casadi 3.6.4__cp39-none-manylinux2014_aarch64.whl → 3.6.6__cp39-none-manylinux2014_aarch64.whl

casadi/cmake/alpaqa/alpaqaConfigVersion.cmake

@@ -52,11 +52,6 @@ else()
 endif()
 
 
-# if the installed project requested no architecture check, don't perform the check
-if("FALSE")
-  return()
-endif()
-
 # if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
 if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
   return()

casadi/cmake/alpaqa/alpaqaTargets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------

casadi/cmake/casadi-config-version.cmake

@@ -1,4 +1,4 @@
-set(PACKAGE_VERSION "3.6.4")
+set(PACKAGE_VERSION "3.6.6")
 
 # Check whether the requested PACKAGE_FIND_VERSION is compatible
 if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")

casadi/cmake/casadi-targets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------

casadi/cmake/osqp/osqp-targets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------

casadi/cmake/proxsuite/proxsuiteConfigVersion.cmake

@@ -52,11 +52,6 @@ else()
 endif()
 
 
-# if the installed project requested no architecture check, don't perform the check
-if("FALSE")
-  return()
-endif()
-
 # if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
 if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
   return()

casadi/cmake/proxsuite/proxsuiteTargets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------

casadi/cmake/qdldl/qdldl-targets.cmake

@@ -7,7 +7,7 @@ if(CMAKE_VERSION VERSION_LESS "2.8.3")
    message(FATAL_ERROR "CMake >= 2.8.3 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.22)
+cmake_policy(VERSION 2.8.3...3.25)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------

casadi/include/casadi/casadi.i

@@ -80,6 +80,19 @@
       return PyErr_CheckSignals();
     }
 
+    std::string python_string_to_std_string(PyObject *str_py) {
+#if SWIG_VERSION < 0x040200
+      const char *str_char = SWIG_Python_str_AsChar(str_py);
+      std::string str(str_char);
+      SWIG_Python_str_DelForPy3(str_char);
+#else
+      PyObject *bytes = NULL;
+      std::string str(SWIG_PyUnicode_AsUTF8AndSize(str_py, NULL, &bytes));
+      Py_XDECREF(bytes);
+#endif
+      return str;
+    }
+
     void handle_director_exception() {
 	    std::string msg = "Exception in SWIG director ";
       SWIG_PYTHON_THREAD_BEGIN_BLOCK;
@@ -91,9 +104,7 @@
       PyObject *ptype, *pvalue, *ptraceback;
       PyErr_Fetch(&ptype, &pvalue, &ptraceback);
       PyObject* msg_py = PyObject_Str(pvalue);
-      char *msg_char = SWIG_Python_str_AsChar(msg_py);
-      msg = msg_char;
-      SWIG_Python_str_DelForPy3(msg_char);
+      msg = python_string_to_std_string(msg_py);
       Py_DECREF(msg_py);
       PyErr_Restore(ptype, pvalue, ptraceback);
       PyErr_Print();
@@ -1441,11 +1452,15 @@ namespace std {
           || to_generic<std::vector<double> >(p, m)
           || to_generic<std::vector<bool> >(p, m)
           || to_generic<std::vector<std::string> >(p, m)
+          || to_generic<std::vector<std::vector<std::string> > >(p, m)
           || to_generic<std::vector<std::vector<casadi_int> > >(p, m)
           || to_generic<std::vector<std::vector<double> > >(p, m)
           || to_generic<casadi::Function>(p, m)
           || to_generic<std::vector<casadi::Function> >(p, m)
-          || to_generic<casadi::GenericType::Dict>(p, m)) {
+          || to_generic<casadi::GenericType::Dict>(p, m)
+          || to_generic<std::vector<casadi::GenericType::Dict> >(p, m)
+          || to_generic<std::vector<std::vector<casadi::GenericType> > >(p, m)
+          || to_generic<std::vector<casadi::GenericType> >(p, m)) {
         return true;
       }
 
