'osqp' plugin for Conic More...

#include <osqp_interface.hpp>

Detailed Description

Interface to the OSQP Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_220

: Interface to the PROXQP Solver for quadratic programming

Extra doc: https://github.com/casadi/casadi/wiki/L_243

List of available options
Id	Type	Description
osqp	OT_DICT	const Options to be passed to osqp.
warm_start_dual	OT_BOOL	Use lam_a0 and lam_x0 input to warmstart [Default: truw].
warm_start_primal	OT_BOOL	Use x0 input to warmstart [Default: true].

List of available options
Id	Type	Description	Used in
ad_weight	OT_DOUBLE	Weighting factor for derivative calculation.When there is an option of either using forward or reverse mode directional derivatives, the condition ad_weightnf<=(1-ad_weight)na is used where nf and na are estimates of the number of forward/reverse mode directional derivatives needed. By default, ad_weight is calculated automatically, but this can be overridden by setting this option. In particular, 0 means forcing forward mode and 1 forcing reverse mode. Leave unset for (class specific) heuristics.	casadi::FunctionInternal
ad_weight_sp	OT_DOUBLE	Weighting factor for sparsity pattern calculation calculation.Overrides default behavior. Set to 0 and 1 to force forward and reverse mode respectively. Cf. option "ad_weight". When set to -1, sparsity is completely ignored and dense matrices are used.	casadi::FunctionInternal
always_inline	OT_BOOL	Force inlining.	casadi::FunctionInternal
cache	OT_DICT	Prepopulate the function cache. Default: empty	casadi::FunctionInternal
compiler	OT_STRING	Just-in-time compiler plugin to be used.	casadi::FunctionInternal
custom_jacobian	OT_FUNCTION	Override CasADi's AD. Use together with 'jac_penalty': 0. Note: Highly experimental. Syntax may break often.	casadi::FunctionInternal
der_options	OT_DICT	Default options to be used to populate forward_options, reverse_options, and jacobian_options before those options are merged in.	casadi::FunctionInternal
derivative_of	OT_FUNCTION	The function is a derivative of another function. The type of derivative (directional derivative, Jacobian) is inferred from the function name.	casadi::FunctionInternal
discrete	OT_BOOLVECTOR	Indicates which of the variables are discrete, i.e. integer-valued	casadi::Conic
dump	OT_BOOL	Dump function to file upon first evaluation. [false]	casadi::FunctionInternal
dump_dir	OT_STRING	Directory to dump inputs/outputs to. Make sure the directory exists [.]	casadi::FunctionInternal
dump_format	OT_STRING	Choose file format to dump matrices. See DM.from_file [mtx]	casadi::FunctionInternal
dump_in	OT_BOOL	Dump numerical values of inputs to file (readable with DM.from_file) [default: false] A counter is used to generate unique names. The counter may be reset using reset_dump_count.	casadi::FunctionInternal
dump_out	OT_BOOL	Dump numerical values of outputs to file (readable with DM.from_file) [default: false] A counter is used to generate unique names. The counter may be reset using reset_dump_count.	casadi::FunctionInternal
enable_fd	OT_BOOL	Enable derivative calculation by finite differencing. [default: false]]	casadi::FunctionInternal
enable_forward	OT_BOOL	Enable derivative calculation using generated functions for Jacobian-times-vector products - typically using forward mode AD - if available. [default: true]	casadi::FunctionInternal
enable_jacobian	OT_BOOL	Enable derivative calculation using generated functions for Jacobians of all differentiable outputs with respect to all differentiable inputs - if available. [default: true]	casadi::FunctionInternal
enable_reverse	OT_BOOL	Enable derivative calculation using generated functions for transposed Jacobian-times-vector products - typically using reverse mode AD - if available. [default: true]	casadi::FunctionInternal
equality	OT_BOOLVECTOR	Indicate an upfront hint which of the constraints are equalities. Some solvers may be able to exploit this knowledge. When true, the corresponding lower and upper bounds are assumed equal. When false, the corresponding bounds may be equal or different.	casadi::Conic
error_on_fail	OT_BOOL	Throw exceptions when function evaluation fails (default true).	casadi::ProtoFunction
external_transform	OT_VECTORVECTOR	List of external_transform instruction arguments. Default: empty	casadi::FunctionInternal
fd_method	OT_STRING	Method for finite differencing [default 'central']	casadi::FunctionInternal
fd_options	OT_DICT	Options to be passed to the finite difference instance	casadi::FunctionInternal
forward_options	OT_DICT	Options to be passed to a forward mode constructor	casadi::FunctionInternal
gather_stats	OT_BOOL	Deprecated option (ignored): Statistics are now always collected.	casadi::FunctionInternal
input_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
inputs_check	OT_BOOL	Throw exceptions when the numerical values of the inputs don't make sense	casadi::FunctionInternal
is_diff_in	OT_BOOLVECTOR	Indicate for each input if it should be differentiable.	casadi::FunctionInternal
is_diff_out	OT_BOOLVECTOR	Indicate for each output if it should be differentiable.	casadi::FunctionInternal
jac_penalty	OT_DOUBLE	When requested for a number of forward/reverse directions, it may be cheaper to compute first the full jacobian and then multiply with seeds, rather than obtain the requested directions in a straightforward manner. Casadi uses a heuristic to decide which is cheaper. A high value of 'jac_penalty' makes it less likely for the heurstic to chose the full Jacobian strategy. The special value -1 indicates never to use the full Jacobian strategy	casadi::FunctionInternal
jacobian_options	OT_DICT	Options to be passed to a Jacobian constructor	casadi::FunctionInternal
jit	OT_BOOL	Use just-in-time compiler to speed up the evaluation	casadi::FunctionInternal
jit_cleanup	OT_BOOL	Cleanup up the temporary source file that jit creates. Default: true	casadi::FunctionInternal
jit_name	OT_STRING	The file name used to write out code. The actual file names used depend on 'jit_temp_suffix' and include extensions. Default: 'jit_tmp'	casadi::FunctionInternal
jit_options	OT_DICT	Options to be passed to the jit compiler.	casadi::FunctionInternal
jit_serialize	OT_STRING	Specify behaviour when serializing a jitted function: SOURCE\|link\|embed.	casadi::FunctionInternal
jit_temp_suffix	OT_BOOL	Use a temporary (seemingly random) filename suffix for generated code and libraries. This is desired for thread-safety. This behaviour may defeat caching compiler wrappers. Default: true	casadi::FunctionInternal
max_io	OT_INT	Acceptable number of inputs and outputs. Warn if exceeded.	casadi::FunctionInternal
max_num_dir	OT_INT	Specify the maximum number of directions for derivative functions. Overrules the builtin optimized_num_dir.	casadi::FunctionInternal
never_inline	OT_BOOL	Forbid inlining.	casadi::FunctionInternal
osqp	OT_DICT	const Options to be passed to osqp.	casadi::OsqpInterface
output_scheme	OT_STRINGVECTOR	Deprecated option (ignored)	casadi::FunctionInternal
post_expand	OT_BOOL	After construction, expand this Function. Default: False	casadi::FunctionInternal
post_expand_options	OT_DICT	Options to be passed to post-construction expansion. Default: empty	casadi::FunctionInternal
print_canonical	OT_BOOL	When printing numerical matrices, use a format that is exact and reproducible in generated C code.	casadi::FunctionInternal
print_in	OT_BOOL	Print numerical values of inputs [default: false]	casadi::FunctionInternal
print_out	OT_BOOL	Print numerical values of outputs [default: false]	casadi::FunctionInternal
print_problem	OT_BOOL	Print a numeric description of the problem	casadi::Conic
print_time	OT_BOOL	print information about execution time. Implies record_time.	casadi::ProtoFunction
record_time	OT_BOOL	record information about execution time, for retrieval with stats().	casadi::ProtoFunction
regularity_check	OT_BOOL	Throw exceptions when NaN or Inf appears during evaluation	casadi::ProtoFunction
reverse_options	OT_DICT	Options to be passed to a reverse mode constructor	casadi::FunctionInternal
user_data	OT_VOIDPTR	A user-defined field that can be used to identify the function or pass additional information	casadi::FunctionInternal
verbose	OT_BOOL	Verbose evaluation – for debugging	casadi::ProtoFunction
warm_start_dual	OT_BOOL	Use lam_a0 and lam_x0 input to warmstart [Default: truw].	casadi::OsqpInterface
warm_start_primal	OT_BOOL	Use x0 input to warmstart [Default: true].	casadi::OsqpInterface

Definition at line 66 of file osqp_interface.hpp.

Inheritance diagram for casadi::OsqpInterface:

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Collaboration diagram for casadi::OsqpInterface:

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Public Types
typedef Conic (	Creator) (const std::string &name, const std::map< std::string, Sparsity > &st)

using	weak_ref_type = WeakRefInternal

typedef int(*	RegFcn) (Plugin *plugin)

Public Member Functions
	OsqpInterface (const std::string &name, const std::map< std::string, Sparsity > &st)
	Create a new Solver. More...

	~OsqpInterface () override
	Destructor. More...

const char *	plugin_name () const override

std::string	class_name () const override
	Readable name of the internal class. More...

void	init (const Dict &opts) override
	Initialize. More...

void *	alloc_mem () const override
	Create memory block. More...

int	init_mem (void *mem) const override
	Initalize memory block. More...

void	free_mem (void *mem) const override
	Free memory block. More...

int	solve (const double arg, double res, casadi_int iw, double w, void *mem) const override
	Solve the QP. More...

bool	integer_support () const override
	Can discrete variables be treated. More...

bool	psd_support () const override
	Can psd constraints be treated. More...

Dict	get_stats (void *mem) const override
	Get all statistics. More...

void	codegen_body (CodeGenerator &g) const override
	Generate code for the function body. More...

void	codegen_init_mem (CodeGenerator &g) const override
	Codegen alloc_mem. More...

void	codegen_free_mem (CodeGenerator &g) const override
	Codegen free_mem. More...

std::string	codegen_mem_type () const override
	Thread-local memory object type. More...

void	serialize_body (SerializingStream &s) const override
	Serialize an object without type information. More...

int	eval (const double arg, double res, casadi_int iw, double w, void *mem) const final
	Solve the QP. More...

void	set_work (void mem, const double &arg, double &res, casadi_int &iw, double *&w) const override
	Set the (persistent) work vectors. More...

virtual void	check_inputs (const double lbx, const double ubx, const double lba, const double uba) const
	Check if the numerical values of the supplied bounds make sense. More...

virtual void	generateNativeCode (std::ostream &file) const

bool	is_a (const std::string &type, bool recursive) const override
	Check if the function is of a particular type. More...

double	get_default_in (casadi_int ind) const override
	Get default input value. More...

void	qp_codegen_body (CodeGenerator &g) const
	Generate code for the function body. More...

void	serialize (SerializingStream &s) const
	Serialize an object. More...

void	serialize_type (SerializingStream &s) const override
	Serialize type information. More...

std::string	serialize_base_function () const override
	String used to identify the immediate FunctionInternal subclass. More...

virtual std::string	getAdaptorSolverName () const
	Obtain solver name from Adaptor. More...

Dict	generate_options (const std::string &target) const override
	Reconstruct options dict. More...

void	change_option (const std::string &option_name, const GenericType &option_value) override
	Change option after object creation for debugging. More...

void	reset_dump_count ()
	Reset the counter used to name dump files. More...

void	finalize () override
	Finalize the object creation. More...

Function	self () const
	Get a public class instance. More...

virtual Function	factory (const std::string &name, const std::vector< std::string > &s_in, const std::vector< std::string > &s_out, const Function::AuxOut &aux, const Dict &opts) const

virtual std::vector< std::string >	get_function () const

virtual const Function &	get_function (const std::string &name) const

virtual bool	has_function (const std::string &fname) const

void	add_embedded (std::map< FunctionInternal *, Function > &all_fun, const Function &dep, casadi_int max_depth) const

virtual void	find (std::map< FunctionInternal *, Function > &all_fun, casadi_int max_depth) const

virtual std::vector< bool >	which_depends (const std::string &s_in, const std::vector< std::string > &s_out, casadi_int order, bool tr=false) const
	Which variables enter with some order. More...

virtual int	eval_sx (const SXElem arg, SXElem res, casadi_int iw, SXElem w, void *mem, bool always_inline, bool never_inline) const
	Evaluate with symbolic scalars. More...

virtual void	eval_mx (const MXVector &arg, MXVector &res, bool always_inline, bool never_inline) const
	Evaluate with symbolic matrices. More...

template<typename M >
void	call (const std::vector< M > &arg, std::vector< M > &res, bool always_inline, bool never_inline) const
	Call a function, templated. More...

template<typename M >
bool	matching_arg (const std::vector< M > &arg, casadi_int &npar) const
	Check if input arguments that needs to be replaced. More...

template<typename M >
bool	matching_res (const std::vector< M > &arg, casadi_int &npar) const
	Check if output arguments that needs to be replaced. More...

template<typename M >
std::vector< M >	replace_arg (const std::vector< M > &arg, casadi_int npar) const
	Replace 0-by-0 inputs. More...

template<typename M >
std::vector< M >	project_arg (const std::vector< M > &arg, casadi_int npar) const
	Project sparsities. More...

template<typename M >
std::vector< M >	project_res (const std::vector< M > &arg, casadi_int npar) const
	Project sparsities. More...

template<typename M >
std::vector< M >	replace_res (const std::vector< M > &res, casadi_int npar) const
	Replace 0-by-0 outputs. More...

template<typename M >
std::vector< std::vector< M > >	replace_fseed (const std::vector< std::vector< M >> &fseed, casadi_int npar) const
	Replace 0-by-0 forward seeds. More...

template<typename M >
std::vector< std::vector< M > >	replace_fseed (const std::vector< std::vector< M > > &fseed, casadi_int npar) const

template<typename M >
std::vector< std::vector< M > >	replace_aseed (const std::vector< std::vector< M >> &aseed, casadi_int npar) const
	Replace 0-by-0 reverse seeds. More...

template<typename M >
std::vector< std::vector< M > >	replace_aseed (const std::vector< std::vector< M > > &aseed, casadi_int npar) const

std::vector< MX >	mapsum_mx (const std::vector< MX > &arg, const std::string &parallelization)
	Parallel evaluation. More...

virtual bool	uses_output () const
	Do the derivative functions need nondifferentiated outputs? More...

std::string	diff_prefix (const std::string &prefix) const
	Determine prefix for differentiated functions. More...

virtual Function	slice (const std::string &name, const std::vector< casadi_int > &order_in, const std::vector< casadi_int > &order_out, const Dict &opts) const
	returns a new function with a selection of inputs/outputs of the original More...

virtual const Function &	oracle () const
	Get oracle. More...

bool	has_derivative () const
	Can derivatives be calculated in any way? More...

virtual double	ad_weight () const
	Weighting factor for chosing forward/reverse mode. More...

virtual double	sp_weight () const
	Weighting factor for chosing forward/reverse mode,. More...

virtual std::vector< MX >	free_mx () const
	Get free variables (MX) More...

virtual std::vector< SX >	free_sx () const
	Get free variables (SX) More...

virtual bool	has_free () const
	Does the function have free variables. More...

virtual void	generate_lifted (Function &vdef_fcn, Function &vinit_fcn) const
	Extract the functions needed for the Lifted Newton method. More...

virtual casadi_int	n_instructions () const
	Get the number of atomic operations. More...

virtual casadi_int	instruction_id (casadi_int k) const
	Get an atomic operation operator index. More...

virtual std::vector< casadi_int >	instruction_input (casadi_int k) const
	Get the (integer) input arguments of an atomic operation. More...

virtual double	instruction_constant (casadi_int k) const
	Get the floating point output argument of an atomic operation. More...

virtual std::vector< casadi_int >	instruction_output (casadi_int k) const
	Get the (integer) output argument of an atomic operation. More...

virtual casadi_int	n_nodes () const
	Number of nodes in the algorithm. More...

virtual MX	instruction_MX (casadi_int k) const
	get MX expression associated with instruction More...

virtual SX	instructions_sx () const
	get SX expression associated with instructions More...

Function	wrap () const
	Wrap in an Function instance consisting of only one MX call. More...

Function	wrap_as_needed (const Dict &opts) const
	Wrap in an Function instance consisting of only one MX call. More...

Dict	cache () const
	Get all functions in the cache. More...

bool	incache (const std::string &fname, Function &f, const std::string &suffix="") const
	Get function in cache. More...

void	tocache (const Function &f, const std::string &suffix="") const
	Save function to cache. More...

void	tocache_if_missing (Function &f, const std::string &suffix="") const
	Save function to cache, only if missing. More...

void	codegen (CodeGenerator &g, const std::string &fname) const
	Generate code the function. More...

void	codegen_meta (CodeGenerator &g) const
	Generate meta-information allowing a user to evaluate a generated function. More...

void	codegen_sparsities (CodeGenerator &g) const
	Codegen sparsities. More...

virtual std::string	codegen_name (const CodeGenerator &g, bool ns=true) const
	Get name in codegen. More...

std::string	codegen_mem (CodeGenerator &g, const std::string &index="mem") const
	Get thread-local memory object. More...

virtual void	codegen_incref (CodeGenerator &g) const
	Codegen incref for dependencies. More...

virtual void	codegen_decref (CodeGenerator &g) const
	Codegen decref for dependencies. More...

virtual void	codegen_alloc_mem (CodeGenerator &g) const
	Codegen decref for alloc_mem. More...

virtual void	codegen_checkout (CodeGenerator &g) const
	Codegen for checkout. More...

virtual void	codegen_release (CodeGenerator &g) const
	Codegen for release. More...

std::string	signature (const std::string &fname) const
	Code generate the function. More...

std::string	signature_unrolled (const std::string &fname) const
	Code generate the function. More...

virtual void	codegen_declarations (CodeGenerator &g) const
	Generate code for the declarations of the C function. More...

virtual std::string	generate_dependencies (const std::string &fname, const Dict &opts) const
	Export / Generate C code for the dependency function. More...

virtual bool	has_codegen () const
	Is codegen supported? More...

virtual void	jit_dependencies (const std::string &fname)
	Jit dependencies. More...

virtual void	export_code (const std::string &lang, std::ostream &stream, const Dict &options) const
	Export function in a specific language. More...

void	disp (std::ostream &stream, bool more) const override
	Display object. More...

virtual void	disp_more (std::ostream &stream) const
	Print more. More...

std::string	definition () const
	Get function signature: name:(inputs)->(outputs) More...

void	print_dimensions (std::ostream &stream) const
	Print dimensions of inputs and outputs. More...

virtual std::vector< std::string >	get_free () const
	Print free variables. More...

void	get_partition (casadi_int iind, casadi_int oind, Sparsity &D1, Sparsity &D2, bool compact, bool symmetric, bool allow_forward, bool allow_reverse) const
	Get the unidirectional or bidirectional partition. More...

virtual double	get_max_in (casadi_int ind) const
	Get largest input value. More...

virtual double	get_min_in (casadi_int ind) const
	Get smallest input value. More...

virtual std::vector< double >	get_nominal_in (casadi_int ind) const

virtual std::vector< double >	get_nominal_out (casadi_int ind) const

virtual double	get_reltol () const
	Get relative tolerance. More...

virtual double	get_abstol () const
	Get absolute tolerance. More...

virtual bool	get_diff_in (casadi_int i)
	Which inputs are differentiable. More...

virtual bool	get_diff_out (casadi_int i)
	Which outputs are differentiable. More...

casadi_int	index_in (const std::string &name) const
	Get input scheme index by name. More...

casadi_int	index_out (const std::string &name) const
	Get output scheme index by name. More...

virtual int	sp_forward (const bvec_t arg, bvec_t res, casadi_int iw, bvec_t w, void *mem) const
	Propagate sparsity forward. More...

virtual int	sp_forward_block (const bvec_t arg, bvec_t res, casadi_int iw, bvec_t w, void *mem, casadi_int oind, casadi_int iind) const
	Propagate sparsity forward, specific block. More...

virtual int	sp_reverse (bvec_t arg, bvec_t res, casadi_int iw, bvec_t w, void *mem) const
	Propagate sparsity backwards. More...

void	sz_work (size_t &sz_arg, size_t &sz_res, size_t &sz_iw, size_t &sz_w) const
	Get number of temporary variables needed. More...

size_t	sz_arg () const
	Get required length of arg field. More...

size_t	sz_res () const
	Get required length of res field. More...

size_t	sz_iw () const
	Get required length of iw field. More...

size_t	sz_w () const
	Get required length of w field. More...

void	alloc_arg (size_t sz_arg, bool persistent=false)
	Ensure required length of arg field. More...

void	alloc_res (size_t sz_res, bool persistent=false)
	Ensure required length of res field. More...

void	alloc_iw (size_t sz_iw, bool persistent=false)
	Ensure required length of iw field. More...

void	alloc_w (size_t sz_w, bool persistent=false)
	Ensure required length of w field. More...

void	alloc (const Function &f, bool persistent=false, int num_threads=1)
	Ensure work vectors long enough to evaluate function. More...

virtual void	set_temp (void mem, const double arg, double res, casadi_int iw, double *w) const
	Set the (temporary) work vectors. More...

void	setup (void mem, const double arg, double res, casadi_int iw, double *w) const
	Set the (persistent and temporary) work vectors. More...

virtual Dict	info () const

Function	map (casadi_int n, const std::string &parallelization) const
	Generate/retrieve cached serial map. More...

void	generate_in (const std::string &fname, const double **arg) const
	Export an input file that can be passed to generate C code with a main. More...

void	generate_out (const std::string &fname, double **res) const

virtual void	merge (const std::vector< MX > &arg, std::vector< MX > &subs_from, std::vector< MX > &subs_to) const
	List merge opportunitities. More...

template<typename MatType >
std::vector< std::vector< MatType > >	fwd_seed (casadi_int nfwd) const
	Symbolic expressions for the forward seeds. More...

template<typename MatType >
std::vector< std::vector< MatType > >	symbolicAdjSeed (casadi_int nadj, const std::vector< MatType > &v) const
	Symbolic expressions for the adjoint seeds. More...

void	print_in (std::ostream &stream, const double **arg, bool truncate) const
	Print inputs. More...

void	print_out (std::ostream &stream, double **res, bool truncate) const
	Print outputs. More...

void	construct (const Dict &opts)
	Construct. More...

void	print_options (std::ostream &stream) const
	Print list of options. More...

void	print_option (const std::string &name, std::ostream &stream) const
	Print all information there is to know about a certain option. More...

bool	has_option (const std::string &option_name) const
	Does a particular option exist. More...

int	checkout () const
	Checkout a memory object. More...

void	release (int mem) const
	Release a memory object. More...

void *	memory (int ind) const
	Memory objects. More...

bool	has_memory (int ind) const
	Check for existance of memory object. More...

virtual void	check_mem_count (casadi_int n) const
	Check for validatity of memory object count. More...

void	clear_mem ()
	Clear all memory (called from destructor) More...

void	print (const char *fmt,...) const
	C-style formatted printing during evaluation. More...

void	sprint (char buf, size_t buf_sz, const char fmt,...) const
	C-style formatted printing to string. More...

void	format_time (char *buffer, double time) const
	Format time in a fixed width 8 format. More...

void	print_time (const std::map< std::string, FStats > &fstats) const
	Print timing statistics. More...

casadi_int	getCount () const
	Get the reference count. More...

std::string	debug_repr (const SharedObjectInternal *) const

GenericWeakRef< SharedObject, SharedObjectInternal > *	weak ()
	Get a weak reference to the object. More...


size_t	get_n_in () override
	Number of function inputs and outputs. More...

size_t	get_n_out () override
	Number of function inputs and outputs. More...


Sparsity	get_sparsity_in (casadi_int i) override
	Sparsities of function inputs and outputs. More...

Sparsity	get_sparsity_out (casadi_int i) override
	Sparsities of function inputs and outputs. More...


std::string	get_name_in (casadi_int i) override
	Names of function input and outputs. More...

std::string	get_name_out (casadi_int i) override
	Names of function input and outputs. More...


virtual bool	has_spfwd () const
	Is the class able to propagate seeds through the algorithm? More...

virtual bool	has_sprev () const
	Is the class able to propagate seeds through the algorithm? More...


int	eval_gen (const double arg, double res, casadi_int iw, double w, void *mem, bool always_inline, bool never_inline) const
	Evaluate numerically. More...


int	eval_gen (const SXElem arg, SXElem res, casadi_int iw, SXElem w, void *mem, bool always_inline, bool never_inline) const
	Evaluate a function, overloaded. More...

int	eval_gen (const bvec_t arg, bvec_t res, casadi_int iw, bvec_t w, void *mem, bool always_inline, bool never_inline) const
	Evaluate a function, overloaded. More...


virtual std::vector< DM >	eval_dm (const std::vector< DM > &arg) const
	Evaluate with DM matrices. More...

virtual bool	has_eval_dm () const
	Evaluate with DM matrices. More...


void	call_gen (const MXVector &arg, MXVector &res, casadi_int npar, bool always_inline, bool never_inline) const
	Call a function, overloaded. More...

template<typename D >
void	call_gen (const std::vector< Matrix< D > > &arg, std::vector< Matrix< D > > &res, casadi_int npar, bool always_inline, bool never_inline) const
	Call a function, overloaded. More...


template<typename M >
void	check_arg (const std::vector< M > &arg, casadi_int &npar) const
	Check if input arguments have correct length and dimensions. More...


template<typename M >
void	check_res (const std::vector< M > &res, casadi_int &npar) const
	Check if output arguments have correct length and dimensions. More...


template<typename M >
std::map< std::string, M >	convert_arg (const std::vector< M > &arg) const
	Convert from/to input/output lists/map. More...

template<typename M >
std::vector< M >	convert_arg (const std::map< std::string, M > &arg) const
	Convert from/to input/output lists/map. More...

template<typename M >
std::map< std::string, M >	convert_res (const std::vector< M > &res) const
	Convert from/to input/output lists/map. More...

template<typename M >
std::vector< M >	convert_res (const std::map< std::string, M > &res) const
	Convert from/to input/output lists/map. More...


std::vector< double >	nz_in (const std::vector< DM > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...

std::vector< DM >	nz_in (const std::vector< double > &arg) const
	Convert from/to flat vector of input/output nonzeros. More...

std::vector< double >	nz_out (const std::vector< DM > &res) const
	Convert from/to flat vector of input/output nonzeros. More...

std::vector< DM >	nz_out (const std::vector< double > &res) const
	Convert from/to flat vector of input/output nonzeros. More...


virtual void	call_forward (const std::vector< MX > &arg, const std::vector< MX > &res, const std::vector< std::vector< MX > > &fseed, std::vector< std::vector< MX > > &fsens, bool always_inline, bool never_inline) const
	Forward mode AD, virtual functions overloaded in derived classes. More...

virtual void	call_forward (const std::vector< SX > &arg, const std::vector< SX > &res, const std::vector< std::vector< SX > > &fseed, std::vector< std::vector< SX > > &fsens, bool always_inline, bool never_inline) const
	Forward mode AD, virtual functions overloaded in derived classes. More...


virtual void	call_reverse (const std::vector< MX > &arg, const std::vector< MX > &res, const std::vector< std::vector< MX > > &aseed, std::vector< std::vector< MX > > &asens, bool always_inline, bool never_inline) const
	Reverse mode, virtual functions overloaded in derived classes. More...

virtual void	call_reverse (const std::vector< SX > &arg, const std::vector< SX > &res, const std::vector< std::vector< SX > > &aseed, std::vector< std::vector< SX > > &asens, bool always_inline, bool never_inline) const
	Reverse mode, virtual functions overloaded in derived classes. More...


Function	jacobian () const
	Return Jacobian of all input elements with respect to all output elements. More...

virtual bool	has_jacobian () const
	Return Jacobian of all input elements with respect to all output elements. More...

virtual Function	get_jacobian (const std::string &name, const std::vector< std::string > &inames, const std::vector< std::string > &onames, const Dict &opts) const
	Return Jacobian of all input elements with respect to all output elements. More...


Sparsity &	jac_sparsity (casadi_int oind, casadi_int iind, bool compact, bool symmetric) const
	Get Jacobian sparsity. More...

virtual bool	has_jac_sparsity (casadi_int oind, casadi_int iind) const
	Get Jacobian sparsity. More...

virtual Sparsity	get_jac_sparsity (casadi_int oind, casadi_int iind, bool symmetric) const
	Get Jacobian sparsity. More...


Function	forward (casadi_int nfwd) const
	Return function that calculates forward derivatives. More...

virtual bool	has_forward (casadi_int nfwd) const
	Return function that calculates forward derivatives. More...

virtual Function	get_forward (casadi_int nfwd, const std::string &name, const std::vector< std::string > &inames, const std::vector< std::string > &onames, const Dict &opts) const
	Return function that calculates forward derivatives. More...


Function	reverse (casadi_int nadj) const
	Return function that calculates adjoint derivatives. More...

virtual bool	has_reverse (casadi_int nadj) const
	Return function that calculates adjoint derivatives. More...

virtual Function	get_reverse (casadi_int nadj, const std::string &name, const std::vector< std::string > &inames, const std::vector< std::string > &onames, const Dict &opts) const
	Return function that calculates adjoint derivatives. More...


virtual const SX	sx_in (casadi_int ind) const
	Get function input(s) and output(s) More...

virtual const std::vector< SX >	sx_in () const
	Get function input(s) and output(s) More...

virtual const SX	sx_out (casadi_int ind) const
	Get function input(s) and output(s) More...

virtual const std::vector< SX >	sx_out () const
	Get function input(s) and output(s) More...

virtual const MX	mx_in (casadi_int ind) const
	Get function input(s) and output(s) More...

virtual const std::vector< MX >	mx_in () const
	Get function input(s) and output(s) More...

virtual const MX	mx_out (casadi_int ind) const
	Get function input(s) and output(s) More...

virtual const std::vector< MX >	mx_out () const
	Get function input(s) and output(s) More...

const DM	dm_in (casadi_int ind) const
	Get function input(s) and output(s) More...

const std::vector< DM >	dm_in () const
	Get function input(s) and output(s) More...

const DM	dm_out (casadi_int ind) const
	Get function input(s) and output(s) More...

const std::vector< DM >	dm_out () const
	Get function input(s) and output(s) More...


casadi_int	nnz_in () const
	Number of input/output nonzeros. More...

casadi_int	nnz_in (casadi_int ind) const
	Number of input/output nonzeros. More...

casadi_int	nnz_out () const
	Number of input/output nonzeros. More...

casadi_int	nnz_out (casadi_int ind) const
	Number of input/output nonzeros. More...


casadi_int	numel_in () const
	Number of input/output elements. More...

casadi_int	numel_in (casadi_int ind) const
	Number of input/output elements. More...

casadi_int	numel_out (casadi_int ind) const
	Number of input/output elements. More...

casadi_int	numel_out () const
	Number of input/output elements. More...


casadi_int	size1_in (casadi_int ind) const
	Input/output dimensions. More...

casadi_int	size2_in (casadi_int ind) const
	Input/output dimensions. More...

casadi_int	size1_out (casadi_int ind) const
	Input/output dimensions. More...

casadi_int	size2_out (casadi_int ind) const
	Input/output dimensions. More...

std::pair< casadi_int, casadi_int >	size_in (casadi_int ind) const
	Input/output dimensions. More...

std::pair< casadi_int, casadi_int >	size_out (casadi_int ind) const
	Input/output dimensions. More...


const Sparsity &	sparsity_in (casadi_int ind) const
	Input/output sparsity. More...

const Sparsity &	sparsity_out (casadi_int ind) const
	Input/output sparsity. More...


bool	all_scalar () const
	Are all inputs and outputs scalar. More...

virtual bool	jac_is_symm (casadi_int oind, casadi_int iind) const
	Is a Jacobian block known to be symmetric a priori? More...

Sparsity	to_compact (casadi_int oind, casadi_int iind, const Sparsity &sp) const
	Convert to compact Jacobian sparsity pattern. More...

Sparsity	from_compact (casadi_int oind, casadi_int iind, const Sparsity &sp) const
	Convert from compact Jacobian sparsity pattern. More...

template<bool fwd>
Sparsity	get_jac_sparsity_gen (casadi_int oind, casadi_int iind) const
	Get the sparsity pattern via sparsity seed propagation. More...

Sparsity	get_jac_sparsity_hierarchical (casadi_int oind, casadi_int iind) const
	A flavor of get_jac_sparsity_gen that does hierarchical block structure recognition. More...

Sparsity	get_jac_sparsity_hierarchical_symm (casadi_int oind, casadi_int iind) const

virtual std::vector< MX >	symbolic_output (const std::vector< MX > &arg) const
	Get a vector of symbolic variables corresponding to the outputs. More...


virtual size_t	codegen_sz_arg (const CodeGenerator &g) const
	Get required lengths, for codegen. More...

virtual size_t	codegen_sz_res (const CodeGenerator &g) const
	Get required lengths, for codegen. More...

virtual size_t	codegen_sz_iw (const CodeGenerator &g) const
	Get required lengths, for codegen. More...

virtual size_t	codegen_sz_w (const CodeGenerator &g) const
	Get required lengths, for codegen. More...


virtual bool	fwdViaJac (casadi_int nfwd) const
	Calculate derivatives by multiplying the full Jacobian and multiplying. More...

virtual bool	adjViaJac (casadi_int nadj) const
	Calculate derivatives by multiplying the full Jacobian and multiplying. More...

Static Public Member Functions
static Conic *	creator (const std::string &name, const std::map< std::string, Sparsity > &st)
	Create a new QP Solver. More...

static ProtoFunction *	deserialize (DeserializingStream &s)
	Deserialize with type disambiguation. More...

static std::string	shortname ()
	Short name. More...

static std::string	forward_name (const std::string &fcn, casadi_int nfwd)
	Helper function: Get name of forward derivative function. More...

static std::string	reverse_name (const std::string &fcn, casadi_int nadj)
	Helper function: Get name of adjoint derivative function. More...

template<typename MatType >
static MatType	ensure_stacked (const MatType &v, const Sparsity &sp, casadi_int n)
	Ensure that a matrix's sparsity is a horizontal multiple of another, or empty. More...

template<typename MatType >
static bool	purgable (const std::vector< MatType > &seed)
	Can a derivative direction be skipped. More...

static std::string	string_from_UnifiedReturnStatus (UnifiedReturnStatus status)

static void	print_canonical (std::ostream &stream, const Sparsity &sp, const double *nz)
	Print canonical representation of a numeric matrix. More...

static void	print_canonical (std::ostream &stream, casadi_int sz, const double *nz)
	Print canonical representation of a numeric vector. More...

static void	print_canonical (std::ostream &stream, double a)
	Print canonical representation of a number. More...

static bool	has_plugin (const std::string &pname, bool verbose=false)
	Check if a plugin is available or can be loaded. More...

static const Options &	plugin_options (const std::string &pname)
	Get the plugin options. More...

static Deserialize	plugin_deserialize (const std::string &pname)
	Get the plugin deserialize_map. More...

static Plugin	pluginFromRegFcn (RegFcn regfcn)
	Instantiate a Plugin struct from a factory function. More...

static Plugin	load_plugin (const std::string &pname, bool register_plugin=true, bool needs_lock=true)
	Load a plugin dynamically. More...

static handle_t	load_library (const std::string &libname, std::string &resultpath, bool global)
	Load a library dynamically. More...

static void	registerPlugin (const Plugin &plugin, bool needs_lock=true)
	Register an integrator in the factory. More...

static void	registerPlugin (RegFcn regfcn, bool needs_lock=true)
	Register an integrator in the factory. More...

static Plugin &	getPlugin (const std::string &pname)
	Load and get the creator function. More...

static Conic *	instantiate (const std::string &fname, const std::string &pname, Problem problem)


static bool	check_mat (const Sparsity &arg, const Sparsity &inp, casadi_int &npar)

Public Attributes
casadi_int	nnzHupp_

casadi_int	nnzA_

OSQPSettings	settings_

bool	warm_start_primal_

bool	warm_start_dual_

casadi_qp_prob< double >	p_qp_

bool	always_inline_

bool	never_inline_

size_t	n_in_
	Number of inputs and outputs. More...

size_t	n_out_

std::vector< bool >	is_diff_in_
	Are inputs and outputs differentiable? More...

std::vector< bool >	is_diff_out_

std::vector< Sparsity >	sparsity_in_
	Input and output sparsity. More...

std::vector< Sparsity >	sparsity_out_

std::vector< std::string >	name_in_
	Input and output scheme. More...

std::vector< std::string >	name_out_

bool	jit_
	Use just-in-time compiler. More...

bool	jit_cleanup_
	Cleanup jit source file. More...

std::string	jit_serialize_
	Serialize behaviour. More...

std::string	jit_name_
	Name if jit source file. More...

std::string	jit_base_name_

bool	jit_temp_suffix_
	Use a temporary name. More...

eval_t	eval_
	Numerical evaluation redirected to a C function. More...

casadi_checkout_t	checkout_
	Checkout redirected to a C function. More...

casadi_release_t	release_
	Release redirected to a C function. More...

Dict	stats_
	Dict of statistics (resulting from evaluate) More...

bool	has_refcount_
	Reference counting in codegen? More...

Dict	cache_init_
	Values to prepopulate the function cache with. More...

WeakCache< std::string, Function >	cache_
	Function cache. More...

std::vector< Sparsity >	jac_sparsity_ [2]
	Cache for sparsities of the Jacobian blocks. More...

Function	derivative_of_
	If the function is the derivative of another function. More...

void *	user_data_
	User-set field. More...

std::string	compiler_plugin_
	Just-in-time compiler. More...

Importer	compiler_

Dict	jit_options_

double	jac_penalty_
	Penalty factor for using a complete Jacobian to calculate directional derivatives. More...

bool	enable_forward_

bool	enable_reverse_

bool	enable_jacobian_

bool	enable_fd_

bool	enable_forward_op_

bool	enable_reverse_op_

bool	enable_jacobian_op_

bool	enable_fd_op_

double	ad_weight_
	Weighting factor for derivative calculation and sparsity pattern calculation. More...

double	ad_weight_sp_

casadi_int	max_num_dir_
	Maximum number of sensitivity directions. More...

bool	inputs_check_
	Errors are thrown if numerical values of inputs look bad. More...

Dict	fd_options_

double	fd_step_

std::string	fd_method_

bool	print_in_

bool	print_out_

bool	print_canonical_

casadi_int	max_io_

bool	dump_in_

bool	dump_out_

bool	dump_

std::string	dump_dir_

std::string	dump_format_

Dict	forward_options_

Dict	reverse_options_

Dict	jacobian_options_

Dict	der_options_

Function	custom_jacobian_

casadi_int	dump_count_

std::string	name_
	Name. More...

bool	verbose_
	Verbose printout. More...

bool	print_time_

bool	record_time_

bool	regularity_check_
	Errors are thrown when NaN is produced. More...

bool	error_on_fail_
	Throw an exception on failure? More...

