casadi::LinsolQr Class Reference

'qr' plugin for Linsol More...

#include <linsol_qr.hpp>

Detailed Description

Linear solver using sparse direct QR factorization

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

List of available options

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

List of available options

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

Definition at line 55 of file linsol_qr.hpp.

Inheritance diagram for casadi::LinsolQr:

Collaboration diagram for casadi::LinsolQr:

Public Types
typedef LinsolInternal *(*	Creator) (const std::string &name, const Sparsity &sp)
using	weak_ref_type = WeakRefInternal
typedef int(*	RegFcn) (Plugin *plugin)

Public Member Functions
	LinsolQr (const std::string &name, const Sparsity &sp)
	~LinsolQr () override
void	init (const Dict &opts) override
	Initialize. More...
void	finalize () override
	Finalize the object creation. More...
void *	alloc_mem () const override
	Create memory block. More...
int	init_mem (void *mem) const override
	Initalize memory block. More...
void	free_mem (void *mem) const override
	Free memory block. More...
int	nfact (void *mem, const double *A) const override
	Numeric factorization. More...
int	sfact (void *mem, const double *A) const override
int	solve (void *mem, const double *A, double *x, casadi_int nrhs, bool tr) const override
void	generate (CodeGenerator &g, const std::string &A, const std::string &x, casadi_int nrhs, bool tr) const override
	Generate C code. More...
const char *	plugin_name () const override
std::string	class_name () const override
	Readable name of the internal class. More...
void	serialize_body (SerializingStream &s) const override
	Serialize an object without type information. More...
void	disp (std::ostream &stream, bool more) const override
	Display object. More...
virtual void	disp_more (std::ostream &stream) const
	Print more. More...
virtual void	linsol_eval_sx (const SXElem **arg, SXElem **res, casadi_int *iw, SXElem *w, void *mem, bool tr, casadi_int nrhs) const
	Evaluate SX, possibly transposed. More...
virtual casadi_int	neig (void *mem, const double *A) const
	Number of negative eigenvalues. More...
virtual casadi_int	rank (void *mem, const double *A) const
	Matrix rank. More...
casadi_int	nrow () const
	Get sparsity pattern. More...
casadi_int	ncol () const
const casadi_int *	colind () const
const casadi_int *	row () const
casadi_int	nnz () const
void	serialize_type (SerializingStream &s) const override
	Serialize type information. More...
void	construct (const Dict &opts)
	Construct. More...
virtual Dict	generate_options (const std::string &target) const
	Reconstruct options dict. More...
void	print_options (std::ostream &stream) const
	Print list of options. More...
void	print_option (const std::string &name, std::ostream &stream) const
	Print all information there is to know about a certain option. More...
bool	has_option (const std::string &option_name) const
	Does a particular option exist. More...
virtual void	change_option (const std::string &option_name, const GenericType &option_value)
	Change option after object creation for debugging. More...
int	checkout () const
	Checkout a memory object. More...
void	release (int mem) const
	Release a memory object. More...
void *	memory (int ind) const
	Memory objects. More...
bool	has_memory (int ind) const
	Check for existance of memory object. More...
virtual void	check_mem_count (casadi_int n) const
	Check for validatity of memory object count. More...
virtual Dict	get_stats (void *mem) const
	Get all statistics. More...
void	clear_mem ()
	Clear all memory (called from destructor) More...
void	print (const char *fmt,...) const
	C-style formatted printing during evaluation. More...
void	sprint (char *buf, size_t buf_sz, const char *fmt,...) const
	C-style formatted printing to string. More...
void	format_time (char *buffer, double time) const
	Format time in a fixed width 8 format. More...
void	print_time (const std::map< std::string, FStats > &fstats) const
	Print timing statistics. More...
void	serialize (SerializingStream &s) const
	Serialize an object. More...
virtual std::string	serialize_base_function () const
	String used to identify the immediate FunctionInternal subclass. 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...

Static Public Member Functions
static LinsolInternal *	creator (const std::string &name, const Sparsity &sp)
	Create a new LinsolInternal. More...
static ProtoFunction *	deserialize (DeserializingStream &s)
	Deserialize with type disambiguation. More...
static bool	has_plugin (const std::string &pname, bool verbose=false)
	Check if a plugin is available or can be loaded. More...
static const Options &	plugin_options (const std::string &pname)
	Get the plugin options. More...
static Deserialize	plugin_deserialize (const std::string &pname)
	Get the plugin deserialize_map. More...
static Plugin	pluginFromRegFcn (RegFcn regfcn)
	Instantiate a Plugin struct from a factory function. More...
static Plugin	load_plugin (const std::string &pname, bool register_plugin=true, bool needs_lock=true)
	Load a plugin dynamically. More...
static handle_t	load_library (const std::string &libname, std::string &resultpath, bool global)
	Load a library dynamically. More...
static void	registerPlugin (const Plugin &plugin, bool needs_lock=true)
	Register an integrator in the factory. More...
static void	registerPlugin (RegFcn regfcn, bool needs_lock=true)
	Register an integrator in the factory. More...
static Plugin &	getPlugin (const std::string &pname)
	Load and get the creator function. More...
static LinsolInternal *	instantiate (const std::string &fname, const std::string &pname, Problem problem)

Public Attributes
std::vector< casadi_int >	prinv_
	Symbolic factorization. More...
std::vector< casadi_int >	pc_
Sparsity	sp_v_
Sparsity	sp_r_
double	eps_
casadi_int	n_cache_
	Cache size. More...
casadi_int	cache_stride_
Sparsity	sp_
std::string	name_
	Name. More...
bool	verbose_
	Verbose printout. More...
bool	print_time_
bool	record_time_
bool	regularity_check_
	Errors are thrown when NaN is produced. More...
bool	error_on_fail_
	Throw an exception on failure? More...

Static Public Attributes
static const std::string	meta_doc
	A documentation string. More...
static std::map< std::string, Plugin >	solvers_
	Collection of solvers. More...
static const std::string	infix_ = "linsol"
	Infix. More...

Protected Member Functions
	LinsolQr (DeserializingStream &s)
	Deserializing constructor. 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...
static const Options	options_
	Options. More...
const Options &	get_options () const override
	Options. More...

Member Typedef Documentation

Creator

typedef LinsolInternal*(* casadi::LinsolInternal::Creator) (const std::string &name, const Sparsity &sp)

inherited

Definition at line 121 of file linsol_internal.hpp.

RegFcn

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

inherited

Definition at line 73 of file plugin_interface.hpp.

weak_ref_type

using casadi::SharedObjectInternal::weak_ref_type = WeakRefInternal

inherited

Definition at line 152 of file shared_object.hpp.

Constructor & Destructor Documentation

LinsolQr() [1/2]

casadi::LinsolQr::LinsolQr	(	const std::string &	name,
		const Sparsity &	sp
	)

Definition at line 48 of file linsol_qr.cpp.

    : LinsolInternal(name, sp) {
  }

~LinsolQr()

casadi::LinsolQr::~LinsolQr ( )

override

Definition at line 52 of file linsol_qr.cpp.

                      {
    clear_mem();
  }

References casadi::ProtoFunction::clear_mem().

LinsolQr() [2/2]

casadi::LinsolQr::LinsolQr ( DeserializingStream &  s )

explicitprotected

Definition at line 220 of file linsol_qr.cpp.

