solve.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    CasADi is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_SOLVE_HPP
#define CASADI_SOLVE_HPP
 
#include "mx_node.hpp"
#include "casadi_call.hpp"
 
namespace casadi {
  template<bool Tr>
  class CASADI_EXPORT Solve : public MXNode {
  public:
    Solve(const MX& r, const MX& A);
 
    ~Solve() override {}
 
    std::string disp(const std::vector<std::string>& arg) const override;
 
    virtual std::string mod_prefix() const {return "";}
 
    virtual std::string mod_suffix() const {return "";}
 
    void eval_mx(const std::vector<MX>& arg, std::vector<MX>& res) const override;
 
    void ad_forward(const std::vector<std::vector<MX> >& fseed,
                         std::vector<std::vector<MX> >& fsens) const override;
 
    void ad_reverse(const std::vector<std::vector<MX> >& aseed,
                         std::vector<std::vector<MX> >& asens) const override;
 
    casadi_int n_inplace() const override { return 1;}
 
    int sp_forward(const bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w) const override;
 
    int sp_reverse(bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w) const override;
 
    casadi_int op() const override { return OP_SOLVE;}
 
    Dict info() const override {
      return {{"tr", Tr}};
    }
 
    virtual MX solve(const MX& A, const MX& B, bool tr) const = 0;
 
    virtual const Sparsity& A_sp() const { return dep(1).sparsity();}
 
    void serialize_body(SerializingStream& s) const override;
 
    void serialize_type(SerializingStream& s) const override;
 
    static MXNode* deserialize(DeserializingStream& s);
 
    explicit Solve(DeserializingStream& s);
  };
 
  template<bool Tr>
  class CASADI_EXPORT LinsolCall : public Solve<Tr> {
  public:
 
    LinsolCall(const MX& r, const MX& A, const Linsol& linear_solver);
 
    ~LinsolCall() override {}
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const override;
 
    size_t sz_w() const override;
 
    void generate(CodeGenerator& g,
                  const std::vector<casadi_int>& arg,
                  const std::vector<casadi_int>& res,
                  const std::vector<bool>& arg_is_ref,
                  std::vector<bool>& res_is_ref) const override;
 
    Linsol linsol_;
 
    MX solve(const MX& A, const MX& B, bool tr) const override {
      return linsol_.solve(A, B, tr);
    }
 
    void serialize_body(SerializingStream& s) const override;
 
    void serialize_type(SerializingStream& s) const override;
 
    static MXNode* deserialize(DeserializingStream& s);
 
    explicit LinsolCall(DeserializingStream& s);
  };
 
  template<bool Tr>
  class CASADI_EXPORT TriuSolve : public Solve<Tr> {
  public:
 
    TriuSolve(const MX& r, const MX& A);
 
    ~TriuSolve() override {}
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const override;
 
    MX solve(const MX& A, const MX& B, bool tr) const override {
      return A->get_solve_triu(B, tr);
    }
 
    void generate(CodeGenerator& g,
      const std::vector<casadi_int>& arg,
      const std::vector<casadi_int>& res,
      const std::vector<bool>& arg_is_ref,
      std::vector<bool>& res_is_ref) const override;
  };
 
  template<bool Tr>
  class CASADI_EXPORT TrilSolve : public Solve<Tr> {
  public:
 
    TrilSolve(const MX& r, const MX& A);
 
    ~TrilSolve() override {}
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const override;
 
    MX solve(const MX& A, const MX& B, bool tr) const override {
      return A->get_solve_tril(B, tr);
    }
 
    void generate(CodeGenerator& g,
      const std::vector<casadi_int>& arg,
      const std::vector<casadi_int>& res,
      const std::vector<bool>& arg_is_ref,
      std::vector<bool>& res_is_ref) const override;
  };
 
  template<bool Tr>
  class CASADI_EXPORT SolveUnity : public Solve<Tr> {
  public:
 
    SolveUnity(const MX& r, const MX& A);
 
    ~SolveUnity() override {}
 
    std::string mod_prefix() const override {return "(I - ";}
 
    std::string mod_suffix() const override {return ")";}
 
    const Sparsity& A_sp() const override;
 
    // Sparsity pattern of linear system, cached
    mutable Sparsity A_sp_;
 
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
    mutable std::mutex A_sp_mtx_;
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  };
 
  template<bool Tr>
  class CASADI_EXPORT TriuSolveUnity : public SolveUnity<Tr> {
  public:
 
    TriuSolveUnity(const MX& r, const MX& A);
 
    ~TriuSolveUnity() override {}
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const override;
 
    MX solve(const MX& A, const MX& B, bool tr) const override {
      return A->get_solve_triu_unity(B, tr);
    }
 
    void generate(CodeGenerator& g,
      const std::vector<casadi_int>& arg,
      const std::vector<casadi_int>& res,
      const std::vector<bool>& arg_is_ref,
      std::vector<bool>& res_is_ref) const override;
  };
 
  template<bool Tr>
  class CASADI_EXPORT TrilSolveUnity : public SolveUnity<Tr> {
  public:
 
    TrilSolveUnity(const MX& r, const MX& A);
 
    ~TrilSolveUnity() override {}
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const override;
 
    MX solve(const MX& A, const MX& B, bool tr) const override {
      return A->get_solve_tril_unity(B, tr);
    }
 
    void generate(CodeGenerator& g,
      const std::vector<casadi_int>& arg,
      const std::vector<casadi_int>& res,
      const std::vector<bool>& arg_is_ref,
      std::vector<bool>& res_is_ref) const override;
  };
 
} // namespace casadi
 
#endif // CASADI_SOLVE_HPP