casadi 3.6.4__cp38-none-macosx_11_0_arm64.whl → 3.6.6__cp38-none-macosx_11_0_arm64.whl

casadi/include/casadi/config.h

@@ -26,18 +26,18 @@
 
 #define CASADI_MAJOR_VERSION 3
 #define CASADI_MINOR_VERSION 6
-#define CASADI_PATCH_VERSION 4
+#define CASADI_PATCH_VERSION 6
 #define CASADI_IS_RELEASE 1
-#define CASADI_VERSION_STRING "3.6.4"
-#define CASADI_GIT_REVISION "329e2282664f584b17fd6319f8ce765a111a6022"  // NOLINT(whitespace/line_length)
-#define CASADI_GIT_DESCRIBE "3.6.3-116.329e22826"  // NOLINT(whitespace/line_length)
-#define CASADI_FEATURE_LIST "\n * dynamic-loading, Support for import of FMI 2.0 binaries\n * sundials-interface, Interface to the ODE/DAE integrator suite SUNDIALS.\n * csparse-interface, Interface to the sparse direct linear solver CSparse.\n * superscs-interface, Interface to QP solver SUPERSCS.\n * osqp-interface, Interface to QP solver OSQP.\n * tinyxml-interface, Interface to the XML parser TinyXML.\n * qpoases-interface, Interface to the active-set QP solver qpOASES.\n * blocksqp-interface, Interface to the NLP solver blockSQP.\n * cplex-mockup-build, Use mockup CPLEX (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * snopt-mockup-build, Use mockup SNOPT (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * knitro-mockup-build, Use mockup KNITRO (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * gurobi-mockup-build, Use mockup GUROBI (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * hsl-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * alpaqa-sourcebuild, Build Alpaqa (BUILD_ALPAQA_VERSION=develop) from downloaded source (BUILD_ALPAQA_GIT_REPO=https://github.com/jgillis/alpaqa).\n * highs-sourcebuild, Build HiGHS (BUILD_HIGHS_VERSION=v1.6.0) from downloaded source (BUILD_HIGHS_GIT_REPO=https://github.com/ERGO-Code/HiGHS).\n * proxqp-sourcebuild, Build PROXQP (BUILD_PROXQP_VERSION=v0.3.2) from downloaded source (BUILD_PROXQP_GIT_REPO=https://github.com/Simple-Robotics/proxsuite.git).\n * osqp-sourcebuild, Build OSQP (BUILD_OSQP_VERSION=v0.6.2) from downloaded source (BUILD_OSQP_GIT_REPO=https://github.com/osqp/osqp.git).\n * superscs-sourcebuild, Build SuperSCS (BUILD_SUPERSCS_VERSION=4d2d1bd03ed4cf93e684a880b233760ce34ca69c) from downloaded source (BUILD_SUPERSCS_GIT_REPO=https://github.com/jgillis/scs.git).\n * sleqp-sourcebuild, Build SLEQP (BUILD_SLEQP_VERSION=patch-1) from downloaded source (BUILD_SLEQP_GIT_REPO=https://github.com/jgillis/sleqp.git).\n * bonmin-sourcebuild, Build BONMIN (BUILD_BONMIN_VERSION=releases/1.8.9) from downloaded source (BUILD_BONMIN_GIT_REPO=https://github.com/coin-or/Bonmin.git).\n * ipopt-sourcebuild, Build IPOPT (BUILD_IPOPT_VERSION=3.14.11.mod) from downloaded source (BUILD_IPOPT_GIT_REPO=https://github.com/jgillis/Ipopt-1.git).\n * cbc-sourcebuild, Build CBC (BUILD_CBC_VERSION=releases/2.10.11) from downloaded source.\n * clp-sourcebuild, Build CLP (BUILD_CLP_VERSION=releases/1.17.9) from downloaded source (BUILD_CLP_GIT_REPO=https://github.com/coin-or/Clp.git).\n * mumps-sourcebuild, Build MUMPS (BUILD_MUMPS_TP_VERSION=releases/3.0.2) from downloaded source (BUILD_MUMPS_TP_GIT_REPO=https://github.com/coin-or-tools/ThirdParty-Mumps.git).\n * metis-sourcebuild, Build METIS (BUILD_METIS_TP_VERSION=releases/2.0.0) from downloaded source.\n * trlib-sourcebuild, Build TRLIB (BUILD_TRLIB_VERSION=c7632b8b14152e78bc21721a3bd1a2432586b824) from downloaded source (BUILD_TRLIB_GIT_REPO=https://github.com/jgillis/trlib.git).\n * blasfeo-sourcebuild, Build BLASFEO (BUILD_BLASFEO_VERSION=edf92b396adddd9e548b9786f87ad290a0971329) from downloaded source (BUILD_BLASFEO_GIT_REPO=https://github.com/giaf/blasfeo.git).\n * eigen3-sourcebuild, Build Eigen (BUILD_EIGEN3_VERSION=3.4.0) from downloaded source (BUILD_EIGEN3_GIT_REPO=https://gitlab.com/libeigen/eigen.git).\n * simde-sourcebuild, Build Simde (BUILD_SIMDE_VERSION=v0.7.2) from downloaded source (BUILD_SIMDE_GIT_REPO=https://github.com/simd-everywhere/simde.git).\n * cplex-interface, Interface to the QP solver CPLEX.\n * gurobi-interface, Interface to the (mixed-integer) QP solver GUROBI\n * knitro-interface, Interface to the NLP solver KNITRO.\n * snopt-interface, Interface to the NLP solver KNITRO.\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * coinutils-sourcebuild, Build COINUTILS (BUILD_COINUTILS_VERSION=releases/2.11.10) from downloaded source.\n * osi-sourcebuild, Build OSI (BUILD_OSI_VERSION=releases/0.108.9) from downloaded source.\n * clp-interface, Interface to the LP solver CLP.\n * cgl-sourcebuild, Build CGL (BUILD_CGL_VERSION=releases/0.60.8) from downloaded source.\n * cbc-interface, Interface to the LP solver CBC.\n * ipopt-interface, Interface to the NLP solver Ipopt.\n * bonmin-interface, Interface to the MINLP framework Bonmin.\n * highs-interface, Interface to the MILP / QP solver HiGHS.\n * sleqp-interface, Interface to the NLP solver SLEQP.\n * alpaqa-interface, Interface to the NLP solver Alpaqa.\n * proxqp-interface, Interface to QP solver PROXQP.\n * ampl-interface, Interface to the AMPL solver library.\n"  // NOLINT(whitespace/line_length)
