core.symbolic¶

Symbolic helpers shared by the models: type checks, smooth norms, quadrature.

Functions

`gauss_legendre`(n)	Gauss–Legendre nodes and weights on [0, 1], exact for polynomials of degree 2n − 1.
`is_casadi`(x)	True for CasADi symbols (SX, MX) and numeric matrices (DM).
`is_symbolic`(x)	True for CasADi symbols (SX, MX).
`logcosh`(x)	log(cosh x), written to avoid overflow for large arguments.
`quad`(f, a, b[, n])	∫ f over [a, b] by n-point Gauss–Legendre quadrature; a, b and f may be symbolic.
`smooth_norm`(x[, eps])	√(xᵀx + ε): the Euclidean norm, differentiable at zero.