casadi::DaeBuilderInternal Class Reference

#include <dae_builder_internal.hpp>

Detailed Description

Internal class for DaeBuilder, see comments on the public class.

Definition at line 209 of file dae_builder_internal.hpp.

Inheritance diagram for casadi::DaeBuilderInternal:

Collaboration diagram for casadi::DaeBuilderInternal:

Classes
struct	CallIO
	Helper class, represents inputs and outputs for a function call node. More...

Public Types
using	weak_ref_type = WeakRefInternal

Public Member Functions
	DaeBuilderInternal (const std::string &name, const std::string &path, const Dict &opts)
	Constructor. More...
	~DaeBuilderInternal () override
	Destructor. More...
std::string	class_name () const override
	Readable name of the internal class. More...
void	sanity_check () const
	Check if dimensions match. More...
std::vector< MX >	input (Category ind) const
std::vector< MX >	output (OutputCategory ind) const
std::vector< MX >	input (const std::vector< Category > &ind) const
std::vector< MX >	output (const std::vector< OutputCategory > &ind) const
void	add_lc (const std::string &name, const std::vector< std::string > &f_out)
	Add a named linear combination of output expressions. More...
Function	create (const std::string &fname, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts, bool sx, bool lifted_calls) const
	Construct a function object. More...
Function	fmu_fun (const std::string &fname, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out, const Dict &opts) const
	Construct function from an FMU DLL. More...
Function	dependent_fun (const std::string &fname, const std::vector< std::string > &s_in, const std::vector< std::string > &s_out) const
	Construct a function for evaluating dependent parameters. More...
Function	transition (const std::string &fname, casadi_int index, bool dummy_index_input=false) const
	Construct a function describing transition at a specific event. More...
Function	transition (const std::string &fname) const
	Construct a function describing transition at all events. More...
Function	gather_eq () const
	Function corresponding to all equations. More...
const MX &	var (const std::string &name) const
	Get variable expression by name. More...
MX	get_der (size_t ind) const
	Get a derivative expression by variable index (const, never create) More...
MX	get_der (size_t ind, bool may_allocate=true)
	Get a derivative expression by variable index (non-const, may create) More...
MX	der (const MX &var) const
	Get a derivative expression by non-differentiated expression (const, never create) More...
MX	der (const MX &var, bool may_allocate=true)
	Get a derivative expression by non-differentiated expression (non-const, may create) More...
std::string	unique_name (const std::string &prefix, bool allow_no_prefix=true) const
	Find a unique name, with a specific prefix. More...
std::string	type_name () const
	Readable name of the class. More...
void	disp (std::ostream &stream, bool more) const override
	Print description. More...
std::string	get_str (bool more=false) const
	Get string representation. More...
Variable &	new_variable (const std::string &name, const std::vector< casadi_int > &dimension={1}, const MX &expr=MX())
	Create a new variable. More...
bool	has (const std::string &name) const
	Check if a particular variable exists. More...
std::vector< std::string >	all () const
	Get a list of all variables. More...
std::vector< std::string >	all (Category cat) const
	Get a list of all variables of a particular category. More...
size_t	n_variables () const
	Length of variables array. More...
size_t	n_mem () const
	Length of memory for all variables. More...
std::vector< double >	start_all () const
	Start values for all variables. More...
const MX &	var (size_t ind) const
	Get variable expression by index. More...
const MX &	var (Category cat, size_t ind) const
	Get variable expression by category and index. More...
std::vector< MX >	var (const std::vector< size_t > &ind) const
	Get variable expressions by index. More...
std::vector< MX >	var (Category cat) const
	Get variable expressions by category. More...
size_t	find (const std::string &name) const
	Get index of variable, given name. More...
size_t	find (const MX &v) const
	Get index of variable, given expression. More...
std::vector< size_t >	find (const std::vector< std::string > &name) const
	Get indices of variable, given multiple names. More...
std::vector< size_t >	find (const std::vector< MX > &v) const
	Get indices of variable, given multiple expressions. More...
const std::string &	name (size_t ind) const
	Get variable name by index. More...
std::vector< std::string >	name (const std::vector< size_t > &ind) const
	Get variable names by indices. More...
const Function &	oracle (bool sx=false, bool elim_w=false, bool lifted_calls=false) const
	Get the (cached) oracle, SX or MX. More...
Sparsity	jac_sparsity (const std::vector< size_t > &oind, const std::vector< size_t > &iind) const
	Get Jacobian sparsity. More...
Sparsity	hess_sparsity (const std::vector< size_t > &oind, const std::vector< size_t > &iind) const
	Get what is known of the Hessian sparsity. 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...
Manipulation
Reformulate the dynamic optimization problem.
void	eliminate (Category cat)
	Eliminate all variables of a category. More...
void	sort (Category cat)
	Sort all variables of a category. More...
void	lift (bool lift_shared, bool lift_calls)
	Lift problem formulation by extracting shared subexpressions. More...
void	sort_z (const std::vector< std::string > &z_order)
	Sort algebraic variables. More...
std::vector< size_t > &	indices (Category cat)
	Classified variable indices (mutable) More...
const std::vector< size_t > &	indices (Category cat) const
	Classified variable indices (immutable) More...
size_t	size (Category cat) const
	Number of indices with a particular category. More...
void	reorder (Category cat, const std::vector< size_t > &v)
	Reorder variables in a category. More...
void	reorder (const std::string &n, std::vector< size_t > &ind, const std::vector< size_t > &v) const
	Reorder any index vector. More...
void	prune (bool prune_p, bool prune_u)
	Prune unused controls. More...
void	tearing_variables (std::vector< std::string > *res, std::vector< std::string > *iv, std::vector< std::string > *iv_on_hold) const
	Identify free variables and residual equations. More...
void	tear ()
	Identify free variables and residual equations. More...
Variable &	variable (size_t ind)
const Variable &	variable (size_t ind) const
Variable &	variable (Category cat, size_t ind)
const Variable &	variable (Category cat, size_t ind) const
Variable &	variable (const std::string &name)
const Variable &	variable (const std::string &name) const
Variable &	variable (const MX &v)
const Variable &	variable (const MX &v) const

Protected Member Functions
bool	has_t () const
	Is there a time variable? More...
const MX &	time () const
std::vector< MX >	cdef () const
	Definitions of dependent constants. More...
std::vector< MX >	init_lhs () const
	Initial conditions, left-hand-side. More...
std::vector< MX >	init_rhs () const
	Initial conditions, right-hand-side. More...
Variable &	add (const std::string &name, Causality causality, Variability variability, const Dict &opts)
	Add a new variable. More...
Variable &	add (const std::string &name, Causality causality, Variability variability, const MX &expr, const Dict &opts)
	Add a new variable, expression provided. More...
Variable &	add (const std::string &name, Causality causality, const Dict &opts)
	Add a new variable, default variability. More...
Variable &	add (const std::string &name, const Dict &opts)
	Add a new variable, default variability and causality. More...
void	categorize (size_t ind, Category cat)
	Set or change the category for a variable. More...
void	insert (std::vector< size_t > &v, size_t ind) const
	Insert into list of variables, keeping it ordered. More...
void	remove (std::vector< size_t > &v, size_t ind) const
	Remove from list of variables. More...
Causality	causality (size_t ind) const
	Get causality. More...
void	set_causality (size_t ind, Causality causality)
	Set causality. More...
Variability	variability (size_t ind) const
	Get variability. More...
void	set_variability (size_t ind, Variability variability)
	Set variability. More...
Category	category (size_t ind) const
	Get category. More...
void	set_category (size_t ind, Category cat)
	Set category. More...
void	eq (const MX &lhs, const MX &rhs, const Dict &opts)
	Add a simple equation. More...
void	when (const MX &cond, const std::vector< std::string > &eqs, const Dict &opts)
	Add when equations. More...
Variable &	assign (const std::string &name, const MX &val)
	Assignment inside when-equations or if-else equations. More...
Variable &	reinit (const std::string &name, const MX &val)
	Reinitialize a state inside when-equations. More...
void	set_init (const std::string &name, const MX &init_rhs)
	Set a initial equation. More...
MX	read_expr (const XmlNode &node)
	Read an equation. More...
MX	read_identifier (const XmlNode &node)
	Read an identifier expression. More...
Variable &	read_variable (const XmlNode &node, Attribute *att=0)
	Read a variable. More...
void	import_default_experiment (const XmlNode &n)
std::vector< casadi_int >	read_dependencies (const XmlNode &n)
std::vector< DependenciesKind >	read_dependencies_kind (const XmlNode &n, size_t ndep)
void	import_model_exchange (const XmlNode &n)
void	import_model_variables (const XmlNode &modvars)
void	import_model_structure (const XmlNode &n)
void	import_binding_equations (const XmlNode &eqs)
void	import_dynamic_equations (const XmlNode &eqs)
void	import_initial_equations (const XmlNode &eqs)
void	clear_cache () const
	Problem structure has changed: Clear cache. More...
Function	add_fun (const std::string &name, const std::vector< std::string > &arg, const std::vector< std::string > &res, const Dict &opts=Dict())
	Add a function from loaded expressions. More...
Function	add_fun (const Function &f)
	Add an already existing function. More...
bool	has_fun (const std::string &name) const
	Does a particular function already exist? More...
Function	fun (const std::string &name) const
	Get function by name. More...
void	reset ()
casadi_int	size (Attribute a, const std::vector< std::string > &name) const
	Total number of elements for a particular attribute. More...
MX	jac_vdef_v_from_calls (std::map< MXNode *, CallIO > &call_nodes, const std::vector< casadi_int > &h_offsets) const
	Calculate contribution to jac_vdef_v from lifted calls. More...
MX	hess_v_v_from_calls (std::map< MXNode *, CallIO > &call_nodes, const std::vector< casadi_int > &h_offsets) const
	Calculate contribution to hess_?_v_v from lifted calls. 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...
double	attribute (Attribute a, const std::string &name) const
std::vector< double >	attribute (Attribute a, const std::vector< std::string > &name) const
void	set_attribute (Attribute a, const std::string &name, double val)
void	set_attribute (Attribute a, const std::vector< std::string > &name, const std::vector< double > &val)
std::string	string_attribute (Attribute a, const std::string &name) const
std::vector< std::string >	string_attribute (Attribute a, const std::vector< std::string > &name) const
void	set_string_attribute (Attribute a, const std::string &name, const std::string &val)
void	set_string_attribute (Attribute a, const std::vector< std::string > &name, const std::vector< std::string > &val)

Static Protected Member Functions
static std::string	qualified_name (const XmlNode &nn, Attribute *att=0)
	Get the qualified name. More...
static Variability	default_variability (Causality causality, Type type)
	Default variability attribute, per the FMI specification. More...
static Initial	default_initial (Causality causality, Variability variability)
static void	sort_dependent (std::vector< MX > &v, std::vector< MX > &vdef)

Protected Attributes
bool	debug_
double	fmutol_
bool	ignore_time_
std::string	fmi_version_
std::string	model_name_
std::string	instantiation_token_
std::string	description_
std::string	author_
std::string	copyright_
std::string	license_
std::string	generation_tool_
std::string	generation_date_and_time_
std::string	variable_naming_convention_
casadi_int	number_of_event_indicators_
double	start_time_
double	stop_time_
double	tolerance_
double	step_size_
std::string	model_identifier_
bool	provides_directional_derivatives_
bool	provides_adjoint_derivatives_
bool	can_be_instantiated_only_once_per_process_
std::vector< std::string >	source_files_
std::string	name_
	Name of instance. More...
Resource	resource_
bool	symbolic_
bool	detect_quad_
casadi_int	fmi_major_
std::vector< Variable * >	variables_
	All variables. More...
std::vector< size_t >	outputs_
std::vector< size_t >	derivatives_
std::vector< size_t >	initial_unknowns_
std::vector< size_t >	event_indicators_
std::vector< size_t >	residuals_
std::vector< size_t >	rate_
std::unordered_map< std::string, size_t >	varind_
	Find of variable by name. More...
std::unordered_map< unsigned int, size_t >	vrmap_
	Find of variable by value reference. More...
std::vector< std::vector< size_t > >	indices_
	Ordered variables. More...
std::vector< size_t >	init_
std::vector< std::pair< size_t, std::vector< size_t > > >	when_
Function::AuxOut	lc_
	Linear combinations of output expressions. More...
std::vector< Function >	fun_
	Functions. More...
Function	oracle_ [2][2][2]
	Function oracles (cached) More...
bool	clear_cache_
	Should the cache be cleared? More...

Friends
class	DaeBuilder
class	FmuInternal
class	FmuFunction
class	Variable

Import and export
void	load_fmi_description (const std::string &filename)
std::vector< std::string >	export_fmu (const Dict &opts) const
	Export instance into an FMU (experimental) More...
std::string	generate_wrapper (const std::string &guid, const CodeGenerator &gen) const
	Generate FMU wrapper file (fmi3Functions.c) More...
std::string	generate_build_description (const std::vector< std::string > &cfiles) const
	Generate buildDescription.xml. More...
std::string	generate_model_description (const std::string &guid) const
	Generate modelDescription.xml. More...
XmlNode	generate_model_variables () const
	Generate FMU ModelVariables. More...
XmlNode	generate_model_structure () const
	Generate FMU ModelStructure. More...
void	update_dependencies () const
	Update model variable dependencies. More...
static std::string	iso_8601_time ()
	Get current date and time in the ISO 8601 format. More...
static std::string	generate_guid ()
static std::string	generate (const std::vector< size_t > &v)
static std::string	generate (const std::vector< double > &v)

Member Typedef Documentation

weak_ref_type

using casadi::SharedObjectInternal::weak_ref_type = WeakRefInternal

inherited

Definition at line 152 of file shared_object.hpp.

Constructor & Destructor Documentation

DaeBuilderInternal()

casadi::DaeBuilderInternal::DaeBuilderInternal ( const std::string &  name, const std::string &  path, const Dict &  opts  )

explicit

Definition at line 565 of file dae_builder_internal.cpp.

                      : name_(name), resource_(path) {
  clear_cache_ = false;
  number_of_event_indicators_ = 0;
  provides_directional_derivatives_ = false;
  provides_adjoint_derivatives_ = false;
  can_be_instantiated_only_once_per_process_ = false;
  symbolic_ = true;
  detect_quad_ = false;
  start_time_ = nan;
  stop_time_ = nan;
  tolerance_ = nan;
  step_size_ = nan;
  // Default options
  debug_ = false;
  fmutol_ = 0;
  ignore_time_ = false;
  std::string resource_serialize = "link";
  // Read options
  for (auto&& op : opts) {
    if (op.first=="debug") {
      debug_ = op.second;
    } else if (op.first=="fmutol") {
      fmutol_ = op.second;
    } else if (op.first=="ignore_time") {
      ignore_time_ = op.second;
    } else if (op.first=="detect_quad") {
      detect_quad_ = op.second;
    } else if (op.first=="resource_serialize_mode") {
      resource_.change_option("serialize_mode", op.second);
    } else {
      casadi_error("No such option: " + op.first);
    }
  }
  indices_.resize(enum_traits<Category>::n_enum);
}

References can_be_instantiated_only_once_per_process_, casadi::Resource::change_option(), clear_cache_, debug_, detect_quad_, fmutol_, ignore_time_, indices_, casadi::nan, number_of_event_indicators_, provides_adjoint_derivatives_, provides_directional_derivatives_, resource_, start_time_, step_size_, stop_time_, symbolic_, and tolerance_.

~DaeBuilderInternal()

casadi::DaeBuilderInternal::~DaeBuilderInternal ( )

override

Definition at line 559 of file dae_builder_internal.cpp.

                                        {
  for (Variable* v : variables_) {
    if (v) delete v;
  }
}

References variables_.

Member Function Documentation

add() [1/4]

Variable & casadi::DaeBuilderInternal::add ( const std::string &  name, Causality  causality, const Dict &  opts  )

protected

Definition at line 2886 of file dae_builder_internal.cpp.

                                                                                              {
  // Get type
  Type type = Type::FLOAT64;
  if (opts.find("type") != opts.end()) {
    type = to_enum<Type>(opts.at("type").to_string());
  }
 
  // Default variability per FMI 3.0.2, section 2.4.7.4
  return add(name, causality, default_variability(causality, type), opts);
}

References add(), causality(), default_variability(), casadi::FLOAT64, and name().

add() [2/4]

Variable & casadi::DaeBuilderInternal::add ( const std::string &  name, Causality  causality, Variability  variability, const Dict &  opts  )

protected

Definition at line 2755 of file dae_builder_internal.cpp.

                                             {
  // No expression provided
  return add(name, causality, variability, MX(), opts);
}

References causality(), name(), and variability().

Referenced by add(), assign(), eq(), import_model_variables(), reinit(), and when().

add() [3/4]

Variable & casadi::DaeBuilderInternal::add ( const std::string &  name, Causality  causality, Variability  variability, const MX &  expr, const Dict &  opts  )

protected

Definition at line 2761 of file dae_builder_internal.cpp.

                                                               {
  // Default options
  std::string description, type, initial, unit, display_unit;
  std::vector<casadi_int> dimension = {1};
  double min = -casadi::inf, max = casadi::inf, nominal = 1;
  std::vector<double> start;
  // Read options
  for (auto&& op : opts) {
    if (op.first=="dimension") {
      dimension = op.second.to_int_vector();
    } else if (op.first=="description") {
      description = op.second.to_string();
    } else if (op.first=="unit") {
      unit = op.second.to_string();
    } else if (op.first=="display_unit") {
      display_unit = op.second.to_string();
    } else if (op.first=="min") {
      min = op.second.to_double();
    } else if (op.first=="max") {
      max = op.second.to_double();
    } else if (op.first=="nominal") {
      nominal = op.second.to_double();
    } else if (op.first=="start") {
      if (op.second.can_cast_to(OT_DOUBLE)) {
        start.resize(1, op.second.to_double());
      } else {
        start = op.second.to_double_vector();
      }
    } else if (op.first=="type") {
      type = op.second.to_string();
    } else if (op.first=="initial") {
      initial = op.second.to_string();
    } else {
      casadi_error("No such option: " + op.first);
    }
  }
  // Create a new variable
  Variable& v = new_variable(name, dimension, expr);
  v.description = description;
  if (!type.empty()) v.type = to_enum<Type>(type);
  v.causality = causality;
  v.variability = variability;
  if (!start.empty()) v.start = start;
  if (!initial.empty()) v.initial = to_enum<Initial>(initial);
  if (!unit.empty()) v.unit = unit;
  if (!display_unit.empty()) v.display_unit = display_unit;
  if (min != -casadi::inf) v.min = min;
  if (max != casadi::inf) v.max = max;
  v.nominal = nominal;
  // Handle different categories
  switch (causality) {
    case Causality::PARAMETER:
      // Parameter
      if (variability == Variability::TUNABLE) {
        categorize(v.index, Category::P);
      } else if (variability == Variability::FIXED) {
        categorize(v.index, Category::C);
      } else {
        casadi_error("'parameter' causality requires 'fixed' or 'tunable' variability");
      }
      break;
    case Causality::CALCULATED_PARAMETER:
      casadi_assert(variability == Variability::FIXED || variability == Variability::TUNABLE,
          "'calculatedParameter' causality requires 'fixed' or 'tunable' variability");
      categorize(v.index, Category::D);
      break;
    case Causality::INPUT:
      // Control
      casadi_assert(variability == Variability::CONTINUOUS
        || variability == Variability::DISCRETE,
        "'input' causality requires 'continuous' or 'discrete' variability");
      categorize(v.index, Category::U);
      break;
    case Causality::OUTPUT:
      // Type determined by providing equation, unless discrete variability
      if (variability == Variability::CONSTANT) {
        // Constant output
        categorize(v.index, Category::C);
      } else if (variability == Variability::DISCRETE) {
        // Discrete variables are considered states with zero derivatives
        categorize(v.index, detect_quad_ ? Category::Q : Category::X);
      } else if (variability == Variability::CONTINUOUS) {
        // Continuous variables are considered algebraic variables until given a defining equation
        categorize(v.index, Category::Z);
      } else {
        casadi_error("'output' causality requires 'constant', 'continuous' or "
          "'discrete' variability");
      }
      break;
    case Causality::LOCAL:
      // Type determined by providing equation, unless discrete variability
      if (variability == Variability::CONSTANT) {
        // Constant local
        categorize(v.index, Category::C);
      } else if (variability == Variability::DISCRETE) {
        // Discrete variables are considered states with zero derivatives
        categorize(v.index, detect_quad_ ? Category::Q : Category::X);
      } else if (variability == Variability::CONTINUOUS) {
        // Continuous variables are considered algebraic variables until given a defining equation
        categorize(v.index, Category::Z);
      } else if (variability == Variability::FIXED || variability == Variability::TUNABLE) {
        // Fixed or tunable local
        categorize(v.index, Category::D);
      } else {
        casadi_error("'output' causality requires 'constant', 'fixed', 'tunable', 'discrete' or "
          "'continuous' variability");
      }
      break;
    case Causality::INDEPENDENT:
      // Independent variable
      casadi_assert(!has_t(), "'t' already defined");
      casadi_assert(variability == Variability::CONTINUOUS,
        "Independent variable must be continuous");
      categorize(v.index, Category::T);
      break;
    default:
      casadi_error("Unknown causality: " + to_string(causality));
  }
  // If an output, add to list of outputs
  if (causality == Causality::OUTPUT) outputs_.push_back(v.index);
  // Return variable reference
  return v;
}

References casadi::C, casadi::CALCULATED_PARAMETER, categorize(), casadi::Variable::causality, causality(), casadi::CONSTANT, casadi::CONTINUOUS, casadi::D, casadi::description(), casadi::Variable::description, detect_quad_, casadi::DISCRETE, casadi::Variable::display_unit, casadi::FIXED, has_t(), casadi::INDEPENDENT, casadi::Variable::index, casadi::inf, casadi::Variable::initial, casadi::INPUT, casadi::LOCAL, casadi::Variable::max, casadi::Variable::min, name(), new_variable(), casadi::Variable::nominal, casadi::OT_DOUBLE, casadi::OUTPUT, outputs_, casadi::P, casadi::PARAMETER, casadi::Q, casadi::Variable::start, casadi::T, casadi::to_string(), casadi::TUNABLE, casadi::Variable::type, casadi::U, casadi::Variable::unit, casadi::Variable::variability, variability(), casadi::X, and casadi::Z.

add() [4/4]

Variable& casadi::DaeBuilderInternal::add ( const std::string &  name, const Dict &  opts  )

inlineprotected

Definition at line 591 of file dae_builder_internal.hpp.

                                                         {
    // Per FMI 3.0.2 specification, section 2.4.7.4: Default causality is LOCAL
    return add(name, Causality::LOCAL, opts);
  }

References casadi::LOCAL.

add_fun() [1/2]

Function casadi::DaeBuilderInternal::add_fun ( const Function &  f )

protected

Definition at line 4003 of file dae_builder_internal.cpp.

                                                      {
  casadi_assert(!has_fun(f.name()), "Function '" + f.name() + "' already exists");
  fun_.push_back(f);
  return f;
}

References fun_, has_fun(), and casadi::Function::name().

add_fun() [2/2]

Function casadi::DaeBuilderInternal::add_fun ( const std::string &  name, const std::vector< std::string > &  arg, const std::vector< std::string > &  res, const Dict &  opts = Dict()  )

protected

Definition at line 4009 of file dae_builder_internal.cpp.

                                                       {
  casadi_assert(!has_fun(name), "Function '" + name + "' already exists");
 
  // Dependent variable definitions
  std::vector<MX> wdef = output(OutputCategory::WDEF);
  // Get inputs
  std::vector<MX> arg_ex, res_ex;
  for (auto&& s : arg) arg_ex.push_back(var(s));
  for (auto&& s : res) {
    // Find the binding expression FIXME(@jaeandersson)
    casadi_int v_ind;
    for (v_ind = 0; v_ind < size(Category::W); ++v_ind) {
      if (s == variable(indices(Category::W).at(v_ind)).name) {
        res_ex.push_back(wdef.at(v_ind));
        break;
      }
    }
    casadi_assert(v_ind < size(Category::W), "Cannot find dependent '" + s + "'");
  }
  Function ret(name, arg_ex, res_ex, arg, res, opts);
  return add_fun(ret);
}

References has_fun(), indices(), casadi::Variable::name, name(), output(), size(), var(), variable(), casadi::W, and casadi::WDEF.

add_lc()

void casadi::DaeBuilderInternal::add_lc	(	const std::string &	name,
		const std::vector< std::string > &	f_out
	)

Definition at line 1903 of file dae_builder_internal.cpp.