+#define CASADI_VERSION_STRING "3.6.6"
+#define CASADI_GIT_REVISION "279e0b80886dc5eb43a9d12a1056c550dc3b786e"  // NOLINT(whitespace/line_length)
+#define CASADI_GIT_DESCRIBE "3.6.3-275.279e0b808"  // NOLINT(whitespace/line_length)
+#define CASADI_FEATURE_LIST "\n * dynamic-loading, Support for import of FMI 2.0 binaries\n * sundials-interface, Interface to the ODE/DAE integrator suite SUNDIALS.\n * csparse-interface, Interface to the sparse direct linear solver CSparse.\n * superscs-interface, Interface to QP solver SUPERSCS.\n * osqp-interface, Interface to QP solver OSQP.\n * tinyxml-interface, Interface to the XML parser TinyXML.\n * qpoases-interface, Interface to the active-set QP solver qpOASES.\n * blocksqp-interface, Interface to the NLP solver blockSQP.\n * cplex-mockup-build, Use mockup CPLEX (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * snopt-mockup-build, Use mockup SNOPT (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * knitro-mockup-build, Use mockup KNITRO (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * gurobi-mockup-build, Use mockup GUROBI (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * hsl-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * madnlp-mockup-build, Use mockup MadNLP (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * highs-sourcebuild, Build HiGHS (BUILD_HIGHS_VERSION=v1.7.2) from downloaded source (BUILD_HIGHS_GIT_REPO=https://github.com/ERGO-Code/HiGHS).\n * daqp-sourcebuild, Build DAQP (BUILD_DAQP_VERSION=master) from downloaded source (BUILD_DAQP_GIT_REPO=https://github.com/jgillis/daqp.git).\n * proxqp-sourcebuild, Build PROXQP (BUILD_PROXQP_VERSION=v0.3.2) from downloaded source (BUILD_PROXQP_GIT_REPO=https://github.com/Simple-Robotics/proxsuite.git).\n * osqp-sourcebuild, Build OSQP (BUILD_OSQP_VERSION=v0.6.3) from downloaded source (BUILD_OSQP_GIT_REPO=https://github.com/osqp/osqp.git).\n * superscs-sourcebuild, Build SuperSCS (BUILD_SUPERSCS_VERSION=4d2d1bd03ed4cf93e684a880b233760ce34ca69c) from downloaded source (BUILD_SUPERSCS_GIT_REPO=https://github.com/jgillis/scs.git).\n * sleqp-sourcebuild, Build SLEQP (BUILD_SLEQP_VERSION=patch-1) from downloaded source (BUILD_SLEQP_GIT_REPO=https://github.com/jgillis/sleqp.git).\n * bonmin-sourcebuild, Build BONMIN (BUILD_BONMIN_VERSION=releases/1.8.9) from downloaded source (BUILD_BONMIN_GIT_REPO=https://github.com/coin-or/Bonmin.git).\n * ipopt-sourcebuild, Build IPOPT (BUILD_IPOPT_VERSION=3.14.11.mod) from downloaded source (BUILD_IPOPT_GIT_REPO=https://github.com/jgillis/Ipopt-1.git).\n * cbc-sourcebuild, Build CBC (BUILD_CBC_VERSION=releases/2.10.11) from downloaded source.\n * clp-sourcebuild, Build CLP (BUILD_CLP_VERSION=releases/1.17.9) from downloaded source (BUILD_CLP_GIT_REPO=https://github.com/coin-or/Clp.git).\n * mumps-sourcebuild, Build MUMPS (BUILD_MUMPS_TP_VERSION=releases/3.0.2) from downloaded source (BUILD_MUMPS_TP_GIT_REPO=https://github.com/coin-or-tools/ThirdParty-Mumps.git).\n * metis-sourcebuild, Build METIS (BUILD_METIS_TP_VERSION=releases/2.0.0) from downloaded source.\n * fatrop-sourcebuild, Build FATROP (BUILD_FATROP_VERSION=c74b2c) from downloaded source (BUILD_FATROP_GIT_REPO=https://github.com/meco-group/fatrop.git).\n * trlib-sourcebuild, Build TRLIB (BUILD_TRLIB_VERSION=c7632b8b14152e78bc21721a3bd1a2432586b824) from downloaded source (BUILD_TRLIB_GIT_REPO=https://github.com/jgillis/trlib.git).\n * blasfeo-sourcebuild, Build BLASFEO (BUILD_BLASFEO_VERSION=edf92b396adddd9e548b9786f87ad290a0971329) from downloaded source (BUILD_BLASFEO_GIT_REPO=https://github.com/giaf/blasfeo.git).\n * eigen3-sourcebuild, Build Eigen (BUILD_EIGEN3_VERSION=3.4.0) from downloaded source (BUILD_EIGEN3_GIT_REPO=https://gitlab.com/libeigen/eigen.git).\n * simde-sourcebuild, Build Simde (BUILD_SIMDE_VERSION=v0.7.2) from downloaded source (BUILD_SIMDE_GIT_REPO=https://github.com/simd-everywhere/simde.git).\n * cplex-interface, Interface to the QP solver CPLEX.\n * gurobi-interface, Interface to the (mixed-integer) QP solver GUROBI\n * knitro-interface, Interface to the NLP solver KNITRO.\n * madnlp-interface, Interface to the NLP solver MadNLP.\n * snopt-interface, Interface to the NLP solver KNITRO.\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * coinutils-sourcebuild, Build COINUTILS (BUILD_COINUTILS_VERSION=releases/2.11.10) from downloaded source.\n * osi-sourcebuild, Build OSI (BUILD_OSI_VERSION=releases/0.108.9) from downloaded source.\n * clp-interface, Interface to the LP solver CLP.\n * cgl-sourcebuild, Build CGL (BUILD_CGL_VERSION=releases/0.60.8) from downloaded source.\n * cbc-interface, Interface to the LP solver CBC.\n * ipopt-interface, Interface to the NLP solver Ipopt.\n * bonmin-interface, Interface to the MINLP framework Bonmin.\n * highs-interface, Interface to the MILP / QP solver HiGHS.\n * daqp-interface, Interface to the MILP / QP solver HiGHS.\n * sleqp-interface, Interface to the NLP solver SLEQP.\n * proxqp-interface, Interface to QP solver PROXQP.\n * ampl-interface, Interface to the AMPL solver library.\n"  // NOLINT(whitespace/line_length)