Static Public Attributes
static const std::string	meta_doc
	A documentation string. More...

static std::map< std::string, Plugin >	solvers_
	Collection of solvers. More...

static const std::string	infix_ = "conic"
	Infix. More...

static std::map< std::string, ProtoFunction ()(DeserializingStream &)>	deserialize_map

Protected Member Functions
	OsqpInterface (DeserializingStream &e)
	Deserializing constructor. More...

void	sdp_to_socp_init (SDPToSOCPMem &mem) const
	SDP to SOCP conversion initialization. More...

void	serialize (SerializingStream &s, const SDPToSOCPMem &m) const

void	deserialize (DeserializingStream &s, SDPToSOCPMem &m)

void	set_jac_sparsity (casadi_int oind, casadi_int iind, const Sparsity &sp)
	Populate jac_sparsity_ and jac_sparsity_compact_ during initialization. More...

void	initSingleton ()

void	destroySingleton ()

B	shared_from_this ()
	Get a shared object from the current internal object. More...

const B	shared_from_this () const
	Get a shared object from the current internal object. More...

Protected Attributes
std::vector< bool >	discrete_
	Options. More...

std::vector< bool >	equality_

bool	print_problem_

Sparsity	H_
	Problem structure. More...

Sparsity	A_

Sparsity	Q_

Sparsity	P_

casadi_int	nx_
	Number of decision variables. More...

casadi_int	na_
	The number of constraints (counting both equality and inequality) == A.size1() More...

casadi_int	np_
	The shape of psd constraint matrix. More...

static const Options	options_
	const Options More...

const Options &	get_options () const override
	const Options More...

Member Typedef Documentation

◆ Creator

typedef Conic*(* casadi::Conic::Creator) (const std::string &name, const std::map< std::string, Sparsity > &st)

inherited

Definition at line 116 of file conic_impl.hpp.

◆ RegFcn

typedef int(* casadi::PluginInterface< Conic >::RegFcn) (Plugin *plugin)

inherited

Definition at line 73 of file plugin_interface.hpp.

◆ weak_ref_type

using casadi::SharedObjectInternal::weak_ref_type = WeakRefInternal

inherited

Definition at line 152 of file shared_object.hpp.

Constructor & Destructor Documentation

◆ OsqpInterface() [1/2]

casadi::OsqpInterface::OsqpInterface	(	const std::string &	name,
		const std::map< std::string, Sparsity > &	st
	)

explicit

Definition at line 48 of file osqp_interface.cpp.

     : Conic(name, st) {
  
     has_refcount_ = true;
   }

References casadi::FunctionInternal::has_refcount_.

◆ ~OsqpInterface()

casadi::OsqpInterface::~OsqpInterface ( )

override

Definition at line 55 of file osqp_interface.cpp.

                                 {
     clear_mem();
   }

References casadi::ProtoFunction::clear_mem().

◆ OsqpInterface() [2/2]

casadi::OsqpInterface::OsqpInterface ( DeserializingStream & e )

explicitprotected

Definition at line 459 of file osqp_interface.cpp.

                                                      : Conic(s) {
     s.version("OsqpInterface", 1);
     s.unpack("OsqpInterface::nnzHupp", nnzHupp_);
     s.unpack("OsqpInterface::nnzA", nnzA_);
     s.unpack("OsqpInterface::warm_start_primal", warm_start_primal_);
     s.unpack("OsqpInterface::warm_start_dual", warm_start_dual_);
  
     osqp_set_default_settings(&settings_);
     s.unpack("OsqpInterface::settings::rho", settings_.rho);
     s.unpack("OsqpInterface::settings::sigma", settings_.sigma);
     s.unpack("OsqpInterface::settings::scaling", settings_.scaling);
     s.unpack("OsqpInterface::settings::adaptive_rho", settings_.adaptive_rho);
     s.unpack("OsqpInterface::settings::adaptive_rho_interval", settings_.adaptive_rho_interval);
     s.unpack("OsqpInterface::settings::adaptive_rho_tolerance", settings_.adaptive_rho_tolerance);
     //s.unpack("OsqpInterface::settings::adaptive_rho_fraction", settings_.adaptive_rho_fraction);
     s.unpack("OsqpInterface::settings::max_iter", settings_.max_iter);
     s.unpack("OsqpInterface::settings::eps_abs", settings_.eps_abs);
     s.unpack("OsqpInterface::settings::eps_rel", settings_.eps_rel);
     s.unpack("OsqpInterface::settings::eps_prim_inf", settings_.eps_prim_inf);
     s.unpack("OsqpInterface::settings::eps_dual_inf", settings_.eps_dual_inf);
     s.unpack("OsqpInterface::settings::alpha", settings_.alpha);
     s.unpack("OsqpInterface::settings::delta", settings_.delta);
     s.unpack("OsqpInterface::settings::polish", settings_.polish);
     s.unpack("OsqpInterface::settings::polish_refine_iter", settings_.polish_refine_iter);
     s.unpack("OsqpInterface::settings::verbose", settings_.verbose);
     s.unpack("OsqpInterface::settings::scaled_termination", settings_.scaled_termination);
     s.unpack("OsqpInterface::settings::check_termination", settings_.check_termination);
     s.unpack("OsqpInterface::settings::warm_start", settings_.warm_start);
     //s.unpack("OsqpInterface::settings::time_limit", settings_.time_limit);
   }

References nnzA_, nnzHupp_, settings_, casadi::DeserializingStream::unpack(), casadi::DeserializingStream::version(), warm_start_dual_, and warm_start_primal_.

Member Function Documentation

◆ ad_weight()

double casadi::FunctionInternal::ad_weight ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l5

Definition at line 3274 of file function_internal.cpp.

                                            {
     // If reverse mode derivatives unavailable, use forward
     if (!enable_reverse_) return 0;
  
     // If forward mode derivatives unavailable, use reverse
     if (!enable_forward_ && !enable_fd_) return 1;
  
     // Use the (potentially user set) option
     return ad_weight_;
   }

References casadi::FunctionInternal::ad_weight_, casadi::FunctionInternal::enable_fd_, casadi::FunctionInternal::enable_forward_, and casadi::FunctionInternal::enable_reverse_.

Referenced by casadi::FunctionInternal::adjViaJac(), casadi::Function::expand(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ add_embedded()

void casadi::FunctionInternal::add_embedded	(	std::map< FunctionInternal *, Function > &	all_fun,
		const Function &	dep,
		casadi_int	max_depth
	)		const

inherited

Definition at line 3717 of file function_internal.cpp.

                                                        {
     // Add, if not already in graph and not null
     if (!dep.is_null() && all_fun.find(dep.get()) == all_fun.end()) {
       // Add to map
       all_fun[dep.get()] = dep;
       // Also add its dependencies
       if (max_depth > 0) dep->find(all_fun, max_depth - 1);
     }
   }

References casadi::FunctionInternal::find(), casadi::Function::get(), and casadi::GenericShared< Shared, Internal >::is_null().

Referenced by casadi::MXFunction::find(), casadi::Switch::find(), casadi::SXFunction::find(), and casadi::BSplineInterpolant::find().

◆ adjViaJac()

bool casadi::FunctionInternal::adjViaJac ( casadi_int nadj ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nc

Definition at line 3009 of file function_internal.cpp.

                                                         {
     if (!enable_reverse_) return true;
     if (jac_penalty_==-1) return false;
  
     // Heuristic 1: Jac calculated via reverse mode likely cheaper
     if (jac_penalty_*static_cast<double>(nnz_out())<nadj) return true;
  
     // Heuristic 2: Jac calculated via forward mode likely cheaper
     double w = ad_weight();
     if ((enable_forward_ || enable_fd_) &&
         jac_penalty_*w*static_cast<double>(nnz_in())<(1-w)*static_cast<double>(nadj))
       return true; // NOLINT
  
     return false;
   }

References casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::enable_fd_, casadi::FunctionInternal::enable_forward_, casadi::FunctionInternal::enable_reverse_, casadi::FunctionInternal::jac_penalty_, casadi::FunctionInternal::nnz_in(), and casadi::FunctionInternal::nnz_out().

Referenced by casadi::FunctionInternal::call_reverse().

◆ all_scalar()

bool casadi::FunctionInternal::all_scalar ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mi

Definition at line 3748 of file function_internal.cpp.

                                           {
     // Check inputs
     for (casadi_int i=0; i<n_in_; ++i) {
       if (!sparsity_in_[i].is_scalar()) return false;
     }
     // Check outputs
     for (casadi_int i=0; i<n_out_; ++i) {
       if (!sparsity_out_[i].is_scalar()) return false;
     }
     // All are scalar
     return true;
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::FunctionInternal::sparsity_in_, and casadi::FunctionInternal::sparsity_out_.

Referenced by casadi::FunctionInternal::call().

◆ alloc()

void casadi::FunctionInternal::alloc	(	const Function &	f,
		bool	persistent = `false`,
		int	num_threads = `1`
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n8

Definition at line 2958 of file function_internal.cpp.

                                                                                   {
     if (f.is_null()) return;
     size_t sz_arg, sz_res, sz_iw, sz_w;
     f.sz_work(sz_arg, sz_res, sz_iw, sz_w);
     alloc_arg(sz_arg*num_threads, persistent);
     alloc_res(sz_res*num_threads, persistent);
     alloc_iw(sz_iw*num_threads, persistent);
     alloc_w(sz_w*num_threads, persistent);
   }

References casadi::FunctionInternal::alloc_arg(), casadi::FunctionInternal::alloc_iw(), casadi::FunctionInternal::alloc_res(), casadi::FunctionInternal::alloc_w(), casadi::GenericShared< Shared, Internal >::is_null(), casadi::FunctionInternal::sz_arg(), casadi::FunctionInternal::sz_iw(), casadi::FunctionInternal::sz_res(), casadi::FunctionInternal::sz_w(), and casadi::Function::sz_work().

Referenced by casadi::OracleFunction::finalize(), casadi::KinsolInterface::get_jtimes(), casadi::FiniteDiff::init(), casadi::Nlpsol::init(), casadi::Rootfinder::init(), casadi::Switch::init(), casadi::Feasiblesqpmethod::init(), casadi::ImplicitToNlp::init(), casadi::QpToNlp::init(), casadi::Qrsqp::init(), casadi::Scpgen::init(), and casadi::Sqpmethod::init().

◆ alloc_arg()

void casadi::FunctionInternal::alloc_arg	(	size_t	sz_arg,
		bool	persistent = `false`
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n4

Definition at line 2926 of file function_internal.cpp.

                                                                  {
     if (persistent) {
       sz_arg_per_ += sz_arg;
     } else {
       sz_arg_tmp_ = std::max(sz_arg_tmp_, sz_arg);
     }
   }

References casadi::FunctionInternal::sz_arg().

Referenced by casadi::FunctionInternal::alloc(), casadi::External::init(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::OmpMap::init(), casadi::ThreadMap::init(), casadi::MapSum::init(), casadi::MXFunction::init(), casadi::Nlpsol::init(), casadi::SXFunction::init(), casadi::ClarabelInterface::init(), casadi::DaqpInterface::init(), casadi::FatropConicInterface::init(), casadi::FatropInterface::init(), casadi::HighsInterface::init(), casadi::HpipmInterface::init(), casadi::MadnlpInterface::init(), casadi::BSplineInterpolant::init(), and casadi::Qrqp::init().

◆ alloc_iw()

void casadi::FunctionInternal::alloc_iw	(	size_t	sz_iw,
		bool	persistent = `false`
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n6

Definition at line 2942 of file function_internal.cpp.

                                                                {
     if (persistent) {
       sz_iw_per_ += sz_iw;
     } else {
       sz_iw_tmp_ = std::max(sz_iw_tmp_, sz_iw);
     }
   }

References casadi::FunctionInternal::sz_iw().

◆ alloc_mem()

void* casadi::OsqpInterface::alloc_mem ( ) const

inlineoverridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 97 of file osqp_interface.hpp.

97 { return new OsqpMemory();}

◆ alloc_res()

void casadi::FunctionInternal::alloc_res	(	size_t	sz_res,
		bool	persistent = `false`
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n5

Definition at line 2934 of file function_internal.cpp.

                                                                  {
     if (persistent) {
       sz_res_per_ += sz_res;
     } else {
       sz_res_tmp_ = std::max(sz_res_tmp_, sz_res);
     }
   }

References casadi::FunctionInternal::sz_res().

Referenced by casadi::FunctionInternal::alloc(), casadi::External::init(), casadi::FiniteDiff::init(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::OmpMap::init(), casadi::ThreadMap::init(), casadi::MapSum::init(), casadi::MXFunction::init(), casadi::Nlpsol::init(), casadi::SXFunction::init(), casadi::Blocksqp::init(), casadi::ClarabelInterface::init(), casadi::DaqpInterface::init(), casadi::FatropConicInterface::init(), casadi::FatropInterface::init(), casadi::HighsInterface::init(), casadi::HpipmInterface::init(), casadi::MadnlpInterface::init(), casadi::BSplineInterpolant::init(), and casadi::Qrqp::init().

◆ alloc_w()

void casadi::FunctionInternal::alloc_w	(	size_t	sz_w,
		bool	persistent = `false`
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n7

Definition at line 2950 of file function_internal.cpp.

                                                              {
     if (persistent) {
       sz_w_per_ += sz_w;
     } else {
       sz_w_tmp_ = std::max(sz_w_tmp_, sz_w);
     }
   }

References casadi::FunctionInternal::sz_w().

◆ cache()

Dict casadi::FunctionInternal::cache ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_26g

Definition at line 1054 of file function_internal.cpp.

                                      {
     // Return value
     Dict ret;
  
     // Retrieve all Function instances that haven't been deleted
     std::vector<std::string> keys;
     std::vector<Function> entries;
     cache_.cache(keys, entries);
  
     for (size_t i=0; i<keys.size(); ++i) {
       // Get the name of the key
       std::string s = keys[i];
       casadi_assert_dev(s.size() > 0);
       // Replace ':' with '_'
       std::replace(s.begin(), s.end(), ':', '_');
       // Remove trailing underscore, if any
       if (s.back() == '_') s.resize(s.size() - 1);
       // Add entry to function return
       ret[s] = entries[i];
     }
  
     return ret;
   }

References casadi::FunctionInternal::cache_.

◆ call()

template<typename M >

void casadi::FunctionInternal::call	(	const std::vector< M > &	arg,
		std::vector< M > &	res,
		bool	always_inline,
		bool	never_inline
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kh

Definition at line 1559 of file function_internal.hpp.

                                                                            {
     // If all inputs are scalar ...
     if (all_scalar()) {
       // ... and some arguments are matrix-valued with matching dimensions ...
       bool matrix_call = false;
       std::pair<casadi_int, casadi_int> sz;
       for (auto&& a : arg) {
         if (!a.is_scalar() && !a.is_empty()) {
           if (!matrix_call) {
             // Matrix call
             matrix_call = true;
             sz = a.size();
           } else if (a.size()!=sz) {
             // Not same dimensions
             matrix_call = false;
             break;
           }
         }
       }
  
       // ... then, call multiple times
       if (matrix_call) {
         // Start with zeros
         res.resize(n_out_);
         M z = M::zeros(sz);
         for (auto&& a : res) a = z;
         // Call multiple times
         std::vector<M> arg1 = arg, res1;
         for (casadi_int c=0; c<sz.second; ++c) {
           for (casadi_int r=0; r<sz.first; ++r) {
             // Get scalar arguments
             for (casadi_int i=0; i<arg.size(); ++i) {
               if (arg[i].size()==sz) arg1[i] = arg[i](r, c);
             }
             // Call recursively with scalar arguments
             call(arg1, res1, always_inline, never_inline);
             // Get results
             casadi_assert_dev(res.size() == res1.size());
             for (casadi_int i=0; i<res.size(); ++i) res[i](r, c) = res1[i];
           }
         }
         // All elements assigned
         return;
       }
     }
  
     // Check if inputs need to be replaced
     casadi_int npar = 1;
     if (!matching_arg(arg, npar)) {
       return call(replace_arg(arg, npar), res, always_inline, never_inline);
     }
  
     // Call the type-specific method
     call_gen(arg, res, npar, always_inline, never_inline);
   }

References casadi::FunctionInternal::all_scalar(), casadi::FunctionInternal::call_gen(), casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::n_out_, and casadi::FunctionInternal::replace_arg().

◆ call_forward() [1/2]

void casadi::FunctionInternal::call_forward	(	const std::vector< MX > &	arg,
		const std::vector< MX > &	res,
		const std::vector< std::vector< MX > > &	fseed,
		std::vector< std::vector< MX > > &	fsens,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ku

Definition at line 3029 of file function_internal.cpp.

                                                           {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     casadi_assert(!always_inline, "Class " + class_name() +
                           " cannot be inlined in an MX expression");
  
     // Derivative information must be available
     casadi_assert(has_derivative(),
                           "Derivatives cannot be calculated for " + name_);
  
     // Number of directional derivatives
     casadi_int nfwd = fseed.size();
     fsens.resize(nfwd);
  
     // Quick return if no seeds
     if (nfwd==0) return;
  
     // Check if seeds need to have dimensions corrected
     casadi_int npar = 1;
     for (auto&& r : fseed) {
       if (!matching_arg(r, npar)) {
         return FunctionInternal::call_forward(arg, res, replace_fseed(fseed, npar),
                                             fsens, always_inline, never_inline);
       }
     }
  
     // Calculating full Jacobian and then multiplying
     if (fwdViaJac(nfwd)) {
       // Multiply the Jacobian from the right
       std::vector<MX> darg = arg;
       darg.insert(darg.end(), res.begin(), res.end());
       std::vector<MX> J = jacobian()(darg);
       // Join forward seeds
       std::vector<MX> v(nfwd), all_fseed(n_in_);
       for (size_t i = 0; i < n_in_; ++i) {
         for (size_t d = 0; d < nfwd; ++d) v[d] = vec(fseed.at(d).at(i));
         all_fseed[i] = horzcat(v);
       }
       // Calculate forward sensitivities
       std::vector<MX> all_fsens(n_out_);
       std::vector<MX>::const_iterator J_it = J.begin();
       for (size_t oind = 0; oind < n_out_; ++oind) {
         for (size_t iind = 0; iind < n_in_; ++iind) {
           // Add contribution
           MX a = mtimes(*J_it++, all_fseed[iind]);
           all_fsens[oind] = all_fsens[oind].is_empty(true) ? a : all_fsens[oind] + a;
         }
       }
       // Split forward sensitivities
       for (size_t d = 0; d < nfwd; ++d) fsens[d].resize(n_out_);
       for (size_t i = 0; i < n_out_; ++i) {
         v = horzsplit(all_fsens[i]);
         casadi_assert_dev(v.size() == nfwd);
         for (size_t d = 0; d < nfwd; ++d) fsens[d][i] = reshape(v[d], size_out(i));
       }
     } else {
       // Evaluate in batches
       casadi_assert_dev(enable_forward_ || enable_fd_);
       casadi_int max_nfwd = max_num_dir_;
       if (!enable_fd_) {
         while (!has_forward(max_nfwd)) max_nfwd/=2;
       }
       casadi_int offset = 0;
       while (offset<nfwd) {
         // Number of derivatives, in this batch
         casadi_int nfwd_batch = std::min(nfwd-offset, max_nfwd);
  
         // All inputs and seeds
         std::vector<MX> darg;
         darg.reserve(n_in_ + n_out_ + n_in_);
         darg.insert(darg.end(), arg.begin(), arg.end());
         darg.insert(darg.end(), res.begin(), res.end());
         std::vector<MX> v(nfwd_batch);
         for (casadi_int i=0; i<n_in_; ++i) {
           for (casadi_int d=0; d<nfwd_batch; ++d) v[d] = fseed[offset+d][i];
           darg.push_back(horzcat(v));
         }
  
         // Create the evaluation node
         Function dfcn = self().forward(nfwd_batch);
         std::vector<MX> x = dfcn(darg);
  
         casadi_assert_dev(x.size()==n_out_);
  
         // Retrieve sensitivities
         for (casadi_int d=0; d<nfwd_batch; ++d) fsens[offset+d].resize(n_out_);
         for (casadi_int i=0; i<n_out_; ++i) {
           if (size2_out(i)>0) {
             v = horzsplit(x[i], size2_out(i));
             casadi_assert_dev(v.size()==nfwd_batch);
           } else {
             v = std::vector<MX>(nfwd_batch, MX(size_out(i)));
           }
           for (casadi_int d=0; d<nfwd_batch; ++d) fsens[offset+d][i] = v[d];
         }
  
         // Update offset
         offset += nfwd_batch;
       }
     }
   }

Referenced by casadi::Rootfinder::ad_forward(), casadi::Call::ad_forward(), casadi::MXFunction::ad_forward(), casadi::XFunction< DerivedType, MatType, NodeType >::call_forward(), casadi::MX::forward(), casadi::Integrator::get_forward_dae(), and casadi::Scpgen::init().

◆ call_forward() [2/2]

void casadi::FunctionInternal::call_forward	(	const std::vector< SX > &	arg,
		const std::vector< SX > &	res,
		const std::vector< std::vector< SX > > &	fseed,
		std::vector< std::vector< SX > > &	fsens,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ku

Definition at line 3248 of file function_internal.cpp.

                                                           {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     if (fseed.empty()) { // Quick return if no seeds
       fsens.clear();
       return;
     }
     casadi_error("'forward' (SX) not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ call_gen() [1/2]

void casadi::FunctionInternal::call_gen	(	const MXVector &	arg,
		MXVector &	res,
		casadi_int	npar,
		bool	always_inline,
		bool	never_inline
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kg

Definition at line 3922 of file function_internal.cpp.

                                                         {
     if (npar==1) {
       eval_mx(arg, res, always_inline, never_inline);
     } else {
       // Split it up arguments
       std::vector<std::vector<MX>> v(npar, arg);
       std::vector<MX> t;
       for (int i=0; i<n_in_; ++i) {
         if (arg[i].size2()!=size2_in(i)) {
           t = horzsplit(arg[i], size2_in(i));
           casadi_assert_dev(t.size()==npar);
           for (int p=0; p<npar; ++p) v[p][i] = t[p];
         }
       }
       // Unroll the loop
       for (int p=0; p<npar; ++p) {
         eval_mx(v[p], t, always_inline, never_inline);
         v[p] = t;
       }
       // Concatenate results
       t.resize(npar);
       res.resize(n_out_);
       for (int i=0; i<n_out_; ++i) {
         for (int p=0; p<npar; ++p) t[p] = v[p][i];
         res[i] = horzcat(t);
       }
     }
   }

References casadi::FunctionInternal::eval_mx(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, and casadi::FunctionInternal::size2_in().

Referenced by casadi::FunctionInternal::call().

◆ call_gen() [2/2]

template<typename D >

void casadi::FunctionInternal::call_gen	(	const std::vector< Matrix< D > > &	arg,
		std::vector< Matrix< D > > &	res,
		casadi_int	npar,
		bool	always_inline,
		bool	never_inline
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kg

Definition at line 1663 of file function_internal.hpp.

                                                                          {
     std::vector< Matrix<D> > arg2 = project_arg(arg, npar);
  
     // Which arguments require mapped evaluation
     std::vector<bool> mapped(n_in_);
     for (casadi_int i=0; i<n_in_; ++i) {
       mapped[i] = arg[i].size2()!=size2_in(i);
     }
  
     // Allocate results
     res.resize(n_out_);
     for (casadi_int i=0; i<n_out_; ++i) {
       if (!res[i].sparsity().is_stacked(sparsity_out(i), npar)) {
         res[i] = Matrix<D>::zeros(repmat(sparsity_out(i), 1, npar));
       }
     }
  
     // Allocate temporary memory if needed
     std::vector<casadi_int> iw_tmp(sz_iw());
     std::vector<D> w_tmp(sz_w());
  
     // Get pointers to input arguments
     std::vector<const D*> argp(sz_arg());
     for (casadi_int i=0; i<n_in_; ++i) argp[i]=get_ptr(arg2[i]);
  
     // Get pointers to output arguments
     std::vector<D*> resp(sz_res());
     for (casadi_int i=0; i<n_out_; ++i) resp[i]=get_ptr(res[i]);
  
     // For all parallel calls
     for (casadi_int p=0; p<npar; ++p) {
       // Call memory-less
       if (eval_gen(get_ptr(argp), get_ptr(resp),
                    get_ptr(iw_tmp), get_ptr(w_tmp), memory(0),
                    always_inline, never_inline)) {
         if (error_on_fail_) casadi_error("Evaluation failed");
       }
       // Update offsets
       if (p==npar-1) break;
       for (casadi_int i=0; i<n_in_; ++i) if (mapped[i]) argp[i] += nnz_in(i);
       for (casadi_int i=0; i<n_out_; ++i) resp[i] += nnz_out(i);
     }
   }

◆ call_reverse() [1/2]

void casadi::FunctionInternal::call_reverse	(	const std::vector< MX > &	arg,
		const std::vector< MX > &	res,
		const std::vector< std::vector< MX > > &	aseed,
		std::vector< std::vector< MX > > &	asens,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kv

Definition at line 3134 of file function_internal.cpp.

                                                           {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     casadi_assert(!always_inline, "Class " + class_name() +
                           " cannot be inlined in an MX expression");
  
     // Derivative information must be available
     casadi_assert(has_derivative(),
                           "Derivatives cannot be calculated for " + name_);
  
     // Number of directional derivatives
     casadi_int nadj = aseed.size();
     asens.resize(nadj);
  
     // Quick return if no seeds
     if (nadj==0) return;
  
     // Check if seeds need to have dimensions corrected
     casadi_int npar = 1;
     for (auto&& r : aseed) {
       if (!matching_res(r, npar)) {
         return FunctionInternal::call_reverse(arg, res, replace_aseed(aseed, npar),
                                             asens, always_inline, never_inline);
       }
     }
  
     // Calculating full Jacobian and then multiplying likely cheaper
     if (adjViaJac(nadj)) {
       // Multiply the transposed Jacobian from the right
       std::vector<MX> darg = arg;
       darg.insert(darg.end(), res.begin(), res.end());
       std::vector<MX> J = jacobian()(darg);
       // Join adjoint seeds
       std::vector<MX> v(nadj), all_aseed(n_out_);
       for (size_t i = 0; i < n_out_; ++i) {
         for (size_t d = 0; d < nadj; ++d) v[d] = vec(aseed.at(d).at(i));
         all_aseed[i] = horzcat(v);
       }
       // Calculate adjoint sensitivities
       std::vector<MX> all_asens(n_in_);
       std::vector<MX>::const_iterator J_it = J.begin();
       for (size_t oind = 0; oind < n_out_; ++oind) {
         for (size_t iind = 0; iind < n_in_; ++iind) {
           // Add contribution
           MX a = mtimes((*J_it++).T(), all_aseed[oind]);
           all_asens[iind] = all_asens[iind].is_empty(true) ? a : all_asens[iind] + a;
         }
       }
       // Split adjoint sensitivities
       for (size_t d = 0; d < nadj; ++d) asens[d].resize(n_in_);
       for (size_t i = 0; i < n_in_; ++i) {
         v = horzsplit(all_asens[i]);
         casadi_assert_dev(v.size() == nadj);
         for (size_t d = 0; d < nadj; ++d) {
           if (asens[d][i].is_empty(true)) {
             asens[d][i] = reshape(v[d], size_in(i));
           } else {
             asens[d][i] += reshape(v[d], size_in(i));
           }
         }
       }
     } else {
       // Evaluate in batches
       casadi_assert_dev(enable_reverse_);
       casadi_int max_nadj = max_num_dir_;
  
       while (!has_reverse(max_nadj)) max_nadj/=2;
       casadi_int offset = 0;
       while (offset<nadj) {
         // Number of derivatives, in this batch
         casadi_int nadj_batch =  std::min(nadj-offset, max_nadj);
  
         // All inputs and seeds
         std::vector<MX> darg;
         darg.reserve(n_in_ + n_out_ + n_out_);
         darg.insert(darg.end(), arg.begin(), arg.end());
         darg.insert(darg.end(), res.begin(), res.end());
         std::vector<MX> v(nadj_batch);
         for (casadi_int i=0; i<n_out_; ++i) {
           for (casadi_int d=0; d<nadj_batch; ++d) v[d] = aseed[offset+d][i];
           darg.push_back(horzcat(v));
         }
  
         // Create the evaluation node
         Function dfcn = self().reverse(nadj_batch);
         std::vector<MX> x = dfcn(darg);
         casadi_assert_dev(x.size()==n_in_);
  
         // Retrieve sensitivities
         for (casadi_int d=0; d<nadj_batch; ++d) asens[offset+d].resize(n_in_);
         for (casadi_int i=0; i<n_in_; ++i) {
           if (size2_in(i)>0) {
             v = horzsplit(x[i], size2_in(i));
             casadi_assert_dev(v.size()==nadj_batch);
           } else {
             v = std::vector<MX>(nadj_batch, MX(size_in(i)));
           }
           for (casadi_int d=0; d<nadj_batch; ++d) {
             if (asens[offset+d][i].is_empty(true)) {
               asens[offset+d][i] = v[d];
             } else {
               asens[offset+d][i] += v[d];
             }
           }
         }
         // Update offset
         offset += nadj_batch;
       }
     }
   }

Referenced by casadi::Rootfinder::ad_reverse(), casadi::MXFunction::ad_reverse(), casadi::Call::ad_reverse(), casadi::XFunction< DerivedType, MatType, NodeType >::call_reverse(), casadi::Scpgen::init(), and casadi::MX::reverse().

◆ call_reverse() [2/2]

void casadi::FunctionInternal::call_reverse	(	const std::vector< SX > &	arg,
		const std::vector< SX > &	res,
		const std::vector< std::vector< SX > > &	aseed,
		std::vector< std::vector< SX > > &	asens,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kv

Definition at line 3261 of file function_internal.cpp.

                                                           {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     if (aseed.empty()) { // Quick return if no seeds
       asens.clear();
       return;
     }
     casadi_error("'reverse' (SX) not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ change_option()

void casadi::FunctionInternal::change_option	(	const std::string &	option_name,
		const GenericType &	option_value
	)

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_k5

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::MXFunction.

Definition at line 433 of file function_internal.cpp.

                                        {
     if (option_name == "print_in") {
       print_in_ = option_value;
     } else if (option_name == "print_out") {
       print_out_ = option_value;
     } else if (option_name == "print_canonical") {
       print_canonical_ = option_value;
     } else if (option_name=="ad_weight") {
       ad_weight_ = option_value;
     } else if (option_name=="ad_weight_sp") {
       ad_weight_sp_ = option_value;
     } else if (option_name=="dump") {
       dump_ = option_value;
     } else if (option_name=="dump_in") {
       dump_in_ = option_value;
     } else if (option_name=="dump_out") {
       dump_out_ = option_value;
     } else if (option_name=="dump_dir") {
       dump_dir_ = option_value.to_string();
     } else if (option_name=="dump_format") {
       dump_format_ = option_value.to_string();
     } else {
       // Option not found - continue to base classes
       ProtoFunction::change_option(option_name, option_value);
     }
   }

References casadi::FunctionInternal::ad_weight_, casadi::FunctionInternal::ad_weight_sp_, casadi::ProtoFunction::change_option(), casadi::FunctionInternal::dump_, casadi::FunctionInternal::dump_dir_, casadi::FunctionInternal::dump_format_, casadi::FunctionInternal::dump_in_, casadi::FunctionInternal::dump_out_, casadi::FunctionInternal::print_canonical_, casadi::FunctionInternal::print_in_, casadi::FunctionInternal::print_out_, and casadi::GenericType::to_string().

Referenced by casadi::FmuFunction::change_option(), and casadi::MXFunction::change_option().

◆ check_arg()

template<typename M >

void casadi::FunctionInternal::check_arg	(	const std::vector< M > &	arg,
		casadi_int &	npar
	)		const

inherited

Raises errors.

Parameters

	npar[in]	normal usage: 1, disallow pararallel calls: -1
[out]	npar	max number of horizontal repetitions across all arguments (or -1)

Extra doc: https://github.com/casadi/casadi/wiki/L_ki

Definition at line 1710 of file function_internal.hpp.

                                                                                   {
     casadi_assert(arg.size()==n_in_, "Incorrect number of inputs: Expected "
                           + str(n_in_) + ", got " + str(arg.size()));
     for (casadi_int i=0; i<n_in_; ++i) {
       if (!check_mat(arg[i].sparsity(), sparsity_in(i), npar)) {
         // Dimensions
         std::string d_arg = str(arg[i].size1()) + "-by-" + str(arg[i].size2());
         std::string d_in = str(size1_in(i)) + "-by-" + str(size2_in(i));
         std::string e = "Input " + str(i) + " (" + name_in_[i] + ") has mismatching shape. "
                      "Got " + d_arg + ". Allowed dimensions, in general, are:\n"
                      " - The input dimension N-by-M (here " + d_in + ")\n"
                      " - A scalar, i.e. 1-by-1\n"
                      " - M-by-N if N=1 or M=1 (i.e. a transposed vector)\n"
                      " - N-by-M1 if K*M1=M for some K (argument repeated horizontally)\n";
         if (npar!=-1) {
           e += " - N-by-P*M, indicating evaluation with multiple arguments (P must be a "
                      "multiple of " + str(npar) + " for consistency with previous inputs)";
         }
         casadi_error(e);
       }
     }
   }

References casadi::FunctionInternal::check_mat(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::size1_in(), casadi::FunctionInternal::size2_in(), casadi::FunctionInternal::sparsity_in(), and casadi::str().

Referenced by casadi::FunctionInternal::mapsum_mx(), and casadi::FunctionInternal::matching_arg().

◆ check_inputs()

void casadi::Conic::check_inputs	(	const double *	lbx,
		const double *	ubx,
		const double *	lba,
		const double *	uba
	)		const

virtualinherited

Definition at line 487 of file conic.cpp.

                                                                       {
     for (casadi_int i=0; i<nx_; ++i) {
       double lb = lbx ? lbx[i] : 0., ub = ubx ? ubx[i] : 0.;
       casadi_assert(lb <= ub && lb!=inf && ub!=-inf,
         "Ill-posed problem detected: "
         "LBX[" + str(i) + "] <= UBX[" + str(i) + "] was violated. "
         "Got LBX[" + str(i) + "]=" + str(lb) + " and UBX[" + str(i) + "] = " + str(ub) + ".");
     }
     for (casadi_int i=0; i<na_; ++i) {
       double lb = lba ? lba[i] : 0., ub = uba ? uba[i] : 0.;
       casadi_assert(lb <= ub && lb!=inf && ub!=-inf,
         "Ill-posed problem detected: "
         "LBA[" + str(i) + "] <= UBA[" + str(i) + "] was violated. "
         "Got LBA[" + str(i) + "] = " + str(lb) + " and UBA[" + str(i) + "] = " + str(ub) + ".");
     }
   }

References casadi::inf, casadi::Conic::na_, casadi::Conic::nx_, and casadi::str().

Referenced by casadi::Conic::eval(), casadi::SqicInterface::evaluate(), and casadi::GurobiInterface::solve().

◆ check_mat()

bool casadi::FunctionInternal::check_mat	(	const Sparsity &	arg,
		const Sparsity &	inp,
		casadi_int &	npar
	)

staticinherited

Helper function

Parameters

npar[in]	normal usage: 1, disallow pararallel calls: -1
npar[out]	required number of parallel calls (or -1)

Definition at line 3460 of file function_internal.cpp.

                                                                                              {
     // Matching dimensions
     if (arg.size()==inp.size()) return true;
     // Calling with empty matrix - set all to zero
     if (arg.is_empty()) return true;
     // Calling with a scalar - set all
     if (arg.is_scalar()) return true;
     // Vectors that are transposes of each other
     if (arg.is_vector() && inp.size()==std::make_pair(arg.size2(), arg.size1())) return true;
     // Horizontal repmat
     if (arg.size1()==inp.size1() && arg.size2()>0 && inp.size2()>0
         && inp.size2()%arg.size2()==0) return true;
     if (npar==-1) return false;
     // Evaluate with multiple arguments
     if (arg.size1()==inp.size1() && arg.size2()>0 && inp.size2()>0
         && arg.size2()%(npar*inp.size2())==0) {
       npar *= arg.size2()/(npar*inp.size2());
       return true;
     }
     // No match
     return false;
   }

References casadi::Sparsity::is_empty(), casadi::Sparsity::is_scalar(), casadi::Sparsity::is_vector(), casadi::Sparsity::size(), casadi::Sparsity::size1(), and casadi::Sparsity::size2().

Referenced by casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::check_res(), and casadi::FunctionInternal::mapsum_mx().

◆ check_mem_count()

virtual void casadi::ProtoFunction::check_mem_count ( casadi_int n ) const

inlinevirtualinherited

Purpose if to allow more helpful error messages

Extra doc: https://github.com/casadi/casadi/wiki/L_2b7

Reimplemented in casadi::FmuFunction.

Definition at line 179 of file function_internal.hpp.

179 { }

Referenced by casadi::ProtoFunction::checkout().

◆ check_res()

template<typename M >

void casadi::FunctionInternal::check_res	(	const std::vector< M > &	res,
		casadi_int &	npar
	)		const

inherited

Raises errors.

Parameters

	npar[in]	normal usage: 1, disallow pararallel calls: -1
[out]	npar	max number of horizontal repetitions across all arguments (or -1)

Extra doc: https://github.com/casadi/casadi/wiki/L_kj

Definition at line 1734 of file function_internal.hpp.

                                                                                   {
     casadi_assert(res.size()==n_out_, "Incorrect number of outputs: Expected "
                           + str(n_out_) + ", got " + str(res.size()));
     for (casadi_int i=0; i<n_out_; ++i) {
       casadi_assert(check_mat(res[i].sparsity(), sparsity_out(i), npar),
                     "Output " + str(i) + " (" + name_out_[i] + ") has mismatching shape. "
                     "Expected " + str(size_out(i)) + ", got " + str(res[i].size()));
     }
   }

References casadi::FunctionInternal::check_mat(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::name_out_, casadi::FunctionInternal::size_out(), casadi::FunctionInternal::sparsity_out(), and casadi::str().

Referenced by casadi::FunctionInternal::matching_res().

◆ checkout()

int casadi::ProtoFunction::checkout ( ) const

inherited

Definition at line 3669 of file function_internal.cpp.

                                     {
 #ifdef CASADI_WITH_THREAD
     std::lock_guard<std::mutex> lock(mtx_);
 #endif //CASADI_WITH_THREAD
     if (unused_.empty()) {
       check_mem_count(mem_.size()+1);
       // Allocate a new memory object
       void* m = alloc_mem();
       mem_.push_back(m);
       if (init_mem(m)) {
         casadi_error("Failed to create or initialize memory object");
       }
       return static_cast<int>(mem_.size()) - 1;
     } else {
       // Use an unused memory object
       int m = unused_.top();
       unused_.pop();
       return m;
     }
   }

References casadi::ProtoFunction::alloc_mem(), casadi::ProtoFunction::check_mem_count(), and casadi::ProtoFunction::init_mem().

Referenced by casadi::ProtoFunction::finalize(), casadi::FunctionBuffer::FunctionBuffer(), and casadi::Sqpmethod::init_mem().

◆ class_name()

std::string casadi::OsqpInterface::class_name ( ) const

inlineoverridevirtual

Implements casadi::SharedObjectInternal.

Definition at line 85 of file osqp_interface.hpp.

85 { return "OsqpInterface";}

◆ clear_mem()

void casadi::ProtoFunction::clear_mem ( )

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jq

Definition at line 3557 of file function_internal.cpp.