                                           : LinsolInternal(s) {
    int version = s.version("LinsolQr", 1, 2);
    s.unpack("LinsolQr::prinv", prinv_);
    s.unpack("LinsolQr::pc", pc_);
    s.unpack("LinsolQr::sp_v", sp_v_);
    s.unpack("LinsolQr::sp_r", sp_r_);
    s.unpack("LinsolQr::eps", eps_);
    if (version>1) {
      s.unpack("LinsolQr::n_cache", n_cache_);
    } else {
      n_cache_ = 1;
    }
  }

References eps_, n_cache_, pc_, prinv_, sp_r_, sp_v_, casadi::DeserializingStream::unpack(), and casadi::DeserializingStream::version().

Member Function Documentation

alloc_mem()

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

inlineoverridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 82 of file linsol_qr.hpp.

{ return new LinsolQrMemory();}

change_option()

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

virtualinherited

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

Reimplemented in casadi::MXFunction, casadi::FunctionInternal, and casadi::FmuFunction.

Definition at line 924 of file function_internal.cpp.

                                       {
    if (option_name == "verbose") {
      verbose_ = option_value;
    } else if (option_name == "regularity_check") {
      regularity_check_ = option_value;
    } else {
      // Failure
      casadi_error("Option '" + option_name + "' cannot be changed");
    }
  }

References casadi::ProtoFunction::regularity_check_, and casadi::ProtoFunction::verbose_.

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

check_mem_count()

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

inlinevirtualinherited

Purpose if to allow more helpful error messages

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

Reimplemented in casadi::FmuFunction.

Definition at line 179 of file function_internal.hpp.

{ }

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

checkout()

int casadi::ProtoFunction::checkout ( ) const

inherited

Definition at line 3585 of file function_internal.cpp.

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

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

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

class_name()

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

inlineoverridevirtual

Implements casadi::SharedObjectInternal.

Definition at line 107 of file linsol_qr.hpp.

{ return "LinsolQr";}

clear_mem()

void casadi::ProtoFunction::clear_mem ( )

inherited

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

Definition at line 3473 of file function_internal.cpp.

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

References casadi::ProtoFunction::free_mem().

Referenced by casadi::AlpaqaInterface::~AlpaqaInterface(), casadi::AmplInterface::~AmplInterface(), casadi::BlazingSplineFunction::~BlazingSplineFunction(), casadi::Blocksqp::~Blocksqp(), casadi::BonminInterface::~BonminInterface(), casadi::BSplineInterpolant::~BSplineInterpolant(), casadi::CallbackInternal::~CallbackInternal(), casadi::CbcInterface::~CbcInterface(), casadi::ClarabelInterface::~ClarabelInterface(), casadi::ClpInterface::~ClpInterface(), casadi::CplexInterface::~CplexInterface(), casadi::CsparseInterface::~CsparseInterface(), casadi::CvodesInterface::~CvodesInterface(), casadi::DaqpInterface::~DaqpInterface(), casadi::External::~External(), casadi::FastNewton::~FastNewton(), casadi::FatropConicInterface::~FatropConicInterface(), casadi::FatropInterface::~FatropInterface(), casadi::Feasiblesqpmethod::~Feasiblesqpmethod(), casadi::FiniteDiff::~FiniteDiff(), casadi::FixedStepIntegrator::~FixedStepIntegrator(), casadi::FmuFunction::~FmuFunction(), casadi::GurobiInterface::~GurobiInterface(), casadi::HighsInterface::~HighsInterface(), casadi::HpipmInterface::~HpipmInterface(), casadi::HpmpcInterface::~HpmpcInterface(), casadi::IdasInterface::~IdasInterface(), casadi::ImplicitToNlp::~ImplicitToNlp(), casadi::IpoptInterface::~IpoptInterface(), casadi::Ipqp::~Ipqp(), casadi::JitFunction::~JitFunction(), casadi::KinsolInterface::~KinsolInterface(), casadi::KnitroInterface::~KnitroInterface(), casadi::LapackLu::~LapackLu(), casadi::LapackQr::~LapackQr(), casadi::LinearInterpolant::~LinearInterpolant(), casadi::LinearInterpolantJac::~LinearInterpolantJac(), casadi::LinsolLdl::~LinsolLdl(), ~LinsolQr(), casadi::LinsolTridiag::~LinsolTridiag(), casadi::Lsqr::~Lsqr(), casadi::Ma27Interface::~Ma27Interface(), casadi::MadnlpInterface::~MadnlpInterface(), casadi::Map::~Map(), casadi::MapSum::~MapSum(), casadi::MumpsInterface::~MumpsInterface(), casadi::MXFunction::~MXFunction(), casadi::Newton::~Newton(), casadi::Nlpsol::~Nlpsol(), casadi::OmpMap::~OmpMap(), casadi::OoqpInterface::~OoqpInterface(), casadi::OsqpInterface::~OsqpInterface(), casadi::ProxqpInterface::~ProxqpInterface(), casadi::QpoasesInterface::~QpoasesInterface(), casadi::QpToNlp::~QpToNlp(), casadi::Qrqp::~Qrqp(), casadi::Qrsqp::~Qrsqp(), casadi::Scpgen::~Scpgen(), casadi::SLEQPInterface::~SLEQPInterface(), casadi::SlicotDple::~SlicotDple(), casadi::SlicotExpm::~SlicotExpm(), casadi::SnoptInterface::~SnoptInterface(), casadi::Sqpmethod::~Sqpmethod(), casadi::SuperscsInterface::~SuperscsInterface(), casadi::Switch::~Switch(), casadi::SXFunction::~SXFunction(), casadi::SymbolicQr::~SymbolicQr(), casadi::ThreadMap::~ThreadMap(), and casadi::WorhpInterface::~WorhpInterface().

colind()

const casadi_int* casadi::LinsolInternal::colind ( ) const

inlineinherited

Definition at line 142 of file linsol_internal.hpp.

{ return sp_.colind();}

Referenced by casadi::CsparseInterface::init_mem(), casadi::MumpsInterface::init_mem(), casadi::Ma27Interface::nfact(), and casadi::MumpsInterface::nfact().

construct()

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

inherited

Prepares the function for evaluation

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

Definition at line 137 of file function_internal.cpp.

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

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

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

creator()

static LinsolInternal* casadi::LinsolQr::creator ( const std::string &  name, const Sparsity &  sp  )

inlinestatic

Definition at line 62 of file linsol_qr.hpp.

                                                                              {
      return new LinsolQr(name, sp);
    }

Referenced by casadi::casadi_register_linsol_qr().

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();
  }

deserialize()

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

inlinestatic

Definition at line 125 of file linsol_qr.hpp.

{ return new LinsolQr(s); }

Referenced by casadi::casadi_register_linsol_qr().

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::LinsolInternal::disp ( std::ostream &  stream, bool  more  ) const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_e4

Implements casadi::SharedObjectInternal.

Definition at line 43 of file linsol_internal.cpp.

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

References casadi::SharedObjectInternal::class_name(), and casadi::LinsolInternal::disp_more().

disp_more()

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

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_e5

Definition at line 65 of file linsol_internal.hpp.

