casadi 3.6.7__cp311-none-macosx_11_0_arm64.whl → 3.7.0__cp311-none-macosx_11_0_arm64.whl

casadi/include/casadi/casadi.i

@@ -55,15 +55,37 @@
 // Define printing routine
 
 #ifdef SWIGPYTHON
+
+#ifdef CASADI_WITH_PYTHON_GIL_RELEASE
+%{
+  // This .cxx was swig-compiled with WITH_PYTHON_GIL_RELEASE option
+  #define CASADI_WITH_PYTHON_GIL_RELEASE
+%}
+#else //CASADI_WITH_PYTHON_GIL_RELEASE
+%{
+  // This .cxx was swig-compiled without WITH_PYTHON_GIL_RELEASE option
+  #undef CASADI_WITH_PYTHON_GIL_RELEASE
+%}
+#endif //CASADI_WITH_PYTHON_GIL_RELEASE
+
+%ignore CASADI_SWIG_FLAGS;
+%include "swig_config.h"
+
 %{
   namespace casadi {
+
     // Redirect printout
     static void pythonlogger(const char* s, std::streamsize num, bool error) {
+#ifndef CASADI_WITH_PYTHON_GIL_RELEASE
       if (!casadi::InterruptHandler::is_main_thread()) {
         casadi::Logger::writeDefault(s, num, error);
         return;
       }
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
       int n = num;
+#ifdef CASADI_WITH_PYTHON_GIL_RELEASE
+      SWIG_PYTHON_THREAD_BEGIN_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
       while (n>0) {
         if (error) {
           PySys_WriteStderr("%.*s", std::min(n, 1000), s);
@@ -73,11 +95,18 @@
         n -= 1000;
         s += 1000;
       }
+#ifdef CASADI_WITH_PYTHON_GIL_RELEASE
+      SWIG_PYTHON_THREAD_END_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
     }
 
     static bool pythoncheckinterrupted() {
       if (!casadi::InterruptHandler::is_main_thread()) return false;
+#ifdef CASADI_WITH_PYTHON_GIL_RELEASE
+      SWIG_PYTHON_THREAD_BEGIN_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
       return PyErr_CheckSignals();
+      // SWIG_PYTHON_THREAD_END_BLOCK is not needed, destructor will release GIL
     }
 
     std::string python_string_to_std_string(PyObject *str_py) {
@@ -95,10 +124,15 @@
 
     void handle_director_exception() {
 	    std::string msg = "Exception in SWIG director ";
+      // Note: CASADI_WITH_PYTHON_GIL_RELEASE case has SWIG_PYTHON_THREAD_BEGIN_BLOCK in the caller
+#ifndef CASADI_WITH_PYTHON_GIL_RELEASE
       SWIG_PYTHON_THREAD_BEGIN_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
       if (PyErr_ExceptionMatches(PyExc_KeyboardInterrupt)) {
         PyErr_Clear();
+#ifndef CASADI_WITH_PYTHON_GIL_RELEASE
         SWIG_PYTHON_THREAD_END_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
         throw casadi::KeyboardInterruptException();
       }
       PyObject *ptype, *pvalue, *ptraceback;
@@ -108,7 +142,9 @@
       Py_DECREF(msg_py);
       PyErr_Restore(ptype, pvalue, ptraceback);
       PyErr_Print();
+#ifndef CASADI_WITH_PYTHON_GIL_RELEASE
       SWIG_PYTHON_THREAD_END_BLOCK;
+#endif // CASADI_WITH_PYTHON_GIL_RELEASE
       casadi_error(msg.c_str());
 	  }
   }
@@ -1532,7 +1568,15 @@ namespace std {
           if (mxGetM(p)==0) return true;
           size_t len=mxGetN(p);
           std::vector<char> s(len+1);
-          if (mxGetString(p, &s[0], (len+1)*sizeof(char))) return false;
+          if (mxGetString(p, &s[0], (len+1)*sizeof(char))) {
+            casadi_warning("mxGetString returned NULL");
+            return false;
+          }
+          // Matlab silent failure; see #4034
+          if (s[0]=='\0' && len>0) {
+            casadi_warning("mxGetString failure, see https://github.com/casadi/casadi/issues/4034");
+            return false;
+          }
           **m = std::string(&s[0], len);
         }
         return true;
@@ -2464,7 +2508,7 @@ PyOS_setsig(SIGINT, SigIntHandler);
 
