multiplication.cpp

/*
 *    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_MULTIPLICATION_CPP
#define CASADI_MULTIPLICATION_CPP
 
#include "multiplication.hpp"
#include "casadi_misc.hpp"
#include "function_internal.hpp"
#include "serializing_stream.hpp"
 
namespace casadi {
 
  Multiplication::Multiplication(const MX& z, const MX& x, const MX& y) {
    casadi_assert(x.size2() == y.size1() && x.size1() == z.size1()
      && y.size2() == z.size2(),
      "Multiplication::Multiplication: dimension mismatch. Attempting to multiply "
      + x.dim() + " with " + y.dim()
      + " and add the result to " + z.dim());
 
    set_dep(z, x, y);
    set_sparsity(z.sparsity());
  }
 
  std::string Multiplication::disp(const std::vector<std::string>& arg) const {
    return "mac(" + arg.at(1) + "," + arg.at(2) + "," + arg.at(0) + ")";
  }
 
  int Multiplication::eval(const double** arg, double** res, casadi_int* iw, double* w) const {
    return eval_gen<double>(arg, res, iw, w);
  }
 
  int Multiplication::
  eval_sx(const SXElem** arg, SXElem** res, casadi_int* iw, SXElem* w) const {
    return eval_gen<SXElem>(arg, res, iw, w);
  }
 
  template<typename T>
  int Multiplication::eval_gen(const T** arg, T** res, casadi_int* iw, T* w) const {
    if (arg[0]!=res[0]) std::copy(arg[0], arg[0]+dep(0).nnz(), res[0]);
    casadi_mtimes(arg[1], dep(1).sparsity(),
               arg[2], dep(2).sparsity(),
               res[0], sparsity(), w, false);
    return 0;
  }
 
  void Multiplication::ad_forward(const std::vector<std::vector<MX> >& fseed,
                               std::vector<std::vector<MX> >& fsens) const {
    for (casadi_int d=0; d<fsens.size(); ++d) {
      fsens[d][0] = fseed[d][0]
        + mac(dep(1), fseed[d][2], MX::zeros(dep(0).sparsity()))
        + mac(fseed[d][1], dep(2), MX::zeros(dep(0).sparsity()));
    }
  }
 
  void Multiplication::ad_reverse(const std::vector<std::vector<MX> >& aseed,
                               std::vector<std::vector<MX> >& asens) const {
    for (casadi_int d=0; d<aseed.size(); ++d) {
      asens[d][1] += mac(aseed[d][0], dep(2).T(), MX::zeros(dep(1).sparsity()));
      asens[d][2] += mac(dep(1).T(), aseed[d][0], MX::zeros(dep(2).sparsity()));
      asens[d][0] += aseed[d][0];
    }
  }
 
  void Multiplication::eval_mx(const std::vector<MX>& arg, std::vector<MX>& res) const {
    res[0] = mac(arg[1], arg[2], arg[0]);
  }
 
  void Multiplication::eval_linear(const std::vector<std::array<MX, 3> >& arg,
                        std::vector<std::array<MX, 3> >& res) const {
    const std::array<MX, 3>& x = arg[1];
    const std::array<MX, 3>& y = arg[2];
    const std::array<MX, 3>& z = arg[0];
    std::array<MX, 3>& f = res[0];
    f[0] = mac(x[0], y[0], z[0]);
    f[1] = mac(x[0], y[1], z[1]);
    f[1] = mac(x[1], y[0], f[1]);
    f[2] = mac(x[1]+x[2], y[1]+y[2], z[2]);
    f[2] = mac(x[2], y[0], f[2]);
    f[2] = mac(x[0], y[2], f[2]);
  }
 
  int Multiplication::
  sp_forward(const bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w) const {
    copy_fwd(arg[0], res[0], nnz());
    Sparsity::mul_sparsityF(arg[1], dep(1).sparsity(),
                            arg[2], dep(2).sparsity(),
                            res[0], sparsity(), w);
    return 0;
  }
 
  int Multiplication::
  sp_reverse(bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w) const {
    Sparsity::mul_sparsityR(arg[1], dep(1).sparsity(),
                            arg[2], dep(2).sparsity(),
                            res[0], sparsity(), w);
    copy_rev(arg[0], res[0], nnz());
    return 0;
  }
 
  void Multiplication::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 {
    // Copy first argument if not inplace
    if (arg[0]!=res[0] || arg_is_ref[0]) {
      g << g.copy(g.work(arg[0], nnz(), arg_is_ref[0]),
            nnz(),
            g.work(res[0], nnz(), false)) << '\n';
    }
 
    // Perform sparse matrix multiplication
    g << g.mtimes(g.work(arg[1], dep(1).nnz(), arg_is_ref[1]), dep(1).sparsity(),
                          g.work(arg[2], dep(2).nnz(), arg_is_ref[2]), dep(2).sparsity(),
                          g.work(res[0], nnz(), false), sparsity(), "w", false) << '\n';
  }
 
  void DenseMultiplication::
  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 {
    // Copy first argument if not inplace
    if (arg[0]!=res[0] || arg_is_ref[0]) {
      g << g.copy(g.work(arg[0], nnz(), arg_is_ref[0]), nnz(),
                          g.work(res[0], nnz(), false)) << '\n';
    }
 
    casadi_int nrow_x = dep(1).size1(), nrow_y = dep(2).size1(), ncol_y = dep(2).size2();
    g.local("rr", "casadi_real", "*");
    g.local("cs", "const casadi_real", "*");
    g.local("ct", "const casadi_real", "*");
    g.local("i", "casadi_int");
    g.local("j", "casadi_int");
    g.local("k", "casadi_int");
    g << "for (i=0, rr=" << g.work(res[0], nnz(), false) <<"; i<" << ncol_y << "; ++i)"
      << " for (j=0; j<" << nrow_x << "; ++j, ++rr)"
      << " for (k=0, cs=" << g.work(arg[1], dep(1).nnz(), arg_is_ref[1]) << "+j, ct="
      << g.work(arg[2], dep(2).nnz(), arg_is_ref[2]) << "+i*" << nrow_y << "; "
      << "k<" << nrow_y << "; ++k)"
      << " *rr += cs[k*" << nrow_x << "]**ct++;\n";
  }
 
  void Multiplication::serialize_type(SerializingStream& s) const {
    MXNode::serialize_type(s);
    s.pack("Multiplication::dense", false);
  }
 
  void DenseMultiplication::serialize_type(SerializingStream& s) const {
    MXNode::serialize_type(s); // NOLINT
    s.pack("Multiplication::dense", true);
  }
 
  MXNode* Multiplication::deserialize(DeserializingStream& s) {
    bool dense;
    s.unpack("Multiplication::dense", dense);
    if (dense) {
      return new DenseMultiplication(s);
    } else {
      return new Multiplication(s);
    }
 
  }
 
} // namespace casadi
 
#endif // CASADI_MULTIPLICATION_CPP