{}

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

finalize()

void casadi::LinsolQr::finalize ( )

overridevirtual

Reimplemented from casadi::ProtoFunction.

Definition at line 86 of file linsol_qr.cpp.

                          {
    cache_stride_ = sp_.nnz()+sp_v_.nnz()+sp_r_.nnz()+ncol();
    LinsolInternal::finalize();
  }

References cache_stride_, casadi::ProtoFunction::finalize(), casadi::LinsolInternal::ncol(), casadi::Sparsity::nnz(), casadi::LinsolInternal::sp_, sp_r_, and sp_v_.

format_time()

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

inherited

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

Definition at line 3772 of file function_internal.cpp.

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

References casadi::ProtoFunction::sprint().

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

free_mem()

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

inlineoverridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 88 of file linsol_qr.hpp.

{ delete static_cast<LinsolQrMemory*>(mem);}

generate()

void casadi::LinsolQr::generate ( CodeGenerator &  g, const std::string &  A, const std::string &  x, casadi_int  nrhs, bool  tr  ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 165 of file linsol_qr.cpp.

                                                          {
    // Codegen the integer vectors
    std::string prinv = g.constant(prinv_);
    std::string pc = g.constant(pc_);
    std::string sp = g.sparsity(sp_);
    std::string sp_v = g.sparsity(sp_v_);
    std::string sp_r = g.sparsity(sp_r_);
 
    // Place in block to avoid conflicts caused by local variables
    g << "{\n";
    g.comment("FIXME(@jaeandersson): Memory allocation can be avoided");
    g << "casadi_real v[" << sp_v_.nnz() << "], "
         "r[" << sp_r_.nnz() << "], "
         "beta[" << ncol() << "], "
         "w[" << nrow() + ncol() << "];\n";
 
    if (n_cache_) {
      g << "casadi_real *c;\n";
      g << "casadi_real cache[" << cache_stride_*n_cache_ << "];\n";
      g << "int cache_loc[" << n_cache_ << "] = {";
      for (casadi_int i=0;i<n_cache_;++i) {
        g << "-1,";
      }
      g << "};\n";
      g << "if (" << g.cache_check(A, "cache", "cache_loc",
        cache_stride_, n_cache_, sp_.nnz(), "&c") << ") {\n";
      casadi_int offset = sp_.nnz();
      g.comment("Retrieve from cache");
      g << g.copy("c+" + str(offset), sp_v_.nnz(), "v") << "\n"; offset+=sp_v_.nnz();
      g << g.copy("c+" + str(offset), sp_r_.nnz(), "r") << "\n"; offset+=sp_r_.nnz();
      g << g.copy("c+" + str(offset), ncol(), "beta") << "\n"; offset+=ncol();
      g << "} else {\n";
    }
 
    // Factorize
    g << g.qr(sp, A, "w", sp_v, "v", sp_r, "r", "beta", prinv, pc) << "\n";
 
    if (n_cache_) {
      casadi_int offset = 0;
      g.comment("Store in cache");
      g << g.copy(A, sp_.nnz(), "c") << "\n";; offset+=sp_.nnz();
      g << g.copy("v", sp_v_.nnz(), "c+"+str(offset)) << "\n"; offset+=sp_v_.nnz();
      g << g.copy("r", sp_r_.nnz(), "c+"+str(offset)) << "\n"; offset+=sp_r_.nnz();
      g << g.copy("beta", ncol(), "c+"+str(offset)) << "\n"; offset+=ncol();
      g << "}\n";
    }
 
    // Solve
    g << g.qr_solve(x, nrhs, tr, sp_v, "v", sp_r, "r", "beta", prinv, pc, "w") << "\n";
 
    // End of block
    g << "}\n";
  }

References casadi::CodeGenerator::cache_check(), cache_stride_, casadi::CodeGenerator::comment(), casadi::CodeGenerator::constant(), casadi::CodeGenerator::copy(), n_cache_, casadi::LinsolInternal::ncol(), casadi::Sparsity::nnz(), casadi::LinsolInternal::nrow(), pc_, prinv_, casadi::CodeGenerator::qr(), casadi::CodeGenerator::qr_solve(), casadi::LinsolInternal::sp_, sp_r_, sp_v_, casadi::CodeGenerator::sparsity(), and casadi::str().

generate_options()

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

virtualinherited

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

Definition at line 372 of file function_internal.cpp.

                                                                    {
    Dict opts;
    opts["verbose"] = verbose_;
    opts["print_time"] = print_time_;
    opts["record_time"] = record_time_;
    opts["regularity_check"] = regularity_check_;
    opts["error_on_fail"] = error_on_fail_;
    return opts;
  }

References casadi::ProtoFunction::error_on_fail_, casadi::ProtoFunction::print_time_, casadi::ProtoFunction::record_time_, casadi::ProtoFunction::regularity_check_, and casadi::ProtoFunction::verbose_.

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

get_options()

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

inlineoverridevirtual

Reimplemented from casadi::ProtoFunction.

Definition at line 78 of file linsol_qr.hpp.

{ return options_;}

get_stats()

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

virtualinherited

Reimplemented in casadi::Sqpmethod, casadi::Scpgen, casadi::Qrsqp, casadi::Qrqp, casadi::QpToNlp, casadi::Newton, casadi::Ipqp, casadi::ImplicitToNlp, casadi::Feasiblesqpmethod, casadi::FastNewton, casadi::WorhpInterface, casadi::SuperscsInterface, casadi::SundialsInterface, casadi::SnoptInterface, casadi::SLEQPInterface, casadi::QpoasesInterface, casadi::ProxqpInterface, casadi::OsqpInterface, casadi::OoqpInterface, casadi::MadnlpInterface, casadi::KnitroInterface, casadi::IpoptInterface, casadi::HpmpcInterface, casadi::HpipmInterface, casadi::HighsInterface, casadi::GurobiInterface, casadi::FatropInterface, casadi::FatropConicInterface, casadi::DaqpInterface, casadi::CplexInterface, casadi::ClpInterface, casadi::ClarabelInterface, casadi::CbcInterface, casadi::BonminInterface, casadi::AlpaqaInterface, casadi::Rootfinder, casadi::OracleFunction, casadi::Nlpsol, casadi::MXFunction, casadi::FunctionInternal, casadi::FmuFunction, and casadi::Conic.

Definition at line 2884 of file function_internal.cpp.

                                               {
    auto m = static_cast<ProtoFunctionMemory*>(mem);
    // Add timing statistics
    Dict stats;
    for (const auto& s : m->fstats) {
      stats["n_call_" +s.first] = s.second.n_call;
      stats["t_wall_" +s.first] = s.second.t_wall;
      stats["t_proc_" +s.first] = s.second.t_proc;
    }
    return stats;
  }

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

getCount()

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

inherited

Definition at line 60 of file generic_shared_internal.hpp.

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

getPlugin()

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

staticinherited

Definition at line 102 of file plugin_interface.hpp.

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

has_memory()

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

inherited

Definition at line 3581 of file function_internal.cpp.

                                              {
    return ind<mem_.size();
  }

has_option()

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

inherited

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

Definition at line 920 of file function_internal.cpp.

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

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

has_plugin()

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

staticinherited

Definition at line 76 of file plugin_interface.hpp.

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

init()

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

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 67 of file linsol_qr.cpp.

