_c_file);
grad_c_path = fullfile(build_icasadi_directory, 'extern', grad_c_file);


jphi = jacobian(phi, u);
phi_fun = casadi.Function(cost_fname, {u, p}, {phi});
jphi_fun = casadi.Function(grad_fname, {u, p}, {jphi});



phi_fun.generate(cost_c_file);
try movefile(cost_c_file, cost_c_path); catch, end

jphi_fun.generate(grad_c_file);
try movefile(grad_c_file, grad_c_path); catch, end


if ~isempty(cstr_penalty)
    ncp = length(cstr_penalty);
    constr_penalty_c_file = strcat('auto_casadi_constraints_type_penalty', c_extension);
    constr_penalty_c_file_path = fullfile(build_icasadi_directory, 'extern', constr_penalty_c_file);
    cstr_penalty_fun = casadi.Function(cstr_penalty_name, {u, p}, {cstr_penalty});
    cstr_penalty_fun.generate(constr_penalty_c_file);
    try movefile(constr_penalty_c_file, constr_penalty_c_file_path); catch, end
end

% -------------------------------------------------------------------------
% Generate Header File 
% -------------------------------------------------------------------------
casadi_interface_destination = fullfile(build_icasadi_directory, 'extern', 'icasadi_config.h');
fid = fopen(casadi_interface_destination, 'w');

fprintf(fid, '/* Auto-generated header file */\n');
fprintf(fid, '#ifndef ICASADI_CONFIG_HEADER_SENTINEL\n');
fprintf(fid, '#define ICASADI_CONFIG_HEADER_SENTINEL\n\n');

fprintf(fid, '#define CASADI_NU %d\n', nu);
fprintf(fid, '#define CASADI_NP %d\n', np);
fprintf(fid, '#define CASADI_NUM_CONSTAINTS_TYPE_PENALTY %d\n', ncp);
fprintf(fid, '#define CASADI_COST_NAME %s\n', cost_fname);
fprintf(fid, '#define CASADI_GRAD_NAME %s\n', grad_fname);
fprintf(fid, '#define CASADI_CONSTRAINTS_AS_PENALTY_NAME %s\n', cstr_penalty_name);


fprintf(fid, '#endif\n');

fclose(fid);