casadi::Function Class Reference

Function object. More...

#include <function.hpp>

Detailed Description

A Function instance is a general multiple-input, multiple-output function where each input and output can be a sparse matrix.
For an introduction to this class, see the CasADi user guide.
Function is a reference counted and immutable class; copying a class instance is very cheap and its behavior (with some exceptions) is not affected by calling its member functions.

Author

Joel Andersson

Date

2010-2017

Extra doc: https://github.com/casadi/casadi/wiki/L_1uw

List of available options

Id	Type	Description	Used in
ad_weight	OT_DOUBLE	Weighting factor for derivative calculation.When there is an option of either using forward or reverse mode directional derivatives, the condition ad_weight*nf<=(1-ad_weight)*na is used where nf and na are estimates of the number of forward/reverse mode directional derivatives needed. By default, ad_weight is calculated automatically, but this can be overridden by setting this option. In particular, 0 means forcing forward mode and 1 forcing reverse mode. Leave unset for (class specific) heuristics.	casadi::FunctionInternal
ad_weight_sp	OT_DOUBLE	Weighting factor for sparsity pattern calculation calculation.Overrides default behavior. Set to 0 and 1 to force forward and reverse mode respectively. Cf. option "ad_weight". When set to -1, sparsity is completely ignored and dense matrices are used.	casadi::FunctionInternal
always_inline	OT_BOOL	Force inlining.	casadi::FunctionInternal
cache	OT_DICT	Prepopulate the function cache. Default: empty	casadi::FunctionInternal
compiler	OT_STRING	Just-in-time compiler plugin to be used.	casadi::FunctionInternal
custom_jacobian	OT_FUNCTION	Override CasADi's AD. Use together with 'jac_penalty': 0. Note: Highly experimental. Syntax may break often.	casadi::FunctionInternal
der_options	OT_DICT	Default options to be used to populate forward_options, reverse_options, and jacobian_options before those options are merged in.	casadi::FunctionInternal
derivative_of	OT_FUNCTION	The function is a derivative of another function. The type of derivative (directional derivative, Jacobian) is inferred from the function name.	casadi::FunctionInternal
dump	OT_BOOL	Dump function to file upon first evaluation. [false]	casadi::FunctionInternal
dump_dir	OT_STRING	Directory to dump inputs/outputs to. Make sure the directory exists [.]	casadi::FunctionInternal
dump_format	OT_STRING	Choose file format to dump matrices. See DM.from_file [mtx]	casadi::FunctionInternal
dump_in	OT_BOOL	Dump numerical values of inputs to file (readable with DM.from_file) [default: false]	casadi::FunctionInternal
dump_out	OT_BOOL	Dump numerical values of outputs to file (readable with DM.from_file) [default: false]	casadi::FunctionInternal
enable_fd	OT_BOOL	Enable derivative calculation by finite differencing. [default: false]]	casadi::FunctionInternal
enable_forward	OT_BOOL	Enable derivative calculation using generated functions for Jacobian-times-vector products - typically using forward mode AD - if available. [default: true]	casadi::FunctionInternal
enable_jacobian	OT_BOOL	Enable derivative calculation using generated functions for Jacobians of all differentiable outputs with respect to all differentiable inputs - if available. [default: true]	casadi::FunctionInternal
enable_reverse	OT_BOOL	Enable derivative calculation using generated functions for transposed Jacobian-times-vector products - typically using reverse mode AD - if available. [default: true]	casadi::FunctionInternal
error_on_fail	OT_BOOL	Throw exceptions when function evaluation fails (default true).	casadi::ProtoFunction
external_transform	OT_VECTORVECTOR	List of external_transform instruction arguments. Default: empty	casadi::FunctionInternal
fd_method	OT_STRING	Method for finite differencing [default 'central']	casadi::FunctionInternal
fd_options	OT_DICT	Options to be passed to the finite difference instance	casadi::FunctionInternal
forward_options	OT_DICT	Options to be passed to a forward mode constructor	casadi::FunctionInternal
gather_stats	OT_BOOL	Deprecated option (ignored): Statistics are now always collected.	casadi::FunctionInternal
input_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
inputs_check	OT_BOOL	Throw exceptions when the numerical values of the inputs don't make sense	casadi::FunctionInternal
is_diff_in	OT_BOOLVECTOR	Indicate for each input if it should be differentiable.	casadi::FunctionInternal
is_diff_out	OT_BOOLVECTOR	Indicate for each output if it should be differentiable.	casadi::FunctionInternal
jac_penalty	OT_DOUBLE	When requested for a number of forward/reverse directions, it may be cheaper to compute first the full jacobian and then multiply with seeds, rather than obtain the requested directions in a straightforward manner. Casadi uses a heuristic to decide which is cheaper. A high value of 'jac_penalty' makes it less likely for the heurstic to chose the full Jacobian strategy. The special value -1 indicates never to use the full Jacobian strategy	casadi::FunctionInternal
jacobian_options	OT_DICT	Options to be passed to a Jacobian constructor	casadi::FunctionInternal
jit	OT_BOOL	Use just-in-time compiler to speed up the evaluation	casadi::FunctionInternal
jit_cleanup	OT_BOOL	Cleanup up the temporary source file that jit creates. Default: true	casadi::FunctionInternal
jit_name	OT_STRING	The file name used to write out code. The actual file names used depend on 'jit_temp_suffix' and include extensions. Default: 'jit_tmp'	casadi::FunctionInternal
jit_options	OT_DICT	Options to be passed to the jit compiler.	casadi::FunctionInternal
jit_serialize	OT_STRING	Specify behaviour when serializing a jitted function: SOURCE|link|embed.	casadi::FunctionInternal
jit_temp_suffix	OT_BOOL	Use a temporary (seemingly random) filename suffix for generated code and libraries. This is desired for thread-safety. This behaviour may defeat caching compiler wrappers. Default: true	casadi::FunctionInternal
max_io	OT_INT	Acceptable number of inputs and outputs. Warn if exceeded.	casadi::FunctionInternal
max_num_dir	OT_INT	Specify the maximum number of directions for derivative functions. Overrules the builtin optimized_num_dir.	casadi::FunctionInternal
never_inline	OT_BOOL	Forbid inlining.	casadi::FunctionInternal
output_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
post_expand	OT_BOOL	After construction, expand this Function. Default: False	casadi::FunctionInternal
post_expand_options	OT_DICT	Options to be passed to post-construction expansion. Default: empty	casadi::FunctionInternal
print_in	OT_BOOL	Print numerical values of inputs [default: false]	casadi::FunctionInternal
print_out	OT_BOOL	Print numerical values of outputs [default: false]	casadi::FunctionInternal
print_time	OT_BOOL	print information about execution time. Implies record_time.	casadi::ProtoFunction
record_time	OT_BOOL	record information about execution time, for retrieval with stats().	casadi::ProtoFunction
regularity_check	OT_BOOL	Throw exceptions when NaN or Inf appears during evaluation	casadi::ProtoFunction
reverse_options	OT_DICT	Options to be passed to a reverse mode constructor	casadi::FunctionInternal
user_data	OT_VOIDPTR	A user-defined field that can be used to identify the function or pass additional information	casadi::FunctionInternal
verbose	OT_BOOL	Verbose evaluation – for debugging	casadi::ProtoFunction

Examples

SX/SXFunction_constr_oct.m, SX/SXFunction_constr_py.py, integrators/simulator.py, solvers/callback.py, solvers/exacthessian.py, and solvers/ipopt.py.