                                      {
    // Call the init method of the base class
    LinsolInternal::init(opts);
 
    // Read options
    eps_ = 1e-12;
    n_cache_ = 0;
    for (auto&& op : opts) {
      if (op.first=="eps") {
        eps_ = op.second;
      } else if (op.first=="cache") {
        n_cache_ = op.second;
      }
    }
 
    // Symbolic factorization
    sp_.qr_sparse(sp_v_, sp_r_, prinv_, pc_);
  }

References eps_, casadi::LinsolInternal::init(), n_cache_, pc_, prinv_, casadi::Sparsity::qr_sparse(), casadi::LinsolInternal::sp_, sp_r_, and sp_v_.

init_mem()

int casadi::LinsolQr::init_mem ( void *  mem ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 91 of file linsol_qr.cpp.

                                        {
    if (LinsolInternal::init_mem(mem)) return 1;
    auto m = static_cast<LinsolQrMemory*>(mem);
 
    // Memory for numerical solution
    m->v.resize(sp_v_.nnz());
    m->r.resize(sp_r_.nnz());
    m->beta.resize(ncol());
    m->w.resize(nrow() + ncol());
 
    m->cache.resize(cache_stride_*n_cache_);
    m->cache_loc.resize(n_cache_, -1);
 
    return 0;
  }

References cache_stride_, casadi::LinsolInternal::init_mem(), n_cache_, casadi::LinsolInternal::ncol(), casadi::Sparsity::nnz(), casadi::LinsolInternal::nrow(), sp_r_, sp_v_, and casadi::LinsolQrMemory::v.

initSingleton()

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

inlineprotectedinherited

Called in the constructor of singletons to avoid that the counter reaches zero

Definition at line 71 of file generic_shared_internal.hpp.

                         {
      casadi_assert_dev(static_cast<Internal*>(this)->count==0);
      static_cast<Internal*>(this)->count++;
    }

instantiate()

LinsolInternal * casadi::PluginInterface< LinsolInternal >::instantiate ( const std::string &  fname, const std::string &  pname, Problem  problem  )

staticinherited

Definition at line 106 of file plugin_interface.hpp.

                                                       {
 
    // Assert the plugin exists (needed for adaptors)
    if (!has_plugin(pname, true)) {
      casadi_error("Plugin '" + pname + "' is not found.");
    }
    return getPlugin(pname).creator(fname, problem);
  }

linsol_eval_sx()

void casadi::LinsolInternal::linsol_eval_sx ( const SXElem **  arg, SXElem **  res, casadi_int *  iw, SXElem *  w, void *  mem, bool  tr, casadi_int  nrhs  ) const

virtualinherited

Reimplemented in casadi::SymbolicQr.

Definition at line 63 of file linsol_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

load_library()

handle_t casadi::PluginInterface< LinsolInternal >::load_library ( const std::string &  libname, std::string &  resultpath, bool  global  )

staticinherited

Definition at line 92 of file plugin_interface.hpp.

                                        {
 
#ifndef WITH_DL
    casadi_error("WITH_DL option needed for dynamic loading");
#else // WITH_DL
 
    // Get the name of the shared library
    std::string lib = SHARED_LIBRARY_PREFIX + libname + SHARED_LIBRARY_SUFFIX;
 
    // Build up search paths;
    std::vector<std::string> search_paths = get_search_paths();
    return open_shared_library(lib, search_paths, resultpath,
      "PluginInterface::load_plugin", global);
 
#endif // WITH_DL
  }

load_plugin()

PluginInterface< LinsolInternal >::Plugin casadi::PluginInterface< LinsolInternal >::load_plugin ( const std::string &  pname, bool  register_plugin = true, bool  needs_lock = true  )

staticinherited

Definition at line 88 of file plugin_interface.hpp.

                                               {
 
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
    casadi::conditional_lock_guard<std::mutex> lock(Derived::mutex_solvers_, needs_lock);
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
 
    // Issue warning and quick return if already loaded
    if (Derived::solvers_.find(pname) != Derived::solvers_.end()) {
      casadi_warning("PluginInterface: Solver " + pname + " is already in use. Ignored.");
      return Plugin();
    }
 
    // Logger singletons are lazily instantiated on first uout()/uerr() calls
    // This instantation may lead to a data race with potential instatiations in plugin
    // To be safe, trigger instantatin before any plugin loading
    uout();
    uerr();
 
#ifndef WITH_DL
    casadi_error("WITH_DL option needed for dynamic loading");
#else // WITH_DL
    // Retrieve the registration function
    RegFcn reg;
 
    // Load the dll
    std::string regName = "casadi_register_" + Derived::infix_ + "_" + pname;
 
    std::string searchpath;
    handle_t handle = load_library("casadi_" + Derived::infix_ + "_" + pname, searchpath,
      false);
 
#ifdef _WIN32
 
#if __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-function-type"
#endif
    reg = reinterpret_cast<RegFcn>(GetProcAddress(handle, TEXT(regName.c_str())));
#if __GNUC__
#pragma GCC diagnostic pop
#endif
 
#else // _WIN32
    // Reset error
    dlerror();
 
    // Load creator
    reg = reinterpret_cast<RegFcn>(dlsym(handle, regName.c_str()));
#endif // _WIN32
    casadi_assert(reg!=nullptr,
      "PluginInterface::load_plugin: no \"" + regName + "\" found in " + searchpath + ".");
 
    // Create a temporary struct
    Plugin plugin = pluginFromRegFcn(reg);
    // Register the plugin
    if (register_plugin) {
      registerPlugin(plugin, false);
    }
 
    return plugin;
 
#endif // WITH_DL
  }

memory()

void * casadi::ProtoFunction::memory ( int  ind ) const

inherited

Definition at line 3574 of file function_internal.cpp.

                                           {
#ifdef CASADI_WITH_THREAD
    std::lock_guard<std::mutex> lock(mtx_);
#endif //CASADI_WITH_THREAD
    return mem_.at(ind);
  }

Referenced by casadi::FunctionInternal::call_gen(), casadi::FunctionInternal::get_jac_sparsity_gen(), casadi::FunctionInternal::get_jac_sparsity_hierarchical(), casadi::Sqpmethod::solve_ela_QP(), and casadi::Sqpmethod::solve_QP().

ncol()

casadi_int casadi::LinsolInternal::ncol ( ) const

inlineinherited

Definition at line 141 of file linsol_internal.hpp.

{ return sp_.size2();}

Referenced by finalize(), generate(), casadi::Lsqr::generate(), casadi::CsparseInterface::init_mem(), casadi::Ma27Interface::init_mem(), casadi::LapackLu::init_mem(), casadi::LapackQr::init_mem(), init_mem(), casadi::Lsqr::init_mem(), casadi::Ma27Interface::nfact(), casadi::LapackLu::nfact(), casadi::LapackQr::nfact(), nfact(), casadi::CsparseInterface::solve(), casadi::Ma27Interface::solve(), casadi::LapackLu::solve(), casadi::LinsolTridiag::solve(), and casadi::LapackQr::solve_batch().

neig()

casadi_int casadi::LinsolInternal::neig ( void *  mem, const double *  A  ) const

virtualinherited

Reimplemented in casadi::LinsolLdl, and casadi::Ma27Interface.

