function.hpp
1 /*
2  * This file is part of CasADi.
3  *
4  * CasADi -- A symbolic framework for dynamic optimization.
5  * Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
6  * KU Leuven. All rights reserved.
7  * Copyright (C) 2011-2014 Greg Horn
8  *
9  * CasADi is free software; you can redistribute it and/or
10  * modify it under the terms of the GNU Lesser General Public
11  * License as published by the Free Software Foundation; either
12  * version 3 of the License, or (at your option) any later version.
13  *
14  * CasADi is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17  * Lesser General Public License for more details.
18  *
19  * You should have received a copy of the GNU Lesser General Public
20  * License along with CasADi; if not, write to the Free Software
21  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
22  *
23  */
24 
25 #ifndef CASADI_FUNCTION_HPP
26 #define CASADI_FUNCTION_HPP
27 
28 #include "sx_elem.hpp"
29 #include "mx.hpp"
30 #include "printable.hpp"
31 #include <exception>
32 #include <stack>
33 
34 namespace casadi {
35 
36 #ifndef SWIG
38  class FunctionInternal;
39  class SerializingStream;
40  class DeserializingStream;
41 #endif // SWIG
42 
58  class CASADI_EXPORT Function :
59  public SharedObject,
60  public SWIG_IF_ELSE(PrintableCommon, Printable<Function>) {
61  public:
65  static std::string type_name() {return "Function";}
66 
70  Function();
71 
75  Function(const std::string& fname);
76 
78 
81  Function(const std::string& name,
82  const std::vector<SX>& ex_in,
83  const std::vector<SX>& ex_out,
84  const Dict& opts=Dict());
85  Function(const std::string& name,
86  const std::vector<SX>& ex_in,
87  const std::vector<SX>& ex_out,
88  const std::vector<std::string>& name_in,
89  const std::vector<std::string>& name_out,
90  const Dict& opts=Dict());
91  Function(const std::string& name, const std::map<std::string, SX>& dict,
92  const std::vector<std::string>& name_in,
93  const std::vector<std::string>& name_out,
94  const Dict& opts=Dict());
96 
98 
101  Function(const std::string& name,
102  const std::vector<MX>& ex_in,
103  const std::vector<MX>& ex_out,
104  const Dict& opts=Dict());
105  Function(const std::string& name,
106  const std::vector<MX>& ex_in,
107  const std::vector<MX>& ex_out,
108  const std::vector<std::string>& name_in,
109  const std::vector<std::string>& name_out,
110  const Dict& opts=Dict());
111  Function(const std::string& name, const std::map<std::string, MX>& dict,
112  const std::vector<std::string>& name_in,
113  const std::vector<std::string>& name_out,
114  const Dict& opts=Dict());
116 
118 
121 #ifndef SWIG
122  Function(const std::string& name, SXIList ex_in,
123  const SXVector& ex_out, const Dict& opts=Dict());
124  Function(const std::string& name, const SXVector& ex_in,
125  SXIList ex_out, const Dict& opts=Dict());
126  Function(const std::string& name, SXIList ex_in,
127  SXIList ex_out, const Dict& opts=Dict());
128  Function(const std::string& name, SXIList ex_in, const SXVector& ex_out,
129  const StringVector& name_in, const StringVector& name_out,
130  const Dict& opts=Dict());
131  Function(const std::string& name, const SXVector& ex_in, SXIList ex_out,
132  const StringVector& name_in, const StringVector& name_out,
133  const Dict& opts=Dict());
134  Function(const std::string& name, SXIList ex_in, SXIList ex_out,
135  const StringVector& name_in, const StringVector& name_out,
136  const Dict& opts=Dict());
137  Function(const std::string& name, MXIList ex_in, const MXVector& ex_out,
138  const Dict& opts=Dict());
139  Function(const std::string& name, const MXVector& ex_in, MXIList ex_out,
140  const Dict& opts=Dict());
141  Function(const std::string& name, MXIList ex_in, MXIList ex_out,
142  const Dict& opts=Dict());
143  Function(const std::string& name, MXIList ex_in, const MXVector& ex_out,
144  const StringVector& name_in, const StringVector& name_out,
145  const Dict& opts=Dict());
146  Function(const std::string& name, const MXVector& ex_in, MXIList ex_out,
147  const StringVector& name_in, const StringVector& name_out,