Definition at line 58 of file function.hpp.

Inheritance diagram for casadi::Function:

Public Types
typedef std::map< std::string, std::vector< std::string > >	AuxOut

Public Member Functions
	Function ()
	Default constructor, null pointer. More...
	Function (const std::string &fname)
	Construct from a file. More...
	~Function ()
	Destructor. More...
casadi_int	n_in () const
	Get the number of function inputs. More...
casadi_int	n_out () const
	Get the number of function outputs. More...
const std::vector< std::string > &	name_in () const
	Get input scheme. More...
const std::vector< std::string > &	name_out () const
	Get output scheme. More...
const std::string &	name_in (casadi_int ind) const
	Get input scheme name by index. More...
const std::string &	name_out (casadi_int ind) const
	Get output scheme name by index. More...
casadi_int	index_in (const std::string &name) const
	Find the index for a string describing a particular entry of an input scheme. More...
casadi_int	index_out (const std::string &name) const
	Find the index for a string describing a particular entry of an output scheme. More...
double	default_in (casadi_int ind) const
	Get default input value. More...
double	max_in (casadi_int ind) const
	Get largest input value. More...
double	min_in (casadi_int ind) const
	Get smallest input value. More...
std::vector< double >	nominal_in (casadi_int ind) const
	Get nominal input value. More...
std::vector< double >	nominal_out (casadi_int ind) const
	Get nominal output value. More...
Function	factory (const std::string &name, const std::vector< std::string > &s_in, const std::vector< std::string > &s_out, const AuxOut &aux=AuxOut(), const Dict &opts=Dict()) const
Function	oracle () const
	Get oracle. More...
Function	wrap () const
	Wrap in an Function instance consisting of only one MX call. More...
Function	wrap_as_needed (const Dict &opts) const
	Wrap in a Function with options. More...
std::vector< bool >	which_depends (const std::string &s_in, const std::vector< std::string > &s_out, casadi_int order=1, bool tr=false) const
	Which variables enter with some order. More...
void	print_dimensions (std::ostream &stream=casadi::uout()) const
	Print dimensions of inputs and outputs. More...
void	print_options (std::ostream &stream=casadi::uout()) const
	Print options to a stream. More...
void	print_option (const std::string &name, std::ostream &stream=casadi::uout()) const
	Print all information there is to know about a certain option. More...
bool	has_option (const std::string &option_name) const
	Does a particular option exist. More...
void	change_option (const std::string &option_name, const GenericType &option_value)
	Change option after object creation for debugging. More...
bool	uses_output () const
	Do the derivative functions need nondifferentiated outputs? More...
Function	jacobian_old (casadi_int iind, casadi_int oind) const
	[DEPRECATED] Replaced by Function::factory. More...
Function	hessian_old (casadi_int iind, casadi_int oind) const
	[DEPRECATED] Replaced by Function::factory. More...
Function	jacobian () const
	Calculate all Jacobian blocks. More...
std::vector< MX >	mapsum (const std::vector< MX > &x, const std::string &parallelization="serial") const
	Evaluate symbolically in parallel and sum (matrix graph) More...
Function	map (casadi_int n, const std::string &parallelization="serial") const
	Create a mapped version of this function. More...
Function	map (casadi_int n, const std::string &parallelization, casadi_int max_num_threads) const
Function	slice (const std::string &name, const std::vector< casadi_int > &order_in, const std::vector< casadi_int > &order_out, const Dict &opts=Dict()) const
	returns a new function with a selection of inputs/outputs of the original More...
Function	forward (casadi_int nfwd) const
	Get a function that calculates nfwd forward derivatives. More...
Function	reverse (casadi_int nadj) const
	Get a function that calculates nadj adjoint derivatives. More...
const std::vector< Sparsity > &	jac_sparsity (bool compact=false) const
	Get, if necessary generate, the sparsity of all Jacobian blocks. More...
Sparsity	jac_sparsity (casadi_int oind, casadi_int iind, bool compact=false) const
	Get, if necessary generate, the sparsity of a single Jacobian block. More...
std::string	generate (const std::string &fname, const Dict &opts=Dict()) const
	Export / Generate C code for the function. More...
std::string	generate (const Dict &opts=Dict()) const
	Export / Generate C code for the function. More...
std::string	generate_dependencies (const std::string &fname, const Dict &opts=Dict()) const
	Export / Generate C code for the dependency function. More...
Dict	stats (int mem=0) const
	Get all statistics obtained at the end of the last evaluate call. More...
bool	has_free () const
	Does the function have free variables. More...
std::vector< std::string >	get_free () const
	Get free variables as a string. More...
std::vector< SX >	free_sx () const
	Get all the free variables of the function. More...
std::vector< MX >	free_mx () const
	Get all the free variables of the function. More...
void	generate_lifted (Function &vdef_fcn, Function &vinit_fcn) const
	Extract the functions needed for the Lifted Newton method. More...
casadi_int	n_nodes () const
	Number of nodes in the algorithm. More...
casadi_int	n_instructions () const
	Number of instruction in the algorithm (SXFunction/MXFunction) More...
casadi_int	instruction_id (casadi_int k) const
	Identifier index of the instruction (SXFunction/MXFunction) More...
std::vector< casadi_int >	instruction_input (casadi_int k) const
	Locations in the work vector for the inputs of the instruction. More...
double	instruction_constant (casadi_int k) const
	Get the floating point output argument of an instruction (SXFunction) More...
std::vector< casadi_int >	instruction_output (casadi_int k) const
	Location in the work vector for the output of the instruction. More...
MX	instruction_MX (casadi_int k) const
	Get the MX node corresponding to an instruction (MXFunction) More...
SX	instructions_sx () const
	Get the SX node corresponding to all instructions (SXFunction) More...
size_t	sz_arg () const
	Get required length of arg field. More...
size_t	sz_res () const
	Get required length of res field. More...
size_t	sz_iw () const
	Get required length of iw field. More...
size_t	sz_w () const
	Get required length of w field. More...
const std::string &	name () const
	Name of the function. More...
bool	is_a (const std::string &type, bool recursive=true) const
	Check if the function is of a particular type. More...
void	assert_size_in (casadi_int i, casadi_int nrow, casadi_int ncol) const
	Assert that an input dimension is equal so some given value. More...
void	assert_size_out (casadi_int i, casadi_int nrow, casadi_int ncol) const
	Assert that an output dimension is equal so some given value. More...
void	assert_sparsity_out (casadi_int i, const Sparsity &sp, casadi_int n=1, bool allow_all_zero_sparse=true) const
	Assert that an output sparsity is a multiple of some given sparsity. More...
casadi_int	checkout () const
	Checkout a memory object. More...
void	release (int mem) const
	Release a memory object. More...
Dict	cache () const
	Get all functions in the cache. More...
std::vector< std::string >	get_function () const
	Get a list of all functions. More...
Function	get_function (const std::string &name) const
	Get a dependency function. More...
bool	has_function (const std::string &fname) const
	Check if a particular dependency exists. More...
std::vector< Function >	find_functions (casadi_int max_depth=-1) const
	Get all functions embedded in the expression graphs. More...
Function	find_function (const std::string &name, casadi_int max_depth=-1) const
	Get a specific function embedded in the expression graphs. More...
Dict	info () const
std::string	class_name () const
	Get class name. More...
void	disp (std::ostream &stream, bool more=false) const
	Print a description of the object. More...
std::string	get_str (bool more=false) const
	Get string representation. More...
bool	is_null () const
	Is a null pointer? More...
casadi_int	__hash__ () const
	Returns a number that is unique for a given Node. More...
	Function (const std::string &name, const std::vector< SX > &ex_in, const std::vector< SX > &ex_out, const Dict &opts=Dict())
	Construct an SX function. More...
	Function (const std::string &name, const std::vector< SX > &ex_in, const std::vector< SX > &ex_out, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts=Dict())
	Construct an SX function. More...
	Function (const std::string &name, const std::map< std::string, SX > &dict, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts=Dict())
	Construct an SX function. More...
	Function (const std::string &name, const std::vector< MX > &ex_in, const std::vector< MX > &ex_out, const Dict &opts=Dict())
	Construct an MX function. More...
	Function (const std::string &name, const std::vector< MX > &ex_in, const std::vector< MX > &ex_out, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts=Dict())
	Construct an MX function. More...
	Function (const std::string &name, const std::map< std::string, MX > &dict, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts=Dict())
	Construct an MX function. More...
Function	expand () const
	Expand a function to SX. More...
Function	expand (const std::string &name, const Dict &opts=Dict()) const
	Expand a function to SX. More...
casadi_int	size1_in (casadi_int ind) const