                                                                                        {
  // Make sure object valid
  sanity_check();
 
  // Make sure name is valid
  casadi_assert(!name.empty(), "DaeBuilderInternal::add_lc: \"name\" is empty");
  for (std::string::const_iterator i=name.begin(); i!=name.end(); ++i) {
    casadi_assert(isalnum(*i),
                          "DaeBuilderInternal::add_lc: \"name\" must be alphanumeric");
  }
 
  // Consistency checks
  casadi_assert(!f_out.empty(), "DaeBuilderInternal::add_lc: Linear combination is empty");
  std::vector<bool> in_use(enum_traits<OutputCategory>::n_enum, false);
  for (casadi_int i=0; i < f_out.size(); ++i) {
    auto oind = static_cast<size_t>(to_enum<OutputCategory>(f_out[i]));
    casadi_assert(!in_use[oind], "DaeBuilderInternal::add_lc: Duplicate expression " + f_out[i]);
    in_use[oind] = true;
  }
 
  std::vector<std::string>& ret1 = lc_[name];
  if (!ret1.empty()) casadi_warning("DaeBuilderInternal::add_lc: Overwriting " << name);
  ret1 = f_out;
}

References lc_, name(), and sanity_check().

all() [1/2]

std::vector< std::string > casadi::DaeBuilderInternal::all

(

)

const

Definition at line 1605 of file dae_builder_internal.cpp.

                                                   {
  std::vector<std::string> r;
  r.reserve(n_variables());
  for (const Variable* v : variables_) r.push_back(v->name);
  return r;
}

References n_variables(), and variables_.

all() [2/2]

std::vector< std::string > casadi::DaeBuilderInternal::all

(

Category

cat

)

const

Definition at line 1612 of file dae_builder_internal.cpp.

                                                               {
  return name(indices(cat));
}

References indices(), and name().

assign()

Variable & casadi::DaeBuilderInternal::assign ( const std::string &  name, const MX &  val  )

protected

Definition at line 3234 of file dae_builder_internal.cpp.

                                                                         {
  // Create a unique name for the reinit variable
  std::string assign_name = unique_name("__assign__" + name + "__");
  // Add a new dependent variable defined by val
  Variable& v = add(assign_name, Causality::LOCAL, Variability::CONTINUOUS,
    val, Dict());
  // Classify as assign variable
  categorize(v.index, Category::CALCULATED);
  v.parent = variable(name).index;
  // Return the variable name
  return v;
}

References add(), casadi::CALCULATED, categorize(), casadi::CONTINUOUS, casadi::Variable::index, casadi::LOCAL, name(), casadi::Variable::parent, unique_name(), and variable().

Referenced by import_binding_equations(), import_dynamic_equations(), lift(), and read_expr().

attribute() [1/2]

double casadi::DaeBuilderInternal::attribute ( Attribute  a, const std::string &  name  ) const

protected

Get by attribute name

Definition at line 4056 of file dae_builder_internal.cpp.

                                                                             {
  double ret;
  variable(name).get_attribute(a, &ret);
  return ret;
}

References casadi::Variable::get_attribute(), name(), and variable().

attribute() [2/2]

std::vector< double > casadi::DaeBuilderInternal::attribute ( Attribute  a, const std::vector< std::string > &  name  ) const

protected

Get by attribute name

Definition at line 4062 of file dae_builder_internal.cpp.

                                            {
  // Allocate return
  std::vector<double> r;
  r.reserve(size(a, name));
  // Get contribution from each variable
  std::vector<double> r1;
  for (auto& n : name) {
    variable(n).get_attribute(a, &r1);
    r.insert(r.end(), r1.begin(), r1.end());
  }
  return r;
}

References casadi::Variable::get_attribute(), name(), size(), and variable().

categorize()

void casadi::DaeBuilderInternal::categorize ( size_t  ind, Category  cat  )

protected

Definition at line 2897 of file dae_builder_internal.cpp.

                                                            {
  // Get variable reference
  Variable& v = variable(ind);
  // If same category, quick return
  if (v.category == cat) return;
  // Remove from current category, if any
  if (v.category != Category::NUMEL) {
    remove(indices(v.category), ind);
    v.category = Category::NUMEL;
  }
  // Add to new category, if any
  if (cat != Category::NUMEL) {
    std::vector<size_t>& indices = this->indices(cat);
    if (is_acyclic(cat)) {
      indices.push_back(ind);
    } else {
      insert(indices, ind);
    }
    v.category = cat;
  }
}

References casadi::Variable::category, indices(), insert(), casadi::is_acyclic(), casadi::NUMEL, remove(), and variable().

Referenced by add(), assign(), eliminate(), import_dynamic_equations(), import_model_structure(), import_model_variables(), reinit(), set_category(), set_variability(), and when().

category()

Category casadi::DaeBuilderInternal::category ( size_t  ind ) const

protected

Definition at line 3034 of file dae_builder_internal.cpp.

                                                      {
  return variable(ind).category;
}

References casadi::Variable::category, and variable().

causality()

Causality casadi::DaeBuilderInternal::causality ( size_t  ind ) const

protected

Definition at line 2941 of file dae_builder_internal.cpp.

                                                        {
  return variable(ind).causality;
}

References casadi::Variable::causality, and variable().

Referenced by add(), default_initial(), default_variability(), import_model_variables(), and set_causality().

cdef()

std::vector< MX > casadi::DaeBuilderInternal::cdef ( ) const

protected

Extra doc: https://github.com/casadi/casadi/wiki/L_2c7

Definition at line 2687 of file dae_builder_internal.cpp.

                                             {
  std::vector<MX> ret;
  ret.reserve(size(Category::C));
  for (size_t c : indices(Category::C)) ret.push_back(variable(variable(c).bind).v);
  return ret;
}

References casadi::C, indices(), size(), and variable().

class_name()

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

inlineoverridevirtual

Implements casadi::SharedObjectInternal.

Definition at line 224 of file dae_builder_internal.hpp.

{return "DaeBuilderInternal";}

clear_cache()

void casadi::DaeBuilderInternal::clear_cache ( ) const

protected

Definition at line 2238 of file dae_builder_internal.cpp.

                                           {
  for (bool sx : {false, true}) {
    for (bool elim_w : {false, true}) {
      for (bool lifted_calls : {false, true}) {
        Function& fref = oracle_[sx][elim_w][lifted_calls];
        if (!fref.is_null()) fref = Function();
      }
    }
  }
  clear_cache_ = false;
}

References clear_cache_, casadi::GenericShared< Shared, Internal >::is_null(), and oracle_.

Referenced by oracle().

create()

Function casadi::DaeBuilderInternal::create	(	const std::string &	fname,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts,
		bool	sx,
		bool	lifted_calls
	)		const

Definition at line 1928 of file dae_builder_internal.cpp.

                                                                                           {
  // Are there any '_' in the names?
  bool with_underscore = false;
  for (auto s_io : {&s_in, &s_out}) {
    for (const std::string& s : *s_io) {
      with_underscore = with_underscore || std::count(s.begin(), s.end(), '_');
    }
  }
  // Model equations in DLL
  if (!symbolic_) {
    // Cannot lift calls in an FMU
    casadi_assert(!lifted_calls, "Lifting requires a symbolic representation");
    // Cannot convert to SX
    casadi_assert(!sx, "SX expansion requires a symbolic representation");
    // Redirect to FmuFunction creation
    return fmu_fun(fname, s_in, s_out, opts);
  }
  // Replace '_' with ':', if needed
  if (with_underscore) {
    std::vector<std::string> s_in_mod(s_in), s_out_mod(s_out);
    for (auto s_io : {&s_in_mod, &s_out_mod}) {
      for (std::string& s : *s_io) std::replace(s.begin(), s.end(), '_', ':');
    }
    // Recursive call
    return create(fname, s_in_mod, s_out_mod, opts, sx, lifted_calls);
  }
  // Check if dependent variables are given and needed
  bool elim_w = false;
  if (size(Category::W) > 0) {
    // Dependent variables exists, eliminate unless v is given
    elim_w = true;
    for (const std::string& s : s_in) {
      if (s == "w") {
        // Dependent variables are given
        elim_w = false;
        break;
      }
    }
  }
  // Are lifted calls really needed?
  if (lifted_calls) {
    // Consistency check
    casadi_assert(!elim_w, "Lifted calls cannot be used if dependent variables are eliminated");
    // Only lift calls if really needed
    lifted_calls = false;
    for (const MX& vdef_comp : output(OutputCategory::WDEF)) {
      if (vdef_comp.is_output()) {
        // There are indeed function calls present
        lifted_calls = true;
        break;
      }
    }
  }
  // Call factory without lifted calls
  std::string fname_nocalls = lifted_calls ? fname + "_nocalls" : fname;
  Function ret = oracle(sx, elim_w, lifted_calls).factory(fname_nocalls, s_in, s_out, lc_);
  // If no lifted calls, done
  if (!lifted_calls) return ret;
  // MX expressions for ret without lifted calls
  std::vector<MX> ret_in = ret.mx_in();
  std::vector<MX> ret_out = ret(ret_in);
  // Offsets in v
  std::vector<casadi_int> h_offsets = offset(var(indices(Category::W)));
  // Split "w", "lam_wdef" into components
  std::vector<MX> v_in, lam_vdef_in;
  for (size_t i = 0; i < s_in.size(); ++i) {
    if (ret.name_in(i) == "w") {
      v_in = vertsplit(ret_in[i], h_offsets);
    } else if (ret.name_in(i) == "lam_wdef") {
      lam_vdef_in = vertsplit(ret_in[i], h_offsets);
    }
  }
  // Map dependent variables into index in vector
  std::map<MXNode*, size_t> v_map;
  for (size_t i = 0; i < size(Category::W); ++i) {
    v_map[var(Category::W, i).get()] = i;
  }
  // Definitions of w
  std::vector<MX> wdef = output(OutputCategory::WDEF);
  // Collect all the call nodes
  std::map<MXNode*, CallIO> call_nodes;
  for (size_t vdefind = 0; vdefind < wdef.size(); ++vdefind) {
    // Current element handled
    const MX& vdefref = wdef.at(vdefind);
    // Handle function call nodes
    if (vdefref.is_output()) {
      // Get function call node
      MX c = vdefref.dep(0);
      // Find the corresponding call node in the map
      auto call_it = call_nodes.find(c.get());
      // If first time this call node is encountered
      if (call_it == call_nodes.end()) {
        // Create new CallIO struct
        CallIO cio;
        // Save function instance
        cio.f = c.which_function();
        // Expressions for function call inputs
        cio.v.resize(c.n_dep(), -1);
        cio.arg.resize(cio.v.size());
        for (casadi_int i = 0; i < cio.v.size(); ++i) {
          if (c.dep(i).is_constant()) {
            cio.arg.at(i) = c.dep(i);
          } else {
            size_t v_ind = v_map.at(c.dep(i).get());
            cio.v.at(i) = v_ind;
            cio.arg.at(i) = v_in.at(v_ind);
          }
        }
        // Allocate memory for function call outputs
        cio.vdef.resize(c.n_out(), -1);
        cio.res.resize(cio.vdef.size());
        // Allocate memory for adjoint seeds, if any
        if (!lam_vdef_in.empty()) cio.adj1_arg.resize(c.n_out());
        // Save to map and update iterator
        call_it = call_nodes.insert(std::make_pair(c.get(), cio)).first;
      }
      // Which output of the function are we calculating?
      casadi_int oind = vdefref.which_output();
      // Save output expression to structure
      call_it->second.vdef.at(oind) = vdefind;
      call_it->second.res.at(oind) = v_in.at(vdefind);
      // Save adjoint seed to structure, if any
      if (!lam_vdef_in.empty()) call_it->second.adj1_arg.at(oind) = lam_vdef_in.at(vdefind);
    }
  }
  // Additional term in jac_vdef_v
  for (size_t i = 0; i < ret_out.size(); ++i) {
    if (ret.name_out(i) == "jac_wdef_w") {
      ret_out.at(i) += jac_vdef_v_from_calls(call_nodes, h_offsets);
    }
  }
  // Additional term in hess_?_v_v where ? is any linear combination containing vdef
  MX extra_hess_v_v;  // same for all linear combinations, if multiple
  for (auto&& e : lc_) {
    // Find out of vdef is part of the linear combination
    bool has_vdef = false;
    for (const std::string& r : e.second) {
      if (r == "wdef") {
        has_vdef = true;
        break;
      }
    }
    // Skip if linear combination does not depend on vdef
    if (!has_vdef) continue;
    // Search for matching function outputs
    for (size_t i = 0; i < ret_out.size(); ++i) {
      if (ret.name_out(i) == "hess_" + e.first + "_w_w") {
        // Calculate contribution to hess_?_v_v
        if (extra_hess_v_v.is_empty())
          extra_hess_v_v = hess_v_v_from_calls(call_nodes, h_offsets);
        // Add contribution to output
        ret_out.at(i) += extra_hess_v_v;
      }
    }
  }
  // Assemble modified return function and return
  ret = Function(fname, ret_in, ret_out, ret.name_in(), ret.name_out());
  return ret;
}

References casadi::DaeBuilderInternal::CallIO::adj1_arg, casadi::DaeBuilderInternal::CallIO::arg, casadi::MX::dep(), casadi::DaeBuilderInternal::CallIO::f, casadi::Function::factory(), casadi::MX::find(), fmu_fun(), casadi::MX::get(), hess_v_v_from_calls(), indices(), casadi::MX::is_constant(), casadi::GenericMatrix< MatType >::is_empty(), casadi::MX::is_output(), jac_vdef_v_from_calls(), lc_, casadi::Function::mx_in(), casadi::MX::n_dep(), casadi::MX::n_out(), casadi::Function::name_in(), casadi::Function::name_out(), oracle(), output(), casadi::DaeBuilderInternal::CallIO::res, size(), symbolic_, casadi::DaeBuilderInternal::CallIO::v, var(), casadi::DaeBuilderInternal::CallIO::vdef, casadi::W, casadi::WDEF, casadi::MX::which_function(), and casadi::MX::which_output().

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();
  }

default_initial()

Initial casadi::DaeBuilderInternal::default_initial ( Causality  causality, Variability  variability  )

staticprotected

Definition at line 2728 of file dae_builder_internal.cpp.

                                                                                        {
  // According to table in FMI 2.0.2 specification, section 2.2.7
  switch (variability) {
  case Variability::CONSTANT:
    if (causality == Causality::OUTPUT || causality == Causality::LOCAL)
      return Initial::EXACT;
    break;
  case Variability::FIXED:
    // Fall-through
  case Variability::TUNABLE:
    if (causality == Causality::PARAMETER)
      return Initial::EXACT;
    else if (causality == Causality::CALCULATED_PARAMETER || causality == Causality::LOCAL)
      return Initial::CALCULATED;
    break;
  case Variability::DISCRETE:
  // Fall-through
  case Variability::CONTINUOUS:
    if (causality == Causality::OUTPUT || causality == Causality::LOCAL)
      return Initial::CALCULATED;
    break;
  default: break;
  }
  // Initial value not available
  return Initial::NA;
}

References casadi::CALCULATED, casadi::CALCULATED_PARAMETER, causality(), casadi::CONSTANT, casadi::CONTINUOUS, casadi::DISCRETE, casadi::EXACT, casadi::FIXED, casadi::LOCAL, casadi::NA, casadi::OUTPUT, casadi::PARAMETER, casadi::TUNABLE, and variability().

Referenced by import_model_variables().

default_variability()

Variability casadi::DaeBuilderInternal::default_variability ( Causality  causality, Type  type  )

staticprotected

Definition at line 2712 of file dae_builder_internal.cpp.

                                                                                  {
  // Default variability per FMI 3.0.2, section 2.4.7.4
  // "The default for variables of causality parameter, structural parameter or
  // calculated parameter is fixed."
  if (causality == Causality::PARAMETER || causality == Causality::CALCULATED_PARAMETER) {
    return Variability::FIXED;
  }
  // "The default for variables of type Float32 and Float64 and causality other
  // than parameter, structuralParameter or calculatedParameter is continuous"
  if (type == Type::FLOAT32 || type == Type::FLOAT64) {
    return Variability::CONTINUOUS;
  } else {
    return Variability::DISCRETE;
  }
}

References casadi::CALCULATED_PARAMETER, causality(), casadi::CONTINUOUS, casadi::DISCRETE, casadi::FIXED, casadi::FLOAT32, casadi::FLOAT64, and casadi::PARAMETER.

Referenced by add(), and import_model_variables().

dependent_fun()

Function casadi::DaeBuilderInternal::dependent_fun	(	const std::string &	fname,
		const std::vector< std::string > &	s_in,
		const std::vector< std::string > &	s_out
	)		const

Definition at line 2450 of file dae_builder_internal.cpp.

                                             {
  // Are we calculating d and/or w
  bool calc_d = false, calc_w = false;
  // Convert outputs to enums
  std::vector<Category> v_out;
  v_out.reserve(v_out.size());
  for (const std::string& s : s_out) {
    Category e = to_enum<Category>(s);
    if (e == Category::D) {
      calc_d = true;
    } else if (e == Category::W) {
      calc_w = true;
    } else {
      casadi_error("Can only calculate d and/or w");
    }
    v_out.push_back(e);
  }
  // Consistency check
  casadi_assert(calc_d || calc_w, "Nothing to calculate");
  // Convert inputs to enums
  std::vector<Category> v_in;
  v_in.reserve(v_in.size());
  for (const std::string& s : s_in) {
    Category e = to_enum<Category>(s);
    if (calc_d && e == Category::D) casadi_error("'d' cannot be both input and output");
    if (calc_w && e == Category::W) casadi_error("'w' cannot be both input and output");
    v_in.push_back(e);
  }
  // Collect input expressions
  std::vector<MX> f_in;
  f_in.reserve(s_in.size());
  for (Category v : v_in) f_in.push_back(vertcat(input(v)));
  // Collect output expressions
  std::vector<MX> f_out;
  f_out.reserve(s_out.size());
  for (Category v : v_out) f_out.push_back(vertcat(input(v)));
  // Variables to be substituted
  std::vector<MX> dw, dwdef;
  if (calc_d) {
    std::vector<MX> d = var(indices(Category::D));
    dw.insert(dw.end(), d.begin(), d.end());
    std::vector<MX> ddef = output(OutputCategory::DDEF);
    dwdef.insert(dwdef.end(), ddef.begin(), ddef.end());
  }
  if (calc_w) {
    std::vector<MX> w = var(indices(Category::W));
    dw.insert(dw.end(), w.begin(), w.end());
    std::vector<MX> wdef = output(OutputCategory::WDEF);
    dwdef.insert(dwdef.end(), wdef.begin(), wdef.end());
  }
  // Perform elimination
  substitute_inplace(dw, dwdef, f_out);
  // Assemble return function
  return Function(fname, f_in, f_out, s_in, s_out);
}

References casadi::D, casadi::DDEF, indices(), input(), output(), var(), casadi::W, and casadi::WDEF.

der() [1/2]

MX casadi::DaeBuilderInternal::der

(

const MX &

var

)

const

Definition at line 1694 of file dae_builder_internal.cpp.

                                              {
  return const_cast<DaeBuilderInternal*>(this)->der(var, false);
}

References var().

Referenced by der(), disp(), generate_model_structure(), generate_wrapper(), import_dynamic_equations(), lift(), and update_dependencies().

der() [2/2]

MX casadi::DaeBuilderInternal::der	(	const MX &	var,
		bool	may_allocate = true
	)

Definition at line 1698 of file dae_builder_internal.cpp.

                                                           {
  // Must be a vector
  casadi_assert(var.is_column(), "Input expression must be a vector");
  // Quick return if symbolic variable
  if (var.is_symbolic()) return get_der(find(var), may_allocate);
  // If a vertical concatenation
  if (var.is_valid_input()) {
    // Differentiate each primitive
    auto var_split = var.primitives();
    for (MX& s : var_split) s = der(s, may_allocate);
    // Return the concatenation
    return var.join_primitives(var_split);
  }
  // Handle general case: Get dependent symbolic primitives
  std::vector<MX> dep = symvar(var);
  // Get derivatives of dependent symbolic primitives
  std::vector<MX> dep_der;
  for (size_t ind : find(dep)) dep_der.push_back(get_der(ind, may_allocate));
  // Forward directional derivative to get time derivative:
  // dot(var) = d_var/d_dep * dot(dep)
  std::vector<std::vector<MX>> r = {dep_der};
  r = forward(std::vector<MX>{var}, dep, r);
  casadi_assert_dev(r.size() == 1);
  return vertcat(r.at(0));
}

References der(), find(), get_der(), casadi::GenericMatrix< MatType >::is_column(), casadi::MX::is_symbolic(), casadi::MX::is_valid_input(), casadi::MX::join_primitives(), casadi::MX::primitives(), and var().

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--;
    }

disp()

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

overridevirtual

Implements casadi::SharedObjectInternal.

Definition at line 1238 of file dae_builder_internal.cpp.

                                                                 {
  // Assert correctness
  if (more) sanity_check();
 
  // Print dimensions
  stream << "nx = " << size(Category::X) << ", "
         << "nz = " << size(Category::Z) << ", "
         << "nq = " << size(Category::Q) << ", "
         << "ny = " << outputs_.size() << ", "
         << "np = " << size(Category::P) << ", "
         << "nc = " << size(Category::C) << ", "
         << "nd = " << size(Category::D) << ", "
         << "nw = " << size(Category::W) << ", "
         << "nu = " << size(Category::U);
 
  // Quick return?
  if (!more) return;
  stream << std::endl;
 
  // Print the functions
  if (!fun_.empty()) {
    stream << "Functions:" << std::endl;
    for (const Function& f : fun_) {
      stream << "  " << f << std::endl;
    }
  }
 
  // Print the variables, including outputs
  stream << "Model variables:" << std::endl;
  for (Category cat : {Category::T, Category::C, Category::P, Category::D, Category::X,
      Category::Z, Category::Q, Category::W, Category::U}) {
    if (size(cat) > 0) {
      stream << "  " << to_string(cat) << " = " << var(indices(cat)) << std::endl;
    }
  }
 
  // All variables that can have dependent variables
  for (Category cat : {Category::C, Category::D, Category::W}) {
    if (size(cat) > 0) {
      stream << "List of " << description(cat) << "s (" << to_string(cat) << "):" << std::endl;
      for (size_t c : indices(cat)) {
        const Variable& v = variable(c);
        stream << "  " << v.name;
        if (v.bind >= 0) stream << " := " << variable(v.bind).v;
        stream << std::endl;
      }
    }
  }
 
  // Print derivatives
  for (Category cat : {Category::X, Category::Q}) {
    if (size(cat) > 0) {
      stream << "Time derivatives of " << description(cat) << "s (" << to_string(cat) << "):"
        << std::endl;
      for (size_t k : indices(cat)) {
        const Variable& v = variable(k);
        stream << "  " << v.name << ": " << der(v.v) << std::endl;
      }
    }
  }
 
  // Outputs
  if (!outputs_.empty()) {
    stream << "Outputs (y):" << std::endl;
    for (size_t k : outputs_) {
      const Variable& v = variable(k);
      stream << "  " << v.name << ": " << v.v << std::endl;
    }
  }
 
  if (!residuals_.empty()) {
    stream << "Algebraic equations:" << std::endl;
    for (size_t k : residuals_) {
      stream << "  0 == " << variable(k).v << std::endl;
    }
  }
 
  if (!init_.empty()) {
    stream << "Initial equations:" << std::endl;
    for (size_t k : init_) {
      const Variable& v = variable(k);
      stream << "  " << v.name;
      if (!v.ieq.is_empty()) stream << " := " << v.ieq;
      stream << std::endl;
    }
  }
 
  if (!when_.empty()) {
    stream << "When equations:" << std::endl;
    for (auto weq : when_) {
      stream << "  when " << variable(weq.first).v << " < 0 : " << std::endl;
      for (size_t eq : weq.second) {
        auto v = variable(eq).parent;
        stream << "    " << variable(v).name << " := " << variable(eq).v << std::endl;
      }
    }
  }
}

References casadi::Variable::bind, casadi::C, casadi::D, der(), casadi::description(), eq(), fun_, casadi::Variable::ieq, indices(), init_, casadi::GenericMatrix< MatType >::is_empty(), casadi::Variable::name, outputs_, casadi::P, casadi::Variable::parent, casadi::Q, residuals_, sanity_check(), size(), casadi::T, casadi::to_string(), casadi::U, casadi::Variable::v, var(), variable(), casadi::W, when_, casadi::X, and casadi::Z.

Referenced by import_binding_equations(), import_dynamic_equations(), and import_initial_equations().

eliminate()

void casadi::DaeBuilderInternal::eliminate

(

Category

cat

)

Definition at line 1735 of file dae_builder_internal.cpp.

