mx_function.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_MX_FUNCTION_HPP
#define CASADI_MX_FUNCTION_HPP
 
#include <iostream>
#include <map>
#include <set>
#include <vector>
 
#include "x_function.hpp"
#include "mx_node.hpp"
 
 
namespace casadi {
 
#ifndef SWIG
  struct MXAlgEl {
    casadi_int op;
 
    MX data;
 
    std::vector<casadi_int> arg;
 
    std::vector<casadi_int> res;
  };
#endif // SWIG
 
  class CASADI_EXPORT MXFunction :
        public XFunction<MXFunction, MX, MXNode>{
  public:
    typedef MXAlgEl AlgEl;
 
    std::vector<AlgEl> algorithm_;
 
    std::vector<casadi_int> workloc_;
 
 
    std::vector<bool> workstate_;
 
    std::vector<MX> free_vars_;
 
    std::vector<double> default_in_;
 
    bool live_variables_;
 
    bool print_instructions_;
 
    MXFunction(const std::string& name,
      const std::vector<MX>& input, const std::vector<MX>& output,
      const std::vector<std::string>& name_in,
      const std::vector<std::string>& name_out);
 
    ~MXFunction() override;
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w, void* mem) const override;
 
    void disp_more(std::ostream& stream) const override;
 
    std::string class_name() const override {return "MXFunction";}
 
    bool is_a(const std::string& type, bool recursive) const override;
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    Dict get_stats(void* mem) const override;
 
    Dict generate_options(const std::string& target="clone") const override;
 
    void init(const Dict& opts) override;
 
    void codegen_declarations(CodeGenerator& g) const override;
 
    void codegen_incref(CodeGenerator& g) const override;
 
    void codegen_decref(CodeGenerator& g) const override;
 
    void codegen_body(CodeGenerator& g) const override;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s);
 
    static std::vector<MX> order(const std::vector<MX>& expr);
 
    void generate_lifted(Function& vdef_fcn, Function& vinit_fcn) const override;
 
    bool should_inline(bool with_sx, bool always_inline, bool never_inline) const override;
 
    int eval_sx(const SXElem** arg, SXElem** res,
                casadi_int* iw, SXElem* w, void* mem,
                bool always_inline, bool never_inline) const override;
 
    void eval_mx(const MXVector& arg, MXVector& res,
                 bool always_inline, bool never_inline) const override;
 
    void ad_forward(const std::vector<std::vector<MX> >& fwdSeed,
                        std::vector<std::vector<MX> >& fwdSens) const;
 
    void ad_reverse(const std::vector<std::vector<MX> >& adjSeed,
                        std::vector<std::vector<MX> >& adjSens) const;
 
    std::vector<MX> symbolic_output(const std::vector<MX>& arg) const override;
 
    int sp_forward(const bvec_t** arg, bvec_t** res,
                  casadi_int* iw, bvec_t* w, void* mem) const override;
 
    int sp_reverse(bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w, void* mem) const override;
 
    // print an element of an algorithm
    std::string print(const AlgEl& el) const;
 
    // Print the input arguments of an instruction
    void print_arg(std::ostream &stream, casadi_int k, const AlgEl& el, const double** arg) const;
 
    // Print the output arguments of an instruction
    void print_res(std::ostream &stream, casadi_int k, const AlgEl& el, double** res) const;
 
 
    const MX mx_in(casadi_int ind) const override;
    const std::vector<MX> mx_in() const override;
 
    std::vector<MX> free_mx() const override {return free_vars_;}
 
    bool has_free() const override { return !free_vars_.empty();}
 
    std::vector<std::string> get_free() const override {
      std::vector<std::string> ret;
      for (auto&& e : free_vars_) ret.push_back(e.name());
      return ret;
    }
 
    casadi_int n_nodes() const override { return algorithm_.size();}
 
    casadi_int n_instructions() const override { return algorithm_.size();}
 
    MX instruction_MX(casadi_int k) const override;
 
    casadi_int instruction_id(casadi_int k) const override { return algorithm_.at(k).op;}
 
    double get_default_in(casadi_int ind) const override { return default_in_.at(ind);}
 
    std::vector<casadi_int> instruction_input(casadi_int k) const override;
 
    std::vector<casadi_int> instruction_output(casadi_int k) const override;
 
    void export_code_body(const std::string& lang,
      std::ostream &stream, const Dict& options) const override;
 
    void substitute_inplace(std::vector<MX>& vdef, std::vector<MX>& ex) const;
 
    // Get all embedded functions, recursively
    void find(std::map<FunctionInternal*, Function>& all_fun, casadi_int max_depth) const override;
 
    void change_option(const std::string& option_name, const GenericType& option_value) override;
 
  protected:
    explicit MXFunction(DeserializingStream& s);
  };
 
} // namespace casadi
 
#endif // CASADI_MX_FUNCTION_HPP