                                 {
     for (auto&& i : mem_) {
       if (i!=nullptr) free_mem(i);
     }
     mem_.clear();
   }

References casadi::ProtoFunction::free_mem().

◆ codegen()

void casadi::FunctionInternal::codegen	(	CodeGenerator &	g,
		const std::string &	fname
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lm

Definition at line 2390 of file function_internal.cpp.

                                                                                {
     // Define function
     g << "/* " << definition() << " */\n";
     g << "static " << signature(fname) << " {\n";
  
     // Reset local variables, flush buffer
     g.flush(g.body);
  
     g.scope_enter();
  
     // Generate function body (to buffer)
     codegen_body(g);
  
     g.scope_exit();
  
     // Finalize the function
     g << "return 0;\n";
     g << "}\n\n";
  
     // Flush to function body
     g.flush(g.body);
   }

References casadi::CodeGenerator::body, casadi::FunctionInternal::codegen_body(), casadi::FunctionInternal::definition(), casadi::CodeGenerator::flush(), casadi::CodeGenerator::scope_enter(), casadi::CodeGenerator::scope_exit(), and casadi::FunctionInternal::signature().

Referenced by casadi::CodeGenerator::add_dependency().

◆ codegen_alloc_mem()

void casadi::FunctionInternal::codegen_alloc_mem ( CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lt

Reimplemented in casadi::External.

Definition at line 2438 of file function_internal.cpp.

                                                                  {
     bool needs_mem = !codegen_mem_type().empty();
     if (needs_mem) {
     std::string name = codegen_name(g, false);
     std::string mem_counter = g.shorthand(name + "_mem_counter");
     g << "return " + mem_counter + "++;\n";
     }
   }

References casadi::FunctionInternal::codegen_mem_type(), casadi::FunctionInternal::codegen_name(), and casadi::CodeGenerator::shorthand().

Referenced by casadi::CodeGenerator::add_dependency().

◆ codegen_body()

void casadi::OsqpInterface::codegen_body ( CodeGenerator & g ) const

overridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 373 of file osqp_interface.cpp.

                                                          {
     g.add_include("osqp/osqp.h");
     g.add_auxiliary(CodeGenerator::AUX_INF);
  
     g.local("work", "OSQPWorkspace", "*");
     g.init_local("work", codegen_mem(g));
  
     g.comment("Set objective");
     g.copy_default(g.arg(CONIC_G), nx_, "w", "0", false);
     g << "if (osqp_update_lin_cost(work, w)) return 1;\n";
  
     g.comment("Set bounds");
     g.copy_default(g.arg(CONIC_LBX), nx_, "w", "-casadi_inf", false);
     g.copy_default(g.arg(CONIC_LBA), na_, "w+"+str(nx_), "-casadi_inf", false);
     g.copy_default(g.arg(CONIC_UBX), nx_, "w+"+str(nx_+na_), "casadi_inf", false);
     g.copy_default(g.arg(CONIC_UBA), na_, "w+"+str(2*nx_+na_), "casadi_inf", false);
     g << "if (osqp_update_bounds(work, w, w+" + str(nx_+na_)+ ")) return 1;\n";
  
     g.comment("Project Hessian");
     g << g.tri_project(g.arg(CONIC_H), H_, "w", false);
  
     g.comment("Get constraint matrix");
     std::string A_colind = g.constant(A_.get_colind());
     g.local("offset", "casadi_int");
     g.local("n", "casadi_int");
     g.local("i", "casadi_int");
     g << "offset = 0;\n";
     g << "for (i=0; i< " << nx_ << "; ++i) {\n";
     g << "w[" + str(nnzHupp_) + "+offset] = 1;\n";
     g << "offset++;\n";
     g << "n = " + A_colind + "[i+1]-" + A_colind + "[i];\n";
     g << "casadi_copy(" << g.arg(CONIC_A) << "+" + A_colind + "[i], n, "
          "w+offset+" + str(nnzHupp_) + ");\n";
     g << "offset+= n;\n";
     g << "}\n";
  
     g.comment("Pass Hessian and constraint matrices");
     g << "if (osqp_update_P_A(work, w, 0, " + str(nnzHupp_) + ", w+" + str(nnzHupp_) +
          ", 0, " + str(nnzA_) + ")) return 1;\n";
  
     g << "if (osqp_warm_start_x(work, " + g.arg(CONIC_X0) + ")) return 1;\n";
     g.copy_default(g.arg(CONIC_LAM_X0), nx_, "w", "0", false);
     g.copy_default(g.arg(CONIC_LAM_A0), na_, "w+"+str(nx_), "0", false);
     g << "if (osqp_warm_start_y(work, w)) return 1;\n";
  
     g << "if (osqp_solve(work)) return 1;\n";
  
     g.copy_check("&work->info->obj_val", 1, g.res(CONIC_COST), false, true);
     g.copy_check("work->solution->x", nx_, g.res(CONIC_X), false, true);
     g.copy_check("work->solution->y", nx_, g.res(CONIC_LAM_X), false, true);
     g.copy_check("work->solution->y+" + str(nx_), na_, g.res(CONIC_LAM_A), false, true);
  
     g << "if (work->info->status_val != OSQP_SOLVED) {\n";
     if (error_on_fail_) {
       g << "return -1000;\n";
     } else {
       g << "if (work->info->status_val == OSQP_PRIMAL_INFEASIBLE || ";
       g << "work->info->status_val == OSQP_MAX_ITER_REACHED || ";
       g << "work->info->status_val == OSQP_DUAL_INFEASIBLE || ";
       g << "work->info->status_val == OSQP_PRIMAL_INFEASIBLE_INACCURATE || ";
       g << "work->info->status_val == OSQP_DUAL_INFEASIBLE_INACCURATE || ";
       g << "work->info->status_val == OSQP_NON_CVX) {\n";
       g << "return " << SOLVER_RET_INFEASIBLE << ";\n";
       g << "} else {\n";
       g << "return " << SOLVER_RET_UNKNOWN << ";\n";
       g << "}\n";
     }
     g << "}\n";
  
     g << "return 0;\n";
   }

◆ codegen_checkout()

void casadi::FunctionInternal::codegen_checkout ( CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lw

Reimplemented in casadi::External.

Definition at line 2447 of file function_internal.cpp.

                                                                 {
     std::string name = codegen_name(g, false);
     std::string stack_counter = g.shorthand(name + "_unused_stack_counter");
     std::string stack = g.shorthand(name + "_unused_stack");
     std::string mem_counter = g.shorthand(name + "_mem_counter");
     std::string mem_array = g.shorthand(name + "_mem");
     std::string alloc_mem = g.shorthand(name + "_alloc_mem");
     std::string init_mem = g.shorthand(name + "_init_mem");
  
     g.auxiliaries << "static int " << mem_counter  << " = 0;\n";
     g.auxiliaries << "static int " << stack_counter  << " = -1;\n";
     g.auxiliaries << "static int " << stack << "[CASADI_MAX_NUM_THREADS];\n";
     g.auxiliaries << "static " << codegen_mem_type() <<
                " " << mem_array << "[CASADI_MAX_NUM_THREADS];\n\n";
     g << "int mid;\n";
     g << "if (" << stack_counter << ">=0) {\n";
     g << "return " << stack << "[" << stack_counter << "--];\n";
     g << "} else {\n";
     g << "if (" << mem_counter << "==CASADI_MAX_NUM_THREADS) return -1;\n";
     g << "mid = " << alloc_mem << "();\n";
     g << "if (mid<0) return -1;\n";
     g << "if(" << init_mem << "(mid)) return -1;\n";
     g << "return mid;\n";
     g << "}\n";
   }

References casadi::FunctionInternal::alloc_mem(), casadi::CodeGenerator::auxiliaries, casadi::FunctionInternal::codegen_mem_type(), casadi::FunctionInternal::codegen_name(), casadi::ProtoFunction::init_mem(), and casadi::CodeGenerator::shorthand().

Referenced by casadi::CodeGenerator::add_dependency().

◆ codegen_declarations()

void casadi::FunctionInternal::codegen_declarations ( CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lz

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Sqpmethod, casadi::Feasiblesqpmethod, casadi::FastNewton, casadi::BSplineInterpolant, casadi::MadnlpInterface, casadi::IpoptInterface, casadi::FatropInterface, casadi::SXFunction, casadi::Switch, casadi::Nlpsol, casadi::MXFunction, casadi::MapSum, casadi::Map, casadi::FiniteDiff, and casadi::External.

Definition at line 2822 of file function_internal.cpp.

                                                                     {
     // Nothing to declare
   }

Referenced by casadi::CodeGenerator::add_dependency(), and casadi::BSplineInterpolant::codegen_declarations().

◆ codegen_decref()

virtual void casadi::FunctionInternal::codegen_decref ( CodeGenerator & g ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ls

Reimplemented in casadi::MXFunction, and casadi::External.

Definition at line 854 of file function_internal.hpp.

854 {}

Referenced by casadi::CodeGenerator::add_dependency(), and casadi::FunctionInternal::codegen_meta().

◆ codegen_free_mem()

void casadi::OsqpInterface::codegen_free_mem ( CodeGenerator & g ) const

overridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 298 of file osqp_interface.cpp.

                                                              {
     g << "osqp_cleanup(" + codegen_mem(g) + ");\n";
   }

References casadi::FunctionInternal::codegen_mem().

◆ codegen_incref()

virtual void casadi::FunctionInternal::codegen_incref ( CodeGenerator & g ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lr

Reimplemented in casadi::MXFunction, and casadi::External.

Definition at line 849 of file function_internal.hpp.

849 {}

Referenced by casadi::CodeGenerator::add_dependency(), and casadi::FunctionInternal::codegen_meta().

◆ codegen_init_mem()

void casadi::OsqpInterface::codegen_init_mem ( CodeGenerator & g ) const

overridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 302 of file osqp_interface.cpp.

                                                              {
     Sparsity Asp = vertcat(Sparsity::diag(nx_), A_);
     casadi_int dummy_size = std::max(nx_+na_, std::max(Asp.nnz(), H_.nnz()));
  
     g.local("A", "csc");
     g.local("dummy[" + str(dummy_size) + "]", "casadi_real");
     g << g.clear("dummy", dummy_size) << "\n";
  
     g.constant_copy("A_row", Asp.get_row(), "c_int");
     g.constant_copy("A_colind", Asp.get_colind(), "c_int");
  
     // convert H in a upper triangular matrix. This is required by osqp v0.6.0
     Sparsity H_triu = Sparsity::triu(H_);
  
     g.constant_copy("H_row", H_triu.get_row(), "c_int");
     g.constant_copy("H_colind", H_triu.get_colind(), "c_int");
  
     g.local("A", "csc");
     g << "A.m = " << nx_ + na_ << ";\n";
     g << "A.n = " << nx_ << ";\n";
     g << "A.nz = " << nnzA_ << ";\n";
     g << "A.nzmax = " << nnzA_ << ";\n";
     g << "A.x = dummy;\n";
     g << "A.i = A_row;\n";
     g << "A.p = A_colind;\n";
  
     g.local("H", "csc");
     g << "H.m = " << nx_ << ";\n";
     g << "H.n = " << nx_ << ";\n";
     g << "H.nz = " << H_.nnz_upper() << ";\n";
     g << "H.nzmax = " << H_.nnz_upper() << ";\n";
     g << "H.x = dummy;\n";
     g << "H.i = H_row;\n";
     g << "H.p = H_colind;\n";
  
     g.local("data", "OSQPData");
     g << "data.n = " << nx_ << ";\n";
     g << "data.m = " << nx_ + na_ << ";\n";
     g << "data.P = &H;\n";
     g << "data.q = dummy;\n";
     g << "data.A = &A;\n";
     g << "data.l = dummy;\n";
     g << "data.u = dummy;\n";
  
     g.local("settings", "OSQPSettings");
     g << "osqp_set_default_settings(&settings);\n";
     g << "settings.rho = " << settings_.rho << ";\n";
     g << "settings.sigma = " << settings_.sigma << ";\n";
     g << "settings.scaling = " << settings_.scaling << ";\n";
     g << "settings.adaptive_rho = " << settings_.adaptive_rho << ";\n";
     g << "settings.adaptive_rho_interval = " << settings_.adaptive_rho_interval << ";\n";
     g << "settings.adaptive_rho_tolerance = " << settings_.adaptive_rho_tolerance << ";\n";
     //g << "settings.adaptive_rho_fraction = " << settings_.adaptive_rho_fraction << ";\n";
     g << "settings.max_iter = " << settings_.max_iter << ";\n";
     g << "settings.eps_abs = " << settings_.eps_abs << ";\n";
     g << "settings.eps_rel = " << settings_.eps_rel << ";\n";
     g << "settings.eps_prim_inf = " << settings_.eps_prim_inf << ";\n";
     g << "settings.eps_dual_inf = " << settings_.eps_dual_inf << ";\n";
     g << "settings.alpha = " << settings_.alpha << ";\n";
     g << "settings.delta = " << settings_.delta << ";\n";
     g << "settings.polish = " << settings_.polish << ";\n";
     g << "settings.polish_refine_iter = " << settings_.polish_refine_iter << ";\n";
     g << "settings.verbose = " << settings_.verbose << ";\n";
     g << "settings.scaled_termination = " << settings_.scaled_termination << ";\n";
     g << "settings.check_termination = " << settings_.check_termination << ";\n";
     g << "settings.warm_start = " << settings_.warm_start << ";\n";
     //g << "settings.time_limit = " << settings_.time_limit << ";\n";
  
     g << "return osqp_setup(&" + codegen_mem(g) + ", &data, &settings)!=0;\n";
   }

References casadi::Conic::A_, casadi::CodeGenerator::clear(), casadi::FunctionInternal::codegen_mem(), casadi::CodeGenerator::constant_copy(), casadi::Sparsity::diag(), casadi::Sparsity::get_colind(), casadi::Sparsity::get_row(), casadi::Conic::H_, casadi::CodeGenerator::local(), casadi::Conic::na_, casadi::Sparsity::nnz(), casadi::Sparsity::nnz_upper(), nnzA_, casadi::Conic::nx_, settings_, casadi::str(), and casadi::Sparsity::triu().

◆ codegen_mem()

std::string casadi::FunctionInternal::codegen_mem	(	CodeGenerator &	g,
		const std::string &	index = `"mem"`
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lq

Definition at line 2816 of file function_internal.cpp.

                                                                                         {
     std::string name = codegen_name(g, false);
     std::string mem_array = g.shorthand(name + "_mem");
     return mem_array+"[" + index + "]";
   }

References casadi::FunctionInternal::codegen_name(), and casadi::CodeGenerator::shorthand().

Referenced by casadi::ClarabelInterface::codegen_body(), casadi::DaqpInterface::codegen_body(), casadi::FatropInterface::codegen_body(), casadi::HighsInterface::codegen_body(), casadi::IpoptInterface::codegen_body(), casadi::MadnlpInterface::codegen_body(), codegen_body(), casadi::Sqpmethod::codegen_body(), casadi::ClarabelInterface::codegen_free_mem(), casadi::DaqpInterface::codegen_free_mem(), casadi::FatropInterface::codegen_free_mem(), casadi::HighsInterface::codegen_free_mem(), casadi::IpoptInterface::codegen_free_mem(), casadi::MadnlpInterface::codegen_free_mem(), codegen_free_mem(), casadi::ClarabelInterface::codegen_init_mem(), casadi::DaqpInterface::codegen_init_mem(), casadi::FatropInterface::codegen_init_mem(), casadi::HighsInterface::codegen_init_mem(), casadi::IpoptInterface::codegen_init_mem(), casadi::MadnlpInterface::codegen_init_mem(), and codegen_init_mem().

◆ codegen_mem_type()

std::string casadi::OsqpInterface::codegen_mem_type ( ) const

inlineoverridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 138 of file osqp_interface.hpp.

138 { return "OSQPWorkspace*"; }

◆ codegen_meta()

void casadi::FunctionInternal::codegen_meta ( CodeGenerator & g ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ln

Definition at line 2484 of file function_internal.cpp.

                                                             {
     bool needs_mem = !codegen_mem_type().empty();
  
     g << g.declare("int " + name_ + "_alloc_mem(void)") << " {\n";
     if (needs_mem) {
       g << "return " << codegen_name(g) << "_alloc_mem();\n";
     } else {
       g << "return 0;\n";
     }
     g << "}\n\n";
  
     g << g.declare("int " + name_ + "_init_mem(int mem)") << " {\n";
     if (needs_mem) {
       g << "return " << codegen_name(g) << "_init_mem(mem);\n";
     } else {
       g << "return 0;\n";
     }
     g << "}\n\n";
  
     g << g.declare("void " + name_ + "_free_mem(int mem)") << " {\n";
     if (needs_mem) {
       g << codegen_name(g) << "_free_mem(mem);\n";
     }
     g << "}\n\n";
  
     // Checkout/release routines
     g << g.declare("int " + name_ + "_checkout(void)") << " {\n";
     if (needs_mem) {
       g << "return " << codegen_name(g) << "_checkout();\n";
     } else {
       g << "return 0;\n";
     }
     g << "}\n\n";
  
     if (needs_mem) {
       g << g.declare("void " + name_ + "_release(int mem)") << " {\n";
       g << codegen_name(g) << "_release(mem);\n";
     } else {
       g << g.declare("void " + name_ + "_release(int mem)") << " {\n";
     }
     g << "}\n\n";
  
     // Reference counter routines
     g << g.declare("void " + name_ + "_incref(void)") << " {\n";
     codegen_incref(g);
     g << "}\n\n"
       << g.declare("void " + name_ + "_decref(void)") << " {\n";
     codegen_decref(g);
     g << "}\n\n";
  
     // Number of inputs and outptus
     g << g.declare("casadi_int " + name_ + "_n_in(void)")
       << " { return " << n_in_ << ";}\n\n"
       << g.declare("casadi_int " + name_ + "_n_out(void)")
       << " { return " << n_out_ << ";}\n\n";
  
     // Default inputs
     g << g.declare("casadi_real " + name_ + "_default_in(casadi_int i)") << " {\n"
       << "switch (i) {\n";
     for (casadi_int i=0; i<n_in_; ++i) {
       double def = get_default_in(i);
       if (def!=0) g << "case " << i << ": return " << g.constant(def) << ";\n";
     }
     g << "default: return 0;\n}\n"
       << "}\n\n";
  
     // Input names
     g << g.declare("const char* " + name_ + "_name_in(casadi_int i)") << " {\n"
       << "switch (i) {\n";
     for (casadi_int i=0; i<n_in_; ++i) {
       g << "case " << i << ": return \"" << name_in_[i] << "\";\n";
     }
     g << "default: return 0;\n}\n"
       << "}\n\n";
  
     // Output names
     g << g.declare("const char* " + name_ + "_name_out(casadi_int i)") << " {\n"
       << "switch (i) {\n";
     for (casadi_int i=0; i<n_out_; ++i) {
       g << "case " << i << ": return \"" << name_out_[i] << "\";\n";
     }
     g << "default: return 0;\n}\n"
       << "}\n\n";
  
     // Codegen sparsities
     codegen_sparsities(g);
  
     // Function that returns work vector lengths
     g << g.declare(
         "int " + name_ + "_work(casadi_int *sz_arg, casadi_int* sz_res, "
         "casadi_int *sz_iw, casadi_int *sz_w)")
       << " {\n"
       << "if (sz_arg) *sz_arg = " << codegen_sz_arg(g) << ";\n"
       << "if (sz_res) *sz_res = " << codegen_sz_res(g) << ";\n"
       << "if (sz_iw) *sz_iw = " << codegen_sz_iw(g) << ";\n"
       << "if (sz_w) *sz_w = " << codegen_sz_w(g) << ";\n"
       << "return 0;\n"
       << "}\n\n";
  
     // Function that returns work vector lengths in bytes
     g << g.declare(
         "int " + name_ + "_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, "
         "casadi_int *sz_iw, casadi_int *sz_w)")
       << " {\n"
       << "if (sz_arg) *sz_arg = " << codegen_sz_arg(g) << "*sizeof(const casadi_real*);\n"
       << "if (sz_res) *sz_res = " << codegen_sz_res(g) << "*sizeof(casadi_real*);\n"
       << "if (sz_iw) *sz_iw = " << codegen_sz_iw(g) << "*sizeof(casadi_int);\n"
       << "if (sz_w) *sz_w = " << codegen_sz_w(g) << "*sizeof(casadi_real);\n"
       << "return 0;\n"
       << "}\n\n";
  
     // Also add to header file to allow getting
      if (g.with_header) {
       g.header
         << "#define " << name_ << "_SZ_ARG " << codegen_sz_arg(g) << "\n"
         << "#define " << name_ << "_SZ_RES " << codegen_sz_res(g) << "\n"
         << "#define " << name_ << "_SZ_IW " << codegen_sz_iw(g) << "\n"
         << "#define " << name_ << "_SZ_W " << codegen_sz_w(g) << "\n";
      }
  
     // Which inputs are differentiable
     if (!all(is_diff_in_)) {
       g << g.declare("int " + name_ + "_diff_in(casadi_int i)") << " {\n"
         << "switch (i) {\n";
       for (casadi_int i=0; i<n_in_; ++i) {
         g << "case " << i << ": return " << is_diff_in_[i] << ";\n";
       }
       g << "default: return -1;\n}\n"
         << "}\n\n";
     }
  
     // Which outputs are differentiable
     if (!all(is_diff_out_)) {
       g << g.declare("int " + name_ + "_diff_out(casadi_int i)") << " {\n"
         << "switch (i) {\n";
       for (casadi_int i=0; i<n_out_; ++i) {
         g << "case " << i << ": return " << is_diff_out_[i] << ";\n";
       }
       g << "default: return -1;\n}\n"
         << "}\n\n";
     }
  
     // Generate mex gateway for the function
     if (g.mex) {
       // Begin conditional compilation
       g << "#ifdef MATLAB_MEX_FILE\n";
  
       // Declare wrapper
       g << "void mex_" << name_
         << "(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {\n"
         << "casadi_int i;\n";
       g << "int mem;\n";
       // Work vectors, including input and output buffers
       casadi_int i_nnz = nnz_in(), o_nnz = nnz_out();
       size_t sz_w = this->sz_w();
       for (casadi_int i=0; i<n_in_; ++i) {
         const Sparsity& s = sparsity_in_[i];
         sz_w = std::max(sz_w, static_cast<size_t>(s.size1())); // To be able to copy a column
         sz_w = std::max(sz_w, static_cast<size_t>(s.size2())); // To be able to copy a row
       }
       sz_w += i_nnz + o_nnz;
       g << CodeGenerator::array("casadi_real", "w", sz_w);
       g << CodeGenerator::array("casadi_int", "iw", sz_iw());
       std::string fw = "w+" + str(i_nnz + o_nnz);
  
       // Copy inputs to buffers
       casadi_int offset=0;
       g << CodeGenerator::array("const casadi_real*", "arg", sz_arg(), "{0}");
  
       // Allocate output buffers
       g << "casadi_real* res[" << sz_res() << "] = {0};\n";
  
       // Check arguments
       g << "if (argc>" << n_in_ << ") mexErrMsgIdAndTxt(\"Casadi:RuntimeError\","
         << "\"Evaluation of \\\"" << name_ << "\\\" failed. Too many input arguments "
         << "(%d, max " << n_in_ << ")\", argc);\n";
  
       g << "if (resc>" << n_out_ << ") mexErrMsgIdAndTxt(\"Casadi:RuntimeError\","
         << "\"Evaluation of \\\"" << name_ << "\\\" failed. "
         << "Too many output arguments (%d, max " << n_out_ << ")\", resc);\n";
  
       for (casadi_int i=0; i<n_in_; ++i) {
         std::string p = "argv[" + str(i) + "]";
         g << "if (--argc>=0) arg[" << i << "] = "
           << g.from_mex(p, "w", offset, sparsity_in_[i], fw) << "\n";
         offset += nnz_in(i);
       }
  
       for (casadi_int i=0; i<n_out_; ++i) {
         if (i==0) {
           // if i==0, always store output (possibly ans output)
           g << "--resc;\n";
         } else {
           // Store output, if it exists
           g << "if (--resc>=0) ";
         }
         // Create and get pointer
         g << g.res(i) << " = w+" << str(offset) << ";\n";
         offset += nnz_out(i);
       }
       g << name_ << "_incref();\n";
       g << "mem = " << name_ << "_checkout();\n";
  
       // Call the function
       g << "i = " << name_ << "(arg, res, iw, " << fw << ", mem);\n"
         << "if (i) mexErrMsgIdAndTxt(\"Casadi:RuntimeError\",\"Evaluation of \\\"" << name_
         << "\\\" failed.\");\n";
       g << name_ << "_release(mem);\n";
       g << name_ << "_decref();\n";
  
       // Save results
       for (casadi_int i=0; i<n_out_; ++i) {
         g << "if (" << g.res(i) << ") resv[" << i << "] = "
           << g.to_mex(sparsity_out_[i], g.res(i)) << "\n";
       }
  
       // End conditional compilation and function
       g << "}\n"
         << "#endif\n\n";
     }
  
     if (g.main) {
       // Declare wrapper
       g << "casadi_int main_" << name_ << "(casadi_int argc, char* argv[]) {\n";
  
       g << "casadi_int j;\n";
       g << "casadi_real* a;\n";
       g << "const casadi_real* r;\n";
       g << "casadi_int flag;\n";
       if (needs_mem) g << "int mem;\n";
  
  
  
       // Work vectors and input and output buffers
       size_t nr = sz_w() + nnz_in() + nnz_out();
       g << CodeGenerator::array("casadi_int", "iw", sz_iw())
         << CodeGenerator::array("casadi_real", "w", nr);
  
       // Input buffers
       g << "const casadi_real* arg[" << sz_arg() << "];\n";
  
       // Output buffers
       g << "casadi_real* res[" << sz_res() << "];\n";
  
       casadi_int off=0;
       for (casadi_int i=0; i<n_in_; ++i) {
         g << "arg[" << i << "] = w+" << off << ";\n";
         off += nnz_in(i);
       }
       for (casadi_int i=0; i<n_out_; ++i) {
         g << "res[" << i << "] = w+" << off << ";\n";
         off += nnz_out(i);
       }
  
       // TODO(@jaeandersson): Read inputs from file. For now; read from stdin
       g << "a = w;\n"
         << "for (j=0; j<" << nnz_in() << "; ++j) "
         << "if (scanf(\"%lg\", a++)<=0) return 2;\n";
  
       if (needs_mem) {
         g << "mem = " << name_ << "_checkout();\n";
       }
  
       // Call the function
       g << "flag = " << name_ << "(arg, res, iw, w+" << off << ", ";
       if (needs_mem) {
         g << "mem";
       } else {
         g << "0";
       }
       g << ");\n";
       if (needs_mem) {
         g << name_ << "_release(mem);\n";
       }
       g << "if (flag) return flag;\n";
  
       // TODO(@jaeandersson): Write outputs to file. For now: print to stdout
       g << "r = w+" << nnz_in() << ";\n"
         << "for (j=0; j<" << nnz_out() << "; ++j) "
         << g.printf("%g ", "*r++") << "\n";
  
       // End with newline
       g << g.printf("\\n") << "\n";
  
       // Finalize function
       g << "return 0;\n"
         << "}\n\n";
     }
  
     if (g.with_mem) {
       // Allocate memory
       g << g.declare("casadi_functions* " + name_ + "_functions(void)") << " {\n"
         << "static casadi_functions fun = {\n"
         << name_ << "_incref,\n"
         << name_ << "_decref,\n"
         << name_ << "_checkout,\n"
         << name_ << "_release,\n"
         << name_ << "_default_in,\n"
         //<< name_ << "_alloc_mem,\n"
         //<< name_ << "_init_mem,\n"
         //<< name_ << "_free_mem,\n"
         << name_ << "_n_in,\n"
         << name_ << "_n_out,\n"
         << name_ << "_name_in,\n"
         << name_ << "_name_out,\n"
         << name_ << "_sparsity_in,\n"
         << name_ << "_sparsity_out,\n"
         << name_ << "_work,\n"
         << name_ << "\n"
         << "};\n"
         << "return &fun;\n"
         << "}\n";
     }
     // Flush
     g.flush(g.body);
   }

Referenced by casadi::CodeGenerator::add().

◆ codegen_name()

std::string casadi::FunctionInternal::codegen_name	(	const CodeGenerator &	g,
		bool	ns = `true`
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lp

Definition at line 2801 of file function_internal.cpp.

                                                                                 {
     if (ns) {
       // Get the index of the function
       for (auto&& e : g.added_functions_) {
         if (e.f.get()==this) return e.codegen_name;
       }
     } else {
       for (casadi_int i=0;i<g.added_functions_.size();++i) {
         const auto & e = g.added_functions_[i];
         if (e.f.get()==this) return "f" + str(i);
       }
     }
     casadi_error("Function '" + name_ + "' not found");
   }

References casadi::CodeGenerator::added_functions_, casadi::ProtoFunction::name_, and casadi::str().

Referenced by casadi::FunctionInternal::codegen_alloc_mem(), casadi::FunctionInternal::codegen_checkout(), casadi::Call::codegen_decref(), casadi::Call::codegen_incref(), casadi::FunctionInternal::codegen_mem(), casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::codegen_release(), and casadi::CodeGenerator::mem().

◆ codegen_release()

void casadi::FunctionInternal::codegen_release ( CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lx

Reimplemented in casadi::External.

Definition at line 2473 of file function_internal.cpp.

                                                                {
     std::string name = codegen_name(g, false);
     std::string stack_counter = g.shorthand(name + "_unused_stack_counter");
     std::string stack = g.shorthand(name + "_unused_stack");
     g << stack << "[++" << stack_counter << "] = mem;\n";
   }

References casadi::FunctionInternal::codegen_name(), and casadi::CodeGenerator::shorthand().

Referenced by casadi::CodeGenerator::add_dependency().

◆ codegen_sparsities()

void casadi::FunctionInternal::codegen_sparsities ( CodeGenerator & g ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lo

Definition at line 2480 of file function_internal.cpp.

                                                                   {
     g.add_io_sparsities(name_, sparsity_in_, sparsity_out_);
   }

References casadi::CodeGenerator::add_io_sparsities(), casadi::ProtoFunction::name_, casadi::FunctionInternal::sparsity_in_, and casadi::FunctionInternal::sparsity_out_.

Referenced by casadi::FunctionInternal::codegen_meta().

◆ codegen_sz_arg()

size_t casadi::FunctionInternal::codegen_sz_arg ( const CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29g

Definition at line 2913 of file function_internal.cpp.

                                                                       {
     return sz_arg();
   }

References casadi::FunctionInternal::sz_arg().

Referenced by casadi::FunctionInternal::codegen_meta().

◆ codegen_sz_iw()

size_t casadi::FunctionInternal::codegen_sz_iw ( const CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29g

Definition at line 2919 of file function_internal.cpp.

                                                                      {
     return sz_iw();
   }

References casadi::FunctionInternal::sz_iw().

Referenced by casadi::FunctionInternal::codegen_meta().

◆ codegen_sz_res()

size_t casadi::FunctionInternal::codegen_sz_res ( const CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29g

Definition at line 2916 of file function_internal.cpp.

                                                                       {
     return sz_res();
   }

References casadi::FunctionInternal::sz_res().

Referenced by casadi::FunctionInternal::codegen_meta().

◆ codegen_sz_w()

size_t casadi::FunctionInternal::codegen_sz_w ( const CodeGenerator & g ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29g

Reimplemented in casadi::SXFunction.

Definition at line 2922 of file function_internal.cpp.

                                                                     {
     return sz_w();
   }

References casadi::FunctionInternal::sz_w().

Referenced by casadi::FunctionInternal::codegen_meta().

◆ construct()

void casadi::ProtoFunction::construct ( const Dict & opts )

inherited

Prepares the function for evaluation

Extra doc: https://github.com/casadi/casadi/wiki/L_jf

Definition at line 138 of file function_internal.cpp.

                                                 {
     // Sanitize dictionary is needed
     if (!Options::is_sane(opts)) {
       // Call recursively
       return construct(Options::sanitize(opts));
     }
  
     // Make sure all options exist
     get_options().check(opts);
  
     // Initialize the class hierarchy
     try {
       init(opts);
     } catch(std::exception& e) {
       casadi_error("Error calling " + class_name() + "::init for '" + name_ + "':\n"
         + std::string(e.what()));
     }
  
     // Revisit class hierarchy in reverse order
     try {
       finalize();
     } catch(std::exception& e) {
       casadi_error("Error calling " + class_name() + "::finalize for '" + name_ + "':\n"
         + std::string(e.what()));
     }
   }

References casadi::Options::check(), casadi::SharedObjectInternal::class_name(), casadi::ProtoFunction::finalize(), casadi::ProtoFunction::get_options(), casadi::ProtoFunction::init(), casadi::Options::is_sane(), casadi::ProtoFunction::name_, and casadi::Options::sanitize().

Referenced by casadi::Function::create(), casadi::FmuFunction::factory(), casadi::FmuFunction::get_forward(), casadi::FmuFunction::get_jacobian(), casadi::LinearInterpolant::get_jacobian(), and casadi::FmuFunction::get_reverse().

◆ convert_arg() [1/2]

template<typename M >

std::vector< M > casadi::FunctionInternal::convert_arg ( const std::map< std::string, M > & arg ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ks

Definition at line 1834 of file function_internal.hpp.

                                                      {
     // Get default inputs
     std::vector<M> arg_v(n_in_);
     for (casadi_int i=0; i<arg_v.size(); ++i) {
       arg_v[i] = get_default_in(i);
     }
  
     // Assign provided inputs
     for (auto&& e : arg) {
       arg_v.at(index_in(e.first)) = e.second;
     }
  
     return arg_v;
   }

References casadi::FunctionInternal::get_default_in(), casadi::FunctionInternal::index_in(), and casadi::FunctionInternal::n_in_.

◆ convert_arg() [2/2]

template<typename M >

std::map< std::string, M > casadi::FunctionInternal::convert_arg ( const std::vector< M > & arg ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ks

Definition at line 1822 of file function_internal.hpp.

                                              {
     casadi_assert(arg.size()==n_in_, "Incorrect number of inputs: Expected "
                       + str(n_in_) + ", got " + str(arg.size()));
     std::map<std::string, M> ret;
     for (casadi_int i=0;i<n_in_;++i) {
       ret[name_in_[i]] = arg[i];
     }
     return ret;
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::name_in_, and casadi::str().

◆ convert_res() [1/2]

template<typename M >

std::vector< M > casadi::FunctionInternal::convert_res ( const std::map< std::string, M > & res ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ks

Definition at line 1863 of file function_internal.hpp.

                                                      {
     // Get default inputs
     std::vector<M> res_v(n_out_);
     for (casadi_int i=0; i<res_v.size(); ++i) {
       res_v[i] = std::numeric_limits<double>::quiet_NaN();
     }
  
     // Assign provided inputs
     for (auto&& e : res) {
       M a = e.second;
       res_v.at(index_out(e.first)) = a;
     }
     return res_v;
   }

References casadi::FunctionInternal::index_out(), and casadi::FunctionInternal::n_out_.

◆ convert_res() [2/2]

template<typename M >

std::map< std::string, M > casadi::FunctionInternal::convert_res ( const std::vector< M > & res ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ks

Definition at line 1851 of file function_internal.hpp.

                                              {
     casadi_assert(res.size()==n_out_, "Incorrect number of outputs: Expected "
                       + str(n_out_) + ", got " + str(res.size()));
     std::map<std::string, M> ret;
     for (casadi_int i=0;i<n_out_;++i) {
       ret[name_out_[i]] = res[i];
     }
     return ret;
   }

References casadi::FunctionInternal::n_out_, casadi::FunctionInternal::name_out_, and casadi::str().

◆ creator()

static Conic* casadi::OsqpInterface::creator	(	const std::string &	name,
		const std::map< std::string, Sparsity > &	st
	)

inlinestatic

Definition at line 73 of file osqp_interface.hpp.

                                                                             {
       return new OsqpInterface(name, st);
     }

Referenced by casadi::casadi_register_conic_osqp().

◆ debug_repr()

std::string casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::debug_repr ( const Internal * i ) const

inherited

Definition at line 62 of file generic_shared_internal.hpp.

                                                                                        {
     // Note: i != this because of something something multiple inheritance
     return str( (casadi_int)(i)) + "/" + static_cast<const Internal*>(this)->class_name();
   }

◆ definition()

std::string casadi::FunctionInternal::definition ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ma

Definition at line 1025 of file function_internal.cpp.

                                                {
     std::stringstream s;
  
     // Print name
     s << name_ << ":(";
     // Print input arguments
     for (casadi_int i=0; i<n_in_; ++i) {
       if (!is_diff_in_.empty() && !is_diff_in_[i]) s << "#";
       s << name_in_[i] << sparsity_in_[i].postfix_dim() << (i==n_in_-1 ? "" : ",");
     }
     s << ")->(";
     // Print output arguments
     for (casadi_int i=0; i<n_out_; ++i) {
       if (!is_diff_out_.empty() && !is_diff_out_[i]) s << "#";
       s << name_out_[i] << sparsity_out_[i].postfix_dim() << (i==n_out_-1 ? "" : ",");
     }
     s << ")";
  
     return s.str();
   }

References casadi::FunctionInternal::is_diff_in_, casadi::FunctionInternal::is_diff_out_, casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::ProtoFunction::name_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_in_, and casadi::FunctionInternal::sparsity_out_.

Referenced by casadi::FunctionInternal::codegen(), casadi::FunctionInternal::disp(), casadi::MXFunction::should_inline(), and casadi::SXFunction::should_inline().

◆ deserialize() [1/2]

static ProtoFunction* casadi::OsqpInterface::deserialize ( DeserializingStream & s )

inlinestatic

Definition at line 143 of file osqp_interface.hpp.

143 { return new OsqpInterface(s); }

Referenced by casadi::casadi_register_conic_osqp().

◆ deserialize() [2/2]

void casadi::Conic::deserialize	(	DeserializingStream &	s,
		SDPToSOCPMem &	m
	)

protectedinherited

Definition at line 728 of file conic.cpp.

                                                                  {
     s.unpack("Conic::SDPToSOCPMem::r", m.r);
     s.unpack("Conic::SDPToSOCPMem::AT", m.AT);
     s.unpack("Conic::SDPToSOCPMem::A_mapping", m.A_mapping);
     s.unpack("Conic::SDPToSOCPMem::map_Q", m.map_Q);
     s.unpack("Conic::SDPToSOCPMem::map_P", m.map_P);
     s.unpack("Conic::SDPToSOCPMem::indval_size", m.indval_size);
   }

References casadi::Conic::SDPToSOCPMem::A_mapping, casadi::Conic::SDPToSOCPMem::AT, casadi::Conic::SDPToSOCPMem::indval_size, casadi::Conic::SDPToSOCPMem::map_P, casadi::Conic::SDPToSOCPMem::map_Q, casadi::Conic::SDPToSOCPMem::r, and casadi::DeserializingStream::unpack().

Referenced by casadi::CplexInterface::CplexInterface(), casadi::GurobiInterface::GurobiInterface(), and casadi::SuperscsInterface::SuperscsInterface().