                                               {
  // Eliminate quadratures
  if (cat == Category::Q) {
    for (size_t q : indices(cat)) set_category(q, Category::X);
    return;
  }
 
  // Assume dependent variable (c, d, w)
  casadi_assert(is_acyclic(cat), "Elimination not supported for category " + to_string(cat));
 
  // Quick return if no dependent variables
  if (size(cat) == 0) return;
  // Clear cache after this
  clear_cache_ = true;
  // Ensure variables are sorted
  sort(cat);
  // Expressions where the variables are also being used
  std::vector<MX> ex;
  for (const Variable* v : variables_) {
    if (!v->v.is_constant()) ex.push_back(v->v);
  }
  // Perform elimination
  std::vector<size_t> ind = indices(cat);
  std::vector<MX> v = var(ind);
  std::vector<MX> vdef = output(dependent_definition(cat));
  substitute_inplace(v, vdef, ex);
  // Replace binding equations
  auto it = ex.begin();
  for (Variable* v : variables_) {
    if (!v->v.is_constant()) v->v = *it++;
  }
  // Consistency check
  casadi_assert_dev(it == ex.end());
  // Reclassify as calculated variables
  for (size_t k : ind) {
    categorize(variable(k).index, Category::CALCULATED);
  }
}

References casadi::CALCULATED, categorize(), clear_cache_, casadi::dependent_definition(), indices(), casadi::is_acyclic(), output(), casadi::Q, set_category(), size(), sort(), casadi::to_string(), var(), variable(), variables_, and casadi::X.

eq()

void casadi::DaeBuilderInternal::eq ( const MX &  lhs, const MX &  rhs, const Dict &  opts  )

protected

Definition at line 3078 of file dae_builder_internal.cpp.

                                                                          {
  // Read options
  for (auto&& op : opts) {
    casadi_error("No such option: " + op.first);
  }
  // Make sure vectors
  casadi_assert(lhs.is_column(), "Left-hand-side must be a column vector");
  casadi_assert(rhs.is_column(), "Right-hand-side must be a column vector");
  // Make sure dense
  if (!lhs.is_dense()) return eq(densify(lhs), rhs, opts);
  if (!rhs.is_dense()) return eq(lhs, densify(rhs), opts);
  // Make sure dimensions agree
  if (lhs.size1() != rhs.size1()) {
    // Handle mismatching dimnensions by recursion
    if (lhs.size1() == 1 && rhs.size1() > 1) {
      return eq(repmat(lhs, rhs.size1()), rhs, opts);
    } else if (lhs.size1() > 1 && rhs.size1() == 1) {
      return eq(lhs, repmat(rhs, lhs.size1()), opts);
    } else {
      casadi_error("Mismatched dimensions: " + str(lhs.size1()) + " vs " + str(rhs.size1()));
    }
  }
  // Make sure right-hand-side only depends on known model variables
  std::vector<size_t> rhs_vars = find(symvar(rhs));
  // If right-hand-side contains a time derivative that hasn't been defined yet,
  // add a new algebraic variable der_x and the ODE "der(x) = der_x"
  // This ensures that the DAE stays in semi-explicit form
  for (size_t rhs : rhs_vars) {
    Variable& v = variable(rhs);
    if (v.category == Category::Z && v.parent >= 0) {
      // Find the corresponding state variable
      Variable& x = variable(v.parent);
      // The "parent" attribute is used in some other cases, like assignments
      casadi_assert(x.der == v.index, "Cannot handle right-hand-side variable: " + v.name);
      // Create a new algebraic variable der_{name}, to distinguish from der({name})
      Variable& der_x = add(unique_name("der_" + x.name, true),
        Causality::LOCAL, Variability::CONTINUOUS,
        {{"dimension", {x.dimension}}});
      // Add the trivial ODE
      eq(x.get_der(*this), der_x.v, Dict());
    }
  }
  // Try to honor a == b as an explicit equation
  if (lhs.is_valid_input()) {
    // Explicit equation
    if (lhs.is_symbolic()) {
      // Regular symbolic: Find the variable
      Variable& v = variable(lhs);
      // Set the binding equation
      if (v.has_beq()) {
        // Treat as implicit equation via recursion
        return eq(MX::zeros(lhs.sparsity()), lhs - rhs, opts);
      } else {
        // Set the binding equation
        Variable& beq = assign(v.name, rhs);
        v.bind = beq.index;
      }
      // (Re)classify variables
      if (v.parent >= 0) {
        // Derivative variable is being set - find the corresponding state variable
        Variable& x = variable(v.parent);
        // The "parent" attribute is used in some other cases, like assignments
        casadi_assert(x.der == v.index, "Cannot handle left-hand-side: " + str(lhs));
        // Reclassify as a differential state and derivative as a dependent variable
        if (x.category == Category::Z) {
          // Not previously used: Reclassify as differential state
          categorize(x.index, detect_quad_ && !x.in_rhs ? Category::Q : Category::X);
          categorize(v.index, Category::W);
        } else if (x.category == Category::W) {
          // Already given a defining equation: Create a new dependent variable and use this
          // for the previous definition
          Variable& def_x = add(unique_name("def_" + x.name, true),
            Causality::LOCAL, Variability::CONTINUOUS,
            {{"dimension", {x.dimension}}});
          categorize(def_x.index, Category::W);
          def_x.bind = x.bind;
          // We can now reclassify x as a differential state
          x.bind = -1;
          categorize(x.index, Category::X);
          categorize(v.index, Category::W);
          // Add a new implicit equation: 0 == x - def_x
          Variable& alg = add(unique_name("__alg__"), Causality::LOCAL, Variability::CONTINUOUS,
            x.v - def_x.v, {{"dimension", x.dimension}});
          categorize(alg.index, Category::CALCULATED);
          residuals_.push_back(alg.index);
        } else {
          casadi_error("Unexpected category for " + x.name + ": " + to_string(x.category));
        }
      } else if (v.category == Category::Z) {
        // Reclassify as dependent variable
        categorize(v.index, Category::W);
      } else {
        casadi_error("Cannot handle left-hand-side: " + str(lhs) + " of category '"
          + to_string(v.category) + "'");
      }
    } else {
      // Concatenation: Split into primitives
      auto lhs_split = lhs.primitives();
      std::vector<MX> rhs_split = lhs.split_primitives(rhs);
      // Call recursively
      for (size_t k = 0; k < lhs_split.size(); ++k) {
        eq(lhs_split.at(k), rhs_split.at(k), opts);
      }
      return;
    }
  } else {
    // Implicit equation: Create residual variable
    Variable& alg = add(unique_name("__alg__"), Causality::LOCAL, Variability::CONTINUOUS,
      lhs - rhs, {{"dimension", std::vector<casadi_int>{lhs.size1()}}});
    categorize(alg.index, Category::CALCULATED);
    residuals_.push_back(alg.index);
  }
  // Do not allow any quadrature states in the right-hand-sides
  for (size_t rhs : rhs_vars) {
    Variable& v = variable(rhs);
    if (!v.in_rhs) {
      v.in_rhs = true;
      if (v.category == Category::Q) categorize(v.index, Category::X);
    }
  }
}

References add(), casadi::Variable::category, casadi::CONTINUOUS, casadi::Variable::der, find(), casadi::Variable::index, casadi::GenericMatrix< MatType >::is_column(), casadi::GenericMatrix< MatType >::is_dense(), casadi::LOCAL, casadi::Variable::name, casadi::Variable::parent, casadi::GenericMatrix< MatType >::size1(), casadi::str(), unique_name(), variable(), and casadi::Z.

Referenced by disp(), import_binding_equations(), import_dynamic_equations(), import_initial_equations(), transition(), and when().

export_fmu()

std::vector< std::string > casadi::DaeBuilderInternal::export_fmu

(

const Dict &

opts

)

const

Definition at line 902 of file dae_builder_internal.cpp.

                                                                          {
  // Default options
  bool no_warning = false;
  for (auto&& op : opts) {
    if (op.first == "no_warning") {
      no_warning = op.second;
    }
  }
  // Feature incomplete
  if (!no_warning) casadi_warning("FMU generation is experimental and incomplete")
  // Return object
  std::vector<std::string> ret;
  // GUID
  std::string guid = generate_guid();
  // Generate model function
  std::string dae_filename = name_;
  casadi_assert(size(Category::Q) == 0, "Not implemented");
  Function dae = shared_from_this<DaeBuilder>().create(dae_filename,
    {"t", "x", "p", "u"}, {"ode", "y", "zero"});
  // Event transition function, if needed
  Function tfun;
  if (!event_indicators_.empty()) tfun = transition("transition_" + name_);
  // Generate C code for model equations
  Dict codegen_opts;
  codegen_opts["with_header"] = true;
  CodeGenerator gen(dae_filename, codegen_opts);
  gen.add(dae);
  gen.add(dae.forward(1));
  gen.add(dae.reverse(1));
  if (!tfun.is_null()) gen.add(tfun);
  ret.push_back(gen.generate());
  ret.push_back(dae_filename + ".h");
  // Make sure dependencies are up-to-date
  update_dependencies();
  // Generate FMU wrapper file
  std::string wrapper_filename = generate_wrapper(guid, gen);
  ret.push_back(wrapper_filename);
  // Generate build description
  ret.push_back(generate_build_description(ret));
  // Generate modelDescription file
  ret.push_back(generate_model_description(guid));
  // Return list of files
  return ret;
}

References casadi::CodeGenerator::add(), casadi::Function::create(), event_indicators_, casadi::Function::forward(), casadi::CodeGenerator::generate(), generate_build_description(), generate_guid(), generate_model_description(), generate_wrapper(), casadi::GenericShared< Shared, Internal >::is_null(), name_, casadi::Q, casadi::Function::reverse(), size(), transition(), and update_dependencies().

find() [1/4]

size_t casadi::DaeBuilderInternal::find

(

const MX &

v

)

const

Definition at line 3969 of file dae_builder_internal.cpp.

                                                 {
  // Make sure it is a valid input
  casadi_assert(v.is_symbolic(), "Variable must be symbolic");
  // Find the prospective variable
  size_t ind = find(v.name());
  // Make sure that the expression (not just the name) is correct
  casadi_assert(is_equal(v, variables_.at(ind)->v),
    "Variable \"" + v.name() + "\" has mismatching symbolic expression");
  // Return index
  return ind;
}

References find(), casadi::is_equal(), casadi::MX::is_symbolic(), casadi::MX::name(), and variables_.

find() [2/4]

size_t casadi::DaeBuilderInternal::find

(

const std::string &

name

)

const

Definition at line 3963 of file dae_builder_internal.cpp.

                                                           {
  auto it = varind_.find(name);
  casadi_assert(it != varind_.end(), "No such variable: \"" + name + "\".");
  return it->second;
}

References name(), and varind_.

Referenced by der(), eq(), find(), fmu_fun(), sort(), sort_z(), and tear().

find() [3/4]

std::vector< size_t > casadi::DaeBuilderInternal::find

(

const std::vector< MX > &

v

)

const

Definition at line 3987 of file dae_builder_internal.cpp.

                                                                       {
  std::vector<size_t> r(v.size());
  for (size_t i = 0; i < r.size(); ++i) r[i] = find(v[i]);
  return r;
}

References find().

find() [4/4]

std::vector< size_t > casadi::DaeBuilderInternal::find

(

const std::vector< std::string > &

name

)

const

Definition at line 3981 of file dae_builder_internal.cpp.

                                                                                 {
  std::vector<size_t> r(name.size());
  for (size_t i = 0; i < r.size(); ++i) r[i] = find(name[i]);
  return r;
}

References find(), and name().

fmu_fun()

Function casadi::DaeBuilderInternal::fmu_fun	(	const std::string &	fname,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out,
		const Dict &	opts
	)		const

Definition at line 2578 of file dae_builder_internal.cpp.

                            {
  // Iterator for options lookup
  Dict::const_iterator it;
  // Scheme inputs
  std::vector<std::string> scheme_in;
  bool has_in = false;
  if ((it = opts.find("scheme_in")) != opts.end()) {
    try {
      scheme_in = it->second;
    } catch (std::exception& e) {
      casadi_error(std::string("Cannot read 'scheme_in': ") + e.what());
    }
    has_in = true;
  }
 
  // Scheme outputs
  std::vector<std::string> scheme_out;
  bool has_out = false;
  if ((it = opts.find("scheme_out")) != opts.end()) {
    try {
      scheme_out = it->second;
      has_out = true;
    } catch (std::exception& e) {
      casadi_error(std::string("Cannot read 'scheme_out': ") + e.what());
    }
  }
  // If scheme_in and/or scheme_out not provided, identify from name_in, name_out
  if (!has_in || !has_out) {
    FmuFunction::identify_io(has_in ? 0 : &scheme_in, has_out ? 0 : &scheme_out, name_in, name_out);
  }
  // IO scheme
  std::map<std::string, std::vector<size_t>> scheme;
  if ((it = opts.find("scheme")) != opts.end()) {
    try {
      // Argument is a Dict
      Dict scheme_dict = it->second;
      // Convert indices
      for (auto&& e : scheme_dict) {
        std::vector<std::string> v = e.second;
        scheme[e.first] = find(v);
      }
    } catch (std::exception& e) {
      casadi_error(std::string("Cannot read 'scheme': ") + e.what());
    }
  } else {
    // Initialize all scheme entries
    for (auto&& s : dyn_in()) scheme[s] = std::vector<size_t>();
    for (auto&& s : dyn_out()) scheme[s] = std::vector<size_t>();
    // Default IO scheme
    scheme["t"] = indices(Category::T);
    scheme["x"] = indices(Category::X);
    scheme["u"] = indices(Category::U);
    scheme["z"] = indices(Category::Z);
    scheme["p"] = indices(Category::P);
    scheme["ode"] = indices(Category::X);
    for (size_t& i : scheme["ode"]) i = variable(i).der;
    scheme["quad"] = indices(Category::Q);
    for (size_t& i : scheme["quad"]) i = variable(i).der;
    scheme["alg"] = indices(Category::Z);
    casadi_assert(size(Category::Z) == 0, "Not implemented)");
    scheme["y"] = outputs_;
    scheme["rate"] = rate_;
  }
  // Auxilliary variables, if any
  std::vector<std::string> aux;
  if ((it = opts.find("aux")) != opts.end()) {
    try {
      aux = it->second;
    } catch (std::exception& e) {
      casadi_error(std::string("Cannot read 'aux': ") + e.what());
    }
  }
  // New FMU instance (to be shared between derivative functions)
  Fmu fmu(name, fmi_major_ >= 3 ? FmuApi::FMI3 : FmuApi::FMI2, this,
    scheme_in, scheme_out, scheme, aux);
 
  // Crete new function
  return Function::create(new FmuFunction(name, fmu, name_in, name_out), opts);
}

References casadi::Function::create(), casadi::Variable::der, casadi::dyn_in(), casadi::dyn_out(), find(), casadi::FMI2, casadi::FMI3, fmi_major_, FmuFunction, casadi::FmuFunction::identify_io(), indices(), name(), outputs_, casadi::P, casadi::Q, rate_, size(), casadi::T, casadi::U, variable(), casadi::X, and casadi::Z.

Referenced by create().

fun()

Function casadi::DaeBuilderInternal::fun ( const std::string &  name ) const

protected

Definition at line 4041 of file dae_builder_internal.cpp.

                                                            {
  casadi_assert(has_fun(name), "No such function: '" + name + "'");
  for (const Function& f : fun_) {
    if (f.name()==name) return f;
  }
  return Function();
}

References fun_, has_fun(), and name().

gather_eq()

Function casadi::DaeBuilderInternal::gather_eq

(

)

const

Definition at line 2661 of file dae_builder_internal.cpp.

                                             {
  // Output expressions
  std::vector<MX> f_out;
  // Names of outputs
  std::vector<std::string> f_out_name;
  // Get all expressions
  for (OutputCategory cat : output_categories()) {
    std::vector<MX> v = output(cat);
    if (!v.empty()) {
      f_out.push_back(vertcat(v));
      f_out_name.push_back(to_string(cat));
    }
  }
  // Construct function
  return Function("all_eq", {}, f_out, {}, f_out_name, {{"allow_free", true}});
}

References output(), casadi::output_categories(), and casadi::to_string().

generate() [1/2]

std::string casadi::DaeBuilderInternal::generate ( const std::vector< double > &  v )

static

Import existing problem from FMI/XML

Definition at line 962 of file dae_builder_internal.cpp.

                                                                 {
  std::stringstream ss;
  ss << "{";
  bool first = true;
  for (double e : v) {
    // Separator
    if (!first) ss << ", ";
    first = false;
    // Print element
    ss << std::scientific << std::setprecision(std::numeric_limits<double>::digits10 + 1) << e;
  }
  ss << "}";
  return ss.str();
}

generate() [2/2]

std::string casadi::DaeBuilderInternal::generate ( const std::vector< size_t > &  v )

static

Helper function: generate constants

Definition at line 947 of file dae_builder_internal.cpp.

                                                                 {
  std::stringstream ss;
  ss << "{";
  bool first = true;
  for (double e : v) {
    // Separator
    if (!first) ss << ", ";
    first = false;
    // Print element
    ss << e;
  }
  ss << "}";
  return ss.str();
}

Referenced by generate_wrapper().

generate_build_description()

std::string casadi::DaeBuilderInternal::generate_build_description

(

const std::vector< std::string > &

cfiles

)

const

Definition at line 702 of file dae_builder_internal.cpp.

                                              {
  // Default arguments
  int fmi_major = 3;
  int fmi_minor = 0;
  std::string model_name = name_;
  // Construct XML file
  XmlNode r;
  // Preamble
  r.name = "fmiBuildDescription";
  r.set_attribute("fmiVersion", std::to_string(fmi_major) + "." + std::to_string(fmi_minor));
  // Set of source files
  XmlNode source_file_set;
  source_file_set.name = "SourceFileSet";
  for (auto&& f : cfiles) {
    XmlNode source_file;
    source_file.name = "SourceFile";
    source_file.set_attribute("name", f);
    source_file_set.children.push_back(source_file);
  }
  // Build configurations
  XmlNode bc;
  bc.name = "BuildConfiguration";
  bc.set_attribute("modelIdentifier", model_name);
  bc.children.push_back(source_file_set);
  r.children.push_back(bc);
  // XML file name
  std::string xml_filename = "buildDescription.xml";
  // Construct ModelDescription
  XmlNode build_description;
  build_description.children.push_back(r);
  // Export to file
  XmlFile xml_file("tinyxml");
  xml_file.dump(xml_filename, build_description);
  return xml_filename;
}

References casadi::XmlNode::children, casadi::XmlFile::dump(), casadi::XmlNode::name, name_, and casadi::XmlNode::set_attribute().

Referenced by export_fmu().

generate_guid()

std::string casadi::DaeBuilderInternal::generate_guid ( )

static

Import existing problem from FMI/XML

Definition at line 4223 of file dae_builder_internal.cpp.

                                            {
  // Initialize random seed
  static bool initialized = false;
  if (!initialized) {
      srand(::time(nullptr));  // NOLINT(runtime/threadsafe_fn)
    initialized = true;
  }
  // Possible characters
  const char h[] = "0123456789abcdef";
  // Length of GUID
  const size_t len = 32;
  // Generate random hex string
  std::vector<char> buf(len);
  for (size_t i = 0; i < len; ++i)
    buf[i] = h[rand() % 16];  // NOLINT(runtime/threadsafe_fn)
  return std::string(&buf.front(), len);
}

References time().

Referenced by export_fmu().

generate_model_description()

std::string casadi::DaeBuilderInternal::generate_model_description

(

const std::string &

guid

)

const

Definition at line 739 of file dae_builder_internal.cpp.

                                                                                    {
  // Default arguments
  int fmi_major = 3;
  int fmi_minor = 0;
  std::string model_name = name_;
  std::string description;  // none
  std::string author;  // none
  std::string version;  // none
  std::string copyright;  // none
  std::string license;  // none
  // Construct XML file
  XmlNode r;
  // Preamble
  r.name = "fmiModelDescription";
  r.set_attribute("fmiVersion", std::to_string(fmi_major) + "." + std::to_string(fmi_minor));
  r.set_attribute("modelName", model_name);
  r.set_attribute(fmi_major >= 3 ? "instantiationToken" : "guid", guid);
  if (!description.empty()) r.set_attribute("description", description);
  if (!author.empty()) r.set_attribute("author", author);
  if (!version.empty()) r.set_attribute("version", version);
  if (!copyright.empty()) r.set_attribute("copyright", copyright);
  if (!license.empty()) r.set_attribute("license", license);
  r.set_attribute("generationTool", "CasADi");
  r.set_attribute("generationDateAndTime", iso_8601_time());
  r.set_attribute("variableNamingConvention", "structured");  // flat better?
  if (fmi_major < 3) r.set_attribute("numberOfEventIndicators", "0");
  // Model exchange marker
  XmlNode me;
  me.name = "ModelExchange";
  me.set_attribute("modelIdentifier", model_name);  // sanitize name?
  r.children.push_back(me);
 
  // Default experiment
  XmlNode def_exp;
  def_exp.name = "DefaultExperiment";
  if (!std::isnan(start_time_)) def_exp.set_attribute("startTime", start_time_);
  if (!std::isnan(stop_time_)) def_exp.set_attribute("stopTime", stop_time_);
  if (!std::isnan(tolerance_)) def_exp.set_attribute("tolerance", tolerance_);
  if (!std::isnan(step_size_)) def_exp.set_attribute("stepSize", step_size_);
  if (!def_exp.attributes.empty()) r.children.push_back(def_exp);
 
  // Model variables
  r.children.push_back(generate_model_variables());
  // Model structure
  r.children.push_back(generate_model_structure());
  // XML file name
  std::string xml_filename = "modelDescription.xml";
  // Construct ModelDescription
  XmlNode model_description;
  model_description.children.push_back(r);
  // Export to file
  XmlFile xml_file("tinyxml");
  xml_file.dump(xml_filename, model_description);
  return xml_filename;
}

References casadi::XmlNode::attributes, casadi::XmlNode::children, casadi::description(), casadi::XmlFile::dump(), generate_model_structure(), generate_model_variables(), iso_8601_time(), casadi::XmlNode::name, name_, casadi::XmlNode::set_attribute(), start_time_, step_size_, stop_time_, and tolerance_.

Referenced by export_fmu().

generate_model_structure()

XmlNode casadi::DaeBuilderInternal::generate_model_structure

(

)

const

Definition at line 805 of file dae_builder_internal.cpp.

                                                           {
  XmlNode r;
  r.name = "ModelStructure";
  // Add outputs
  for (size_t i : outputs_) {
    const Variable& y = variable(i);
    XmlNode c;
    c.name = "Output";
    c.set_attribute("valueReference", static_cast<casadi_int>(y.value_reference));
    c.set_attribute("dependencies", y.dependencies);
    r.children.push_back(c);
  }
  // Add state derivatives
  for (size_t i : indices(Category::X)) {
    const Variable& xdot = variable(variable(i).der);
    XmlNode c;
    c.name = "ContinuousStateDerivative";
    c.set_attribute("valueReference", static_cast<casadi_int>(xdot.value_reference));
    c.set_attribute("dependencies", xdot.dependencies);
    r.children.push_back(c);
  }
  // Add initial unknowns: Outputs
  for (size_t i : outputs_) {
    const Variable& y = variable(i);
    XmlNode c;
    c.name = "InitialUnknown";
    c.set_attribute("valueReference", static_cast<casadi_int>(y.value_reference));
    c.set_attribute("dependencies", y.dependencies);
    r.children.push_back(c);
  }
  // Add initial unknowns: State derivative
  for (size_t i : indices(Category::X)) {
    const Variable& xdot = variable(variable(i).der);
    XmlNode c;
    c.name = "InitialUnknown";
    c.set_attribute("valueReference", static_cast<casadi_int>(xdot.value_reference));
    c.set_attribute("dependencies", xdot.dependencies);
    r.children.push_back(c);
  }
  // Add event indicators
  for (size_t i : event_indicators_) {
    const Variable& zero = variable(i);
    XmlNode c;
    c.name = "EventIndicator";
    c.set_attribute("valueReference", static_cast<casadi_int>(zero.value_reference));
    c.set_attribute("dependencies", zero.dependencies);
    r.children.push_back(c);
  }
  return r;
}

References casadi::XmlNode::children, casadi::Variable::dependencies, der(), event_indicators_, indices(), casadi::XmlNode::name, outputs_, casadi::XmlNode::set_attribute(), casadi::Variable::value_reference, variable(), and casadi::X.

Referenced by generate_model_description().

generate_model_variables()

XmlNode casadi::DaeBuilderInternal::generate_model_variables

(

)

const

Definition at line 796 of file dae_builder_internal.cpp.

                                                           {
  XmlNode r;
  r.name = "ModelVariables";
  for (auto&& v : variables_) {
    r.children.push_back(v->export_xml(*this));
  }
  return r;
}

References casadi::XmlNode::children, casadi::XmlNode::name, and variables_.

Referenced by generate_model_description().

generate_wrapper()

std::string casadi::DaeBuilderInternal::generate_wrapper	(	const std::string &	guid,
		const CodeGenerator &	gen
	)		const

Definition at line 985 of file dae_builder_internal.cpp.