	Get input dimension. More...
casadi_int	size1_in (const std::string &iname) const
	Get input dimension. More...
casadi_int	size2_in (casadi_int ind) const
	Get input dimension. More...
casadi_int	size2_in (const std::string &iname) const
	Get input dimension. More...
std::pair< casadi_int, casadi_int >	size_in (casadi_int ind) const
	Get input dimension. More...
std::pair< casadi_int, casadi_int >	size_in (const std::string &iname) const
	Get input dimension. More...
casadi_int	size1_out (casadi_int ind) const
	Get output dimension. More...
casadi_int	size1_out (const std::string &oname) const
	Get output dimension. More...
casadi_int	size2_out (casadi_int ind) const
	Get output dimension. More...
casadi_int	size2_out (const std::string &oname) const
	Get output dimension. More...
std::pair< casadi_int, casadi_int >	size_out (casadi_int ind) const
	Get output dimension. More...
std::pair< casadi_int, casadi_int >	size_out (const std::string &oname) const
	Get output dimension. More...
casadi_int	nnz_in () const
	Get number of input nonzeros. More...
casadi_int	nnz_in (casadi_int ind) const
	Get number of input nonzeros. More...
casadi_int	nnz_in (const std::string &iname) const
	Get number of input nonzeros. More...
casadi_int	nnz_out () const
	Get number of output nonzeros. More...
casadi_int	nnz_out (casadi_int ind) const
	Get number of output nonzeros. More...
casadi_int	nnz_out (const std::string &oname) const
	Get number of output nonzeros. More...
casadi_int	numel_in () const
	Get number of input elements. More...
casadi_int	numel_in (casadi_int ind) const
	Get number of input elements. More...
casadi_int	numel_in (const std::string &iname) const
	Get number of input elements. More...
casadi_int	numel_out () const
	Get number of output elements. More...
casadi_int	numel_out (casadi_int ind) const
	Get number of output elements. More...
casadi_int	numel_out (const std::string &oname) const
	Get number of output elements. More...
const Sparsity &	sparsity_in (casadi_int ind) const
	Get sparsity of a given input. More...
const Sparsity &	sparsity_in (const std::string &iname) const
	Get sparsity of a given input. More...
const Sparsity &	sparsity_out (casadi_int ind) const
	Get sparsity of a given output. More...
const Sparsity &	sparsity_out (const std::string &iname) const
	Get sparsity of a given output. More...
bool	is_diff_in (casadi_int ind) const
	Get differentiability of inputs/output. More...
bool	is_diff_out (casadi_int ind) const
	Get differentiability of inputs/output. More...
std::vector< bool >	is_diff_in () const
	Get differentiability of inputs/output. More...
std::vector< bool >	is_diff_out () const
	Get differentiability of inputs/output. More...
const Sparsity	sparsity_jac (casadi_int iind, casadi_int oind, bool compact=false, bool symmetric=false) const
const Sparsity	sparsity_jac (const std::string &iind, casadi_int oind=0, bool compact=false, bool symmetric=false) const
const Sparsity	sparsity_jac (casadi_int iind, const std::string &oind, bool compact=false, bool symmetric=false) const
const Sparsity	sparsity_jac (const std::string &iind, const std::string &oind, bool compact=false, bool symmetric=false) const
void	call (const std::vector< DM > &arg, std::vector< DM > &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
void	call (const std::vector< SX > &arg, std::vector< SX > &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
void	call (const std::vector< MX > &arg, std::vector< MX > &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
void	call (const DMDict &arg, DMDict &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
void	call (const SXDict &arg, SXDict &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
void	call (const MXDict &arg, MXDict &res, bool always_inline=false, bool never_inline=false) const
	Evaluate the function symbolically or numerically. More...
Function	mapaccum (const std::string &name, casadi_int N, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	mapaccum (const std::string &name, casadi_int N, casadi_int n_accum, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	mapaccum (const std::string &name, casadi_int n, const std::vector< casadi_int > &accum_in, const std::vector< casadi_int > &accum_out, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	mapaccum (const std::string &name, casadi_int n, const std::vector< std::string > &accum_in, const std::vector< std::string > &accum_out, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	mapaccum (casadi_int N, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	fold (casadi_int N, const Dict &opts=Dict()) const
	Create a mapaccumulated version of this function. More...
Function	map (const std::string &name, const std::string &parallelization, casadi_int n, const std::vector< casadi_int > &reduce_in, const std::vector< casadi_int > &reduce_out, const Dict &opts=Dict()) const
	Map with reduction. More...
Function	map (const std::string &name, const std::string &parallelization, casadi_int n, const std::vector< std::string > &reduce_in, const std::vector< std::string > &reduce_out, const Dict &opts=Dict()) const
	Map with reduction. More...
Function	map (casadi_int n, const std::vector< bool > &reduce_in, const std::vector< bool > &reduce_out=std::vector< bool >(), const Dict &opts=Dict()) const
	Map with reduction. More...
void	generate_in (const std::string &fname, const std::vector< DM > &arg)
	Export an input file that can be passed to generate C code with a main. More...
std::vector< DM >	generate_in (const std::string &fname)
	Export an input file that can be passed to generate C code with a main. More...
void	generate_out (const std::string &fname, const std::vector< DM > &arg)
	Export an output file that can be checked with generated C code output. More...
std::vector< DM >	generate_out (const std::string &fname)
	Export an output file that can be checked with generated C code output. More...
void	export_code (const std::string &lang, const std::string &fname, const Dict &options=Dict()) const
	Export function in specific language. More...
std::string	serialize (const Dict &opts=Dict()) const
	Serialize. More...
void	save (const std::string &fname, const Dict &opts=Dict()) const
	Save Function to a file. More...
std::string	export_code (const std::string &lang, const Dict &options=Dict()) const
	Export function in specific language. More...
const SX	sx_in (casadi_int iind) const
	Get symbolic primitives equivalent to the input expressions. More...
const SX	sx_in (const std::string &iname) const
	Get symbolic primitives equivalent to the input expressions. More...
const std::vector< SX >	sx_in () const
	Get symbolic primitives equivalent to the input expressions. More...
const MX	mx_in (casadi_int ind) const
	Get symbolic primitives equivalent to the input expressions. More...
const MX	mx_in (const std::string &iname) const
	Get symbolic primitives equivalent to the input expressions. More...
const std::vector< MX >	mx_in () const
	Get symbolic primitives equivalent to the input expressions. More...
const SX	sx_out (casadi_int oind) const
	Get symbolic primitives equivalent to the output expressions. More...
const SX	sx_out (const std::string &oname) const
	Get symbolic primitives equivalent to the output expressions. More...
const std::vector< SX >	sx_out () const
	Get symbolic primitives equivalent to the output expressions. More...
const MX	mx_out (casadi_int ind) const
	Get symbolic primitives equivalent to the output expressions. More...
const MX	mx_out (const std::string &oname) const
	Get symbolic primitives equivalent to the output expressions. More...
const std::vector< MX >	mx_out () const
	Get symbolic primitives equivalent to the output expressions. More...
std::vector< double >	nz_from_in (const std::vector< DM > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...
std::vector< double >	nz_from_out (const std::vector< DM > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...
std::vector< DM >	nz_to_in (const std::vector< double > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...
std::vector< DM >	nz_to_out (const std::vector< double > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...
DMDict	convert_in (const std::vector< DM > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< DM >	convert_in (const DMDict &arg) const
	Convert from/to input/output lists/map. More...
DMDict	convert_out (const std::vector< DM > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< DM >	convert_out (const DMDict &arg) const
	Convert from/to input/output lists/map. More...
SXDict	convert_in (const std::vector< SX > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< SX >	convert_in (const SXDict &arg) const
	Convert from/to input/output lists/map. More...
SXDict	convert_out (const std::vector< SX > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< SX >	convert_out (const SXDict &arg) const
	Convert from/to input/output lists/map. More...
MXDict	convert_in (const std::vector< MX > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< MX >	convert_in (const MXDict &arg) const
	Convert from/to input/output lists/map. More...
MXDict	convert_out (const std::vector< MX > &arg) const
	Convert from/to input/output lists/map. More...
std::vector< MX >	convert_out (const MXDict &arg) const
	Convert from/to input/output lists/map. More...
bool	has_spfwd () const
	Is the class able to propagate seeds through the algorithm? More...
bool	has_sprev () const
	Is the class able to propagate seeds through the algorithm? More...