148  const Dict& opts=Dict());
149  Function(const std::string& name, MXIList ex_in, MXIList ex_out,
150  const StringVector& name_in, const StringVector& name_out,
151  const Dict& opts=Dict());
152 #endif // SWIG
154 
156 
185  static Function jit(const std::string& name, const std::string& body,
186  const std::vector<std::string>& name_in,
187  const std::vector<std::string>& name_out,
188  const Dict& opts=Dict());
189  static Function jit(const std::string& name, const std::string& body,
190  const std::vector<std::string>& name_in,
191  const std::vector<std::string>& name_out,
192  const std::vector<Sparsity>& sparsity_in,
193  const std::vector<Sparsity>& sparsity_out,
194  const Dict& opts=Dict());
196 
200  ~Function();
201 
206  Function expand() const;
207  Function expand(const std::string& name,
208  const Dict& opts=Dict()) const;
210 
212 #ifndef SWIG
216  static Function create(FunctionInternal* node);
217 
221  static Function create(FunctionInternal* node, const Dict& opts);
222 #endif // SWIG
224 
228  casadi_int n_in() const;
229 
233  casadi_int n_out() const;
234 
236 
239  casadi_int size1_in(casadi_int ind) const;
240  casadi_int size1_in(const std::string& iname) const {return size1_in(index_in(iname));}
241  casadi_int size2_in(casadi_int ind) const;
242  casadi_int size2_in(const std::string& iname) const {return size2_in(index_in(iname));}
243  std::pair<casadi_int, casadi_int> size_in(casadi_int ind) const;
244  std::pair<casadi_int, casadi_int> size_in(const std::string& iname) const {
245  return size_in(index_in(iname));
246  }
248 
250 
253  casadi_int size1_out(casadi_int ind) const;
254  casadi_int size1_out(const std::string& oname) const {return size1_out(index_out(oname));}
255  casadi_int size2_out(casadi_int ind) const;
256  casadi_int size2_out(const std::string& oname) const {return size2_out(index_out(oname));}
257  std::pair<casadi_int, casadi_int> size_out(casadi_int ind) const;
258  std::pair<casadi_int, casadi_int> size_out(const std::string& oname) const {
259  return size_out(index_out(oname));
260  }
262 
264 
269  casadi_int nnz_in() const;
270  casadi_int nnz_in(casadi_int ind) const;
271  casadi_int nnz_in(const std::string& iname) const {return nnz_in(index_in(iname));}
273 
275 
280  casadi_int nnz_out() const;
281  casadi_int nnz_out(casadi_int ind) const;
282  casadi_int nnz_out(const std::string& oname) const {return nnz_out(index_out(oname));}
284 
286 
291  casadi_int numel_in() const;
292  casadi_int numel_in(casadi_int ind) const;
293  casadi_int numel_in(const std::string& iname) const {return numel_in(index_in(iname));}
295 
297 
302  casadi_int numel_out() const;
303  casadi_int numel_out(casadi_int ind) const;
304  casadi_int numel_out(const std::string& oname) const {return numel_out(index_out(oname));}
306 
310  const std::vector<std::string>& name_in() const;
311 
315  const std::vector<std::string>& name_out() const;
316 
320  const std::string& name_in(casadi_int ind) const;
321 
325  const std::string& name_out(casadi_int ind) const;
326 
333  casadi_int index_in(const std::string &name) const;
334 
341  casadi_int index_out(const std::string &name) const;
342 
346  bool has_in(const std::string &name) const;
350  bool has_out(const std::string &name) const;
351 
355  double default_in(casadi_int ind) const;
356 
360  double max_in(casadi_int ind) const;
361 
365  double min_in(casadi_int ind) const;
366 
370  std::vector<double> nominal_in(casadi_int ind) const;
371 
375  std::vector<double> nominal_out(casadi_int ind) const;
376 
381  const Sparsity& sparsity_in(casadi_int ind) const;
382  const Sparsity& sparsity_in(const std::string& iname) const;
384 
389  const Sparsity& sparsity_out(casadi_int ind) const;
390  const Sparsity& sparsity_out(const std::string& iname) const;
392 
397  bool is_diff_in(casadi_int ind) const;
398  bool is_diff_out(casadi_int ind) const;
399  std::vector<bool> is_diff_in() const;
400  std::vector<bool> is_diff_out() const;
402 
403  // A linear combination of inputs
404  typedef std::map<std::string, std::vector<std::string> > AuxOut;
405 
406  // Factory