                                    {
  // Create file
  std::string wrapper_filename = name_ + "_wrap.c";
 
  auto f_ptr = Filesystem::ofstream_ptr(wrapper_filename);
  std::ostream& f = *f_ptr;
  CodeGenerator::stream_open(f, false);
 
  // Add includes
  f << "#include <fmi3Functions.h>\n"
    << "#include \"" << name_ << ".h\"\n"
    << "\n";
 
  // Total number of variables
  f << "#define N_VAR " << n_variables() << "\n";
 
  // Memory size
  f << "#define SZ_MEM " << n_mem() << "\n";
 
  // Work vectors sizes
  size_t sz_arg, sz_res, sz_iw, sz_w;
  gen.sz_work(sz_arg, sz_res, sz_iw, sz_w);
  f << "#define SZ_ARG " << sz_arg << "\n"
    << "#define SZ_RES " << sz_res << "\n"
    << "#define SZ_IW " << sz_iw << "\n"
    << "#define SZ_W " << sz_w << "\n";
 
  // Memory offsets
  f << "const size_t var_offset[N_VAR + 1] = {0";
  size_t mem_ind = 0;
  for (const Variable* v : variables_) {
    mem_ind += v->numel;
    f << ", " << mem_ind;
  }
  f << "};\n\n";
 
  // Start attributes
  f << "casadi_real start[SZ_MEM] = " << generate(start_all()) << ";\n\n";
 
  // States
  f << "#define N_X " << size(Category::X) << "\n"
    << "fmi3ValueReference x_vr[N_X] = " << generate(indices(Category::X)) << ";\n"
    << "\n";
 
  // Controls
  f << "#define N_U " << size(Category::U) << "\n"
    << "fmi3ValueReference u_vr[N_U] = " << generate(indices(Category::U)) << ";\n"
    << "\n";
 
  // Parameters
  f << "#define N_P " << size(Category::P) << "\n"
    << "fmi3ValueReference p_vr[N_P] = " << generate(indices(Category::P)) << ";\n"
    << "\n";
 
  // State derivatives
  std::vector<size_t> xdot;
  for (size_t v : indices(Category::X)) xdot.push_back(variable(v).der);
  f << "fmi3ValueReference xdot_vr[N_X] = " << generate(xdot) << ";\n"
    << "\n";
 
  // Outputs
  f << "#define N_Y " << outputs_.size() << "\n"
    << "fmi3ValueReference y_vr[N_Y] = " << generate(outputs_) << ";\n"
    << "\n";
 
  // Event indicators
  f << "#define N_ZERO " << event_indicators_.size() << "\n"
  << "fmi3ValueReference zero_vr[N_ZERO] = " << generate(event_indicators_) << ";\n"
  << "\n";
 
  // Memory structure
  f << CodeGenerator::fmu_helpers(name_);
 
  // Finalize file
  CodeGenerator::stream_close(f, false);
  return wrapper_filename;
}

References der(), event_indicators_, casadi::CodeGenerator::fmu_helpers(), generate(), indices(), n_mem(), n_variables(), name_, casadi::Filesystem::ofstream_ptr(), outputs_, casadi::P, size(), start_all(), casadi::CodeGenerator::stream_close(), casadi::CodeGenerator::stream_open(), casadi::CodeGenerator::sz_work(), casadi::U, variable(), variables_, and casadi::X.

Referenced by export_fmu().

get_der() [1/2]

MX casadi::DaeBuilderInternal::get_der ( size_t  ind ) const

inline

Definition at line 358 of file dae_builder_internal.hpp.

{return variable(ind).get_der(*this);}

Referenced by der().

get_der() [2/2]

MX casadi::DaeBuilderInternal::get_der ( size_t  ind, bool  may_allocate = true  )

inline

Definition at line 361 of file dae_builder_internal.hpp.

                                                   {
    return variable(ind).get_der(*this, may_allocate);
  }

get_str()

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

inline

Definition at line 381 of file dae_builder_internal.hpp.

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

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;
  }

has()

bool casadi::DaeBuilderInternal::has

(

const std::string &

name

)

const

Definition at line 1601 of file dae_builder_internal.cpp.

                                                        {
  return varind_.find(name) != varind_.end();
}

References name(), and varind_.

Referenced by new_variable(), tearing_variables(), and unique_name().

has_fun()

bool casadi::DaeBuilderInternal::has_fun ( const std::string &  name ) const

protected

Definition at line 4034 of file dae_builder_internal.cpp.

                                                            {
  for (const Function& f : fun_) {
    if (f.name()==name) return true;
  }
  return false;
}

References fun_, and name().

Referenced by add_fun(), and fun().

has_t()

bool casadi::DaeBuilderInternal::has_t ( ) const

protected

Extra doc: https://github.com/casadi/casadi/wiki/L_2bx

Definition at line 2683 of file dae_builder_internal.cpp.

                                     {
  return size(Category::T) > 0;
}

References size(), and casadi::T.

Referenced by add(), and time().

hess_sparsity()

Sparsity casadi::DaeBuilderInternal::hess_sparsity	(	const std::vector< size_t > &	oind,
		const std::vector< size_t > &	iind
	)		const

Definition at line 4161 of file dae_builder_internal.cpp.

                                         {
  // Mark inputs
  std::vector<casadi_int> lookup(n_variables(), -1);
  for (size_t i = 0; i < iind.size(); ++i) lookup.at(iind[i]) = i;
  // Which variables enter as a nonlinear dependency in any variable in oind
  std::vector<bool> nonlin(iind.size(), false);
  // List of nonlinearly entering variables for the specific output
  std::vector<casadi_int> nonlin_list;
  // Rows and columns of the Hessian
  std::vector<casadi_int> row, col;
  // Loop over output variables
  for (casadi_int j = 0; j < oind.size(); ++j) {
    const Variable& v = variable(oind[j]);
    // Loop over dependencies
    for (size_t k = 0; k < v.dependencies.size(); ++k) {
      if (v.dependenciesKind.empty() || v.dependenciesKind.at(k) == DependenciesKind::DEPENDENT) {
        casadi_int i = lookup.at(v.dependencies[k]);
        if (i >= 0 && !nonlin.at(i)) {
          // Add to list
          nonlin_list.push_back(i);
          nonlin.at(i) = true;
        }
      }
    }
    // Add all combinations to sparsity pattern
    for (casadi_int k1 : nonlin_list) {
      for (casadi_int k2 : nonlin_list) {
        row.push_back(k1);
        col.push_back(k2);
      }
    }
    // If row/col vectors grow too large, remove duplicates
    if (col.size() > 2 * iind.size() * iind.size()) {
      Sparsity r = Sparsity::triplet(iind.size(), iind.size(), row, col);
      row = r.get_row();
      col = r.get_col();
    }
    // Reset nonlin, nonlin_list for next iteration
    for (casadi_int k : nonlin_list) nonlin[k] = false;
    nonlin_list.clear();
  }
  // Create sparsity pattern
  return Sparsity::triplet(iind.size(), iind.size(), row, col);
}

References casadi::Variable::dependencies, casadi::Variable::dependenciesKind, casadi::DEPENDENT, casadi::Sparsity::get_col(), casadi::Sparsity::get_row(), n_variables(), casadi::Sparsity::triplet(), and variable().

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

hess_v_v_from_calls()

MX casadi::DaeBuilderInternal::hess_v_v_from_calls ( std::map< MXNode *, CallIO > &  call_nodes, const std::vector< casadi_int > &  h_offsets  ) const

protected

Definition at line 2161 of file dae_builder_internal.cpp.

                                                  {
  // Calculate all Hessian expressions
  for (auto&& call_ref : call_nodes) call_ref.second.calc_hess();
  // Row offsets in hess_v_v
  casadi_int voffset_begin = 0, voffset_end = 0, voffset_last = 0;
  // Vertical and horizontal slices of hess_v_v
  std::vector<MX> vblocks, hblocks;
  // All blocks for a block row
  std::map<size_t, MX> hess_brow;
  // Loop over block rows
  for (size_t vind1 = 0; vind1 < size(Category::W); ++vind1) {
    // Current element handled
    const MX& vref = var(Category::W, vind1);
    // Update vertical offset
    voffset_begin = voffset_end;
    voffset_end += vref.numel();
    // Collect all blocks for this block row
    hess_brow.clear();
    for (auto&& call_ref : call_nodes) {
      // Locate the specific index
      for (size_t iind1 = 0; iind1 < call_ref.second.v.size(); ++iind1) {
        if (call_ref.second.v.at(iind1) == vind1) {
          // Add contribution to block row
          for (size_t iind2 = 0; iind2 < call_ref.second.v.size(); ++iind2) {
            // Corresponding index in v
            size_t vind2 = call_ref.second.v[iind2];
            if (vind2 == size_t(-1)) continue;
            // Hessian contribution
            MX H_contr = call_ref.second.hess(iind1, iind2);
            // Insert new block or add to existing one
            auto it = hess_brow.find(vind2);
            if (it != hess_brow.end()) {
              it->second += H_contr;
            } else {
              hess_brow[vind2] = H_contr;
            }
          }
          // An index can only appear once
          break;
        }
      }
    }
    // If no blocks, skip row
    if (hess_brow.empty()) continue;
    // Add empty rows to vblocks, if any
    if (voffset_last != voffset_begin) {
      vblocks.push_back(MX(voffset_begin - voffset_last, h_offsets.back()));
    }
    // Collect horizontal blocks
    hblocks.clear();
    casadi_int hoffset = 0;
    for (auto e : hess_brow) {
      // Add empty block before Jacobian block, if needed
      if (hoffset < h_offsets.at(e.first))
        hblocks.push_back(MX(vref.numel(), h_offsets.at(e.first) - hoffset));
      // Add Jacobian block
      hblocks.push_back(e.second);
      // Update offsets
      hoffset = h_offsets.at(e.first + 1);
    }
    // Add trailing empty block, if needed
    if (hoffset < h_offsets.back())
      hblocks.push_back(MX(vref.numel(), h_offsets.back() - hoffset));
    // Add new block row to vblocks
    vblocks.push_back(horzcat(hblocks));
    // Keep track of the offset handled in jac_brow
    voffset_last = voffset_end;
  }
  // Add empty trailing row to vblocks, if any
  if (voffset_last != voffset_end) {
    vblocks.push_back(MX(voffset_end - voffset_last, h_offsets.back()));
  }
  // Return additional term in jac_vdef_v
  return vertcat(vblocks);
}

References casadi::MX::find(), casadi::GenericMatrix< MatType >::numel(), size(), var(), and casadi::W.

Referenced by create().

import_binding_equations()

void casadi::DaeBuilderInternal::import_binding_equations ( const XmlNode &  eqs )

protected

Definition at line 3760 of file dae_builder_internal.cpp.

                                                                    {
  if (debug_) {
    uout() << "== Structure before importing binding equations ==" << std::endl;
    disp(uout(), true);
  }
 
  // Loop over binding equations
  for (casadi_int i = 0; i < eqs.size(); ++i) {
    const XmlNode& eq = eqs[i];
    std::string eq_name = "beq_" + str(i);
    // Try to read the node
    try {
      // Get the variable and binding expression
      Variable& var = read_variable(eq[0]);
      if (eq[1].size() == 1) {
        // Set the binding equation
        var.bind = assign(var.name, read_expr(eq[1][0])).index;
      } else {
        // OpenModelica 1.17 occationally generates integer values without type specifier (bug?)
        casadi_assert(eq[1].size() == 0, "Not implemented");
        casadi_int val;
        eq[1].get(&val);
        casadi_warning(var.name + " has binding equation without type specifier: " + str(val));
        // Set the binding equation
        var.bind = assign(var.name, val).index;
      }
      // Add to list of dependent parameters
      indices(Category::D).push_back(var.index);
    } catch (std::exception& e) {
      casadi_error("Failed to read " + eq_name + ":" + str(e.what()));
    }
  }
}

References assign(), casadi::D, debug_, disp(), eq(), casadi::Variable::index, indices(), casadi::MX::name(), read_expr(), read_variable(), casadi::XmlNode::size(), size(), casadi::str(), casadi::uout(), and var().

Referenced by load_fmi_description().

import_default_experiment()

void casadi::DaeBuilderInternal::import_default_experiment ( const XmlNode &  n )

protected

Definition at line 3295 of file dae_builder_internal.cpp.

                                                                   {
  start_time_ = n.attribute<double>("startTime", nan);
  stop_time_ = n.attribute<double>("stopTime", nan);
  tolerance_ = n.attribute<double>("tolerance", nan);
  step_size_ = n.attribute<double>("stepSize", nan);
}

References casadi::XmlNode::attribute(), casadi::nan, start_time_, step_size_, stop_time_, and tolerance_.

Referenced by load_fmi_description().

import_dynamic_equations()

void casadi::DaeBuilderInternal::import_dynamic_equations ( const XmlNode &  eqs )

protected

Definition at line 3794 of file dae_builder_internal.cpp.

                                                                    {
  if (debug_) {
    uout() << "== Structure before importing dynamic equations ==" << std::endl;
    disp(uout(), true);
  }
  // Add discrete states to x_
  // Note: Make generic, should also apply to regular FMUs
  for (Variable* v : variables_) {
    if (v->variability == Variability::DISCRETE) {
      categorize(v->index, Category::X);
    }
  }
  // Add equations
  for (casadi_int i = 0; i < eqs.size(); ++i) {
    const XmlNode& eq = eqs[i];
    std::string eq_name = "dyneq_" + str(i);
    // Try to read the node
    try {
      if (eq.name == "equ:When") {  // When equation
        // Nodes for condition, equations
        const XmlNode& n_cond = eq["equ:Condition"];
        const XmlNode& n_equ = eq["equ:Equation"];
        // Consistency checks - only working for very simple expressions
        casadi_assert(n_cond.size() == 1, "Only one condition in when equation supported");
        casadi_assert(n_equ.size() == 1, "Only one equation in when equation supported");
        // Get expression for condition
        std::string cond_name = n_cond[0][0].attribute<std::string>("name");
        std::string when_prefix = "$whenCondition";
        cond_name = cond_name.substr(when_prefix.size());
        casadi_int ind = std::stoi(cond_name) - 1;
        // Left-hand-side and right-hand-side
        MX lhs, rhs;
        // Handle different types of equations
        if (n_equ[0].name == "exp:Sub") {
          // Assume equation is an assignment
          lhs = read_identifier(n_equ[0][0]);
          rhs = read_expr(n_equ[0][1]);
          when_.at(ind).second.push_back(assign(lhs.name(), rhs).index);
        } else if (n_equ[0].name == "exp:Reinit") {
          // Reinitialization
          lhs = read_identifier(n_equ[0][0]);
          rhs = read_expr(n_equ[0][1]);
          when_.at(ind).second.push_back(reinit(lhs.name(), rhs).index);
        } else {
          // Not implemented
          casadi_error(n_equ[0].name + " in when equation not supported");
        }
      } else if (eq.name == "equ:Equation") {  // Residual equation
        // Consistency checks
        casadi_assert_dev(eq.size() == 1 && eq[0].name == "exp:Sub");
        // Skip if empty
        if (eq[0].size() == 0) {
          casadi_warning(eq_name + " is empty, ignored.");
          continue;
        }
        // Get the left-hand-sides and right-hand-sides
        const XmlNode& lhs = eq[0][0];
        const XmlNode& rhs = eq[0][1];
        // Right-hand-side is the binding equation
        MX beq = read_expr(rhs);
        // Left-hand-side is a variable or derivative
        std::string when_prefix = "$whenCondition";
        if (lhs.name == "exp:Der") {
          // Differential equation
          Variable& v = read_variable(lhs[0]);
          this->eq(der(v.v), beq, Dict());
        } else if (lhs.size() > 0
            && lhs[0].attribute<std::string>("name").rfind(when_prefix, 0) == 0) {
          // Get the index
          std::string cond_name = lhs[0].attribute<std::string>("name");
          if (debug_) {
            uout() << "Reading event indicator: " << cond_name << " := " << beq << std::endl;
          }
          cond_name = cond_name.substr(when_prefix.size());
          casadi_int ind = std::stoi(cond_name) - 1;
          // Ensure consequitive for now
          casadi_assert(ind == when_.size(), "Non-consequitive when conditions");
          // Create a when equation with no equations
          when(beq, {}, Dict());
        } else {
          // Regular equation
          Variable& v = read_variable(lhs);
          if (debug_) uout() << "Reading equation: " << v.name << " == " << beq << std::endl;
          this->eq(v.v, beq, Dict());
        }
      } else {
        casadi_error("Unknown dynamic equation type, got:" + eq.name);
      }
    } catch (std::exception& e) {
      casadi_error("Failed to read " + eq_name + ":" + str(e.what()));
    }
  }
}

References assign(), casadi::XmlNode::attribute(), categorize(), debug_, der(), casadi::DISCRETE, disp(), eq(), casadi::Variable::index, casadi::Variable::name, casadi::MX::name(), name(), casadi::XmlNode::name, read_expr(), read_identifier(), read_variable(), reinit(), casadi::XmlNode::size(), size(), casadi::str(), casadi::uout(), casadi::Variable::v, variables_, when(), when_, and casadi::X.

Referenced by load_fmi_description().

import_initial_equations()

void casadi::DaeBuilderInternal::import_initial_equations ( const XmlNode &  eqs )

protected

Definition at line 3888 of file dae_builder_internal.cpp.

                                                                    {
  if (debug_) {
    uout() << "== Structure before importing initial equations ==" << std::endl;
    disp(uout(), true);
  }
 
  // Hack: OpenModelica XML may contain duplicate expressions, ignore these
  std::set<std::string> already_added;
  // Add equations
  for (casadi_int i = 0; i < eqs.size(); ++i) {
    const XmlNode& eq = eqs[i];
    // Try to read the node
    std::string eq_name = "initeq_" + str(i);
    try {
      if (eq.name == "equ:Equation") {  // Residual equation
        // Consistency checks
        casadi_assert_dev(eq.size() == 1 && eq[0].name == "exp:Sub");
        // Ensure not empty
        if (eq[0].size() == 0) {
          casadi_warning(eq_name + " is empty, ignored.");
          continue;
        }
        // Get the left-hand-sides and right-hand-sides
        const XmlNode& lhs = eq[0][0];
        const XmlNode& rhs = eq[0][1];
 
        // Ignore initalizations of when equation indicators
        if (lhs.size() > 0
            && lhs[0].attribute<std::string>("name").rfind("$whenCondition", 0) == 0) {
          continue;
        }
 
        // Hack: Ignore expressions that just set a $PRE variable
        if (lhs.size() > 0 && lhs[0].attribute<std::string>("name") == "$PRE") {
          casadi_warning(eq_name + " defines a pre-variable, ignored");
          continue;
        }
        // Right-hand-side is the binding equation
        MX beq = read_expr(rhs);
        // Left-hand-side is a variable
        Variable& v = read_variable(lhs);
        // Hack: ignore initial equations for tunable parameters
        if (v.variability == Variability::TUNABLE) {
          casadi_warning(eq_name + " defines a tunable parameter, ignored")
          continue;
        }
        // Hack: avoid duplicate equations
        std::string eq_str = str(v.v) + " == " + str(beq);
        auto it = already_added.insert(eq_str);
        if (!it.second) {
          casadi_warning(eq_name + " duplicate of previous equation " + eq_str + ", ignored")
          continue;
        }
        // Set initial condition
        set_init(v.name, beq);
      } else {
        casadi_error("Unknown initial equation type, got:" + eq.name);
      }
    } catch (std::exception& e) {
      casadi_error("Failed to read " + eq_name + ":" + str(e.what()));
    }
  }
}

References casadi::XmlNode::attribute(), debug_, disp(), eq(), casadi::Variable::name, read_expr(), read_variable(), set_init(), casadi::XmlNode::size(), size(), casadi::str(), casadi::TUNABLE, casadi::uout(), casadi::Variable::v, and casadi::Variable::variability.

Referenced by load_fmi_description().

import_model_exchange()

void casadi::DaeBuilderInternal::import_model_exchange ( const XmlNode &  n )

protected

Definition at line 3302 of file dae_builder_internal.cpp.

                                                               {
  // Read attributes
  provides_directional_derivatives_ = n.attribute<bool>(
    fmi_major_ >= 3 ? "providesDirectionalDerivatives" : "providesDirectionalDerivative", false);
  provides_adjoint_derivatives_
    = n.attribute<bool>("providesAdjointDerivatives", false);
  model_identifier_ = n.attribute<std::string>("modelIdentifier");
  can_be_instantiated_only_once_per_process_ =
    n.attribute<bool>("canBeInstantiatedOnlyOncePerProcess", false);
  // Get list of source files
  if (n.has_child("SourceFiles")) {
    for (const XmlNode& sf : n["SourceFiles"].children) {
      source_files_.push_back(sf.attribute<std::string>("name"));
    }
  }
}

References casadi::XmlNode::attribute(), can_be_instantiated_only_once_per_process_, fmi_major_, casadi::XmlNode::has_child(), model_identifier_, provides_adjoint_derivatives_, provides_directional_derivatives_, and source_files_.

Referenced by load_fmi_description().

import_model_structure()

void casadi::DaeBuilderInternal::import_model_structure ( const XmlNode &  n )

protected

Definition at line 3559 of file dae_builder_internal.cpp.

                                                                {
  // Do not use the automatic selection of outputs based on output causality
  outputs_.clear();
 
  // Algebraic variables are handled internally in the FMU
  for (size_t i = 0; i < n_variables(); ++i) {
    Variable& v = variable(i);
    if (v.category == Category::Z) {
      // Mark as dependent variable, no need for an algebraic equation anymore
      categorize(v.index, Category::W);
    }
  }
 
  // Read structure
  if (fmi_major_ >= 3) {
    // Loop over ModelStructure elements
    for (casadi_int i = 0; i < n.size(); ++i) {
      const XmlNode& e = n[i];
      // Get a reference to the variable
      if (e.name == "Output") {
        // Get index
        outputs_.push_back(vrmap_.at(e.attribute<size_t>("valueReference")));
        // Corresponding variable
        Variable& v = variable(outputs_.back());
        // Get dependencies
        v.dependencies = read_dependencies(e);
        v.dependenciesKind = read_dependencies_kind(e, v.dependencies.size());
        // Mark interdependencies
        for (casadi_int d : v.dependencies) variable(d).dependency = true;
        for (casadi_int d : v.dependencies) variable(d).in_rhs = true;
      } else if (e.name == "ContinuousStateDerivative") {
        // Get index
        derivatives_.push_back(vrmap_.at(e.attribute<size_t>("valueReference")));
        // Corresponding variable
        Variable& v = variable(derivatives_.back());
        // Add to list of states and derivative to list of dependent variables
        casadi_assert(v.parent >= 0, "Error processing derivative info for " + v.name);
        categorize(v.index, Category::W);
        categorize(v.parent, Category::X);
        // Map der field to derivative variable
        variable(v.parent).der = derivatives_.back();
        // Get dependencies
        v.dependencies = read_dependencies(e);
        v.dependenciesKind = read_dependencies_kind(e, v.dependencies.size());
        // Mark interdependencies
        for (casadi_int d : v.dependencies) variable(d).dependency = true;
        for (casadi_int d : v.dependencies) variable(d).in_rhs = true;
      } else if (e.name == "ClockedState") {
        // Clocked state
        casadi_message("ClockedState not implemented, ignoring");
      } else if (e.name == "InitialUnknown") {
        // Get index
        initial_unknowns_.push_back(vrmap_.at(e.attribute<size_t>("valueReference")));
        // Get dependencies
        for (casadi_int d : read_dependencies(e)) variable(d).dependency = true;
      } else if (e.name == "EventIndicator") {
        // Event indicator
        event_indicators_.push_back(vrmap_.at(e.attribute<size_t>("valueReference")));
        number_of_event_indicators_++;
      } else {
        // Unknown
        casadi_error("Unknown ModelStructure element: " + e.name);
      }
    }
  } else {
    // Derivatives
    if (n.has_child("Derivatives")) {
      for (auto& e : n["Derivatives"].children) {
        // Get index
        derivatives_.push_back(e.attribute<casadi_int>("index", 0) - 1);
        // Corresponding variable
        Variable& v = variable(derivatives_.back());
        // Add to list of states and derivative to list of dependent variables
        casadi_assert(v.parent >= 0, "Error processing derivative info for " + v.name);
        categorize(v.index, Category::W);
        categorize(v.parent, Category::X);
        // Map der field to derivative variable
        variable(v.parent).der = derivatives_.back();
      }
    }
 
    // What if dependencies attributed is missing from Outputs,Derivatives?
    // Depends on x_ having been populated
    std::vector<casadi_int> default_dependencies;
    default_dependencies.insert(default_dependencies.begin(),
      indices(Category::T).begin(), indices(Category::T).end());
    default_dependencies.insert(default_dependencies.begin(),
      indices(Category::X).begin(), indices(Category::X).end());
    default_dependencies.insert(default_dependencies.begin(),
      indices(Category::U).begin(), indices(Category::U).end());
    std::sort(default_dependencies.begin(), default_dependencies.end());
 
    // FMI2 standard does not allow parameters to be included in dependencies attribute
    //  (Table in section 2.2.8)
    // FMI3 standard does (Table in section 2.4.8)
    //
    // A uniform treatment is unconditionally add dense dependencies to all parameters
    // when loading FMI2
 
    std::vector<casadi_int> additional_dependencies;
    additional_dependencies.insert(additional_dependencies.begin(),
      indices(Category::P).begin(), indices(Category::P).end());
    std::vector<DependenciesKind> additional_dependencies_kind(size(Category::P),
                                                               DependenciesKind::DEPENDENT);
 