 #define CASADI_BUILD_TYPE "Release"  // NOLINT(whitespace/line_length)
 #define CASADI_COMPILER_ID "Clang"  // NOLINT(whitespace/line_length)
-#define CASADI_COMPILER "/Users/ghrunner/miniconda3/envs/compiler/bin/clang++"  // NOLINT(whitespace/line_length)
-#define CASADI_COMPILER_FLAGS " -pthread    -DUSE_CXX11 -DHAVE_MKSTEMPS -DCASADI_WITH_THREAD -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=6 -DCASADI_PATCH_VERSION=4 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell"  // NOLINT(whitespace/line_length)
-#define CASADI_MODULES "casadi;casadi_linsol_lapacklu;casadi_linsol_lapackqr;casadi_sundials_common;casadi_integrator_cvodes;casadi_integrator_idas;casadi_rootfinder_kinsol;casadi_nlpsol_sleqp;casadi_nlpsol_ipopt;casadi_nlpsol_bonmin;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_cplex;casadi_conic_clp;casadi_conic_cbc;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_conic_highs;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_superscs;casadi_nlpsol_ampl;casadi_conic_proxqp;casadi_conic_osqp;casadi_nlpsol_alpaqa;casadi_conic_nlpsol;casadi_conic_qrqp;casadi_conic_ipqp;casadi_nlpsol_qrsqp;casadi_importer_shell;casadi_integrator_rk;casadi_integrator_collocation;casadi_interpolant_linear;casadi_interpolant_bspline;casadi_linsol_symbolicqr;casadi_linsol_qr;casadi_linsol_ldl;casadi_linsol_tridiag;casadi_linsol_lsqr;casadi_nlpsol_sqpmethod;casadi_nlpsol_feasiblesqpmethod;casadi_nlpsol_scpgen;casadi_rootfinder_newton;casadi_rootfinder_fast_newton;casadi_rootfinder_nlpsol"  // NOLINT(whitespace/line_length)
-#define CASADI_PLUGINS "Linsol::lapacklu;Linsol::lapackqr;Integrator::cvodes;Integrator::idas;Rootfinder::kinsol;Nlpsol::sleqp;Nlpsol::ipopt;Nlpsol::bonmin;Conic::qpoases;Nlpsol::knitro;Conic::cplex;Conic::clp;Conic::cbc;Linsol::csparse;Linsol::csparsecholesky;Conic::highs;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::superscs;Nlpsol::ampl;Conic::proxqp;Conic::osqp;Nlpsol::alpaqa;Conic::nlpsol;Conic::qrqp;Conic::ipqp;Nlpsol::qrsqp;Importer::shell;Integrator::rk;Integrator::collocation;Interpolant::linear;Interpolant::bspline;Linsol::symbolicqr;Linsol::qr;Linsol::ldl;Linsol::tridiag;Linsol::lsqr;Nlpsol::sqpmethod;Nlpsol::feasiblesqpmethod;Nlpsol::scpgen;Rootfinder::newton;Rootfinder::fast_newton;Rootfinder::nlpsol"  // NOLINT(whitespace/line_length)
+#define CASADI_COMPILER "/Users/runner/miniconda3/envs/compiler/bin/clang++"  // NOLINT(whitespace/line_length)
+#define CASADI_COMPILER_FLAGS " -pthread    -DUSE_CXX11 -DHAVE_MKSTEMPS -DCASADI_WITH_THREAD -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=6 -DCASADI_PATCH_VERSION=6 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell"  // NOLINT(whitespace/line_length)
+#define CASADI_MODULES "casadi;casadi_linsol_lapacklu;casadi_linsol_lapackqr;casadi_sundials_common;casadi_integrator_cvodes;casadi_integrator_idas;casadi_rootfinder_kinsol;casadi_nlpsol_sleqp;casadi_nlpsol_ipopt;casadi_nlpsol_madnlp;casadi_nlpsol_bonmin;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_cplex;casadi_conic_clp;casadi_conic_cbc;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_conic_highs;casadi_conic_daqp;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_fatrop;casadi_nlpsol_fatrop;casadi_conic_superscs;casadi_nlpsol_ampl;casadi_conic_proxqp;casadi_conic_osqp;casadi_conic_nlpsol;casadi_conic_qrqp;casadi_conic_ipqp;casadi_nlpsol_qrsqp;casadi_importer_shell;casadi_integrator_rk;casadi_integrator_collocation;casadi_interpolant_linear;casadi_interpolant_bspline;casadi_linsol_symbolicqr;casadi_linsol_qr;casadi_linsol_ldl;casadi_linsol_tridiag;casadi_linsol_lsqr;casadi_nlpsol_sqpmethod;casadi_nlpsol_feasiblesqpmethod;casadi_nlpsol_scpgen;casadi_rootfinder_newton;casadi_rootfinder_fast_newton;casadi_rootfinder_nlpsol"  // NOLINT(whitespace/line_length)
+#define CASADI_PLUGINS "Linsol::lapacklu;Linsol::lapackqr;Integrator::cvodes;Integrator::idas;Rootfinder::kinsol;Nlpsol::sleqp;Nlpsol::ipopt;Nlpsol::madnlp;Nlpsol::bonmin;Conic::qpoases;Nlpsol::knitro;Conic::cplex;Conic::clp;Conic::cbc;Linsol::csparse;Linsol::csparsecholesky;Conic::highs;Conic::daqp;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::fatrop;Nlpsol::fatrop;Conic::superscs;Nlpsol::ampl;Conic::proxqp;Conic::osqp;Conic::nlpsol;Conic::qrqp;Conic::ipqp;Nlpsol::qrsqp;Importer::shell;Integrator::rk;Integrator::collocation;Interpolant::linear;Interpolant::bspline;Linsol::symbolicqr;Linsol::qr;Linsol::ldl;Linsol::tridiag;Linsol::lsqr;Nlpsol::sqpmethod;Nlpsol::feasiblesqpmethod;Nlpsol::scpgen;Rootfinder::newton;Rootfinder::fast_newton;Rootfinder::nlpsol"  // NOLINT(whitespace/line_length)
 #define CASADI_INSTALL_PREFIX "/usr/local"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_PREFIX "lib"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_SUFFIX ".dylib"  // NOLINT(whitespace/line_length)

