|
| | x1 |
| |
| | x2 |
| |
| | p = cs.SX.sym("p") |
| |
| tuple | f_expr = (1 - x1) ** 2 + p * (x2 - x1 ** 2) ** 2 |
| |
| | g_expr |
| |
| | x = cs.vertcat(x1, x2) |
| |
| | f = cs.Function("f", [x, p], [f_expr]) |
| |
| | g = cs.Function("g", [x, p], [g_expr]) |
| |
| | prob = pa.generate_and_compile_casadi_problem(f, g) |
| |
| | lowerbound |
| |
| | upperbound |
| |
| | param |
| |
| | innersolver |
| |
| list | iterates = [] |
| |
| | solver |
| |
| | x0 = np.array([0.1, 1.8]) |
| |
| | y0 = np.zeros((prob.m,)) |
| |
| | x_sol |
| |
| | y_sol |
| |
| | stats |
| |
| | cost_function_v = np.vectorize(prob.f, signature='(n)->()') |
| |
| | constraint_g_v = np.vectorize(prob.g, signature='(n)->(m)') |
| |
| | y = np.linspace(-0.5, 2.5, 256) |
| |
| | X |
| |
| | Y |
| |
| | XY = np.vstack([[X], [Y]]).T |
| |
| | figsize |
| |
| | Zf = cost_function_v(XY).T |
| |
| | Zg = constraint_g_v(XY) |
| |
| | Zgc = Zg[:,:,0].T |
| |
| | Zgl = Zg[:,:,1].T |
| |
| list | fx = [patheffects.withTickedStroke(spacing=7, linewidth=0.8)] |
| |
| | cgc = plt.contour(X, Y, Zgc, [0], colors='black', linewidths=0.8, linestyles='-') |
| |
| | collections |
| |
| | path_effects |
| |
| | cgl = plt.contour(X, Y, Zgl, [0], colors='black', linewidths=0.8, linestyles='-') |
| |
| | xl = plt.contour(X, Y, -X, [-prob.C.lowerbound[0]], colors='black', linewidths=0.8, linestyles='-') |
| |
| | xy = np.array(iterates) |
| |
| | markersize |
| |
| | linewidth |
| |
| | fillstyle |
| |