    // Derivatives
    if (n.has_child("Derivatives")) {
      // Separate pass for dependencies
      for (auto& e : n["Derivatives"].children) {
        casadi_int index = e.attribute<casadi_int>("index", 0)-1;
 
        // Corresponding variable
        Variable& v = variable(index);
 
        // Get dependencies
        if (e.has_attribute("dependencies")) {
          v.dependencies = read_dependencies(e);
        } else {
          v.dependencies = default_dependencies;
        }
        v.dependenciesKind = read_dependencies_kind(e, v.dependencies.size());
 
        v.dependencies.insert(v.dependencies.end(),
          additional_dependencies.begin(), additional_dependencies.end());
        v.dependenciesKind.insert(v.dependenciesKind.end(),
          additional_dependencies_kind.begin(), additional_dependencies_kind.end());
 
        // Mark interdependencies
        for (casadi_int d : v.dependencies) variable(d).dependency = true;
        for (casadi_int d : v.dependencies) variable(d).in_rhs = true;
      }
    }
    // Outputs
    if (n.has_child("Outputs")) {
      for (auto& e : n["Outputs"].children) {
        // Get index
        outputs_.push_back(e.attribute<casadi_int>("index", 0) - 1);
        // Corresponding variable
        Variable& v = variable(outputs_.back());
        // Get dependencies
        if (e.has_attribute("dependencies")) {
          v.dependencies = read_dependencies(e);
        } else {
          v.dependencies = default_dependencies;
        }
        v.dependenciesKind = read_dependencies_kind(e, v.dependencies.size());
 
        v.dependencies.insert(v.dependencies.end(),
          additional_dependencies.begin(), additional_dependencies.end());
        v.dependenciesKind.insert(v.dependenciesKind.end(),
          additional_dependencies_kind.begin(), additional_dependencies_kind.end());
 
        // Mark interdependencies
        for (casadi_int d : v.dependencies) variable(d).dependency = true;
        for (casadi_int d : v.dependencies) variable(d).in_rhs = true;
      }
    }
    // What if dependencies is missing from InitialUnknowns?
    // Depends on x_ having been populated
    default_dependencies.clear();
    default_dependencies.insert(default_dependencies.begin(),
      indices(Category::T).begin(), indices(Category::T).end());
    for (const Variable* v : variables_) {
      if (v->initial == Initial::EXACT) default_dependencies.push_back(v->index);
    }
    default_dependencies.insert(default_dependencies.begin(),
      indices(Category::U).begin(), indices(Category::U).end());
    std::sort(default_dependencies.begin(), default_dependencies.end());
 
    // Initial unknowns
    if (n.has_child("InitialUnknowns")) {
      for (auto& e : n["InitialUnknowns"].children) {
        // Get index
        initial_unknowns_.push_back(e.attribute<casadi_int>("index", 0) - 1);
 
        std::vector<casadi_int> dependencies;
        // Get dependencies
        if (e.has_attribute("dependencies")) {
          dependencies = read_dependencies(e);
        } else {
          dependencies = default_dependencies;
        }
 
        dependencies.insert(dependencies.end(),
          additional_dependencies.begin(), additional_dependencies.end());
 
        // Get dependencies
        for (casadi_int d : dependencies) variable(d).dependency = true;
      }
    }
  }
 
  // Reclassify some states as quadratures
  if (detect_quad_ && fmi_major_ >= 2) {
    for (size_t i : derivatives_) {
      size_t x = variable(i).parent;
      if (!variable(x).in_rhs) categorize(x, Category::Q);
    }
  }
}

References casadi::XmlNode::attribute(), categorize(), casadi::Variable::category, casadi::Variable::dependencies, casadi::Variable::dependenciesKind, casadi::Variable::dependency, casadi::DEPENDENT, casadi::Variable::der, derivatives_, detect_quad_, event_indicators_, casadi::EXACT, fmi_major_, casadi::XmlNode::has_child(), casadi::Variable::in_rhs, casadi::Variable::index, indices(), initial_unknowns_, n_variables(), casadi::Variable::name, casadi::XmlNode::name, number_of_event_indicators_, outputs_, casadi::P, casadi::Variable::parent, casadi::Q, read_dependencies(), read_dependencies_kind(), casadi::XmlNode::size(), size(), casadi::T, casadi::U, variable(), variables_, vrmap_, casadi::W, casadi::X, and casadi::Z.

Referenced by load_fmi_description().

import_model_variables()

void casadi::DaeBuilderInternal::import_model_variables ( const XmlNode &  modvars )

protected

Definition at line 3319 of file dae_builder_internal.cpp.

                                                                      {
  // Mapping from derivative variables to corresponding state variables, FMUX only
  std::vector<std::pair<std::string, std::string>> fmi1_der;
 
  // Force any independent variable to appear first
  std::vector<const XmlNode*> modvars_children;
 
  for (casadi_int i = 0; i < modvars.size(); ++i) {
    // Get a reference to the variable
    const XmlNode& vnode = modvars[i];
    std::string causality_str = vnode.attribute<std::string>("causality", "local");
    if (causality_str=="independent") {
      modvars_children.push_back(&vnode);
    }
  }
 
  for (casadi_int i = 0; i < modvars.size(); ++i) {
    // Get a reference to the variable
    const XmlNode& vnode = modvars[i];
    std::string causality_str = vnode.attribute<std::string>("causality", "local");
    if (causality_str!="independent") {
      modvars_children.push_back(&vnode);
    }
  }
 
  // Add variables
  for (const XmlNode* & vnode_ptr : modvars_children) {
    // Get a reference to the variable
    const XmlNode& vnode = *vnode_ptr;
 
    // Name of variable
    std::string name = vnode.attribute<std::string>("name");
 
    // Handle variable categories (FMUX)
    if (fmi_major_ == 1 && vnode.has_child("VariableCategory")) {
      std::string variable_category = vnode["VariableCategory"].text;
      if (variable_category == "derivative") {
        // Create a new derivative variable
        std::string x_name = vnode["QualifiedName"][0].attribute<std::string>("name");
        fmi1_der.push_back(std::make_pair(x_name, name));
      }
    }
 
    // When conditions are reformulated into continuous zero-crossing functions
    if (fmi_major_ == 1 && name.rfind("$whenCondition", 0) == 0) continue;
 
    // Ignore duplicate variables
    if (varind_.find(name) != varind_.end()) {
      casadi_warning("Duplicate variable '" + name + "' ignored");
      continue;
    }
 
    // Type specific properties
    Dict opts;
    Type type = Type::NUMEL;
    casadi_int derivative = -1;
    if (fmi_major_ >= 3) {
      // FMI 3.0: Type information in the same node
      type = to_enum<Type>(vnode.name);
      switch (type) {
      case Type::FLOAT32:  // fall-through
      case Type::FLOAT64:
        // Floating point valued variables
        opts["unit"] = vnode.attribute<std::string>("unit", "");
        opts["display_unit"] = vnode.attribute<std::string>("displayUnit", "");
        opts["min"] = vnode.attribute<double>("min", -inf);
        opts["max"] = vnode.attribute<double>("max", inf);
        opts["nominal"] = vnode.attribute<double>("nominal", 1.);
        opts["start"] = vnode.attribute<double>("start", 0.);
        derivative = vnode.attribute<casadi_int>("derivative", -1);
        break;
      case Type::INT8:  // fall-through
      case Type::UINT8:  // fall-through
      case Type::INT16:  // fall-through
      case Type::UINT16:  // fall-through
      case Type::INT32:  // fall-through
      case Type::UINT32:  // fall-through
      case Type::INT64:  // fall-through
      case Type::UINT64:  // fall-through
        // Integer valued variables
        opts["min"] = vnode.attribute<double>("min", -inf);
        opts["max"] = vnode.attribute<double>("max", inf);
        break;
      default:
        break;
      }
    } else {
      // FMI 1.0 / 2.0: Type information in a separate node
      if (vnode.has_child("Real")) {
        type = Type::FLOAT64;
        const XmlNode& props = vnode["Real"];
        opts["unit"] = props.attribute<std::string>("unit", "");
        opts["display_unit"] = props.attribute<std::string>("displayUnit", "");
        opts["min"] = props.attribute<double>("min", -inf);
        opts["max"] = props.attribute<double>("max", inf);
        opts["nominal"] = props.attribute<double>("nominal", 1.);
        opts["start"] = props.attribute<double>("start", 0.);
        derivative = props.attribute<casadi_int>("derivative", -1);
      } else if (vnode.has_child("Integer")) {
        type = Type::INT32;
        const XmlNode& props = vnode["Integer"];
        opts["min"] = props.attribute<double>("min", -inf);
        opts["max"] = props.attribute<double>("max", inf);
      } else if (vnode.has_child("Boolean")) {
        type = Type::BOOLEAN;
      } else if (vnode.has_child("String")) {
        type = Type::STRING;
      } else if (vnode.has_child("Enumeration")) {
        type = Type::ENUMERATION;
      } else {
        casadi_warning("Unknown type for " + name);
      }
    }
 
    // Description
    std::string description = vnode.attribute<std::string>("description", "");
 
    // Causality (FMI 1.0 -> FMI 2.0+)
    std::string causality_str = vnode.attribute<std::string>("causality", "local");
    if (fmi_major_ == 1 && causality_str == "internal") causality_str = "local";
    Causality causality = to_enum<Causality>(causality_str);
 
    // Variability (FMI 1.0 -> FMI 2.0+)
    std::string variability_str = vnode.attribute<std::string>("variability",
      to_string(default_variability(causality, type)));
    if (fmi_major_ == 1 && variability_str == "parameter") variability_str = "fixed";
    Variability variability = to_enum<Variability>(variability_str);
 
    // Initial property
    Initial initial = default_initial(causality, variability);
    std::string initial_str = vnode.attribute<std::string>("initial", "");
    if (!initial_str.empty()) {
      // Consistency check
      casadi_assert(causality != Causality::INPUT && causality != Causality::INDEPENDENT,
        "The combination causality = '" + to_string(causality) + "', "
        "initial = '" + initial_str + "' is not allowed per the FMI specification.");
      initial = to_enum<Initial>(initial_str);
    }
 
    // If an input has a description that starts with "PARAMETER:",
    // treat it as a tunable parameter
    if (causality == Causality::INPUT && description.rfind("PARAMETER:", 0) == 0) {
      // Make tunable parameter
      causality = Causality::PARAMETER;
      variability = Variability::TUNABLE;
    }
 
    // Create the new variable
    opts["type"] = to_string(type);
    opts["initial"] = to_string(initial);
    opts["description"] = description;
    Variable& var = add(name, causality, variability, opts);
    if (debug_) uout() << "Added variable: " << var.name << std::endl;
 
    // Ignore time variable?
    if (causality == Causality::INDEPENDENT && ignore_time_) {
      categorize(var.index, Category::NUMEL);
    }
 
    // Do not permit discrete variables in x, for now
    if (variability == Variability::DISCRETE) {
      categorize(var.index, Category::NUMEL);
    }
 
    // Unless detect_quad has been set, assume all variables in the right-hand-sides
    // Prevents changing X to Q
    var.in_rhs = !detect_quad_ && fmi_major_ >= 2;
    var.value_reference = static_cast<unsigned int>(vnode.attribute<casadi_int>("valueReference"));
    vrmap_[var.value_reference] = var.index;
    var.der_of = derivative;
  }
 
  // Set "parent" property using "derivative" attribute
  for (size_t i = 0; i < n_variables(); ++i) {
    Variable& v = variable(i);
    if (v.der_of >= 0) {
      if (fmi_major_ >= 3) {
        // Value reference is given: Find corresponding variable
        v.parent = vrmap_.at(static_cast<unsigned int>(v.der_of));
      } else if (fmi_major_ > 1) {
        // Variable given with index-1, make index 0
        v.parent = v.der_of - 1;
      }
      // TODO(@jaeandersson): Remove this redefinition of der_of
      v.der_of = v.parent;
    }
  }
 
  // Map derivative variables to corresponding state variables, FMUX only
  for (auto& p : fmi1_der) {
    // Add to list of derivatives
    Variable& v = variable(p.first);
    Variable& der_v = variable(p.second);
    categorize(der_v.index, Category::Z);
    der_v.der_of = der_v.parent = v.index;
    v.der = der_v.index;
    derivatives_.push_back(der_v.index);
  }
}

References add(), casadi::XmlNode::attribute(), casadi::BOOLEAN, categorize(), causality(), debug_, default_initial(), default_variability(), casadi::Variable::der, casadi::Variable::der_of, derivatives_, casadi::description(), detect_quad_, casadi::DISCRETE, casadi::ENUMERATION, casadi::FLOAT32, casadi::FLOAT64, fmi_major_, casadi::XmlNode::has_child(), ignore_time_, casadi::INDEPENDENT, casadi::Variable::index, casadi::inf, casadi::INPUT, casadi::INT16, casadi::INT32, casadi::INT64, casadi::INT8, n_variables(), casadi::MX::name(), name(), casadi::XmlNode::name, casadi::NUMEL, casadi::PARAMETER, casadi::Variable::parent, casadi::XmlNode::size(), casadi::STRING, casadi::XmlNode::text, casadi::to_string(), casadi::TUNABLE, casadi::UINT16, casadi::UINT32, casadi::UINT64, casadi::UINT8, casadi::uout(), var(), variability(), variable(), varind_, vrmap_, and casadi::Z.

Referenced by load_fmi_description().

indices() [1/2]

std::vector< size_t > & casadi::DaeBuilderInternal::indices

(

Category

cat

)

Definition at line 1366 of file dae_builder_internal.cpp.

                                                           {
  return indices_.at(static_cast<size_t>(cat));
}

References indices_.

Referenced by add_fun(), all(), categorize(), cdef(), create(), dependent_fun(), disp(), eliminate(), fmu_fun(), generate_model_structure(), generate_wrapper(), import_binding_equations(), import_model_structure(), indices(), input(), lift(), output(), prune(), read_expr(), reorder(), sort(), sort_z(), tear(), and time().

indices() [2/2]

const std::vector< size_t > & casadi::DaeBuilderInternal::indices

(

Category

cat

)

const

Definition at line 1370 of file dae_builder_internal.cpp.

                                                                       {
  return const_cast<DaeBuilderInternal*>(this)->indices(cat);
}

References indices().

init_lhs()

std::vector< MX > casadi::DaeBuilderInternal::init_lhs ( ) const

protected

Extra doc: https://github.com/casadi/casadi/wiki/L_2a7

Definition at line 2694 of file dae_builder_internal.cpp.

                                                 {
  std::vector<MX> ret;
  ret.reserve(init_.size());
  for (size_t ind : init_) {
    ret.push_back(variable(ind).v);
  }
  return ret;
}

References init_, and variable().

init_rhs()

std::vector< MX > casadi::DaeBuilderInternal::init_rhs ( ) const

protected

Extra doc: https://github.com/casadi/casadi/wiki/L_2a8

Definition at line 2703 of file dae_builder_internal.cpp.

                                                 {
  std::vector<MX> ret;
  ret.reserve(init_.size());
  for (size_t ind : init_) {
    ret.push_back(variable(ind).ieq);
  }
  return ret;
}

References init_, and variable().

Referenced by set_init().

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++;
    }

input() [1/2]

std::vector< MX > casadi::DaeBuilderInternal::input

(

Category

ind

)

const

Definition at line 1831 of file dae_builder_internal.cpp.

                                                          {
  // Operation only permitted for input categories
  casadi_assert(is_input_category(ind),
    to_string(ind) + " is not an input category");
  // Get the expressions
  return var(indices(ind));
}

References indices(), casadi::is_input_category(), casadi::to_string(), and var().

Referenced by dependent_fun(), input(), oracle(), and prune().

input() [2/2]

std::vector< MX > casadi::DaeBuilderInternal::input

(

const std::vector< Category > &

ind

)

const

Definition at line 1839 of file dae_builder_internal.cpp.

                                                                            {
  std::vector<MX> ret(ind.size());
  for (casadi_int i=0; i<ind.size(); ++i) {
    ret[i] = vertcat(input(ind[i]));
  }
  return ret;
}

References input().

insert()

void casadi::DaeBuilderInternal::insert ( std::vector< size_t > &  v, size_t  ind  ) const

protected

Definition at line 2919 of file dae_builder_internal.cpp.

                                                                      {
  // Keep list ordered: Insert at location corresponding to model variable index
  size_t loc = v.size();
  for (size_t i = 0; i < v.size(); ++i) {
    if (variable(v[i]).index >= ind) {
      loc = i;
      break;
    }
  }
  v.insert(v.begin() + loc, ind);
}

References variable().

Referenced by categorize(), and set_causality().

iso_8601_time()

std::string casadi::DaeBuilderInternal::iso_8601_time ( )

static

Definition at line 4207 of file dae_builder_internal.cpp.

                                            {
  // Get current time
  auto now = std::chrono::system_clock::now();
  std::time_t tt = std::chrono::system_clock::to_time_t(now);
  auto local_tm = *std::localtime(&tt);  // NOLINT(runtime/threadsafe_fn)
  // Convert to ISO 8601 (YYYY-MM-DDThh:mm:ssZ) format and return
  std::stringstream ss;
  ss << local_tm.tm_year + 1900 << '-';  // YYYY-
  ss << std::setfill('0') << std::setw(2) << local_tm.tm_mon + 1 << '-';  // MM-
  ss << std::setfill('0') << std::setw(2) << local_tm.tm_mday << 'T';  // DDT
  ss << std::setfill('0') << std::setw(2) << local_tm.tm_hour << ':';  // hh:
  ss << std::setfill('0') << std::setw(2) << local_tm.tm_min << ':';  // mm:
  ss << std::setfill('0') << std::setw(2) << local_tm.tm_sec << 'Z'; // ssZ
  return ss.str();
}

Referenced by generate_model_description().

jac_sparsity()

Sparsity casadi::DaeBuilderInternal::jac_sparsity	(	const std::vector< size_t > &	oind,
		const std::vector< size_t > &	iind
	)		const

Definition at line 4139 of file dae_builder_internal.cpp.

                                         {
  // Mark inputs
  std::vector<casadi_int> lookup(n_variables(), -1);
  for (size_t i = 0; i < iind.size(); ++i)
    lookup.at(iind[i]) = i;
  // Sparsity pattern for the Jacobian block
  std::vector<casadi_int> row, col;
  // Loop over output nonzeros
  for (casadi_int j = 0; j < oind.size(); ++j) {
    for (casadi_int d : variable(oind[j]).dependencies) {
      casadi_int i = lookup.at(d);
      if (i >= 0) {
        row.push_back(j);  // Note: May not be sorted in ascending order
        col.push_back(i);
      }
    }
  }
  // Assemble sparsity in triplet format
  return Sparsity::triplet(oind.size(), iind.size(), row, col);
}

References n_variables(), casadi::Sparsity::triplet(), and variable().

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

jac_vdef_v_from_calls()

MX casadi::DaeBuilderInternal::jac_vdef_v_from_calls ( std::map< MXNode *, CallIO > &  call_nodes, const std::vector< casadi_int > &  h_offsets  ) const

protected

Definition at line 2090 of file dae_builder_internal.cpp.

                                                  {
  // Calculate all Jacobian expressions
  for (auto call_it = call_nodes.begin(); call_it != call_nodes.end(); ++call_it) {
    call_it->second.calc_jac();
  }
  // Row offsets in jac_vdef_v
  casadi_int voffset_begin = 0, voffset_end = 0, voffset_last = 0;
  // Vertical and horizontal slices of jac_vdef_v
  std::vector<MX> vblocks, hblocks;
  // All blocks for this block row
  std::map<size_t, MX> jac_brow;
  // Definitions of w
  std::vector<MX> wdef = output(OutputCategory::WDEF);
  // Collect all Jacobian blocks
  for (size_t vdefind = 0; vdefind < wdef.size(); ++vdefind) {
    // Current element handled
    const MX& vdefref = wdef.at(vdefind);
    // Update vertical offset
    voffset_begin = voffset_end;
    voffset_end += vdefref.numel();
    // Handle function call nodes
    if (vdefref.is_output()) {
      // Which output of the function are we calculating?
      casadi_int oind = vdefref.which_output();
      // Get function call node
      MX c = vdefref.dep(0);
      // Find data about inputs and outputs
      auto call_it = call_nodes.find(c.get());
      casadi_assert_dev(call_it != call_nodes.end());
      // Collect all blocks for this block row
      jac_brow.clear();
      for (casadi_int iind = 0; iind < call_it->second.arg.size(); ++iind) {
        size_t vind = call_it->second.v.at(iind);
        if (vind != size_t(-1)) {
          jac_brow[vind] = call_it->second.jac(oind, iind);
        }
      }
      // Add empty rows to vblocks, if any
      if (voffset_last != voffset_begin) {
        vblocks.push_back(MX(voffset_begin - voffset_last, h_offsets.back()));
      }
      // Collect horizontal blocks
      hblocks.clear();
      casadi_int hoffset = 0;
      for (auto e : jac_brow) {
        // Add empty block before Jacobian block, if needed
        if (hoffset < h_offsets.at(e.first))
          hblocks.push_back(MX(vdefref.numel(), h_offsets.at(e.first) - hoffset));
        // Add Jacobian block
        hblocks.push_back(e.second);
        // Update offsets
        hoffset = h_offsets.at(e.first + 1);
      }
      // Add trailing empty block, if needed
      if (hoffset < h_offsets.back())
        hblocks.push_back(MX(vdefref.numel(), h_offsets.back() - hoffset));
      // Add new block row to vblocks
      vblocks.push_back(horzcat(hblocks));
      // Keep track of the offset handled in jac_brow
      voffset_last = voffset_end;
    }
  }
  // Add empty trailing row to vblocks, if any
  if (voffset_last != voffset_end) {
    vblocks.push_back(MX(voffset_end - voffset_last, h_offsets.back()));
  }
  // Return additional term in jac_vdef_v
  return vertcat(vblocks);
}

References casadi::MX::dep(), casadi::MX::find(), casadi::MX::get(), casadi::MX::is_output(), casadi::GenericMatrix< MatType >::numel(), output(), casadi::WDEF, and casadi::MX::which_output().

Referenced by create().

lift()

void casadi::DaeBuilderInternal::lift	(	bool	lift_shared,
		bool	lift_calls
	)

Definition at line 1774 of file dae_builder_internal.cpp.

                                                               {
  // Not tested if w is non-empty before
  if (size(Category::W) > 0) casadi_warning("'w' already has entries");
  // Expressions where the variables are also being used
  std::vector<MX> ex;
  for (size_t v : indices(Category::X)) ex.push_back(variable(variable(variable(v).der).bind).v);
  for (size_t v : indices(Category::Q)) ex.push_back(variable(variable(variable(v).der).bind).v);
  for (size_t v : residuals_) ex.push_back(variable(v).v);
  // Lift expressions
  std::vector<MX> new_w, new_wdef;
  Dict opts{{"lift_shared", lift_shared}, {"lift_calls", lift_calls},
    {"prefix", "w_"}, {"suffix", ""}, {"offset", static_cast<casadi_int>(size(Category::W))}};
  extract(ex, new_w, new_wdef, opts);
  // Register as dependent variables
  for (size_t i = 0; i < new_w.size(); ++i) {
    Variable& v = new_variable(new_w.at(i).name());
    v.v = new_w.at(i);
    Variable& v_beq = assign(v.name, new_wdef.at(i));
    v.bind = v_beq.index;
    indices(Category::W).push_back(v.index);
  }
  // Get expressions
  auto it = ex.begin();
  for (size_t v : indices(Category::X)) variable(variable(variable(v).der).bind).v = *it++;
  for (size_t v : indices(Category::Q)) variable(variable(variable(v).der).bind).v = *it++;
  for (size_t v : residuals_) variable(v).v = *it++;
  // Consistency check
  casadi_assert_dev(it == ex.end());
}

References assign(), casadi::Variable::bind, der(), casadi::Variable::index, indices(), casadi::Variable::name, new_variable(), casadi::Q, residuals_, size(), casadi::Variable::v, variable(), casadi::W, and casadi::X.

load_fmi_description()

void casadi::DaeBuilderInternal::load_fmi_description

(

const std::string &

filename

)

Import existing problem from FMI/XML

Definition at line 602 of file dae_builder_internal.cpp.