Definition at line 102 of file linsol_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

nfact()

int casadi::LinsolQr::nfact ( void *  mem, const double *  A  ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 111 of file linsol_qr.cpp.

                                                      {
    auto m = static_cast<LinsolQrMemory*>(mem);
 
    // Check for a cache hit
    double* cache = nullptr;
    bool cache_hit = cache_check(A, get_ptr(m->cache), get_ptr(m->cache_loc),
      cache_stride_, n_cache_, sp_.nnz(), &cache);
 
    if (cache && cache_hit) {
      cache += sp_.nnz();
      // Retrieve from cache and return early
      casadi_copy(cache, sp_v_.nnz(), get_ptr(m->v)); cache+=sp_v_.nnz();
      casadi_copy(cache, sp_r_.nnz(), get_ptr(m->r)); cache+=sp_r_.nnz();
      casadi_copy(cache, ncol(), get_ptr(m->beta)); cache+=ncol();
      return 0;
    }
 
    // Cache miss -> compute result
    casadi_qr(sp_, A, get_ptr(m->w),
              sp_v_, get_ptr(m->v), sp_r_, get_ptr(m->r),
              get_ptr(m->beta), get_ptr(prinv_), get_ptr(pc_));
    // Check singularity
    double rmin;
    casadi_int irmin, nullity;
    nullity = casadi_qr_singular(&rmin, &irmin, get_ptr(m->r), sp_r_, get_ptr(pc_), eps_);
    if (nullity) {
      if (verbose_) {
        print("Singularity detected: Rank %lld<%lld\n", ncol()-nullity, ncol());
        print("First singular R entry: %g<%g, corresponding to row %lld\n", rmin, eps_, irmin);
        casadi_qr_colcomb(get_ptr(m->w), get_ptr(m->r), sp_r_, get_ptr(pc_), eps_, 0);
        print("Linear combination of columns:\n[");
        for (casadi_int k=0; k<ncol(); ++k) print(k==0 ? "%g" : ", %g", m->w[k]);
        print("]\n");
      }
      return 1;
    }
 
    if (cache) { // Store result in cache
      casadi_copy(A, sp_.nnz(), cache); cache+=sp_.nnz();
      casadi_copy(get_ptr(m->v), sp_v_.nnz(), cache); cache+=sp_v_.nnz();
      casadi_copy(get_ptr(m->r), sp_r_.nnz(), cache); cache+=sp_r_.nnz();
      casadi_copy(get_ptr(m->beta), ncol(), cache); cache+=ncol();
    }
    return 0;
  }

References cache_stride_, casadi::casadi_copy(), eps_, casadi::get_ptr(), n_cache_, casadi::LinsolInternal::ncol(), casadi::Sparsity::nnz(), pc_, casadi::ProtoFunction::print(), prinv_, casadi::LinsolInternal::sp_, sp_r_, sp_v_, and casadi::ProtoFunction::verbose_.

nnz()

casadi_int casadi::LinsolInternal::nnz ( ) const

inlineinherited

Definition at line 144 of file linsol_internal.hpp.

{ return sp_.nnz();}

Referenced by casadi::CsparseInterface::init_mem(), casadi::Ma27Interface::init_mem(), casadi::MumpsInterface::init_mem(), casadi::SymbolicQr::linsol_eval_sx(), casadi::CsparseInterface::nfact(), casadi::Ma27Interface::nfact(), and casadi::MumpsInterface::nfact().

nrow()

casadi_int casadi::LinsolInternal::nrow ( ) const

inlineinherited

Definition at line 140 of file linsol_internal.hpp.

{ return sp_.size1();}

Referenced by casadi::LinsolLdl::generate(), generate(), casadi::Lsqr::generate(), casadi::CsparseInterface::init_mem(), casadi::LapackLu::init_mem(), casadi::MumpsInterface::init_mem(), casadi::LinsolLdl::init_mem(), init_mem(), casadi::LinsolTridiag::init_mem(), casadi::Lsqr::init_mem(), casadi::LinsolLdl::neig(), casadi::LapackLu::nfact(), casadi::MumpsInterface::nfact(), casadi::LinsolLdl::rank(), casadi::LapackLu::solve(), casadi::LapackQr::solve(), casadi::LinsolTridiag::solve(), and casadi::SymbolicQr::solve().

plugin_deserialize()

Deserialize casadi::PluginInterface< LinsolInternal >::plugin_deserialize ( const std::string &  pname )

staticinherited

Definition at line 82 of file plugin_interface.hpp.

                                                                                 {
    Deserialize m = getPlugin(pname).deserialize;
    casadi_assert(m, "Plugin \"" + pname + "\" does not support deserialize");
    return m;
  }

plugin_name()

const char* casadi::LinsolQr::plugin_name ( ) const

inlineoverridevirtual

Implements casadi::LinsolInternal.

Definition at line 104 of file linsol_qr.hpp.

{ return "qr";}

plugin_options()

const Options & casadi::PluginInterface< LinsolInternal >::plugin_options ( const std::string &  pname )

staticinherited

Definition at line 79 of file plugin_interface.hpp.

                                                                                {
    const Options *op = getPlugin(pname).options;
    casadi_assert(op!=nullptr, "Plugin \"" + pname + "\" does not support options");
    return *op;
  }

pluginFromRegFcn()

PluginInterface< LinsolInternal >::Plugin casadi::PluginInterface< LinsolInternal >::pluginFromRegFcn ( RegFcn  regfcn )

staticinherited

Definition at line 85 of file plugin_interface.hpp.

                                                              {
    // Create a temporary struct
    Plugin plugin;
 
    // Set the fields
    int flag = regfcn(&plugin);
    casadi_assert(flag==0, "Registration of plugin failed.");
 
    return plugin;
  }

print()

void casadi::ProtoFunction::print ( const char *  fmt,   ...  ) const

inherited

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

Definition at line 3813 of file function_internal.cpp.

                                                      {
    // Variable number of arguments
    va_list args;
    va_start(args, fmt);
    // Static & dynamic buffers
    char buf[256];
    size_t buf_sz = sizeof(buf);
    char* buf_dyn = nullptr;
    // Try to print with a small buffer
    casadi_int n = vsnprintf(buf, buf_sz, fmt, args);
    // Need a larger buffer?
    if (n>static_cast<casadi_int>(buf_sz)) {
      buf_sz = static_cast<size_t>(n+1);
      buf_dyn = new char[buf_sz];
      n = vsnprintf(buf_dyn, buf_sz, fmt, args);
    }
    // Print buffer content
    if (n>=0) uout() << (buf_dyn ? buf_dyn : buf) << std::flush;
    // Cleanup
    delete[] buf_dyn;
    va_end(args);
    // Throw error if failure
    casadi_assert(n>=0, "Print failure while processing '" + std::string(fmt) + "'");
  }

References casadi::uout().