casadi/include/casadi/core/casadi_common.hpp

@@ -135,6 +135,7 @@ namespace casadi {
   /** \brief  Function pointer types for the C API
 
       \identifier{7j} */
+  typedef int (*config_t)(int, const char**);
   typedef void (*signal_t)(void);
   typedef casadi_int (*getint_t)(void);
   typedef double (*default_t)(casadi_int i);

casadi/include/casadi/core/casadi_export.h

@@ -33,6 +33,7 @@
 #  define CASADI_DEPRECATED_NO_EXPORT CASADI_NO_EXPORT CASADI_DEPRECATED
 #endif
 
+/* NOLINTNEXTLINE(readability-avoid-unconditional-preprocessor-if) */
 #if 0 /* DEFINE_NO_DEPRECATED */
 #  ifndef CASADI_NO_DEPRECATED
 #    define CASADI_NO_DEPRECATED

casadi/include/casadi/core/casadi_misc.hpp

@@ -144,6 +144,12 @@ private:
   template<typename T>
   std::vector<T> vector_slice(const std::vector<T> &v, const std::vector<casadi_int> &i);
 
+  /**  \brief Return all but the first element of a vector
+
+       \identifier{27y} */
+  template<typename T>
+  std::vector<T> vector_tail(const std::vector<T> &v);
+
   /** \brief Reverse a list
 
       \identifier{1la} */
@@ -526,6 +532,13 @@ namespace casadi {
     return ret;
   }
 
+  template<typename T>
+  std::vector<T> vector_tail(const std::vector<T> &v) {
+    std::vector<T> ret;
+    ret.insert(ret.begin(), v.begin()+1, v.end());
+    return ret;
+  }
+
   template<typename T>
   std::vector<T> reverse(const std::vector<T> &v) {
     std::vector<T> ret(v.size());

casadi/include/casadi/core/casadi_types.hpp

@@ -57,9 +57,10 @@ namespace casadi {
         SOLVER_RET_UNKNOWN,
         SOLVER_RET_LIMITED, // Out of time
         SOLVER_RET_NAN,
-        SOLVER_RET_INFEASIBLE
+        SOLVER_RET_INFEASIBLE,
+        SOLVER_RET_EXCEPTION
     };
-}
+} // namespace casadi
 
 
 #endif // CASADI_TYPES_HPP

casadi/include/casadi/core/code_generator.hpp

@@ -103,6 +103,16 @@ namespace casadi {
         \identifier{ry} */
     casadi_int get_constant(const std::vector<casadi_int>& v, bool allow_adding=false);
 