                                                                       {
  // Check if file exists
  if (!Filesystem::exists(filename)) {
    if (Filesystem::is_enabled()) {
      casadi_error("Could not open file '" + filename + "'.");
    } else {
      casadi_error("Could not open file '" + filename + "'. "
        "Note that, since CasADi was compiled without WITH_GHC_FILESYSTEM=ON, "
        "passing fmu files to DaeBuilder is unsupported. "
        "You could manually unzip the FMU file and "
        "pass the path to the unzipped directory instead.");
    }
  }
 
  // Ensure no variables already
  casadi_assert(n_variables() == 0, "Instance already has variables");
 
  // Parse XML file
  XmlFile xml_file("tinyxml");
  XmlNode fmi_desc = xml_file.parse(filename)[0];  // One child; fmiModelDescription
 
  // Read FMU version
  fmi_version_ = fmi_desc.attribute<std::string>("fmiVersion", "");
  if (fmi_version_.rfind("1.", 0) == 0) {
    // FMI 1.0: Only for symbolic FMUs
    fmi_major_ = 1;
  } else if (fmi_version_.rfind("2.", 0) == 0) {
    // FMI 2.0
    fmi_major_ = 2;
  } else if (fmi_version_.rfind("3.", 0) == 0) {
    // FMI 3
    fmi_major_ = 3;
  } else {
    casadi_error("Unknown FMI version: " + fmi_version_);
  }
 
  // Read attributes
  model_name_ = fmi_desc.attribute<std::string>("modelName", "");
  instantiation_token_ = fmi_desc.attribute<std::string>(
    fmi_major_ >= 3 ? "instantiationToken" : "guid");
  description_ = fmi_desc.attribute<std::string>("description", "");
  author_ = fmi_desc.attribute<std::string>("author", "");
  copyright_ = fmi_desc.attribute<std::string>("copyright", "");
  license_ = fmi_desc.attribute<std::string>("license", "");
  generation_tool_ = fmi_desc.attribute<std::string>("generationTool", "");
  generation_date_and_time_ = fmi_desc.attribute<std::string>("generationDateAndTime", "");
  variable_naming_convention_ = fmi_desc.attribute<std::string>("variableNamingConvention", "");
  if (fmi_major_ >= 3) {
    number_of_event_indicators_ = 0;  // In FMI 3: Obtain from binary
  } else {
    number_of_event_indicators_ = fmi_desc.attribute<casadi_int>("numberOfEventIndicators", 0);
  }
 
  // Process DefaultExperiment
  if (fmi_desc.has_child("DefaultExperiment")) {
    import_default_experiment(fmi_desc["DefaultExperiment"]);
  }
 
  // Process ModelExchange
  bool has_model_exchange = false;
  if (fmi_desc.has_child("ModelExchange")) {
    has_model_exchange = true;
    import_model_exchange(fmi_desc["ModelExchange"]);
  }
 
  // Process ModelVariables
  casadi_assert(fmi_desc.has_child("ModelVariables"), "Missing 'ModelVariables'");
  import_model_variables(fmi_desc["ModelVariables"]);
 
  // Process model structure
  if (fmi_desc.has_child("ModelStructure")) {
    import_model_structure(fmi_desc["ModelStructure"]);
  }
 
  // Is a symbolic representation available?
  symbolic_ = false;  // use DLL by default
 
  // Add symbolic binding equations
  if (fmi_desc.has_child("equ:BindingEquations")) {
    symbolic_ = true;
    import_binding_equations(fmi_desc["equ:BindingEquations"]);
  }
 
  // Add symbolic initial equations
  if (fmi_desc.has_child("equ:InitialEquations")) {
    symbolic_ = true;
    import_initial_equations(fmi_desc["equ:InitialEquations"]);
  }
 
  // Add symbolic dynamic equations
  if (fmi_desc.has_child("equ:DynamicEquations")) {
    symbolic_ = true;
    import_dynamic_equations(fmi_desc["equ:DynamicEquations"]);
  }
 
  // Ensure model equations are available, binary or symbolic
  casadi_assert(symbolic_ || has_model_exchange,
    "FMU must be of ModelExchange type or be symbolic (FMUX)");
}

References casadi::XmlNode::attribute(), author_, copyright_, description_, casadi::Filesystem::exists(), casadi::filename(), fmi_major_, fmi_version_, generation_date_and_time_, generation_tool_, casadi::XmlNode::has_child(), import_binding_equations(), import_default_experiment(), import_dynamic_equations(), import_initial_equations(), import_model_exchange(), import_model_structure(), import_model_variables(), instantiation_token_, casadi::Filesystem::is_enabled(), license_, model_name_, n_variables(), number_of_event_indicators_, casadi::XmlFile::parse(), symbolic_, and variable_naming_convention_.

n_mem()

size_t casadi::DaeBuilderInternal::n_mem

(

)

const

Definition at line 1616 of file dae_builder_internal.cpp.

                                       {
  size_t n = 0;
  for (const Variable* v : variables_) n += v->numel;
  return n;
}

References variables_.

Referenced by generate_wrapper().

n_variables()

size_t casadi::DaeBuilderInternal::n_variables ( ) const

inline

Definition at line 402 of file dae_builder_internal.hpp.

{return variables_.size();}

Referenced by all(), generate_wrapper(), hess_sparsity(), import_model_structure(), import_model_variables(), casadi::FmuInternal::init(), casadi::Fmu2::init(), casadi::Fmu3::init(), jac_sparsity(), load_fmi_description(), new_variable(), prune(), reorder(), and sort_z().

name() [1/2]

std::vector< std::string > casadi::DaeBuilderInternal::name

(

const std::vector< size_t > &

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_2bw

Definition at line 3997 of file dae_builder_internal.cpp.

                                                                                {
  std::vector<std::string> r(ind.size());
  for (size_t i = 0; i < r.size(); ++i) r[i] = name(ind[i]);
  return r;
}

References name().

name() [2/2]

const std::string & casadi::DaeBuilderInternal::name

(

size_t

ind

)

const

Extra doc: https://github.com/casadi/casadi/wiki/L_2bv

Definition at line 3993 of file dae_builder_internal.cpp.

                                                          {
  return variable(ind).name;
}

References casadi::Variable::name, and variable().

Referenced by add(), add_fun(), add_lc(), all(), assign(), attribute(), find(), fmu_fun(), fun(), has(), has_fun(), import_dynamic_equations(), import_model_variables(), name(), new_variable(), read_expr(), reinit(), reorder(), set_attribute(), set_init(), set_string_attribute(), size(), string_attribute(), tear(), and var().

new_variable()

Variable & casadi::DaeBuilderInternal::new_variable	(	const std::string &	name,
		const std::vector< casadi_int > &	dimension = {1},
		const MX &	expr = MX()
	)

Definition at line 1622 of file dae_builder_internal.cpp.

                                                            {
  // Name check
  casadi_assert(!name.empty(), "Name is empty string");
  // Try to find the component
  casadi_assert(!has(name), "Variable \"" + name + "\" already exists.");
  // Index of the variable
  size_t ind = n_variables();
  // Add to the map of all variables
  varind_[name] = ind;
  variables_.push_back(new Variable(ind, name, dimension, expr));
  // Clear cache
  clear_cache_ = true;
  // Return reference to new variable
  return *variables_.back();
}

References clear_cache_, has(), n_variables(), name(), Variable, variables_, and varind_.

Referenced by add(), lift(), and read_expr().

oracle()

const Function & casadi::DaeBuilderInternal::oracle	(	bool	sx = false,
		bool	elim_w = false,
		bool	lifted_calls = false
	)		const

Definition at line 2250 of file dae_builder_internal.cpp.

                                                                                        {
  casadi_assert(symbolic_, "DaeBuilder oracle only available if symbolic representation");
 
  // Clear cache now, if necessary
  if (clear_cache_) clear_cache();
  // Create an MX oracle, if needed
  if (oracle_[false][elim_w][lifted_calls].is_null()) {
    // Oracle function inputs and outputs
    std::vector<MX> f_in, f_out, v;
    std::vector<std::string> f_in_name, f_out_name;
    // Index for wdef
    casadi_int wdef_ind = -1;
    // Options consistency check
    casadi_assert(!(elim_w && lifted_calls), "Incompatible options");
    // Do we need to substitute out v
    bool subst_v = false;
    // Collect all DAE input variables
    for (Category cat : input_categories()) {
      v = input(cat);
      if (elim_w && cat == Category::W) {
        if (!v.empty()) subst_v = true;
      } else {
        if (v.empty()) {
          f_in.push_back(MX(0, 1));
        } else {
          f_in.push_back(vertcat(v));
        }
        f_in_name.push_back(to_string(cat));
      }
    }
 
    // Collect all DAE output variables
    for (OutputCategory cat : output_categories()) {
      f_out_name.push_back(to_string(cat));
      v = output(cat);
      if (v.empty()) {
        f_out.push_back(MX(0, 1));
      } else {
        if (cat == OutputCategory::WDEF) wdef_ind = f_out.size();
        f_out.push_back(vertcat(v));
      }
    }
    // Eliminate v from inputs
    if (subst_v) {
      // Dependent variable definitions
      std::vector<MX> wdef = output(OutputCategory::WDEF);
      // Perform in-place substitution
      substitute_inplace(var(Category::W), wdef, f_out, false);
    } else if (lifted_calls && wdef_ind >= 0) {
      // Dependent variable definitions
      std::vector<MX> wdef = output(OutputCategory::WDEF);
      // Remove references to call nodes
      for (MX& wdefref : wdef) {
        if (wdefref.is_output()) wdefref = MX::zeros(wdefref.sparsity());
      }
      // Save to oracle outputs
      f_out.at(wdef_ind) = vertcat(wdef);
    }
    // Create oracle
    oracle_[false][elim_w][lifted_calls]
      = Function("mx_oracle", f_in, f_out, f_in_name, f_out_name);
  }
  // Return MX oracle, if requested
  if (!sx) return oracle_[false][elim_w][lifted_calls];
  // Create SX oracle, if needed
  Function& sx_oracle = oracle_[true][elim_w][lifted_calls];
  if (sx_oracle.is_null()) sx_oracle = oracle_[false][elim_w][lifted_calls].expand("sx_oracle");
  // Return SX oracle reference
  return sx_oracle;
}

References clear_cache(), clear_cache_, casadi::Function::expand(), input(), casadi::input_categories(), casadi::GenericShared< Shared, Internal >::is_null(), oracle_, output(), casadi::output_categories(), symbolic_, casadi::to_string(), var(), casadi::W, casadi::WDEF, and casadi::GenericMatrix< MX >::zeros().

Referenced by create(), transition(), and update_dependencies().

output() [1/2]

std::vector< MX > casadi::DaeBuilderInternal::output

(

const std::vector< OutputCategory > &

ind

)

const

Definition at line 1895 of file dae_builder_internal.cpp.

                                                                                   {
  std::vector<MX> ret(ind.size());
  for (casadi_int i=0; i<ind.size(); ++i) {
    ret[i] = vertcat(output(ind[i]));
  }
  return ret;
}

References output().

output() [2/2]

std::vector< MX > casadi::DaeBuilderInternal::output

(

OutputCategory

ind

)

const

Definition at line 1847 of file dae_builder_internal.cpp.

                                                                 {
  // If defined by index set
  switch (ind) {
    case OutputCategory::Y:
      return var(outputs_);
    case OutputCategory::ZERO:
      return var(event_indicators_);
    case OutputCategory::ALG:
      return var(residuals_);
    case OutputCategory::RATE:
      return var(rate_);
    default: break;
  }
  // Otherwise: Defined by corresponding input category
  Category cat = input_category(ind);
 
  // Return object
  std::vector<MX> ret;
  ret.reserve(size(cat));
  // Handle different categories
  switch (ind) {
    case OutputCategory::ODE:  // fall-through
    case OutputCategory::QUAD:
      // Differential state
      for (size_t v : indices(cat)) {
        const Variable& x = variable(v);
        if (x.der >= 0) {
          // Derivative variable
          ret.push_back(variable(variable(x.der).bind).v);
        } else if (x.variability == Variability::DISCRETE) {
          // Discrete variable - derivative is zero
          ret.push_back(MX::zeros(x.v.sparsity()));
        } else {
          // Missing ODE?
          casadi_error("Missing derivative for " + str(x.name));
        }
      }
      break;
    case OutputCategory::DDEF:  // fall-through
    case OutputCategory::WDEF:
      // Defined by binding expression
      for (size_t d : indices(cat)) ret.push_back(variable(variable(d).bind).v);
      break;
    default: break;
  }
  return ret;
}

References casadi::ALG, casadi::Variable::bind, casadi::DDEF, casadi::Variable::der, casadi::DISCRETE, event_indicators_, indices(), casadi::input_category(), casadi::Variable::name, casadi::ODE, outputs_, casadi::QUAD, casadi::RATE, rate_, residuals_, size(), casadi::MX::sparsity(), casadi::str(), casadi::Variable::v, var(), casadi::Variable::variability, variable(), casadi::WDEF, casadi::Y, casadi::ZERO, and casadi::GenericMatrix< MX >::zeros().

Referenced by add_fun(), create(), dependent_fun(), eliminate(), gather_eq(), jac_vdef_v_from_calls(), oracle(), output(), prune(), sort(), and transition().

prune()

void casadi::DaeBuilderInternal::prune	(	bool	prune_p,
		bool	prune_u
	)

Definition at line 1393 of file dae_builder_internal.cpp.

                                                         {
  // Function inputs and outputs
  std::vector<MX> f_in, f_out, v;
  std::vector<std::string> f_in_name, f_out_name;
  // Collect all DAE input variables with at least one entry, skip u
  for (Category cat : input_categories()) {
    if (prune_p && cat == Category::P) continue;
    if (prune_u && cat == Category::U) continue;
    v = input(cat);
    if (!v.empty()) {
      f_in.push_back(vertcat(v));
      f_in_name.push_back(to_string(cat));
    }
  }
  // Collect all DAE output variables with at least one entry
  for (OutputCategory cat : output_categories()) {
    v = output(cat);
    if (!v.empty()) {
      f_out.push_back(vertcat(v));
      f_out_name.push_back(to_string(cat));
    }
  }
  // Create a function
  Function f("prune_fcn", f_in, f_out, f_in_name, f_out_name);
  // Mark which variables are free
  std::vector<bool> free_variables(n_variables(), false);
  for (const std::string& s : f.get_free()) {
    auto it = varind_.find(s);
    casadi_assert(it != varind_.end(), "No such variable: \"" + s + "\".");
    free_variables.at(it->second) = true;
  }
  // Prune p
  if (prune_p) {
    size_t np = 0;
    for (size_t i = 0; i < size(Category::P); ++i) {
      if (!free_variables.at(indices(Category::P).at(i))) {
        indices(Category::P).at(np++) = indices(Category::P).at(i);
      }
    }
    indices(Category::P).resize(np);
  }
  // Prune u
  if (prune_u) {
    size_t nu = 0;
    std::vector<size_t>& u = indices(Category::U);
    for (size_t i = 0; i < u.size(); ++i) {
      if (!free_variables.at(u.at(i))) u.at(nu++) = u.at(i);
    }
    u.resize(nu);
  }
}

References casadi::Function::get_free(), indices(), input(), casadi::input_categories(), n_variables(), output(), casadi::output_categories(), casadi::P, size(), casadi::to_string(), casadi::U, and varind_.

qualified_name()

std::string casadi::DaeBuilderInternal::qualified_name ( const XmlNode &  nn, Attribute *  att = 0  )

staticprotected

Definition at line 1647 of file dae_builder_internal.cpp.

                                                                              {
  // std::stringstream to assemble name
  std::stringstream qn;
  bool first_part = true;
  if (att) *att = Attribute::VALUE;  // value attribute by default
 
  // Loop over name parts
  for (casadi_int i=0; i<nn.size(); ++i) {
    // Get the name part
    std::string np = nn[i].attribute<std::string>("name");
 
    // Check if an attribute
    if (np == "$START") {
      if (att) {
        *att = Attribute::START;
      } else {
        casadi_error("Ignoring attribute " + np);
      }
      continue;
    } else if (np == "$PRE") {
      casadi_warning("$PRE attribute has not been implemented, ignoring");
      continue;
    }
 
    // Add the name part to the variable name
    if (!first_part) qn << ".";
    qn << np;
 
    // Get the index, if any
    if (nn[i].size()>0) {
      casadi_int ind;
      nn[i]["exp:ArraySubscripts"]["exp:IndexExpression"]["exp:IntegerLiteral"].get(&ind);
      qn << "[" << ind << "]";
    }
 
    // Dot prefix if a additional parts
    first_part = false;
  }
 
  // Return the name
  return qn.str();
}

References casadi::XmlNode::attribute(), casadi::XmlNode::get(), casadi::XmlNode::size(), size(), casadi::START, and casadi::VALUE.

Referenced by read_expr(), and read_variable().

read_dependencies()

std::vector< casadi_int > casadi::DaeBuilderInternal::read_dependencies ( const XmlNode &  n )

protected

Definition at line 3519 of file dae_builder_internal.cpp.

                                                                            {
  // Default behaviour should be no known structure
  casadi_assert(n.has_attribute("dependencies"),
    "Default 'dependencies' not implemented");
  // Read list of dependencies
  std::vector<casadi_int> r = n.attribute<std::vector<casadi_int>>("dependencies", {});
  // Get corresponding variable index
  for (casadi_int& e : r) {
    if (fmi_major_ >= 3) {
      // Value reference is given
      e = vrmap_.at(static_cast<unsigned int>(e));
    } else {
      // Index-1 is given
      e--;
    }
  }
  // Return list of dependencies
  return r;
}

References casadi::XmlNode::attribute(), fmi_major_, casadi::XmlNode::has_attribute(), and vrmap_.

Referenced by import_model_structure().

read_dependencies_kind()

std::vector< DependenciesKind > casadi::DaeBuilderInternal::read_dependencies_kind ( const XmlNode &  n, size_t  ndep  )

protected

Definition at line 3539 of file dae_builder_internal.cpp.

                                   {
  // Quick return if node not provided
  if (!n.has_attribute("dependenciesKind")) {
    // No structure known, assume general dependency
    return std::vector<DependenciesKind>(ndep, DependenciesKind::DEPENDENT);
  } else {
    // Read list of strings
    auto dk_str = n.attribute<std::vector<std::string>>("dependenciesKind");
    // Make sure expected length
    casadi_assert(dk_str.size() == ndep, "Mismatching 'dependenciesKind'");
    // Convert to enums
    std::vector<DependenciesKind> r(ndep);
    for (size_t i = 0; i < ndep; ++i) {
      r[i] = to_enum<DependenciesKind>(dk_str[i]);
    }
    return r;
  }
}

References casadi::XmlNode::attribute(), casadi::DEPENDENT, and casadi::XmlNode::has_attribute().

Referenced by import_model_structure().

read_expr()

MX casadi::DaeBuilderInternal::read_expr ( const XmlNode &  node )

protected

Definition at line 1089 of file dae_builder_internal.cpp.

                                                    {
  try {
    const std::string& fullname = node.name;
 
    if (fullname == "fun:If") {
      // Expression for condition, if and else
      const XmlNode& cond = node["fun:Condition"];
      const XmlNode& then_stmt = node["fun:Statements"];
      const XmlNode& else_stmt = node["fun:Else"];
      // Only scalar expression implemented
      casadi_assert(cond.size() == 1, "Only one condition in if expression supported");
      casadi_assert(then_stmt.size() == 1, "Only one then statement in if expression supported");
      casadi_assert(else_stmt.size() == 1, "Only one else statement in if expression supported");
      return if_else(read_expr(cond[0]), read_expr(then_stmt[0]), read_expr(else_stmt[0]));
    }
 
    if (fullname.find("exp:")== std::string::npos) {
      casadi_error("DaeBuilderInternal::read_expr: unknown - expression is supposed to "
                  "start with 'exp:' , got " + fullname);
    }
 
    // Chop the 'exp:'
    std::string name = fullname.substr(4);
 
    // The switch below is alphabetical, and can be thus made more efficient,
    // for example by using a switch statement of the first three letters,
    // if it would ever become a bottleneck
    if (name=="Add") {
      return read_expr(node[0]) + read_expr(node[1]);
    } else if (name=="Acos") {
      return acos(read_expr(node[0]));
    } else if (name=="Asin") {
      return asin(read_expr(node[0]));
    } else if (name=="Atan") {
      return atan(read_expr(node[0]));
    } else if (name=="Cos") {
      return cos(read_expr(node[0]));
    } else if (name=="Der") {
      return variable(read_variable(node[0]).der_of).v;
    } else if (name=="Div") {
      return read_expr(node[0]) / read_expr(node[1]);
    } else if (name=="Exp") {
      return exp(read_expr(node[0]));
    } else if (name=="Identifier") {
      return read_identifier(node);
    } else if (name=="IntegerLiteral" || name=="BooleanLiteral") {
      casadi_int val;
      node.get(&val);
      return val;
    } else if (name=="Instant") {
      double val;
      node.get(&val);
      return val;
    } else if (name=="Log") {
      return log(read_expr(node[0]));
    } else if (name=="Not") { // Logical not
      return !read_expr(node[0]);
    } else if (name=="LogLeq") { // Logical less than equal
      return read_expr(node[0]) <= read_expr(node[1]);
    } else if (name=="LogGeq") { // Logical greater than equal
      return read_expr(node[0]) >= read_expr(node[1]);
    } else if (name=="LogLt") { // Logical less than
      return read_expr(node[0]) < read_expr(node[1]);
    } else if (name=="LogGt") { // Logical greater than
      return read_expr(node[0]) > read_expr(node[1]);
    } else if (name=="Max") {
      return fmax(read_expr(node[0]), read_expr(node[1]));
    } else if (name=="Min") {
      return fmin(read_expr(node[0]), read_expr(node[1]));
    } else if (name=="Mul") { // Multiplication
      return read_expr(node[0]) * read_expr(node[1]);
    } else if (name=="Neg") {
      return -read_expr(node[0]);
    } else if (name=="NoEvent") {
      // NOTE: This is a workaround, we assume that whenever NoEvent occurs,
      // what is meant is a switch
      casadi_int n = node.size();
 
      // Default-expression
      MX ex = read_expr(node[n-1]);
 
      // Evaluate ifs
      for (casadi_int i=n-3; i>=0; i -= 2) {
        ex = if_else(read_expr(node[i]), read_expr(node[i+1]), ex);
      }
 
      return ex;
    } else if (name=="Pow") {
      return pow(read_expr(node[0]), read_expr(node[1]));
    } else if (name=="Pre") {
      casadi_warning("Ignoring pre attribute");
      return read_expr(node[0]);
    } else if (name=="RealLiteral") {
      double val;
      node.get(&val);
      return val;
    } else if (name=="Sin") {
      return sin(read_expr(node[0]));
    } else if (name=="Sqrt") {
      return sqrt(read_expr(node[0]));
    } else if (name=="StringLiteral") {
      casadi_error(node.text);
    } else if (name=="Sub") {
      return read_expr(node[0]) - read_expr(node[1]);
    } else if (name=="Tan") {
      return tan(read_expr(node[0]));
    } else if (name=="Time") {
      return var(indices(Category::T).at(0));
    } else if (name=="TimedVariable") {
      return read_variable(node[0]).v;
    } else if (name=="FunctionCall") {
      // Get the name of the function
      std::string fname = qualified_name(node["exp:Name"]);
      casadi_warning("Function call to '" + fname + "' incomplete");
      // Collect the arguments
      const XmlNode& args = node["exp:Arguments"];
      std::vector<MX> farg(args.size());
      for (casadi_int i = 0; i < args.size(); ++i) {
        // Lift input arguments
        Variable& v = new_variable("w_" + str(size(Category::W)));
        // Add to list of variables
        indices(Category::W).push_back(v.index);
        // Set binding expression
        Variable& v_beq = assign(v.name, read_expr(args[i]));
        v.bind = v_beq.index;
        // Add to list of function arguments
        farg[i] = v.v;
      }
      // Return argument (scalar for now)
      Variable& r = new_variable("w_" + str(size(Category::W)));
      // Add to list of variables
      indices(Category::W).push_back(r.index);
      // Return output variable
      return r.v;
    } else if (name=="Array") {
      // Array of arguments
      std::vector<MX> v(node.size());
      for (casadi_int i = 0; i < v.size(); ++i) v[i] = read_expr(node[i]);
      return vertcat(v);
    }
 
    // throw error if reached this point
    casadi_error("Unknown node: " + name);
  } catch (std::exception& e) {
    THROW_ERROR_NODE("read_expr", node, e.what());
    return {};
  }
}

References assign(), casadi::Variable::bind, casadi::XmlNode::get(), casadi::if_else(), casadi::Variable::index, indices(), casadi::Variable::name, name(), casadi::XmlNode::name, new_variable(), qualified_name(), read_identifier(), read_variable(), casadi::XmlNode::size(), size(), casadi::str(), casadi::T, casadi::XmlNode::text, casadi::Variable::v, var(), variable(), and casadi::W.

Referenced by import_binding_equations(), import_dynamic_equations(), and import_initial_equations().

read_identifier()

MX casadi::DaeBuilderInternal::read_identifier ( const XmlNode &  node )

protected

Definition at line 1076 of file dae_builder_internal.cpp.

                                                          {
  Attribute att;  // attribute
  Variable& v = read_variable(node, &att);
  if (att == Attribute::VALUE) {
    return v.v;
  } else if (att == Attribute::START) {
    return v.start;
  } else {
    casadi_error("Cannot read attribute " + to_string(att));
    return MX();
  }
}

References read_variable(), casadi::START, casadi::Variable::start, casadi::to_string(), casadi::Variable::v, and casadi::VALUE.

