Visual Studio Code Printer

Pieter P

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<div style="color: #d4d4d4;background-color: #1e1e1e;font-family: 'Droid Sans Mono', 'monospace', monospace;font-weight: normal;font-size: 14px;line-height: 19px;white-space: pre;"><div><span style="color: #c586c0;">import</span><span style="color: #d4d4d4;"> </span><span style="color: #4ec9b0;">alpaqa</span></div><br><div><span style="color: #6a9955;"># Generate and compile the optimized C code for the problem</span></div><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;"> = </span><span style="color: #4ec9b0;">alpaqa</span><span style="color: #d4d4d4;">.</span><span style="color: #dcdcaa;">generate_and_compile_casadi_problem</span><span style="color: #d4d4d4;">(</span><span style="color: #9cdcfe;">cost_function</span><span style="color: #d4d4d4;">, </span><span style="color: #9cdcfe;">constr_function</span><span style="color: #d4d4d4;">)</span></div><br><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">C</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">lowerbound</span><span style="color: #d4d4d4;"> = [-</span><span style="color: #b5cea8;">1.5</span><span style="color: #d4d4d4;">, -</span><span style="color: #b5cea8;">0.5</span><span style="color: #d4d4d4;">]        </span><span style="color: #6a9955;"># -1.5 &lt;= x &lt;= 1.5</span></div><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">C</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">upperbound</span><span style="color: #d4d4d4;"> = [</span><span style="color: #b5cea8;">1.5</span><span style="color: #d4d4d4;">, </span><span style="color: #b5cea8;">2.5</span><span style="color: #d4d4d4;">]          </span><span style="color: #6a9955;"># -0.5 &lt;= y &lt;= 2.5</span></div><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">D</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">lowerbound</span><span style="color: #d4d4d4;"> = [-</span><span style="color: #4ec9b0;">np</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">inf</span><span style="color: #d4d4d4;">, -</span><span style="color: #4ec9b0;">np</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">inf</span><span style="color: #d4d4d4;">]  </span><span style="color: #6a9955;"># g_c &lt;= 0</span></div><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">D</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">upperbound</span><span style="color: #d4d4d4;"> = [</span><span style="color: #b5cea8;">0</span><span style="color: #d4d4d4;">, </span><span style="color: #b5cea8;">0</span><span style="color: #d4d4d4;">]              </span><span style="color: #6a9955;"># g_l &lt;= 0</span></div><br><div><span style="color: #6a9955;"># Construct a PANOC instance to serve as the inner solver</span></div><div><span style="color: #9cdcfe;">innersolver</span><span style="color: #d4d4d4;"> = </span><span style="color: #4ec9b0;">alpaqa</span><span style="color: #d4d4d4;">.</span><span style="color: #4ec9b0;">StructuredPANOCLBFGSSolver</span><span style="color: #d4d4d4;">() </span><span style="color: #6a9955;"># (with default parameters)</span></div><div><span style="color: #6a9955;"># Make an ALM solver with default parameters, using the PANOC solver</span></div><div><span style="color: #9cdcfe;">solver</span><span style="color: #d4d4d4;"> = </span><span style="color: #4ec9b0;">alpaqa</span><span style="color: #d4d4d4;">.</span><span style="color: #4ec9b0;">ALMSolver</span><span style="color: #d4d4d4;">(</span><span style="color: #4ec9b0;">alpaqa</span><span style="color: #d4d4d4;">.</span><span style="color: #4ec9b0;">ALMParams</span><span style="color: #d4d4d4;">(), </span><span style="color: #9cdcfe;">innersolver</span><span style="color: #d4d4d4;">)</span></div><br><div><span style="color: #6a9955;"># Solve the problem for the given parameter value</span></div><div><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">.</span><span style="color: #9cdcfe;">param</span><span style="color: #d4d4d4;"> = [</span><span style="color: #b5cea8;">100</span><span style="color: #d4d4d4;">.]</span></div><div><span style="color: #9cdcfe;">x_sol</span><span style="color: #d4d4d4;">, </span><span style="color: #9cdcfe;">y_sol</span><span style="color: #d4d4d4;">, </span><span style="color: #9cdcfe;">stats</span><span style="color: #d4d4d4;"> = </span><span style="color: #9cdcfe;">solver</span><span style="color: #d4d4d4;">(</span><span style="color: #9cdcfe;">prob</span><span style="color: #d4d4d4;">)</span></div></div>

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