◆ destroySingleton()

void casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::destroySingleton ( )

inlineprotectedinherited

Called in the destructor of singletons

Definition at line 77 of file generic_shared_internal.hpp.

                             {
       static_cast<Internal*>(this)->count--;
     }

◆ diff_prefix()

std::string casadi::FunctionInternal::diff_prefix ( const std::string & prefix ) const

inherited

Definition at line 2127 of file function_internal.cpp.

                                                                        {
     // Highest index found in current inputs and outputs
     casadi_int highest_index = 0;
     // Loop over both input names and output names
     for (const std::vector<std::string>& name_io : {name_in_, name_out_}) {
       for (const std::string& n : name_io) {
         // Find end of prefix, skip if no prefix
         size_t end = n.find('_');
         if (end >= n.size()) continue;
         // Skip if too short
         if (end < prefix.size()) continue;
         // Skip if wrong prefix
         if (n.compare(0, prefix.size(), prefix) != 0) continue;
         // Beginning of index
         size_t begin = prefix.size();
         // Check if any index
         casadi_int this_index;
         if (begin == end) {
           // No prefix, implicitly 1
           this_index = 1;
         } else {
           // Read index from string
           this_index = std::stoi(n.substr(begin, end - begin));
         }
         // Find the highest index
         if (this_index > highest_index) highest_index = this_index;
       }
     }
     // Return one higher index
     if (highest_index == 0) {
       return prefix + "_";
     } else {
       return prefix + std::to_string(highest_index + 1) + "_";
     }
   }

References casadi::FunctionInternal::name_in_, and casadi::FunctionInternal::name_out_.

Referenced by casadi::FunctionInternal::forward(), and casadi::FunctionInternal::reverse().

◆ disp()

void casadi::FunctionInternal::disp	(	std::ostream &	stream,
		bool	more
	)		const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m8

Implements casadi::SharedObjectInternal.

Definition at line 1046 of file function_internal.cpp.

                                                                  {
     stream << definition() << " " << class_name();
     if (more) {
       stream << std::endl;
       disp_more(stream);
     }
   }

References casadi::SharedObjectInternal::class_name(), casadi::FunctionInternal::definition(), and casadi::FunctionInternal::disp_more().

Referenced by casadi::MXFunction::eval(), and casadi::SXFunction::eval().

◆ disp_more()

virtual void casadi::FunctionInternal::disp_more ( std::ostream & stream ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m9

Reimplemented in casadi::SXFunction, casadi::Switch, casadi::Nlpsol, and casadi::MXFunction.

Definition at line 945 of file function_internal.hpp.

945 {}

Referenced by casadi::FunctionInternal::disp().

◆ dm_in() [1/2]

const std::vector< DM > casadi::FunctionInternal::dm_in ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3328 of file function_internal.cpp.

                                                     {
     std::vector<DM> ret(n_in_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = dm_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_in_.

Referenced by casadi::FunctionInternal::nz_in().

◆ dm_in() [2/2]

const DM casadi::FunctionInternal::dm_in ( casadi_int ind ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3304 of file function_internal.cpp.

                                                        {
     return DM::zeros(sparsity_in(ind));
   }

References casadi::FunctionInternal::sparsity_in(), and casadi::GenericMatrix< MatType >::zeros().

◆ dm_out() [1/2]

const std::vector< DM > casadi::FunctionInternal::dm_out ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3336 of file function_internal.cpp.

                                                      {
     std::vector<DM> ret(n_out_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = dm_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_out_.

Referenced by casadi::FunctionInternal::nz_out().

◆ dm_out() [2/2]

const DM casadi::FunctionInternal::dm_out ( casadi_int ind ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3308 of file function_internal.cpp.

                                                         {
     return DM::zeros(sparsity_out(ind));
   }

References casadi::FunctionInternal::sparsity_out(), and casadi::GenericMatrix< MatType >::zeros().

◆ ensure_stacked()

template<typename MatType >

MatType casadi::FunctionInternal::ensure_stacked	(	const MatType &	v,
		const Sparsity &	sp,
		casadi_int	n
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_26j

Definition at line 1880 of file function_internal.hpp.

                                                                                              {
     // Check dimensions
     if (v.size1() == sp.size1() && v.size2() == n * sp.size2()) {
       // Ensure that sparsity is a horizontal multiple of original input, or has no entries
       if (v.nnz() != 0 && !v.sparsity().is_stacked(sp, n)) {
         return project(v, repmat(sp, 1, n));
       }
     } else {
       // Correct empty sparsity
       casadi_assert_dev(v.is_empty());
       return MatType(sp.size1(), sp.size2() * n);
     }
     // No correction needed
     return v;
   }

References casadi::Sparsity::size1(), and casadi::Sparsity::size2().

◆ eval()

int casadi::Conic::eval	(	const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w,
		void *	mem
	)		const

finalvirtualinherited

Reimplemented from casadi::FunctionInternal.

Definition at line 530 of file conic.cpp.

                                                                                      {
     if (print_problem_) {
       uout() << "H:";
       DM::print_dense(uout(), H_, arg[CONIC_H], false);
       uout() << std::endl;
       uout() << "G:" << std::vector<double>(arg[CONIC_G], arg[CONIC_G]+nx_) << std::endl;
       uout() << "A:";
       DM::print_dense(uout(), A_, arg[CONIC_A], false);
       uout() << std::endl;
       uout() << "lba:" << std::vector<double>(arg[CONIC_LBA], arg[CONIC_LBA]+na_) << std::endl;
       uout() << "uba:" << std::vector<double>(arg[CONIC_UBA], arg[CONIC_UBA]+na_) << std::endl;
       uout() << "lbx:" << std::vector<double>(arg[CONIC_LBX], arg[CONIC_LBX]+nx_) << std::endl;
       uout() << "ubx:" << std::vector<double>(arg[CONIC_UBX], arg[CONIC_UBX]+nx_) << std::endl;
     }
     auto m = static_cast<ConicMemory*>(mem);
  
     if (inputs_check_) {
       check_inputs(arg[CONIC_LBX], arg[CONIC_UBX], arg[CONIC_LBA], arg[CONIC_UBA]);
     }
  
     setup(mem, arg, res, iw, w);
  
     int ret = solve(arg, res, iw, w, mem);
  
     if (m->d_qp.success) m->d_qp.unified_return_status = SOLVER_RET_SUCCESS;
  
     if (error_on_fail_ && !m->d_qp.success)
       casadi_error("conic process failed. "
                    "Set 'error_on_fail' option to false to ignore this error.");
     return ret;
   }

References casadi::Conic::A_, casadi::Conic::check_inputs(), casadi::CONIC_A, casadi::CONIC_G, casadi::CONIC_H, casadi::CONIC_LBA, casadi::CONIC_LBX, casadi::CONIC_UBA, casadi::CONIC_UBX, casadi::ProtoFunction::error_on_fail_, casadi::Conic::H_, casadi::FunctionInternal::inputs_check_, casadi::Conic::na_, casadi::Conic::nx_, casadi::Matrix< double >::print_dense(), casadi::Conic::print_problem_, casadi::FunctionInternal::setup(), casadi::Conic::solve(), casadi::SOLVER_RET_SUCCESS, and casadi::uout().

Referenced by casadi::ProxqpInterface::solve().

◆ eval_dm()

std::vector< DM > casadi::FunctionInternal::eval_dm ( const std::vector< DM > & arg ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ke

Reimplemented in casadi::CallbackInternal.

Definition at line 2110 of file function_internal.cpp.

                                                                         {
     casadi_error("'eval_dm' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::FunctionInternal::eval().

◆ eval_gen() [1/3]

int casadi::FunctionInternal::eval_gen	(	const bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem,
		bool	always_inline,
		bool	never_inline
	)		const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kf

Definition at line 435 of file function_internal.hpp.

                                                      {
       return sp_forward(arg, res, iw, w, mem);
     }

◆ eval_gen() [2/3]

int casadi::FunctionInternal::eval_gen	(	const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w,
		void *	mem,
		bool	always_inline,
		bool	never_inline
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kb

Definition at line 914 of file function_internal.cpp.

                                                    {
     casadi_int dump_id = (dump_in_ || dump_out_ || dump_) ? get_dump_id() : 0;
     if (dump_in_) dump_in(dump_id, arg);
     if (dump_ && dump_id==0) dump();
     if (print_in_) print_in(uout(), arg, false);
     auto m = static_cast<ProtoFunctionMemory*>(mem);
  
     // Avoid memory corruption
     for (casadi_int i=0;i<n_in_;++i) {
       casadi_assert(arg[i]==0 || arg[i]+nnz_in(i)<=w || arg[i]>=w+sz_w(),
         "Memory corruption detected for input " + name_in_[i] + ".\n"+
         "arg[" + str(i) + "] " + str(arg[i]) + "-" + str(arg[i]+nnz_in(i)) +
         " intersects with w " + str(w)+"-"+str(w+sz_w())+".");
     }
     for (casadi_int i=0;i<n_out_;++i) {
       casadi_assert(res[i]==0 || res[i]+nnz_out(i)<=w || res[i]>=w+sz_w(),
         "Memory corruption detected for output " + name_out_[i]);
     }
     // Reset statistics
     for (auto&& s : m->fstats) s.second.reset();
     if (m->t_total) m->t_total->tic();
     int ret;
     if (eval_) {
       auto m = static_cast<FunctionMemory*>(mem);
       m->stats_available = true;
       int mem_ = 0;
       if (checkout_) {
 #ifdef CASADI_WITH_THREAD
     std::lock_guard<std::mutex> lock(mtx_);
 #endif //CASADI_WITH_THREAD
         mem_ = checkout_();
       }
       ret = eval_(arg, res, iw, w, mem_);
       if (release_) {
 #ifdef CASADI_WITH_THREAD
     std::lock_guard<std::mutex> lock(mtx_);
 #endif //CASADI_WITH_THREAD
         release_(mem_);
       }
     } else {
       ret = eval(arg, res, iw, w, mem);
     }
     if (m->t_total) m->t_total->toc();
     // Show statistics
     print_time(m->fstats);
  
     if (dump_out_) dump_out(dump_id, res);
     if (print_out_) print_out(uout(), res, false);
     // Check all outputs for NaNs
     if (regularity_check_) {
       for (casadi_int i = 0; i < n_out_; ++i) {
         // Skip of not calculated
         if (!res[i]) continue;
         // Loop over nonzeros
         casadi_int nnz = this->nnz_out(i);
         for (casadi_int nz = 0; nz < nnz; ++nz) {
           if (isnan(res[i][nz]) || isinf(res[i][nz])) {
             // Throw readable error message
             casadi_error(str(res[i][nz]) + " detected for output " + name_out_[i] + " at "
               + sparsity_out(i).repr_el(nz));
           }
         }
       }
     }
     return ret;
   }

Referenced by casadi::FunctionInternal::call_gen().

◆ eval_gen() [3/3]

int casadi::FunctionInternal::eval_gen	(	const SXElem **	arg,
		SXElem **	res,
		casadi_int *	iw,
		SXElem *	w,
		void *	mem,
		bool	always_inline,
		bool	never_inline
	)		const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kf

Definition at line 431 of file function_internal.hpp.

                                                      {
       return eval_sx(arg, res, iw, w, mem, always_inline, never_inline);
     }

◆ eval_mx()

void casadi::FunctionInternal::eval_mx	(	const MXVector &	arg,
		MXVector &	res,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kd

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 2325 of file function_internal.cpp.

                                                                               {
  
     always_inline = always_inline || always_inline_;
     never_inline = never_inline || never_inline_;
  
     // The code below creates a call node, to inline, wrap in an MXFunction
     if (always_inline) {
       casadi_assert(!never_inline, "Inconsistent options for " + str(name_));
       return wrap().call(arg, res, true);
     }
  
     // Create a call-node
     res = Call::create(self(), arg);
   }

References casadi::FunctionInternal::always_inline_, casadi::Function::call(), casadi::Call::create(), casadi::ProtoFunction::name_, casadi::FunctionInternal::never_inline_, casadi::str(), and casadi::FunctionInternal::wrap().

Referenced by casadi::FunctionInternal::call_gen(), casadi::MXFunction::eval_mx(), and casadi::SXFunction::eval_mx().

◆ eval_sx()

int casadi::FunctionInternal::eval_sx	(	const SXElem **	arg,
		SXElem **	res,
		casadi_int *	iw,
		SXElem *	w,
		void *	mem,
		bool	always_inline,
		bool	never_inline
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kc

Reimplemented in casadi::SXFunction, casadi::Switch, casadi::MXFunction, casadi::MapSum, and casadi::Map.

Definition at line 2114 of file function_internal.cpp.

                                                  {
  
     always_inline = always_inline || always_inline_;
     never_inline = never_inline || never_inline_;
  
     casadi_assert(!always_inline, "'eval_sx' not defined for " + class_name() +
     " in combination with always_inline true");
  
     return CallSX::eval_sx(self(), arg, res);
   }

References casadi::FunctionInternal::always_inline_, casadi::SharedObjectInternal::class_name(), casadi::CallSX::eval_sx(), and casadi::FunctionInternal::never_inline_.

Referenced by casadi::MXFunction::eval_sx(), and casadi::SXFunction::eval_sx().

◆ export_code()

void casadi::FunctionInternal::export_code	(	const std::string &	lang,
		std::ostream &	stream,
		const Dict &	options
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m5

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, and casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 2285 of file function_internal.cpp.

                                  {
     casadi_error("'export_code' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ factory()

Function casadi::FunctionInternal::factory	(	const std::string &	name,
		const std::vector< std::string > &	s_in,
		const std::vector< std::string > &	s_out,
		const Function::AuxOut &	aux,
		const Dict &	opts
	)		const

virtualinherited

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::FmuFunction, casadi::External, and casadi::CallbackInternal.

Definition at line 3697 of file function_internal.cpp.

                                   {
     return wrap().factory(name, s_in, s_out, aux, opts);
   }

References casadi::Function::factory(), and casadi::FunctionInternal::wrap().

Referenced by casadi::Function::factory(), casadi::External::factory(), and casadi::FmuFunction::factory().

◆ finalize()

void casadi::FunctionInternal::finalize ( )

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_k7

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::OracleFunction.

Definition at line 704 of file function_internal.cpp.

                                   {
     if (jit_) {
       jit_name_ = jit_base_name_;
       if (jit_temp_suffix_) {
         jit_name_ = temporary_file(jit_name_, ".c");
         jit_name_ = std::string(jit_name_.begin(), jit_name_.begin()+jit_name_.size()-2);
       }
       if (has_codegen()) {
         if (compiler_.is_null()) {
           if (verbose_) casadi_message("Codegenerating function '" + name_ + "'.");
           // JIT everything
           Dict opts;
           // Override the default to avoid random strings in the generated code
           opts["prefix"] = "jit";
           CodeGenerator gen(jit_name_, opts);
           gen.add(self());
           if (verbose_) casadi_message("Compiling function '" + name_ + "'..");
           std::string jit_directory = get_from_dict(jit_options_, "directory", std::string(""));
           compiler_ = Importer(gen.generate(jit_directory), compiler_plugin_, jit_options_);
           if (verbose_) casadi_message("Compiling function '" + name_ + "' done.");
         }
         // Try to load
         eval_ = (eval_t) compiler_.get_function(name_);
         checkout_ = (casadi_checkout_t) compiler_.get_function(name_ + "checkout");
         release_ = (casadi_release_t) compiler_.get_function(name_ + "release");
         casadi_assert(eval_!=nullptr, "Cannot load JIT'ed function.");
       } else {
         // Just jit dependencies
         jit_dependencies(jit_name_);
       }
     }
  
     // Finalize base classes
     ProtoFunction::finalize();
  
     // Dump if requested
     if (dump_) dump();
   }

Referenced by casadi::FunctionInternal::deserialize(), casadi::CallbackInternal::finalize(), and casadi::OracleFunction::finalize().

◆ find()

virtual void casadi::FunctionInternal::find	(	std::map< FunctionInternal *, Function > &	all_fun,
		casadi_int	max_depth
	)		const

inlinevirtualinherited

Reimplemented in casadi::BSplineInterpolant, casadi::SXFunction, casadi::Switch, and casadi::MXFunction.

Definition at line 376 of file function_internal.hpp.

376 {}

Referenced by casadi::FunctionInternal::add_embedded(), casadi::MX::cse(), casadi::FunctionInternal::from_compact(), and casadi::FunctionInternal::to_compact().

◆ format_time()

void casadi::ProtoFunction::format_time	(	char *	buffer,
		double	time
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jt

Definition at line 3856 of file function_internal.cpp.

                                                                  {
     // Always of width 8
     casadi_assert_dev(time>=0);
     double log_time = log10(time);
     int magn = static_cast<int>(floor(log_time));
     int iprefix = static_cast<int>(floor(log_time/3));
     if (iprefix<-4) {
       sprint(buffer, 10, "       0");
       return;
     }
     if (iprefix>=5) {
       sprint(buffer, 10, "     inf");
       return;
     }
     char prefixes[] = "TGMk munp";
     char prefix = prefixes[4-iprefix];
  
     int rem = magn-3*iprefix;
     double time_normalized = time/pow(10, 3*iprefix);
  
     if (rem==0) {
       sprint(buffer, 10, "  %1.2f%cs", time_normalized, prefix);
     } else if (rem==1) {
       sprint(buffer, 10, " %2.2f%cs", time_normalized, prefix);
     } else {
       sprint(buffer, 10, "%3.2f%cs", time_normalized, prefix);
     }
   }

References casadi::ProtoFunction::sprint().

Referenced by casadi::ProtoFunction::print_time().

◆ forward()

Function casadi::FunctionInternal::forward ( casadi_int nfwd ) const

inherited

forward(nfwd) returns a cached instance if available, and calls Function get_forward(casadi_int nfwd) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l0

Definition at line 2163 of file function_internal.cpp.

                                                           {
     casadi_assert_dev(nfwd>=0);
     // Used wrapped function if forward not available
     if (!enable_forward_ && !enable_fd_) {
       // Derivative information must be available
       casadi_assert(has_derivative(), "Derivatives cannot be calculated for " + name_);
       return wrap().forward(nfwd);
     }
     // Retrieve/generate cached
     Function f;
     std::string fname = forward_name(name_, nfwd);
     if (!incache(fname, f)) {
       casadi_int i;
       // Prefix to be used for forward seeds, sensitivities
       std::string pref = diff_prefix("fwd");
       // Names of inputs
       std::vector<std::string> inames;
       for (i=0; i<n_in_; ++i) inames.push_back(name_in_[i]);
       for (i=0; i<n_out_; ++i) inames.push_back("out_" + name_out_[i]);
       for (i=0; i<n_in_; ++i) inames.push_back(pref + name_in_[i]);
       // Names of outputs
       std::vector<std::string> onames;
       for (i=0; i<n_out_; ++i) onames.push_back(pref + name_out_[i]);
       // Options
       Dict opts = combine(forward_options_, der_options_);
       opts = combine(opts, generate_options("forward"));
       if (!enable_forward_) opts = fd_options_;
       opts["derivative_of"] = self();
       // Generate derivative function
       casadi_assert_dev(enable_forward_ || enable_fd_);
       if (enable_forward_) {
         f = get_forward(nfwd, fname, inames, onames, opts);
       } else {
         // Get FD method
         if (fd_method_.empty() || fd_method_=="central") {
           f = Function::create(new CentralDiff(fname, nfwd), opts);
         } else if (fd_method_=="forward") {
           f = Function::create(new ForwardDiff(fname, nfwd), opts);
         } else if (fd_method_=="backward") {
           f = Function::create(new BackwardDiff(fname, nfwd), opts);
         } else if (fd_method_=="smoothing") {
           f = Function::create(new Smoothing(fname, nfwd), opts);
         } else {
           casadi_error("Unknown 'fd_method': " + fd_method_);
         }
       }
       // Consistency check for inputs
       casadi_assert_dev(f.n_in()==n_in_ + n_out_ + n_in_);
       casadi_int ind=0;
       for (i=0; i<n_in_; ++i) f.assert_size_in(ind++, size1_in(i), size2_in(i));
       for (i=0; i<n_out_; ++i) f.assert_size_in(ind++, size1_out(i), size2_out(i));
       for (i=0; i<n_in_; ++i) f.assert_size_in(ind++, size1_in(i), nfwd*size2_in(i));
       // Consistency check for outputs
       casadi_assert_dev(f.n_out()==n_out_);
       for (i=0; i<n_out_; ++i) f.assert_sparsity_out(i, sparsity_out(i), nfwd);
       // Save to cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::call_forward(), and casadi::Function::forward().

◆ forward_name()

static std::string casadi::FunctionInternal::forward_name	(	const std::string &	fcn,
		casadi_int	nfwd
	)

inlinestaticinherited

Definition at line 638 of file function_internal.hpp.

                                                                          {
       return "fwd" + str(nfwd) + "_" + fcn;
     }

References casadi::str().

◆ free_mem()

void casadi::OsqpInterface::free_mem ( void * mem ) const

inlineoverridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 103 of file osqp_interface.hpp.

103 { delete static_cast<OsqpMemory*>(mem);}

◆ free_mx()

std::vector< MX > casadi::FunctionInternal::free_mx ( ) const

virtualinherited

Reimplemented in casadi::MXFunction.

Definition at line 3377 of file function_internal.cpp.

                                                 {
     casadi_error("'free_mx' only defined for 'MXFunction'");
   }

◆ free_sx()

std::vector< SX > casadi::FunctionInternal::free_sx ( ) const

virtualinherited

Reimplemented in casadi::SXFunction.

Definition at line 3381 of file function_internal.cpp.

                                                 {
     casadi_error("'free_sx' only defined for 'SXFunction'");
   }

◆ from_compact()

Sparsity casadi::FunctionInternal::from_compact	(	casadi_int	oind,
		casadi_int	iind,
		const Sparsity &	sp
	)		const

inherited

Definition at line 1928 of file function_internal.cpp.

                                 {
     // Return value
     Sparsity r = sp;
     // Insert rows if sparse output
     if (numel_out(oind) != r.size1()) {
       casadi_assert_dev(r.size1() == nnz_out(oind));
       r.enlargeRows(numel_out(oind), sparsity_out(oind).find());
     }
     // Insert columns if sparse input
     if (numel_in(iind) != r.size2()) {
       casadi_assert_dev(r.size2() == nnz_in(iind));
       r.enlargeColumns(numel_in(iind), sparsity_in(iind).find());
     }
     // Return non-compact pattern
     return r;
   }

References casadi::Sparsity::enlargeColumns(), casadi::Sparsity::enlargeRows(), casadi::FunctionInternal::find(), casadi::FunctionInternal::nnz_in(), casadi::FunctionInternal::nnz_out(), casadi::FunctionInternal::numel_in(), casadi::FunctionInternal::numel_out(), casadi::Sparsity::size1(), casadi::Sparsity::size2(), casadi::FunctionInternal::sparsity_in(), and casadi::FunctionInternal::sparsity_out().

Referenced by casadi::FunctionInternal::jac_sparsity().

◆ fwd_seed()

template<typename MatType >

std::vector< std::vector< MatType > > casadi::FunctionInternal::fwd_seed ( casadi_int nfwd ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nr

Definition at line 1519 of file function_internal.hpp.

                                   {
     std::vector<std::vector<MatType>> fseed(nfwd);
     for (casadi_int dir=0; dir<nfwd; ++dir) {
       fseed[dir].resize(n_in_);
       for (casadi_int iind=0; iind<n_in_; ++iind) {
         std::string n = "f" + str(dir) + "_" +  name_in_[iind];
         Sparsity sp = is_diff_in_[iind] ? sparsity_in(iind) : Sparsity(size_in(iind));
         fseed[dir][iind] = MatType::sym(n, sp);
       }
     }
     return fseed;
   }

References casadi::FunctionInternal::is_diff_in_, casadi::FunctionInternal::n_in_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::size_in(), casadi::FunctionInternal::sparsity_in(), and casadi::str().

◆ fwdViaJac()

bool casadi::FunctionInternal::fwdViaJac ( casadi_int nfwd ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nc

Definition at line 2993 of file function_internal.cpp.

                                                         {
     if (!enable_forward_ && !enable_fd_) return true;
     if (jac_penalty_==-1) return false;
  
     // Heuristic 1: Jac calculated via forward mode likely cheaper
     if (jac_penalty_*static_cast<double>(nnz_in())<nfwd) return true;
  
     // Heuristic 2: Jac calculated via reverse mode likely cheaper
     double w = ad_weight();
     if (enable_reverse_ &&
         jac_penalty_*(1-w)*static_cast<double>(nnz_out())<w*static_cast<double>(nfwd))
       return true; // NOLINT
  
     return false;
   }

References casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::enable_fd_, casadi::FunctionInternal::enable_forward_, casadi::FunctionInternal::enable_reverse_, casadi::FunctionInternal::jac_penalty_, casadi::FunctionInternal::nnz_in(), and casadi::FunctionInternal::nnz_out().

Referenced by casadi::FunctionInternal::call_forward().

◆ generate_dependencies()

std::string casadi::FunctionInternal::generate_dependencies	(	const std::string &	fname,
		const Dict &	opts
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m2

Reimplemented in casadi::OracleFunction.

Definition at line 2833 of file function_internal.cpp.

                                                                         {
     casadi_error("'generate_dependencies' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ generate_in()

void casadi::FunctionInternal::generate_in	(	const std::string &	fname,
		const double **	arg
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ne

Definition at line 749 of file function_internal.cpp.

                                                                                      {
     // Set up output stream
     auto of_ptr = Filesystem::ofstream_ptr(fname);
     std::ostream& of = *of_ptr;
     normalized_setup(of);
  
     // Encode each input
     for (casadi_int i=0; i<n_in_; ++i) {
       const double* v = arg[i];
       for (casadi_int k=0;k<nnz_in(i);++k) {
         normalized_out(of, v ? v[k] : 0);
         of << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::nnz_in(), casadi::normalized_out(), casadi::normalized_setup(), and casadi::Filesystem::ofstream_ptr().

◆ generate_lifted()

void casadi::FunctionInternal::generate_lifted	(	Function &	vdef_fcn,
		Function &	vinit_fcn
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l9

Reimplemented in casadi::MXFunction.

Definition at line 3385 of file function_internal.cpp.

                                                                     {
     casadi_error("'generate_lifted' only defined for 'MXFunction'");
   }

◆ generate_options()

Dict casadi::FunctionInternal::generate_options ( const std::string & target ) const

overridevirtualinherited

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 391 of file function_internal.cpp.

                                                                        {
     Dict opts = ProtoFunction::generate_options(target);
     opts["jac_penalty"] = jac_penalty_;
     opts["user_data"] = user_data_;
     opts["inputs_check"] = inputs_check_;
     if (target!="tmp") opts["jit"] = jit_;
     opts["jit_cleanup"] = jit_cleanup_;
     opts["jit_serialize"] = jit_serialize_;
     opts["compiler"] = compiler_plugin_;
     opts["jit_options"] = jit_options_;
     opts["jit_name"] = jit_base_name_;
     opts["jit_temp_suffix"] = jit_temp_suffix_;
     opts["ad_weight"] = ad_weight_;
     opts["ad_weight_sp"] = ad_weight_sp_;
     opts["always_inline"] = always_inline_;
     opts["never_inline"] = never_inline_;
     opts["max_num_dir"] = max_num_dir_;
     if (target=="clone" || target=="tmp") {
       opts["enable_forward"] = enable_forward_op_;
       opts["enable_reverse"] = enable_reverse_op_;
       opts["enable_jacobian"] = enable_jacobian_op_;
       opts["enable_fd"] = enable_fd_op_;
       opts["reverse_options"] = reverse_options_;
       opts["forward_options"] = forward_options_;
       opts["jacobian_options"] = jacobian_options_;
       opts["der_options"] = der_options_;
       opts["derivative_of"] = derivative_of_;
     }
     opts["fd_options"] = fd_options_;
     opts["fd_method"] = fd_method_;
     opts["print_in"] = print_in_;
     opts["print_out"] = print_out_;
     opts["print_canonical"] = print_canonical_;
     opts["max_io"] = max_io_;
     opts["dump_in"] = dump_in_;
     opts["dump_out"] = dump_out_;
     opts["dump_dir"] = dump_dir_;
     opts["dump_format"] = dump_format_;
     opts["dump"] = dump_;
     return opts;
   }

Referenced by casadi::FunctionInternal::forward(), casadi::MXFunction::generate_options(), casadi::SXFunction::generate_options(), casadi::BlazingSplineFunction::get_jacobian(), and casadi::FunctionInternal::reverse().

◆ generate_out()

void casadi::FunctionInternal::generate_out	(	const std::string &	fname,
		double **	res
	)		const

inherited

Definition at line 765 of file function_internal.cpp.

                                                                                 {
     // Set up output stream
     auto of_ptr = Filesystem::ofstream_ptr(fname);
     std::ostream& of = *of_ptr;
     normalized_setup(of);
  
     // Encode each input
     for (casadi_int i=0; i<n_out_; ++i) {
       const double* v = res[i];
       for (casadi_int k=0;k<nnz_out(i);++k) {
         normalized_out(of, v ? v[k] : std::numeric_limits<double>::quiet_NaN());
         of << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_out(), casadi::normalized_out(), casadi::normalized_setup(), and casadi::Filesystem::ofstream_ptr().

◆ generateNativeCode()

void casadi::Conic::generateNativeCode ( std::ostream & file ) const

virtualinherited

Generate native code in the interfaced language for debugging

Reimplemented in casadi::SqicInterface.

Definition at line 505 of file conic.cpp.

                                                        {
     casadi_error("generateNativeCode not defined for class " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::conic_debug().

◆ get_abstol()

virtual double casadi::FunctionInternal::get_abstol ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mp

Reimplemented in casadi::SundialsInterface, casadi::Smoothing, casadi::CentralDiff, and casadi::ForwardDiff.

Definition at line 1099 of file function_internal.hpp.

                                       {
       return eps;
     }

References casadi::eps.

Referenced by casadi::FiniteDiff::init().

◆ get_default_in()

double casadi::Conic::get_default_in ( casadi_int ind ) const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1jd

Reimplemented from casadi::FunctionInternal.

Definition at line 517 of file conic.cpp.

                                                    {
     switch (ind) {
     case CONIC_LBX:
     case CONIC_LBA:
       return -std::numeric_limits<double>::infinity();
     case CONIC_UBX:
     case CONIC_UBA:
       return std::numeric_limits<double>::infinity();
     default:
       return 0;
     }
   }

References casadi::CONIC_LBA, casadi::CONIC_LBX, casadi::CONIC_UBA, and casadi::CONIC_UBX.

◆ get_diff_in()

virtual bool casadi::FunctionInternal::get_diff_in ( casadi_int i )

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ms

Reimplemented in casadi::BSplineInterpolant, casadi::Interpolant, casadi::GenericExternal, casadi::Expm, and casadi::BlazingSplineFunction.

Definition at line 1116 of file function_internal.hpp.

1116 { return true; }

Referenced by casadi::GenericExternal::get_diff_in(), and casadi::FunctionInternal::init().

◆ get_diff_out()

virtual bool casadi::FunctionInternal::get_diff_out ( casadi_int i )

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mt

Reimplemented in casadi::GenericExternal.

Definition at line 1121 of file function_internal.hpp.

1121 { return true; }

Referenced by casadi::GenericExternal::get_diff_out(), and casadi::FunctionInternal::init().

◆ get_forward()

Function casadi::FunctionInternal::get_forward	(	casadi_int	nfwd,
		const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

virtualinherited

forward(nfwd) returns a cached instance if available, and calls Function get_forward(casadi_int nfwd) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l0

Reimplemented in casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Switch, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Integrator, casadi::FmuFunction, casadi::Smoothing, casadi::CentralDiff, casadi::ForwardDiff, casadi::External, casadi::Expm, casadi::Dple, and casadi::CallbackInternal.

Definition at line 2269 of file function_internal.cpp.

                                       {
     casadi_error("'get_forward' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::FunctionInternal::forward(), casadi::FmuFunction::get_forward(), and casadi::BSplineInterpolant::get_forward().

◆ get_free()

std::vector< std::string > casadi::FunctionInternal::get_free ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mc

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 1020 of file function_internal.cpp.

                                                         {
     casadi_assert_dev(!has_free());
     return std::vector<std::string>();
   }

References casadi::FunctionInternal::has_free().

◆ get_function() [1/2]

std::vector< std::string > casadi::FunctionInternal::get_function ( ) const

virtualinherited

Reimplemented in casadi::OracleFunction, casadi::MapSum, and casadi::Map.

Definition at line 3706 of file function_internal.cpp.

                                                             {
     // No functions
     return std::vector<std::string>();
   }

◆ get_function() [2/2]

const Function & casadi::FunctionInternal::get_function ( const std::string & name ) const

virtualinherited

Reimplemented in casadi::OracleFunction, casadi::MapSum, and casadi::Map.

Definition at line 3711 of file function_internal.cpp.

                                                                             {
     casadi_error("'get_function' not defined for " + class_name());
     static Function singleton;
     return singleton;
   }

References casadi::SharedObjectInternal::class_name().

◆ get_jac_sparsity()

Sparsity casadi::FunctionInternal::get_jac_sparsity	(	casadi_int	oind,
		casadi_int	iind,
		bool	symmetric
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kz Get, if necessary generate, the sparsity of a Jacobian block

Reimplemented in casadi::FmuFunction, casadi::GenericExternal, casadi::Expm, and casadi::CallbackInternal.

Definition at line 1871 of file function_internal.cpp.

                             {
     if (symmetric) {
       casadi_assert(sparsity_out_[oind].is_dense(),
         "Symmetry exploitation in Jacobian assumes dense expression. "
         "A potential workaround is to apply densify().");
     }
     // Check if we are able to propagate dependencies through the function
     if (has_spfwd() || has_sprev()) {
       // Get weighting factor
       double w = sp_weight();
  
       // Skip generation, assume dense
       if (w == -1) return Sparsity();
  
       Sparsity sp;
       if (nnz_in(iind) > 3*bvec_size && nnz_out(oind) > 3*bvec_size &&
             GlobalOptions::hierarchical_sparsity) {
         if (symmetric) {
           sp = get_jac_sparsity_hierarchical_symm(oind, iind);
         } else {
           sp = get_jac_sparsity_hierarchical(oind, iind);
         }
       } else {
         // Number of nonzero inputs and outputs
         casadi_int nz_in = nnz_in(iind);
         casadi_int nz_out = nnz_out(oind);
  
         // Number of forward sweeps we must make
         casadi_int nsweep_fwd = nz_in/bvec_size;
         if (nz_in%bvec_size) nsweep_fwd++;
  
         // Number of adjoint sweeps we must make
         casadi_int nsweep_adj = nz_out/bvec_size;
         if (nz_out%bvec_size) nsweep_adj++;
  
         // Use forward mode?
         if (w*static_cast<double>(nsweep_fwd) <= (1-w)*static_cast<double>(nsweep_adj)) {
           sp = get_jac_sparsity_gen<true>(oind, iind);
         } else {
           sp = get_jac_sparsity_gen<false>(oind, iind);
         }
       }
       return sp;
     } else {
       // Not calculated
       return Sparsity();
     }
   }

Referenced by casadi::Expm::get_jac_sparsity(), casadi::GenericExternal::get_jac_sparsity(), and casadi::FunctionInternal::jac_sparsity().

◆ get_jac_sparsity_gen()

template<bool fwd>

Sparsity casadi::FunctionInternal::get_jac_sparsity_gen	(	casadi_int	oind,
		casadi_int	iind
	)		const

inherited

Definition at line 1216 of file function_internal.cpp.

                                                                                         {
     // Number of nonzero inputs and outputs
     casadi_int nz_in = nnz_in(iind);
     casadi_int nz_out = nnz_out(oind);
  
     // Evaluation buffers
     std::vector<typename JacSparsityTraits<fwd>::arg_t> arg(sz_arg(), nullptr);
     std::vector<bvec_t*> res(sz_res(), nullptr);
     std::vector<casadi_int> iw(sz_iw());
     std::vector<bvec_t> w(sz_w(), 0);
  
     // Seeds and sensitivities
     std::vector<bvec_t> seed(nz_in, 0);
     arg[iind] = get_ptr(seed);
     std::vector<bvec_t> sens(nz_out, 0);
     res[oind] = get_ptr(sens);
     if (!fwd) std::swap(seed, sens);
  
     // Number of forward sweeps we must make
     casadi_int nsweep = seed.size() / bvec_size;
     if (seed.size() % bvec_size) nsweep++;
  
     // Print
     if (verbose_) {
       casadi_message(str(nsweep) + std::string(fwd ? " forward" : " reverse") + " sweeps "
                      "needed for " + str(seed.size()) + " directions");
     }
  
     // Progress
     casadi_int progress = -10;
  
     // Temporary vectors
     std::vector<casadi_int> jcol, jrow;
  
     // Loop over the variables, bvec_size variables at a time
     for (casadi_int s=0; s<nsweep; ++s) {
  
       // Print progress
       if (verbose_) {
         casadi_int progress_new = (s*100)/nsweep;
         // Print when entering a new decade
         if (progress_new / 10 > progress / 10) {
           progress = progress_new;
           casadi_message(str(progress) + " %");
         }
       }
  
       // Nonzero offset
       casadi_int offset = s*bvec_size;
  
       // Number of local seed directions
       casadi_int ndir_local = seed.size()-offset;
       ndir_local = std::min(static_cast<casadi_int>(bvec_size), ndir_local);
  
       for (casadi_int i=0; i<ndir_local; ++i) {
         seed[offset+i] |= bvec_t(1)<<i;
       }
  
       // Propagate the dependencies
       JacSparsityTraits<fwd>::sp(this, get_ptr(arg), get_ptr(res),
                                   get_ptr(iw), get_ptr(w), memory(0));
  
       // Loop over the nonzeros of the output
       for (casadi_int el=0; el<sens.size(); ++el) {
  
         // Get the sparsity sensitivity
         bvec_t spsens = sens[el];
  
         if (!fwd) {
           // Clear the sensitivities for the next sweep
           sens[el] = 0;
         }
  
         // If there is a dependency in any of the directions
         if (spsens!=0) {
  
           // Loop over seed directions
           for (casadi_int i=0; i<ndir_local; ++i) {
  
             // If dependents on the variable
             if ((bvec_t(1) << i) & spsens) {
               // Add to pattern
               jcol.push_back(el);
               jrow.push_back(i+offset);
             }
           }
         }
       }
  
       // Remove the seeds
       for (casadi_int i=0; i<ndir_local; ++i) {
         seed[offset+i] = 0;
       }
     }
  
     // Construct sparsity pattern and return
     if (!fwd) swap(jrow, jcol);
     Sparsity ret = Sparsity::triplet(nz_out, nz_in, jcol, jrow);
     if (verbose_) {
       casadi_message("Formed Jacobian sparsity pattern (dimension " + str(ret.size()) + ", "
           + str(ret.nnz()) + " (" + str(ret.density()) + " %) nonzeros.");
     }
     return ret;
   }

◆ get_jac_sparsity_hierarchical()

Sparsity casadi::FunctionInternal::get_jac_sparsity_hierarchical	(	casadi_int	oind,
		casadi_int	iind
	)		const

inherited

Decide which ad_mode to take

Definition at line 1556 of file function_internal.cpp.

