Introduction to CasADi

Notes on CasADi, especially the usage of variables in CasADi

CSDN notes link: 1 2

Variables

SX

SX data type represent matrix: create a matrix $x \in R^{2 \times 2}$

x = SX.sym('x', 2, 2)  #  create a matrix $\in R^{2 \times 2}$

print(x)
output: [[x_0, x_2],
	 [x_1, x_3]]

y = x**2
print(y)
output: x^2

MX

Suitable for NLP model

evalf(DM)    # MX to DM

DM

DM mainly used to save matrix and used as function input and output

DM.full()    # show the DM value

DM return values, SX,MX return equation that contains variables
SX have all the elements of the matrix, MX only define the matrix itself