convexify.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_CONVEXIFY_HPP
#define CASADI_CONVEXIFY_HPP
 
#include "mx_node.hpp"
#include <map>
#include <stack>
 
 
namespace casadi {
 
 
 
 
  class CASADI_EXPORT Convexify : public MXNode {
  public:
 
    Convexify(const MX& H, const Dict& opts=Dict());
 
    ~Convexify() override {}
 
    template<typename T>
    int eval_gen(const T** arg, T** res, casadi_int* iw, T* w) const;
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w) const override;
 
    void eval_mx(const std::vector<MX>& arg, std::vector<MX>& res,
        const std::vector<bool>& unique={}) const override;
 
    void generate(CodeGenerator& g,
                  const std::vector<casadi_int>& arg,
                  const std::vector<casadi_int>& res,
                  const std::vector<bool>& arg_is_ref,
                  std::vector<bool>& res_is_ref) const override;
 
    size_t sz_iw() const override;
 
    size_t sz_w() const override;
 
    std::string disp(const std::vector<std::string>& arg) const override;
 
    casadi_int op() const override { return OP_CONVEXIFY;}
 
    void serialize_body(SerializingStream& s) const override;
 
    static MXNode* deserialize(DeserializingStream& s) { return new Convexify(s); }
 
    struct ConvexifyData convexify_data_;
 
    static Sparsity setup(ConvexifyData& d, const Sparsity& H,
                      const Dict& opts=Dict(), bool inplace=true);
 
    static std::string generate(CodeGenerator& g,
      const ConvexifyData &d,
      const std::string& Hin, const std::string& Hout,
      const std::string& iw, const std::string& w);
 
    static void deserialize(DeserializingStream& s, const std::string& prefix, ConvexifyData& d);
    static void serialize(SerializingStream& s, const std::string& prefix, const ConvexifyData& d);
  protected:
 
    explicit Convexify(DeserializingStream& s);
  };
 
 
} // namespace casadi
 
#endif // CASADI_CONVEXIFY_HPP