SX() SX( list of lists) : Create a dense matrix with the elements in the lists, e.g. SX( list) : Create a column vector (n-by-1 matrix) with the elements in the list, e.g. SX( scalar) : Create a scalar (1-by-1 matrix) with value scalar.

SX.eye( n) : Create a n-by- n diagonal matrix with ones on the diagonal and structural zeros elsewhere. SX.repmat(3,2,1) will create a 2-by-1 matrix with all elements 3. SX.repmat( v,n,m) : Repeat expression v n times vertically and m times horizontally. SX.ones( n,m) : Create a n-by- m dense matrix with all ones SX.sparse( n,m) : Create a n-by- m sparse matrix with all structural zeros SX.zeros( n,m) : Create a n-by- m dense matrix with all zeros SX.sym( name,n,m) : Create a n-by- m symbolic primitive

The following list summarizes the most commonly used ways of constructing new SX expressions: by typing ipython from a Linux terminal or inside a integrated development environment such as Spyder) and import CasADi using the command: 3. To see how it works in practice, start an interactive Python shell (e.g. The SX data type is used to represent matrices whose elements consist of symbolic expressions made up by a sequence of unary and binary operations. In the following, we introduce the most fundamental classes of this framework. All matrices are sparse and use a general sparse format - compressed column storage (CCS) - to store matrices 3. vectors are treated as n-by-1 matrices and scalars as 1-by-1 matrices. 6 Getting and setting elements in matricesĪt the core of CasADi, is a self-contained symbolic framework that allows the user to construct symbolic expressions using a MATLAB inspired everything-is-a-matrix data type, i.e. Function objects Up: User Documentation for CasADi Previous: 2.

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