 %pythoncode%{
 try:
-  from numpy import pi, inf
+  from numpy import pi, inf, sum
 except:
   pass
 
@@ -2728,6 +2772,13 @@ class NZproxy:
       inputs.reverse()
     if not(hasattr(self,name)) or ('mul' in name):
       name = '__' + name + '__'
+    if method=="reduce" and name=="add":
+      assert len(inputs)==1
+      axis = kwargs["axis"]
+      if axis is None:
+          return inputs[0].sum()
+      else:
+          return inputs[0].sum(axis)
     try:
       assert method=="__call__"
       fun=getattr(self, name)
@@ -2906,6 +2957,11 @@ namespace casadi{
 }
 } // namespace casadi
 
+%include <casadi/core/generic_shared.hpp>
+
+%template(GenSharedObject) casadi::GenericShared<casadi::SharedObject, casadi::SharedObjectInternal>;
+%template(GenWeakRef) casadi::GenericWeakRef<casadi::SharedObject, casadi::SharedObjectInternal>;
+
 %include <casadi/core/shared_object.hpp>
 %include <casadi/core/casadi_misc.hpp>
 %include <casadi/core/casadi_common.hpp>
@@ -3092,14 +3148,40 @@ SPARSITY_INTERFACE_FUN(DECL, (FLAG | IS_SX), Matrix<SXElem>)
   %define SPARSITY_INTERFACE_FUN(DECL, FLAG, M)
     SPARSITY_INTERFACE_FUN_BASE(DECL, FLAG, M)
     #if FLAG & IS_MEMBER
-     DECL casadi_int casadi_length(const M &v) {
-      return std::max(v.size1(), v.size2());
-     }
+      DECL casadi_int casadi_length(const M &v) {
+        return std::max(v.size1(), v.size2());
+      }
+      DECL M casadi_sum(const M& x, casadi_int dim) {
+        if (dim==1) return sum1(x);
+        if (dim==2) return sum2(x);
+        casadi_error(
+          "Expected sum(A,1), sum(A,2), sum(A,\"all\") got " + casadi::str(dim) + " instead.");
+      }
+      DECL M casadi_sum(const M& x, const std::string& dim) {
+        casadi_assert(dim=="all",
+          "Expected sum(...,'all'), got '" + dim + "' instead.");
+        return sum(x);
+      }
+      DECL M casadi_sum(const M& x) {
+        if (x.is_vector()) return sum(x);
+        return sum1(x);
+      }
     #endif
   %enddef
 #else
   %define SPARSITY_INTERFACE_FUN(DECL, FLAG, M)
     SPARSITY_INTERFACE_FUN_BASE(DECL, FLAG, M)
+    #if FLAG & IS_MEMBER
+      DECL M casadi_sum(const M& x, casadi_int dim) {
+        if (dim==0) return sum1(x);
+        if (dim==1) return sum2(x);
+        casadi_error(
+          "Expected sum(A,1), sum(A,2), sum(A,\"all\") got " + casadi::str(dim) + " instead.");
+      }
+      DECL M casadi_sum(const M& x) {
+        return sum(x);
+      }
+    #endif
   %enddef
 #endif
 
@@ -3257,6 +3339,18 @@ DECL bool casadi_depends_on(const M& f, const M& arg) {
   return depends_on(f, arg);
 }
 
+DECL bool casadi_contains(const std::vector<M>& v, const M& n) {
+  return contains(v, n);
+}
+
+DECL bool casadi_contains_all(const std::vector<M>& v, const std::vector<M>& n) {
+  return contains_all(v, n);
+}
+
+DECL bool casadi_contains_any(const std::vector<M>& v, const std::vector<M>& n) {
+  return contains_any(v, n);
+}
+
 DECL M casadi_solve(const M& A, const M& b) {
   return solve(A, b);
 }
@@ -3288,7 +3382,7 @@ DECL M casadi_jacobian(const M &ex, const M &arg, const Dict& opts=Dict()) {
   return jacobian(ex, arg, opts);
 }
 