                                                                                                  {
     // Number of nonzero inputs
     casadi_int nz_in = nnz_in(iind);
  
     // Number of nonzero outputs
     casadi_int nz_out = nnz_out(oind);
  
     // Seeds and sensitivities
     std::vector<bvec_t> s_in(nz_in, 0);
     std::vector<bvec_t> s_out(nz_out, 0);
  
     // Evaluation buffers
     std::vector<const bvec_t*> arg_fwd(sz_arg(), nullptr);
     std::vector<bvec_t*> arg_adj(sz_arg(), nullptr);
     arg_fwd[iind] = arg_adj[iind] = get_ptr(s_in);
     std::vector<bvec_t*> res(sz_res(), nullptr);
     res[oind] = get_ptr(s_out);
     std::vector<casadi_int> iw(sz_iw());
     std::vector<bvec_t> w(sz_w());
  
     // Sparsity triplet accumulator
     std::vector<casadi_int> jcol, jrow;
  
     // Cols of the coarse blocks
     std::vector<casadi_int> coarse_col(2, 0); coarse_col[1] = nz_out;
     // Rows of the coarse blocks
     std::vector<casadi_int> coarse_row(2, 0); coarse_row[1] = nz_in;
  
     // Cols of the fine blocks
     std::vector<casadi_int> fine_col;
  
     // Rows of the fine blocks
     std::vector<casadi_int> fine_row;
  
     // In each iteration, subdivide each coarse block in this many fine blocks
     casadi_int subdivision = bvec_size;
  
     Sparsity r = Sparsity::dense(1, 1);
  
     // The size of a block
     casadi_int granularity_row = nz_in;
     casadi_int granularity_col = nz_out;
  
     bool use_fwd = true;
  
     casadi_int nsweeps = 0;
  
     bool hasrun = false;
  
     // Get weighting factor
     double sp_w = sp_weight();
  
     // Lookup table for bvec_t
     std::vector<bvec_t> bvec_lookup;
     bvec_lookup.reserve(bvec_size);
     for (casadi_int i=0;i<bvec_size;++i) {
       bvec_lookup.push_back(bvec_t(1) << i);
     }
  
     while (!hasrun || coarse_col.size()!=nz_out+1 || coarse_row.size()!=nz_in+1) {
       if (verbose_) {
         casadi_message("Block size: " + str(granularity_col) + " x " + str(granularity_row));
       }
  
       // Clear the sparsity triplet acccumulator
       jcol.clear();
       jrow.clear();
  
       // Clear the fine block structure
       fine_row.clear();
       fine_col.clear();
  
       // r transpose will be needed in the algorithm
       Sparsity rT = r.T();
  
       // Forward mode
       Sparsity D1 = rT.uni_coloring(r);
       // Adjoint mode
       Sparsity D2 = r.uni_coloring(rT);
       if (verbose_) {
         casadi_message("Coloring on " + str(r.dim()) + " (fwd seeps: " + str(D1.size2()) +
                  " , adj sweeps: " + str(D2.size1()) + ")");
       }
  
       // Use whatever required less colors if we tried both (with preference to forward mode)
       double fwd_cost = static_cast<double>(use_fwd ? granularity_row : granularity_col) *
         sp_w*static_cast<double>(D1.size2());
       double adj_cost = static_cast<double>(use_fwd ? granularity_col : granularity_row) *
         (1-sp_w)*static_cast<double>(D2.size2());
       use_fwd = fwd_cost <= adj_cost;
       if (verbose_) {
         casadi_message(std::string(use_fwd ? "Forward" : "Reverse") + " mode chosen "
             "(fwd cost: " + str(fwd_cost) + ", adj cost: " + str(adj_cost) + ")");
       }
  
       // Get seeds and sensitivities
       bvec_t* seed_v = use_fwd ? get_ptr(s_in) : get_ptr(s_out);
       bvec_t* sens_v = use_fwd ? get_ptr(s_out) : get_ptr(s_in);
  
       // The number of zeros in the seed and sensitivity directions
       casadi_int nz_seed = use_fwd ? nz_in  : nz_out;
       casadi_int nz_sens = use_fwd ? nz_out : nz_in;
  
       // Clear the seeds
       for (casadi_int i=0; i<nz_seed; ++i) seed_v[i]=0;
  
       // Choose the active jacobian coloring scheme
       Sparsity D = use_fwd ? D1 : D2;
  
       // Adjoint mode amounts to swapping
       if (!use_fwd) {
         std::swap(coarse_col, coarse_row);
         std::swap(granularity_col, granularity_row);
         std::swap(r, rT);
       }
  
       // Subdivide the coarse block cols
       for (casadi_int k=0;k<coarse_col.size()-1;++k) {
         casadi_int diff = coarse_col[k+1]-coarse_col[k];
         casadi_int new_diff = diff/subdivision;
         if (diff%subdivision>0) new_diff++;
         std::vector<casadi_int> temp = range(coarse_col[k], coarse_col[k+1], new_diff);
         fine_col.insert(fine_col.end(), temp.begin(), temp.end());
       }
       // Subdivide the coarse block rows
       for (casadi_int k=0;k<coarse_row.size()-1;++k) {
         casadi_int diff = coarse_row[k+1]-coarse_row[k];
         casadi_int new_diff = diff/subdivision;
         if (diff%subdivision>0) new_diff++;
         std::vector<casadi_int> temp = range(coarse_row[k], coarse_row[k+1], new_diff);
         fine_row.insert(fine_row.end(), temp.begin(), temp.end());
       }
       if (fine_row.back()!=coarse_row.back()) fine_row.push_back(coarse_row.back());
       if (fine_col.back()!=coarse_col.back()) fine_col.push_back(coarse_col.back());
  
       granularity_col = fine_col[1] - fine_col[0];
       granularity_row = fine_row[1] - fine_row[0];
  
       // The index into the bvec bit vector
       casadi_int bvec_i = 0;
  
       // Create lookup tables for the fine blocks
       std::vector<casadi_int> fine_col_lookup = lookupvector(fine_col, nz_sens+1);
       std::vector<casadi_int> fine_row_lookup = lookupvector(fine_row, nz_seed+1);
  
       // Triplet data used as a lookup table
       std::vector<casadi_int> lookup_col;
       std::vector<casadi_int> lookup_row;
       std::vector<casadi_int> lookup_value;
  
  
       // The maximum number of fine blocks contained in one coarse block
       casadi_int n_fine_blocks_max = 0;
       for (casadi_int i=0;i<coarse_row.size()-1;++i) {
         casadi_int del = fine_row_lookup[coarse_row[i+1]]-fine_row_lookup[coarse_row[i]];
         n_fine_blocks_max = std::max(n_fine_blocks_max, del);
       }
  
       // Loop over all coarse seed directions from the coloring
       for (casadi_int csd=0; csd<D.size2(); ++csd) {
  
         casadi_int fci_offset = 0;
         casadi_int fci_cap = bvec_size-bvec_i;
  
         // Flag to indicate if all fine blocks have been handled
         bool f_finished = false;
  
         // Loop while not finished
         while (!f_finished) {
  
           // Loop over all coarse rows that are found in the coloring for this coarse seed direction
           for (casadi_int k=D.colind(csd); k<D.colind(csd+1); ++k) {
             casadi_int cci = D.row(k);
  
             // The first and last rows of the fine block
             casadi_int fci_start = fine_row_lookup[coarse_row[cci]];
             casadi_int fci_end   = fine_row_lookup[coarse_row[cci+1]];
  
             // Local counter that modifies index into bvec
             casadi_int bvec_i_mod = 0;
  
             casadi_int value = -bvec_i + fci_offset + fci_start;
  
             // Loop over the rows of the fine block
             for (casadi_int fci = fci_offset; fci < std::min(fci_end-fci_start, fci_cap); ++fci) {
  
               // Loop over the coarse block cols that appear in the coloring
               // for the current coarse seed direction
               for (casadi_int cri=rT.colind(cci);cri<rT.colind(cci+1);++cri) {
                 lookup_col.push_back(rT.row(cri));
                 lookup_row.push_back(bvec_i+bvec_i_mod);
                 lookup_value.push_back(value);
               }
  
               // Toggle on seeds
               bvec_toggle(seed_v, fine_row[fci+fci_start], fine_row[fci+fci_start+1],
                           bvec_i+bvec_i_mod);
               bvec_i_mod++;
             }
           }
  
           // Bump bvec_i for next major coarse direction
           bvec_i+= std::min(n_fine_blocks_max, fci_cap);
  
           // Check if bvec buffer is full
           if (bvec_i==bvec_size || csd==D.size2()-1) {
             // Calculate sparsity for bvec_size directions at once
  
             // Statistics
             nsweeps+=1;
  
             // Construct lookup table
             IM lookup = IM::triplet(lookup_row, lookup_col, lookup_value, bvec_size,
                                     coarse_col.size());
  
             // Propagate the dependencies
             if (use_fwd) {
               JacSparsityTraits<true>::sp(this, get_ptr(arg_fwd), get_ptr(res),
                 get_ptr(iw), get_ptr(w), memory(0));
             } else {
               std::fill(w.begin(), w.end(), 0);
               JacSparsityTraits<false>::sp(this, get_ptr(arg_adj), get_ptr(res),
                 get_ptr(iw), get_ptr(w), memory(0));
             }
  
             // Temporary bit work vector
             bvec_t spsens;
  
             // Loop over the cols of coarse blocks
             for (casadi_int cri=0;cri<coarse_col.size()-1;++cri) {
  
               // Loop over the cols of fine blocks within the current coarse block
               for (casadi_int fri=fine_col_lookup[coarse_col[cri]];
                    fri<fine_col_lookup[coarse_col[cri+1]];++fri) {
                 // Lump individual sensitivities together into fine block
                 bvec_or(sens_v, spsens, fine_col[fri], fine_col[fri+1]);
  
                 // Next iteration if no sparsity
                 if (!spsens) continue;
  
                 // Loop over all bvec_bits
                 for (casadi_int bvec_i=0;bvec_i<bvec_size;++bvec_i) {
                   if (spsens & bvec_lookup[bvec_i]) {
                     // if dependency is found, add it to the new sparsity pattern
                     casadi_int ind = lookup.sparsity().get_nz(bvec_i, cri);
                     if (ind==-1) continue;
                     jrow.push_back(bvec_i+lookup->at(ind));
                     jcol.push_back(fri);
                   }
                 }
               }
             }
  
             // Clear the forward seeds/adjoint sensitivities, ready for next bvec sweep
             std::fill(s_in.begin(), s_in.end(), 0);
  
             // Clear the adjoint seeds/forward sensitivities, ready for next bvec sweep
             std::fill(s_out.begin(), s_out.end(), 0);
  
             // Clean lookup table
             lookup_col.clear();
             lookup_row.clear();
             lookup_value.clear();
           }
  
           if (n_fine_blocks_max>fci_cap) {
             fci_offset += std::min(n_fine_blocks_max, fci_cap);
             bvec_i = 0;
             fci_cap = bvec_size;
           } else {
             f_finished = true;
           }
  
         }
  
       }
  
       // Swap results if adjoint mode was used
       if (use_fwd) {
         // Construct fine sparsity pattern
         r = Sparsity::triplet(fine_row.size()-1, fine_col.size()-1, jrow, jcol);
         coarse_col = fine_col;
         coarse_row = fine_row;
       } else {
         // Construct fine sparsity pattern
         r = Sparsity::triplet(fine_col.size()-1, fine_row.size()-1, jcol, jrow);
         coarse_col = fine_row;
         coarse_row = fine_col;
       }
       hasrun = true;
     }
     if (verbose_) {
       casadi_message("Number of sweeps: " + str(nsweeps));
       casadi_message("Formed Jacobian sparsity pattern (dimension " + str(r.size()) + ", " +
           str(r.nnz()) + " (" + str(r.density()) + " %) nonzeros.");
     }
  
     return r.T();
   }

Referenced by casadi::FunctionInternal::get_jac_sparsity().

◆ get_jac_sparsity_hierarchical_symm()

Sparsity casadi::FunctionInternal::get_jac_sparsity_hierarchical_symm	(	casadi_int	oind,
		casadi_int	iind
	)		const

inherited

A flavor of get_jac_sparsity_gen that does hierarchical block structure recognition for symmetric Jacobians

Definition at line 1321 of file function_internal.cpp.

                              {
     casadi_assert_dev(has_spfwd());
  
     // Number of nonzero inputs
     casadi_int nz = nnz_in(iind);
     casadi_assert_dev(nz==nnz_out(oind));
  
     // Evaluation buffers
     std::vector<const bvec_t*> arg(sz_arg(), nullptr);
     std::vector<bvec_t*> res(sz_res(), nullptr);
     std::vector<casadi_int> iw(sz_iw());
     std::vector<bvec_t> w(sz_w());
  
     // Seeds
     std::vector<bvec_t> seed(nz, 0);
     arg[iind] = get_ptr(seed);
  
     // Sensitivities
     std::vector<bvec_t> sens(nz, 0);
     res[oind] = get_ptr(sens);
  
     // Sparsity triplet accumulator
     std::vector<casadi_int> jcol, jrow;
  
     // Cols/rows of the coarse blocks
     std::vector<casadi_int> coarse(2, 0); coarse[1] = nz;
  
     // Cols/rows of the fine blocks
     std::vector<casadi_int> fine;
  
     // In each iteration, subdivide each coarse block in this many fine blocks
     casadi_int subdivision = bvec_size;
  
     Sparsity r = Sparsity::dense(1, 1);
  
     // The size of a block
     casadi_int granularity = nz;
  
     casadi_int nsweeps = 0;
  
     bool hasrun = false;
  
     while (!hasrun || coarse.size()!=nz+1) {
       if (verbose_) casadi_message("Block size: " + str(granularity));
  
       // Clear the sparsity triplet acccumulator
       jcol.clear();
       jrow.clear();
  
       // Clear the fine block structure
       fine.clear();
  
       Sparsity D = r.star_coloring();
  
       if (verbose_) {
         casadi_message("Star coloring on " + str(r.dim()) + ": "
           + str(D.size2()) + " <-> " + str(D.size1()));
       }
  
       // Clear the seeds
       std::fill(seed.begin(), seed.end(), 0);
  
       // Subdivide the coarse block
       for (casadi_int k=0; k<coarse.size()-1; ++k) {
         casadi_int diff = coarse[k+1]-coarse[k];
         casadi_int new_diff = diff/subdivision;
         if (diff%subdivision>0) new_diff++;
         std::vector<casadi_int> temp = range(coarse[k], coarse[k+1], new_diff);
         fine.insert(fine.end(), temp.begin(), temp.end());
       }
       if (fine.back()!=coarse.back()) fine.push_back(coarse.back());
  
       granularity = fine[1] - fine[0];
  
       // The index into the bvec bit vector
       casadi_int bvec_i = 0;
  
       // Create lookup tables for the fine blocks
       std::vector<casadi_int> fine_lookup = lookupvector(fine, nz+1);
  
       // Triplet data used as a lookup table
       std::vector<casadi_int> lookup_col;
       std::vector<casadi_int> lookup_row;
       std::vector<casadi_int> lookup_value;
  
       // The maximum number of fine blocks contained in one coarse block
       casadi_int n_fine_blocks_max = 0;
       for (casadi_int i=0;i<coarse.size()-1;++i) {
         casadi_int del = fine_lookup[coarse[i+1]]-fine_lookup[coarse[i]];
         n_fine_blocks_max = std::max(n_fine_blocks_max, del);
       }
  
       // Loop over all coarse seed directions from the coloring
       for (casadi_int csd=0; csd<D.size2(); ++csd) {
  
  
         casadi_int fci_offset = 0;
         casadi_int fci_cap = bvec_size-bvec_i;
  
         // Flag to indicate if all fine blocks have been handled
         bool f_finished = false;
  
         // Loop while not finished
         while (!f_finished) {
  
           // Loop over all coarse rows that are found in the coloring for this coarse seed direction
           for (casadi_int k=D.colind(csd); k<D.colind(csd+1); ++k) {
             casadi_int cci = D.row(k);
  
             // The first and last rows of the fine block
             casadi_int fci_start = fine_lookup[coarse[cci]];
             casadi_int fci_end   = fine_lookup[coarse[cci+1]];
  
             // Local counter that modifies index into bvec
             casadi_int bvec_i_mod = 0;
  
             casadi_int value = -bvec_i + fci_offset + fci_start;
  
             //casadi_assert_dev(value>=0);
  
             // Loop over the rows of the fine block
             for (casadi_int fci = fci_offset; fci<std::min(fci_end-fci_start, fci_cap); ++fci) {
  
               // Loop over the coarse block cols that appear in the
               // coloring for the current coarse seed direction
               for (casadi_int cri=r.colind(cci);cri<r.colind(cci+1);++cri) {
                 lookup_col.push_back(r.row(cri));
                 lookup_row.push_back(bvec_i+bvec_i_mod);
                 lookup_value.push_back(value);
               }
  
               // Toggle on seeds
               bvec_toggle(get_ptr(seed), fine[fci+fci_start], fine[fci+fci_start+1],
                           bvec_i+bvec_i_mod);
               bvec_i_mod++;
             }
           }
  
           // Bump bvec_i for next major coarse direction
           bvec_i += std::min(n_fine_blocks_max, fci_cap);
  
           // Check if bvec buffer is full
           if (bvec_i==bvec_size || csd==D.size2()-1) {
             // Calculate sparsity for bvec_size directions at once
  
             // Statistics
             nsweeps+=1;
  
             // Construct lookup table
             IM lookup = IM::triplet(lookup_row, lookup_col, lookup_value,
                                     bvec_size, coarse.size());
  
             std::reverse(lookup_col.begin(), lookup_col.end());
             std::reverse(lookup_row.begin(), lookup_row.end());
             std::reverse(lookup_value.begin(), lookup_value.end());
             IM duplicates =
               IM::triplet(lookup_row, lookup_col, lookup_value, bvec_size, coarse.size())
               - lookup;
             duplicates = sparsify(duplicates);
             lookup(duplicates.sparsity()) = -bvec_size;
  
             // Propagate the dependencies
             JacSparsityTraits<true>::sp(this, get_ptr(arg), get_ptr(res),
               get_ptr(iw), get_ptr(w), nullptr);
  
             // Temporary bit work vector
             bvec_t spsens;
  
             // Loop over the cols of coarse blocks
             for (casadi_int cri=0; cri<coarse.size()-1; ++cri) {
  
               // Loop over the cols of fine blocks within the current coarse block
               for (casadi_int fri=fine_lookup[coarse[cri]];fri<fine_lookup[coarse[cri+1]];++fri) {
                 // Lump individual sensitivities together into fine block
                 bvec_or(get_ptr(sens), spsens, fine[fri], fine[fri+1]);
  
                 // Loop over all bvec_bits
                 for (casadi_int bvec_i=0;bvec_i<bvec_size;++bvec_i) {
                   if (spsens & (bvec_t(1) << bvec_i)) {
                     // if dependency is found, add it to the new sparsity pattern
                     casadi_int ind = lookup.sparsity().get_nz(bvec_i, cri);
                     if (ind==-1) continue;
                     casadi_int lk = lookup->at(ind);
                     if (lk>-bvec_size) {
                       jrow.push_back(bvec_i+lk);
                       jcol.push_back(fri);
                       jrow.push_back(fri);
                       jcol.push_back(bvec_i+lk);
                     }
                   }
                 }
               }
             }
  
             // Clear the forward seeds/adjoint sensitivities, ready for next bvec sweep
             std::fill(seed.begin(), seed.end(), 0);
  
             // Clean lookup table
             lookup_col.clear();
             lookup_row.clear();
             lookup_value.clear();
           }
  
           if (n_fine_blocks_max>fci_cap) {
             fci_offset += std::min(n_fine_blocks_max, fci_cap);
             bvec_i = 0;
             fci_cap = bvec_size;
           } else {
             f_finished = true;
           }
         }
       }
  
       // Construct fine sparsity pattern
       r = Sparsity::triplet(fine.size()-1, fine.size()-1, jrow, jcol);
  
       // There may be false positives here that are not present
       // in the reverse mode that precedes it.
       // This can lead to an assymetrical result
       //  cf. #1522
       r=r*r.T();
  
       coarse = fine;
       hasrun = true;
     }
     if (verbose_) {
       casadi_message("Number of sweeps: " + str(nsweeps));
       casadi_message("Formed Jacobian sparsity pattern (dimension " + str(r.size()) +
           ", " + str(r.nnz()) + " (" + str(r.density()) + " %) nonzeros.");
     }
  
     return r.T();
   }

Referenced by casadi::FunctionInternal::get_jac_sparsity().

◆ get_jacobian()

Function casadi::FunctionInternal::get_jacobian	(	const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ky

Reimplemented in casadi::LinearInterpolantJac, casadi::LinearInterpolant, casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::JitFunction, casadi::FmuFunction, casadi::External, casadi::CallbackInternal, and casadi::BlazingSplineFunction.

Definition at line 2382 of file function_internal.cpp.

                                        {
     casadi_error("'get_jacobian' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::External::get_jacobian(), casadi::BSplineInterpolant::get_jacobian(), casadi::LinearInterpolantJac::get_jacobian(), and casadi::FunctionInternal::jacobian().

◆ get_max_in()

virtual double casadi::FunctionInternal::get_max_in ( casadi_int ind ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mm

Definition at line 1070 of file function_internal.hpp.

                                                     {
       return inf;
     }

References casadi::inf.

◆ get_min_in()

virtual double casadi::FunctionInternal::get_min_in ( casadi_int ind ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mn

Definition at line 1077 of file function_internal.hpp.

                                                     {
       return -inf;
     }

References casadi::inf.

◆ get_n_in()

size_t casadi::Conic::get_n_in ( )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j6

Reimplemented from casadi::FunctionInternal.

Definition at line 59 of file conic_impl.hpp.

59 { return CONIC_NUM_IN;}

casadi::CONIC_NUM_IN

@ CONIC_NUM_IN

Definition: conic.hpp:196

References casadi::CONIC_NUM_IN.

◆ get_n_out()

size_t casadi::Conic::get_n_out ( )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j6

Reimplemented from casadi::FunctionInternal.

Definition at line 60 of file conic_impl.hpp.

60 { return CONIC_NUM_OUT;}

casadi::CONIC_NUM_OUT

@ CONIC_NUM_OUT

Definition: conic.hpp:208

References casadi::CONIC_NUM_OUT.

◆ get_name_in()

std::string casadi::Conic::get_name_in ( casadi_int i )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j8

Reimplemented from casadi::FunctionInternal.

Definition at line 75 of file conic_impl.hpp.

75 { return conic_in(i);}

casadi::conic_in

std::vector< std::string > conic_in()

Get input scheme of QP solvers.

Definition: conic.cpp:60

References casadi::conic_in().

◆ get_name_out()

std::string casadi::Conic::get_name_out ( casadi_int i )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j8

Reimplemented from casadi::FunctionInternal.

Definition at line 76 of file conic_impl.hpp.

76 { return conic_out(i);}

casadi::conic_out

std::vector< std::string > conic_out()

Get QP solver output scheme of QP solvers.

Definition: conic.cpp:66

References casadi::conic_out().

◆ get_nominal_in()

virtual std::vector<double> casadi::FunctionInternal::get_nominal_in ( casadi_int ind ) const

inlinevirtualinherited

Reimplemented in casadi::FmuFunction.

Definition at line 1081 of file function_internal.hpp.

                                                                    {
       return std::vector<double>(nnz_in(ind), 1.);
     }

Referenced by casadi::FmuFunction::get_nominal_in().

◆ get_nominal_out()

virtual std::vector<double> casadi::FunctionInternal::get_nominal_out ( casadi_int ind ) const

inlinevirtualinherited

Reimplemented in casadi::FmuFunction.

Definition at line 1085 of file function_internal.hpp.

                                                                     {
       return std::vector<double>(nnz_out(ind), 1.);
     }

Referenced by casadi::FmuFunction::get_nominal_out().

◆ get_options()

const Options& casadi::OsqpInterface::get_options ( ) const

inlineoverridevirtual

Reimplemented from casadi::Conic.

Definition at line 90 of file osqp_interface.hpp.

90 { return options_;}

casadi::OsqpInterface::options_

static const Options options_

const Options

Definition: osqp_interface.hpp:89

◆ get_partition()

void casadi::FunctionInternal::get_partition	(	casadi_int	iind,
		casadi_int	oind,
		Sparsity &	D1,
		Sparsity &	D2,
		bool	compact,
		bool	symmetric,
		bool	allow_forward,
		bool	allow_reverse
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_md

Definition at line 2011 of file function_internal.cpp.

                                                                                      {
     if (verbose_) casadi_message(name_ + "::get_partition");
     casadi_assert(allow_forward || allow_reverse, "Inconsistent options");
  
     // Sparsity pattern with transpose
     Sparsity &AT = jac_sparsity(oind, iind, compact, symmetric);
     Sparsity A = symmetric ? AT : AT.T();
  
     // Get seed matrices by graph coloring
     if (symmetric) {
       casadi_assert_dev(enable_forward_ || enable_fd_);
       casadi_assert_dev(allow_forward);
  
       // Star coloring if symmetric
       if (verbose_) casadi_message("FunctionInternal::getPartition star_coloring");
       D1 = A.star_coloring();
       if (verbose_) {
         casadi_message("Star coloring completed: " + str(D1.size2())
           + " directional derivatives needed ("
                  + str(A.size1()) + " without coloring).");
       }
  
     } else {
       casadi_assert_dev(enable_forward_ || enable_fd_ || enable_reverse_);
       // Get weighting factor
       double w = ad_weight();
  
       // Which AD mode?
       if (w==1) allow_forward = false;
       if (w==0) allow_reverse = false;
       casadi_assert(allow_forward || allow_reverse, "Conflicting ad weights");
  
       // Best coloring encountered so far (relatively tight upper bound)
       double best_coloring = std::numeric_limits<double>::infinity();
  
       // Test forward mode first?
       bool test_fwd_first = allow_forward && w*static_cast<double>(A.size1()) <=
         (1-w)*static_cast<double>(A.size2());
       casadi_int mode_fwd = test_fwd_first ? 0 : 1;
  
       // Test both coloring modes
       for (casadi_int mode=0; mode<2; ++mode) {
         // Is this the forward mode?
         bool fwd = mode==mode_fwd;
  
         // Skip?
         if (!allow_forward && fwd) continue;
         if (!allow_reverse && !fwd) continue;
  
         // Perform the coloring
         if (fwd) {
           if (verbose_) casadi_message("Unidirectional coloring (forward mode)");
           bool d = best_coloring>=w*static_cast<double>(A.size1());
           casadi_int max_colorings_to_test =
             d ? A.size1() : static_cast<casadi_int>(floor(best_coloring/w));
           D1 = AT.uni_coloring(A, max_colorings_to_test);
           if (D1.is_null()) {
             if (verbose_) {
               casadi_message("Forward mode coloring interrupted (more than "
                              + str(max_colorings_to_test) + " needed).");
             }
           } else {
             if (verbose_) {
               casadi_message("Forward mode coloring completed: "
                              + str(D1.size2()) + " directional derivatives needed ("
                              + str(A.size1()) + " without coloring).");
             }
             D2 = Sparsity();
             best_coloring = w*static_cast<double>(D1.size2());
           }
         } else {
           if (verbose_) casadi_message("Unidirectional coloring (adjoint mode)");
           bool d = best_coloring>=(1-w)*static_cast<double>(A.size2());
           casadi_int max_colorings_to_test =
             d ? A.size2() : static_cast<casadi_int>(floor(best_coloring/(1-w)));
  
           D2 = A.uni_coloring(AT, max_colorings_to_test);
           if (D2.is_null()) {
             if (verbose_) {
               casadi_message("Adjoint mode coloring interrupted (more than "
                             + str(max_colorings_to_test) + " needed).");
             }
           } else {
             if (verbose_) {
               casadi_message("Adjoint mode coloring completed: "
                              + str(D2.size2()) + " directional derivatives needed ("
                              + str(A.size2()) + " without coloring).");
             }
             D1 = Sparsity();
             best_coloring = (1-w)*static_cast<double>(D2.size2());
           }
         }
       }
  
     }
   }

References casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::enable_fd_, casadi::FunctionInternal::enable_forward_, casadi::FunctionInternal::enable_reverse_, casadi::GenericShared< Shared, Internal >::is_null(), casadi::FunctionInternal::jac_sparsity(), casadi::ProtoFunction::name_, casadi::Sparsity::size1(), casadi::Sparsity::size2(), casadi::Sparsity::star_coloring(), casadi::str(), casadi::Sparsity::T(), casadi::Sparsity::uni_coloring(), and casadi::ProtoFunction::verbose_.

◆ get_reltol()

virtual double casadi::FunctionInternal::get_reltol ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mo

Reimplemented in casadi::SundialsInterface.

Definition at line 1092 of file function_internal.hpp.

                                       {
       return eps;
     }

References casadi::eps.

Referenced by casadi::FiniteDiff::init().

◆ get_reverse()

Function casadi::FunctionInternal::get_reverse	(	casadi_int	nadj,
		const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

virtualinherited

reverse(nadj) returns a cached instance if available, and calls Function get_reverse(casadi_int nadj) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l1

Reimplemented in casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Switch, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Integrator, casadi::FmuFunction, casadi::External, casadi::Expm, casadi::Dple, and casadi::CallbackInternal.

Definition at line 2277 of file function_internal.cpp.

                                       {
     casadi_error("'get_reverse' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::BSplineInterpolant::get_reverse(), and casadi::FunctionInternal::reverse().

◆ get_sparsity_in()

Sparsity casadi::Conic::get_sparsity_in ( casadi_int i )

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j7

Reimplemented from casadi::FunctionInternal.

Definition at line 355 of file conic.cpp.

                                               {
     switch (static_cast<ConicInput>(i)) {
     case CONIC_X0:
     case CONIC_G:
     case CONIC_LBX:
     case CONIC_UBX:
     case CONIC_LAM_X0:
       return get_sparsity_out(CONIC_X);
     case CONIC_Q:
       return Q_;
     case CONIC_P:
       return P_;
     case CONIC_LBA:
     case CONIC_UBA:
     case CONIC_LAM_A0:
       return get_sparsity_out(CONIC_LAM_A);
     case CONIC_A:
       return A_;
     case CONIC_H:
       return H_;
     case CONIC_NUM_IN: break;
     }
     return Sparsity();
   }

References casadi::Conic::A_, casadi::CONIC_A, casadi::CONIC_G, casadi::CONIC_H, casadi::CONIC_LAM_A, casadi::CONIC_LAM_A0, casadi::CONIC_LAM_X0, casadi::CONIC_LBA, casadi::CONIC_LBX, casadi::CONIC_NUM_IN, casadi::CONIC_P, casadi::CONIC_Q, casadi::CONIC_UBA, casadi::CONIC_UBX, casadi::CONIC_X, casadi::CONIC_X0, casadi::Conic::get_sparsity_out(), casadi::Conic::H_, casadi::Conic::P_, and casadi::Conic::Q_.

◆ get_sparsity_out()

Sparsity casadi::Conic::get_sparsity_out ( casadi_int i )

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1j7

Reimplemented from casadi::FunctionInternal.

Definition at line 380 of file conic.cpp.

                                                {
     switch (static_cast<ConicOutput>(i)) {
     case CONIC_COST:
       return Sparsity::scalar();
     case CONIC_X:
     case CONIC_LAM_X:
       return Sparsity::dense(nx_, 1);
     case CONIC_LAM_A:
       return Sparsity::dense(na_, 1);
     case CONIC_NUM_OUT: break;
     }
     return Sparsity();
   }

References casadi::CONIC_COST, casadi::CONIC_LAM_A, casadi::CONIC_LAM_X, casadi::CONIC_NUM_OUT, casadi::CONIC_X, casadi::Sparsity::dense(), casadi::Conic::na_, casadi::Conic::nx_, and casadi::Sparsity::scalar().

Referenced by casadi::Conic::get_sparsity_in().

◆ get_stats()

Dict casadi::OsqpInterface::get_stats ( void * mem ) const

overridevirtual

Reimplemented from casadi::Conic.

Definition at line 445 of file osqp_interface.cpp.

                                                {
     Dict stats = Conic::get_stats(mem);
     auto m = static_cast<OsqpMemory*>(mem);
     stats["return_status"] = m->work->info->status;
     return stats;
   }

References casadi::Conic::get_stats(), and casadi::OsqpMemory::work.

◆ getAdaptorSolverName()

virtual std::string casadi::FunctionInternal::getAdaptorSolverName ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_k3

Definition at line 304 of file function_internal.hpp.

304 { return ""; }

◆ getCount()

casadi_int casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::getCount

inherited

Definition at line 60 of file generic_shared_internal.hpp.

                                                                      {
     return static_cast<const Internal*>(this)->count;
   }

◆ getPlugin()

PluginInterface< Conic >::Plugin & casadi::PluginInterface< Conic >::getPlugin ( const std::string & pname )

staticinherited

Definition at line 102 of file plugin_interface.hpp.

                                                             {
  
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     std::lock_guard<std::mutex> lock(Derived::mutex_solvers_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  
     // Check if the solver has been loaded
     auto it=Derived::solvers_.find(pname);
  
     // Load the solver if needed
     if (it==Derived::solvers_.end()) {
       load_plugin(pname, true, false);
       it=Derived::solvers_.find(pname);
     }
     casadi_assert_dev(it!=Derived::solvers_.end());
     return it->second;
   }

◆ has_codegen()

virtual bool casadi::FunctionInternal::has_codegen ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m3

Reimplemented in casadi::LinearInterpolantJac, casadi::LinearInterpolant, casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Switch, casadi::MapSum, casadi::Map, casadi::JitFunction, casadi::FiniteDiff, and casadi::BlazingSplineFunction.

Definition at line 914 of file function_internal.hpp.

914 { return false;}

Referenced by casadi::FunctionInternal::finalize().

◆ has_derivative()

bool casadi::FunctionInternal::has_derivative ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l4

Definition at line 2989 of file function_internal.cpp.

                                               {
     return enable_forward_ || enable_reverse_ || enable_jacobian_ || enable_fd_;
   }

References casadi::FunctionInternal::enable_fd_, casadi::FunctionInternal::enable_forward_, casadi::FunctionInternal::enable_jacobian_, and casadi::FunctionInternal::enable_reverse_.

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::jacobian(), and casadi::FunctionInternal::reverse().

◆ has_eval_dm()

virtual bool casadi::FunctionInternal::has_eval_dm ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ke

Reimplemented in casadi::CallbackInternal.

Definition at line 424 of file function_internal.hpp.

424 { return false;}

Referenced by casadi::FunctionInternal::eval().

◆ has_forward()

virtual bool casadi::FunctionInternal::has_forward ( casadi_int nfwd ) const

inlinevirtualinherited

forward(nfwd) returns a cached instance if available, and calls Function get_forward(casadi_int nfwd) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l0

Reimplemented in casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Switch, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Integrator, casadi::FmuFunction, casadi::Smoothing, casadi::CentralDiff, casadi::ForwardDiff, casadi::External, casadi::Expm, casadi::Dple, and casadi::CallbackInternal.

Definition at line 654 of file function_internal.hpp.

654 { return false;}

Referenced by casadi::FunctionInternal::call_forward(), casadi::FmuFunction::has_forward(), and casadi::FunctionInternal::init().

◆ has_free()

virtual bool casadi::FunctionInternal::has_free ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l8

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 743 of file function_internal.hpp.

743 { return false;}

Referenced by casadi::FunctionInternal::get_free().

◆ has_function()

virtual bool casadi::FunctionInternal::has_function ( const std::string & fname ) const

inlinevirtualinherited

Reimplemented in casadi::OracleFunction, casadi::MapSum, and casadi::Map.

Definition at line 369 of file function_internal.hpp.

369 {return false;}

◆ has_jac_sparsity()

virtual bool casadi::FunctionInternal::has_jac_sparsity	(	casadi_int	oind,
		casadi_int	iind
	)		const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kz Get, if necessary generate, the sparsity of a Jacobian block

Reimplemented in casadi::FmuFunction, casadi::GenericExternal, casadi::Expm, and casadi::CallbackInternal.

Definition at line 633 of file function_internal.hpp.

633 { return false;}

Referenced by casadi::FunctionInternal::get_sparsity_out(), casadi::GenericExternal::has_jac_sparsity(), and casadi::FunctionInternal::jac_sparsity().

◆ has_jacobian()

virtual bool casadi::FunctionInternal::has_jacobian ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ky

Reimplemented in casadi::LinearInterpolantJac, casadi::LinearInterpolant, casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::JitFunction, casadi::FmuFunction, casadi::External, casadi::CallbackInternal, and casadi::BlazingSplineFunction.

Definition at line 620 of file function_internal.hpp.

620 { return false;}

Referenced by casadi::External::has_jacobian(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::jacobian().

◆ has_memory()

bool casadi::ProtoFunction::has_memory ( int ind ) const

inherited

Definition at line 3665 of file function_internal.cpp.

                                               {
     return ind<mem_.size();
   }

◆ has_option()

bool casadi::ProtoFunction::has_option ( const std::string & option_name ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jj

Definition at line 1004 of file function_internal.cpp.

                                                                    {
     return get_options().find(option_name) != 0;
   }

References casadi::Options::find(), and casadi::ProtoFunction::get_options().

◆ has_plugin()

bool casadi::PluginInterface< Conic >::has_plugin	(	const std::string &	pname,
		bool	verbose = `false`
	)

staticinherited

Definition at line 76 of file plugin_interface.hpp.

                                                                                 {
  
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     std::lock_guard<std::mutex> lock(Derived::mutex_solvers_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  
     // Quick return if available
     if (Derived::solvers_.find(pname) != Derived::solvers_.end()) {
       return true;
     }
  
     // Try loading the plugin
     try {
       (void)load_plugin(pname, false, false);
       return true;
     } catch (CasadiException& ex) {
       if (verbose) {
         casadi_warning(ex.what());
       }
       return false;
     }
   }

◆ has_reverse()

virtual bool casadi::FunctionInternal::has_reverse ( casadi_int nadj ) const

inlinevirtualinherited

reverse(nadj) returns a cached instance if available, and calls Function get_reverse(casadi_int nadj) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l1

Reimplemented in casadi::BSplineInterpolant, casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Switch, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Integrator, casadi::FmuFunction, casadi::External, casadi::Expm, casadi::Dple, and casadi::CallbackInternal.

Definition at line 675 of file function_internal.hpp.

675 { return false;}

Referenced by casadi::FunctionInternal::call_reverse(), and casadi::FunctionInternal::init().

◆ has_spfwd()

virtual bool casadi::FunctionInternal::has_spfwd ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ka

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Rootfinder, casadi::MapSum, casadi::Map, and casadi::Integrator.

Definition at line 394 of file function_internal.hpp.

394 { return false;}

Referenced by casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_hierarchical_symm(), casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::sp_weight().

◆ has_sprev()

virtual bool casadi::FunctionInternal::has_sprev ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ka

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >, casadi::Rootfinder, casadi::MapSum, casadi::Map, and casadi::Integrator.

Definition at line 395 of file function_internal.hpp.

395 { return false;}

Referenced by casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::sp_weight().