+    /** \brief Get or add a char constant
+
+        \identifier{27l} */
+    casadi_int get_constant(const std::vector<char>& v, bool allow_adding=false);
+
+    /** \brief Get or add a vector<string> constant
+
+        \identifier{27z} */
+    casadi_int get_constant(const std::vector<std::string>& v, bool allow_adding=false);
+
     /** \brief Represent an array constant; adding it when new
 
         \identifier{rz} */
@@ -128,6 +138,16 @@ namespace casadi {
         \identifier{s1} */
     std::string constant(const std::vector<double>& v);
 
+    /** \brief Represent an array constant; adding it when new
+
+        \identifier{27m} */
+    std::string constant(const std::vector<char>& v);
+
+    /** \brief Represent an array constant; adding it when new
+
+        \identifier{280} */
+    std::string constant(const std::vector<std::string>& v);
+
     /** \brief Allocate file scope double read-only memory
 
         \identifier{s2} */
@@ -143,6 +163,10 @@ namespace casadi {
         \identifier{s4} */
     void define_rom_integer(const void* id, casadi_int size);
 
+    /** \brief Setup a callback
+
+        \identifier{27s} */
+    void setup_callback(const std::string& s, const Function& f);
     /** \brief Access file scope integer read-only memory
 
         \identifier{s5} */
@@ -153,7 +177,7 @@ namespace casadi {
         \identifier{s6} */
     std::string operator()(const Function& f, const std::string& arg,
                            const std::string& res, const std::string& iw,
-                           const std::string& w);
+                           const std::string& w, const std::string& failure_ret="1");
 
     /** \brief Print a string to buffer
 
@@ -232,6 +256,8 @@ namespace casadi {
         \identifier{sk} */
     std::string initializer(const std::vector<double>& v);
     std::string initializer(const std::vector<casadi_int>& v);
+    std::string initializer(const std::vector<char>& v);
+    std::string initializer(const std::vector<std::string>& v);
 
     /** \brief Sanitize source files for codegen
 
@@ -603,7 +629,12 @@ namespace casadi {
       AUX_MMIN,
       AUX_MMAX,
       AUX_LOGSUMEXP,
-      AUX_SPARSITY
+      AUX_SPARSITY,
+      AUX_BFGS,
+      AUX_ORACLE_CALLBACK,
+      AUX_OCP_BLOCK,
+      AUX_ORACLE,
+      AUX_SCALED_COPY
     };
 
     /** \brief Add a built-in auxiliary function
@@ -634,12 +665,24 @@ namespace casadi {
     void print_vector(std::ostream &s, const std::string& name,
                              const std::vector<casadi_int>& v);
 
+    /** \brief  Print char vector to a c file
+
+        \identifier{27n} */
+    void print_vector(std::ostream &s, const std::string& name,
+                             const std::vector<char>& v);
+
     /** \brief  Print real vector to a c file
 
         \identifier{ts} */
     void print_vector(std::ostream &s, const std::string& name,
                              const std::vector<double>& v);
 
+    /** \brief  Print string vector to a c file
+
+        \identifier{281} */
+    void print_vector(std::ostream &s, const std::string& name,
+                             const std::vector<std::string>& v);
+
     /** \brief Create a copy operation
 
         \identifier{tt} */
@@ -810,6 +853,9 @@ namespace casadi {
     bool with_sfunction;
     std::vector<std::string> added_sfunctions;
 
+    // Unroll arguments?
+    bool unroll_args;
+
     // Verbose codegen?
     bool verbose;
 
@@ -874,6 +920,8 @@ namespace casadi {
     std::multimap<Auxiliary, std::vector<std::string>> added_auxiliaries_;
     std::multimap<size_t, size_t> added_double_constants_;
     std::multimap<size_t, size_t> added_integer_constants_;
+    std::multimap<size_t, size_t> added_char_constants_;
+    std::multimap<size_t, size_t> added_string_constants_;
     std::map<std::string, std::pair<std::string, std::string> > local_variables_;
     std::map<std::string, std::string> local_default_;
     std::map<const void *, casadi_int> file_scope_double_;
@@ -888,9 +936,14 @@ namespace casadi {
     };
     std::vector<FunctionMeta> added_functions_;
 
+    // Counters for creating unique identifiers
+    std::map<std::string, std::map<FunctionInternal*, casadi_int> > added_wrappers_;
+
     // Constants
     std::vector<std::vector<double> > double_constants_;
     std::vector<std::vector<casadi_int> > integer_constants_;
+    std::vector<std::vector<char> > char_constants_;
+    std::vector<std::vector<std::string> > string_constants_;
 
     // Does any function need thread-local memory?
     bool needs_mem_;
@@ -898,6 +951,10 @@ namespace casadi {
     // Hash a vector
     static size_t hash(const std::vector<double>& v);
     static size_t hash(const std::vector<casadi_int>& v);
+    static size_t hash(const std::vector<char>& v);
+    static size_t hash(const std::vector<std::string>& v);
+
+    std::string wrapper(const Function& base, const std::string& name);
 
     // Compare two vectors
     template<typename T>

casadi/include/casadi/core/core.hpp

@@ -65,5 +65,6 @@
 #include "xml_file.hpp"
 #include "optistack.hpp"
 #include "serializer.hpp"
+#include "tools.hpp"
 
 #endif // CASADI_CORE_HPP

casadi/include/casadi/core/generic_expression.hpp

@@ -170,7 +170,7 @@ class GenericExpression : public GenericExpressionCommon {
   ///@}
 