Referenced by import_dynamic_equations(), and read_expr().

read_variable()

Variable & casadi::DaeBuilderInternal::read_variable ( const XmlNode &  node, Attribute *  att = 0  )

protected

Definition at line 1064 of file dae_builder_internal.cpp.

                                                                               {
  try {
    // Qualified name
    std::string qn = qualified_name(node, att);
 
    return variable(qn);
  } catch (std::exception& e) {
    THROW_ERROR_NODE("read_variable", node, e.what());
    //return {};
  }
}

References qualified_name(), and variable().

Referenced by import_binding_equations(), import_dynamic_equations(), import_initial_equations(), read_expr(), and read_identifier().

reinit()

Variable & casadi::DaeBuilderInternal::reinit ( const std::string &  name, const MX &  val  )

protected

Definition at line 3247 of file dae_builder_internal.cpp.

                                                                         {
  // Create a unique name for the reinit variable
  std::string reinit_name = unique_name("__reinit__" + name + "__");
  // Add a new dependent variable defined by val
  Variable& v = add(reinit_name, Causality::LOCAL, Variability::CONTINUOUS, val, Dict());
  // Classify as a defined variable
  categorize(v.index, Category::CALCULATED);
  v.parent = variable(name).index;
  // Return the variable name
  return v;
}

References add(), casadi::CALCULATED, categorize(), casadi::CONTINUOUS, casadi::Variable::index, casadi::LOCAL, name(), casadi::Variable::parent, unique_name(), and variable().

Referenced by import_dynamic_equations().

remove()

void casadi::DaeBuilderInternal::remove ( std::vector< size_t > &  v, size_t  ind  ) const

protected

Definition at line 2931 of file dae_builder_internal.cpp.

                                                                      {
  for (auto it = v.begin(); it != v.end(); ++it) {
    if (*it == ind) {
      v.erase(it);
      return;
    }
  }
  casadi_error("Variable not found");
}

Referenced by categorize(), and set_causality().

reorder() [1/2]

void casadi::DaeBuilderInternal::reorder	(	Category	cat,
		const std::vector< size_t > &	v
	)

Definition at line 1374 of file dae_builder_internal.cpp.

                                                                         {
  return reorder(to_string(cat), indices(cat), v);
}

References indices(), and casadi::to_string().

reorder() [2/2]

void casadi::DaeBuilderInternal::reorder	(	const std::string &	n,
		std::vector< size_t > &	ind,
		const std::vector< size_t > &	v
	)		const

Definition at line 1378 of file dae_builder_internal.cpp.

                                      {
  // Check if the sizes match
  casadi_assert(ind.size() == v.size(), "Cannot reorder " + n + ": "
    + str(v.size()) + " elements provided for " + str(ind.size()) + " components.");
  // Mark elements to be set
  std::vector<bool> set(n_variables(), false);
  for (size_t i : v) set.at(i) = true;
  // Make sure all elements are present
  for (size_t i : ind) casadi_assert(set.at(i), "Cannot reorder " + n + ": "
    + variable(i).name + " is missing.");
  // Set the new order
  std::copy(v.begin(), v.end(), ind.begin());
}

References n_variables(), name(), casadi::str(), and variable().

reset()

void casadi::DaeBuilderInternal::reset ( )

protected

Definition at line 4049 of file dae_builder_internal.cpp.

                               {
  for (Variable* v : variables_) {
    std::fill(v->value.begin(), v->value.end(), nan);
    v->stringvalue = std::string();
  }
}

References casadi::nan, and variables_.

sanity_check()

void casadi::DaeBuilderInternal::sanity_check

(

)

const

Definition at line 1639 of file dae_builder_internal.cpp.

                                            {
  // Time
  if (size(Category::T) > 0) {
    casadi_assert(size(Category::T) == 1, "At most one time variable allowed");
    casadi_assert(variable(Category::T, 0).v.is_scalar(), "Non-scalar time t");
  }
}

References size(), casadi::T, and variable().

Referenced by add_lc(), and disp().

set_attribute() [1/2]

void casadi::DaeBuilderInternal::set_attribute ( Attribute  a, const std::string &  name, double  val  )

protected

Set by attribute name

Definition at line 4076 of file dae_builder_internal.cpp.

                                                                                     {
  variable(name).set_attribute(a, val);
}

References name(), casadi::Variable::set_attribute(), and variable().

set_attribute() [2/2]

void casadi::DaeBuilderInternal::set_attribute ( Attribute  a, const std::vector< std::string > &  name, const std::vector< double > &  val  )

protected

Set by attribute name

Definition at line 4080 of file dae_builder_internal.cpp.

                                  {
  if (name.size() == val.size()) {
    // One scalar value per variable
    for (size_t k = 0; k < name.size(); ++k) variable(name[k]).set_attribute(a, val[k]);
  } else if (val.size() == size(a, name)) {
    // One vector slice per variable
    auto val_it = val.begin();
    for (size_t k = 0; k < name.size(); ++k) {
      Variable& v = variable(name[k]);
      auto val_next = val_it + v.size(a);
      v.set_attribute(a, std::vector<double>(val_it, val_next));
      val_it = val_next;
    }
  } else {
    casadi_error("Cannot set attribute " + to_string(a) + ": Argument is of length " +
      str(val.size()) + ", expected number of elements (" + str(size(a, name))
      + ") or number of variables (" + str(name.size()) + ")");
  }
}

References name(), casadi::Variable::set_attribute(), casadi::Variable::size(), size(), casadi::str(), casadi::to_string(), and variable().

set_category()

void casadi::DaeBuilderInternal::set_category ( size_t  ind, Category  cat  )

protected

Definition at line 3038 of file dae_builder_internal.cpp.

                                                              {
  // Get variable reference
  Variable& v = variable(ind);
  // Quick return if same category
  if (v.category == cat) return;
  // Update category: See comment for public interface
  switch (cat) {
    case Category::U:
      if (v.category == Category::P || v.category == Category::C) {
        return set_variability(v.index, Variability::CONTINUOUS);
      }
      break;
    case Category::P:
      if (v.category == Category::U || v.category == Category::C) {
        return set_variability(v.index, Variability::TUNABLE);
      }
      break;
    case Category::C:
      if (v.category == Category::U || v.category == Category::P) {
        return set_variability(v.index, Variability::FIXED);
      }
      break;
    case Category::X:
      if (v.category == Category::Q && !v.in_rhs) {
        return categorize(v.index, Category::X);
      }
      break;
    case Category::Q:
      if (v.category == Category::X) {
        return categorize(v.index, Category::Q);
      }
      break;
    default:
      break;
  }
  // Failure if reached this point
  casadi_error("Cannot change category of " + v.name + " from '"
    + to_string(v.category) + "' to '" + to_string(cat) + "'");
}

References casadi::C, categorize(), casadi::Variable::category, casadi::CONTINUOUS, casadi::FIXED, casadi::Variable::in_rhs, casadi::Variable::index, casadi::Variable::name, casadi::P, casadi::Q, set_variability(), casadi::to_string(), casadi::TUNABLE, casadi::U, variable(), and casadi::X.

Referenced by eliminate().

set_causality()

void casadi::DaeBuilderInternal::set_causality ( size_t  ind, Causality  causality  )

protected

Definition at line 2945 of file dae_builder_internal.cpp.

                                                                      {
  // Get variable reference
  Variable& v = variable(ind);
  // Quick return if same causality
  if (v.causality == causality) return;
  // Handle permitted changes
  if (v.causality == Causality::LOCAL && causality == Causality::OUTPUT) {
    // Add to list of outputs
    insert(outputs_, v.index);
  } else if (v.causality == Causality::OUTPUT && causality == Causality::LOCAL) {
    // Remove from list of outputs
    remove(outputs_, v.index);
  } else {
    // Not possible
    casadi_error("Cannot change causality of " + v.name + " which is of category '"
      + to_string(v.category) + "'");
  }
  // Success: Update causality
  v.causality = causality;
  // The oracle would need to be regenerated after changes to the categorization
  clear_cache_ = true;
}

References casadi::Variable::category, casadi::Variable::causality, causality(), clear_cache_, casadi::Variable::index, insert(), casadi::LOCAL, casadi::Variable::name, casadi::OUTPUT, outputs_, remove(), casadi::to_string(), and variable().

set_init()

void casadi::DaeBuilderInternal::set_init ( const std::string &  name, const MX &  init_rhs  )

protected

Definition at line 3259 of file dae_builder_internal.cpp.

                                                                           {
  // Find the algebraic variable
  Variable& v = variable(name);
  // If variable already has an initial binding equation, remove it
  if (!v.ieq.is_empty()) {
    // Remove from list of initial equations
    auto old_loc = std::find(init_.begin(), init_.end(), v.index);
    if (old_loc == init_.end()) casadi_error("Corrupted list of initial equations");
    init_.erase(old_loc);
    v.ieq = MX();
  }
  // If right-hand-side is empty, just erase
  if (init_rhs.is_empty()) return;
 
  // Make sure not already in list of initial equations
  if (std::find(init_.begin(), init_.end(), v.index) != init_.end()) {
    casadi_error("Initial equation for " + name + " has already been set");
  }
  // Add to list of initial equations
  init_.push_back(v.index);
  v.ieq = init_rhs;
}

References casadi::Variable::ieq, casadi::Variable::index, init_, init_rhs(), casadi::GenericMatrix< MatType >::is_empty(), name(), and variable().

Referenced by import_initial_equations().

set_string_attribute() [1/2]

void casadi::DaeBuilderInternal::set_string_attribute ( Attribute  a, const std::string &  name, const std::string &  val  )

protected

Set by attribute name (string-valued)

Definition at line 4122 of file dae_builder_internal.cpp.

                          {
  variable(name).set_attribute(a, val);
}

References name(), casadi::Variable::set_attribute(), and variable().

set_string_attribute() [2/2]

void casadi::DaeBuilderInternal::set_string_attribute ( Attribute  a, const std::vector< std::string > &  name, const std::vector< std::string > &  val  )

protected

Set by attribute name (string-valued)

Definition at line 4127 of file dae_builder_internal.cpp.

                                                                       {
  casadi_assert(name.size() == val.size(), "Dimension mismatch");
  for (size_t k = 0; k < name.size(); ++k) variable(name[k]).set_attribute(a, val[k]);
}

References name(), casadi::Variable::set_attribute(), and variable().

set_variability()

void casadi::DaeBuilderInternal::set_variability ( size_t  ind, Variability  variability  )

protected

Definition at line 2972 of file dae_builder_internal.cpp.

                                                                            {
  // Get variable reference
  Variable& v = variable(ind);
  // Quick return if same variability
  if (v.variability == variability) return;
  // Update category: See comment for public interface
  switch (v.category) {
    case Category::U:
      if (variability == Variability::FIXED) {
        // Make fixed parameter
        categorize(v.index, Category::C);
        v.causality = Causality::PARAMETER;
      } else if (variability == Variability::TUNABLE) {
        // Make tunable parameter
        categorize(v.index, Category::P);
        v.causality = Causality::PARAMETER;
      } else {
        // Not possible
        casadi_error("The variability of " + v.name + ", which is of category 'u', can only be "
          "changed to 'fixed' (for no category) or 'tunable' (for category 'p')");
      }
      break;
    case Category::P:
      if (variability == Variability::CONTINUOUS) {
        // Make input
        categorize(v.index, Category::U);
        v.causality = Causality::INPUT;
      } else if (variability == Variability::FIXED) {
        // Make fixed parameter
        categorize(v.index, Category::C);
        v.causality = Causality::PARAMETER;
      } else {
        // Not possible
        casadi_error("The variability of " + v.name + ", which is of category 'p', can only be "
          "changed to 'continuous' (for category 'u') or 'fixed' (for no category)");
      }
      break;
    case Category::C:
      if (variability == Variability::CONTINUOUS) {
        // Make input
        categorize(v.index, Category::U);
        v.causality = Causality::INPUT;
      } else if (variability == Variability::TUNABLE) {
        // Make tunable parameter
        categorize(v.index, Category::P);
        v.causality = Causality::PARAMETER;
      } else {
        // Not possible
        casadi_error("The variability of " + v.name + ", which is of type 'c', can only be "
          "changed to 'continuous' (for category 'u') or 'tunable' (for category 'p')");
      }
      break;
    default:
      casadi_error("Cannot change variability of " + v.name + ", which is of category '"
        + to_string(v.category) + "'");
  }
  // Success: Update variability
  v.variability = variability;
  // The oracle would need to be regenerated after changes to the categorization
  clear_cache_ = true;
}

References casadi::C, categorize(), casadi::Variable::category, casadi::Variable::causality, clear_cache_, casadi::CONTINUOUS, casadi::FIXED, casadi::Variable::index, casadi::INPUT, casadi::Variable::name, casadi::P, casadi::PARAMETER, casadi::to_string(), casadi::TUNABLE, casadi::U, casadi::Variable::variability, variability(), and variable().

Referenced by set_category().

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;
    }

size() [1/2]

casadi_int casadi::DaeBuilderInternal::size ( Attribute  a, const std::vector< std::string > &  name  ) const

protected

Definition at line 4133 of file dae_builder_internal.cpp.

                                                                                       {
  casadi_int r = 0;
  for (auto& n : name) r += variable(n).size(a);
  return r;
}

References name(), casadi::Variable::size(), and variable().

size() [2/2]

size_t casadi::DaeBuilderInternal::size ( Category  cat ) const

inline

Definition at line 253 of file dae_builder_internal.hpp.

{return indices(cat).size();}

Referenced by add_fun(), attribute(), cdef(), create(), disp(), eliminate(), export_fmu(), fmu_fun(), generate_wrapper(), has_t(), hess_v_v_from_calls(), import_binding_equations(), import_dynamic_equations(), import_initial_equations(), import_model_structure(), casadi::FmuInternal::init(), lift(), output(), prune(), qualified_name(), read_expr(), sanity_check(), set_attribute(), sort_z(), string_attribute(), tear(), transition(), and update_dependencies().

sort()

void casadi::DaeBuilderInternal::sort

(

Category

cat

)

Definition at line 1337 of file dae_builder_internal.cpp.

                                          {
  casadi_assert(is_acyclic(cat), "Sorting not supported for category " + to_string(cat));
  // Find new order based on interdependencies
  std::vector<MX> v = var(indices(cat)), vdef = output(dependent_definition(cat));
  sort_dependent(v, vdef);
  // New order
  std::vector<size_t> new_order;
  for (const MX& e : v) new_order.push_back(find(e.name()));
  std::copy(new_order.begin(), new_order.end(), indices(cat).begin());
}

References casadi::dependent_definition(), find(), indices(), casadi::is_acyclic(), output(), sort_dependent(), casadi::to_string(), and var().

Referenced by eliminate().

sort_dependent()

void casadi::DaeBuilderInternal::sort_dependent ( std::vector< MX > &  v, std::vector< MX > &  vdef  )

staticprotected

Definition at line 2396 of file dae_builder_internal.cpp.

                                                                             {
  // Form function to evaluate dependent variables
  Function vfcn("vfcn", {vertcat(v)}, {vertcat(vdef)}, {"v"}, {"vdef"},
    Dict{{"allow_free", true}});
  // Is any variable vector-valued?
  bool any_vector_valued = false;
  for (const MX& v_i : v) {
    casadi_assert(!v_i.is_empty(), "Cannot have zero-dimension dependent variables");
    if (!v_i.is_scalar()) {
      any_vector_valued = true;
      break;
    }
  }
  // If vector-valued variables exists, collapse them
  if (any_vector_valued) {
    // New v corresponding to one scalar input per v argument
    std::vector<MX> vfcn_in(v), vfcn_arg(v);
    for (size_t i = 0; i < v.size(); ++i) {
      if (!v.at(i).is_scalar()) {
        vfcn_in.at(i) = MX::sym(v.at(i).name());
        vfcn_arg.at(i) = repmat(vfcn_in.at(i), v.at(i).size1());
      }
    }
    // Wrap vfcn
    std::vector<MX> vfcn_out = vfcn(vertcat(vfcn_arg));
    vfcn_out = vertsplit(vfcn_out.at(0), offset(v));
    // Collapse vector-valued outputs
    for (size_t i = 0; i < v.size(); ++i) {
      if (!v.at(i).is_scalar()) {
        vfcn_out.at(i) = dot(vfcn_out.at(i), vfcn_out.at(i));
      }
    }
    // Recreate vfcn with smaller dimensions
    vfcn = Function(vfcn.name(), {vertcat(vfcn_in)}, {vertcat(vfcn_out)},
      vfcn.name_in(), vfcn.name_out(), {{"allow_free", true}});
  }
  // Calculate sparsity pattern of dvdef/dv
  Sparsity Jv = vfcn.jac_sparsity(0, 0);
  // Add diagonal (equation is v-vdef = 0)
  Jv = Jv + Sparsity::diag(Jv.size1());
  // If lower triangular, nothing to do
  if (Jv.is_triu()) return;
  // Perform a Dulmage-Mendelsohn decomposition
  std::vector<casadi_int> rowperm, colperm, rowblock, colblock, coarse_rowblock, coarse_colblock;
  (void)Jv.btf(rowperm, colperm, rowblock, colblock, coarse_rowblock, coarse_colblock);
  // Reorder the variables
  std::vector<MX> tmp(v.size());
  for (size_t k = 0; k < v.size(); ++k) tmp[k] = v.at(colperm.at(k));
  std::copy(tmp.begin(), tmp.end(), v.begin());
  // Reorder the equations
  for (size_t k = 0; k < v.size(); ++k) tmp[k] = vdef.at(rowperm.at(k));
  std::copy(tmp.begin(), tmp.end(), vdef.begin());
}

References casadi::dot(), and casadi::GenericMatrix< MX >::sym().

Referenced by sort().

sort_z()

void casadi::DaeBuilderInternal::sort_z

(

const std::vector< std::string > &

z_order

)

Definition at line 1348 of file dae_builder_internal.cpp.

                                                                   {
  // Make sure lengths agree
  casadi_assert(z_order.size() == size(Category::Z), "Dimension mismatch");
  // Mark existing components in z
  std::vector<bool> old_z(n_variables(), false);
  for (size_t i : indices(Category::Z)) old_z.at(i) = true;
  // New vector of z
  std::vector<size_t> new_z;
  new_z.reserve(z_order.size());
  for (const std::string& s : z_order) {
    size_t i = find(s);
    casadi_assert(old_z.at(i), "Variable \"" + s + "\" is not an algebraic variable.");
    new_z.push_back(i);
  }
  // Success: Update z
  std::copy(new_z.begin(), new_z.end(), indices(Category::Z).begin());
}

References find(), indices(), n_variables(), size(), and casadi::Z.

start_all()

std::vector< double > casadi::DaeBuilderInternal::start_all

(

)

const

Definition at line 977 of file dae_builder_internal.cpp.

                                                      {
  std::vector<double> r;
  for (const Variable* v : variables_) {
    for (double s : v->start) r.push_back(s);
  }
  return r;
}

References variables_.

Referenced by generate_wrapper().

string_attribute() [1/2]

std::string casadi::DaeBuilderInternal::string_attribute ( Attribute  a, const std::string &  name  ) const

protected

Get by attribute name (string-valued)

Definition at line 4101 of file dae_builder_internal.cpp.

                                 {
  std::string r;
  variable(name).get_attribute(a, &r);
  return r;
}

References casadi::Variable::get_attribute(), name(), and variable().

string_attribute() [2/2]

std::vector< std::string > casadi::DaeBuilderInternal::string_attribute ( Attribute  a, const std::vector< std::string > &  name  ) const

protected

Get by attribute name (string-valued)

Definition at line 4108 of file dae_builder_internal.cpp.

                                            {
  // Allocate return
  std::vector<std::string> r;
  r.reserve(size(a, name));
  // Get contribution from each variable
  std::string r1;
  for (auto& n : name) {
    variable(n).get_attribute(a, &r1);
    r.push_back(r1);
  }
  return r;
}

References casadi::Variable::get_attribute(), name(), size(), and variable().

tear()

void casadi::DaeBuilderInternal::tear

(

)

Definition at line 1445 of file dae_builder_internal.cpp.

                              {
  // Prefix
  const std::string res_prefix = "res__";
  // Get residual variables, iteration variables
  std::vector<std::string> res, iv, iv_on_hold;
  tearing_variables(&res, &iv, &iv_on_hold);
  // All iteration variables
  std::set<std::string> iv_set;
  for (auto& e : iv) iv_set.insert(e);
  for (auto& e : iv_on_hold) iv_set.insert(e);
  // Remove any (held or not held) iteration variables, equations from z and alg
  size_t sz = 0;
  for (size_t k = 0; k < size(Category::Z); ++k) {
    if (!iv_set.count(variable(Category::Z, k).name)) {
      // Non-iteration variable: Keep
      indices(Category::Z).at(k) = indices(Category::Z).at(sz);
      sz++;
    }
  }
  indices(Category::Z).resize(sz);
  // Remove any (held or not held) iteration variables, equations from u
  sz = 0;
  for (size_t k = 0; k < size(Category::U); ++k) {
    if (!iv_set.count(variable(Category::U, k).name)) {
      // Non-iteration variable: Keep
      indices(Category::U).at(k) = indices(Category::U).at(sz++);
    }
  }
  indices(Category::U).resize(sz);
  // Add algebraic variables
  for (auto& e : iv) indices(Category::Z).push_back(find(e));
  // Add output variables
  for (auto& e : iv_on_hold) indices(Category::U).push_back(find(e));
}

References find(), indices(), name(), size(), tearing_variables(), casadi::U, variable(), and casadi::Z.

tearing_variables()

void casadi::DaeBuilderInternal::tearing_variables	(	std::vector< std::string > *	res,
		std::vector< std::string > *	iv,
		std::vector< std::string > *	iv_on_hold
	)		const

Definition at line 1480 of file dae_builder_internal.cpp.

                                                                      {
  // Clear output
  if (res) res->clear();
  if (iv) iv->clear();
  if (iv_on_hold) iv_on_hold->clear();
  // Prefix
  const std::string res_prefix = "res__";
  // Collect hold indices
  std::vector<MX> r_hold, iv_hold;
  // Any hold variable?
  bool any_hold = false;
  // Collect residual variables, iteration variables, expression for hold indices, if any
  for (const Variable* v : variables_) {
    // Residual variables are specified with a "res__" prefix
    if (v->name.rfind(res_prefix, 0) == 0) {
      // Process iteration variable name, names of hold markers
      std::string iv_name, res_hold_name, iv_hold_name;
      // Iteration variable, hold markers are contained in the remainder of the name
      try {
        size_t pos = res_prefix.size();
        // Find the next "__", if any
        size_t end = v->name.find("__", pos);
        if (end == std::string::npos) end = v->name.size();
        // Look up iteration variable
        iv_name = v->name.substr(pos, end - pos);
        // Ensure that the variable exists
        casadi_assert(has(iv_name), "No such variable: " + iv_name);
        // Get hold indices, if any
        if (end != v->name.size()) {
          // Find next "__", read hold index for residual variable
          pos = end + 2;
          end = v->name.find("__", pos);
          if (end == std::string::npos) end = v->name.size();
          res_hold_name = v->name.substr(pos, end - pos);
          // Ensure that the variable exists
          casadi_assert(has(res_hold_name), "No such variable: " + res_hold_name);
          // The remainder of the name contains iv_hold_name
          if (end != v->name.size()) {
            iv_hold_name = v->name.substr(end + 2);
            casadi_assert(has(iv_hold_name), "No such variable: " + iv_hold_name);
          }
        }
      } catch (std::exception& e) {
        // Generate warning
        casadi_warning("Cannot process residual variable: " + v->name + ":" +
                       std::string(e.what()));
        continue;
      }
      // Add residual variable, corresponding hold variable
      if (res_hold_name.empty()) {
        r_hold.push_back(false);
      } else {
        any_hold = true;
        r_hold.push_back(variable(res_hold_name).v);
        casadi_assert(r_hold.back().is_scalar(), "Non-scalar hold variable for " + res_hold_name);
      }
      if (res) res->push_back(v->name);
      // Add iteration variable, corresponding hold variable
      if (iv_hold_name.empty()) {
        iv_hold.push_back(false);
      } else {
        any_hold = true;
        iv_hold.push_back(variable(iv_hold_name).v);
        casadi_assert(iv_hold.back().is_scalar(), "Non-scalar hold variable for " + iv_hold_name);
      }
      if (iv) iv->push_back(iv_name);
    }
  }
  // Evaluate hold variables, if needed
  if (any_hold) {
    try {
      // Code below needs to be refactored
      casadi_error("not implemented");
#if 0
      // Get start attributes for p
      Function startfun_p = attribute_fun("startfun_p", {}, {"start_p"});
      if (startfun_p.has_free()) {
        casadi_error("startfun has free variables: " + str(startfun_p.get_free()));
      }
      DM p0 = startfun_p(std::vector<DM>{}).at(0);
      // Create function to evaluate the hold attributes
      Function holdfun("holdfun", {vertcat(var(p_))},
        {vertcat(r_hold), vertcat(iv_hold)}, {"p"}, {"r_hold", "iv_hold"});
      if (holdfun.has_free()) {
        casadi_error("holdfun has free variables: " + str(holdfun.get_free()));
      }
      // Evaluate holdfun to get hold attributes
      std::vector<DM> hold0 = holdfun(std::vector<DM>{p0});
      std::vector<double> r_hold0 = hold0.at(0).nonzeros();
      std::vector<double> iv_hold0 = hold0.at(1).nonzeros();
      casadi_assert_dev(r_hold0.size() == res->size());
      casadi_assert_dev(iv_hold0.size() == iv->size());
      // Remove hold variables from residual variables
      size_t sz = 0;
      if (res) {
        for (size_t k = 0; k < res->size(); ++k) {
          if (!static_cast<bool>(r_hold0.at(k))) {
            res->at(sz++) = res->at(k);
          }
        }
        res->resize(sz);
      }
      // Remove hold variables from iteration variables
      sz = 0;
      for (size_t k = 0; k < iv->size(); ++k) {
        if (!static_cast<bool>(iv_hold0.at(k))) {
          if (iv) iv->at(sz++) = iv->at(k);
        } else {
          if (iv_on_hold) iv_on_hold->push_back(iv->at(k));
        }
      }
      if (iv) iv->resize(sz);
#endif
    } catch (std::exception& e) {
      // Warning instead of error
      casadi_warning("Failed to evaluate hold variables: " + std::string(e.what()));
    }
  }
}

References casadi::Function::get_free(), has(), casadi::Function::has_free(), casadi::str(), var(), variable(), and variables_.