Static Public Member Functions
static std::string	type_name ()
	Get type name. More...
static Function	conditional (const std::string &name, const std::vector< Function > &f, const Function &f_def, const Dict &opts=Dict())
	Constuct a switch function. More...
static Function	conditional (const std::string &name, const Function &f, const Dict &opts=Dict())
	Conditional call to a function. More...
static Function	bspline (const std::string &name, const std::vector< std::vector< double > > &knots, const std::vector< double > &coeffs, const std::vector< casadi_int > &degree, casadi_int m=1, const Dict &opts=Dict())
	BSpline evaluator function. More...
static Function	if_else (const std::string &name, const Function &f_true, const Function &f_false, const Dict &opts=Dict())
	Constructor (if-else) More...
static bool	check_name (const std::string &name)
	Check if a string is a valid function name. More...
static std::string	fix_name (const std::string &name)
	Turn a string into a valid function name as defined by "check_name". More...
static Function	deserialize (std::istream &stream)
	Build function from serialization. More...
static Function	deserialize (const std::string &s)
	Build function from serialization. More...
static Function	load (const std::string &filename)
	Build function from serialization. More...
static Function	deserialize (DeserializingStream &s)
	Build function from serialization. More...
static Function	jit (const std::string &name, const std::string &body, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts=Dict())
	To resolve ambiguity on some compilers. More...
static Function	jit (const std::string &name, const std::string &body, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const std::vector< Sparsity > &sparsity_in, const std::vector< Sparsity > &sparsity_out, const Dict &opts=Dict())
	To resolve ambiguity on some compilers. More...

Member Typedef Documentation

AuxOut

typedef std::map<std::string, std::vector<std::string> > casadi::Function::AuxOut

Definition at line 395 of file function.hpp.

Constructor & Destructor Documentation

Function() [1/8]

casadi::Function::Function

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1uy

Function() [2/8]

casadi::Function::Function

(

const std::string &

fname

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1uz

Function() [3/8]

casadi::Function::Function	(	const std::string &	name,
		const std::vector< SX > &	ex_in,
		const std::vector< SX > &	ex_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v0

Function() [4/8]

casadi::Function::Function	(	const std::string &	name,
		const std::vector< SX > &	ex_in,
		const std::vector< SX > &	ex_out,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v0

Function() [5/8]

casadi::Function::Function	(	const std::string &	name,
		const std::map< std::string, SX > &	dict,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v0

Function() [6/8]

casadi::Function::Function	(	const std::string &	name,
		const std::vector< MX > &	ex_in,
		const std::vector< MX > &	ex_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v1

Function() [7/8]

casadi::Function::Function	(	const std::string &	name,
		const std::vector< MX > &	ex_in,
		const std::vector< MX > &	ex_out,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v1

Function() [8/8]

casadi::Function::Function	(	const std::string &	name,
		const std::map< std::string, MX > &	dict,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts = Dict()
	)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v1

~Function()

casadi::Function::~Function

(

)

Extra doc: https://github.com/casadi/casadi/wiki/L_1v4

Member Function Documentation

__hash__()

casadi_int casadi::SharedObject::__hash__ ( ) const

inherited

If the Object does not point to any node, "0" is returned.

Extra doc: https://github.com/casadi/casadi/wiki/L_av

assert_size_in()

void casadi::Function::assert_size_in	(	casadi_int	i,
		casadi_int	nrow,
		casadi_int	ncol
	)		const

assert_size_out()

void casadi::Function::assert_size_out	(	casadi_int	i,
		casadi_int	nrow,
		casadi_int	ncol
	)		const

assert_sparsity_out()

void casadi::Function::assert_sparsity_out	(	casadi_int	i,
		const Sparsity &	sp,
		casadi_int	n = 1,
		bool	allow_all_zero_sparse = true
	)		const

bspline()

static Function casadi::Function::bspline ( const std::string &  name, const std::vector< std::vector< double > > &  knots, const std::vector< double > &  coeffs, const std::vector< casadi_int > &  degree, casadi_int  m = 1, const Dict &  opts = Dict()  )

static

Requires a known coefficient tensor

Extra doc: https://github.com/casadi/casadi/wiki/L_1wo

cache()

Dict casadi::Function::cache

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_26i

call() [1/6]

void casadi::Function::call	(	const DMDict &	arg,
		DMDict &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

call() [2/6]

void casadi::Function::call	(	const MXDict &	arg,
		MXDict &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

call() [3/6]

void casadi::Function::call	(	const std::vector< DM > &	arg,
		std::vector< DM > &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

call() [4/6]

void casadi::Function::call	(	const std::vector< MX > &	arg,
		std::vector< MX > &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

call() [5/6]

void casadi::Function::call	(	const std::vector< SX > &	arg,
		std::vector< SX > &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

call() [6/6]

void casadi::Function::call	(	const SXDict &	arg,
		SXDict &	res,
		bool	always_inline = false,
		bool	never_inline = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w7

change_option()

void casadi::Function::change_option	(	const std::string &	option_name,
		const GenericType &	option_value
	)

This is only possible for a selected number of options that do not change the numerical results of the computation, e.g. to enable a more verbose output or saving to file.