407  Function factory(const std::string& name,
408  const std::vector<std::string>& s_in,
409  const std::vector<std::string>& s_out,
410  const AuxOut& aux=AuxOut(),
411  const Dict& opts=Dict()) const;
412 
416  Function oracle() const;
417 
421  Function wrap() const;
422 
426  Function wrap_as_needed(const Dict& opts) const;
427 
434  std::vector<bool> which_depends(const std::string& s_in,
435  const std::vector<std::string>& s_out,
436  casadi_int order=1, bool tr=false) const;
437 
441  void print_dimensions(std::ostream &stream=casadi::uout()) const;
442 
446  void print_options(std::ostream &stream=casadi::uout()) const;
447 
451  void print_option(const std::string &name, std::ostream &stream = casadi::uout()) const;
452 
456  bool has_option(const std::string &option_name) const;
457 
464  void change_option(const std::string& option_name, const GenericType& option_value);
465 
469  bool uses_output() const;
470 
471 #ifdef WITH_DEPRECATED_FEATURES
475  Function jacobian_old(casadi_int iind, casadi_int oind) const;
476 
480  Function hessian_old(casadi_int iind, casadi_int oind) const;
481 
484  const Sparsity sparsity_jac(casadi_int iind, casadi_int oind,
485  bool compact=false, bool symmetric=false) const;
486  const Sparsity sparsity_jac(const std::string &iind, casadi_int oind=0,
487  bool compact=false, bool symmetric=false) const {
488  return sparsity_jac(index_in(iind), oind, compact, symmetric);
489  }
490  const Sparsity sparsity_jac(casadi_int iind, const std::string &oind,
491  bool compact=false, bool symmetric=false) const {
492  return sparsity_jac(iind, index_out(oind), compact, symmetric);
493  }
494  const Sparsity sparsity_jac(const std::string &iind, const std::string &oind,
495  bool compact=false, bool symmetric=false) const {
496  return sparsity_jac(index_in(iind), index_out(oind), compact, symmetric);
497  }
499 #endif // WITH_DEPRECATED_FEATURES
500 
517  Function jacobian() const;
518 
520 
523  void call(const std::vector<DM> &arg, std::vector<DM>& SWIG_OUTPUT(res),
524  bool always_inline=false, bool never_inline=false) const;
525  void call(const std::vector<SX> &arg, std::vector<SX>& SWIG_OUTPUT(res),
526  bool always_inline=false, bool never_inline=false) const;
527  void call(const std::vector<MX> &arg, std::vector<MX>& SWIG_OUTPUT(res),
528  bool always_inline=false, bool never_inline=false) const;
529  void call(const DMDict& arg, DMDict& SWIG_OUTPUT(res),
530  bool always_inline=false, bool never_inline=false) const;
531  void call(const SXDict& arg, SXDict& SWIG_OUTPUT(res),
532  bool always_inline=false, bool never_inline=false) const;
533  void call(const MXDict& arg, MXDict& SWIG_OUTPUT(res),
534  bool always_inline=false, bool never_inline=false) const;
536 
537 #ifndef SWIG
539  bool operator==(const Function& f) const;
540 
543  std::vector<DM> operator()(const std::vector<DM>& arg) const;
544  std::vector<SX> operator()(const std::vector<SX>& arg) const;
545  std::vector<MX> operator()(const std::vector<MX>& arg) const;
546  const DMDict operator()(const DMDict& arg) const;
547  const SXDict operator()(const SXDict& arg) const;
548  const MXDict operator()(const MXDict& arg) const;
550 
552 
555  void operator()(std::vector<const double*> arg, std::vector<double*> res) const;
556  void operator()(std::vector<const bvec_t*> arg, std::vector<bvec_t*> res) const;
557  void operator()(std::vector<const SXElem*> arg, std::vector<SXElem*> res) const;
558  template<typename D> void call_gen(std::vector<const D*> arg, std::vector<D*> res) const;
560 
562 
565  typedef const std::vector<std::vector<double>>& VecArg;
566  std::vector<const double*> buf_in(VecArg arg) const;
567  typedef std::vector<std::vector<double>>& VecRes;
568  std::vector<double*> buf_out(VecRes res) const;
569  typedef std::vector<std::vector<double>*> VPrRes;
570  std::vector<double*> buf_out(VPrRes res) const;
571 
572  typedef const std::map<std::string, std::vector<double>>& MapArg;
573  std::vector<const double*> buf_in(MapArg arg) const;
574  typedef std::map<std::string, std::vector<double>>& MapRes;
