casadi::Linsol Class Reference

Linear solver. More...

#include <linsol.hpp>

Detailed Description

Create a solver for linear systems of equations Solves the linear system A*X = B or A^T*X = B for X with A square and non-singular

If A is structurally singular, an error will be thrown during init. If A is numerically singular, the prepare step will fail.

General information

List of plugins

- csparsecholesky

- csparse

- ma27

- lapacklu

- lapackqr

- mumps

- ldl

- qr

- tridiag

- symbolicqr

Note: some of the plugins in this list might not be available on your system. Also, there might be extra plugins available to you that are not listed here. You can obtain their documentation with Linsol.doc("myextraplugin")

---

csparsecholesky

Linsol with CSparseCholesky Interface

Extra doc: https://github.com/casadi/casadi/wiki/L_21u

---

csparse

Linsol with CSparse Interface

Extra doc: https://github.com/casadi/casadi/wiki/L_21t

---

ma27

Interface to the sparse direct linear solver MA27 Works for symmetric indefinite systems Partly adopted from qpOASES 3.2

Author

Joel Andersson

Date

2016

Extra doc: https://github.com/casadi/casadi/wiki/L_229

---

lapacklu

This class solves the linear system A.x=b by making an LU factorization of A:
A = L.U, with L lower and U upper triangular

Extra doc: https://github.com/casadi/casadi/wiki/L_22h

List of available options

Id	Type	Description
allow_equilibration_failure	OT_BOOL	Non-fatal error when equilibration fails
equilibration	OT_BOOL	Equilibrate the matrix

---

lapackqr

This class solves the linear system A.x=b by making an QR factorization of A:
A = Q.R, with Q orthogonal and R upper triangular

Extra doc: https://github.com/casadi/casadi/wiki/L_22g

List of available options

Id	Type	Description
max_nrhs	OT_INT	Maximum number of right-hand-sides that get processed in a single pass [default:10].

---

mumps

Interface to the sparse direct linear solver MUMPS Works for symmetric indefinite systems

Author

Joel Andersson

Date

2019

Extra doc: https://github.com/casadi/casadi/wiki/L_22t

List of available options

Id	Type	Description
posdef	OT_BOOL	Positive definite
symmetric	OT_BOOL	Symmetric matrix

---

ldl

Linear solver using sparse direct LDL factorization

Extra doc: https://github.com/casadi/casadi/wiki/L_233

List of available options

Id	Type	Description
incomplete	OT_BOOL	Incomplete factorization, without any fill-in
preordering	OT_BOOL	Approximate minimal degree (AMD) preordering

---

qr

Linear solver using sparse direct QR factorization

Extra doc: https://github.com/casadi/casadi/wiki/L_22z

List of available options

Id	Type	Description
cache	OT_DOUBLE	Amount of factorisations to remember (thread-local) [0]
eps	OT_DOUBLE	Minimum R entry before singularity is declared [1e-12]

---

tridiag

Linear solver for tridiagonal matrices

Extra doc: https://github.com/casadi/casadi/wiki/L_22v

---

symbolicqr

Linear solver for sparse least-squares problems Inspired from https://github.com/scipy/scipy/blob/v0.14.0/scipy/sparse/linalg/isolve/lsqr.py#L96

Extra doc: https://github.com/casadi/casadi/wiki/L_230

Linsol based on QR factorization with sparsity pattern based reordering without partial pivoting

Extra doc: https://github.com/casadi/casadi/wiki/L_231

List of available options

Id	Type	Description
fopts	OT_DICT	Options to be passed to generated function objects

Author

Joel Andersson

Date

2011-2016

Extra doc: https://github.com/casadi/casadi/wiki/L_1kh

Definition at line 53 of file linsol.hpp.