Extra doc: https://github.com/casadi/casadi/wiki/L_1w2

check_name()

static bool casadi::Function::check_name ( const std::string &  name )

static

Valid function names consist of

• At least one character
• Upper and lower case letters: a-zA-Z
• Numbers 0-9, but never as first character
• Underscore, but never as first character and never next to another underscore

May not be one of the following keywords: "null", "jac", "hess"

Extra doc: https://github.com/casadi/casadi/wiki/L_1xx

checkout()

casadi_int casadi::Function::checkout

(

)

const

class_name()

std::string casadi::SharedObject::class_name ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_au

conditional() [1/2]

static Function casadi::Function::conditional ( const std::string &  name, const Function &  f, const Dict &  opts = Dict()  )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1wn

conditional() [2/2]

static Function casadi::Function::conditional ( const std::string &  name, const std::vector< Function > &  f, const Function &  f_def, const Dict &  opts = Dict()  )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1wm

convert_in() [1/6]

std::vector<DM> casadi::Function::convert_in

(

const DMDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_in() [2/6]

std::vector<MX> casadi::Function::convert_in

(

const MXDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_in() [3/6]

DMDict casadi::Function::convert_in

(

const std::vector< DM > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_in() [4/6]

MXDict casadi::Function::convert_in

(

const std::vector< MX > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_in() [5/6]

SXDict casadi::Function::convert_in

(

const std::vector< SX > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_in() [6/6]

std::vector<SX> casadi::Function::convert_in

(

const SXDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [1/6]

std::vector<DM> casadi::Function::convert_out

(

const DMDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [2/6]

std::vector<MX> casadi::Function::convert_out

(

const MXDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [3/6]

DMDict casadi::Function::convert_out

(

const std::vector< DM > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [4/6]

MXDict casadi::Function::convert_out

(

const std::vector< MX > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [5/6]

SXDict casadi::Function::convert_out

(

const std::vector< SX > &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

convert_out() [6/6]

std::vector<SX> casadi::Function::convert_out

(

const SXDict &

arg

)

const

Will raise an error when an unknown key is used or a list has incorrect size. Does not perform sparsity checking.

Extra doc: https://github.com/casadi/casadi/wiki/L_1x7

default_in()

double casadi::Function::default_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vm

deserialize() [1/3]

static Function casadi::Function::deserialize ( const std::string &  s )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1y0

deserialize() [2/3]

static Function casadi::Function::deserialize ( DeserializingStream &  s )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1y2

deserialize() [3/3]

static Function casadi::Function::deserialize ( std::istream &  stream )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1xz

disp()

void casadi::SharedObject::disp ( std::ostream &  stream, bool  more = false  ) const

inherited

expand() [1/2]

Function casadi::Function::expand

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1v5

Examples

Function/expand.py, and MX/matrix_expand.py.

expand() [2/2]

Function casadi::Function::expand	(	const std::string &	name,
		const Dict &	opts = Dict()
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1v5

export_code() [1/2]

std::string casadi::Function::export_code	(	const std::string &	lang,
		const Dict &	options = Dict()
	)		const

Only allowed for (a subset of) SX/MX Functions

Extra doc: https://github.com/casadi/casadi/wiki/L_1wz

export_code() [2/2]

void casadi::Function::export_code	(	const std::string &	lang,
		const std::string &	fname,
		const Dict &	options = Dict()
	)		const

Only allowed for (a subset of) SX/MX Functions

Extra doc: https://github.com/casadi/casadi/wiki/L_1wz

factory()

Function casadi::Function::factory	(	const std::string &	name,
		const std::vector< std::string > &	s_in,
		const std::vector< std::string > &	s_out,
		const AuxOut &	aux = AuxOut(),
		const Dict &	opts = Dict()
	)		const

find_function()

Function casadi::Function::find_function	(	const std::string &	name,
		casadi_int	max_depth = -1
	)		const

Parameters

[in]	name	Name of function needed
[in]	max_depth	Maximum depth - a negative number indicates no maximum

Extra doc: https://github.com/casadi/casadi/wiki/L_1y7

find_functions()

std::vector<Function> casadi::Function::find_functions

(

casadi_int

max_depth = -1

)

const

Parameters

[in]

max_depth

Maximum depth - a negative number indicates no maximum

Extra doc: https://github.com/casadi/casadi/wiki/L_1y6

fix_name()

static std::string casadi::Function::fix_name ( const std::string &  name )

static

Non-alphanumeric characters are converted into underscores and multiple consecutive undercores are dropped

Extra doc: https://github.com/casadi/casadi/wiki/L_1xy

fold()

Function casadi::Function::fold	(	casadi_int	N,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

forward()

Function casadi::Function::forward

(

casadi_int

nfwd

)

const

   Returns a function with <tt>n_in + n_out + n_in</tt> inputs
   and <tt>nfwd</tt> outputs.
   The first <tt>n_in</tt> inputs correspond to nondifferentiated inputs.
   The next <tt>n_out</tt> inputs correspond to nondifferentiated outputs.
   and the last <tt>n_in</tt> inputs correspond to forward seeds,
   stacked horizontally
   The  <tt>n_out</tt> outputs correspond to forward sensitivities,
   stacked horizontally.     *
   <tt>(n_in = n_in(), n_out = n_out())</tt>

  The functions returned are cached, meaning that if called multiple timed
  with the same value, then multiple references to the same function will be returned.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wq

free_mx()

std::vector<MX> casadi::Function::free_mx

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xb

free_sx()

std::vector<SX> casadi::Function::free_sx

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xa

generate() [1/2]

std::string casadi::Function::generate

(

const Dict &

opts = Dict()

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1wv

generate() [2/2]

std::string casadi::Function::generate	(	const std::string &	fname,
		const Dict &	opts = Dict()
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1wu

Examples

SX/generateCode.py.

generate_dependencies()

std::string casadi::Function::generate_dependencies	(	const std::string &	fname,
		const Dict &	opts = Dict()
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1ww

generate_in() [1/2]

std::vector<DM> casadi::Function::generate_in

(

const std::string &

fname

)

See also

generate_out

convert_in to convert between dict/map and vector

Extra doc: https://github.com/casadi/casadi/wiki/L_1wx

generate_in() [2/2]

void casadi::Function::generate_in	(	const std::string &	fname,
		const std::vector< DM > &	arg
	)