575  std::vector<double*> buf_out(MapRes res) const;
576  typedef std::map<std::string, std::vector<double>*> MPrRes;
577  std::vector<double*> buf_out(MPrRes res) const;
579 
581 
584  void operator()(VecArg arg, VecRes res) const { (*this)(buf_in(arg), buf_out(res)); }
585  void operator()(VecArg arg, MapRes res) const { (*this)(buf_in(arg), buf_out(res)); }
586  void operator()(VecArg arg, VPrRes res) const { (*this)(buf_in(arg), buf_out(res)); }
587  void operator()(VecArg arg, MPrRes res) const { (*this)(buf_in(arg), buf_out(res)); }
588 
589  void operator()(MapArg arg, VecRes res) const { (*this)(buf_in(arg), buf_out(res)); }
590  void operator()(MapArg arg, MapRes res) const { (*this)(buf_in(arg), buf_out(res)); }
591  void operator()(MapArg arg, VPrRes res) const { (*this)(buf_in(arg), buf_out(res)); }
592  void operator()(MapArg arg, MPrRes res) const { (*this)(buf_in(arg), buf_out(res)); }
594 
597  std::vector<DM> operator()(const DM& arg0) const {
598  return operator()(std::vector<DM>{arg0});
599  }
600  std::vector<SX> operator()(const SX& arg0) const {
601  return operator()(std::vector<SX>{arg0});
602  }
603  std::vector<MX> operator()(const MX& arg0) const {
604  return operator()(std::vector<MX>{arg0});
605  }
607 
611  int operator()(const double** arg, double** res,
612  casadi_int* iw, double* w, int mem) const;
613 
617  int operator()(const double** arg, double** res,
618  casadi_int* iw, double* w) const;
619 
625  int operator()(const SXElem** arg, SXElem** res,
626  casadi_int* iw, SXElem* w, int mem=0) const;
627 
631  int operator()(const bvec_t** arg, bvec_t** res,
632  casadi_int* iw, bvec_t* w, int mem=0) const;
633 
637  int rev(bvec_t** arg, bvec_t** res, casadi_int* iw, bvec_t* w, int mem=0) const;
638 
642  int rev(std::vector<bvec_t*> arg, std::vector<bvec_t*> res) const;
643 
644 #endif // SWIG
645 
651  std::vector<MX> mapsum(const std::vector<MX > &x,
652  const std::string& parallelization="serial") const;
653 
655 
695  Function mapaccum(const std::string& name, casadi_int N, const Dict& opts = Dict()) const;
696  Function mapaccum(const std::string& name, casadi_int N, casadi_int n_accum,
697  const Dict& opts = Dict()) const;
698  Function mapaccum(const std::string& name, casadi_int n,
699  const std::vector<casadi_int>& accum_in,
700  const std::vector<casadi_int>& accum_out,
701  const Dict& opts=Dict()) const;
702  Function mapaccum(const std::string& name, casadi_int n,
703  const std::vector<std::string>& accum_in,
704  const std::vector<std::string>& accum_out,
705  const Dict& opts=Dict()) const;
706  Function mapaccum(casadi_int N, const Dict& opts = Dict()) const;
707  Function fold(casadi_int N, const Dict& opts = Dict()) const;
709 
735  Function map(casadi_int n, const std::string& parallelization="serial") const;
736  Function map(casadi_int n, const std::string& parallelization,
737  casadi_int max_num_threads) const;
738 
740 
746  Function map(const std::string& name, const std::string& parallelization, casadi_int n,
747  const std::vector<casadi_int>& reduce_in,
748  const std::vector<casadi_int>& reduce_out,
749  const Dict& opts=Dict()) const;
750  Function map(const std::string& name, const std::string& parallelization, casadi_int n,
751  const std::vector<std::string>& reduce_in,
752  const std::vector<std::string>& reduce_out,
753  const Dict& opts=Dict()) const;
754  Function map(casadi_int n,
755  const std::vector<bool>& reduce_in,
756  const std::vector<bool>& reduce_out=std::vector<bool>(),
757  const Dict& opts=Dict()) const;
759 
763  Function slice(const std::string& name, const std::vector<casadi_int>& order_in,
764  const std::vector<casadi_int>& order_out, const Dict& opts=Dict()) const;
765 
769  static Function conditional(const std::string& name, const std::vector<Function>& f,
770  const Function& f_def, const Dict& opts=Dict());
771 
775  static Function conditional(const std::string& name,
776  const Function& f, const Dict& opts=Dict());
777 
783  static Function bspline(const std::string &name,
784  const std::vector< std::vector<double> >& knots, const std::vector<double>& coeffs,