@@ -1468,7 +1483,11 @@ namespace std {
       case OT_DOUBLEVECTOR: return from_tmp(a->as_double_vector());
       case OT_DOUBLEVECTORVECTOR: return from_tmp(a->as_double_vector_vector());
       case OT_STRINGVECTOR: return from_tmp(a->as_string_vector());
+      case OT_STRINGVECTORVECTOR: return from_tmp(a->as_string_vector_vector());
       case OT_DICT: return from_tmp(a->as_dict());
+      case OT_DICTVECTOR: return from_tmp(a->as_dict_vector());
+      case OT_VECTORVECTOR: return from_tmp(a->as_vector_vector());
+      case OT_VECTOR: return from_tmp(a->as_vector());
       case OT_FUNCTION: return from_tmp(a->as_function());
       case OT_FUNCTIONVECTOR: return from_tmp(a->as_function_vector());
 #ifdef SWIGPYTHON
@@ -1500,10 +1519,10 @@ namespace std {
 
 #ifdef SWIGPYTHON
       if (PyString_Check(p) || PyUnicode_Check(p)) {
-        if (m) (*m)->clear();
-        char* my_char = SWIG_Python_str_AsChar(p);
-        if (m) (*m)->append(my_char);
-        SWIG_Python_str_DelForPy3(my_char);
+        if (m) {
+          (*m)->clear();
+          (*m)->append(python_string_to_std_string(p));
+        }
         return true;
       }
 #endif // SWIGPYTHON
@@ -1594,9 +1613,7 @@ namespace std {
         while (PyDict_Next(p, &pos, &key, &value)) {
           if (!(PyString_Check(key) || PyUnicode_Check(key))) return false;
           if (m) {
-            char* c_key = SWIG_Python_str_AsChar(key);
-            M *v=&(**m)[std::string(c_key)], *v2=v;
-            SWIG_Python_str_DelForPy3(c_key);
+            M *v=&(**m)[python_string_to_std_string(key)], *v2=v;
             if (!casadi::to_ptr(value, &v)) return false;
             if (v!=v2) *v2=*v; // if only pointer changed
           } else {
@@ -1857,11 +1874,8 @@ namespace std {
       PyObject * classo = PyObject_GetAttrString( p, "__class__");
       PyObject * classname = PyObject_GetAttrString( classo, "__name__");
 
-      char* c_classname = SWIG_Python_str_AsChar(classname);
-      bool ret = strcmp(c_classname, name)==0;
-
+      bool ret = python_string_to_std_string(classname) == name;
       Py_DECREF(classo);Py_DECREF(classname);
-      SWIG_Python_str_DelForPy3(c_classname);
       return ret;
     }
 #endif // SWIGPYTHON
@@ -3680,6 +3694,9 @@ DECL M casadi_stop_diff(const M& expr, casadi_int order) {
 DECL M casadi_stop_diff(const M& expr, const M& var, casadi_int order) {
   return stop_diff(expr, var, order);
 }
+DECL std::vector< M > casadi_difference(const std::vector< M >& a, const std::vector< M >& b) {
+  return difference(a, b);
+}
 DECL M casadi_no_hess(const M& expr) {
   return no_hess(expr);
 }
@@ -4420,6 +4437,7 @@ namespace casadi {
 %include <casadi/core/casadi_meta.hpp>
 %include <casadi/core/integration_tools.hpp>
 %include <casadi/core/nlp_tools.hpp>
+%include <casadi/core/tools.hpp>
 %include <casadi/core/nlp_builder.hpp>
 %include <casadi/core/dae_builder.hpp>
 %include <casadi/core/xml_file.hpp>

casadi/include/casadi/casadi_c.h

@@ -128,6 +128,8 @@ CASADI_EXPORT int casadi_c_work_id(int id, casadi_int *sz_arg, casadi_int* sz_re
 CASADI_EXPORT int casadi_c_eval_id(int id, const double** arg, double** res,
   casadi_int* iw, double* w, int mem);
 