Referenced by tear().

time()

const MX & casadi::DaeBuilderInternal::time ( ) const

protected

Definition at line 2678 of file dae_builder_internal.cpp.

                                         {
  casadi_assert(has_t(), "No explicit time variable");
  return var(indices(Category::T).at(0));
}

References has_t(), indices(), casadi::T, and var().

Referenced by generate_guid().

transition() [1/2]

Function casadi::DaeBuilderInternal::transition

(

const std::string &

fname

)

const

Definition at line 2556 of file dae_builder_internal.cpp.

                                                                    {
  // If no events, return null
  if (when_.empty()) return Function();
 
  // If just a single event, create an event function with a dummy index input
  if (when_.size() == 1) return transition(fname, 0, true);
 
  // Create separate transition functions for each event
  std::vector<Function> f_all;
  for (casadi_int i = 0; i < when_.size(); ++i) {
    f_all.push_back(transition(fname + "_" + str(i), i));
  }
 
  // Make the last function the default value in the switch
  Function f_def = f_all.back();
  f_all.pop_back();
 
  // Create a switch function
  return Function::conditional(fname, f_all, f_def);
}

References casadi::Function::conditional(), casadi::str(), transition(), and when_.

transition() [2/2]

Function casadi::DaeBuilderInternal::transition	(	const std::string &	fname,
		casadi_int	index,
		bool	dummy_index_input = false
	)		const

Definition at line 2508 of file dae_builder_internal.cpp.

                                  {
 
  // Make sure that the index is valid
  casadi_assert(index >= 0 && index < when_.size(), "Illegal event index");
 
  // Get input expressions for the oracle
  std::vector<MX> oracle_in = oracle().mx_in();
 
  // Input expressions for the event functions, without the index
  std::vector<MX> ret_in(DYN_NUM_IN);
  ret_in[DYN_T] = oracle_in.at(static_cast<size_t>(Category::T));
  ret_in[DYN_X] = oracle_in.at(static_cast<size_t>(Category::X));
  ret_in[DYN_Z] = oracle_in.at(static_cast<size_t>(Category::Z));
  ret_in[DYN_P] = oracle_in.at(static_cast<size_t>(Category::P));
  ret_in[DYN_U] = oracle_in.at(static_cast<size_t>(Category::U));
 
  // When equation left-hand sides and right-hand sides
  std::vector<MX> when_lhs, when_rhs;
  for (size_t eq : when_.at(index).second) {
    auto v = variable(eq).parent;
    when_lhs.push_back(variable(v).v);
    when_rhs.push_back(variable(eq).v);
  }
 
  // Expressions for x and z after event
  std::vector<MX> ret_out = {ret_in[DYN_X], ret_in[DYN_Z]};
  ret_out = MX::substitute(ret_out, when_lhs, when_rhs);
 
  // Remove dependent variables, if any
  if (size(Category::W) > 0) {
    // Dependent variable definitions
    std::vector<MX> wdef = output(OutputCategory::WDEF);
    // Perform in-place substitution
    substitute_inplace(var(Category::W), wdef, ret_out, false);
  }
 
  // Check if a dummy index input needes to be included
  if (dummy_index_input) {
    // Create a function with the transition input signature
    ret_in.insert(ret_in.begin(), MX());
    return Function(fname, ret_in, ret_out, event_in(), event_out());
  } else {
    // Create a function with the DAE function input signature
    return Function(fname, ret_in, ret_out, dyn_in(), event_out());
  }
}

References casadi::dyn_in(), casadi::DYN_NUM_IN, casadi::DYN_P, casadi::DYN_T, casadi::DYN_U, casadi::DYN_X, casadi::DYN_Z, eq(), casadi::event_in(), casadi::event_out(), casadi::Function::mx_in(), oracle(), output(), casadi::P, casadi::Variable::parent, size(), casadi::MX::substitute(), casadi::T, casadi::U, var(), variable(), casadi::W, casadi::WDEF, when_, casadi::X, and casadi::Z.

Referenced by export_fmu(), and transition().

type_name()

std::string casadi::DaeBuilderInternal::type_name ( ) const

inline

Definition at line 375 of file dae_builder_internal.hpp.

{return "DaeBuilderInternal";}

unique_name()

std::string casadi::DaeBuilderInternal::unique_name	(	const std::string &	prefix,
		bool	allow_no_prefix = true
	)		const

Definition at line 1724 of file dae_builder_internal.cpp.

                                {
  // Check if the variable exists without any prefix
  if (allow_no_prefix && !has(prefix)) return prefix;
  // Find the first available index
  size_t i = 0;
  while (has(prefix + str(i))) i++;
  // Return the unique name
  return prefix + str(i);
}

References has(), and casadi::str().

Referenced by assign(), eq(), reinit(), and when().

update_dependencies()

void casadi::DaeBuilderInternal::update_dependencies

(

)

const

Definition at line 856 of file dae_builder_internal.cpp.

                                                   {
  // Get oracle function
  const Function& oracle = this->oracle();
  // Dependendencies of the ODE right-hand-side
  Sparsity dode_dxT = oracle.jac_sparsity(oracle.index_out("ode"), oracle.index_in("x")).T();
  Sparsity dode_duT = oracle.jac_sparsity(oracle.index_out("ode"), oracle.index_in("u")).T();
  for (casadi_int i = 0; i < size(Category::X); ++i) {
    // Get output variable
    const Variable& xdot = variable(variable(Category::X, i).der);
    // Clear dependencies
    xdot.dependencies.clear();
    // Dependencies on states
    for (casadi_int k = dode_dxT.colind(i); k < dode_dxT.colind(i + 1); ++k) {
      casadi_int j = dode_dxT.row(k);
      xdot.dependencies.push_back(variable(Category::X, j).value_reference);
    }
    // Dependencies on controls
    for (casadi_int k = dode_duT.colind(i); k < dode_duT.colind(i + 1); ++k) {
      casadi_int j = dode_duT.row(k);
      xdot.dependencies.push_back(variable(Category::U, j).value_reference);
    }
  }
  // Dependendencies of the outputs and event indicators
  for (std::string catname : {"y", "zero"}) {
    const std::vector<size_t>& oind = catname == "y" ? outputs_ : event_indicators_;
    Sparsity dy_dxT = oracle.jac_sparsity(oracle.index_out(catname), oracle.index_in("x")).T();
    Sparsity dy_duT = oracle.jac_sparsity(oracle.index_out(catname), oracle.index_in("u")).T();
    for (casadi_int i = 0; i < oind.size(); ++i) {
      // Get output variable
      const Variable& y = variable(oind.at(i));
      // Clear dependencies
      y.dependencies.clear();
      // Dependencies on states
      for (casadi_int k = dy_dxT.colind(i); k < dy_dxT.colind(i + 1); ++k) {
        casadi_int j = dy_dxT.row(k);
        y.dependencies.push_back(variable(Category::X, j).value_reference);
      }
      // Dependencies on controls
      for (casadi_int k = dy_duT.colind(i); k < dy_duT.colind(i + 1); ++k) {
        casadi_int j = dy_duT.row(k);
        y.dependencies.push_back(variable(Category::U, j).value_reference);
      }
    }
  }
}

References casadi::Sparsity::colind(), casadi::Variable::dependencies, der(), event_indicators_, casadi::Function::index_in(), casadi::Function::index_out(), casadi::Function::jac_sparsity(), oracle(), outputs_, casadi::Sparsity::row(), size(), casadi::U, variable(), and casadi::X.

Referenced by export_fmu().

var() [1/5]

std::vector<MX> casadi::DaeBuilderInternal::var ( Category  cat ) const

inline

Definition at line 446 of file dae_builder_internal.hpp.

{return var(indices(cat));}

References var().

Referenced by var().

var() [2/5]

const MX& casadi::DaeBuilderInternal::var ( Category  cat, size_t  ind  ) const

inline

Definition at line 440 of file dae_builder_internal.hpp.

{return var(indices(cat).at(ind));}

References var().

Referenced by var().

var() [3/5]

const MX & casadi::DaeBuilderInternal::var

(

const std::string &

name

)

const

Definition at line 1690 of file dae_builder_internal.cpp.

                                                             {
  return variable(name).v;
}

References name(), casadi::Variable::v, and variable().

Referenced by add_fun(), create(), dependent_fun(), der(), disp(), eliminate(), hess_v_v_from_calls(), import_binding_equations(), import_model_variables(), input(), oracle(), output(), read_expr(), sort(), tearing_variables(), time(), transition(), var(), and when().

var() [4/5]

std::vector< MX > casadi::DaeBuilderInternal::var

(

const std::vector< size_t > &

ind

)

const

Definition at line 3956 of file dae_builder_internal.cpp.

                                                                        {
  std::vector<MX> ret;
  ret.reserve(ind.size());
  for (size_t i : ind) ret.push_back(var(i));
  return ret;
}

References var().

var() [5/5]

const MX & casadi::DaeBuilderInternal::var

(

size_t

ind

)

const

Definition at line 3952 of file dae_builder_internal.cpp.

                                                  {
  return variable(ind).v;
}

References casadi::Variable::v, and variable().

variability()

Variability casadi::DaeBuilderInternal::variability ( size_t  ind ) const

protected

Definition at line 2968 of file dae_builder_internal.cpp.

                                                            {
  return variable(ind).variability;
}

References casadi::Variable::variability, and variable().

Referenced by add(), default_initial(), import_model_variables(), and set_variability().

variable() [1/8]

Variable& casadi::DaeBuilderInternal::variable ( Category  cat, size_t  ind  )

inline

Access a variable by Category and index

Definition at line 418 of file dae_builder_internal.hpp.

{return variable(indices(cat).at(ind));}

References variable().

Referenced by variable().

variable() [2/8]

const Variable& casadi::DaeBuilderInternal::variable ( Category  cat, size_t  ind  ) const

inline

Access a variable by Category and index

Definition at line 419 of file dae_builder_internal.hpp.

                                                           {
    return variable(indices(cat).at(ind));
  }

variable() [3/8]

Variable& casadi::DaeBuilderInternal::variable ( const MX &  v )

inline

Access a variable by expression

Definition at line 432 of file dae_builder_internal.hpp.

{return variable(find(v));}

References casadi::find(), and variable().

Referenced by variable().

variable() [4/8]

const Variable& casadi::DaeBuilderInternal::variable ( const MX &  v ) const

inline

Access a variable by expression

Definition at line 433 of file dae_builder_internal.hpp.

{return variable(find(v));}

References casadi::find(), and variable().

Referenced by variable().

variable() [5/8]

Variable& casadi::DaeBuilderInternal::variable ( const std::string &  name )

inline

Access a variable by name

Definition at line 426 of file dae_builder_internal.hpp.

{return variable(find(name));}

References casadi::find(), and variable().

Referenced by variable().

variable() [6/8]

const Variable& casadi::DaeBuilderInternal::variable ( const std::string &  name ) const

inline

Access a variable by name

Definition at line 427 of file dae_builder_internal.hpp.

{return variable(find(name));}

References casadi::find(), and variable().

Referenced by variable().

variable() [7/8]

Variable& casadi::DaeBuilderInternal::variable ( size_t  ind )

inline

Access a variable by index

Definition at line 412 of file dae_builder_internal.hpp.

{return *variables_.at(ind);}

Referenced by add_fun(), assign(), attribute(), categorize(), category(), causality(), cdef(), disp(), eliminate(), eq(), fmu_fun(), generate_model_structure(), generate_wrapper(), hess_sparsity(), import_model_structure(), import_model_variables(), casadi::FmuInternal::init(), casadi::Fmu2::init(), casadi::Fmu3::init(), init_lhs(), init_rhs(), insert(), jac_sparsity(), lift(), name(), output(), read_expr(), read_variable(), reinit(), reorder(), sanity_check(), set_attribute(), set_category(), set_causality(), set_init(), set_string_attribute(), set_variability(), size(), string_attribute(), tear(), tearing_variables(), transition(), update_dependencies(), var(), variability(), and when().

variable() [8/8]

const Variable& casadi::DaeBuilderInternal::variable ( size_t  ind ) const

inline

Access a variable by index

Definition at line 413 of file dae_builder_internal.hpp.

{return *variables_.at(ind);}

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_;
  }

when()

void casadi::DaeBuilderInternal::when ( const MX &  cond, const std::vector< std::string > &  eqs, const Dict &  opts  )

protected

Definition at line 3200 of file dae_builder_internal.cpp.

                      {
  // Read options
  for (auto&& op : opts) {
    casadi_error("No such option: " + op.first);
  }
  // Convert condition into a smooth zero crossing condition
  MX zero;
  if (cond.is_op(OP_LT)) {
    zero = cond.dep(0) - cond.dep(1);  // Reformulate a < b to a - b < 0
  } else if (cond.is_op(OP_LE)) {
    casadi_error("Only strict inequality in zero-crossing conditions permitted, got: "
      + str(cond));
  } else {
    casadi_error("Cannot parse zero-crossing condition: " + str(cond));
  }
  // Create a new dependent variable for the event indicator
  Variable& e = add(unique_name("__when__"), Causality::LOCAL, Variability::CONTINUOUS,
    zero, Dict());
  event_indicators_.push_back(e.index);
  categorize(e.index, Category::CALCULATED);
  // Convert to legacy format, pending refactoring
  std::vector<MX> all_lhs, all_rhs;
  std::vector<size_t> all_eqs;
  for (auto&& eq : eqs) {
    Variable& ee = variable(eq);
    casadi_assert_dev(ee.category == Category::CALCULATED);
    all_lhs.push_back(var(ee.parent));
    all_rhs.push_back(ee.v);
    all_eqs.push_back(ee.index);
  }
  when_.push_back(std::make_pair(e.index, all_eqs));
}

References add(), casadi::CALCULATED, categorize(), casadi::Variable::category, casadi::CONTINUOUS, casadi::MX::dep(), eq(), event_indicators_, casadi::Variable::index, casadi::MX::is_op(), casadi::LOCAL, casadi::OP_LE, casadi::OP_LT, casadi::Variable::parent, casadi::str(), unique_name(), casadi::Variable::v, var(), variable(), and when_.

Referenced by import_dynamic_equations().

Friends And Related Function Documentation

DaeBuilder

friend class DaeBuilder

friend

Definition at line 210 of file dae_builder_internal.hpp.

FmuFunction

friend class FmuFunction

friend

Definition at line 212 of file dae_builder_internal.hpp.

Referenced by fmu_fun().

FmuInternal

friend class FmuInternal

friend

Definition at line 211 of file dae_builder_internal.hpp.

Variable

friend class Variable

friend

Definition at line 213 of file dae_builder_internal.hpp.

Referenced by new_variable().

Member Data Documentation

author_

std::string casadi::DaeBuilderInternal::author_

protected

Definition at line 495 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

can_be_instantiated_only_once_per_process_

bool casadi::DaeBuilderInternal::can_be_instantiated_only_once_per_process_

protected

Definition at line 510 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), import_model_exchange(), and casadi::FmuInternal::init().

clear_cache_

bool casadi::DaeBuilderInternal::clear_cache_

mutableprotected

Definition at line 652 of file dae_builder_internal.hpp.

Referenced by clear_cache(), DaeBuilderInternal(), eliminate(), new_variable(), oracle(), set_causality(), and set_variability().

copyright_

std::string casadi::DaeBuilderInternal::copyright_

protected

Definition at line 496 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

debug_

bool casadi::DaeBuilderInternal::debug_

protected

Definition at line 486 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), import_binding_equations(), import_dynamic_equations(), import_initial_equations(), import_model_variables(), and casadi::FmuInternal::init().

derivatives_

std::vector<size_t> casadi::DaeBuilderInternal::derivatives_

protected

Definition at line 532 of file dae_builder_internal.hpp.

Referenced by import_model_structure(), and import_model_variables().

description_

std::string casadi::DaeBuilderInternal::description_

protected

Definition at line 494 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

detect_quad_

bool casadi::DaeBuilderInternal::detect_quad_

protected

Definition at line 523 of file dae_builder_internal.hpp.

Referenced by add(), DaeBuilderInternal(), import_model_structure(), and import_model_variables().

event_indicators_

std::vector<size_t> casadi::DaeBuilderInternal::event_indicators_

protected

Definition at line 532 of file dae_builder_internal.hpp.

Referenced by export_fmu(), generate_model_structure(), generate_wrapper(), import_model_structure(), output(), update_dependencies(), and when().

fmi_major_

casadi_int casadi::DaeBuilderInternal::fmi_major_

protected

Definition at line 526 of file dae_builder_internal.hpp.

Referenced by fmu_fun(), import_model_exchange(), import_model_structure(), import_model_variables(), load_fmi_description(), and read_dependencies().

fmi_version_

std::string casadi::DaeBuilderInternal::fmi_version_

protected

Definition at line 491 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

fmutol_

double casadi::DaeBuilderInternal::fmutol_

protected

Definition at line 487 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), and casadi::FmuInternal::init().

fun_

std::vector<Function> casadi::DaeBuilderInternal::fun_

protected

Extra doc: https://github.com/casadi/casadi/wiki/L_11

Definition at line 644 of file dae_builder_internal.hpp.

Referenced by add_fun(), disp(), fun(), and has_fun().

generation_date_and_time_

std::string casadi::DaeBuilderInternal::generation_date_and_time_

protected

Definition at line 499 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

generation_tool_

std::string casadi::DaeBuilderInternal::generation_tool_

protected

Definition at line 498 of file dae_builder_internal.hpp.

Referenced by casadi::FmuInternal::init(), and load_fmi_description().

ignore_time_

bool casadi::DaeBuilderInternal::ignore_time_

protected

Definition at line 488 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), and import_model_variables().

indices_

std::vector<std::vector<size_t> > casadi::DaeBuilderInternal::indices_

protected

Definition at line 542 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), and indices().

init_

std::vector<size_t> casadi::DaeBuilderInternal::init_

protected

Definition at line 545 of file dae_builder_internal.hpp.

Referenced by disp(), init_lhs(), init_rhs(), and set_init().

initial_unknowns_

std::vector<size_t> casadi::DaeBuilderInternal::initial_unknowns_

protected

Definition at line 532 of file dae_builder_internal.hpp.

Referenced by import_model_structure().

instantiation_token_

std::string casadi::DaeBuilderInternal::instantiation_token_

protected

Definition at line 493 of file dae_builder_internal.hpp.

Referenced by casadi::FmuInternal::init(), and load_fmi_description().

lc_

Function::AuxOut casadi::DaeBuilderInternal::lc_

protected

Definition at line 639 of file dae_builder_internal.hpp.

Referenced by add_lc(), and create().

license_

std::string casadi::DaeBuilderInternal::license_

protected

Definition at line 497 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

model_identifier_

std::string casadi::DaeBuilderInternal::model_identifier_

protected

Definition at line 507 of file dae_builder_internal.hpp.

Referenced by import_model_exchange(), and casadi::FmuInternal::init().

model_name_

std::string casadi::DaeBuilderInternal::model_name_

protected

Definition at line 492 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

name_

std::string casadi::DaeBuilderInternal::name_

protected

Definition at line 514 of file dae_builder_internal.hpp.

Referenced by export_fmu(), generate_build_description(), generate_model_description(), and generate_wrapper().

number_of_event_indicators_

casadi_int casadi::DaeBuilderInternal::number_of_event_indicators_

protected

Definition at line 501 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), import_model_structure(), casadi::FmuInternal::init(), and load_fmi_description().

oracle_

Function casadi::DaeBuilderInternal::oracle_[2][2][2]

mutableprotected

Extra doc: https://github.com/casadi/casadi/wiki/L_12

Definition at line 649 of file dae_builder_internal.hpp.

Referenced by clear_cache(), and oracle().

outputs_

std::vector<size_t> casadi::DaeBuilderInternal::outputs_

protected

Definition at line 532 of file dae_builder_internal.hpp.

Referenced by add(), disp(), fmu_fun(), generate_model_structure(), generate_wrapper(), import_model_structure(), output(), set_causality(), and update_dependencies().

provides_adjoint_derivatives_

bool casadi::DaeBuilderInternal::provides_adjoint_derivatives_

protected

Definition at line 509 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), import_model_exchange(), and casadi::FmuInternal::init().

provides_directional_derivatives_

bool casadi::DaeBuilderInternal::provides_directional_derivatives_

protected

Definition at line 508 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), import_model_exchange(), and casadi::FmuInternal::init().

rate_

std::vector<size_t> casadi::DaeBuilderInternal::rate_

protected

Definition at line 533 of file dae_builder_internal.hpp.

Referenced by fmu_fun(), and output().

residuals_

std::vector<size_t> casadi::DaeBuilderInternal::residuals_

protected

Definition at line 532 of file dae_builder_internal.hpp.

Referenced by disp(), lift(), and output().

resource_

Resource casadi::DaeBuilderInternal::resource_

protected

Definition at line 517 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), and casadi::FmuInternal::init().

source_files_

std::vector<std::string> casadi::DaeBuilderInternal::source_files_

protected

Definition at line 511 of file dae_builder_internal.hpp.

Referenced by import_model_exchange().

start_time_

double casadi::DaeBuilderInternal::start_time_

protected

Definition at line 504 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), generate_model_description(), and import_default_experiment().

step_size_

double casadi::DaeBuilderInternal::step_size_

protected

Definition at line 504 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), generate_model_description(), and import_default_experiment().

stop_time_

double casadi::DaeBuilderInternal::stop_time_

protected

Definition at line 504 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), generate_model_description(), and import_default_experiment().

symbolic_

bool casadi::DaeBuilderInternal::symbolic_

protected

Definition at line 520 of file dae_builder_internal.hpp.

Referenced by create(), DaeBuilderInternal(), load_fmi_description(), and oracle().

tolerance_

double casadi::DaeBuilderInternal::tolerance_

protected

Definition at line 504 of file dae_builder_internal.hpp.

Referenced by DaeBuilderInternal(), generate_model_description(), and import_default_experiment().

variable_naming_convention_

std::string casadi::DaeBuilderInternal::variable_naming_convention_

protected

Definition at line 500 of file dae_builder_internal.hpp.

Referenced by load_fmi_description().

variables_

std::vector<Variable*> casadi::DaeBuilderInternal::variables_

protected

Definition at line 529 of file dae_builder_internal.hpp.

Referenced by all(), eliminate(), find(), generate_model_variables(), generate_wrapper(), import_dynamic_equations(), import_model_structure(), n_mem(), new_variable(), reset(), start_all(), tearing_variables(), and ~DaeBuilderInternal().

varind_

std::unordered_map<std::string, size_t> casadi::DaeBuilderInternal::varind_

protected

Definition at line 536 of file dae_builder_internal.hpp.

Referenced by find(), has(), import_model_variables(), new_variable(), and prune().

vrmap_

std::unordered_map<unsigned int, size_t> casadi::DaeBuilderInternal::vrmap_

protected

Definition at line 539 of file dae_builder_internal.hpp.

Referenced by import_model_structure(), import_model_variables(), and read_dependencies().

when_

std::vector<std::pair<size_t, std::vector<size_t> > > casadi::DaeBuilderInternal::when_

protected

Definition at line 548 of file dae_builder_internal.hpp.

Referenced by disp(), import_dynamic_equations(), transition(), and when().

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

• dae_builder_internal.hpp
• dae_builder_internal.cpp