-DECL M casadi_jtimes(const M& ex, const M& arg, const M& v, bool tr=false) {
+DECL M casadi_jtimes(const M& ex, const M& arg, const M& v, bool tr=false, const Dict& opts=Dict()) {
   return jtimes(ex, arg, v, tr);
 }
 
@@ -3313,12 +3407,12 @@ DECL bool casadi_is_quadratic(const M& expr, const M& var) {
   return is_quadratic(expr, var);
 }
 
-DECL M casadi_gradient(const M &ex, const M &arg) {
-  return gradient(ex, arg);
+DECL M casadi_gradient(const M &ex, const M &arg, const Dict& opts=Dict()) {
+  return gradient(ex, arg, opts);
 }
 
-DECL M casadi_tangent(const M &ex, const M &arg) {
-  return tangent(ex, arg);
+DECL M casadi_tangent(const M &ex, const M &arg, const Dict& opts=Dict()) {
+  return tangent(ex, arg, opts);
 }
 
 DECL M casadi_hessian(const M& ex, const M& arg, M& OUTPUT1, const casadi::Dict& opts = casadi::Dict()) {
@@ -3365,6 +3459,19 @@ DECL M casadi_mmax(const M& x) { return mmax(x); }
 DECL casadi::DM casadi_evalf(const M& x) {
   return evalf(x);
 }
+DECL void casadi_separate_linear(const M &expr,
+      const M &sym_lin, const M &sym_const,
+      M& OUTPUT1, M& OUTPUT2, M& OUTPUT3) {
+  separate_linear(expr, sym_lin, sym_const, OUTPUT1, OUTPUT2, OUTPUT3);
+}
+DECL void casadi_separate_linear(const M &expr,
+  const std::vector<M> &sym_lin, const std::vector<M> &sym_const,
+  M& OUTPUT1, M& OUTPUT2, M& OUTPUT3) {
+separate_linear(expr, sym_lin, sym_const, OUTPUT1, OUTPUT2, OUTPUT3);
+}
+#endif // FLAG & IS_MEMBER
+
+#if FLAG & IS_GLOBAL
 DECL std::vector<M> casadi_cse(const std::vector<M>& e) {
   return cse(e);
 }
@@ -3372,9 +3479,23 @@ DECL M casadi_cse(const M& e) {
   return cse(e);
 }
 
-#endif // FLAG & IS_MEMBER
+DECL void casadi_extract_parametric(const M &expr, const M& par,
+        M& OUTPUT1, std::vector<M>& OUTPUT2, std::vector<M>& OUTPUT3, const Dict& opts=Dict()) {
+  extract_parametric(expr, par, OUTPUT1, OUTPUT2, OUTPUT3, opts);
+}
+DECL void casadi_extract_parametric(const M &expr, const std::vector<M>& par,
+        M& OUTPUT1, std::vector<M>& OUTPUT2, std::vector<M>& OUTPUT3, const Dict& opts=Dict()) {
+  extract_parametric(expr, par, OUTPUT1, OUTPUT2, OUTPUT3, opts);
+}
+DECL void casadi_extract_parametric(const std::vector<M> &expr, const M& par,
+        std::vector<M>& OUTPUT1, std::vector<M>& OUTPUT2, std::vector<M>& OUTPUT3, const Dict& opts=Dict()) {
+  extract_parametric(expr, par, OUTPUT1, OUTPUT2, OUTPUT3, opts);
+}
+DECL void casadi_extract_parametric(const std::vector<M> &expr, const std::vector<M>& par,
+        std::vector<M>& OUTPUT1, std::vector<M>& OUTPUT2, std::vector<M>& OUTPUT3, const Dict& opts=Dict()) {
+  extract_parametric(expr, par, OUTPUT1, OUTPUT2, OUTPUT3, opts);
+}
 
-#if FLAG & IS_GLOBAL
 DECL std::vector<std::vector< M > >
 casadi_forward(const std::vector< M > &ex, const std::vector< M > &arg,
                const std::vector<std::vector< M > > &v,
@@ -3734,6 +3855,11 @@ namespace casadi{
 