See also

generate_out

convert_in to convert between dict/map and vector

Extra doc: https://github.com/casadi/casadi/wiki/L_1wx

generate_lifted()

void casadi::Function::generate_lifted	(	Function &	vdef_fcn,
		Function &	vinit_fcn
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xc

generate_out() [1/2]

std::vector<DM> casadi::Function::generate_out

(

const std::string &

fname

)

See also

generate_in

convert_out to convert between dict/map and vector

Extra doc: https://github.com/casadi/casadi/wiki/L_1wy

generate_out() [2/2]

void casadi::Function::generate_out	(	const std::string &	fname,
		const std::vector< DM > &	arg
	)

See also

generate_in

convert_out to convert between dict/map and vector

Extra doc: https://github.com/casadi/casadi/wiki/L_1wy

get_free()

std::vector<std::string> casadi::Function::get_free

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x9

get_function() [1/2]

std::vector<std::string> casadi::Function::get_function

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1y3

get_function() [2/2]

Function casadi::Function::get_function

(

const std::string &

name

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1y4

get_str()

std::string casadi::SharedObject::get_str ( bool  more = false ) const

inlineinherited

Definition at line 138 of file shared_object.hpp.

has_free()

bool casadi::Function::has_free

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x8

has_function()

bool casadi::Function::has_function

(

const std::string &

fname

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1y5

has_option()

bool casadi::Function::has_option

(

const std::string &

option_name

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w1

has_spfwd()

bool casadi::Function::has_spfwd

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xl

has_sprev()

bool casadi::Function::has_sprev

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xl

hessian_old()

Function casadi::Function::hessian_old	(	casadi_int	iind,
		casadi_int	oind
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w5

if_else()

static Function casadi::Function::if_else ( const std::string &  name, const Function &  f_true, const Function &  f_false, const Dict &  opts = Dict()  )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1wp

index_in()

casadi_int casadi::Function::index_in

(

const std::string &

name

)

const

example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput

Extra doc: https://github.com/casadi/casadi/wiki/L_1vk

index_out()

casadi_int casadi::Function::index_out

(

const std::string &

name

)

const

example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput

Extra doc: https://github.com/casadi/casadi/wiki/L_1vl

info()

Dict casadi::Function::info

(

)

const

Obtain information about function

instruction_constant()

double casadi::Function::instruction_constant

(

casadi_int

k

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xh

instruction_id()

casadi_int casadi::Function::instruction_id

(

casadi_int

k

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xf

instruction_input()

std::vector<casadi_int> casadi::Function::instruction_input

(

casadi_int

k

)

const

(SXFunction/MXFunction)

Extra doc: https://github.com/casadi/casadi/wiki/L_1xg

instruction_MX()

MX casadi::Function::instruction_MX

(

casadi_int

k

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xj

instruction_output()

std::vector<casadi_int> casadi::Function::instruction_output

(

casadi_int

k

)

const

(SXFunction/MXFunction)

Extra doc: https://github.com/casadi/casadi/wiki/L_1xi

instructions_sx()

SX casadi::Function::instructions_sx

(

)

const

Note: input and output instructions have no SX representation. This method returns nan for those instructions.

Extra doc: https://github.com/casadi/casadi/wiki/L_1xk

is_a()

bool casadi::Function::is_a	(	const std::string &	type,
		bool	recursive = true
	)		const

Optionally check if name matches one of the base classes (default true)

Extra doc: https://github.com/casadi/casadi/wiki/L_1xw

is_diff_in() [1/2]

std::vector<bool> casadi::Function::is_diff_in

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vt

is_diff_in() [2/2]

bool casadi::Function::is_diff_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vt

is_diff_out() [1/2]

std::vector<bool> casadi::Function::is_diff_out

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vt

is_diff_out() [2/2]

bool casadi::Function::is_diff_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vt

is_null()

bool casadi::SharedObject::is_null ( ) const

inherited

jac_sparsity() [1/2]

const std::vector<Sparsity>& casadi::Function::jac_sparsity

(

bool

compact = false

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1ws

jac_sparsity() [2/2]

Sparsity casadi::Function::jac_sparsity	(	casadi_int	oind,
		casadi_int	iind,
		bool	compact = false
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1wt

jacobian()

Function casadi::Function::jacobian

(

)

const

Generates a function that takes all non-differentiated inputs and outputs and calculates all Jacobian blocks. Inputs that are not needed by the routine are all-zero sparse matrices with the correct dimensions. Output blocks that are not calculated, e.g. if the corresponding input or output is marked non-differentiated are also all-zero sparse. The Jacobian blocks are sorted starting by all the blocks for the first output, then all the blocks for the second output and so on. E.g. f : (x, y) -> (r, s) results in the function jac_f : (x, y, out_r, out_s) -> (jac_r_x, jac_r_y, jac_s_x, jac_s_y)

This function is cached.

Extra doc: https://github.com/casadi/casadi/wiki/L_1w6

jacobian_old()

Function casadi::Function::jacobian_old	(	casadi_int	iind,
		casadi_int	oind
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w4

jit() [1/2]

static Function casadi::Function::jit ( const std::string &  name, const std::string &  body, const std::vector< std::string > &  name_in, const std::vector< std::string > &  name_out, const Dict &  opts = Dict()  )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1v2

Create a just-in-time compiled function from a C language string

The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double‘ or another data type with the same API as 'double’.

Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored.

If an error occurs in the evaluation, issue "return 1;";

The final generated function will have a structure similar to:

casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; <FUNCTION_BODY> return 0; }

Extra doc: https://github.com/casadi/casadi/wiki/L_1v3

jit() [2/2]

static Function casadi::Function::jit ( const std::string &  name, const std::string &  body, const std::vector< std::string > &  name_in, const std::vector< std::string > &  name_out, const std::vector< Sparsity > &  sparsity_in, const std::vector< Sparsity > &  sparsity_out, const Dict &  opts = Dict()  )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1v2

Create a just-in-time compiled function from a C language string

The names and sparsity patterns of all the inputs and outputs must be provided. If sparsities are not provided, all inputs and outputs are assumed to be scalar. Only specify the function body, assuming that input and output nonzeros are stored in arrays with the specified naming convension. The data type used is 'casadi_real', which is typically equal to 'double‘ or another data type with the same API as 'double’.

Inputs may be null pointers. This means that the all entries are zero. Outputs may be null points. This means that the corresponding result can be ignored.

