linsol_internal.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_LINSOL_INTERNAL_HPP
#define CASADI_LINSOL_INTERNAL_HPP
 
#include "linsol.hpp"
#include "function_internal.hpp"
#include "plugin_interface.hpp"
 
 
namespace casadi {
 
  struct CASADI_EXPORT LinsolMemory : public ProtoFunctionMemory {
    // Current state of factorization
    bool is_sfact, is_nfact;
 
    // Constructor
    LinsolMemory() : is_sfact(false), is_nfact(false) {}
  };
 
  class CASADI_EXPORT LinsolInternal
    : public ProtoFunction, public PluginInterface<LinsolInternal> {
  public:
    LinsolInternal(const std::string& name, const Sparsity& sp);
 
    ~LinsolInternal() override;
 
    void disp(std::ostream& stream, bool more) const override;
 
    virtual void disp_more(std::ostream& stream) const {}
 
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new LinsolMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<LinsolMemory*>(mem);}
 
    virtual void linsol_eval_sx(const SXElem** arg, SXElem** res,
                                casadi_int* iw, SXElem* w, void* mem,
                                bool tr, casadi_int nrhs) const;
 
#if 0
    // (Re)factorize the system
    casadi_int factorize(void* mem, const double* A) const;
 
    // Needs symbolic factorization
    virtual bool needs_sfact(void* mem, const double* A) const;
 
    // Needs numeric factorization
    virtual bool needs_nfact(void* mem, const double* A) const;
#endif
 
    // Symbolic factorization
    virtual int sfact(void* mem, const double* A) const { return 0;}
 
    virtual int nfact(void* mem, const double* A) const;
 
    // Solve numerically
    virtual int solve(void* mem, const double* A, double* x, casadi_int nrhs, bool tr) const;
 
    virtual double det(void* mem, const double* A) const;
 
    virtual casadi_int neig(void* mem, const double* A) const;
 
    virtual casadi_int rank(void* mem, const double* A) const;
 
    virtual void generate(CodeGenerator& g, const std::string& A, const std::string& x,
                          casadi_int nrhs, bool tr) const;
 
    virtual void generate_det(CodeGenerator& g, const std::string& A,
                              const std::string& d) const;
 
    virtual size_t sz_w_fact() const { return 0; }
 
    // Creator function for internal class
    typedef LinsolInternal* (*Creator)(const std::string& name, const Sparsity& sp);
 
    // Symbolic determinant, provided as a plugin static method (e.g. symbolicqr)
    typedef SX (*Det)(const SX& A, const Dict& opts);
 
    // Static functions exposed by a plugin without instantiation
    struct Exposed{ Det det; };
 
    static std::map<std::string, Plugin> solvers_;
 
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
    static std::mutex mutex_solvers_;
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
 
    static const std::string infix_;
 
    // Get name of the plugin
    const char* plugin_name() const override = 0;
 
    casadi_int nrow() const { return sp_.size1();}
    casadi_int ncol() const { return sp_.size2();}
    const casadi_int* colind() const { return sp_.colind();}
    const casadi_int* row() const { return sp_.row();}
    casadi_int nnz() const { return sp_.nnz();}
 
    void serialize_type(SerializingStream &s) const override;
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s);
 
    // Sparsity pattern of the linear system
    Sparsity sp_;
 
  protected:
    explicit LinsolInternal(DeserializingStream& s);
  };
 
} // namespace casadi
 
#endif // CASADI_LINSOL_INTERNAL_HPP