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CasADi -- A symbolic package for automatic differentiation and optimal control

  • Joel Andersson
  • Johan Åkesson
  • Moritz Diehl
Publiceringsår: 2012
Språk: Engelska
Sidor: 297-307
Publikation/Tidskrift/Serie: Recent Advances in Algorithmic Differentiation
Dokumenttyp: Konferensbidrag
Förlag: Springer


We present CasADi, a free, open-source software tool for rapid, yet efficient solution of optimization problems in general and dynamic optimization problems in particular. To the developer of algorithms for numerical optimization and to the advanced user of such algorithms, it offers a level of abstraction which is notably lower, and hence more flexible, than that of algebraic modeling languages

such as AMPL or GAMS, but higher than working with a conventional automatic differentiation (AD) tool.

CasADi is best described as a minimalistic computer algebra system (CAS) implementing automatic differentiation in eight different flavors. Similar to algebraic modelling languages, it includes high-level interfaces to state-of-the-art numerical codes for nonlinear programming, quadratic programming and integration of

differential-algebraic equations. CasADi is implemented in self-contained C++ code and contains full-featured front-ends to Python and Octave for rapid prototyping. In this paper, we show how CasADi can be used for optimal control using either a collocation approach or a shooting approach.


  • Control Engineering


6th International Conference on Automatic Differentiation
  • LCCC-lup-obsolete
  • ISBN: 978-3-642-30022-6

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