785  const std::vector<casadi_int>& degree, casadi_int m=1, const Dict& opts=Dict());
786 
790  static Function if_else(const std::string& name, const Function& f_true,
791  const Function& f_false, const Dict& opts=Dict());
792 
809  Function forward(casadi_int nfwd) const;
810 
829  Function reverse(casadi_int nadj) const;
830 
834  const std::vector<Sparsity>& jac_sparsity(bool compact = false) const;
835 
839  Sparsity jac_sparsity(casadi_int oind, casadi_int iind, bool compact = false) const;
840 
844  std::string generate(const std::string& fname, const Dict& opts=Dict()) const;
845 
849  std::string generate(const Dict& opts=Dict()) const;
850 
854  std::string generate_dependencies(const std::string& fname, const Dict& opts=Dict()) const;
855 
863  void generate_in(const std::string& fname, const std::vector<DM>& arg);
864  std::vector<DM> generate_in(const std::string& fname);
866 
874  void generate_out(const std::string& fname, const std::vector<DM>& arg);
875  std::vector<DM> generate_out(const std::string& fname);
877 
884  void export_code(const std::string& lang,
885  const std::string &fname, const Dict& options=Dict()) const;
886 
887 #ifndef SWIG
891  void serialize(std::ostream &stream, const Dict& opts=Dict()) const;
892 
896  void serialize(SerializingStream &s) const;
897 #endif
898 
902  std::string serialize(const Dict& opts=Dict()) const;
903 
909  void save(const std::string &fname, const Dict& opts=Dict()) const;
910 
911  std::string export_code(const std::string& lang, const Dict& options=Dict()) const;
912 #ifndef SWIG
913  void export_code(const std::string& lang,
914  std::ostream &stream, const Dict& options=Dict()) const;
915 #endif // SWIG
917 #ifndef SWIG
920  FunctionInternal* get() const;
921 
923  template<typename T>
924  T* get() const {
925  T* ret = dynamic_cast<T*>(get());
926  casadi_assert_dev(ret!=nullptr);
927  return ret;
928  }
929 
933  FunctionInternal* operator->() const;
934 
936  static bool test_cast(const SharedObjectInternal* ptr);
938 #endif // SWIG
939 
941  Dict stats(int mem=0) const;
942 
944 
949  const SX sx_in(casadi_int iind) const;
950  const SX sx_in(const std::string& iname) const {
951  return sx_in(index_in(iname));
952  }
953  const std::vector<SX> sx_in() const;
954  const MX mx_in(casadi_int ind) const;
955  const MX mx_in(const std::string & iname) const {
956  return mx_in(index_in(iname));
957  }
958  const std::vector<MX> mx_in() const;
960 
962 
967  const SX sx_out(casadi_int oind) const;
968  const SX sx_out(const std::string& oname) const {
969  return sx_out(index_out(oname));
970  }
971  const std::vector<SX> sx_out() const;
972  const MX mx_out(casadi_int ind) const;
973  const MX mx_out(const std::string& oname) const {
974  return mx_out(index_out(oname));
975  }
976  const std::vector<MX> mx_out() const;
978 
983  std::vector<double> nz_from_in(const std::vector<DM>& arg) const;
984  std::vector<double> nz_from_out(const std::vector<DM>& arg) const;
985  std::vector<DM> nz_to_in(const std::vector<double>& arg) const;
986  std::vector<DM> nz_to_out(const std::vector<double>& arg) const;
988 
996  DMDict convert_in(const std::vector<DM>& arg) const;
997  std::vector<DM> convert_in(const DMDict& arg) const;
998  DMDict convert_out(const std::vector<DM>& arg) const;
999  std::vector<DM> convert_out(const DMDict& arg) const;
1000  SXDict convert_in(const std::vector<SX>& arg) const;
1001  std::vector<SX> convert_in(const SXDict& arg) const;
1002  SXDict convert_out(const std::vector<SX>& arg) const;
1003  std::vector<SX> convert_out(const SXDict& arg) const;
1004  MXDict convert_in(const std::vector<MX>& arg) const;
1005  std::vector<MX> convert_in(const MXDict& arg) const;
1006  MXDict convert_out(const std::vector<MX>& arg) const;
1007  std::vector<MX> convert_out(const MXDict& arg) const;
1009 
1013  bool has_free() const;
1014 
1018  std::vector<std::string> get_free() const;
1019 
1023  std::vector<SX> free_sx() const;
1024 
1028  std::vector<MX> free_mx() const;
1029 
1033  void generate_lifted(Function& SWIG_OUTPUT(vdef_fcn),
1034  Function& SWIG_OUTPUT(vinit_fcn)) const;