If an error occurs in the evaluation, issue "return 1;";

The final generated function will have a structure similar to:

casadi_int fname(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { const casadi_real *x1, *x2; casadi_real *r1, *r2; x1 = *arg++; x2 = *arg++; r1 = *res++; r2 = *res++; <FUNCTION_BODY> return 0; }

Extra doc: https://github.com/casadi/casadi/wiki/L_1v3

load()

static Function casadi::Function::load ( const std::string &  filename )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1y1

map() [1/5]

Function casadi::Function::map	(	casadi_int	n,
		const std::string &	parallelization,
		casadi_int	max_num_threads
	)		const

map() [2/5]

Function casadi::Function::map	(	casadi_int	n,
		const std::string &	parallelization = "serial"
	)		const

Suppose the function has a signature of:

   f: (a, p) -> ( s )

The the mapped version has the signature:

   F: (A, P) -> (S )

    with
        A: horzcat([a0, a1, ..., a_(N-1)])
        P: horzcat([p0, p1, ..., p_(N-1)])
        S: horzcat([s0, s1, ..., s_(N-1)])
    and
        s0 <- f(a0, p0)
        s1 <- f(a1, p1)
        ...
        s_(N-1) <- f(a_(N-1), p_(N-1))

Parameters

parallelization

Type of parallelization used: unroll|serial|openmp

Extra doc: https://github.com/casadi/casadi/wiki/L_1wj

map() [3/5]

Function casadi::Function::map	(	casadi_int	n,
		const std::vector< bool > &	reduce_in,
		const std::vector< bool > &	reduce_out = std::vector< bool >(),
		const Dict &	opts = Dict()
	)		const

A subset of the inputs are non-repeated and a subset of the outputs summed up.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wk

map() [4/5]

Function casadi::Function::map	(	const std::string &	name,
		const std::string &	parallelization,
		casadi_int	n,
		const std::vector< casadi_int > &	reduce_in,
		const std::vector< casadi_int > &	reduce_out,
		const Dict &	opts = Dict()
	)		const

A subset of the inputs are non-repeated and a subset of the outputs summed up.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wk

map() [5/5]

Function casadi::Function::map	(	const std::string &	name,
		const std::string &	parallelization,
		casadi_int	n,
		const std::vector< std::string > &	reduce_in,
		const std::vector< std::string > &	reduce_out,
		const Dict &	opts = Dict()
	)		const

A subset of the inputs are non-repeated and a subset of the outputs summed up.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wk

mapaccum() [1/5]

Function casadi::Function::mapaccum	(	casadi_int	N,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

mapaccum() [2/5]

Function casadi::Function::mapaccum	(	const std::string &	name,
		casadi_int	N,
		casadi_int	n_accum,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

mapaccum() [3/5]

Function casadi::Function::mapaccum	(	const std::string &	name,
		casadi_int	N,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

mapaccum() [4/5]

Function casadi::Function::mapaccum	(	const std::string &	name,
		casadi_int	n,
		const std::vector< casadi_int > &	accum_in,
		const std::vector< casadi_int > &	accum_out,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

mapaccum() [5/5]

Function casadi::Function::mapaccum	(	const std::string &	name,
		casadi_int	n,
		const std::vector< std::string > &	accum_in,
		const std::vector< std::string > &	accum_out,
		const Dict &	opts = Dict()
	)		const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    with
        U: horzcat([u0, u1, ..., u_(N-1)])
        X: horzcat([x1, x2, ..., x_N])
        Y: horzcat([y0, y1, ..., y_(N-1)])

    and
        x1, y0 <- f(x0, u0)
        x2, y1 <- f(x1, u1)
        ...
        x_N, y_(N-1) <- f(x_(N-1), u_(N-1))

Mapaccum has the following benefits over writing an equivalent for-loop:

• much faster at construction time
• potentially much faster compilation times (for codegen)
• offers a trade-off between memory and evaluation time

The base (settable through the options dictionary, default 10), is used to create a tower of function calls, containing unrolled for-loops of length maximum base.

This technique is much more scalable in terms of memory-usage, but slightly slower at evaluation, than a plain for-loop. The effect is similar to that of a for-loop with a check-pointing instruction after each chunk of iterations with size base.

Set base to -1 to unroll all the way; no gains in memory efficiency here.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wi

mapsum()

std::vector<MX> casadi::Function::mapsum	(	const std::vector< MX > &	x,
		const std::string &	parallelization = "serial"
	)		const

Parameters

parallelization

Type of parallelization used: unroll|serial|openmp

Extra doc: https://github.com/casadi/casadi/wiki/L_1wh

max_in()

double casadi::Function::max_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vn

min_in()

double casadi::Function::min_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vo

mx_in() [1/3]

const std::vector<MX> casadi::Function::mx_in

(

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

mx_in() [2/3]

const MX casadi::Function::mx_in

(

casadi_int

ind

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

mx_in() [3/3]

const MX casadi::Function::mx_in ( const std::string &  iname ) const

inline

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

Definition at line 946 of file function.hpp.

mx_out() [1/3]

const std::vector<MX> casadi::Function::mx_out

(

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

mx_out() [2/3]

const MX casadi::Function::mx_out

(

casadi_int

ind

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

mx_out() [3/3]

const MX casadi::Function::mx_out ( const std::string &  oname ) const

inline

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

Definition at line 964 of file function.hpp.

n_in()

casadi_int casadi::Function::n_in

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1v8

n_instructions()

casadi_int casadi::Function::n_instructions

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xe

n_nodes()

casadi_int casadi::Function::n_nodes

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xd

n_out()

casadi_int casadi::Function::n_out

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1v9

name()

const std::string& casadi::Function::name

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xv

name_in() [1/2]

const std::vector<std::string>& casadi::Function::name_in

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vg

name_in() [2/2]

const std::string& casadi::Function::name_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vi

name_out() [1/2]

const std::vector<std::string>& casadi::Function::name_out

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vh

name_out() [2/2]

const std::string& casadi::Function::name_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vj

nnz_in() [1/3]

casadi_int casadi::Function::nnz_in

(

)

const

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vc

nnz_in() [2/3]

casadi_int casadi::Function::nnz_in

(

casadi_int

ind

)

const

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vc

nnz_in() [3/3]

casadi_int casadi::Function::nnz_in ( const std::string &  iname ) const

inline

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vc

Definition at line 271 of file function.hpp.

nnz_out() [1/3]

casadi_int casadi::Function::nnz_out

(

)

const

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vd

nnz_out() [2/3]

casadi_int casadi::Function::nnz_out

(

casadi_int

ind

)

const

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vd

nnz_out() [3/3]

casadi_int casadi::Function::nnz_out ( const std::string &  oname ) const

inline

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vd

Definition at line 282 of file function.hpp.

nominal_in()

std::vector<double> casadi::Function::nominal_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vp

nominal_out()

std::vector<double> casadi::Function::nominal_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vq

numel_in() [1/3]

casadi_int casadi::Function::numel_in

(

)

const

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1ve

numel_in() [2/3]

casadi_int casadi::Function::numel_in

(

casadi_int

ind

)

const

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1ve

numel_in() [3/3]

casadi_int casadi::Function::numel_in ( const std::string &  iname ) const

inline

For a particular input or for all of the inputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1ve

Definition at line 293 of file function.hpp.

numel_out() [1/3]

casadi_int casadi::Function::numel_out

(

)

const

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vf

numel_out() [2/3]

casadi_int casadi::Function::numel_out

(

casadi_int

ind

)

const

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vf

numel_out() [3/3]

casadi_int casadi::Function::numel_out ( const std::string &  oname ) const

inline

For a particular output or for all of the outputs

Extra doc: https://github.com/casadi/casadi/wiki/L_1vf

Definition at line 304 of file function.hpp.