Inheritance diagram for casadi::Linsol:

Collaboration diagram for casadi::Linsol:

Public Types
using	internal_base_type = SharedObjectInternal
using	base_type = SharedObject

Public Member Functions
	Linsol ()
	Default constructor. More...
	Linsol (const std::string &name, const std::string &solver, const Sparsity &sp, const Dict &opts=Dict())
	Constructor. More...
LinsolInternal *	operator-> ()
	Access functions of the node. More...
const LinsolInternal *	operator-> () const
std::string	plugin_name () const
	Query plugin name. More...
const Sparsity &	sparsity () const
	Get linear system sparsity. More...
void	sfact (const DM &A) const
	Symbolic factorization of the linear system, e.g. selecting pivots. More...
void	nfact (const DM &A) const
	Numeric factorization of the linear system. More...
casadi_int	neig (const DM &A) const
	Number of negative eigenvalues. More...
casadi_int	rank (const DM &A) const
	Matrix rank. More...
double	det (const DM &A) const
	Matrix determinant. More...
MX	det (const MX &A) const
	Matrix determinant as an MX graph node. More...
Dict	stats (int mem=1) const
	Get all statistics obtained at the end of the last evaluate call. More...
casadi_int	checkout () const
	Checkout a memory object. More...
void	release (int mem) const
	Release a memory object. More...
void	serialize (SerializingStream &s) const
	Serialize an object. More...
std::string	class_name () const
	Get class name. More...
void	disp (std::ostream &stream, bool more=false) const
	Print a description of the object. More...
std::string	get_str (bool more=false) const
	Get string representation. More...
void	print_ptr (std::ostream &stream=casadi::uout()) const
void	own (SharedObjectInternal *node)
void	assign (SharedObjectInternal *node)
	Assign the node to a node class pointer without reference counting. More...
SharedObjectInternal *	get () const
	Get a const pointer to the node. More...
casadi_int	getCount () const
	Get the reference count. More...
void	swap (GenericShared &other)
	Swap content with another instance. More...
std::string	debug_repr () const
bool	is_null () const
	Is a null pointer? More...
casadi_int	__hash__ () const
	Returns a number that is unique for a given Node. More...
GenericWeakRef< SharedObject, SharedObjectInternal > *	weak ()
	Get a weak reference to the object. More...
DM	solve (const DM &A, const DM &B, bool tr=false) const
MX	solve (const MX &A, const MX &B, bool tr=false) const
int	sfact (const double *A, int mem=0) const
int	nfact (const double *A, int mem=0) const
int	solve (const double *A, double *x, casadi_int nrhs=1, bool tr=false, int mem=0) const
double	det (const double *A, int mem=0) const
casadi_int	neig (const double *A, int mem=0) const
casadi_int	rank (const double *A, int mem=0) const

Static Public Member Functions
static std::string	type_name ()
	Get type name. More...
static bool	test_cast (const SharedObjectInternal *ptr)
	Check if a particular cast is allowed. More...
static Linsol	create (LinsolInternal *node)
	Create from node. More...
static bool	has_plugin (const std::string &name)
	Check if a plugin is available. More...
static void	load_plugin (const std::string &name)
	Explicitly load a plugin dynamically. More...
static std::string	doc (const std::string &name)
	Get solver specific documentation. More...
static Linsol	deserialize (DeserializingStream &s)
	Deserialize with type disambiguation. More...

Protected Member Functions
void	count_up ()
void	count_down ()

Member Typedef Documentation

base_type

using casadi::SharedObject::base_type = SharedObject

inherited

Definition at line 103 of file shared_object.hpp.

internal_base_type

using casadi::SharedObject::internal_base_type = SharedObjectInternal

inherited

Definition at line 102 of file shared_object.hpp.

Constructor & Destructor Documentation

Linsol() [1/2]

casadi::Linsol::Linsol

(

)

Definition at line 32 of file linsol.cpp.

                 {
  }

Linsol() [2/2]

casadi::Linsol::Linsol ( const std::string &  name, const std::string &  solver, const Sparsity &  sp, const Dict &  opts = Dict()  )

explicit

Definition at line 35 of file linsol.cpp.

                                                       {
    own(LinsolInternal::getPlugin(solver).creator(name, sp));
    (*this)->construct(opts);
  }

References casadi::PluginInterface< LinsolInternal >::getPlugin(), and casadi::GenericShared< SharedObject, SharedObjectInternal >::own().