Referenced by casadi::Feasiblesqpmethod::anderson_acc_step_update(), casadi::Nlpsol::callback(), casadi::Blocksqp::convertHessian(), casadi::FmuFunction::eval_task(), casadi::Feasiblesqpmethod::feasibility_iterations(), casadi::Blocksqp::feasibilityRestorationPhase(), casadi::Blocksqp::fullstep(), casadi::Blocksqp::init(), casadi::Feasiblesqpmethod::init(), casadi::Ipqp::init(), casadi::Qrqp::init(), casadi::Qrsqp::init(), casadi::Sqpmethod::init(), nfact(), casadi::Feasiblesqpmethod::print_iteration(), casadi::Qrsqp::print_iteration(), casadi::Sqpmethod::print_iteration(), casadi::SundialsInterface::print_stats(), casadi::ProtoFunction::print_time(), casadi::Blocksqp::printInfo(), casadi::Blocksqp::printProgress(), casadi::Blocksqp::run(), casadi::Blocksqp::solve(), casadi::Feasiblesqpmethod::solve(), casadi::Qrsqp::solve(), casadi::Sqpmethod::solve(), casadi::Sqpmethod::solve_ela_QP(), casadi::Feasiblesqpmethod::solve_LP(), casadi::Feasiblesqpmethod::solve_QP(), casadi::Qrsqp::solve_QP(), casadi::Sqpmethod::solve_QP(), and casadi::Blocksqp::solveQP().

print_option()

void casadi::ProtoFunction::print_option ( const std::string &  name, std::ostream &  stream  ) const

inherited

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

Definition at line 916 of file function_internal.cpp.

                                                                                  {
    get_options().print_one(name, stream);
  }

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

print_options()

void casadi::ProtoFunction::print_options ( std::ostream &  stream ) const

inherited

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

Definition at line 912 of file function_internal.cpp.

                                                            {
    get_options().print_all(stream);
  }

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

print_time()

void casadi::ProtoFunction::print_time ( const std::map< std::string, FStats > &  fstats ) const

inherited

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

Definition at line 3733 of file function_internal.cpp.

                                                                              {
    if (!print_time_) return;
    // Length of the name being printed
    size_t name_len=0;
    for (auto &&s : fstats) {
      name_len = std::max(s.first.size(), name_len);
    }
    name_len = std::max(name_.size(), name_len);
 
    // Print name with a given length. Format: "%NNs "
    char namefmt[10];
    sprint(namefmt, sizeof(namefmt), "%%%ds ", static_cast<casadi_int>(name_len));
 
    // Print header
    print(namefmt, name_.c_str());
 
    print(" : %8s %10s %8s %10s %9s\n", "t_proc", "(avg)", "t_wall", "(avg)", "n_eval");
 
 
    char buffer_proc[10];
    char buffer_wall[10];
    char buffer_proc_avg[10];
    char buffer_wall_avg[10];
 
    // Print keys
    for (const auto &s : fstats) {
      if (s.second.n_call!=0) {
        print(namefmt, s.first.c_str());
        format_time(buffer_proc, s.second.t_proc);
        format_time(buffer_wall, s.second.t_wall);
        format_time(buffer_proc_avg, s.second.t_proc/s.second.n_call);
        format_time(buffer_wall_avg, s.second.t_wall/s.second.n_call);
        print(" | %s (%s) %s (%s) %9d\n",
          buffer_proc, buffer_proc_avg,
          buffer_wall, buffer_wall_avg, s.second.n_call);
      }
    }
  }

References casadi::ProtoFunction::format_time(), casadi::ProtoFunction::name_, casadi::ProtoFunction::print(), casadi::ProtoFunction::print_time_, and casadi::ProtoFunction::sprint().

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

rank()

casadi_int casadi::LinsolInternal::rank ( void *  mem, const double *  A  ) const

virtualinherited

Reimplemented in casadi::LinsolLdl, and casadi::Ma27Interface.

Definition at line 106 of file linsol_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

registerPlugin() [1/2]

void casadi::PluginInterface< LinsolInternal >::registerPlugin ( const Plugin &  plugin, bool  needs_lock = true  )

staticinherited

Definition at line 96 of file plugin_interface.hpp.

                                                                                     {
 
#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
    casadi::conditional_lock_guard<std::mutex> lock(Derived::mutex_solvers_, needs_lock);
#endif // CASADI_WITH_THREADSAFE_SYMBOLICS
 
    // Check if the solver name is in use
    typename std::map<std::string, Plugin>::iterator it=Derived::solvers_.find(plugin.name);
    casadi_assert(it==Derived::solvers_.end(),
      "Solver " + str(plugin.name) + " is already in use");
 
    // Add to list of solvers
    Derived::solvers_[plugin.name] = plugin;
  }

registerPlugin() [2/2]

void casadi::PluginInterface< LinsolInternal >::registerPlugin ( RegFcn  regfcn, bool  needs_lock = true  )

staticinherited

Definition at line 99 of file plugin_interface.hpp.

                                                                              {
    registerPlugin(pluginFromRegFcn(regfcn), needs_lock);
  }

release()

void casadi::ProtoFunction::release ( int  mem ) const

inherited

Definition at line 3606 of file function_internal.cpp.

                                           {
#ifdef CASADI_WITH_THREAD
    std::lock_guard<std::mutex> lock(mtx_);
#endif //CASADI_WITH_THREAD
    unused_.push(mem);
  }

row()

const casadi_int* casadi::LinsolInternal::row ( ) const

inlineinherited

Definition at line 143 of file linsol_internal.hpp.

{ return sp_.row();}

Referenced by casadi::CsparseInterface::init_mem(), casadi::MumpsInterface::init_mem(), casadi::Ma27Interface::nfact(), and casadi::MumpsInterface::nfact().

serialize()

void casadi::ProtoFunction::serialize ( SerializingStream &  s ) const

inherited

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

Definition at line 4090 of file function_internal.cpp.

                                                          {
    serialize_type(s);
    serialize_body(s);
  }

References casadi::ProtoFunction::serialize_body(), and casadi::ProtoFunction::serialize_type().

serialize_base_function()

virtual std::string casadi::ProtoFunction::serialize_base_function ( ) const

inlinevirtualinherited

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

Reimplemented in casadi::LinearInterpolantJac, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Interpolant, casadi::Integrator, casadi::External, casadi::Conic, and casadi::BlazingSplineFunction.

Definition at line 241 of file function_internal.hpp.

                                                      {
      return class_name();
    }

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

serialize_body()

void casadi::LinsolQr::serialize_body ( SerializingStream &  s ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 234 of file linsol_qr.cpp.

                                                          {
    LinsolInternal::serialize_body(s);
    s.version("LinsolQr", 2);
    s.pack("LinsolQr::prinv", prinv_);
    s.pack("LinsolQr::pc", pc_);
    s.pack("LinsolQr::sp_v", sp_v_);
    s.pack("LinsolQr::sp_r", sp_r_);
    s.pack("LinsolQr::eps", eps_);
    s.pack("LinsolQr::n_cache", n_cache_);
  }

References eps_, n_cache_, casadi::SerializingStream::pack(), pc_, prinv_, casadi::LinsolInternal::serialize_body(), sp_r_, sp_v_, and casadi::SerializingStream::version().

serialize_type()

void casadi::LinsolInternal::serialize_type ( SerializingStream &  s ) const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_e9

Reimplemented from casadi::ProtoFunction.

Definition at line 124 of file linsol_internal.cpp.

                                                                {
    ProtoFunction::serialize_type(s);
    PluginInterface<LinsolInternal>::serialize_type(s);
  }

References casadi::ProtoFunction::serialize_type(), and casadi::PluginInterface< Derived >::serialize_type().

sfact()

int casadi::LinsolQr::sfact ( void *  mem, const double *  A  ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 107 of file linsol_qr.cpp.