 }
 
+#ifdef SWIGPYTHON
+  %feature("nothread") casadi::Matrix<double>::full;
+  %feature("nothread") casadi::Matrix<double>::sparse;
+#endif
+
 // Extend DM with SWIG unique features
 namespace casadi{
   %extend Matrix<double> {
@@ -4130,29 +4256,6 @@ namespace casadi{
         self = builtin('subsasgn',self,s,v);
       end
     end
-    function out = sum(self,varargin)
-      narginchk(1,3);
-      if nargin==1
-        if is_vector(self)
-          if is_column(self)
-            out = sum1(self);
-          else
-            out = sum2(self);
-          end
-        else
-          out = sum1(self);
-        end
-      else
-        i = varargin{1};
-        if i==1
-          out = sum1(self);
-        elseif i==2
-          out = sum2(self);
-        else
-          error('sum argument (if present) must be 1 or 2');
-        end
-      end
-    end
     function out = norm(self,varargin)
       narginchk(1,2);
       % 2-norm by default
@@ -4259,6 +4362,7 @@ namespace casadi{
 %include <casadi/core/dple.hpp>
 %include <casadi/core/expm.hpp>
 %include <casadi/core/interpolant.hpp>
+%include <casadi/core/blazing_spline.hpp>
 
 %feature("copyctor", "0") casadi::CodeGenerator;
 %include <casadi/core/code_generator.hpp>
@@ -4282,6 +4386,7 @@ namespace casadi {
   %extend MX {
     MX_ALL(static inline, IS_MEMBER)
     const MX brace(const casadi::MX& rr) const { casadi::MX m; $self->get_nz(m, true, rr); return m;}
+    void brace_asgn(const MX& m, const casadi::MX& rr) { $self->set_nz(m, true, rr); }
     const MX paren(const casadi::MX& rr) const {
       casadi::MX m;
       $self->get(m, true, rr);
@@ -4302,6 +4407,22 @@ namespace casadi {
       $self->get(m, true, rr, cc);
       return m;
     }
+    /*
+    Not yet implemeted in core
+    set(const MX& m, bool ind1, const MX&, const MX&); does not seem to exist
+    void paren_asgn(const MX& m, char rr, const casadi::MX& cc) {
+      $self->set(m, true, casadi::char2Slice(rr), cc);
+    }
+    void paren_asgn(const MX& m, const casadi::MX& rr, char cc) {
+      $self->set(m, true, rr, casadi::char2Slice(cc));
+    }
+    void paren_asgn(const MX& m, const casadi::MX& rr, const casadi::MX& cc) {
+      $self->set(m, true, rr, cc);
+    }*/
+    // Needed for brace syntax to access nonzeros
+    casadi_int numel(const MX &k) const {
+      return 1;
+    }
   }
 } // namespace casadi
 %feature("nonstatic", "");
@@ -4434,13 +4555,23 @@ namespace casadi {
 %include <casadi/core/importer.hpp>
 %include <casadi/core/callback.hpp>
 %include <casadi/core/global_options.hpp>
+
 %include <casadi/core/casadi_meta.hpp>
+#ifdef SWIGPYTHON
+%extend casadi::CasadiMeta {
+  static const char* swig_flags() { return CASADI_SWIG_FLAGS; }
+};
+#endif // SWIGPYTHON
+
 %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>
+%include <casadi/core/archiver.hpp>
+%include <casadi/core/filesystem.hpp>
+%include <casadi/core/options.hpp>
 
 %feature("copyctor", "0") casadi::SerializerBase;
 %feature("copyctor", "0") casadi::DeserializerBase;
@@ -4537,6 +4668,10 @@ make_property_opti(ubg)
 make_property_opti(nx)
 make_property_opti(np)
 make_property_opti(ng)
+make_property_opti(x_linear_scale)
+make_property_opti(x_linear_scale_offset)
+make_property_opti(g_linear_scale)
+make_property_opti(f_linear_scale)
 