◆ incache()

bool casadi::FunctionInternal::incache	(	const std::string &	fname,
		Function &	f,
		const std::string &	suffix = `""`
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lk

Definition at line 1078 of file function_internal.cpp.

                                      {
     return cache_.incache(fname + ":" + suffix, f);
   }

References casadi::FunctionInternal::cache_.

Referenced by casadi::MapSum::create(), casadi::OracleFunction::create_function(), casadi::FunctionInternal::forward(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::map(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::wrap().

◆ index_in()

casadi_int casadi::FunctionInternal::index_in ( const std::string & name ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mu

Definition at line 1126 of file function_internal.hpp.

                                                      {
       for (casadi_int i=0; i<name_in_.size(); ++i) {
         if (name_in_[i]==name) return i;
       }
       casadi_error("FunctionInternal::index_in: could not find entry \""
                    + name + "\". Available names are: " + str(name_in_) + ".");
       return -1;
     }

References casadi::str().

Referenced by casadi::FunctionInternal::convert_arg().

◆ index_out()

casadi_int casadi::FunctionInternal::index_out ( const std::string & name ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mv

Definition at line 1138 of file function_internal.hpp.

                                                       {
       for (casadi_int i=0; i<name_out_.size(); ++i) {
         if (name_out_[i]==name) return i;
       }
       casadi_error("FunctionInternal::index_out: could not find entry \""
                    + name + "\". Available names are: " + str(name_out_) + ".");
       return -1;
     }

References casadi::str().

Referenced by casadi::FunctionInternal::convert_res().

◆ info()

Dict casadi::FunctionInternal::info ( ) const

virtualinherited

Obtain information about function

Reimplemented in casadi::Switch, and casadi::Map.

Definition at line 3025 of file function_internal.cpp.

                                     {
     return Dict();
   }

Referenced by casadi::MXFunction::export_code_body(), casadi::Blocksqp::feasibilityRestorationPhase(), casadi::Blocksqp::filterLineSearch(), casadi::Blocksqp::fullstep(), casadi::BSplineInterpolant::init(), casadi::Blocksqp::kktErrorReduction(), casadi::Feasiblesqpmethod::print_iteration(), casadi::Sqpmethod::print_iteration(), casadi::Blocksqp::secondOrderCorrection(), casadi::SnoptInterface::solve(), casadi::Feasiblesqpmethod::solve(), casadi::Sqpmethod::solve(), and casadi::Sqpmethod::solve_elastic_mode().

◆ init()

void casadi::OsqpInterface::init ( const Dict & opts )

overridevirtual

Reimplemented from casadi::Conic.

Definition at line 73 of file osqp_interface.cpp.

                                            {
     // Initialize the base classes
     Conic::init(opts);
  
     osqp_set_default_settings(&settings_);
     settings_.warm_start = false;
  
     warm_start_primal_ = true;
     warm_start_dual_ = true;
  
     // Read options
     for (auto&& op : opts) {
       if (op.first=="warm_start_primal") {
         warm_start_primal_ = op.second;
       } else if (op.first=="warm_start_dual") {
         warm_start_dual_ = op.second;
       } else if (op.first=="osqp") {
         const Dict& opts = op.second;
         for (auto&& op : opts) {
           if (op.first=="rho") {
             settings_.rho = op.second;
           } else if (op.first=="sigma") {
             settings_.sigma = op.second;
           } else if (op.first=="scaling") {
             settings_.scaling = op.second;
           } else if (op.first=="adaptive_rho") {
             settings_.adaptive_rho = op.second;
           } else if (op.first=="adaptive_rho_interval") {
             settings_.adaptive_rho_interval = op.second;
           } else if (op.first=="adaptive_rho_tolerance") {
             settings_.adaptive_rho_tolerance = op.second;
           //} else if (op.first=="adaptive_rho_fraction") {
           //  settings_.adaptive_rho_fraction = op.second;
           } else if (op.first=="max_iter") {
             settings_.max_iter = op.second;
           } else if (op.first=="eps_abs") {
             settings_.eps_abs = op.second;
           } else if (op.first=="eps_rel") {
             settings_.eps_rel = op.second;
           } else if (op.first=="eps_prim_inf") {
             settings_.eps_prim_inf = op.second;
           } else if (op.first=="eps_dual_inf") {
             settings_.eps_dual_inf = op.second;
           } else if (op.first=="alpha") {
             settings_.alpha = op.second;
           } else if (op.first=="delta") {
             settings_.delta = op.second;
           } else if (op.first=="polish") {
             settings_.polish = op.second;
           } else if (op.first=="polish_refine_iter") {
             settings_.polish_refine_iter = op.second;
           } else if (op.first=="verbose") {
             settings_.verbose = op.second;
           } else if (op.first=="scaled_termination") {
             settings_.scaled_termination = op.second;
           } else if (op.first=="check_termination") {
             settings_.check_termination = op.second;
           } else if (op.first=="warm_start") {
             casadi_error("OSQP's warm_start option is impure and therefore disabled. "
                          "Use CasADi options 'warm_start_primal' and 'warm_start_dual' instead.");
           //} else if (op.first=="time_limit") {
           //  settings_.time_limit = op.second;
           } else {
             casadi_error("Not recognised");
           }
         }
       }
     }
  
     nnzHupp_ = H_.nnz_upper();
     nnzA_ = A_.nnz()+nx_;
  
     alloc_w(nnzHupp_+nnzA_, false);
     alloc_w(2*nx_+2*na_, false);
   }

References casadi::Conic::A_, casadi::FunctionInternal::alloc_w(), casadi::Conic::H_, casadi::Conic::init(), casadi::Conic::na_, casadi::Sparsity::nnz(), casadi::Sparsity::nnz_upper(), nnzA_, nnzHupp_, casadi::Conic::nx_, settings_, warm_start_dual_, and warm_start_primal_.

◆ init_mem()

int casadi::OsqpInterface::init_mem ( void * mem ) const

overridevirtual

Reimplemented from casadi::Conic.

Definition at line 149 of file osqp_interface.cpp.

                                              {
     if (Conic::init_mem(mem)) return 1;
     auto m = static_cast<OsqpMemory*>(mem);
  
     // convert H in a upper triangular matrix. This is required by osqp v0.6.0
     Sparsity H_triu = Sparsity::triu(H_);
  
     Sparsity Asp = vertcat(Sparsity::diag(nx_), A_);
     std::vector<double> dummy(std::max(nx_+na_, std::max(Asp.nnz(), H_.nnz())));
  
     std::vector<c_int> A_row = vector_static_cast<c_int>(Asp.get_row());
     std::vector<c_int> A_colind = vector_static_cast<c_int>(Asp.get_colind());
     std::vector<c_int> H_row = vector_static_cast<c_int>(H_triu.get_row());
     std::vector<c_int> H_colind = vector_static_cast<c_int>(H_triu.get_colind());
  
     csc A;
     A.m = nx_ + na_;
     A.n = nx_;
     A.nz = nnzA_;
     A.nzmax = A.nz;
     A.x = get_ptr(dummy);
     A.i = get_ptr(A_row);
     A.p = get_ptr(A_colind);
  
     csc H;
     H.m = nx_;
     H.n = nx_;
     H.nz = H_triu.nnz_upper();
     H.nzmax = H_triu.nnz_upper();
     H.x = get_ptr(dummy);
     H.i = get_ptr(H_row);
     H.p = get_ptr(H_colind);
  
     OSQPData data;
     // Populate data
     data.n = nx_;
     data.m = nx_ + na_;
     // csc_matrix in mem
     data.P = &H;
     data.q = get_ptr(dummy);
     data.A = &A;
     data.l = get_ptr(dummy);
     data.u = get_ptr(dummy);
  
     // Setup workspace
     if (osqp_setup(&m->work, &data, &settings_)) return 1;
     // if(osqp_setup(&data, &settings_)) return 1;
  
     m->fstats["preprocessing"]  = FStats();
     m->fstats["solver"]         = FStats();
     m->fstats["postprocessing"] = FStats();
     return 0;
   }

References casadi::Conic::A_, casadi::Sparsity::diag(), casadi::Sparsity::get_colind(), casadi::get_ptr(), casadi::Sparsity::get_row(), casadi::Conic::H_, casadi::Conic::init_mem(), casadi::Conic::na_, casadi::Sparsity::nnz(), casadi::Sparsity::nnz_upper(), nnzA_, casadi::Conic::nx_, settings_, and casadi::Sparsity::triu().

◆ initSingleton()

void casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::initSingleton ( )

inlineprotectedinherited

Called in the constructor of singletons to avoid that the counter reaches zero

Definition at line 71 of file generic_shared_internal.hpp.

                          {
       casadi_assert_dev(static_cast<Internal*>(this)->count==0);
       static_cast<Internal*>(this)->count++;
     }

◆ instantiate()

Conic * casadi::PluginInterface< Conic >::instantiate	(	const std::string &	fname,
		const std::string &	pname,
		Problem	problem
	)

staticinherited

Definition at line 106 of file plugin_interface.hpp.

                                                        {
  
     // Assert the plugin exists (needed for adaptors)
     if (!has_plugin(pname, true)) {
       casadi_error("Plugin '" + pname + "' is not found.");
     }
     return getPlugin(pname).creator(fname, problem);
   }

◆ instruction_constant()

double casadi::FunctionInternal::instruction_constant ( casadi_int k ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ld

Reimplemented in casadi::SXFunction.

Definition at line 3402 of file function_internal.cpp.

                                                                   {
     casadi_error("'instruction_constant' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ instruction_id()

casadi_int casadi::FunctionInternal::instruction_id ( casadi_int k ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lb

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 3394 of file function_internal.cpp.

                                                                 {
     casadi_error("'instruction_id' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ instruction_input()

std::vector< casadi_int > casadi::FunctionInternal::instruction_input ( casadi_int k ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lc

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 3398 of file function_internal.cpp.

                                                                               {
     casadi_error("'instruction_input' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ instruction_MX()

MX casadi::FunctionInternal::instruction_MX ( casadi_int k ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lg

Reimplemented in casadi::MXFunction.

Definition at line 3410 of file function_internal.cpp.

                                                         {
     casadi_error("'instruction_MX' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ instruction_output()

std::vector< casadi_int > casadi::FunctionInternal::instruction_output ( casadi_int k ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_le

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 3406 of file function_internal.cpp.

                                                                                {
     casadi_error("'instruction_output' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ instructions_sx()

SX casadi::FunctionInternal::instructions_sx ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lh

Reimplemented in casadi::SXFunction.

Definition at line 3414 of file function_internal.cpp.

                                              {
     casadi_error("'instructions_sx' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ integer_support()

bool casadi::OsqpInterface::integer_support ( ) const

inlineoverridevirtual

Reimplemented from casadi::Conic.

Definition at line 110 of file osqp_interface.hpp.

110 { return true;}

◆ is_a()

bool casadi::Conic::is_a	(	const std::string &	type,
		bool	recursive
	)		const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1jc

Reimplemented from casadi::FunctionInternal.

Definition at line 575 of file conic.cpp.

                                                               {
     return type=="Conic" || (recursive && FunctionInternal::is_a(type, recursive));
   }

References casadi::FunctionInternal::is_a().

◆ jac_is_symm()

bool casadi::FunctionInternal::jac_is_symm	(	casadi_int	oind,
		casadi_int	iind
	)		const

virtualinherited

Definition at line 1858 of file function_internal.cpp.

                                                                            {
     // If derivative expression
     if (!derivative_of_.is_null()) {
       std::string n = derivative_of_.name();
       // Reverse move
       if (name_ == "adj1_" + n) {
         if (iind == oind) return true;
       }
     }
     // Not symmetric by default
     return false;
   }

References casadi::FunctionInternal::derivative_of_, casadi::GenericShared< Shared, Internal >::is_null(), casadi::Function::name(), and casadi::ProtoFunction::name_.

◆ jac_sparsity()

Sparsity & casadi::FunctionInternal::jac_sparsity	(	casadi_int	oind,
		casadi_int	iind,
		bool	compact,
		bool	symmetric
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kz Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 1946 of file function_internal.cpp.

                             {
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     // Safe access to jac_sparsity_
     std::lock_guard<std::mutex> lock(jac_sparsity_mtx_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
     // If first call, allocate cache
     for (bool c : {false, true}) {
       if (jac_sparsity_[c].empty()) jac_sparsity_[c].resize(n_in_ * n_out_);
     }
     // Flat index
     casadi_int ind = iind + oind * n_in_;
     // Reference to the block
     Sparsity& jsp = jac_sparsity_[compact].at(ind);
     // If null, generate
     if (jsp.is_null()) {
       // Use (non)-compact pattern, if given
       Sparsity& jsp_other = jac_sparsity_[!compact].at(ind);
       if (!jsp_other.is_null()) {
         jsp = compact ? to_compact(oind, iind, jsp_other) : from_compact(oind, iind, jsp_other);
       } else {
         // Generate pattern
         Sparsity sp;
         bool sp_is_compact;
         if (!is_diff_out_.at(oind) || !is_diff_in_.at(iind)) {
           // All-zero sparse
           sp = Sparsity(nnz_out(oind), nnz_in(iind));
           sp_is_compact = true;
         } else {
           // Use internal routine to determine sparsity
           if (has_spfwd() || has_sprev() || has_jac_sparsity(oind, iind)) {
             sp = get_jac_sparsity(oind, iind, symmetric);
           }
           // If null, dense
           if (sp.is_null()) sp = Sparsity::dense(nnz_out(oind), nnz_in(iind));
           // Is the return the compact pattern?
           sp_is_compact = sp.size1() == nnz_out(oind) && sp.size2() == nnz_in(iind);
         }
         // Save to cache and convert if needed
         if (sp_is_compact == compact) {
           jsp = sp;
         } else {
           jsp_other = sp;
           jsp = compact ? to_compact(oind, iind, sp) : from_compact(oind, iind, sp);
         }
       }
     }
  
     // Make sure the Jacobian is symmetric if requested, cf. #1522, #3074, #3134
     if (symmetric) {
       if (compact) {
         Sparsity sp = from_compact(oind, iind, jsp);
         if (!sp.is_symmetric()) {
           sp = sp * sp.T();
           jsp = to_compact(oind, iind, sp);
         }
       } else {
         if (!jsp.is_symmetric()) jsp = jsp * jsp.T();
       }
     }
  
     // Return a reference to the block
     return jsp;
   }

Referenced by casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::sp_forward_block(), and casadi::FunctionInternal::sp_reverse().

◆ jacobian()

Function casadi::FunctionInternal::jacobian ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ky

Definition at line 2341 of file function_internal.cpp.

                                             {
     // Used wrapped function if jacobian not available
     if (!has_jacobian()) {
       // Derivative information must be available
       casadi_assert(has_derivative(),
                             "Derivatives cannot be calculated for " + name_);
       return wrap().jacobian();
     }
     // Retrieve/generate cached
     Function f;
     std::string fname = "jac_" + name_;
     if (!incache(fname, f)) {
       // Names of inputs
       std::vector<std::string> inames;
       for (casadi_int i=0; i<n_in_; ++i) inames.push_back(name_in_[i]);
       for (casadi_int i=0; i<n_out_; ++i) inames.push_back("out_" + name_out_[i]);
       // Names of outputs
       std::vector<std::string> onames;
       onames.reserve(n_in_ * n_out_);
       for (size_t oind = 0; oind < n_out_; ++oind) {
         for (size_t iind = 0; iind < n_in_; ++iind) {
           onames.push_back("jac_" + name_out_[oind] + "_" + name_in_[iind]);
         }
       }
       // Options
       Dict opts = combine(jacobian_options_, der_options_);
       opts["derivative_of"] = self();
       // Generate derivative function
       casadi_assert_dev(enable_jacobian_);
       f = get_jacobian(fname, inames, onames, opts);
       // Consistency checks
       casadi_assert(f.n_in() == inames.size(),
         "Mismatching input signature, expected " + str(inames));
       casadi_assert(f.n_out() == onames.size(),
         "Mismatching output signature, expected " + str(onames));
       // Save to cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::call_reverse(), and casadi::Function::jacobian().

◆ jit_dependencies()

virtual void casadi::FunctionInternal::jit_dependencies ( const std::string & fname )

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m4

Reimplemented in casadi::OracleFunction.

Definition at line 919 of file function_internal.hpp.

919 {}

Referenced by casadi::FunctionInternal::finalize().

◆ load_library()

handle_t casadi::PluginInterface< Conic >::load_library	(	const std::string &	libname,
		std::string &	resultpath,
		bool	global
	)

staticinherited

Definition at line 92 of file plugin_interface.hpp.

                                         {
  
 #ifndef WITH_DL
     casadi_error("WITH_DL option needed for dynamic loading");
 #else // WITH_DL
  
     // Get the name of the shared library
     std::string lib = SHARED_LIBRARY_PREFIX + libname + SHARED_LIBRARY_SUFFIX;
  
     // Build up search paths;
     std::vector<std::string> search_paths = get_search_paths();
     return open_shared_library(lib, search_paths, resultpath,
       "PluginInterface::load_plugin", global);
  
 #endif // WITH_DL
   }

◆ load_plugin()

PluginInterface< Conic >::Plugin casadi::PluginInterface< Conic >::load_plugin	(	const std::string &	pname,
		bool	register_plugin = `true`,
		bool	needs_lock = `true`
	)

staticinherited

Definition at line 88 of file plugin_interface.hpp.

                                                {
  
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     casadi::conditional_lock_guard<std::mutex> lock(Derived::mutex_solvers_, needs_lock);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  
     // Issue warning and quick return if already loaded
     if (Derived::solvers_.find(pname) != Derived::solvers_.end()) {
       casadi_warning("PluginInterface: Solver " + pname + " is already in use. Ignored.");
       return Plugin();
     }
  
     // Logger singletons are lazily instantiated on first uout()/uerr() calls
     // This instantation may lead to a data race with potential instatiations in plugin
     // To be safe, trigger instantatin before any plugin loading
     uout();
     uerr();
  
 #ifndef WITH_DL
     casadi_error("WITH_DL option needed for dynamic loading");
 #else // WITH_DL
     // Retrieve the registration function
     RegFcn reg;
  
     // Load the dll
     std::string regName = "casadi_register_" + Derived::infix_ + "_" + pname;
  
     std::string searchpath;
     handle_t handle = load_library("casadi_" + Derived::infix_ + "_" + pname, searchpath,
       false);
  
 #ifdef _WIN32
  
 #if __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wcast-function-type"
 #endif
     reg = reinterpret_cast<RegFcn>(GetProcAddress(handle, TEXT(regName.c_str())));
 #if __GNUC__
 #pragma GCC diagnostic pop
 #endif
  
 #else // _WIN32
     // Reset error
     dlerror();
  
     // Load creator
     reg = reinterpret_cast<RegFcn>(dlsym(handle, regName.c_str()));
 #endif // _WIN32
     casadi_assert(reg!=nullptr,
       "PluginInterface::load_plugin: no \"" + regName + "\" found in " + searchpath + ".");
  
     // Create a temporary struct
     Plugin plugin = pluginFromRegFcn(reg);
     // Register the plugin
     if (register_plugin) {
       registerPlugin(plugin, false);
     }
  
     return plugin;
  
 #endif // WITH_DL
   }

◆ map()

Function casadi::FunctionInternal::map	(	casadi_int	n,
		const std::string &	parallelization
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nd

Definition at line 1091 of file function_internal.cpp.

                                                                                      {
     Function f;
     if (parallelization=="serial") {
       // Serial maps are cached
       std::string fname = "map" + str(n) + "_" + name_;
       if (!incache(fname, f)) {
         // Create new serial map
         f = Map::create(parallelization, self(), n);
         casadi_assert_dev(f.name()==fname);
         // Save in cache
         tocache_if_missing(f);
       }
     } else {
       // Non-serial maps are not cached
       f = Map::create(parallelization, self(), n);
     }
     return f;
   }

References casadi::Map::create(), casadi::FunctionInternal::incache(), casadi::Function::name(), casadi::ProtoFunction::name_, casadi::str(), and casadi::FunctionInternal::tocache_if_missing().

Referenced by casadi::Dple::get_forward(), casadi::Dple::get_reverse(), and casadi::FunctionInternal::mapsum_mx().

◆ mapsum_mx()

std::vector< MX > casadi::FunctionInternal::mapsum_mx	(	const std::vector< MX > &	arg,
		const std::string &	parallelization
	)

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kw

Definition at line 3423 of file function_internal.cpp.

                                                                 {
     if (x.empty()) return x;
     // Check number of arguments
     casadi_assert(x.size()==n_in_, "mapsum_mx: Wrong number_i of arguments");
     // Number of parallel calls
     casadi_int npar = 1;
     // Check/replace arguments
     std::vector<MX> x_mod(x.size());
     for (casadi_int i=0; i<n_in_; ++i) {
       if (check_mat(x[i].sparsity(), sparsity_in_[i], npar)) {
         x_mod[i] = replace_mat(x[i], sparsity_in_[i], npar);
       } else {
         // Mismatching sparsity: The following will throw an error message
         npar = 0;
         check_arg(x, npar);
       }
     }
  
     casadi_int n = 1;
     for (casadi_int i=0; i<x_mod.size(); ++i) {
       n = std::max(x_mod[i].size2() / size2_in(i), n);
     }
  
     std::vector<casadi_int> reduce_in;
     for (casadi_int i=0; i<x_mod.size(); ++i) {
       if (x_mod[i].size2()/size2_in(i)!=n) {
         reduce_in.push_back(i);
       }
     }
  
     Function ms = self().map("mapsum", parallelization, n, reduce_in, range(n_out_));
  
     // Call the internal function
     return ms(x_mod);
   }

References casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::check_mat(), casadi::FunctionInternal::map(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::range(), casadi::replace_mat(), casadi::FunctionInternal::size2_in(), and casadi::FunctionInternal::sparsity_in_.

◆ matching_arg()

template<typename M >

bool casadi::FunctionInternal::matching_arg	(	const std::vector< M > &	arg,
		casadi_int &	npar
	)		const

inherited

Raises errors

Parameters

	npar[in]	normal usage: 1, disallow pararallel calls: -1
[out]	npar	max number of horizontal repetitions across all arguments (or -1)

Extra doc: https://github.com/casadi/casadi/wiki/L_kk

Definition at line 1745 of file function_internal.hpp.

                                                                                      {
     check_arg(arg, npar);
     for (casadi_int i=0; i<n_in_; ++i) {
       if (arg.at(i).size1()!=size1_in(i)) return false;
       if (arg.at(i).size2()!=size2_in(i) && arg.at(i).size2()!=npar*size2_in(i)) return false;
     }
     return true;
   }

References casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::size1_in(), and casadi::FunctionInternal::size2_in().

Referenced by casadi::MXFunction::ad_forward(), casadi::SXFunction::ad_forward(), casadi::FunctionInternal::call(), casadi::FunctionInternal::call_forward(), and casadi::FunctionInternal::nz_in().

◆ matching_res()

template<typename M >

bool casadi::FunctionInternal::matching_res	(	const std::vector< M > &	arg,
		casadi_int &	npar
	)		const

inherited

Raises errors

Parameters

	npar[in]	normal usage: 1, disallow pararallel calls: -1
[out]	npar	max number of horizontal repetitions across all arguments (or -1)

Extra doc: https://github.com/casadi/casadi/wiki/L_kl

Definition at line 1755 of file function_internal.hpp.

                                                                                      {
     check_res(res, npar);
     for (casadi_int i=0; i<n_out_; ++i) {
       if (res.at(i).size1()!=size1_out(i)) return false;
       if (res.at(i).size2()!=size2_out(i) && res.at(i).size2()!=npar*size2_out(i)) return false;
     }
     return true;
   }

References casadi::FunctionInternal::check_res(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::size1_out(), and casadi::FunctionInternal::size2_out().

Referenced by casadi::MXFunction::ad_reverse(), casadi::SXFunction::ad_reverse(), casadi::FunctionInternal::call_reverse(), and casadi::FunctionInternal::nz_out().

◆ memory()

void * casadi::ProtoFunction::memory ( int ind ) const

inherited

Definition at line 3658 of file function_internal.cpp.

                                            {
 #ifdef CASADI_WITH_THREAD
     std::lock_guard<std::mutex> lock(mtx_);
 #endif //CASADI_WITH_THREAD
     return mem_.at(ind);
   }

Referenced by casadi::FunctionInternal::call_gen(), casadi::FunctionInternal::get_jac_sparsity_gen(), casadi::FunctionInternal::get_jac_sparsity_hierarchical(), casadi::Sqpmethod::solve_ela_QP(), and casadi::Sqpmethod::solve_QP().

◆ merge()

void casadi::FunctionInternal::merge	(	const std::vector< MX > &	arg,
		std::vector< MX > &	subs_from,
		std::vector< MX > &	subs_to
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2b8

Reimplemented in casadi::BlazingSplineFunction.

Definition at line 3372 of file function_internal.cpp.

                                                             {
     return;
   }

◆ mx_in() [1/2]

const std::vector< MX > casadi::FunctionInternal::mx_in ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Reimplemented in casadi::MXFunction.

Definition at line 3352 of file function_internal.cpp.

                                                     {
     std::vector<MX> ret(n_in_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = mx_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_in_.

Referenced by casadi::Nlpsol::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::Nlpsol::get_reverse(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ mx_in() [2/2]

const MX casadi::FunctionInternal::mx_in ( casadi_int ind ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Reimplemented in casadi::MXFunction.

Definition at line 3344 of file function_internal.cpp.

                                                        {
     return MX::sym(name_in_.at(ind), sparsity_in(ind));
   }

References casadi::FunctionInternal::name_in_, casadi::FunctionInternal::sparsity_in(), and casadi::GenericMatrix< MX >::sym().

◆ mx_out() [1/2]

const std::vector< MX > casadi::FunctionInternal::mx_out ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3360 of file function_internal.cpp.

                                                      {
     std::vector<MX> ret(n_out_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = mx_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_out_.

Referenced by casadi::Nlpsol::get_forward(), and casadi::Nlpsol::get_reverse().

◆ mx_out() [2/2]

const MX casadi::FunctionInternal::mx_out ( casadi_int ind ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3348 of file function_internal.cpp.

                                                         {
     return MX::sym(name_out_.at(ind), sparsity_out(ind));
   }

References casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_out(), and casadi::GenericMatrix< MX >::sym().

◆ n_instructions()

casadi_int casadi::FunctionInternal::n_instructions ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_la

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 3390 of file function_internal.cpp.

                                                     {
     casadi_error("'n_instructions' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ n_nodes()

casadi_int casadi::FunctionInternal::n_nodes ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lf

Reimplemented in casadi::SXFunction, and casadi::MXFunction.

Definition at line 3418 of file function_internal.cpp.

                                              {
     casadi_error("'n_nodes' not defined for " + class_name());
   }

References casadi::SharedObjectInternal::class_name().

◆ nnz_in() [1/2]

casadi_int casadi::FunctionInternal::nnz_in ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_me

Definition at line 2301 of file function_internal.cpp.

                                             {
     casadi_int ret=0;
     for (casadi_int iind=0; iind<n_in_; ++iind) ret += nnz_in(iind);
     return ret;
   }

References casadi::FunctionInternal::n_in_.

◆ nnz_in() [2/2]

casadi_int casadi::FunctionInternal::nnz_in ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_me

Definition at line 974 of file function_internal.hpp.

974 { return sparsity_in(ind).nnz(); }

◆ nnz_out() [1/2]

casadi_int casadi::FunctionInternal::nnz_out ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_me

Definition at line 2307 of file function_internal.cpp.

                                              {
     casadi_int ret=0;
     for (casadi_int oind=0; oind<n_out_; ++oind) ret += nnz_out(oind);
     return ret;
   }

References casadi::FunctionInternal::n_out_.

◆ nnz_out() [2/2]

casadi_int casadi::FunctionInternal::nnz_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_me

Definition at line 976 of file function_internal.hpp.

976 { return sparsity_out(ind).nnz(); }

◆ numel_in() [1/2]

casadi_int casadi::FunctionInternal::numel_in ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mf

Definition at line 2313 of file function_internal.cpp.

                                               {
     casadi_int ret=0;
     for (casadi_int iind=0; iind<n_in_; ++iind) ret += numel_in(iind);
     return ret;
   }

References casadi::FunctionInternal::n_in_.

Referenced by casadi::FunctionInternal::from_compact(), and casadi::Integrator::get_reverse().

◆ numel_in() [2/2]

casadi_int casadi::FunctionInternal::numel_in ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mf

Definition at line 984 of file function_internal.hpp.

984 { return sparsity_in(ind).numel(); }

casadi::Sparsity::numel

casadi_int numel() const

The total number of elements, including structural zeros, i.e. size2()*size1()

Definition: sparsity.cpp:132

◆ numel_out() [1/2]

casadi_int casadi::FunctionInternal::numel_out ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mf

Definition at line 2319 of file function_internal.cpp.

                                                {
     casadi_int ret=0;
     for (casadi_int oind=0; oind<n_out_; ++oind) ret += numel_out(oind);
     return ret;
   }

References casadi::FunctionInternal::n_out_.

Referenced by casadi::FunctionInternal::from_compact(), and casadi::Integrator::get_reverse().

◆ numel_out() [2/2]

casadi_int casadi::FunctionInternal::numel_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mf

Definition at line 985 of file function_internal.hpp.

985 { return sparsity_out(ind).numel(); }

◆ nz_in() [1/2]

std::vector< double > casadi::FunctionInternal::nz_in ( const std::vector< DM > & arg ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kt

Definition at line 3513 of file function_internal.cpp.

                                                                           {
     // Disallow parallel inputs
     casadi_int npar = -1;
     if (!matching_arg(arg, npar)) {
       return nz_in(replace_arg(arg, npar));
     }
  
     std::vector<DM> arg2 = project_arg(arg, 1);
     std::vector<double> ret(nnz_in());
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_in_;++i) {
       const double* e = arg2.at(i).ptr();
       std::copy(e, e+nnz_in(i), ret.begin()+offset);
       offset+= nnz_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::nnz_in(), casadi::FunctionInternal::project_arg(), and casadi::FunctionInternal::replace_arg().

Referenced by casadi::SXFunction::call_fwd(), casadi::SXFunction::call_rev(), casadi::SXFunction::call_setup(), casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_gen(), and casadi::FunctionInternal::get_jac_sparsity_hierarchical().

◆ nz_in() [2/2]

std::vector< DM > casadi::FunctionInternal::nz_in ( const std::vector< double > & arg ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kt

Definition at line 3483 of file function_internal.cpp.

                                                                           {
     casadi_assert(nnz_in()==arg.size(),
       "Dimension mismatch. Expecting " + str(nnz_in()) +
       ", got " + str(arg.size()) + " instead.");
  
     std::vector<DM> ret = dm_in();
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_in_;++i) {
       DM& r = ret.at(i);
       std::copy(arg.begin()+offset, arg.begin()+offset+nnz_in(i), r.ptr());
       offset+= nnz_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::dm_in(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::nnz_in(), casadi::Matrix< Scalar >::ptr(), and casadi::str().

◆ nz_out() [1/2]

std::vector< double > casadi::FunctionInternal::nz_out ( const std::vector< DM > & res ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kt

Definition at line 3531 of file function_internal.cpp.

                                                                            {
     // Disallow parallel inputs
     casadi_int npar = -1;
     if (!matching_res(res, npar)) {
       return nz_out(replace_res(res, npar));
     }
  
     std::vector<DM> res2 = project_res(res, 1);
     std::vector<double> ret(nnz_out());
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_out_;++i) {
       const double* e = res2.at(i).ptr();
       std::copy(e, e+nnz_out(i), ret.begin()+offset);
       offset+= nnz_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::matching_res(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_out(), casadi::FunctionInternal::project_res(), and casadi::FunctionInternal::replace_res().

Referenced by casadi::SXFunction::call_fwd(), casadi::SXFunction::call_rev(), casadi::SXFunction::call_setup(), casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_gen(), and casadi::FunctionInternal::get_jac_sparsity_hierarchical().

◆ nz_out() [2/2]

std::vector< DM > casadi::FunctionInternal::nz_out ( const std::vector< double > & res ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kt

Definition at line 3498 of file function_internal.cpp.

                                                                            {
     casadi_assert(nnz_out()==res.size(),
       "Dimension mismatch. Expecting " + str(nnz_out()) +
       ", got " + str(res.size()) + " instead.");
  
     std::vector<DM> ret = dm_out();
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_out_;++i) {
       DM& r = ret.at(i);
       std::copy(res.begin()+offset, res.begin()+offset+nnz_out(i), r.ptr());
       offset+= nnz_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::dm_out(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_out(), casadi::Matrix< Scalar >::ptr(), and casadi::str().

◆ oracle()

const Function & casadi::FunctionInternal::oracle ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l3

Reimplemented in casadi::OracleFunction.

Definition at line 3736 of file function_internal.cpp.

                                                  {
     casadi_error("'oracle' not defined for " + class_name());
     static Function singleton;
     return singleton;
   }

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::Function::oracle(), and casadi::DaeBuilder::oracle().

◆ plugin_deserialize()

Deserialize casadi::PluginInterface< Conic >::plugin_deserialize ( const std::string & pname )

staticinherited

Definition at line 82 of file plugin_interface.hpp.

                                                                                  {
     Deserialize m = getPlugin(pname).deserialize;
     casadi_assert(m, "Plugin \"" + pname + "\" does not support deserialize");
     return m;
   }

◆ plugin_name()

const char* casadi::OsqpInterface::plugin_name ( ) const

inlineoverridevirtual

Implements casadi::PluginInterface< Conic >.

Definition at line 82 of file osqp_interface.hpp.

82 { return "osqp";}

◆ plugin_options()

const Options & casadi::PluginInterface< Conic >::plugin_options ( const std::string & pname )

staticinherited

Definition at line 79 of file plugin_interface.hpp.

                                                                                 {
     const Options *op = getPlugin(pname).options;
     casadi_assert(op!=nullptr, "Plugin \"" + pname + "\" does not support options");
     return *op;
   }

◆ pluginFromRegFcn()

PluginInterface< Conic >::Plugin casadi::PluginInterface< Conic >::pluginFromRegFcn ( RegFcn regfcn )

staticinherited

Definition at line 85 of file plugin_interface.hpp.

                                                               {
     // Create a temporary struct
     Plugin plugin;
  
     // Set the fields
     int flag = regfcn(&plugin);
     casadi_assert(flag==0, "Registration of plugin failed.");
  
     return plugin;
   }

◆ print()

void casadi::ProtoFunction::print	(	const char *	fmt,
			...
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jr

Definition at line 3897 of file function_internal.cpp.

                                                       {
     // Variable number of arguments
     va_list args;
     va_start(args, fmt);
     // Static & dynamic buffers
     char buf[256];
     size_t buf_sz = sizeof(buf);
     char* buf_dyn = nullptr;
     // Try to print with a small buffer
     casadi_int n = vsnprintf(buf, buf_sz, fmt, args);
     // Need a larger buffer?
     if (n>static_cast<casadi_int>(buf_sz)) {
       buf_sz = static_cast<size_t>(n+1);
       buf_dyn = new char[buf_sz];
       n = vsnprintf(buf_dyn, buf_sz, fmt, args);
     }
     // Print buffer content
     if (n>=0) uout() << (buf_dyn ? buf_dyn : buf) << std::flush;
     // Cleanup
     delete[] buf_dyn;
     va_end(args);
     // Throw error if failure
     casadi_assert(n>=0, "Print failure while processing '" + std::string(fmt) + "'");
   }

References casadi::uout().

◆ print_canonical() [1/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		casadi_int	sz,
		const double *	nz
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2di

Definition at line 858 of file function_internal.cpp.

                                                                                             {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     if (nz) {
       stream << "[";
       for (casadi_int i=0; i<sz; ++i) {
         if (i>0) stream << ", ";
         normalized_out(stream, nz[i]);
       }
       stream << "]";
     } else {
       stream << "NULL";
     }
   }

References casadi::normalized_out(), and casadi::normalized_setup().

◆ print_canonical() [2/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		const Sparsity &	sp,
		const double *	nz
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dh

Definition at line 873 of file function_internal.cpp.

                                             {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     if (nz) {
       if (!sp.is_scalar(true)) {
         stream << sp.dim(false) << ": ";
         stream << "[";
       }
       for (casadi_int i=0; i<sp.nnz(); ++i) {
         if (i>0) stream << ", ";
         normalized_out(stream, nz[i]);
       }
       if (!sp.is_scalar(true)) {
         stream << "]";
         if (!sp.is_dense()) {
           stream << ", colind: [";
           for (casadi_int i=0; i<sp.size2(); ++i) {
             if (i>0) stream << ", ";
             stream << sp.colind()[i];
           }
           stream << "]";
           stream << ", row: [";
           for (casadi_int i=0; i<sp.nnz(); ++i) {
             if (i>0) stream << ", ";
             stream << sp.row()[i];
           }
           stream << "]";
         }
       }
     } else {
       stream << "NULL";
     }
   }

References casadi::Sparsity::colind(), casadi::Sparsity::dim(), casadi::Sparsity::is_dense(), casadi::Sparsity::is_scalar(), casadi::Sparsity::nnz(), casadi::normalized_out(), casadi::normalized_setup(), casadi::Sparsity::row(), and casadi::Sparsity::size2().

Referenced by casadi::Monitor::eval(), casadi::MXFunction::print_arg(), casadi::SXFunction::print_arg(), casadi::FunctionInternal::print_in(), casadi::FunctionInternal::print_out(), casadi::MXFunction::print_res(), and casadi::SXFunction::print_res().

◆ print_canonical() [3/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		double	a
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dj

Definition at line 908 of file function_internal.cpp.

                                                                      {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     normalized_out(stream, a);
   }

References casadi::normalized_out(), and casadi::normalized_setup().

◆ print_dimensions()

void casadi::FunctionInternal::print_dimensions ( std::ostream & stream ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mb

Definition at line 983 of file function_internal.cpp.

                                                                   {
     stream << " Number of inputs: " << n_in_ << std::endl;
     for (casadi_int i=0; i<n_in_; ++i) {
       stream << "  Input " << i  << " (\"" << name_in_[i] << "\"): "
              << sparsity_in_[i].dim() << std::endl;
     }
     stream << " Number of outputs: " << n_out_ << std::endl;
     for (casadi_int i=0; i<n_out_; ++i) {
       stream << "  Output " << i  << " (\"" << name_out_[i] << "\"): "
              << sparsity_out_[i].dim() << std::endl;
     }
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_in_, and casadi::FunctionInternal::sparsity_out_.

◆ print_in()

void casadi::FunctionInternal::print_in	(	std::ostream &	stream,
		const double **	arg,
		bool	truncate
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nv

Definition at line 824 of file function_internal.cpp.

                                                                                              {
     stream << "Function " << name_ << " (" << this << ")" << std::endl;
     for (casadi_int i=0; i<n_in_; ++i) {
       stream << "Input " << i << " (" << name_in_[i] << "): ";
       if (arg[i]) {
         if (print_canonical_) {
           print_canonical(stream, sparsity_in_[i], arg[i]);
         } else {
           DM::print_default(stream, sparsity_in_[i], arg[i], truncate);
         }
         stream << std::endl;
       } else {
         stream << "NULL" << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_in_, casadi::ProtoFunction::name_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, casadi::Matrix< double >::print_default(), and casadi::FunctionInternal::sparsity_in_.

