blazing_spline_impl.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_BLAZING_SPLINE_IMPL_HPP
#define CASADI_BLAZING_SPLINE_IMPL_HPP
 
#include "blazing_spline.hpp"
#include "function_internal.hpp"
 
 
namespace casadi {
  class CASADI_EXPORT BlazingSplineFunction : public FunctionInternal {
  public:
    BlazingSplineFunction(
        const std::string& name,
        const std::vector< std::vector<double> >& knots,
        casadi_int diff_order,
        bool precompute_coeff = true,
        bool precompute_grid = false);
 
    BlazingSplineFunction(
        const std::string& name,
        const std::vector<casadi_int>& knot_dims,
        casadi_int diff_order,
        bool precompute_coeff = false,
        bool precompute_grid = false,
        bool inv_input = false);
 
    std::string class_name() const override { return "BlazingSplineFunction";}
 
    ~BlazingSplineFunction() override;
 
    void merge(const std::vector<MX>& arg,
        std::vector<MX>& subs_from, std::vector<MX>& subs_to) const override;
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void init_derived_members();
 
    bool has_codegen() const override { return true;}
 
    void codegen_body(CodeGenerator& g) const override;
 
 
    bool has_jacobian() const override;
    Function get_jacobian(const std::string& name,
                          const std::vector<std::string>& inames,
                          const std::vector<std::string>& onames,
                          const Dict& opts) const override;
 
    bool has_parametric_knots() const { return knots_.empty(); }
 
    casadi_int ndim() const { return knots_offset_.size()-1; }
 
    casadi_int arg_knots() const { return 2; }
 
    casadi_int arg_inv() const { return arg_knots() + 1; }
 
    casadi_int diff_order_;
    bool precompute_coeff_ = false;
    bool precompute_grid_ = false;
    bool inv_input_ = false;
    std::vector< std::vector<double> > knots_;
    std::vector<std::string> lookup_modes_;
    std::string pedantic_mode_order_ = "warn";
    std::string pedantic_mode_size_ = "error";
 
    // Derived fields
    std::vector<casadi_int> knots_offset_;
    std::vector<double> knots_stacked_;
    // Precomputed reciprocal knot spans (3 per knot per dim: inv1, inv2, inv3)
    std::vector<double> knots_inv_;
 
    // Coefficient tensor size
    casadi_int nc_, ndc_, nddc_;
 
 
    size_t get_n_in() override;
    size_t get_n_out() override;
 
    bool get_diff_in(casadi_int i) override;
 
 
    Sparsity get_sparsity_in(casadi_int i) override;
    Sparsity get_sparsity_out(casadi_int i) override;
 
 
    std::string get_name_in(casadi_int i) override;
    std::string get_name_out(casadi_int i) override;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s);
 
    std::string serialize_base_function() const override { return "BlazingSplineFunction"; }
 
    protected:
        explicit BlazingSplineFunction(DeserializingStream& s);
  };
 
 
} // namespace casadi
 
#endif // CASADI_BLAZING_SPLINE_IMPL_HPP