How to evaluate a height map within CasADi

[A.S]

Dear Joris, 

I was wondering how it might be possible to incorporate a height map, where the height

at a position on a grid is given by a function such as z = height(x, y) within a trajectory

optimization framework for a robot. Because this function only takes real values for x, and y, and not casadi MX or SX variables, how could I evaluate z in this case? (I am assuming x and y are casadi symbolic variables, since I won't know before hand where the robot will be, but I do know, using the height(x,y) function, what the z position would be at that position).

Sincerely,

Alex  

[Joris Gillis]

Dear Alex,

The term to look for is Callbacl or "Custom code" cfr https://web.casadi.org/docs/#subclassing-callback

Best to pass the options "enable_fd" (finite differencing) to be able to use your Function in an optimization context

Best regards,

   Joris

[A.S]

thank you so much,

Sincerely,

Alex

[li guo]

Hi,

How to use callback function for ipopt solver in C++?

Can someone give me some examples to learn? 

Thanks.