Member Function Documentation

__hash__()

casadi_int casadi::GenericShared< SharedObject , SharedObjectInternal >::__hash__

inherited

If the Object does not point to any node, "0" is returned.

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

Definition at line 123 of file generic_shared_impl.hpp.

                                                             {
    return reinterpret_cast<casadi_int>(get());
  }

assign()

void casadi::GenericShared< SharedObject , SharedObjectInternal >::assign ( Internal *  node )

inherited

improper use will cause memory leaks!

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

Definition at line 96 of file generic_shared_impl.hpp.

                                                              {
    node = node_;
  }

checkout()

casadi_int casadi::Linsol::checkout

(

)

const

Definition at line 220 of file linsol.cpp.

                                    {
    return (*this)->checkout();
  }

Referenced by casadi::SundialsInterface::init_mem(), and casadi::Ipqp::solve().

class_name()

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

inherited

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

Definition at line 31 of file shared_object.cpp.

                                           {
    return (*this)->class_name();
  }

Referenced by casadi::FmuFunction::check_mem_count(), casadi::MXFunction::export_code_body(), and casadi::BlazingSplineFunction::merge().

count_down()

void casadi::GenericShared< SharedObject , SharedObjectInternal >::count_down

protectedinherited

Definition at line 133 of file generic_shared_impl.hpp.

                                                   {
#ifdef WITH_EXTRA_CHECKS
    casadi_assert_dev(Function::call_depth_==0);
#endif // WITH_EXTRA_CHECKS
    if (!node) return;
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
    GenericWeakRef<Shared, Internal>* weak_ref =
      node->weak_ref_.load(std::memory_order_acquire);
#else
    GenericWeakRef<Shared, Internal>* weak_ref = node->weak_ref_;
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
    if (weak_ref) {
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
      // get_mutex() returns a shared_ptr copy, so the mutex outlives this lock
      // even if delete node (below) destroys the WeakRefInternal holding it
      auto mutex = weak_ref->get_mutex();
      // Avoid triggering a delete while a weak_ref.shared_if_alive is being called
      std::lock_guard<std::mutex> lock(*mutex);
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
 
      if (--static_cast<Internal*>(node)->count == 0) {
        delete node;
        node = nullptr;
      }
    } else {
      if (--static_cast<Internal*>(node)->count == 0) {
        delete node;
        node = nullptr;
      }
    }
  }

count_up()

void casadi::GenericShared< SharedObject , SharedObjectInternal >::count_up

protectedinherited

Definition at line 132 of file generic_shared_impl.hpp.

                                                 {
#ifdef WITH_EXTRA_CHECKS
    casadi_assert_dev(Function::call_depth_==0);
#endif // WITH_EXTRA_CHECKS
 
    if (node) static_cast<Internal*>(node)->count++;
 
  }

create()

Linsol casadi::Linsol::create ( LinsolInternal *  node )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1kj

Definition at line 259 of file linsol.cpp.

                                            {
    Linsol ret;
    ret.own(node);
    return ret;
  }

References casadi::GenericShared< Shared, Internal >::own().

debug_repr()

std::string casadi::GenericShared< SharedObject , SharedObjectInternal >::debug_repr

inherited

Definition at line 112 of file generic_shared_impl.hpp.

                                                              {
    if (node) {
        return node->debug_repr(node);
    } else {
        return "NULL";
    }
  }

deserialize()

Linsol casadi::Linsol::deserialize ( DeserializingStream &  s )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_1kn

Definition at line 252 of file linsol.cpp.

                                                   {
    Linsol linsol;
    linsol.own(LinsolInternal::deserialize(s));
    linsol->finalize();
    return linsol;
  }

References casadi::LinsolInternal::deserialize(), casadi::ProtoFunction::finalize(), and casadi::GenericShared< Shared, Internal >::own().

det() [1/3]

double casadi::Linsol::det

(

const DM &

A

)

const

Not available for all solvers

Extra doc: https://github.com/casadi/casadi/wiki/L_2hw

Definition at line 195 of file linsol.cpp.