   ///@{
-  /** \brief Logical greater or equal to: (x,y) -> x <= y
+  /** \brief Logical greater or equal to: (x,y) -> x >= y
 
       \identifier{ou} */
   static ExType ge(const ExType &x, const ExType &y) {

casadi/include/casadi/core/generic_type.hpp

@@ -56,7 +56,11 @@ namespace casadi {
     OT_FUNCTION,
     OT_FUNCTIONVECTOR,
     OT_VOIDPTR,
-    OT_UNKNOWN};
+    OT_UNKNOWN,
+    OT_STRINGVECTORVECTOR,
+    OT_DICTVECTOR,
+    OT_VECTORVECTOR,
+    OT_VECTOR};
 #endif // SWIG
 
   /** \brief Generic data type, can hold different types such as bool, casadi_int, std::string etc.
@@ -93,10 +97,14 @@ namespace casadi {
     GenericType(const std::vector<double>& dv);
     GenericType(const std::vector< std::vector<double> >& dv);
     GenericType(const std::vector<std::string>& sv);
+    GenericType(const std::vector<std::vector<std::string> >& sv);
     GenericType(const char s[]);
     GenericType(const Function& f);
     GenericType(const std::vector<Function>& f);
     GenericType(const Dict& dict);
+    GenericType(const std::vector<Dict>& dictv);
+    GenericType(const std::vector<std::vector<GenericType> >& gvv);
+    GenericType(const std::vector<GenericType>& gv);
     GenericType(void* ptr);
 
     /// Public class name
@@ -140,9 +148,13 @@ namespace casadi {
       return to_double_vector_vector();
     }
     operator std::vector<std::string>() const { return to_string_vector();}
+    operator std::vector<std::vector<std::string> >() const { return to_string_vector_vector();}
     operator const Function&() const { return as_function();}
     operator const std::vector<Function>&() const { return as_function_vector();}
     operator const Dict&() const { return as_dict();}
+    operator const std::vector<Dict>&() const { return as_dict_vector();}
+    operator const std::vector<std::vector<GenericType> >&() const { return as_vector_vector();}
+    operator const std::vector<GenericType>&() const { return as_vector();}
     ///@}
 
     bool can_cast_to(TypeID other) const;
@@ -169,7 +181,11 @@ namespace casadi {
     bool is_double_vector_vector() const;
     bool is_bool_vector() const;
     bool is_string_vector() const;
+    bool is_string_vector_vector() const;
     bool is_dict() const;
+    bool is_dict_vector() const;
+    bool is_vector_vector() const;
+    bool is_vector() const;
     bool is_function() const;
     bool is_function_vector() const;
     bool is_void_pointer() const;
@@ -189,7 +205,11 @@ namespace casadi {
     const std::vector<double>& as_double_vector() const;
     const std::vector< std::vector<double> >& as_double_vector_vector() const;
     const std::vector<std::string>& as_string_vector() const;
+    const std::vector<std::vector<std::string> >& as_string_vector_vector() const;
     const Dict& as_dict() const;
+    const std::vector<Dict>& as_dict_vector() const;
+    const std::vector<std::vector< GenericType> >& as_vector_vector() const;
+    const std::vector<GenericType>& as_vector() const;
     const Function& as_function() const;
     const std::vector<Function>& as_function_vector() const;
     void* const & as_void_pointer() const;
@@ -207,7 +227,11 @@ namespace casadi {
     std::vector<double> to_double_vector() const;
     std::vector< std::vector<double> > to_double_vector_vector() const;
     std::vector<std::string> to_string_vector() const;
+    std::vector<std::vector<std::string> > to_string_vector_vector() const;
     Dict to_dict() const;
+    std::vector<Dict> to_dict_vector() const;
+    std::vector<GenericType> to_vector() const;
+    std::vector< std::vector< GenericType> > to_vector_vector() const;
     Function to_function() const;
     std::vector<Function> to_function_vector() const;
     void* to_void_pointer() const;

casadi/include/casadi/core/global_options.hpp

@@ -70,6 +70,8 @@ namespace casadi {
 
       static casadi_int start_index;
 
+      static bool julia_initialized;
+
 #endif //SWIG
       // Setter and getter for simplification_on_the_fly
       static void setSimplificationOnTheFly(bool flag) { simplification_on_the_fly = flag; }

casadi/include/casadi/core/matrix_decl.hpp

@@ -1050,15 +1050,30 @@ namespace casadi {
 
     /** \brief Check if symbolic (Dense)
 
+        Check if an expression is a pure symbol.
+        Pure means that no operations should happen on the symbol
+        (not even vec, transpose, index, concatenation, ...)
+        By consequence, a slice of a vector-shaped MX symbol is not a symbol.
+        However, the SX type is really a container format with scalar entries.
+        Therefore, a slice of a vector-shaped SX symbol is still a symbol.
+
         Sparse matrices invariable return false
 
+        \seealso is_valid_input
+
         \identifier{19r} */
     bool is_symbolic() const;
 
     /** \brief Check if matrix can be used to define function inputs.
 