1035 
1039  casadi_int n_nodes() const;
1040 
1044  casadi_int n_instructions() const;
1045 
1049  casadi_int instruction_id(casadi_int k) const;
1050 
1056  std::vector<casadi_int> instruction_input(casadi_int k) const;
1057 
1061  double instruction_constant(casadi_int k) const;
1062 
1068  std::vector<casadi_int> instruction_output(casadi_int k) const;
1069 
1073  MX instruction_MX(casadi_int k) const;
1074 
1081  SX instructions_sx() const;
1082 
1084 
1087  bool has_spfwd() const;
1088  bool has_sprev() const;
1090 
1094  size_t sz_arg() const;
1095 
1099  size_t sz_res() const;
1100 
1104  size_t sz_iw() const;
1105 
1109  size_t sz_w() const;
1110 
1111 #ifndef SWIG
1115  void sz_work(size_t& sz_arg, size_t& sz_res, size_t& sz_iw, size_t& sz_w) const;
1116 
1120  void set_work(const double**& arg, double**& res,
1121  casadi_int*& iw, double*& w, int mem=0) const;
1122 
1126  void set_temp(const double** arg, double** res,
1127  casadi_int* iw, double* w, int mem=0) const;
1128 
1132  void setup(const double** arg, double** res, casadi_int* iw, double* w, int mem=0) const;
1133 
1137  template<typename M>
1138  void call_gen(const std::map<std::string, M>& arg, std::map<std::string, M>& res,
1139  bool always_inline, bool never_inline) const;
1140 
1144  void merge(const std::vector<MX>& arg,
1145  std::vector<MX>& subs_from, std::vector<MX>& subs_to) const;
1146 #endif // SWIG
1148 
1152  const std::string& name() const;
1153 
1159  bool is_a(const std::string& type, bool recursive=true) const;
1160 
1173  static bool check_name(const std::string& name);
1174 
1181  static std::string fix_name(const std::string& name);
1182 
1186  static Function deserialize(std::istream& stream);
1187 
1191  static Function deserialize(const std::string& s);
1192 
1196  static Function load(const std::string& filename);
1197 
1201  static Function deserialize(DeserializingStream& s);
1202 
1204  void assert_size_in(casadi_int i, casadi_int nrow, casadi_int ncol) const;
1205 
1207  void assert_size_out(casadi_int i, casadi_int nrow, casadi_int ncol) const;
1208 
1210  void assert_sparsity_out(casadi_int i, const Sparsity& sp,
1211  casadi_int n = 1, bool allow_all_zero_sparse = true) const;
1212 
1214  casadi_int checkout() const;
1215 
1217  void release(int mem) const;
1218 
1219 #ifndef SWIG
1221  void* memory(int ind) const;
1222 
1223  static std::vector<SX> order(const std::vector<SX>& expr);
1224  static std::vector<MX> order(const std::vector<MX>& expr);
1225 #endif // SWIG
1226 
1230  Dict cache() const;
1231 
1235  std::vector<std::string> get_function() const;
1236 
1240  Function get_function(const std::string &name) const;
1241 
1245  bool has_function(const std::string& fname) const;
1246 
1252  std::vector<Function> find_functions(casadi_int max_depth = -1) const;
1253 
1260  Function find_function(const std::string &name, casadi_int max_depth=-1) const;
1261 
1263  Dict info() const;
1264 
1265 #ifndef SWIG
1266  protected:
1268 
1271  void construct(const std::string& name,
1272  const std::vector<SX>& ex_in, const std::vector<SX>& ex_out,
1273  const std::vector<std::string>& name_in,
1274  const std::vector<std::string>& name_out,
1275  const Dict& opts);
1276  void construct(const std::string& name,
1277  const std::vector<MX>& ex_in, const std::vector<MX>& ex_out,
1278  const std::vector<std::string>& name_in,
1279  const std::vector<std::string>& name_out,
1280  const Dict& opts);
1281  template<typename M>
1282  void construct(const std::string& name, const std::map<std::string, M>& dict,
1283  const std::vector<std::string>& name_in,
1284  const std::vector<std::string>& name_out,
1285  const Dict& opts);
1287 
1289  static bool proceed_to(std::istream& file, const std::string& str);
1290 
1292  Function mapaccum(const std::string& name, const std::vector<Function>& chain,
1293  casadi_int n_accum=1, const Dict& opts = Dict()) const;
1294 
1295 #ifdef WITH_EXTRA_CHECKS
1296  public:
1297  // How many times have we passed through
1298  // operator()(const double** arg, double** res, casadi_int* iw, double* w, int mem)?