                                      {
    if (A.sparsity()!=sparsity()) return det(project(A, sparsity()));
    scoped_checkout<Linsol> mem(*this);
    if (sfact(A.ptr(), mem)) casadi_error("Linsol::det: 'sfact' failed");
    if (nfact(A.ptr(), mem)) casadi_error("Linsol::det: 'nfact' failed");
    return det(A.ptr(), mem);
  }

References nfact(), casadi::Matrix< Scalar >::ptr(), sfact(), sparsity(), and casadi::Matrix< Scalar >::sparsity().

Referenced by casadi::MX::det(), casadi::Determinant::eval(), and casadi::Determinant::eval_mx().

det() [2/3]

double casadi::Linsol::det	(	const double *	A,
		int	mem = 0
	)		const

Low-level API

Definition at line 171 of file linsol.cpp.

                                                   {
    auto m = static_cast<LinsolMemory*>((*this)->memory(mem));
    casadi_assert(m->is_nfact, "Linear system has not been factorized");
    return (*this)->det(m, A);
  }

det() [3/3]

MX casadi::Linsol::det

(

const MX &

A

)

const

Definition at line 203 of file linsol.cpp.

                                  {
    return A->get_det(*this);
  }

References casadi::MXNode::get_det().

disp()

void casadi::SharedObject::disp ( std::ostream &  stream, bool  more = false  ) const

inherited

Definition at line 35 of file shared_object.cpp.

                                                             {
    if (is_null()) {
      stream << "NULL";
    } else {
      (*this)->disp(stream, more);
    }
  }

References casadi::GenericShared< SharedObject, SharedObjectInternal >::is_null().

Referenced by casadi::Nlpsol::disp_more(), and casadi::CsparseInterface::nfact().

doc()

std::string casadi::Linsol::doc ( const std::string &  name )

static

Definition at line 61 of file linsol.cpp.

                                             {
    return LinsolInternal::getPlugin(name).doc;
  }

References casadi::PluginInterface< LinsolInternal >::getPlugin().

Referenced by casadi::doc_linsol().

get()

SharedObjectInternal * casadi::GenericShared< SharedObject , SharedObjectInternal >::get

inherited

Definition at line 99 of file generic_shared_impl.hpp.

                                                       {
    return node;
  }

get_str()

std::string casadi::SharedObject::get_str ( bool  more = false ) const

inlineinherited

Definition at line 91 of file shared_object.hpp.

                                               {
        std::stringstream ss;
        disp(ss, more);
        return ss.str();
      }

getCount()

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

inherited

Definition at line 102 of file generic_shared_impl.hpp.

                                                             {
    return (*this)->getCount();
  }

has_plugin()

bool casadi::Linsol::has_plugin ( const std::string &  name )

static

Definition at line 53 of file linsol.cpp.

                                               {
    return LinsolInternal::has_plugin(name);
  }

References casadi::PluginInterface< LinsolInternal >::has_plugin().

Referenced by casadi::has_linsol().

is_null()

bool casadi::GenericShared< SharedObject , SharedObjectInternal >::is_null

inherited

Definition at line 116 of file generic_shared_impl.hpp.

                                                      {
    return node==nullptr;
  }

load_plugin()

void casadi::Linsol::load_plugin ( const std::string &  name )

static

Definition at line 57 of file linsol.cpp.

                                                {
    LinsolInternal::load_plugin(name);
  }

References casadi::PluginInterface< LinsolInternal >::load_plugin().

Referenced by casadi::load_linsol().

neig() [1/2]

casadi_int casadi::Linsol::neig

(

const DM &

A

)

const

Not available for all solvers

Extra doc: https://github.com/casadi/casadi/wiki/L_1kk

Definition at line 177 of file linsol.cpp.