+
+        is_valid_input is more forgiving than is_symbolic.
+        Some compositions are allowed: vec, vertcat.
+
         Sparse matrices can return true if all non-zero elements are symbolic
 
+        \seealso is_symbolic
+
         \identifier{19s} */
     bool is_valid_input() const;
 

casadi/include/casadi/core/mx.hpp

@@ -306,15 +306,23 @@ namespace casadi {
         \identifier{qp} */
     std::vector<MX> primitives() const;
 
+    /// @{
     /** \brief Split up an expression along symbolic primitives
 
         \identifier{qq} */
     std::vector<MX> split_primitives(const MX& x) const;
+    std::vector<SX> split_primitives(const SX& x) const;
+    std::vector<DM> split_primitives(const DM& x) const;
+    /// @}
 
+    /// @{
     /** \brief Join an expression along symbolic primitives
 
         \identifier{qr} */
     MX join_primitives(const std::vector<MX>& v) const;
+    SX join_primitives(const std::vector<SX>& v) const;
+    DM join_primitives(const std::vector<DM>& v) const;
+    /// @}
 
     /// \cond INTERNAL
     /** \brief Detect duplicate symbolic expressions
@@ -655,6 +663,7 @@ namespace casadi {
     static MX convexify(const MX& H, const Dict& opts = Dict());
     static MX stop_diff(const MX& expr, casadi_int order);
     static MX stop_diff(const MX& expr, const MX& var, casadi_int order);
+    static std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b);
     ///@}
     /// \endcond
 
@@ -836,13 +845,14 @@ namespace casadi {
       return MX::stop_diff(expr, var, order);
     }
 
+    /** \bried Return all elements of a that do not occur in b, preserving order */
+    inline friend std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b) {
+      return MX::difference(a, b);
+    }
 
 /** @} */
 #endif // SWIG
 
-    /** \bried Return all elements of a that do not occur in b, preserving order */
-    friend std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b);
-
     /** \brief returns itself, but with an assertion attached
     *
     *  If y does not evaluate to 1, a runtime error is raised

casadi/include/casadi/core/optistack.hpp

@@ -200,6 +200,23 @@ public:
   void set_value(const std::vector<MX>& assignments);
   /// @}
 
+  /// @{
+  /** \brief Set domain of a decision variable
+  *
+  * \param[in] x decision variable
+  * \param[in] type 'real', 'integer' (default: real)
+  *
+  * \verbatim
+  * opti.set_domain(x, "real")
+  * opti.set_domain(x, "integer")
+  * \endverbatim
+
+      \identifier{27t} */
+  void set_domain(const MX& x, const std::string& domain);
+
+  /// @}
+
+
   /// Crunch the numbers; solve the problem
   OptiSol solve();
 
@@ -451,6 +468,11 @@ public:
     OPTI_PAR,  // parameter
     OPTI_DUAL_G // dual
   };
+  enum DomainType {
+    OPTI_DOMAIN_REAL,
+    OPTI_DOMAIN_INTEGER
+  };
+
 
   struct IndexAbstraction {
     IndexAbstraction() : start(0), stop(0) {}
@@ -475,6 +497,7 @@ public:
     casadi_int n;
     casadi_int m;
     VariableType type;
+    DomainType domain;
     casadi_int count;
     casadi_int i;
     casadi_int active_i;

casadi/include/casadi/core/runtime/casadi_nlp.hpp

@@ -29,9 +29,12 @@ struct casadi_nlpsol_detect_bounds_prob {
   casadi_int ng;
   // Number of bounds
   casadi_int nb;
-  casadi_int *target_x;
-  casadi_int *target_g;
-  char *is_simple;
+  const casadi_int *target_x;
+  const casadi_int *target_g;
+  const char *is_simple;
+
+  int (*callback)(const T1** arg, T1** res, casadi_int* iw, T1* w, void* callback_data);
+  void* callback_data;
 };
 // C-REPLACE "casadi_nlpsol_detect_bounds_prob<T1>" "struct casadi_nlpsol_detect_bounds_prob"
 
@@ -48,10 +51,10 @@ struct casadi_nlpsol_prob {
 template<typename T1>
 struct casadi_nlpsol_detect_bounds_data {
   // Work vectors
-  const double** arg;
-  double** res;
+  const T1** arg;
+  T1** res;
   casadi_int* iw;
-  double* w;
+  T1* w;
 
   // Simple bounds g(x)=A(b)x+b(p);
   // a[i]*x[target_x[i]]+b[i]
@@ -63,12 +66,14 @@ struct casadi_nlpsol_detect_bounds_data {
   T1* lam_xu;
 };
 // C-REPLACE "casadi_nlpsol_detect_bounds_data<T1>" "struct casadi_nlpsol_detect_bounds_data"
+// C-REPLACE "casadi_oracle_data<T1>" "struct casadi_oracle_data"
 
 // SYMBOL "nlpsol_data"
 template<typename T1>
 struct casadi_nlpsol_data {
   // Problem structure
   const casadi_nlpsol_prob<T1>* prob;
+  casadi_oracle_data<T1>* oracle;
   // Variable bounds
   T1 *lbz, *ubz;
   // Current primal solution
@@ -147,3 +152,125 @@ void casadi_nlpsol_init(casadi_nlpsol_data<T1>* d, const T1*** arg, T1*** res,
   }
 