                                                      {
    return 0;
  }

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;
    }

solve()

int casadi::LinsolQr::solve ( void *  mem, const double *  A, double *  x, casadi_int  nrhs, bool  tr  ) const

overridevirtual

Reimplemented from casadi::LinsolInternal.

Definition at line 157 of file linsol_qr.cpp.

                                                                                           {
    auto m = static_cast<LinsolQrMemory*>(mem);
    casadi_qr_solve(x, nrhs, tr,
                    sp_v_, get_ptr(m->v), sp_r_, get_ptr(m->r),
                    get_ptr(m->beta), get_ptr(prinv_), get_ptr(pc_), get_ptr(m->w));
    return 0;
  }

References casadi::get_ptr(), pc_, prinv_, sp_r_, and sp_v_.

sprint()

void casadi::ProtoFunction::sprint ( char *  buf, size_t  buf_sz, const char *  fmt,   ...  ) const

inherited

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

Definition at line 3801 of file function_internal.cpp.

                                                                                 {
    // Variable number of arguments
    va_list args;
    va_start(args, fmt);
    // Print to buffer
    casadi_int n = vsnprintf(buf, buf_sz, fmt, args);
    // Cleanup
    va_end(args);
    // Throw error if failure
    casadi_assert(n>=0 && n<buf_sz, "Print failure while processing '" + std::string(fmt) + "'");
  }

Referenced by casadi::ProtoFunction::format_time(), and casadi::ProtoFunction::print_time().

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_;
  }

Member Data Documentation

cache_stride_

casadi_int casadi::LinsolQr::cache_stride_

Definition at line 119 of file linsol_qr.hpp.

Referenced by finalize(), generate(), init_mem(), and nfact().

eps_

double casadi::LinsolQr::eps_

Definition at line 115 of file linsol_qr.hpp.

Referenced by init(), LinsolQr(), nfact(), and serialize_body().

error_on_fail_

bool casadi::ProtoFunction::error_on_fail_

inherited

Definition at line 261 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::call_gen(), casadi::ClarabelInterface::codegen_body(), casadi::DaqpInterface::codegen_body(), casadi::FatropInterface::codegen_body(), casadi::HighsInterface::codegen_body(), casadi::HpipmInterface::codegen_body(), casadi::IpoptInterface::codegen_body(), casadi::MadnlpInterface::codegen_body(), casadi::OsqpInterface::codegen_body(), casadi::Qrqp::codegen_body(), casadi::Conic::Conic(), casadi::Conic::eval(), casadi::Nlpsol::eval(), casadi::Rootfinder::eval(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::Nlpsol::Nlpsol(), casadi::ProtoFunction::ProtoFunction(), casadi::Rootfinder::Rootfinder(), casadi::ProtoFunction::serialize_body(), and casadi::KinsolInterface::solve().

infix_

const std::string casadi::LinsolInternal::infix_ = "linsol"

staticinherited

Definition at line 134 of file linsol_internal.hpp.

meta_doc

const std::string casadi::LinsolQr::meta_doc

static

Initial value:

=
      "\n"
"\n"
"\n"
"Linear solver using sparse direct QR factorization\n"
"\n"
"Extra doc: https://github.com/casadi/casadi/wiki/L_22z \n"
"\n"
"\n"
">List of available options\n"
"\n"
"+-------+-----------+------------------------------------------------------+\n"
"|  Id   |   Type    |                     Description                      |\n"
"+=======+===========+======================================================+\n"
"| cache | OT_DOUBLE | Amount of factorisations to remember (thread-local)  |\n"
"|       |           | [0]                                                  |\n"
"+-------+-----------+------------------------------------------------------+\n"
"| eps   | OT_DOUBLE | Minimum R entry before singularity is declared       |\n"
"|       |           | [1e-12]                                              |\n"
"+-------+-----------+------------------------------------------------------+\n"
"\n"
"\n"
"\n"
"\n"

Definition at line 110 of file linsol_qr.hpp.

Referenced by casadi::casadi_register_linsol_qr().

n_cache_

casadi_int casadi::LinsolQr::n_cache_

Definition at line 118 of file linsol_qr.hpp.

Referenced by generate(), init(), init_mem(), LinsolQr(), nfact(), and serialize_body().

name_

std::string casadi::ProtoFunction::name_

inherited

Definition at line 246 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_forward(), casadi::SXFunction::ad_forward(), casadi::MXFunction::ad_reverse(), casadi::SXFunction::ad_reverse(), casadi::Integrator::augmented_dae(), casadi::OracleFunction::calc_function(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::codegen_body(), casadi::External::codegen_body(), casadi::External::codegen_checkout(), casadi::External::codegen_declarations(), casadi::MXFunction::codegen_declarations(), casadi::SXFunction::codegen_declarations(), casadi::External::codegen_decref(), casadi::External::codegen_incref(), casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::codegen_name(), casadi::External::codegen_release(), casadi::FunctionInternal::codegen_sparsities(), casadi::ProtoFunction::construct(), casadi::OracleFunction::create_function(), casadi::FunctionInternal::definition(), casadi::FunctionInternal::eval(), casadi::MXFunction::eval(), casadi::SXFunction::eval(), casadi::FunctionInternal::eval_mx(), casadi::MXFunction::eval_mx(), casadi::SXFunction::eval_mx(), casadi::SXFunction::eval_sx(), casadi::FmuFunction::factory(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::Integrator::get_forward(), casadi::Integrator::get_forward_dae(), casadi::Map::get_function(), casadi::MapSum::get_function(), casadi::OracleFunction::get_function(), casadi::GenericExternal::get_jac_sparsity(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::get_n_in(), casadi::External::get_n_in(), casadi::FunctionInternal::get_n_out(), casadi::External::get_n_out(), casadi::FunctionInternal::get_name_in(), casadi::External::get_name_in(), casadi::FunctionInternal::get_name_out(), casadi::External::get_name_out(), casadi::FunctionInternal::get_partition(), casadi::Integrator::get_reverse(), casadi::FunctionInternal::get_sparsity_in(), casadi::GenericExternal::get_sparsity_in(), casadi::FunctionInternal::get_sparsity_out(), casadi::GenericExternal::get_sparsity_out(), casadi::FunctionInternal::get_stats(), casadi::External::has_forward(), casadi::GenericExternal::has_jac_sparsity(), casadi::External::has_jacobian(), casadi::External::has_reverse(), casadi::External::init(), casadi::FunctionInternal::init(), casadi::MXFunction::init(), casadi::SXFunction::init(), casadi::CvodesInterface::init(), casadi::IdasInterface::init(), casadi::External::init_external(), casadi::GenericExternal::init_external(), casadi::FunctionInternal::jac_is_symm(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::map(), casadi::OracleFunction::monitored(), casadi::MXFunction::print_arg(), casadi::FunctionInternal::print_in(), casadi::FunctionInternal::print_out(), casadi::MXFunction::print_res(), casadi::ProtoFunction::print_time(), casadi::ProtoFunction::ProtoFunction(), casadi::CvodesInterface::reset(), casadi::IdasInterface::reset(), casadi::IdasInterface::resetB(), casadi::FunctionInternal::reverse(), casadi::ProtoFunction::serialize_body(), casadi::GurobiInterface::solve(), casadi::SnoptInterface::solve(), casadi::Integrator::sp_forward(), casadi::Integrator::sp_reverse(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

options_

const Options casadi::LinsolQr::options_

static

Initial value:

= {{&LinsolInternal::options_},
     {{"eps",
       {OT_DOUBLE,
        "Minimum R entry before singularity is declared [1e-12]"}},
      {"cache",
       {OT_DOUBLE,
        "Amount of factorisations to remember (thread-local) [0]"}}
     }
  }

Definition at line 77 of file linsol_qr.hpp.

