linear_interpolant.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_LINEAR_INTERPOLANT_HPP
#define CASADI_LINEAR_INTERPOLANT_HPP
 
#include "casadi/core/interpolant_impl.hpp"
#include <casadi/solvers/casadi_interpolant_linear_export.h>
 
 
namespace casadi {
  class  LinearInterpolant : public Interpolant {
  public:
    // Constructor
    LinearInterpolant(const std::string& name,
                      const std::vector<double>& grid,
                      const std::vector<casadi_int>& offset,
                      const std::vector<double>& values,
                      casadi_int m);
 
    // Destructor
    ~LinearInterpolant() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "linear";}
 
    // Name of the class
    std::string class_name() const override { return "LinearInterpolant";}
 
    static Interpolant* creator(const std::string& name,
                                const std::vector<double>& grid,
                                const std::vector<casadi_int>& offset,
                                const std::vector<double>& values,
                                casadi_int m) {
      return new LinearInterpolant(name, grid, offset, values, m);
    }
 
    static Function do_inline(const std::string& name,
                    const std::vector<double>& grid,
                    const std::vector<casadi_int>& offset,
                    const std::vector<double>& values,
                    casadi_int m,
                    const Dict& opts);
 
    // Initialize
    void init(const Dict& opts) override;
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w, void* mem) const override;
 
 
    bool has_jacobian() const override { return true;}
    Function get_jacobian(const std::string& name,
                                      const std::vector<std::string>& inames,
                                      const std::vector<std::string>& onames,
                                      const Dict& opts) const override;
 
    bool has_codegen() const override { return true;}
 
    void codegen_body(CodeGenerator& g) const override;
 
    static const std::string meta_doc;
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void serialize_body(SerializingStream &s) const override;
    void serialize_type(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s);
 
    std::vector<casadi_int> lookup_mode_;
 
  protected:
    explicit LinearInterpolant(DeserializingStream& s);
  };
 
  class  LinearInterpolantJac : public FunctionInternal {
  public:
    LinearInterpolantJac(const std::string& name) : FunctionInternal(name) {}
 
    ~LinearInterpolantJac() override;
 
    std::string class_name() const override { return "LinearInterpolantJac";}
 
    bool has_codegen() const override { return true;}
 
    void codegen_body(CodeGenerator& g) const override;
 
    // Initialize
    void init(const Dict& opts) override;
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w, void* mem) const override;
 
 
    bool has_jacobian() const override { return true;}
    Function get_jacobian(const std::string& name,
                                      const std::vector<std::string>& inames,
                                      const std::vector<std::string>& onames,
                                      const Dict& opts) const override;
 
    void serialize_type(SerializingStream &s) const override;
 
    bool has_parametric_values() const;
    bool has_parametric_grid() const;
 
    std::string serialize_base_function() const override { return "Interpolant"; }
 
    explicit LinearInterpolantJac(DeserializingStream& s) : FunctionInternal(s) {}
  };
 
} // namespace casadi
 
#endif // CASADI_LINEAR_INTERPOLANT_HPP