 make_property(casadi::Opti, casadi_solver);
 %define opti_metadata_modifiers(class)
@@ -4552,7 +4687,7 @@ make_property(casadi::Opti, casadi_solver);
             frame = sys._getframe(1)
         except:
             frame = {}
-        meta = {} if frame is None else {"stacktrace": {"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}}
+        meta = {} if frame is None else {"stacktrace": [{"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}]}
         ret = self._parameter(*args)
         if len(meta)>0:
             self.update_user_dict(ret, meta)
@@ -4565,7 +4700,7 @@ make_property(casadi::Opti, casadi_solver);
             frame = sys._getframe(1)
         except:
             frame = {}
-        meta = {} if frame is None else {"stacktrace": {"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}}
+        meta = {} if frame is None else {"stacktrace": [{"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}]}
         ret = self._variable(*args)
         if len(meta)>0:
             self.update_user_dict(ret, meta)
@@ -4576,14 +4711,27 @@ make_property(casadi::Opti, casadi_solver);
           return self._subject_to()
         import sys
         import os
-        try:
-            frame = sys._getframe(1)
-        except:
-            frame = {}
-        meta = {} if frame is None else {"stacktrace": {"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name}}
+        stacktrace = []
+        for i in range(1,10000):
+          try:
+            frame = sys._getframe(i)
+            stacktrace.append({"file":os.path.abspath(frame.f_code.co_filename),"line":frame.f_lineno,"name":frame.f_code.co_name})
+          except Exception as e:
+            break
+        args = list(args)
+        if len(args)==3 and isinstance(args[2],dict):
+          args[2] = dict(args[2])
+          if "stacktrace" not in args[2]:
+            args[2]["stacktrace"] = stacktrace
+        elif len(args)==2 and isinstance(args[1],dict):
+          args[1] = dict(args[1])
+          if "stacktrace" not in args[1]:
+            args[1]["stacktrace"] = stacktrace
+        elif len(args)==1:
+          args = [args[0], {"stacktrace": stacktrace}]
+        elif len(args)==2:
+          args = [args[0], args[1], {"stacktrace": stacktrace}]
         ret = self._subject_to(*args)
-        if len(meta)>0:
-            self.update_user_dict(args[0], meta)
         return ret
     %}
   }
@@ -4685,6 +4833,8 @@ opti_metadata_modifiers(casadi::Opti)
 }
 #endif
 
+%include <casadi/core/resource.hpp>
+
 // Cleanup for dependent modules
 %exception {
   $action

casadi/include/casadi/config.h

@@ -25,20 +25,20 @@
 #define CASADI_CONFIG_H // NOLINT(build/header_guard)
 
 #define CASADI_MAJOR_VERSION 3
-#define CASADI_MINOR_VERSION 6
-#define CASADI_PATCH_VERSION 7
+#define CASADI_MINOR_VERSION 7
+#define CASADI_PATCH_VERSION 0
 #define CASADI_IS_RELEASE 1
-#define CASADI_VERSION_STRING "3.6.7"
-#define CASADI_GIT_REVISION "a2d71bf95dbd3fa5f6725504bcba67dd52869d91"  // NOLINT(whitespace/line_length)
-#define CASADI_GIT_DESCRIBE "3.6.3-327.a2d71bf95"  // 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=6997f64) from downloaded source.\n * fatrop-sourcebuild, Build FATROP (BUILD_FATROP_VERSION=3c09fcd) 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_VERSION_STRING "3.7.0"
+#define CASADI_GIT_REVISION "1f5f284959d3c7591033b4ff03947ca7a44b3b11"  // NOLINT(whitespace/line_length)
+#define CASADI_GIT_DESCRIBE "3.6.3-975.1f5f28495"  // NOLINT(whitespace/line_length)
+#define CASADI_FEATURE_LIST "\n * dynamic-loading, Support for import of FMI 3.0 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=v1.10.0) 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=6997f64) from downloaded source.\n * fatrop-sourcebuild, Build FATROP (BUILD_FATROP_VERSION=v0.0.4.post1) 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.\n * libzip-sourcebuild, Build LIBZIP (BUILD_LIBZIP_VERSION=v1.11.3) from downloaded source (BUILD_LIBZIP_GIT_REPO=https://github.com/nih-at/libzip).\n * zlib-sourcebuild, Build ZLIB (BUILD_ZLIB_VERSION=v1.3.1) from downloaded source (BUILD_ZLIB_GIT_REPO=https://github.com/madler/zlib).\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 * zlib-interface, Interface to the zlib.\n * libzip-interface, Interface to the libzip.\n * ghc-filesystem-interface, Interface to the ghc.\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/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=7 -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_COMPILER "clang++"  // NOLINT(whitespace/line_length)
+#define CASADI_COMPILER_FLAGS " -pthread    -DUSE_CXX11 -DHAVE_MKSTEMPS -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=7 -DCASADI_PATCH_VERSION=0 -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 -DCASADI_SNPRINTF=snprintf -DCASADI_WITH_THREADSAFE_SYMBOLICS -DCASADI_WITH_THREAD"  // 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_archiver_libzip;casadi_filesystem_ghc;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;Archiver::libzip;Filesystem::ghc;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 ""  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_PREFIX "lib"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_SUFFIX ".dylib"  // NOLINT(whitespace/line_length)
 #define CASADI_OBJECT_FILE_SUFFIX ".o"  // NOLINT(whitespace/line_length)

