symbolic_qr.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_SYMBOLIC_QR_HPP
#define CASADI_SYMBOLIC_QR_HPP
 
#include "casadi/core/linsol_internal.hpp"
#include <casadi/solvers/casadi_linsol_symbolicqr_export.h>
 
 
namespace casadi {
  typedef SX* SXPtr;
  typedef std::vector<SXPtr> SXPtrV;
 
  struct  SymbolicQrMemory : public LinsolMemory {
    // Work vectors
    std::vector<const double*> arg;
    std::vector<double*> res;
    std::vector<casadi_int> iw;
    std::vector<double> w;
 
    // Allocate memory for a function
    void alloc(const Function& f);
 
    // Storage for QR factorization
    std::vector<double> q, r;
  };
 
  class  SymbolicQr : public LinsolInternal {
  public:
    // Constructor
    SymbolicQr(const std::string& name, const Sparsity& sp);
 
    // Destructor
    ~SymbolicQr() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "symbolicqr";}
 
    // Name of the class
    std::string class_name() const override { return "SymbolicQr";}
 
    static LinsolInternal* creator(const std::string& name, const Sparsity& sp) {
      return new SymbolicQr(name, sp);
    }
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    // Initialize
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new SymbolicQrMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<SymbolicQrMemory*>(mem);}
 
    // Factorize the linear system
    int nfact(void* mem, const double* A) const override;
 
    // Solve the linear system
    int solve(void* mem, const double* A, double* x, casadi_int nrhs, bool tr) const override;
 
    void linsol_eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w, void* mem,
                        bool tr, casadi_int nrhs) const override;
 
    static const std::string meta_doc;
 
    // Functions for factorization and (optionally transposed) solve
    Function factorize_, solve_, solveT_;
 
    // Generated function options
    Dict fopts_;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new SymbolicQr(s); }
 
  protected:
    explicit SymbolicQr(DeserializingStream& s);
  };
 
} // namespace casadi
 
#endif // CASADI_SYMBOLIC_QR_HPP