integration_tools.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_INTEGRATION_TOOLS_HPP
#define CASADI_INTEGRATION_TOOLS_HPP
 
#include "casadi/core/function.hpp"
 
namespace casadi {
 
 
  CASADI_EXPORT
    std::vector<double> collocation_points(casadi_int order, const std::string& scheme="radau");
#ifndef SWIG
  CASADI_EXPORT
    std::vector<long double> collocation_pointsL(casadi_int order,
      const std::string& scheme="radau");
#endif // SWIG
 
  CASADI_EXPORT void
  collocation_interpolators(const std::vector<double> & tau,
                            std::vector< std::vector<double> > &SWIG_OUTPUT(C),
                            std::vector< double > &SWIG_OUTPUT(D));
 
  CASADI_EXPORT void
  collocation_coeff(const std::vector<double> & tau,
                            DM &SWIG_OUTPUT(C),
                            DM &SWIG_OUTPUT(D),
                            DM &SWIG_OUTPUT(B));
 
  // Type of collocation points
  enum CollocationPoints {LEGENDRE, RADAU};
 
  CASADI_EXPORT Function simpleRK(Function f, casadi_int N=10, casadi_int order=4);
 
  CASADI_EXPORT
  Function simpleIRK(Function f, casadi_int N=10, casadi_int order=4,
                      const std::string& scheme="radau",
                      const std::string& solver="newton",
                      const Dict& solver_options = Dict());
 
  CASADI_EXPORT
  Function simpleIntegrator(Function f, const std::string& integrator="cvodes",
                              const Dict& integrator_options = Dict());
 
 
  CASADI_EXPORT
  MXDict dae_reduce_index(const MXDict& dae, Dict& SWIG_OUTPUT(stats), const Dict& opts={});
  CASADI_EXPORT
  SXDict dae_reduce_index(const SXDict& dae, Dict& SWIG_OUTPUT(stats), const Dict& opts={});
 
 
  CASADI_EXPORT
  MXDict dae_map_semi_expl(const MXDict& dae, const MXDict& dae_red,
    Function& SWIG_OUTPUT(state_to_orig), Function& SWIG_OUTPUT(phi));
  CASADI_EXPORT
  SXDict dae_map_semi_expl(const SXDict& dae, const SXDict& dae_red,
    Function& SWIG_OUTPUT(state_to_orig), Function& SWIG_OUTPUT(phi));
 
  CASADI_EXPORT
  Function dae_init_gen(const MXDict& dae, const MXDict& dae_red,
    const std::string& init_solver, const DMDict& init_strength=DMDict(),
    const Dict& init_solver_options=Dict());
  CASADI_EXPORT
  Function dae_init_gen(const SXDict& dae, const SXDict& dae_red,
    const std::string& init_solver, const DMDict& init_strength=DMDict(),
    const Dict& init_solver_options=Dict());
 
} // namespace casadi
 
#endif // CASADI_INTEGRATION_TOOLS_HPP