 }
+
+// C-REPLACE "fabs" "casadi_fabs"
+
+// SYMBOL "nlpsol_detect_bounds_before"
+template<typename T1>
+int casadi_detect_bounds_before(casadi_nlpsol_data<T1>* d_nlp) {
+  const casadi_nlpsol_prob<T1>* p_nlp = d_nlp->prob;
+  casadi_nlpsol_detect_bounds_data<T1>* d_bounds = &d_nlp->detect_bounds;
+  const casadi_nlpsol_detect_bounds_prob<T1>* p_bounds = &p_nlp->detect_bounds;
+
+  casadi_int nx = p_nlp->nx;
+  d_bounds->arg[0] = d_nlp->p;
+  d_bounds->res[0] = d_bounds->a;
+  d_bounds->res[1] = d_bounds->b;
+  p_bounds->callback(d_bounds->arg, d_bounds->res,
+    d_bounds->iw, d_bounds->w, p_bounds->callback_data);
+
+  for (casadi_int i=0;i<p_bounds->nb;++i) {
+    if (d_bounds->a[i]==0) {
+      casadi_int k = p_bounds->target_g[i];
+      if (d_nlp->lbg[k]>d_bounds->b[i]) return 1;
+      if (d_nlp->ubg[k]<d_bounds->b[i]) return 1;
+    }
+  }
+
+  T1* lbz = d_nlp->lbz+nx;
+  T1* ubz = d_nlp->ubz+nx;
+  T1* lam = d_nlp->lam+nx;
+
+  for (casadi_int i=0;i<nx;++i) {
+    d_bounds->lam_xl[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]<0)*d_nlp->lam_x0[i] : 0.;
+    d_bounds->lam_xu[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]>0)*d_nlp->lam_x0[i] : 0.;
+  }
+
+  for (casadi_int i=0;i<nx;++i) {
+    d_bounds->target_l[i] = i;
+    d_bounds->target_u[i] = i;
+  }
+
+  // Update lbz/ubz
+  casadi_int k=0;
+  for (casadi_int i=0;i<p_bounds->ng;++i) {
+    if (p_bounds->is_simple[i]) {
+      // Update lbz/ubz
+      T1 lb = (d_nlp->lbg[i]-d_bounds->b[k])/fabs(d_bounds->a[k]);
+      T1 ub = (d_nlp->ubg[i]-d_bounds->b[k])/fabs(d_bounds->a[k]);
+      casadi_int j = p_bounds->target_x[k];
+
+      if (lb==d_nlp->lbz[j]) {
+        if (d_nlp->lam_g0) d_bounds->lam_xl[j] += (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i];
+      } else if (lb>d_nlp->lbz[j]) {
+        d_nlp->lbz[j] = lb;
+        d_bounds->target_l[j] = nx+i;
+        if (d_nlp->lam_g0) d_bounds->lam_xl[j] = (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i];
+      }
+
+      if (ub==d_nlp->ubz[j]) {
+        if (d_nlp->lam_g0) d_bounds->lam_xu[j] += (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i];
+      } else if (ub<d_nlp->ubz[j]) {
+        d_nlp->ubz[j] = ub;
+        d_bounds->target_u[j] = nx+i;
+        if (d_nlp->lam_g0) d_bounds->lam_xu[j] = (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i];
+      }
+
+      k++;
+    } else {
+
+      // Update lbz/ubz
+      *lbz++ = d_nlp->lbg[i];
+      *ubz++ = d_nlp->ubg[i];
+
+      if (d_nlp->lam_g0) *lam++ = d_nlp->lam_g0[i];
+    }
+  }
+
+  for (casadi_int i=0;i<nx;++i) {
+    d_nlp->lam[i] = d_bounds->lam_xl[i]+d_bounds->lam_xu[i];
+  }
+  return 0;
+}
+
+// SYMBOL "nlpsol_detect_bounds_after"
+template<typename T1>
+int casadi_detect_bounds_after(casadi_nlpsol_data<T1>* d_nlp) {
+  const casadi_nlpsol_prob<T1>* p_nlp = d_nlp->prob;
+  casadi_nlpsol_detect_bounds_data<T1>* d_bounds = &d_nlp->detect_bounds;
+  const casadi_nlpsol_detect_bounds_prob<T1>* p_bounds = &p_nlp->detect_bounds;
+  casadi_int nx = p_nlp->nx;
+
+  casadi_fill(d_nlp->lam_x, nx, 0.);
+  casadi_fill(d_nlp->lam_g, p_bounds->ng, 0.);
+
+  casadi_int k = 0;
+  casadi_int k_normal = 0;
+  for (casadi_int i=0;i<p_bounds->ng;++i) {
+    if (p_bounds->is_simple[i]) {
+      casadi_int j = p_bounds->target_x[k];
+      if (d_nlp->g) d_nlp->g[i] = d_bounds->a[k]*d_nlp->z[j]+d_bounds->b[k];
+      k++;
+    } else {
+      if (d_nlp->g) d_nlp->g[i] = d_nlp->z[nx+k_normal];
+      if (d_nlp->lam_g) d_nlp->lam_g[i] = d_nlp->lam[nx+k_normal];
+      k_normal++;
+    }
+  }
+
+  for (casadi_int i=0;i<nx;++i) {
+    if (d_bounds->target_l[i]<nx) {
+      if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]<0)*d_nlp->lam[i];
+    } else {
+      if (d_nlp->lam_g)
+        d_nlp->lam_g[d_bounds->target_l[i]-nx] += (d_nlp->lam[i]<0)*d_nlp->lam[i];
+    }
+    if (d_bounds->target_u[i]<nx) {
+      if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]>0)*d_nlp->lam[i];
+    } else {
+      if (d_nlp->lam_g)
+        d_nlp->lam_g[d_bounds->target_u[i]-nx] += (d_nlp->lam[i]>0)*d_nlp->lam[i];
+    }
+  }
+  return 0;
+}