casadi/include/casadi/core/archiver.hpp

@@ -0,0 +1,58 @@
+/*
+ *    This file is part of CasADi.
+ *
+ *    CasADi -- A symbolic framework for dynamic optimization.
+ *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
+ *                            KU Leuven. All rights reserved.
+ *    Copyright (C) 2011-2014 Greg Horn
+ *
+ *    CasADi is free software; you can redistribute it and/or
+ *    modify it under the terms of the GNU Lesser General Public
+ *    License as published by the Free Software Foundation; either
+ *    version 3 of the License, or (at your option) any later version.
+ *
+ *    CasADi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *    Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with CasADi; if not, write to the Free Software
+ *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+#ifndef CASADI_ARCHIVER_HPP
+#define CASADI_ARCHIVER_HPP
+
+#include <casadi/core/casadi_export.h>
+#include <string>
+
+namespace casadi {
+
+  /** \defgroup main_archiver Title
+      \par
+      
+
+      \generalsection{Archiver}
+      \pluginssection{Archiver}
+
+      \author Joris Gillis
+      \date 2025
+
+      \identifier{2da} */
+
+  /// Check if a particular plugin is available
+  CASADI_EXPORT bool has_archiver(const std::string& name);
+
+  /// Explicitly load a plugin dynamically
+  CASADI_EXPORT void load_archiver(const std::string& name);
+
+  /// Get the documentation string for a plugin
+  CASADI_EXPORT std::string doc_archiver(const std::string& name);
+
+} // namespace casadi
+
+
+#endif // CASADI_ARCHIVER_HPP

casadi/include/casadi/core/blazing_spline.hpp

@@ -0,0 +1,47 @@
+/*
+ *    This file is part of CasADi.
+ *
+ *    CasADi -- A symbolic framework for dynamic optimization.
+ *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
+ *                            KU Leuven. All rights reserved.
+ *    Copyright (C) 2011-2014 Greg Horn
+ *
+ *    CasADi is free software; you can redistribute it and/or
+ *    modify it under the terms of the GNU Lesser General Public
+ *    License as published by the Free Software Foundation; either
+ *    version 3 of the License, or (at your option) any later version.
+ *
+ *    CasADi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *    Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with CasADi; if not, write to the Free Software
+ *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+#ifndef CASADI_BLAZING_SPLINE_FUNCTION_HPP
+#define CASADI_BLAZING_SPLINE_FUNCTION_HPP
+
+#include "function.hpp"
+
+namespace casadi {
+  /** \brief Construct a specialized parametric BSpline
+   * 
+   * Specialized in these ways:
+   *  - order 3 is assumed
+   *  - up to dimension 3 supported
+   *  - a single scalar output (m=1)
+   *
+
+      \identifier{2b9} */
+  CASADI_EXPORT Function blazing_spline(const std::string& name,
+    const std::vector< std::vector<double> >& knots,
+    const Dict& opts=Dict());
+
+} // namespace casadi
+
+#endif // CASADI_BLAZING_SPLINE_FUNCTION_HPP