                                           {
    if (A.sparsity()!=sparsity()) return neig(project(A, sparsity()));
    casadi_int n = neig(A.ptr());
    casadi_assert(n>=0, "'neig' failed");
    return n;
  }

References casadi::Matrix< Scalar >::ptr(), sparsity(), and casadi::Matrix< Scalar >::sparsity().

Referenced by casadi::QpoasesInterface::qpoases_nfact().

neig() [2/2]

casadi_int casadi::Linsol::neig	(	const double *	A,
		int	mem = 0
	)		const

Low-level API

Definition at line 184 of file linsol.cpp.

                                                        {
    return (*this)->neig((*this)->memory(mem), A);
  }

nfact() [1/2]

void casadi::Linsol::nfact

(

const DM &

A

)

const

Definition at line 130 of file linsol.cpp.

                                      {
    if (A.sparsity()!=sparsity()) {
      nfact(project(A, sparsity()));
      return;
    }
    if (nfact(A.ptr())) casadi_error("'nfact' failed");
  }

References casadi::Matrix< Scalar >::ptr(), sparsity(), and casadi::Matrix< Scalar >::sparsity().

Referenced by det(), casadi::Determinant::eval(), casadi::SlicotDple::eval(), casadi::KinsolInterface::psetup(), casadi::QpoasesInterface::qpoases_nfact(), solve(), casadi::Ipqp::solve(), and casadi::Newton::solve().

nfact() [2/2]

int casadi::Linsol::nfact	(	const double *	A,
		int	mem = 0
	)		const

Low-level API

Definition at line 138 of file linsol.cpp.

                                                  {
    if (A==nullptr) return 1;
    auto *m = static_cast<LinsolMemory*>((*this)->memory(mem));
 
    // Perform pivoting, if required
    if (!m->is_sfact) {
      if (sfact(A, mem)) return 1;
    }
 
    m->is_nfact = false;
    if (m->t_total) m->fstats.at("nfact").tic();
    int flag = (*this)->nfact(m, A);
    if (m->t_total) m->fstats.at("nfact").toc();
    if (flag && (*this)->regularity_check_) {
      // Collect nonzeros
      std::vector<std::string> nonzeros(sparsity().nnz());
      for (size_t nz = 0; nz < nonzeros.size(); ++nz)
        nonzeros[nz] = std::to_string(A[nz]);
      // Create .m file
      std::string fname = (*this)->class_name() + "_" + (*this)->name_ + "_debug.m";
      auto mfile_ptr = Filesystem::ofstream_ptr(fname);
      std::ostream& mfile = *mfile_ptr;
      Dict opts;
      opts["name"] = "A";
      opts["nonzeros"] = nonzeros;
      sparsity().export_code("matlab", mfile, opts);
      casadi_error("Numerical factorization failed for " + (*this)->name_
        + "[" + (*this)->class_name() + "]. Linear system saved to '" + fname + "'");
    }
    m->is_nfact = true;
    return flag;
  }

References casadi::Sparsity::export_code(), casadi::LinsolMemory::is_nfact, casadi::Filesystem::ofstream_ptr(), sfact(), and sparsity().

operator->() [1/2]

LinsolInternal * casadi::Linsol::operator->

(

)

Definition at line 41 of file linsol.cpp.

                                     {
    return static_cast<LinsolInternal*>(SharedObject::operator->());
  }

References casadi::GenericShared< SharedObject, SharedObjectInternal >::operator->().

operator->() [2/2]

const LinsolInternal * casadi::Linsol::operator->

(

)

const

Definition at line 45 of file linsol.cpp.

                                                 {
    return static_cast<const LinsolInternal*>(SharedObject::operator->());
  }

References casadi::GenericShared< SharedObject, SharedObjectInternal >::operator->().

own()

void casadi::GenericShared< SharedObject , SharedObjectInternal >::own ( Internal *  node )

inherited

Assign the node to a node class pointer (or null)

Definition at line 89 of file generic_shared_impl.hpp.

                                                           {
    count_down();
    node = node_;
    count_up();
  }

plugin_name()

std::string casadi::Linsol::plugin_name

(

)

const

Definition at line 65 of file linsol.cpp.