nz_from_in()

std::vector<double> casadi::Function::nz_from_in

(

const std::vector< DM > &

arg

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x6

nz_from_out()

std::vector<double> casadi::Function::nz_from_out

(

const std::vector< DM > &

arg

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x6

nz_to_in()

std::vector<DM> casadi::Function::nz_to_in

(

const std::vector< double > &

arg

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x6

nz_to_out()

std::vector<DM> casadi::Function::nz_to_out

(

const std::vector< double > &

arg

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x6

oracle()

Function casadi::Function::oracle

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vu

print_dimensions()

void casadi::Function::print_dimensions

(

std::ostream &

stream = casadi::uout()

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vy

print_option()

void casadi::Function::print_option	(	const std::string &	name,
		std::ostream &	stream = casadi::uout()
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w0

print_options()

void casadi::Function::print_options

(

std::ostream &

stream = casadi::uout()

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vz

release()

void casadi::Function::release

(

int

mem

)

const

reverse()

Function casadi::Function::reverse

(

casadi_int

nadj

)

const

   Returns a function with <tt>n_in + n_out + n_out</tt> inputs
   and <tt>n_in</tt> outputs.
   The first <tt>n_in</tt> inputs correspond to nondifferentiated inputs.
   The next <tt>n_out</tt> inputs correspond to nondifferentiated outputs.
   and the last <tt>n_out</tt> inputs correspond to adjoint seeds,
   stacked horizontally
   The  <tt>n_in</tt> outputs correspond to adjoint sensitivities,
   stacked horizontally.     *
   <tt>(n_in = n_in(), n_out = n_out())</tt>

   <tt>(n_in = n_in(), n_out = n_out())</tt>

  The functions returned are cached, meaning that if called multiple timed
  with the same value, then multiple references to the same function will be returned.

Extra doc: https://github.com/casadi/casadi/wiki/L_1wr

save()

void casadi::Function::save	(	const std::string &	fname,
		const Dict &	opts = Dict()
	)		const

See also

load

Extra doc: https://github.com/casadi/casadi/wiki/L_240

serialize()

std::string casadi::Function::serialize

(

const Dict &

opts = Dict()

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1x2

size1_in() [1/2]

casadi_int casadi::Function::size1_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

size1_in() [2/2]

casadi_int casadi::Function::size1_in ( const std::string &  iname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

Definition at line 240 of file function.hpp.

size1_out() [1/2]

casadi_int casadi::Function::size1_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

size1_out() [2/2]

casadi_int casadi::Function::size1_out ( const std::string &  oname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

Definition at line 254 of file function.hpp.

size2_in() [1/2]

casadi_int casadi::Function::size2_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

size2_in() [2/2]

casadi_int casadi::Function::size2_in ( const std::string &  iname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

Definition at line 242 of file function.hpp.

size2_out() [1/2]

casadi_int casadi::Function::size2_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

size2_out() [2/2]

casadi_int casadi::Function::size2_out ( const std::string &  oname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

Definition at line 256 of file function.hpp.

size_in() [1/2]

std::pair<casadi_int, casadi_int> casadi::Function::size_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

size_in() [2/2]

std::pair<casadi_int, casadi_int> casadi::Function::size_in ( const std::string &  iname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1va

Definition at line 244 of file function.hpp.

size_out() [1/2]

std::pair<casadi_int, casadi_int> casadi::Function::size_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

size_out() [2/2]

std::pair<casadi_int, casadi_int> casadi::Function::size_out ( const std::string &  oname ) const

inline

Extra doc: https://github.com/casadi/casadi/wiki/L_1vb

Definition at line 258 of file function.hpp.

slice()

Function casadi::Function::slice	(	const std::string &	name,
		const std::vector< casadi_int > &	order_in,
		const std::vector< casadi_int > &	order_out,
		const Dict &	opts = Dict()
	)		const

Extra doc: https://github.com/casadi/casadi/wiki/L_1wl

sparsity_in() [1/2]

const Sparsity& casadi::Function::sparsity_in

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vr

sparsity_in() [2/2]

const Sparsity& casadi::Function::sparsity_in

(

const std::string &

iname

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vr

sparsity_jac() [1/4]

const Sparsity casadi::Function::sparsity_jac	(	casadi_int	iind,
		casadi_int	oind,
		bool	compact = false,
		bool	symmetric = false
	)		const

[DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block

sparsity_jac() [2/4]

const Sparsity casadi::Function::sparsity_jac ( casadi_int  iind, const std::string &  oind, bool  compact = false, bool  symmetric = false  ) const

inline

[DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 481 of file function.hpp.

sparsity_jac() [3/4]

const Sparsity casadi::Function::sparsity_jac ( const std::string &  iind, casadi_int  oind = 0, bool  compact = false, bool  symmetric = false  ) const

inline

[DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 477 of file function.hpp.

sparsity_jac() [4/4]

const Sparsity casadi::Function::sparsity_jac ( const std::string &  iind, const std::string &  oind, bool  compact = false, bool  symmetric = false  ) const

inline

[DEPRECATED] Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 485 of file function.hpp.

sparsity_out() [1/2]

const Sparsity& casadi::Function::sparsity_out

(

casadi_int

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vs

sparsity_out() [2/2]

const Sparsity& casadi::Function::sparsity_out

(

const std::string &

iname

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vs

stats()

Dict casadi::Function::stats

(

int

mem = 0

)

const

sx_in() [1/3]

const std::vector<SX> casadi::Function::sx_in

(

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

sx_in() [2/3]

const SX casadi::Function::sx_in

(

casadi_int

iind

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

sx_in() [3/3]

const SX casadi::Function::sx_in ( const std::string &  iname ) const

inline

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x4

Definition at line 941 of file function.hpp.

sx_out() [1/3]

const std::vector<SX> casadi::Function::sx_out

(

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

sx_out() [2/3]

const SX casadi::Function::sx_out

(

casadi_int

oind

)

const

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

sx_out() [3/3]

const SX casadi::Function::sx_out ( const std::string &  oname ) const

inline

There is no guarantee that subsequent calls return unique answers

Extra doc: https://github.com/casadi/casadi/wiki/L_1x5

Definition at line 959 of file function.hpp.

sz_arg()

size_t casadi::Function::sz_arg

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xm

sz_iw()

size_t casadi::Function::sz_iw

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xo

sz_res()

size_t casadi::Function::sz_res

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xn

sz_w()

size_t casadi::Function::sz_w

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1xp

type_name()

static std::string casadi::Function::type_name ( )

inlinestatic

Extra doc: https://github.com/casadi/casadi/wiki/L_1ux

Definition at line 65 of file function.hpp.

uses_output()

bool casadi::Function::uses_output

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1w3

which_depends()

std::vector<bool> casadi::Function::which_depends	(	const std::string &	s_in,
		const std::vector< std::string > &	s_out,
		casadi_int	order = 1,
		bool	tr = false
	)		const

Parameters

[in]	order	Only 1 (linear) and 2 (nonlinear) allowed
[in]	tr	Flip the relationship. Return which expressions contain the variables

Extra doc: https://github.com/casadi/casadi/wiki/L_1vx

wrap()

Function casadi::Function::wrap

(

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vv

wrap_as_needed()

Function casadi::Function::wrap_as_needed

(

const Dict &

opts

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1vw

---

The documentation for this class was generated from the following file:

• function.hpp