Referenced by casadi::FunctionInternal::eval_gen().

◆ print_option()

void casadi::ProtoFunction::print_option	(	const std::string &	name,
		std::ostream &	stream
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ji

Definition at line 1000 of file function_internal.cpp.

                                                                                   {
     get_options().print_one(name, stream);
   }

References casadi::ProtoFunction::get_options(), and casadi::Options::print_one().

◆ print_options()

void casadi::ProtoFunction::print_options ( std::ostream & stream ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jh

Definition at line 996 of file function_internal.cpp.

                                                             {
     get_options().print_all(stream);
   }

References casadi::ProtoFunction::get_options(), and casadi::Options::print_all().

◆ print_out()

void casadi::FunctionInternal::print_out	(	std::ostream &	stream,
		double **	res,
		bool	truncate
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nw

Definition at line 841 of file function_internal.cpp.

                                                                                         {
     stream << "Function " << name_ << " (" << this << ")" << std::endl;
     for (casadi_int i=0; i<n_out_; ++i) {
       stream << "Output " << i << " (" << name_out_[i] << "): ";
       if (res[i]) {
         if (print_canonical_) {
           print_canonical(stream, sparsity_out_[i], res[i]);
         } else {
           DM::print_default(stream, sparsity_out_[i], res[i], truncate);
         }
         stream << std::endl;
       } else {
         stream << "NULL" << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_out_, casadi::ProtoFunction::name_, casadi::FunctionInternal::name_out_, casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, casadi::Matrix< double >::print_default(), and casadi::FunctionInternal::sparsity_out_.

Referenced by casadi::FunctionInternal::eval_gen().

◆ print_time()

void casadi::ProtoFunction::print_time ( const std::map< std::string, FStats > & fstats ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ju

Definition at line 3817 of file function_internal.cpp.

                                                                               {
     if (!print_time_) return;
     // Length of the name being printed
     size_t name_len=0;
     for (auto &&s : fstats) {
       name_len = std::max(s.first.size(), name_len);
     }
     name_len = std::max(name_.size(), name_len);
  
     // Print name with a given length. Format: "%NNs "
     char namefmt[10];
     sprint(namefmt, sizeof(namefmt), "%%%ds ", static_cast<casadi_int>(name_len));
  
     // Print header
     print(namefmt, name_.c_str());
  
     print(" : %8s %10s %8s %10s %9s\n", "t_proc", "(avg)", "t_wall", "(avg)", "n_eval");
  
  
     char buffer_proc[10];
     char buffer_wall[10];
     char buffer_proc_avg[10];
     char buffer_wall_avg[10];
  
     // Print keys
     for (const auto &s : fstats) {
       if (s.second.n_call!=0) {
         print(namefmt, s.first.c_str());
         format_time(buffer_proc, s.second.t_proc);
         format_time(buffer_wall, s.second.t_wall);
         format_time(buffer_proc_avg, s.second.t_proc/s.second.n_call);
         format_time(buffer_wall_avg, s.second.t_wall/s.second.n_call);
         print(" | %s (%s) %s (%s) %9d\n",
           buffer_proc, buffer_proc_avg,
           buffer_wall, buffer_wall_avg, s.second.n_call);
       }
     }
   }

References casadi::ProtoFunction::format_time(), casadi::ProtoFunction::name_, casadi::ProtoFunction::print(), casadi::ProtoFunction::print_time_, and casadi::ProtoFunction::sprint().

Referenced by casadi::FunctionInternal::eval_gen().

◆ project_arg()

template<typename M >

std::vector< M > casadi::FunctionInternal::project_arg	(	const std::vector< M > &	arg,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kn

Definition at line 1617 of file function_internal.hpp.

                                                               {
     casadi_assert_dev(arg.size()==n_in_);
  
     // Which arguments require mapped evaluation
     std::vector<bool> mapped(n_in_);
     for (casadi_int i=0; i<n_in_; ++i) {
       mapped[i] = arg[i].size2()!=size2_in(i);
     }
  
     // Check if matching input sparsity
     std::vector<bool> matching(n_in_);
     bool any_mismatch = false;
     for (casadi_int i=0; i<n_in_; ++i) {
       if (mapped[i]) {
         matching[i] = arg[i].sparsity().is_stacked(sparsity_in(i), npar);
       } else {
         matching[i] = arg[i].sparsity()==sparsity_in(i);
       }
       any_mismatch = any_mismatch || !matching[i];
     }
  
     // Correct input sparsity
     if (any_mismatch) {
       std::vector<M> arg2(arg);
       for (casadi_int i=0; i<n_in_; ++i) {
         if (!matching[i]) {
           if (mapped[i]) {
             arg2[i] = project(arg2[i], repmat(sparsity_in(i), 1, npar));
           } else {
             arg2[i] = project(arg2[i], sparsity_in(i));
           }
         }
       }
       return arg2;
     }
     return arg;
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::size2_in(), and casadi::FunctionInternal::sparsity_in().

Referenced by casadi::FunctionInternal::call_gen(), and casadi::FunctionInternal::nz_in().

◆ project_res()

template<typename M >

std::vector< M > casadi::FunctionInternal::project_res	(	const std::vector< M > &	arg,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ko

Definition at line 1657 of file function_internal.hpp.

                                                                 {
       return arg;
   }

Referenced by casadi::FunctionInternal::nz_out().

◆ psd_support()

bool casadi::OsqpInterface::psd_support ( ) const

inlineoverridevirtual

Reimplemented from casadi::Conic.

Definition at line 113 of file osqp_interface.hpp.

113 { return true;}

◆ purgable()

template<typename MatType >

bool casadi::FunctionInternal::purgable ( const std::vector< MatType > & seed )

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nq

Definition at line 1510 of file function_internal.hpp.

                                                              {
     for (auto i=v.begin(); i!=v.end(); ++i) {
       if (!i->is_zero()) return false;
     }
     return true;
   }

Referenced by casadi::MXFunction::ad_forward(), and casadi::MXFunction::ad_reverse().

◆ qp_codegen_body()

void casadi::Conic::qp_codegen_body ( CodeGenerator & g ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_24y

Definition at line 788 of file conic.cpp.

                                                     {
     g.add_auxiliary(CodeGenerator::AUX_QP);
     g.local("d_qp", "struct casadi_qp_data");
     g.local("p_qp", "struct casadi_qp_prob");
  
     g << "d_qp.prob = &p_qp;\n";
     g << "p_qp.sp_a = " << g.sparsity(A_) << ";\n";
     g << "p_qp.sp_h = " << g.sparsity(H_) << ";\n";
     g << "casadi_qp_setup(&p_qp);\n";
     g << "casadi_qp_init(&d_qp, &iw, &w);\n";
  
  
     g << "d_qp.h = arg[" << CONIC_H << "];\n";
     g << "d_qp.g = arg[" << CONIC_G << "];\n";
     g << "d_qp.a = arg[" << CONIC_A << "];\n";
     g << "d_qp.lbx = arg[" << CONIC_LBX << "];\n";
     g << "d_qp.ubx = arg[" << CONIC_UBX << "];\n";
     g << "d_qp.lba = arg[" << CONIC_LBA << "];\n";
     g << "d_qp.uba = arg[" << CONIC_UBA << "];\n";
     g << "d_qp.x0 = arg[" << CONIC_X0 << "];\n";
     g << "d_qp.lam_x0 = arg[" << CONIC_LAM_X0 << "];\n";
     g << "d_qp.lam_a0 = arg[" << CONIC_LAM_A0 << "];\n";
  
     g << "d_qp.f = res[" << CONIC_COST << "];\n";
     g << "d_qp.x = res[" << CONIC_X << "];\n";
     g << "d_qp.lam_x = res[" << CONIC_LAM_X << "];\n";
     g << "d_qp.lam_a = res[" << CONIC_LAM_A << "];\n";
   }

References casadi::Conic::A_, casadi::CodeGenerator::add_auxiliary(), casadi::CodeGenerator::AUX_QP, casadi::CONIC_A, casadi::CONIC_COST, casadi::CONIC_G, casadi::CONIC_H, casadi::CONIC_LAM_A, casadi::CONIC_LAM_A0, casadi::CONIC_LAM_X, casadi::CONIC_LAM_X0, casadi::CONIC_LBA, casadi::CONIC_LBX, casadi::CONIC_UBA, casadi::CONIC_UBX, casadi::CONIC_X, casadi::CONIC_X0, casadi::Conic::H_, casadi::CodeGenerator::local(), and casadi::CodeGenerator::sparsity().

Referenced by casadi::ClarabelInterface::codegen_body(), casadi::DaqpInterface::codegen_body(), casadi::HighsInterface::codegen_body(), casadi::HpipmInterface::codegen_body(), and casadi::Qrqp::codegen_body().

◆ registerPlugin() [1/2]

void casadi::PluginInterface< Conic >::registerPlugin	(	const Plugin &	plugin,
		bool	needs_lock = `true`
	)

staticinherited

Definition at line 96 of file plugin_interface.hpp.

                                                                                      {
  
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     casadi::conditional_lock_guard<std::mutex> lock(Derived::mutex_solvers_, needs_lock);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  
     // Check if the solver name is in use
     typename std::map<std::string, Plugin>::iterator it=Derived::solvers_.find(plugin.name);
     casadi_assert(it==Derived::solvers_.end(),
       "Solver " + str(plugin.name) + " is already in use");
  
     // Add to list of solvers
     Derived::solvers_[plugin.name] = plugin;
   }

◆ registerPlugin() [2/2]

void casadi::PluginInterface< Conic >::registerPlugin	(	RegFcn	regfcn,
		bool	needs_lock = `true`
	)

staticinherited

Definition at line 99 of file plugin_interface.hpp.

                                                                               {
     registerPlugin(pluginFromRegFcn(regfcn), needs_lock);
   }

◆ release()

void casadi::ProtoFunction::release ( int mem ) const

inherited

Definition at line 3690 of file function_internal.cpp.

                                            {
 #ifdef CASADI_WITH_THREAD
     std::lock_guard<std::mutex> lock(mtx_);
 #endif //CASADI_WITH_THREAD
     unused_.push(mem);
   }

◆ replace_arg()

template<typename M >

std::vector< M > casadi::FunctionInternal::replace_arg	(	const std::vector< M > &	arg,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_km

Definition at line 1790 of file function_internal.hpp.

                                                               {
     std::vector<M> r(arg.size());
     for (casadi_int i=0; i<r.size(); ++i) r[i] = replace_mat(arg[i], sparsity_in(i), npar);
     return r;
   }

References casadi::replace_mat(), and casadi::FunctionInternal::sparsity_in().

Referenced by casadi::FunctionInternal::call(), casadi::FunctionInternal::nz_in(), and casadi::FunctionInternal::replace_fseed().

◆ replace_aseed() [1/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_aseed	(	const std::vector< std::vector< M > > &	aseed,
		casadi_int	npar
	)		const

inherited

Definition at line 1814 of file function_internal.hpp.

                                                                               {
     std::vector<std::vector<M> > r(aseed.size());
     for (casadi_int d=0; d<r.size(); ++d) r[d] = replace_res(aseed[d], npar);
     return r;
   }

References casadi::FunctionInternal::replace_res().

◆ replace_aseed() [2/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_aseed	(	const std::vector< std::vector< M >> &	aseed,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kr

Referenced by casadi::MXFunction::ad_reverse(), casadi::SXFunction::ad_reverse(), and casadi::FunctionInternal::call_reverse().

◆ replace_fseed() [1/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_fseed	(	const std::vector< std::vector< M > > &	fseed,
		casadi_int	npar
	)		const

inherited

Definition at line 1806 of file function_internal.hpp.

                                                                               {
     std::vector<std::vector<M> > r(fseed.size());
     for (casadi_int d=0; d<r.size(); ++d) r[d] = replace_arg(fseed[d], npar);
     return r;
   }

References casadi::FunctionInternal::replace_arg().

◆ replace_fseed() [2/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_fseed	(	const std::vector< std::vector< M >> &	fseed,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kq

Referenced by casadi::MXFunction::ad_forward(), casadi::SXFunction::ad_forward(), and casadi::FunctionInternal::call_forward().

◆ replace_res()

template<typename M >

std::vector< M > casadi::FunctionInternal::replace_res	(	const std::vector< M > &	res,
		casadi_int	npar
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kp

Definition at line 1798 of file function_internal.hpp.

                                                               {
     std::vector<M> r(res.size());
     for (casadi_int i=0; i<r.size(); ++i) r[i] = replace_mat(res[i], sparsity_out(i), npar);
     return r;
   }

References casadi::replace_mat(), and casadi::FunctionInternal::sparsity_out().

Referenced by casadi::FunctionInternal::nz_out(), and casadi::FunctionInternal::replace_aseed().

◆ reset_dump_count()

void casadi::FunctionInternal::reset_dump_count ( )

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dx

Definition at line 461 of file function_internal.cpp.

                                           {
     dump_count_ = 0;
   }

References casadi::FunctionInternal::dump_count_.

◆ reverse()

Function casadi::FunctionInternal::reverse ( casadi_int nadj ) const

inherited

reverse(nadj) returns a cached instance if available, and calls Function get_reverse(casadi_int nadj) if no cached version is available.

Extra doc: https://github.com/casadi/casadi/wiki/L_l1

Definition at line 2224 of file function_internal.cpp.

                                                           {
     casadi_assert_dev(nadj>=0);
     // Used wrapped function if reverse not available
     if (!enable_reverse_) {
       // Derivative information must be available
       casadi_assert(has_derivative(), "Derivatives cannot be calculated for " + name_);
       return wrap().reverse(nadj);
     }
     // Retrieve/generate cached
     Function f;
     std::string fname = reverse_name(name_, nadj);
     if (!incache(fname, f)) {
       casadi_int i;
       // Prefix to be used for adjoint seeds, sensitivities
       std::string pref = diff_prefix("adj");
       // Names of inputs
       std::vector<std::string> inames;
       for (i=0; i<n_in_; ++i) inames.push_back(name_in_[i]);
       for (i=0; i<n_out_; ++i) inames.push_back("out_" + name_out_[i]);
       for (i=0; i<n_out_; ++i) inames.push_back(pref + name_out_[i]);
       // Names of outputs
       std::vector<std::string> onames;
       for (casadi_int i=0; i<n_in_; ++i) onames.push_back(pref + name_in_[i]);
       // Options
       Dict opts = combine(reverse_options_, der_options_);
       opts = combine(opts, generate_options("reverse"));
       opts["derivative_of"] = self();
       // Generate derivative function
       casadi_assert_dev(enable_reverse_);
       f = get_reverse(nadj, fname, inames, onames, opts);
       // Consistency check for inputs
       casadi_assert_dev(f.n_in()==n_in_ + n_out_ + n_out_);
       casadi_int ind=0;
       for (i=0; i<n_in_; ++i) f.assert_size_in(ind++, size1_in(i), size2_in(i));
       for (i=0; i<n_out_; ++i) f.assert_size_in(ind++, size1_out(i), size2_out(i));
       for (i=0; i<n_out_; ++i) f.assert_size_in(ind++, size1_out(i), nadj*size2_out(i));
       // Consistency check for outputs
       casadi_assert_dev(f.n_out()==n_in_);
       for (i=0; i<n_in_; ++i) f.assert_sparsity_out(i, sparsity_in(i), nadj);
       // Save to cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::call_reverse(), and casadi::Function::reverse().

◆ reverse_name()

static std::string casadi::FunctionInternal::reverse_name	(	const std::string &	fcn,
		casadi_int	nadj
	)

inlinestaticinherited

Definition at line 662 of file function_internal.hpp.

                                                                          {
       return "adj" + str(nadj) + "_" + fcn;
     }

References casadi::str().

Referenced by casadi::FunctionInternal::reverse(), and casadi::FixedStepIntegrator::stepB().

◆ sdp_to_socp_init()

void casadi::Conic::sdp_to_socp_init ( SDPToSOCPMem & mem ) const

protectedinherited

general soc constraints: ||Ax + b ||_2 <= c'x + d

Need to represent as X'X <= Z'Z

with X and Z helper variables and Ax + b = X c'x + d = Z

[A;c'] x - [X;Z] = [b;d]

we look for the vertical concatenation of these constraints for all blocks:

Q(map_Q) [x;X1;Z1;X2;Z2;...] = P.nz(map_P)

Definition at line 579 of file conic.cpp.

                                                       {
  
     Sparsity qsum = reshape(sum2(Q_), np_, np_);
  
     // Block detection
     Sparsity aggregate = qsum+P_;
  
     std::vector<casadi_int> p;
     casadi_int nb = aggregate.scc(p, mem.r);
  
     std::string pattern_message = "Pattern not recognised";
  
     casadi_assert(p==range(p.size()), pattern_message);
  
     const casadi_int* row = aggregate.row();
     const casadi_int* colind = aggregate.colind();
  
     // Check fishbone-structure
     for (casadi_int i=0;i<nb;++i) {
       casadi_int block_size = mem.r[i+1]-mem.r[i];
       // number of nonzeros in column mem.r[i+1]-1
       casadi_int nz = colind[mem.r[i+1]]-colind[mem.r[i+1]-1];
       // Last column of block should be dense
       casadi_assert(nz==block_size, pattern_message);
       for (casadi_int k=0;k<block_size-1;++k) {
         casadi_assert(colind[mem.r[i]+k+1]-colind[mem.r[i]+k], pattern_message);
         casadi_assert(*(row++)==k+mem.r[i], pattern_message);
         casadi_assert(*(row++)==mem.r[i]+block_size-1, pattern_message);
       }
  
       for (casadi_int k=0;k<block_size;++k)
         casadi_assert(*(row++)==k+mem.r[i], pattern_message);
     }
  
     /*
  
     Aggregate pattern:
  
     x (x)
      x(x)
     xx(x)
        x (x)
         x(x)
        xx(x)
  
     We are interested in the parts in parenthesis (target).
  
     Find out which rows in Q correspond to those targets
     */
  
     // Lookup vector for target start and end
     std::vector<casadi_int> target_start(nb), target_stop(nb);
     for (casadi_int i=0;i<nb;++i) {
       target_start[i] = (mem.r[i+1]-1)*aggregate.size1()+mem.r[i];
       target_stop[i] = target_start[i]+mem.r[i+1]-mem.r[i];
     }
  
     // Collect the nonzero indices in Q that that correspond to the target area
     std::vector<casadi_int> q_nz;
     // Triplet form for map_Q sparsity
     std::vector<casadi_int> q_row, q_col;
  
     // Loop over Q's columns (decision variables)
     for (casadi_int j=0; j<Q_.size2(); ++j) {
       casadi_int block_index = 0;
       // Loop over Q's rows
       for (casadi_int k=Q_.colind(j); k<Q_.colind(j+1); ++k) {
         casadi_int i = Q_.row(k);
  
         // Increment block_index if i runs ahead
         while (i>target_stop[block_index] && block_index<nb-1) block_index++;
  
         if (i>=target_start[block_index] && i<target_stop[block_index]) {
           // Got a nonzero in the target region
           q_nz.push_back(k);
           q_row.push_back(mem.r[block_index]+i-target_start[block_index]);
           q_col.push_back(j);
         }
       }
     }
  
     mem.map_Q = IM::triplet(q_row, q_col, q_nz, mem.r[nb], nx_);
  
     // Add the [X1;Z1;X2;Z2;...] part
     mem.map_Q = horzcat(mem.map_Q, -IM::eye(mem.r[nb])).T();
  
     // Get maximum nonzero count of any column
     casadi_int max_nnz = 0;
     for (casadi_int i=0;i<mem.map_Q.size2();++i) {
       max_nnz = std::max(max_nnz, mem.map_Q.colind(i+1)-mem.map_Q.colind(i));
     }
  
     // ind/val size needs to cover max nonzero count
     mem.indval_size = std::max(nx_, max_nnz);
  
     // Collect the indices for the P target area
     mem.map_P.resize(mem.r[nb], -1);
     for (casadi_int i=0;i<nb;++i) {
       for (casadi_int k=P_.colind(mem.r[i+1]-1); k<P_.colind(mem.r[i+1]); ++k) {
         casadi_int r = P_.row(k);
         mem.map_P[r] = k;
       }
     }
  
     // ind/val size needs to cover blocksize
     for (casadi_int i=0;i<nb;++i)
       mem.indval_size = std::max(mem.indval_size, mem.r[i+1]-mem.r[i]);
  
     // Get the transpose and mapping
     mem.AT = A_.transpose(mem.A_mapping);
   }

References casadi::Conic::A_, casadi::Conic::SDPToSOCPMem::A_mapping, casadi::Conic::SDPToSOCPMem::AT, casadi::GenericMatrix< MatType >::colind(), casadi::Sparsity::colind(), casadi::Matrix< casadi_int >::eye(), casadi::Conic::SDPToSOCPMem::indval_size, casadi::Conic::SDPToSOCPMem::map_P, casadi::Conic::SDPToSOCPMem::map_Q, casadi::Conic::np_, casadi::Conic::nx_, casadi::Conic::P_, casadi::Conic::Q_, casadi::Conic::SDPToSOCPMem::r, casadi::range(), casadi::Sparsity::row(), casadi::Sparsity::scc(), casadi::Sparsity::size1(), casadi::GenericMatrix< MatType >::size2(), casadi::Sparsity::size2(), casadi::Matrix< Scalar >::T(), casadi::Sparsity::transpose(), and casadi::Matrix< casadi_int >::triplet().

Referenced by casadi::CplexInterface::init(), casadi::GurobiInterface::init(), and casadi::SuperscsInterface::init().

◆ self()

Function casadi::FunctionInternal::self ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_k8

Definition at line 353 of file function_internal.hpp.

353 { return shared_from_this<Function>();}

◆ serialize() [1/2]

void casadi::ProtoFunction::serialize ( SerializingStream & s ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_jv

Definition at line 4181 of file function_internal.cpp.

                                                           {
     serialize_type(s);
     serialize_body(s);
   }

References casadi::ProtoFunction::serialize_body(), and casadi::ProtoFunction::serialize_type().

◆ serialize() [2/2]

void casadi::Conic::serialize	(	SerializingStream &	s,
		const SDPToSOCPMem &	m
	)		const

protectedinherited

Definition at line 720 of file conic.cpp.

                                                                          {
     s.pack("Conic::SDPToSOCPMem::r", m.r);
     s.pack("Conic::SDPToSOCPMem::AT", m.AT);
     s.pack("Conic::SDPToSOCPMem::A_mapping", m.A_mapping);
     s.pack("Conic::SDPToSOCPMem::map_Q", m.map_Q);
     s.pack("Conic::SDPToSOCPMem::map_P", m.map_P);
     s.pack("Conic::SDPToSOCPMem::indval_size", m.indval_size);
   }

References casadi::Conic::SDPToSOCPMem::A_mapping, casadi::Conic::SDPToSOCPMem::AT, casadi::Conic::SDPToSOCPMem::indval_size, casadi::Conic::SDPToSOCPMem::map_P, casadi::Conic::SDPToSOCPMem::map_Q, casadi::SerializingStream::pack(), and casadi::Conic::SDPToSOCPMem::r.

Referenced by casadi::CplexInterface::serialize_body(), casadi::GurobiInterface::serialize_body(), and casadi::SuperscsInterface::serialize_body().

◆ serialize_base_function()

std::string casadi::Conic::serialize_base_function ( ) const

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1jg

Reimplemented from casadi::ProtoFunction.

Definition at line 215 of file conic_impl.hpp.

215 { return "Conic"; }

◆ serialize_body()

void casadi::OsqpInterface::serialize_body ( SerializingStream & s ) const

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_1je

Reimplemented from casadi::Conic.

Definition at line 490 of file osqp_interface.cpp.

                                                                {
     Conic::serialize_body(s);
     s.version("OsqpInterface", 1);
     s.pack("OsqpInterface::nnzHupp", nnzHupp_);
     s.pack("OsqpInterface::nnzA", nnzA_);
     s.pack("OsqpInterface::warm_start_primal", warm_start_primal_);
     s.pack("OsqpInterface::warm_start_dual", warm_start_dual_);
     s.pack("OsqpInterface::settings::rho", settings_.rho);
     s.pack("OsqpInterface::settings::sigma", settings_.sigma);
     s.pack("OsqpInterface::settings::scaling", settings_.scaling);
     s.pack("OsqpInterface::settings::adaptive_rho", settings_.adaptive_rho);
     s.pack("OsqpInterface::settings::adaptive_rho_interval", settings_.adaptive_rho_interval);
     s.pack("OsqpInterface::settings::adaptive_rho_tolerance", settings_.adaptive_rho_tolerance);
     //s.pack("OsqpInterface::settings::adaptive_rho_fraction", settings_.adaptive_rho_fraction);
     s.pack("OsqpInterface::settings::max_iter", settings_.max_iter);
     s.pack("OsqpInterface::settings::eps_abs", settings_.eps_abs);
     s.pack("OsqpInterface::settings::eps_rel", settings_.eps_rel);
     s.pack("OsqpInterface::settings::eps_prim_inf", settings_.eps_prim_inf);
     s.pack("OsqpInterface::settings::eps_dual_inf", settings_.eps_dual_inf);
     s.pack("OsqpInterface::settings::alpha", settings_.alpha);
     s.pack("OsqpInterface::settings::delta", settings_.delta);
     s.pack("OsqpInterface::settings::polish", settings_.polish);
     s.pack("OsqpInterface::settings::polish_refine_iter", settings_.polish_refine_iter);
     s.pack("OsqpInterface::settings::verbose", settings_.verbose);
     s.pack("OsqpInterface::settings::scaled_termination", settings_.scaled_termination);
     s.pack("OsqpInterface::settings::check_termination", settings_.check_termination);
     s.pack("OsqpInterface::settings::warm_start", settings_.warm_start);
     //s.pack("OsqpInterface::settings::time_limit", settings_.time_limit);
   }

References nnzA_, nnzHupp_, casadi::SerializingStream::pack(), casadi::Conic::serialize_body(), settings_, casadi::SerializingStream::version(), warm_start_dual_, and warm_start_primal_.

◆ serialize_type()

void casadi::Conic::serialize_type ( SerializingStream & s ) const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1jf

Reimplemented from casadi::ProtoFunction.

Definition at line 753 of file conic.cpp.

                                                        {
     FunctionInternal::serialize_type(s);
     PluginInterface<Conic>::serialize_type(s);
   }

References casadi::PluginInterface< Derived >::serialize_type(), and casadi::FunctionInternal::serialize_type().

◆ set_jac_sparsity()

void casadi::FunctionInternal::set_jac_sparsity	(	casadi_int	oind,
		casadi_int	iind,
		const Sparsity &	sp
	)

protectedinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nx

Definition at line 3761 of file function_internal.cpp.

                                                                                               {
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     // Safe access to jac_sparsity_
     std::lock_guard<std::mutex> lock(jac_sparsity_mtx_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
     casadi_int ind = iind + oind * n_in_;
     jac_sparsity_[false].resize(n_in_ * n_out_);
     jac_sparsity_[false].at(ind) = sp;
     jac_sparsity_[true].resize(n_in_ * n_out_);
     jac_sparsity_[true].at(ind) = to_compact(oind, iind, sp);
   }

References casadi::FunctionInternal::jac_sparsity_, casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, and casadi::FunctionInternal::to_compact().

◆ set_temp()

virtual void casadi::FunctionInternal::set_temp	(	void *	mem,
		const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w
	)		const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_na

Reimplemented in casadi::FatropConicInterface, and casadi::OracleFunction.

Definition at line 1233 of file function_internal.hpp.

1234 {}

Referenced by casadi::FunctionInternal::setup().

◆ set_work()

void casadi::Conic::set_work	(	void *	mem,
		const double **&	arg,
		double **&	res,
		casadi_int *&	iw,
		double *&	w
	)		const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1jb

Reimplemented from casadi::FunctionInternal.

Reimplemented in casadi::Qrqp, casadi::HpipmInterface, casadi::HighsInterface, casadi::FatropConicInterface, casadi::DaqpInterface, and casadi::ClarabelInterface.

Definition at line 457 of file conic.cpp.

                                                              {
  
     auto m = static_cast<ConicMemory*>(mem);
  
     casadi_qp_data<double>& d_qp = m->d_qp;
     d_qp.h = arg[CONIC_H];
     d_qp.g = arg[CONIC_G];
     d_qp.a = arg[CONIC_A];
     d_qp.lbx = arg[CONIC_LBX];
     d_qp.ubx = arg[CONIC_UBX];
     d_qp.uba = arg[CONIC_UBA];
     d_qp.lba = arg[CONIC_LBA];
     d_qp.x0 = arg[CONIC_X0];
     d_qp.lam_x0 = arg[CONIC_LAM_X0];
     d_qp.lam_a0 = arg[CONIC_LAM_A0];
     d_qp.x = res[CONIC_X];
     d_qp.lam_x = res[CONIC_LAM_X];
     d_qp.lam_a = res[CONIC_LAM_A];
     d_qp.f = res[CONIC_COST];
  
     // Problem has not been solved at this point
     d_qp.success = false;
     d_qp.unified_return_status = SOLVER_RET_UNKNOWN;
     d_qp.iter_count = -1;
   }

Referenced by casadi::ClarabelInterface::set_work(), casadi::DaqpInterface::set_work(), casadi::FatropConicInterface::set_work(), casadi::HighsInterface::set_work(), casadi::HpipmInterface::set_work(), and casadi::Qrqp::set_work().

◆ setup()

void casadi::FunctionInternal::setup	(	void *	mem,
		const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nb

Definition at line 3549 of file function_internal.cpp.

                                                                 {
     set_work(mem, arg, res, iw, w);
     set_temp(mem, arg, res, iw, w);
     auto m = static_cast<FunctionMemory*>(mem);
     m->stats_available = true;
   }

References casadi::FunctionInternal::set_temp(), casadi::FunctionInternal::set_work(), and casadi::FunctionMemory::stats_available.

Referenced by casadi::Conic::eval(), casadi::Nlpsol::eval(), casadi::CallbackInternal::eval(), casadi::FiniteDiff::eval(), casadi::FmuFunction::eval(), casadi::Integrator::eval(), casadi::Map::eval(), casadi::OmpMap::eval(), casadi::ThreadMap::eval(), casadi::MapSum::eval(), casadi::MXFunction::eval(), casadi::Rootfinder::eval(), casadi::Switch::eval(), casadi::SXFunction::eval(), casadi::SlicotDple::eval(), casadi::SlicotExpm::eval(), casadi::BSplineInterpolant::eval(), and casadi::LinearInterpolant::eval().

◆ shared_from_this() [1/2]

B casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::shared_from_this ( )

inlineprotectedinherited

Definition at line 83 of file generic_shared_internal.hpp.

                          {
       casadi_assert_dev(B::test_cast(static_cast<Internal*>(this)));
       B ret;
       ret.own(static_cast<Internal*>(this));
       return ret;
     }

◆ shared_from_this() [2/2]

const B casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::shared_from_this ( ) const

inlineprotectedinherited

Definition at line 92 of file generic_shared_internal.hpp.

                                      {
       casadi_assert_dev(B::test_cast(static_cast<const Internal*>(this)));
       B ret;
       ret.own(const_cast<Internal*>(static_cast<const Internal*>(this)));
       return ret;
     }

◆ shortname()

static std::string casadi::Conic::shortname ( )

inlinestaticinherited

Definition at line 133 of file conic_impl.hpp.

133 { return "conic";}

◆ signature()

std::string casadi::FunctionInternal::signature ( const std::string & fname ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ly

Definition at line 2413 of file function_internal.cpp.

                                                                     {
     return "int " + fname + "(const casadi_real** arg, casadi_real** res, "
                             "casadi_int* iw, casadi_real* w, int mem)";
   }

Referenced by casadi::CodeGenerator::add(), casadi::FunctionInternal::codegen(), and casadi::External::codegen_declarations().

◆ signature_unrolled()

std::string casadi::FunctionInternal::signature_unrolled ( const std::string & fname ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_27o

Definition at line 2418 of file function_internal.cpp.

                                                                              {
     std::vector<std::string> args;
     for (auto e : name_in_) {
       args.push_back("const casadi_real* " + str(e));
     }
     for (auto e : name_out_) {
       args.push_back("casadi_real* " + str(e));
     }
     args.push_back("const casadi_real** arg");
     args.push_back("casadi_real** res");
     args.push_back("casadi_int* iw");
     args.push_back("casadi_real* w");
     args.push_back("int mem");
     return "int " + fname + "_unrolled(" + join(args, ", ") + ")";
   }

References casadi::join(), casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, and casadi::str().

Referenced by casadi::CodeGenerator::add().

◆ size1_in()

casadi_int casadi::FunctionInternal::size1_in ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 993 of file function_internal.hpp.

993 { return sparsity_in(ind).size1(); }

casadi::Sparsity::size1

casadi_int size1() const

Get the number of rows.

Definition: sparsity.cpp:124

Referenced by casadi::FunctionInternal::check_arg(), casadi::FmuFunction::eval(), casadi::FmuFunction::eval_task(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::Integrator::get_reverse(), casadi::FunctionInternal::matching_arg(), and casadi::FunctionInternal::reverse().

◆ size1_out()

casadi_int casadi::FunctionInternal::size1_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 995 of file function_internal.hpp.

995 { return sparsity_out(ind).size1(); }

Referenced by casadi::FmuFunction::eval_task(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::FunctionInternal::matching_res(), and casadi::FunctionInternal::reverse().

◆ size2_in()

casadi_int casadi::FunctionInternal::size2_in ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 994 of file function_internal.hpp.

994 { return sparsity_in(ind).size2(); }

Referenced by casadi::FunctionInternal::call_gen(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::forward(), casadi::Integrator::get_reverse(), casadi::FunctionInternal::mapsum_mx(), casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::project_arg(), and casadi::FunctionInternal::reverse().

◆ size2_out()

casadi_int casadi::FunctionInternal::size2_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 996 of file function_internal.hpp.

996 { return sparsity_out(ind).size2(); }

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::FunctionInternal::matching_res(), and casadi::FunctionInternal::reverse().

◆ size_in()

std::pair<casadi_int, casadi_int> casadi::FunctionInternal::size_in ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 997 of file function_internal.hpp.

                                                                   {
       return sparsity_in(ind).size();
     }

Referenced by casadi::Rootfinder::ad_forward(), casadi::Rootfinder::ad_reverse(), casadi::MXFunction::ad_reverse(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::fwd_seed(), casadi::Dple::get_forward(), and casadi::Dple::get_reverse().

◆ size_out()

std::pair<casadi_int, casadi_int> casadi::FunctionInternal::size_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mg

Definition at line 1000 of file function_internal.hpp.

                                                                    {
       return sparsity_out(ind).size();
     }

Referenced by casadi::MXFunction::ad_forward(), casadi::Rootfinder::ad_reverse(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::check_res(), casadi::FunctionInternal::eval(), casadi::Integrator::get_forward(), casadi::Integrator::get_reverse(), and casadi::Nlpsol::init().

◆ slice()

Function casadi::FunctionInternal::slice	(	const std::string &	name,
		const std::vector< casadi_int > &	order_in,
		const std::vector< casadi_int > &	order_out,
		const Dict &	opts
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l2

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, and casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 3742 of file function_internal.cpp.

                                                                         {
     return wrap().slice(name, order_in, order_out, opts);
   }

References casadi::Function::slice(), and casadi::FunctionInternal::wrap().

Referenced by casadi::Function::slice().

◆ solve()

int casadi::OsqpInterface::solve	(	const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w,
		void *	mem
	)		const

overridevirtual

Implements casadi::Conic.

Definition at line 207 of file osqp_interface.cpp.

                                                                                       {
     auto m = static_cast<OsqpMemory*>(mem);
  
     // Inputs
     const double *a=arg[CONIC_A],
                  *h=arg[CONIC_H];
  
     // Outputs
     double *x=res[CONIC_X],
            *cost=res[CONIC_COST],
            *lam_a=res[CONIC_LAM_A],
            *lam_x=res[CONIC_LAM_X];
  
     int ret;
  
     // Set objective
     if (arg[CONIC_G]) {
       ret = osqp_update_lin_cost(m->work, arg[CONIC_G]);
       casadi_assert(ret==0, "Problem in osqp_update_lin_cost");
     }
  
     // Set bounds
     casadi_copy(arg[CONIC_LBX], nx_, w);
     casadi_copy(arg[CONIC_LBA], na_, w+nx_);
     casadi_copy(arg[CONIC_UBX], nx_, w+nx_+na_);
     casadi_copy(arg[CONIC_UBA], na_, w+2*nx_+na_);
  
     ret = osqp_update_bounds(m->work, w, w+nx_+na_);
     casadi_assert(ret==0, "Problem in osqp_update_bounds");
  
     // Project Hessian
     casadi_tri_project(arg[CONIC_H], H_, w, false);
  
     // Get contraint matrix
     const casadi_int* colind = A_.colind();
     double* A = w + nnzHupp_;
     // Get constraint matrix
     casadi_int offset = 0;
     // Loop over columns
     for (casadi_int i=0; i<nx_; ++i) {
       A[offset] = 1;
       offset++;
       casadi_int n = colind[i+1]-colind[i];
       casadi_copy(a+colind[i], n, A+offset);
       offset+= n;
     }
  
     // Pass Hessian and constraint matrices
     ret = osqp_update_P_A(m->work, w, nullptr, nnzHupp_, A, nullptr, nnzA_);
     casadi_assert(ret==0, "Problem in osqp_update_P_A");
  
  
     if (warm_start_primal_) {
       ret = osqp_warm_start_x(m->work, arg[CONIC_X0]);
       casadi_assert(ret==0, "Problem in osqp_warm_start_x");
     }
  
     if (warm_start_dual_) {
       casadi_copy(arg[CONIC_LAM_X0], nx_, w);
       casadi_copy(arg[CONIC_LAM_A0], na_, w+nx_);
       ret = osqp_warm_start_y(m->work, w);
       casadi_assert(ret==0, "Problem in osqp_warm_start_y");
     }
  
     // Solve Problem
     ret = osqp_solve(m->work);
     casadi_assert(ret==0, "Problem in osqp_solve");
  
     casadi_copy(m->work->solution->x, nx_, res[CONIC_X]);
     casadi_copy(m->work->solution->y, nx_, res[CONIC_LAM_X]);
     casadi_copy(m->work->solution->y+nx_, na_, res[CONIC_LAM_A]);
     if (res[CONIC_COST]) *res[CONIC_COST] = m->work->info->obj_val;
  
     m->d_qp.success = m->work->info->status_val == OSQP_SOLVED;
     if (m->d_qp.success) {
       m->d_qp.unified_return_status = SOLVER_RET_SUCCESS;
     } else if (m->work->info->status_val == OSQP_PRIMAL_INFEASIBLE ||
         m->work->info->status_val == OSQP_MAX_ITER_REACHED ||
         m->work->info->status_val == OSQP_DUAL_INFEASIBLE ||
         m->work->info->status_val == OSQP_NON_CVX ||
         m->work->info->status_val == OSQP_PRIMAL_INFEASIBLE_INACCURATE ||
         m->work->info->status_val == OSQP_DUAL_INFEASIBLE_INACCURATE) {
           m->d_qp.unified_return_status = SOLVER_RET_INFEASIBLE;
     } else {
       m->d_qp.unified_return_status = SOLVER_RET_UNKNOWN;
     }
  
     return 0;
   }

References casadi::Conic::A_, casadi::casadi_copy(), casadi::Sparsity::colind(), casadi::CONIC_A, casadi::CONIC_COST, casadi::CONIC_G, casadi::CONIC_H, casadi::CONIC_LAM_A, casadi::CONIC_LAM_A0, casadi::CONIC_LAM_X, casadi::CONIC_LAM_X0, casadi::CONIC_LBA, casadi::CONIC_LBX, casadi::CONIC_UBA, casadi::CONIC_UBX, casadi::CONIC_X, casadi::CONIC_X0, casadi::Conic::H_, casadi::Conic::na_, nnzA_, nnzHupp_, casadi::Conic::nx_, casadi::SOLVER_RET_INFEASIBLE, casadi::SOLVER_RET_SUCCESS, casadi::SOLVER_RET_UNKNOWN, warm_start_dual_, and warm_start_primal_.

