C++ (Cpp) setOptimalSolution Examples

Example #1

File: direct_collocation_internal.cpp Project: kozatt/casadi

void DirectCollocationInternal::evaluate(int nfdir, int nadir){
  // get NLP variable bounds and initial guess
  getGuess(nlp_solver_.input(NLP_X_INIT).data());
  getVariableBounds(nlp_solver_.input(NLP_LBX).data(),nlp_solver_.input(NLP_UBX).data());
       
  // get NLP constraint bounds
  getConstraintBounds(nlp_solver_.input(NLP_LBG).data(), nlp_solver_.input(NLP_UBG).data());
       
  //Solve the problem
  nlp_solver_.solve();
  
  // Save the optimal solution
  setOptimalSolution(nlp_solver_.output(NLP_X_OPT).data());

  // Save the optimal cost
  output(OCP_COST).set(nlp_solver_.output(NLP_COST));
}

Example #2

File: direct_multiple_shooting_internal.cpp Project: zhenglei-gao/casadi

void DirectMultipleShootingInternal::evaluate(){
  // get NLP variable bounds and initial guess
  getGuess(nlp_solver_.input(NLP_SOLVER_X0).data());
  getVariableBounds(nlp_solver_.input(NLP_SOLVER_LBX).data(),nlp_solver_.input(NLP_SOLVER_UBX).data());
       
  // get NLP constraint bounds
  getConstraintBounds(nlp_solver_.input(NLP_SOLVER_LBG).data(), nlp_solver_.input(NLP_SOLVER_UBG).data());
       
  //Solve the problem
  nlp_solver_.solve();
  
  // Save the optimal solution
  setOptimalSolution(nlp_solver_.output(NLP_SOLVER_X).data());

  // Save the optimal cost
  output(OCP_COST).set(nlp_solver_.output(NLP_SOLVER_F));
}