#include "icasadi.h"

int icasadi_cost_(
        const double *u, 
        const double *casadi_static_params,
        double* cost_value)
{
    const double* casadi_arguments[2];
    casadi_arguments[0] = u;
    casadi_arguments[1] = casadi_static_params;
    return CASADI_COST_NAME(casadi_arguments, &cost_value, 0, 0, 0);
}

int icasadi_grad_(
        const double *u, 
        const double *casadi_static_params,
        double* gradient)
{
    const double* casadi_arguments[2];
    casadi_arguments[0] = u;
    casadi_arguments[1] = casadi_static_params;
    return CASADI_GRAD_NAME(casadi_arguments, &gradient, 0, 0, 0);
}


int icasadi_num_decision_variables(void){
    return CASADI_NU;
}

int icasadi_num_static_parameters(void){
    return CASADI_NP;
}