casados integrators

A CasADi Python wrapper for the acados integrators.

Publication

Fast integrators with sensitivity propagation for use in CasADi - Jonathan Frey, Jochem De Schutter, Moritz Diehl https://arxiv.org/abs/2211.01982

Please cite as

@inproceedings{Frey2023,
	year = {2023},
	booktitle = {Proceedings of the European Control Conference (ECC)},
	author = {Frey, Jonathan and De Schutter, Jochem and Diehl, Moritz},
	title = {Fast integrators with sensitivity propagation for use in {C}as{AD}i},
}

Installation

1. Install acados and its Python interface following https://docs.acados.org/

2. Clone this repository

3. Enter the local repository and install casados using:

pip install -e .

Examples and Supported versions

The pendulum example has been tested with Python 3.11 and CasADi 3.6.5. Other examples are not tested with CasADi 3.6.x.

CasADi 3.5.

Please check out casados-integrators v1.0.0