+CASADI_EXPORT void casadi_c_logger_write(const char* msg, int num);
+CASADI_EXPORT void casadi_c_logger_flush(void);
 
 #ifdef __cplusplus
 }

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 * worhp-mockup-build, Use mockup WORHP (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 * 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 * 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 * 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 * hpipm-sourcebuild, Build HPIPM (BUILD_HPIPM_VERSION=0e0c9f4e0d4081dceafa9b37c396db50bce0e81a) from downloaded source (BUILD_HPIPM_GIT_REPO=https://github.com/jgillis/hpipm.git).\n * blasfeo-sourcebuild, Build BLASFEO (BUILD_BLASFEO_VERSION=edf92b396adddd9e548b9786f87ad290a0971329) from downloaded source (BUILD_BLASFEO_GIT_REPO=https://github.com/giaf/blasfeo.git).\n * lapack-sourcebuild, Download and install OpenBLAS for LAPACK+BLAS\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 * worhp-interface, Interface to the NLP solver Worhp (requires gfortran, gomp).\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * ipopt-interface, Interface to the NLP solver Ipopt.\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 * worhp-mockup-build, Use mockup WORHP (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 * alpaqa-sourcebuild, Build Alpaqa (BUILD_ALPAQA_VERSION=develop) from downloaded source (BUILD_ALPAQA_GIT_REPO=https://github.com/jgillis/alpaqa).\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 * 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 * 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 * hpipm-sourcebuild, Build HPIPM (BUILD_HPIPM_VERSION=0e0c9f4e0d4081dceafa9b37c396db50bce0e81a) from downloaded source (BUILD_HPIPM_GIT_REPO=https://github.com/jgillis/hpipm.git).\n * blasfeo-sourcebuild, Build BLASFEO (BUILD_BLASFEO_VERSION=edf92b396adddd9e548b9786f87ad290a0971329) from downloaded source (BUILD_BLASFEO_GIT_REPO=https://github.com/giaf/blasfeo.git).\n * lapack-sourcebuild, Download and install OpenBLAS for LAPACK+BLAS\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 * worhp-interface, Interface to the NLP solver Worhp (requires gfortran, gomp).\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * ipopt-interface, Interface to the NLP solver Ipopt.\n * daqp-interface, Interface to the MILP / QP solver HiGHS.\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_BUILD_TYPE "Release"  // NOLINT(whitespace/line_length)
 #define CASADI_COMPILER_ID "GNU"  // NOLINT(whitespace/line_length)
 #define CASADI_COMPILER "/usr/xcc/aarch64-unknown-linux-gnu/bin/aarch64-unknown-linux-gnu-g++"  // NOLINT(whitespace/line_length)
-#define CASADI_COMPILER_FLAGS "-I /usr/xcc/aarch64-unknown-linux-gnu/include/ -std=c++11 -pthread -fPIC -Wl,--unresolved-symbols=ignore-all   -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_ipopt;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_cplex;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_worhp;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_hpipm;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::ipopt;Conic::qpoases;Nlpsol::knitro;Conic::cplex;Linsol::csparse;Linsol::csparsecholesky;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::worhp;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::hpipm;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_FLAGS "-I /usr/xcc/aarch64-unknown-linux-gnu/include/ -std=c++11 -pthread -fPIC -Wl,--unresolved-symbols=ignore-all   -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_ipopt;casadi_nlpsol_madnlp;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_cplex;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_conic_daqp;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_worhp;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_hpipm;casadi_conic_fatrop;casadi_nlpsol_fatrop;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::ipopt;Nlpsol::madnlp;Conic::qpoases;Nlpsol::knitro;Conic::cplex;Linsol::csparse;Linsol::csparsecholesky;Conic::daqp;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::worhp;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::hpipm;Conic::fatrop;Nlpsol::fatrop;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_INSTALL_PREFIX "/usr/local"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_PREFIX "lib"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_SUFFIX ".so"  // 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_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