◆ sp_forward()

int casadi::FunctionInternal::sp_forward	(	const bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mw

Reimplemented in casadi::BSplineInterpolant, casadi::SXFunction, casadi::Rootfinder, casadi::MXFunction, casadi::MapSum, casadi::Map, and casadi::Integrator.

Definition at line 2838 of file function_internal.cpp.

                                                                                            {
     // Loop over outputs
     for (casadi_int oind=0; oind<n_out_; ++oind) {
       // Skip if nothing to assign
       if (res[oind]==nullptr || nnz_out(oind)==0) continue;
       // Clear result
       casadi_clear(res[oind], nnz_out(oind));
       // Loop over inputs
       for (casadi_int iind=0; iind<n_in_; ++iind) {
         // Skip if no seeds
         if (arg[iind]==nullptr || nnz_in(iind)==0) continue;
         // Propagate sparsity for the specific block
         if (sp_forward_block(arg, res, iw, w, mem, oind, iind)) return 1;
       }
     }
     return 0;
   }

References casadi::casadi_clear(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_in(), casadi::FunctionInternal::nnz_out(), and casadi::FunctionInternal::sp_forward_block().

Referenced by casadi::MXFunction::sp_forward(), casadi::SXFunction::sp_forward(), and casadi::BSplineInterpolant::sp_forward().

◆ sp_forward_block()

int casadi::FunctionInternal::sp_forward_block	(	const bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem,
		casadi_int	oind,
		casadi_int	iind
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mx

Definition at line 2857 of file function_internal.cpp.

                                                                                     {
     // Get the sparsity of the Jacobian block
     Sparsity sp = jac_sparsity(oind, iind, true, false);
     if (sp.is_null() || sp.nnz() == 0) return 0; // Skip if zero
     // Carry out the sparse matrix-vector multiplication
     casadi_int d1 = sp.size2();
     const casadi_int *colind = sp.colind(), *row = sp.row();
     for (casadi_int cc=0; cc<d1; ++cc) {
       for (casadi_int el = colind[cc]; el < colind[cc+1]; ++el) {
         res[oind][row[el]] |= arg[iind][cc];
       }
     }
     return 0;
   }

References casadi::Sparsity::colind(), casadi::GenericShared< Shared, Internal >::is_null(), casadi::FunctionInternal::jac_sparsity(), casadi::Sparsity::nnz(), casadi::Sparsity::row(), and casadi::Sparsity::size2().

Referenced by casadi::FunctionInternal::sp_forward().

◆ sp_reverse()

int casadi::FunctionInternal::sp_reverse	(	bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_my

Reimplemented in casadi::BSplineInterpolant, casadi::SXFunction, casadi::Rootfinder, casadi::MXFunction, casadi::MapSum, casadi::Map, and casadi::Integrator.

Definition at line 2873 of file function_internal.cpp.

                                                                                      {
     // Loop over outputs
     for (casadi_int oind=0; oind<n_out_; ++oind) {
       // Skip if nothing to assign
       if (res[oind]==nullptr || nnz_out(oind)==0) continue;
  
       // Loop over inputs
       for (casadi_int iind=0; iind<n_in_; ++iind) {
         // Skip if no seeds
         if (arg[iind]==nullptr || nnz_in(iind)==0) continue;
  
         // Get the sparsity of the Jacobian block
         Sparsity sp = jac_sparsity(oind, iind, true, false);
         if (sp.is_null() || sp.nnz() == 0) continue; // Skip if zero
  
         // Carry out the sparse matrix-vector multiplication
         casadi_int d1 = sp.size2();
         const casadi_int *colind = sp.colind(), *row = sp.row();
         for (casadi_int cc=0; cc<d1; ++cc) {
           for (casadi_int el = colind[cc]; el < colind[cc+1]; ++el) {
             arg[iind][cc] |= res[oind][row[el]];
           }
         }
       }
  
       // Clear seeds
       casadi_clear(res[oind], nnz_out(oind));
     }
     return 0;
   }

References casadi::casadi_clear(), casadi::Sparsity::colind(), casadi::GenericShared< Shared, Internal >::is_null(), casadi::FunctionInternal::jac_sparsity(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::Sparsity::nnz(), casadi::FunctionInternal::nnz_in(), casadi::FunctionInternal::nnz_out(), casadi::Sparsity::row(), and casadi::Sparsity::size2().

Referenced by casadi::MXFunction::sp_reverse(), casadi::SXFunction::sp_reverse(), and casadi::BSplineInterpolant::sp_reverse().

◆ sp_weight()

double casadi::FunctionInternal::sp_weight ( ) const

virtualinherited

sparsity propagation

Extra doc: https://github.com/casadi/casadi/wiki/L_l6

Definition at line 3285 of file function_internal.cpp.

                                            {
     // If reverse mode propagation unavailable, use forward
     if (!has_sprev()) return 0;
  
     // If forward mode propagation unavailable, use reverse
     if (!has_spfwd()) return 1;
  
     // Use the (potentially user set) option
     return ad_weight_sp_;
   }

References casadi::FunctionInternal::ad_weight_sp_, casadi::FunctionInternal::has_spfwd(), and casadi::FunctionInternal::has_sprev().

Referenced by casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_hierarchical(), casadi::MXFunction::sp_forward(), casadi::SXFunction::sp_forward(), casadi::MXFunction::sp_reverse(), casadi::SXFunction::sp_reverse(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ sparsity_in()

const Sparsity& casadi::FunctionInternal::sparsity_in ( casadi_int ind ) const

inlineinherited

◆ sparsity_out()

const Sparsity& casadi::FunctionInternal::sparsity_out ( casadi_int ind ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mh

Definition at line 1010 of file function_internal.hpp.

1010 { return sparsity_out_.at(ind); }

◆ sprint()

void casadi::ProtoFunction::sprint	(	char *	buf,
		size_t	buf_sz,
		const char *	fmt,
			...
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_js

Definition at line 3885 of file function_internal.cpp.

                                                                                  {
     // Variable number of arguments
     va_list args;
     va_start(args, fmt);
     // Print to buffer
     casadi_int n = vsnprintf(buf, buf_sz, fmt, args);
     // Cleanup
     va_end(args);
     // Throw error if failure
     casadi_assert(n>=0 && n<buf_sz, "Print failure while processing '" + std::string(fmt) + "'");
   }

Referenced by casadi::ProtoFunction::format_time(), and casadi::ProtoFunction::print_time().

◆ string_from_UnifiedReturnStatus()

std::string casadi::FunctionInternal::string_from_UnifiedReturnStatus ( UnifiedReturnStatus status )

staticinherited

Definition at line 3953 of file function_internal.cpp.

                                                                                         {
     switch (status) {
       case SOLVER_RET_LIMITED:  return "SOLVER_RET_LIMITED";
       case SOLVER_RET_NAN:  return "SOLVER_RET_NAN";
       case SOLVER_RET_SUCCESS:  return "SOLVER_RET_SUCCESS";
       default: return "SOLVER_RET_UNKNOWN";
     }
   }

References casadi::SOLVER_RET_LIMITED, casadi::SOLVER_RET_NAN, and casadi::SOLVER_RET_SUCCESS.

Referenced by casadi::Conic::get_stats(), casadi::Nlpsol::get_stats(), and casadi::Rootfinder::get_stats().

◆ sx_in() [1/2]

const std::vector< SX > casadi::FunctionInternal::sx_in ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Reimplemented in casadi::SXFunction.

Definition at line 3312 of file function_internal.cpp.

                                                     {
     std::vector<SX> ret(n_in_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = sx_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_in_.

◆ sx_in() [2/2]

const SX casadi::FunctionInternal::sx_in ( casadi_int ind ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Reimplemented in casadi::SXFunction.

Definition at line 3296 of file function_internal.cpp.

                                                        {
     return SX::sym(name_in_.at(ind), sparsity_in(ind));
   }

References casadi::FunctionInternal::name_in_, casadi::FunctionInternal::sparsity_in(), and casadi::GenericMatrix< Matrix< Scalar > >::sym().

◆ sx_out() [1/2]

const std::vector< SX > casadi::FunctionInternal::sx_out ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3320 of file function_internal.cpp.

                                                      {
     std::vector<SX> ret(n_out_);
     for (casadi_int i=0; i<ret.size(); ++i) {
       ret[i] = sx_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::n_out_.

◆ sx_out() [2/2]

const SX casadi::FunctionInternal::sx_out ( casadi_int ind ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l7

Definition at line 3300 of file function_internal.cpp.

                                                         {
     return SX::sym(name_out_.at(ind), sparsity_out(ind));
   }

References casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_out(), and casadi::GenericMatrix< Matrix< Scalar > >::sym().

◆ symbolic_output()

std::vector< MX > casadi::FunctionInternal::symbolic_output ( const std::vector< MX > & arg ) const

virtualinherited

Reimplemented in casadi::MXFunction.

Definition at line 1150 of file function_internal.cpp.

                                                                                 {
     return self()(arg);
   }

Referenced by casadi::MXFunction::symbolic_output().

◆ symbolicAdjSeed()

template<typename MatType >

std::vector< std::vector< MatType > > casadi::FunctionInternal::symbolicAdjSeed	(	casadi_int	nadj,
		const std::vector< MatType > &	v
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ns

Definition at line 1535 of file function_internal.hpp.

                                                                       {
     std::vector<std::vector<MatType> > aseed(nadj, v);
     for (casadi_int dir=0; dir<nadj; ++dir) {
       // Replace symbolic inputs
       casadi_int oind=0;
       for (typename std::vector<MatType>::iterator i=aseed[dir].begin();
           i!=aseed[dir].end();
           ++i, ++oind) {
         // Name of the adjoint seed
         std::stringstream ss;
         ss << "a";
         if (nadj>1) ss << dir << "_";
         ss << oind;
  
         // Save to matrix
         *i = MatType::sym(ss.str(), is_diff_out_[oind] ? i->sparsity() : Sparsity(i->size()));
  
       }
     }
     return aseed;
   }

References casadi::FunctionInternal::is_diff_out_.

◆ sz_arg()

size_t casadi::FunctionInternal::sz_arg ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n0

Definition at line 1172 of file function_internal.hpp.

1172 { return sz_arg_per_ + sz_arg_tmp_;}

◆ sz_iw()

size_t casadi::FunctionInternal::sz_iw ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n2

Definition at line 1182 of file function_internal.hpp.

1182 { return sz_iw_per_ + sz_iw_tmp_;}

◆ sz_res()

size_t casadi::FunctionInternal::sz_res ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n1

Definition at line 1177 of file function_internal.hpp.

1177 { return sz_res_per_ + sz_res_tmp_;}

◆ sz_w()

size_t casadi::FunctionInternal::sz_w ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n3

Definition at line 1187 of file function_internal.hpp.

1187 { return sz_w_per_ + sz_w_tmp_;}

◆ sz_work()

void casadi::FunctionInternal::sz_work	(	size_t &	sz_arg,
		size_t &	sz_res,
		size_t &	sz_iw,
		size_t &	sz_w
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_mz

Definition at line 2905 of file function_internal.cpp.

                                                                     {
     sz_arg = this->sz_arg();
     sz_res = this->sz_res();
     sz_iw = this->sz_iw();
     sz_w = this->sz_w();
   }

References casadi::FunctionInternal::sz_arg(), casadi::FunctionInternal::sz_iw(), casadi::FunctionInternal::sz_res(), and casadi::FunctionInternal::sz_w().

◆ to_compact()

Sparsity casadi::FunctionInternal::to_compact	(	casadi_int	oind,
		casadi_int	iind,
		const Sparsity &	sp
	)		const

inherited

Definition at line 1921 of file function_internal.cpp.

                                 {
     // Strip rows and columns
     std::vector<casadi_int> mapping;
     return sp.sub(sparsity_out(oind).find(), sparsity_in(iind).find(), mapping);
   }

References casadi::FunctionInternal::find(), casadi::FunctionInternal::sparsity_in(), casadi::FunctionInternal::sparsity_out(), and casadi::Sparsity::sub().

Referenced by casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::set_jac_sparsity().

◆ tocache()

void casadi::FunctionInternal::tocache	(	const Function &	f,
		const std::string &	suffix = `""`
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ll

Definition at line 1083 of file function_internal.cpp.

                                                                                  {
     cache_.tocache(f.name() + ":" + suffix, f);
   }

References casadi::FunctionInternal::cache_, and casadi::Function::name().

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::BlazingSplineFunction::get_jacobian(), and casadi::FunctionInternal::init().

◆ tocache_if_missing()

void casadi::FunctionInternal::tocache_if_missing	(	Function &	f,
		const std::string &	suffix = `""`
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29j

Definition at line 1087 of file function_internal.cpp.

                                                                                       {
     cache_.tocache_if_missing(f.name() + ":" + suffix, f);
   }

References casadi::FunctionInternal::cache_, and casadi::Function::name().

Referenced by casadi::MapSum::create(), casadi::OracleFunction::create_function(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::map(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::wrap().

◆ uses_output()

virtual bool casadi::FunctionInternal::uses_output ( ) const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_kx

Reimplemented in casadi::Rootfinder, casadi::Nlpsol, casadi::FiniteDiff, and casadi::CallbackInternal.

Definition at line 613 of file function_internal.hpp.

613 {return false;}

Referenced by casadi::FunctionInternal::get_sparsity_in().

◆ weak()

GenericWeakRef< SharedObject , SharedObjectInternal > * casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::weak

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1ai

Definition at line 67 of file generic_shared_internal.hpp.

                                                                                   {
     if (weak_ref_==nullptr) {
       weak_ref_ = new GenericWeakRef<Shared, Internal>(static_cast<Internal*>(this));
     }
     return weak_ref_;
   }

◆ which_depends()

std::vector< bool > casadi::FunctionInternal::which_depends	(	const std::string &	s_in,
		const std::vector< std::string > &	s_out,
		casadi_int	order,
		bool	tr = `false`
	)		const

virtualinherited

Parameters

[in]	s_in	Input name
[in]	s_out	Output name(s)
[in]	order	Only 1 (linear) and 2 (nonlinear) allowed
[in]	tr	Flip the relationship. Return which expressions contain the variables

Extra doc: https://github.com/casadi/casadi/wiki/L_k9

Reimplemented in casadi::XFunction< DerivedType, MatType, NodeType >, casadi::XFunction< MXFunction, MX, MXNode >, and casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 3728 of file function_internal.cpp.

                                        {
     Function f = shared_from_this<Function>();
     f = f.wrap();
     return f.which_depends(s_in, s_out, order, tr);
   }

References casadi::Function::which_depends(), and casadi::Function::wrap().

◆ wrap()

Function casadi::FunctionInternal::wrap ( ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_li

Definition at line 1128 of file function_internal.cpp.

                                         {
     Function f;
     std::string fname = "wrap_" + name_;
     if (!incache(fname, f)) {
       // Options
       Dict opts;
       opts["derivative_of"] = derivative_of_;
       opts["ad_weight"] = ad_weight();
       opts["ad_weight_sp"] = sp_weight();
       opts["max_num_dir"] = max_num_dir_;
       opts["is_diff_in"] = is_diff_in_;
       opts["is_diff_out"] = is_diff_out_;
       // Wrap the function
       std::vector<MX> arg = mx_in();
       std::vector<MX> res = self()(arg);
       f = Function(fname, arg, res, name_in_, name_out_, opts);
       // Save in cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::eval_mx(), casadi::FunctionInternal::factory(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::reverse(), casadi::FunctionInternal::slice(), and casadi::Function::wrap().

◆ wrap_as_needed()

Function casadi::FunctionInternal::wrap_as_needed ( const Dict & opts ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_lj

Definition at line 1110 of file function_internal.cpp.

                                                                   {
     if (opts.empty()) return shared_from_this<Function>();
     std::string fname = "wrap_" + name_;
     // Options
     Dict my_opts = opts;
     my_opts["derivative_of"] = derivative_of_;
     if (my_opts.find("ad_weight")==my_opts.end())
       my_opts["ad_weight"] = ad_weight();
     if (my_opts.find("ad_weight_sp")==my_opts.end())
       my_opts["ad_weight_sp"] = sp_weight();
     if (my_opts.find("max_num_dir")==my_opts.end())
       my_opts["max_num_dir"] = max_num_dir_;
     // Wrap the function
     std::vector<MX> arg = mx_in();
     std::vector<MX> res = self()(arg);
     return Function(fname, arg, res, name_in_, name_out_, my_opts);
   }

References casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::derivative_of_, casadi::FunctionInternal::Function, casadi::FunctionInternal::max_num_dir_, casadi::FunctionInternal::mx_in(), casadi::ProtoFunction::name_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, and casadi::FunctionInternal::sp_weight().

Referenced by casadi::Function::wrap_as_needed().

Member Data Documentation

◆ A_

Sparsity casadi::Conic::A_

protectedinherited

Definition at line 166 of file conic_impl.hpp.

Referenced by codegen_body(), codegen_init_mem(), casadi::Conic::Conic(), casadi::Conic::eval(), casadi::Conic::get_sparsity_in(), casadi::SqicInterface::init(), casadi::FatropConicInterface::init(), casadi::HpipmInterface::init(), casadi::HpmpcInterface::init(), casadi::OoqpInterface::init(), init(), casadi::SuperscsInterface::init(), casadi::Ipqp::init(), casadi::QpToNlp::init(), casadi::Qrqp::init(), casadi::ClarabelInterface::init_dependent(), casadi::HighsInterface::init_dependent(), casadi::CbcInterface::init_mem(), casadi::ClpInterface::init_mem(), casadi::CplexInterface::init_mem(), init_mem(), casadi::QpoasesInterface::init_mem(), casadi::Conic::qp_codegen_body(), casadi::Conic::sdp_to_socp_init(), casadi::Conic::serialize_body(), casadi::CbcInterface::solve(), casadi::ClpInterface::solve(), casadi::HpmpcInterface::solve(), casadi::OoqpInterface::solve(), solve(), casadi::ProxqpInterface::solve(), casadi::QpoasesInterface::solve(), casadi::SuperscsInterface::solve(), and casadi::Ipqp::solve().

◆ ad_weight_

double casadi::FunctionInternal::ad_weight_

inherited

Definition at line 1364 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ ad_weight_sp_

double casadi::FunctionInternal::ad_weight_sp_

inherited

Definition at line 1364 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::sp_weight().

◆ always_inline_

bool casadi::FunctionInternal::always_inline_

inherited

Definition at line 1263 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::eval_mx(), casadi::MXFunction::eval_mx(), casadi::SXFunction::eval_mx(), casadi::FunctionInternal::eval_sx(), casadi::MXFunction::eval_sx(), casadi::SXFunction::eval_sx(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ cache_

WeakCache<std::string, Function> casadi::FunctionInternal::cache_

mutableinherited

Definition at line 1335 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::cache(), casadi::FunctionInternal::incache(), casadi::FunctionInternal::tocache(), and casadi::FunctionInternal::tocache_if_missing().

◆ cache_init_

Dict casadi::FunctionInternal::cache_init_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_26h

Definition at line 1332 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ checkout_

casadi_checkout_t casadi::FunctionInternal::checkout_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nl

Definition at line 1312 of file function_internal.hpp.

Referenced by casadi::GenericExternal::any_symbol_found(), casadi::External::codegen_checkout(), casadi::External::codegen_declarations(), casadi::External::codegen_mem_type(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::GenericExternal::init_external(), and casadi::FunctionBuffer::operator=().

◆ compiler_

Importer casadi::FunctionInternal::compiler_

inherited

Definition at line 1353 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), and casadi::FunctionInternal::serialize_body().

◆ compiler_plugin_

std::string casadi::FunctionInternal::compiler_plugin_

inherited

Definition at line 1352 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), and casadi::FunctionInternal::serialize_body().

◆ custom_jacobian_

Function casadi::FunctionInternal::custom_jacobian_

inherited

Definition at line 1404 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ der_options_

Dict casadi::FunctionInternal::der_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ derivative_of_

Function casadi::FunctionInternal::derivative_of_

inherited

Definition at line 1346 of file function_internal.hpp.

◆ deserialize_map

std::map< std::string, ProtoFunction *(*)(DeserializingStream &)> casadi::FunctionInternal::deserialize_map

staticinherited

Initial value:

= {
    {"MXFunction", MXFunction::deserialize},
    {"SXFunction", SXFunction::deserialize},
    {"Interpolant", Interpolant::deserialize},
    {"Switch", Switch::deserialize},
    {"Map", Map::deserialize},
    {"MapSum", MapSum::deserialize},
    {"Nlpsol", Nlpsol::deserialize},
    {"Rootfinder", Rootfinder::deserialize},
    {"Integrator", Integrator::deserialize},
    {"External", External::deserialize},
    {"Conic", Conic::deserialize},
    {"FmuFunction", FmuFunction::deserialize},
    {"BlazingSplineFunction", BlazingSplineFunction::deserialize}
  }

Definition at line 1455 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::deserialize().

◆ discrete_

std::vector<bool> casadi::Conic::discrete_

protectedinherited

Definition at line 161 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::init(), casadi::CplexInterface::init(), casadi::HighsInterface::init_dependent(), casadi::Conic::serialize_body(), casadi::HighsInterface::set_highs_prob(), casadi::CbcInterface::solve(), casadi::CplexInterface::solve(), and casadi::GurobiInterface::solve().

◆ dump_

bool casadi::FunctionInternal::dump_

inherited

Definition at line 1392 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ dump_count_

casadi_int casadi::FunctionInternal::dump_count_

mutableinherited

Definition at line 1410 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), and casadi::FunctionInternal::reset_dump_count().

◆ dump_dir_

std::string casadi::FunctionInternal::dump_dir_

inherited

Definition at line 1395 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ dump_format_

std::string casadi::FunctionInternal::dump_format_

inherited

Definition at line 1398 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ dump_in_

bool casadi::FunctionInternal::dump_in_

inherited

Definition at line 1392 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ dump_out_

bool casadi::FunctionInternal::dump_out_

inherited

Definition at line 1392 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_fd_

bool casadi::FunctionInternal::enable_fd_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::JitFunction::JitFunction(), and casadi::FunctionInternal::serialize_body().

◆ enable_fd_op_

bool casadi::FunctionInternal::enable_fd_op_

inherited

Definition at line 1361 of file function_internal.hpp.

Referenced by casadi::FmuFunction::FmuFunction(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_forward_

bool casadi::FunctionInternal::enable_forward_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_forward(), casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_forward_op_

bool casadi::FunctionInternal::enable_forward_op_

inherited

Definition at line 1361 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_jacobian_

bool casadi::FunctionInternal::enable_jacobian_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), and casadi::FunctionInternal::serialize_body().

◆ enable_jacobian_op_

bool casadi::FunctionInternal::enable_jacobian_op_

inherited

Definition at line 1361 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_reverse_

bool casadi::FunctionInternal::enable_reverse_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_reverse(), casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ enable_reverse_op_

bool casadi::FunctionInternal::enable_reverse_op_

inherited

Definition at line 1361 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ equality_

std::vector<bool> casadi::Conic::equality_

protectedinherited

Definition at line 162 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::init(), and casadi::Conic::serialize_body().

◆ error_on_fail_

bool casadi::ProtoFunction::error_on_fail_

inherited

◆ eval_

eval_t casadi::FunctionInternal::eval_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nk

Definition at line 1307 of file function_internal.hpp.

Referenced by casadi::FunctionBuffer::_eval(), casadi::GenericExternal::any_symbol_found(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), and casadi::GenericExternal::init_external().

◆ fd_method_

std::string casadi::FunctionInternal::fd_method_

inherited

Definition at line 1379 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FmuFunction::init(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ fd_options_

Dict casadi::FunctionInternal::fd_options_

inherited

Definition at line 1373 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ fd_step_

double casadi::FunctionInternal::fd_step_

inherited

Definition at line 1376 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ forward_options_

Dict casadi::FunctionInternal::forward_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ H_

Sparsity casadi::Conic::H_

protectedinherited

Definition at line 166 of file conic_impl.hpp.

Referenced by codegen_body(), codegen_init_mem(), casadi::Conic::Conic(), casadi::Conic::eval(), casadi::Conic::get_sparsity_in(), casadi::CbcInterface::init(), casadi::ClpInterface::init(), casadi::HpipmInterface::init(), casadi::HpmpcInterface::init(), casadi::OoqpInterface::init(), init(), casadi::SuperscsInterface::init(), casadi::Ipqp::init(), casadi::QpToNlp::init(), casadi::Qrqp::init(), casadi::ClarabelInterface::init_dependent(), casadi::HighsInterface::init_dependent(), casadi::CplexInterface::init_mem(), init_mem(), casadi::ProxqpInterface::init_mem(), casadi::QpoasesInterface::init_mem(), casadi::Conic::qp_codegen_body(), casadi::Conic::serialize_body(), casadi::GurobiInterface::solve(), casadi::HpmpcInterface::solve(), casadi::OoqpInterface::solve(), solve(), casadi::ProxqpInterface::solve(), casadi::QpoasesInterface::solve(), casadi::SuperscsInterface::solve(), and casadi::Ipqp::solve().

◆ has_refcount_

bool casadi::FunctionInternal::has_refcount_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_no

Definition at line 1327 of file function_internal.hpp.

Referenced by casadi::CodeGenerator::add_dependency(), casadi::FunctionInternal::FunctionInternal(), casadi::Call::has_refcount(), casadi::External::init(), casadi::MXFunction::init(), OsqpInterface(), and casadi::FunctionInternal::serialize_body().

◆ infix_

const std::string casadi::Conic::infix_ = "conic"

staticinherited

Definition at line 130 of file conic_impl.hpp.

◆ inputs_check_

bool casadi::FunctionInternal::inputs_check_

inherited

Definition at line 1370 of file function_internal.hpp.

Referenced by casadi::Nlpsol::check_inputs(), casadi::Conic::eval(), casadi::SqicInterface::evaluate(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::GurobiInterface::solve().

◆ is_diff_in_

std::vector<bool> casadi::FunctionInternal::is_diff_in_

inherited

Definition at line 1269 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::definition(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwd_seed(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::MapSum::init(), casadi::FunctionInternal::jac_sparsity(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::wrap().

◆ is_diff_out_

std::vector<bool> casadi::FunctionInternal::is_diff_out_

inherited

Definition at line 1269 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::definition(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::MapSum::init(), casadi::FunctionInternal::jac_sparsity(), casadi::FunctionInternal::serialize_body(), casadi::FunctionInternal::symbolicAdjSeed(), and casadi::FunctionInternal::wrap().

◆ jac_penalty_

double casadi::FunctionInternal::jac_penalty_

inherited

Definition at line 1357 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ jac_sparsity_

std::vector<Sparsity> casadi::FunctionInternal::jac_sparsity_[2]

mutableinherited

Definition at line 1338 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::set_jac_sparsity().

◆ jacobian_options_

Dict casadi::FunctionInternal::jacobian_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), and casadi::FunctionInternal::serialize_body().

◆ jit_

bool casadi::FunctionInternal::jit_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nf

Definition at line 1280 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::JitFunction::JitFunction(), casadi::OracleFunction::OracleFunction(), casadi::FunctionInternal::serialize_body(), casadi::OracleFunction::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_base_name_

std::string casadi::FunctionInternal::jit_base_name_

inherited

Definition at line 1297 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ jit_cleanup_

bool casadi::FunctionInternal::jit_cleanup_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ng

Definition at line 1285 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_name_

std::string casadi::FunctionInternal::jit_name_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_ni

Definition at line 1295 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_options_

Dict casadi::FunctionInternal::jit_options_

inherited

Definition at line 1354 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_serialize_

std::string casadi::FunctionInternal::jit_serialize_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nh

Definition at line 1290 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::OracleFunction::OracleFunction(), casadi::FunctionInternal::serialize_body(), and casadi::OracleFunction::serialize_body().

◆ jit_temp_suffix_

bool casadi::FunctionInternal::jit_temp_suffix_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nj

Definition at line 1302 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ max_io_

casadi_int casadi::FunctionInternal::max_io_

inherited

Definition at line 1389 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ max_num_dir_

casadi_int casadi::FunctionInternal::max_num_dir_

inherited

Definition at line 1367 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ meta_doc

const std::string casadi::OsqpInterface::meta_doc

static

Initial value:

=
      "\n"
"\n"
"\n"
"Interface to the OSQP Solver for quadratic programming\n"
"\n"
"Extra doc: https://github.com/casadi/casadi/wiki/L_220 \n"
"\n"
"\n"
"Interface to the PROXQP Solver for quadratic programming\n"
"\n"
"Extra doc: https://github.com/casadi/casadi/wiki/L_243 \n"
"\n"
"\n"
">List of available options\n"
"\n"
"+-------------------+---------+--------------------------------------------+\n"
"|        Id         |  Type   |                Description                 |\n"
"+===================+=========+============================================+\n"
"| osqp              | OT_DICT | const Options to be passed to osqp.        |\n"
"+-------------------+---------+--------------------------------------------+\n"
"| warm_start_dual   | OT_BOOL | Use lam_a0 and lam_x0 input to warmstart   |\n"
"|                   |         | [Default: truw].                           |\n"
"+-------------------+---------+--------------------------------------------+\n"
"| warm_start_primal | OT_BOOL | Use x0 input to warmstart [Default: true]. |\n"
"+-------------------+---------+--------------------------------------------+\n"
"\n"
"\n"
"\n"
"\n"

Definition at line 116 of file osqp_interface.hpp.

Referenced by casadi::casadi_register_conic_osqp().

◆ n_in_

size_t casadi::FunctionInternal::n_in_

inherited

Definition at line 1266 of file function_internal.hpp.

◆ n_out_

size_t casadi::FunctionInternal::n_out_

inherited

Definition at line 1266 of file function_internal.hpp.

◆ na_

casadi_int casadi::Conic::na_

protectedinherited

Definition at line 172 of file conic_impl.hpp.

◆ name_

std::string casadi::ProtoFunction::name_

inherited

Definition at line 246 of file function_internal.hpp.

◆ name_in_

std::vector<std::string> casadi::FunctionInternal::name_in_

inherited

Definition at line 1275 of file function_internal.hpp.

◆ name_out_

std::vector<std::string> casadi::FunctionInternal::name_out_

inherited

Definition at line 1275 of file function_internal.hpp.

◆ never_inline_

bool casadi::FunctionInternal::never_inline_

inherited

Definition at line 1263 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::eval_mx(), casadi::MXFunction::eval_mx(), casadi::SXFunction::eval_mx(), casadi::FunctionInternal::eval_sx(), casadi::MXFunction::eval_sx(), casadi::SXFunction::eval_sx(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ nnzA_

casadi_int casadi::OsqpInterface::nnzA_

Definition at line 122 of file osqp_interface.hpp.

Referenced by codegen_body(), codegen_init_mem(), init(), init_mem(), OsqpInterface(), serialize_body(), and solve().

◆ nnzHupp_

casadi_int casadi::OsqpInterface::nnzHupp_

Definition at line 122 of file osqp_interface.hpp.

Referenced by codegen_body(), init(), OsqpInterface(), serialize_body(), and solve().

◆ np_

casadi_int casadi::Conic::np_

protectedinherited

Definition at line 175 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::init(), casadi::Conic::sdp_to_socp_init(), and casadi::Conic::serialize_body().

◆ nx_

casadi_int casadi::Conic::nx_

protectedinherited

Definition at line 169 of file conic_impl.hpp.

◆ options_

const Options casadi::OsqpInterface::options_

static

Initial value:

= {{&Conic::options_},
     {{"osqp",
       {OT_DICT,
        "const Options to be passed to osqp."}},
      {"warm_start_primal",
       {OT_BOOL,
        "Use x0 input to warmstart [Default: true]."}},
      {"warm_start_dual",
       {OT_BOOL,
        "Use lam_a0 and lam_x0 input to warmstart [Default: truw]."}}
     }
  }

Definition at line 89 of file osqp_interface.hpp.

Referenced by casadi::casadi_register_conic_osqp().

◆ P_

Sparsity casadi::Conic::P_

protectedinherited

Definition at line 166 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::get_sparsity_in(), casadi::Conic::sdp_to_socp_init(), and casadi::Conic::serialize_body().

◆ p_qp_

casadi_qp_prob<double> casadi::Conic::p_qp_

inherited

Definition at line 47 of file conic_impl.hpp.

Referenced by casadi::DaqpInterface::set_daqp_prob(), casadi::FatropConicInterface::set_fatrop_conic_prob(), casadi::HighsInterface::set_highs_prob(), and casadi::HpipmInterface::set_hpipm_prob().

◆ print_canonical_

bool casadi::FunctionInternal::print_canonical_

inherited

Definition at line 1386 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::MXFunction::print_arg(), casadi::SXFunction::print_arg(), casadi::FunctionInternal::print_in(), casadi::FunctionInternal::print_out(), casadi::MXFunction::print_res(), casadi::SXFunction::print_res(), and casadi::FunctionInternal::serialize_body().

◆ print_in_

bool casadi::FunctionInternal::print_in_

inherited

Definition at line 1382 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ print_out_

bool casadi::FunctionInternal::print_out_

inherited

Definition at line 1383 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ print_problem_

bool casadi::Conic::print_problem_

protectedinherited

Definition at line 163 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::eval(), casadi::Conic::init(), and casadi::Conic::serialize_body().

◆ print_time_

bool casadi::ProtoFunction::print_time_

inherited

Definition at line 252 of file function_internal.hpp.

Referenced by casadi::FixedStepIntegrator::create_advanced(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::FunctionInternal::init(), casadi::Nlpsol::Nlpsol(), casadi::ProtoFunction::print_time(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

◆ Q_

Sparsity casadi::Conic::Q_

protectedinherited

Definition at line 166 of file conic_impl.hpp.

Referenced by casadi::Conic::Conic(), casadi::Conic::get_sparsity_in(), casadi::SuperscsInterface::init(), casadi::Conic::sdp_to_socp_init(), casadi::Conic::serialize_body(), and casadi::SuperscsInterface::solve().

◆ record_time_

bool casadi::ProtoFunction::record_time_

inherited

Definition at line 255 of file function_internal.hpp.

Referenced by casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::FunctionInternal::init(), casadi::ProtoFunction::init_mem(), casadi::LinsolInternal::init_mem(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

◆ regularity_check_

bool casadi::ProtoFunction::regularity_check_

inherited

Definition at line 258 of file function_internal.hpp.

Referenced by casadi::OracleFunction::calc_function(), casadi::ProtoFunction::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

◆ release_

casadi_release_t casadi::FunctionInternal::release_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nm

Definition at line 1317 of file function_internal.hpp.

Referenced by casadi::GenericExternal::any_symbol_found(), casadi::External::codegen_declarations(), casadi::External::codegen_release(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::GenericExternal::init_external(), and casadi::FunctionBuffer::~FunctionBuffer().

◆ reverse_options_

Dict casadi::FunctionInternal::reverse_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ settings_

OSQPSettings casadi::OsqpInterface::settings_

Definition at line 124 of file osqp_interface.hpp.

Referenced by codegen_init_mem(), init(), init_mem(), OsqpInterface(), and serialize_body().

◆ solvers_

std::map< std::string, Conic::Plugin > casadi::Conic::solvers_

staticinherited

Definition at line 123 of file conic_impl.hpp.

◆ sparsity_in_

std::vector<Sparsity> casadi::FunctionInternal::sparsity_in_

inherited

Definition at line 1272 of file function_internal.hpp.

◆ sparsity_out_

std::vector<Sparsity> casadi::FunctionInternal::sparsity_out_

inherited

◆ stats_

Dict casadi::FunctionInternal::stats_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nn

Definition at line 1322 of file function_internal.hpp.

◆ user_data_

void* casadi::FunctionInternal::user_data_

inherited

Definition at line 1349 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ verbose_

bool casadi::ProtoFunction::verbose_

inherited

Definition at line 249 of file function_internal.hpp.

◆ warm_start_dual_

bool casadi::OsqpInterface::warm_start_dual_

Definition at line 126 of file osqp_interface.hpp.

Referenced by init(), OsqpInterface(), serialize_body(), and solve().

◆ warm_start_primal_

bool casadi::OsqpInterface::warm_start_primal_

Definition at line 126 of file osqp_interface.hpp.

Referenced by init(), OsqpInterface(), serialize_body(), and solve().

The documentation for this class was generated from the following files:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Creator

◆ RegFcn

◆ weak_ref_type

Constructor & Destructor Documentation

◆ OsqpInterface() [1/2]

◆ ~OsqpInterface()

◆ OsqpInterface() [2/2]

Member Function Documentation

◆ ad_weight()

◆ add_embedded()

◆ adjViaJac()

◆ all_scalar()

◆ alloc()

◆ alloc_arg()

◆ alloc_iw()

◆ alloc_mem()

◆ alloc_res()

◆ alloc_w()

◆ cache()

◆ call()

◆ call_forward() [1/2]

◆ call_forward() [2/2]

◆ call_gen() [1/2]

◆ call_gen() [2/2]

◆ call_reverse() [1/2]

◆ call_reverse() [2/2]

◆ change_option()

◆ check_arg()

◆ check_inputs()

◆ check_mat()

◆ check_mem_count()

◆ check_res()

◆ checkout()

◆ class_name()

◆ clear_mem()

◆ codegen()

◆ codegen_alloc_mem()

◆ codegen_body()

◆ codegen_checkout()

◆ codegen_declarations()

◆ codegen_decref()

◆ codegen_free_mem()

◆ codegen_incref()

◆ codegen_init_mem()

◆ codegen_mem()

◆ codegen_mem_type()

◆ codegen_meta()

◆ codegen_name()

◆ codegen_release()

◆ codegen_sparsities()

◆ codegen_sz_arg()

◆ codegen_sz_iw()

◆ codegen_sz_res()

◆ codegen_sz_w()

◆ construct()

◆ convert_arg() [1/2]

◆ convert_arg() [2/2]

◆ convert_res() [1/2]

◆ convert_res() [2/2]

◆ creator()

◆ debug_repr()

◆ definition()

◆ deserialize() [1/2]

◆ deserialize() [2/2]

◆ destroySingleton()

◆ diff_prefix()

◆ disp()

◆ disp_more()

◆ dm_in() [1/2]

◆ dm_in() [2/2]

◆ dm_out() [1/2]