slicot_dple.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_SLICOT_DPLE_HPP
#define CASADI_SLICOT_DPLE_HPP
 
#include "../../core/dple_impl.hpp"
#include "../../core/linsol.hpp"
#include <casadi/interfaces/slicot/casadi_dple_slicot_export.h>
 
namespace casadi {
 
 
  // Forward declaration
  class SlicotDple;
 
  struct CASADI_DPLE_SLICOT_EXPORT SlicotDpleMemory : public ProtoFunctionMemory {
 
    // Xbar Schur form multiplier data
 
 
    double *VZ, *T, *Z, *X, *Xbar, *nnKa, *nnKb, *eig_real, *eig_imag, *F, *FF, *A, *B;
    double *dwork, *wruntime;
    casadi_int* partition, *iwruntime;
 
    std::vector< std::vector< Linsol> > dpse_solvers;
 
    SlicotDpleMemory() {}
 
    ~SlicotDpleMemory() {}
  };
 
  class CASADI_DPLE_SLICOT_EXPORT SlicotDple : public Dple {
  public:
    explicit SlicotDple();
 
    SlicotDple(const std::string& name, const SpDict & st);
 
    static Dple* creator(const std::string& name,
                          const SpDict& st) {
      return new SlicotDple(name, st);
    }
 
    ~SlicotDple() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "slicot";}
 
    // Get name of the class
    std::string class_name() const override { return "SlicotDple";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new SlicotDpleMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<SlicotDpleMemory*>(mem);}
 
    void set_work(void* mem, const double**& arg, double**& res,
                          casadi_int*& iw, double*& w) const override;
 
    int eval(const double** arg, double** res, casadi_int* iw, double* w, void* mem) const override;
 
    static const std::string meta_doc;
 
    SlicotDple(const SpDict & st);
 
  private:
    casadi_int n_;
 
    inline casadi_int partindex(const SlicotDpleMemory* m, casadi_int i, casadi_int j, casadi_int k,
                                casadi_int r, casadi_int c) const;
 
    double psd_num_zero_;
 
    std::string linear_solver_;
 
    Dict linear_solver_options_;
 
    static bool has_loaded_;
 
  };
 
 
  void slicot_periodic_schur(casadi_int n, casadi_int K, const double* a,
                             double* t,  double * z,
                             double* dwork, double* eig_real,
                             double *eig_imag, double num_zero=0);
} // namespace casadi
 
#endif // CASADI_SLICOT_DPLE_HPP