                                      {
    return (*this)->plugin_name();
  }

print_ptr()

void casadi::SharedObject::print_ptr ( std::ostream &  stream = casadi::uout() ) const

inherited

Print the pointer to the internal class

Definition at line 43 of file shared_object.cpp.

                                                       {
    stream << get();
  }

References casadi::GenericShared< SharedObject, SharedObjectInternal >::get().

rank() [1/2]

casadi_int casadi::Linsol::rank

(

const DM &

A

)

const

Not available for all solvers

Extra doc: https://github.com/casadi/casadi/wiki/L_1kl

Definition at line 188 of file linsol.cpp.

                                           {
    if (A.sparsity()!=sparsity()) return rank(project(A, sparsity()));
    casadi_int n = rank(A.ptr());
    casadi_assert(n>=0, "'rank' failed");
    return n;
  }

References casadi::Matrix< Scalar >::ptr(), sparsity(), and casadi::Matrix< Scalar >::sparsity().

Referenced by casadi::QpoasesInterface::qpoases_nfact().

rank() [2/2]

casadi_int casadi::Linsol::rank	(	const double *	A,
		int	mem = 0
	)		const

Low-level API

Definition at line 207 of file linsol.cpp.

                                                        {
    return (*this)->rank((*this)->memory(mem), A);
  }

release()

void casadi::Linsol::release

(

int

mem

)

const

Definition at line 224 of file linsol.cpp.

                                    {
    (*this)->release(mem);
  }

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

serialize()

void casadi::Linsol::serialize

(

SerializingStream &

s

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_1km

Definition at line 247 of file linsol.cpp.

                                                   {
    // TODO(jgillis): I don't get why LinsolInternal:: this is necessary
    (*this)->LinsolInternal::serialize(s);
  }

sfact() [1/2]

void casadi::Linsol::sfact

(

const DM &

A

)

const

Definition at line 105 of file linsol.cpp.

                                      {
    if (A.sparsity()!=sparsity()) {
      sfact(project(A, sparsity()));
      return;
    }
    if (sfact(A.ptr())) casadi_error("'sfact' failed");
  }

References casadi::Matrix< Scalar >::ptr(), sparsity(), and casadi::Matrix< Scalar >::sparsity().

Referenced by det(), casadi::Determinant::eval(), casadi::SlicotDple::eval(), nfact(), casadi::QpoasesInterface::qpoases_sfact(), and solve().

sfact() [2/2]

int casadi::Linsol::sfact	(	const double *	A,
		int	mem = 0
	)		const

Low-level API

Definition at line 113 of file linsol.cpp.

                                                  {
    if (A==nullptr) return 1;
    auto *m = static_cast<LinsolMemory*>((*this)->memory(mem));
 
    // Factorization will be needed after this step
    m->is_sfact = m->is_nfact = false;
 
    if (m->t_total) m->fstats.at("sfact").tic();
    // Perform pivoting
    if ((*this)->sfact(m, A)) return 1;
    if (m->t_total) m->fstats.at("sfact").toc();
 
    // Mark as (successfully) pivoted
    m->is_sfact = true;
    return 0;
  }

References casadi::LinsolMemory::is_sfact.

solve() [1/3]

DM casadi::Linsol::solve	(	const DM &	A,
		const DM &	B,
		bool	tr = false
	)		const

Solve linear system of equations

Definition at line 73 of file linsol.cpp.

