What is CasADi?
CasADi is a symbolic framework that uses graph theory to enable users to easily handle nonlinear optimisation problems. CasADi can be implemented in programming languages such as Python, MATLAB and C++.
In CasaDi, mathematical operations are formulated as graphs, called expression graphs. Expression graphs enable CasaDi to be extremely computationally efficient compared to other mathematical symbolic frameworks, such as SymPy or MATLAB’s symbolic toolbox.
Why use CasADi?
CasADi is particularly useful because of its computational efficiency. It is a framework that facilitates the development of Model Predictive Control (MPC) approaches, due to the ease with which Optimal Control problems can be formulated using CasADi.