Referenced by casadi::casadi_register_linsol_qr().

pc_

std::vector<casadi_int> casadi::LinsolQr::pc_

Definition at line 113 of file linsol_qr.hpp.

Referenced by generate(), init(), LinsolQr(), nfact(), serialize_body(), and solve().

print_time_

bool casadi::ProtoFunction::print_time_

inherited

Definition at line 252 of file function_internal.hpp.

Referenced by casadi::FixedStepIntegrator::create_advanced(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::FunctionInternal::init(), casadi::Nlpsol::Nlpsol(), casadi::ProtoFunction::print_time(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

prinv_

std::vector<casadi_int> casadi::LinsolQr::prinv_

Definition at line 113 of file linsol_qr.hpp.

Referenced by generate(), init(), LinsolQr(), nfact(), serialize_body(), and solve().

record_time_

bool casadi::ProtoFunction::record_time_

inherited

Definition at line 255 of file function_internal.hpp.

Referenced by casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::FunctionInternal::init(), casadi::ProtoFunction::init_mem(), casadi::LinsolInternal::init_mem(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

regularity_check_

bool casadi::ProtoFunction::regularity_check_

inherited

Definition at line 258 of file function_internal.hpp.

Referenced by casadi::OracleFunction::calc_function(), casadi::ProtoFunction::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

solvers_

std::map< std::string, LinsolInternal::Plugin > casadi::LinsolInternal::solvers_

staticinherited

Definition at line 127 of file linsol_internal.hpp.

sp_

Sparsity casadi::LinsolInternal::sp_

inherited

Definition at line 161 of file linsol_internal.hpp.

Referenced by finalize(), casadi::LinsolLdl::generate(), generate(), casadi::Lsqr::generate(), casadi::LinsolLdl::init(), init(), casadi::SymbolicQr::init(), casadi::MumpsInterface::init_mem(), casadi::Lsqr::init_mem(), casadi::SymbolicQr::init_mem(), casadi::SymbolicQr::linsol_eval_sx(), casadi::LinsolInternal::LinsolInternal(), casadi::CsparseInterface::nfact(), casadi::LapackLu::nfact(), casadi::LapackQr::nfact(), casadi::LinsolLdl::nfact(), nfact(), casadi::LinsolInternal::serialize_body(), casadi::LinsolTridiag::solve(), and casadi::Lsqr::solve().

sp_r_

Sparsity casadi::LinsolQr::sp_r_

Definition at line 114 of file linsol_qr.hpp.

Referenced by finalize(), generate(), init(), init_mem(), LinsolQr(), nfact(), serialize_body(), and solve().

sp_v_

Sparsity casadi::LinsolQr::sp_v_

Definition at line 114 of file linsol_qr.hpp.

Referenced by finalize(), generate(), init(), init_mem(), LinsolQr(), nfact(), serialize_body(), and solve().

verbose_

bool casadi::ProtoFunction::verbose_

inherited

Definition at line 249 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_forward(), casadi::SXFunction::ad_forward(), casadi::MXFunction::ad_reverse(), casadi::SXFunction::ad_reverse(), casadi::Integrator::advance(), casadi::ProtoFunction::change_option(), casadi::BSplineInterpolant::construct_graph(), casadi::OracleFunction::create_function(), casadi::FmuFunction::eval(), casadi::Integrator::eval(), casadi::MXFunction::eval(), casadi::SXFunction::eval(), casadi::MXFunction::eval_mx(), casadi::SXFunction::eval_mx(), casadi::SXFunction::eval_sx(), casadi::FmuFunction::factory(), casadi::FunctionInternal::finalize(), casadi::KinsolInterface::func(), casadi::ProtoFunction::generate_options(), casadi::FmuFunction::get_forward(), casadi::Integrator::get_forward(), casadi::Integrator::get_forward_dae(), casadi::FunctionInternal::get_jac_sparsity_gen(), casadi::FunctionInternal::get_jac_sparsity_hierarchical(), casadi::FunctionInternal::get_jac_sparsity_hierarchical_symm(), casadi::FmuFunction::get_jacobian(), casadi::FunctionInternal::get_partition(), casadi::FmuFunction::get_reverse(), casadi::Integrator::get_reverse(), casadi::ProtoFunction::init(), casadi::FiniteDiff::init(), casadi::FmuFunction::init(), casadi::FunctionInternal::init(), casadi::MXFunction::init(), casadi::SXFunction::init(), casadi::Blocksqp::init(), casadi::FatropConicInterface::init(), casadi::FatropInterface::init(), casadi::HpipmInterface::init(), casadi::HpmpcInterface::init(), casadi::IpoptInterface::init(), casadi::MadnlpInterface::init(), casadi::CvodesInterface::init(), casadi::IdasInterface::init(), casadi::Feasiblesqpmethod::init(), casadi::Scpgen::init(), casadi::Sqpmethod::init(), casadi::IpoptInterface::init_mem(), casadi::IdasInterface::init_mem(), casadi::SXFunction::instructions_sx(), casadi::BonminInterface::intermediate_callback(), casadi::OracleFunction::jit_dependencies(), casadi::CsparseInterface::nfact(), casadi::LapackLu::nfact(), casadi::LapackQr::nfact(), nfact(), casadi::Integrator::predict_events(), casadi::ProtoFunction::ProtoFunction(), casadi::CvodesInterface::reset(), casadi::IdasInterface::reset(), casadi::IdasInterface::resetB(), casadi::ProtoFunction::serialize_body(), casadi::CbcInterface::solve(), casadi::ClpInterface::solve(), casadi::CplexInterface::solve(), casadi::GurobiInterface::solve(), casadi::HpipmInterface::solve(), casadi::QpoasesInterface::solve(), casadi::Ipqp::solve(), casadi::Qrqp::solve(), casadi::AlpaqaInterface::solve(), casadi::AmplInterface::solve(), casadi::SnoptInterface::solve(), casadi::KinsolInterface::solve(), casadi::WorhpInterface::solve(), casadi::Newton::solve(), casadi::Qrsqp::solve(), casadi::Scpgen::solve(), casadi::Sqpmethod::solve(), casadi::Sqpmethod::solve_ela_QP(), casadi::Feasiblesqpmethod::solve_LP(), casadi::Feasiblesqpmethod::solve_QP(), casadi::Qrsqp::solve_QP(), casadi::Sqpmethod::solve_QP(), casadi::Integrator::sp_forward(), casadi::Integrator::sp_reverse(), and casadi::Integrator::trigger_event().

---

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

• linsol_qr.hpp
• linsol_qr.cpp
• linsol_qr_meta.cpp