1299  static thread_local casadi_int call_depth_;
1300 #endif
1301 
1302 
1303 #endif // SWIG
1304 
1305 
1306 
1307  };
1308 
1309 
1313 class CASADI_EXPORT FunctionBuffer {
1314  Function f_;
1315  std::vector<double> w_;
1316  std::vector<casadi_int> iw_;
1317  std::vector<const double*> arg_;
1318  std::vector<double*> res_;
1319  FunctionInternal* f_node_;
1320  casadi_int mem_;
1321  void *mem_internal_;
1322  int ret_;
1323 public:
1327  FunctionBuffer(const Function& f);
1328 #ifndef SWIG
1329  ~FunctionBuffer();
1330  FunctionBuffer(const FunctionBuffer& f);
1331  FunctionBuffer& operator=(const FunctionBuffer& f);
1332 #endif // SWIG
1333 
1341  void set_arg(casadi_int i, const double* a, casadi_int size);
1342 
1350  void set_res(casadi_int i, double* a, casadi_int size);
1352  int ret();
1353  void _eval();
1354  void* _self() { return this; }
1355  Dict stats() const;
1356 };
1357 
1358 void CASADI_EXPORT _function_buffer_eval(void* raw);
1359 
1360 
1361 } // namespace casadi
1362 
1363 #include "casadi_interrupt.hpp"
1364 #include "runtime/shared.hpp"
1365 
1366 #endif // CASADI_FUNCTION_HPP
casadi::DeserializingStream
Helper class for Serialization.
Definition: serializing_stream.hpp:73
casadi::FunctionBuffer
Class to achieve minimal overhead function evaluations.
Definition: function.hpp:1313
casadi::FunctionInternal
Internal class for Function.
Definition: function_internal.hpp:288
casadi::Function
Function object.
Definition: function.hpp:60
casadi::Function::mx_in
const MX mx_in(const std::string &iname) const
Get symbolic primitives equivalent to the input expressions.
Definition: function.hpp:955
casadi::Function::operator()
void operator()(VecArg arg, MPrRes res) const
Numerical evaluation.
Definition: function.hpp:587
casadi::Function::MapArg
const std::map< std::string, std::vector< double > > & MapArg
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:572
casadi::Function::operator()
void operator()(MapArg arg, MapRes res) const
Numerical evaluation.
Definition: function.hpp:590
casadi::Function::size_out
std::pair< casadi_int, casadi_int > size_out(const std::string &oname) const
Get output dimension.
Definition: function.hpp:258
casadi::Function::VecArg
const std::vector< std::vector< double > > & VecArg
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:565
casadi::Function::operator()
std::vector< SX > operator()(const SX &arg0) const
Definition: function.hpp:600
casadi::Function::operator()
std::vector< MX > operator()(const MX &arg0) const
Definition: function.hpp:603
casadi::Function::sparsity_jac
const Sparsity sparsity_jac(const std::string &iind, casadi_int oind=0, bool compact=false, bool symmetric=false) const
Definition: function.hpp:486
casadi::Function::nnz_out
casadi_int nnz_out(const std::string &oname) const
Get number of output nonzeros.
Definition: function.hpp:282
casadi::Function::VPrRes
std::vector< std::vector< double > * > VPrRes
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:569
casadi::Function::operator()
void operator()(MapArg arg, MPrRes res) const
Numerical evaluation.
Definition: function.hpp:592
casadi::Function::size2_in
casadi_int size2_in(const std::string &iname) const
Get input dimension.
Definition: function.hpp:242
casadi::Function::numel_in
casadi_int numel_in(const std::string &iname) const
Get number of input elements.
Definition: function.hpp:293
casadi::Function::nnz_in
casadi_int nnz_in(const std::string &iname) const
Get number of input nonzeros.
Definition: function.hpp:271
casadi::Function::operator()
void operator()(VecArg arg, VecRes res) const
Numerical evaluation.
Definition: function.hpp:584
casadi::Function::size1_out
casadi_int size1_out(const std::string &oname) const
Get output dimension.
Definition: function.hpp:254
casadi::Function::sparsity_jac
const Sparsity sparsity_jac(const std::string &iind, const std::string &oind, bool compact=false, bool symmetric=false) const
Definition: function.hpp:494
casadi::Function::operator()
void operator()(VecArg arg, MapRes res) const
Numerical evaluation.
Definition: function.hpp:585
casadi::Function::mx_out
const MX mx_out(const std::string &oname) const
Get symbolic primitives equivalent to the output expressions.
Definition: function.hpp:973
casadi::Function::sx_out
const SX sx_out(const std::string &oname) const
Get symbolic primitives equivalent to the output expressions.