                                                          {
    casadi_assert(A.size1()==B.size1(),
      "Linsol::solve: Dimension mismatch. A and b must have matching row count. "
      "Got " + A.dim() + " and " + B.dim() + ".");
 
    scoped_checkout<Linsol> mem(*this);
    auto *m = static_cast<LinsolMemory*>((*this)->memory(mem));
 
    // Reset statistics
    for (auto&& s : m->fstats) s.second.reset();
    if (m->t_total) m->t_total->tic();
    // Symbolic factorization
    if (sfact(A.ptr(), mem)) casadi_error("Linsol::solve: 'sfact' failed");
 
    // Numeric factorization
    if (nfact(A.ptr(), mem)) casadi_error("Linsol::solve: 'nfact' failed");
 
    // Solve
    DM x = densify(B);
    if (solve(A.ptr(), x.ptr(), x.size2(), tr, mem))
      casadi_error("Linsol::solve: 'solve' failed");
    // Show statistics
    if (m->t_total) m->t_total->toc();
 
    (*this)->print_time(m->fstats);
    return x;
  }

References casadi::GenericMatrix< MatType >::dim(), nfact(), casadi::Matrix< Scalar >::ptr(), sfact(), casadi::GenericMatrix< MatType >::size1(), casadi::GenericMatrix< MatType >::size2(), casadi::ProtoFunctionMemory::t_total, and casadi::FStats::tic().

Referenced by casadi::SlicotDple::eval(), casadi::KinsolInterface::psolve(), casadi::QpoasesInterface::qpoases_solve(), casadi::Ipqp::solve(), casadi::LinsolCall< Tr >::solve(), casadi::MX::solve(), casadi::Newton::solve(), and casadi::IdasInterface::solve_transposed().

solve() [2/3]

int casadi::Linsol::solve	(	const double *	A,
		double *	x,
		casadi_int	nrhs = 1,
		bool	tr = false,
		int	mem = 0
	)		const

Low-level API

Definition at line 211 of file linsol.cpp.

                                                                                       {
    auto *m = static_cast<LinsolMemory*>((*this)->memory(mem));
    casadi_assert(m->is_nfact, "Linear system has not been factorized");
    if (m->t_total) m->fstats.at("solve").tic();
    int ret = (*this)->solve(m, A, x, nrhs, tr);
    if (m->t_total) m->fstats.at("solve").toc();
    return ret;
  }

solve() [3/3]

MX casadi::Linsol::solve	(	const MX &	A,
		const MX &	B,
		bool	tr = false
	)		const

Solve linear system of equations

Definition at line 101 of file linsol.cpp.

                                                          {
    return A->get_solve(B, tr, *this);
  }

References casadi::MXNode::get_solve().

sparsity()

const Sparsity & casadi::Linsol::sparsity

(

)

const

Definition at line 69 of file linsol.cpp.

                                         {
    return (*this)->sp_;
  }

Referenced by det(), casadi::SundialsInterface::init(), neig(), nfact(), rank(), casadi::SundialsInterface::set_work(), and sfact().

stats()

Dict casadi::Linsol::stats

(

int

mem = 1

)

const

Definition at line 241 of file linsol.cpp.

                                  {
    casadi_assert((*this)->has_memory(mem),
      "No stats available since Linsol did not solve a problem yet.");
    return (*this)->get_stats((*this)->memory(mem));
  }

swap()

void casadi::GenericShared< SharedObject , SharedObjectInternal >::swap ( GenericShared< SharedObject, SharedObjectInternal > &  other )

inherited

Definition at line 105 of file generic_shared_impl.hpp.

                                                                 {
    GenericShared<Shared, Internal> temp = *this;
    *this = other;
    other = temp;
  }

test_cast()

bool casadi::Linsol::test_cast ( const SharedObjectInternal *  ptr )

static

Definition at line 49 of file linsol.cpp.

                                                        {
    return dynamic_cast<const LinsolInternal*>(ptr)!=nullptr;
  }

type_name()

static std::string casadi::Linsol::type_name ( )

inlinestatic

Extra doc: https://github.com/casadi/casadi/wiki/L_1ki

Definition at line 60 of file linsol.hpp.

{return "Linsol";}

weak()

GenericWeakRef< SharedObject , SharedObjectInternal > * casadi::GenericShared< SharedObject , SharedObjectInternal >::weak

inherited

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

Definition at line 130 of file generic_shared_impl.hpp.

                                                                          {
    return (*this)->weak();
  }

---

The documentation for this class was generated from the following files:

• linsol.hpp
• linsol.cpp