Definition: function.hpp:968
casadi::Function::operator()
void operator()(VecArg arg, VPrRes res) const
Numerical evaluation.
Definition: function.hpp:586
casadi::Function::MapRes
std::map< std::string, std::vector< double > > & MapRes
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:574
casadi::Function::operator()
std::vector< DM > operator()(const DM &arg0) const
Definition: function.hpp:597
casadi::Function::size1_in
casadi_int size1_in(const std::string &iname) const
Get input dimension.
Definition: function.hpp:240
casadi::Function::size2_out
casadi_int size2_out(const std::string &oname) const
Get output dimension.
Definition: function.hpp:256
casadi::Function::numel_out
casadi_int numel_out(const std::string &oname) const
Get number of output elements.
Definition: function.hpp:304
casadi::Function::type_name
static std::string type_name()
Get type name.
Definition: function.hpp:65
casadi::Function::operator()
void operator()(MapArg arg, VPrRes res) const
Numerical evaluation.
Definition: function.hpp:591
casadi::Function::MPrRes
std::map< std::string, std::vector< double > * > MPrRes
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:576
casadi::Function::sparsity_jac
const Sparsity sparsity_jac(casadi_int iind, const std::string &oind, bool compact=false, bool symmetric=false) const
Definition: function.hpp:490
casadi::Function::sx_in
const SX sx_in(const std::string &iname) const
Get symbolic primitives equivalent to the input expressions.
Definition: function.hpp:950
casadi::Function::get
T * get() const
Get a pointer and typecast.
Definition: function.hpp:924
casadi::Function::AuxOut
std::map< std::string, std::vector< std::string > > AuxOut
Definition: function.hpp:404
casadi::Function::VecRes
std::vector< std::vector< double > > & VecRes
Supported arguments for numerical evaluation and converters.
Definition: function.hpp:567
casadi::Function::operator()
void operator()(MapArg arg, VecRes res) const
Numerical evaluation.
Definition: function.hpp:589
casadi::Function::size_in
std::pair< casadi_int, casadi_int > size_in(const std::string &iname) const
Get input dimension.
Definition: function.hpp:244
casadi::GenericType
Generic data type, can hold different types such as bool, casadi_int, std::string etc.
Definition: generic_type.hpp:77
casadi::MX
MX - Matrix expression.
Definition: mx.hpp:92
casadi::SXElem
The basic scalar symbolic class of CasADi.
Definition: sx_elem.hpp:75
casadi::SerializingStream
Helper class for Serialization.
Definition: serializing_stream.hpp:215
casadi::SharedObject
GenericShared implements a reference counting framework similar for efficient and.
Definition: shared_object.hpp:79
casadi::Sparsity
General sparsity class.
Definition: sparsity.hpp:106
casadi
The casadi namespace.
Definition: archiver.cpp:28
casadi::MXDict
std::map< std::string, MX > MXDict
Definition: mx.hpp:1009
casadi::bvec_t
unsigned long long bvec_t
Definition: casadi_common.hpp:76
casadi::if_else
double if_else(double x, double y, double z)
Definition: calculus.hpp:290
casadi::SXVector
std::vector< SX > SXVector
Definition: sx_fwd.hpp:37
casadi::MXVector
std::vector< MX > MXVector
Definition: mx.hpp:1006
casadi::SXDict
std::map< std::string, SX > SXDict
Definition: sx_fwd.hpp:40
casadi::str
std::string str(const T &v)
String representation, any type.
Definition: casadi_common.hpp:247
casadi::Dict
GenericType::Dict Dict
C++ equivalent of Python's dict or MATLAB's struct.
Definition: generic_type.hpp:258
casadi::StringVector
std::vector< std::string > StringVector
Definition: casadi_misc.hpp:1002
casadi::SXIList
std::initializer_list< SX > SXIList
Definition: sx_fwd.hpp:38
casadi::MXIList
std::initializer_list< MX > MXIList
Definition: mx.hpp:1007
casadi::reverse
std::vector< T > reverse(const std::vector< T > &v)
Reverse a list.
Definition: casadi_misc.hpp:589
casadi::_function_buffer_eval
void CASADI_EXPORT _function_buffer_eval(void *raw)
Definition: function.cpp:2005
casadi::uout
std::ostream & uout()
Definition: casadi_logger.cpp:61
casadi::DMDict
std::map< std::string, DM > DMDict
Definition: dm_fwd.hpp:36
casadi::filename
std::string filename(const std::string &path)
Definition: ghc.cpp:55