Internal node class for SXFunction. More...

#include <sx_function.hpp>

Detailed Description

Do not use any internal class directly - always use the public Function

Author: Joel Andersson

Date: 2010-2015

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

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

Definition at line 53 of file sx_function.hpp.

Inheritance diagram for casadi::SXFunction:

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Collaboration diagram for casadi::SXFunction:

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Classes
struct	CallInfo
	Metadata for call nodes. More...

struct	ExtendedAlgEl

struct	TapeEl
	An element of the tape. More...

Public Types
typedef ScalarAtomic	AlgEl
	DATA MEMBERS. More...

using	weak_ref_type = WeakRefInternal

Public Member Functions
	SXFunction (const std::string &name, const std::vector< Matrix< SXElem > > &inputv, const std::vector< Matrix< SXElem > > &outputv, const std::vector< std::string > &name_in, const std::vector< std::string > &name_out)
	Constructor. More...

	~SXFunction () override
	Destructor. More...

int	eval (const double arg, double res, casadi_int iw, double w, void *mem) const override
	Evaluate numerically, work vectors given. More...

int	eval_sx (const SXElem arg, SXElem res, casadi_int iw, SXElem w, void *mem, bool always_inline, bool never_inline) const override
	evaluate symbolically while also propagating directional derivatives More...

void	eval_mx (const MXVector &arg, MXVector &res, bool always_inline, bool never_inline) const override
	Evaluate symbolically, MX type. More...

bool	should_inline (bool with_sx, bool always_inline, bool never_inline) const override

void	ad_forward (const std::vector< std::vector< SX > > &fseed, std::vector< std::vector< SX > > &fsens) const
	Calculate forward mode directional derivatives. More...

void	ad_reverse (const std::vector< std::vector< SX > > &aseed, std::vector< std::vector< SX > > &asens) const
	Calculate reverse mode directional derivatives. More...

bool	is_smooth () const
	Check if smooth. More...

std::string	print (const ScalarAtomic &a) const

void	print_arg (std::ostream &stream, casadi_int k, const ScalarAtomic &el, const double *w) const

void	print_arg (CodeGenerator &g, casadi_int k, const ScalarAtomic &el) const

void	print_res (std::ostream &stream, casadi_int k, const ScalarAtomic &el, const double *w) const

void	print_res (CodeGenerator &g, casadi_int k, const ScalarAtomic &el) const

void	disp_more (std::ostream &stream) const override
	Print the algorithm. More...

std::string	class_name () const override
	Get type name. More...

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

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

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

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

SX	hess (casadi_int iind=0, casadi_int oind=0)
	Hessian (forward over adjoint) via source code transformation. More...

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

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

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

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

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

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

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

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

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

void	init_copy_elision ()
	Part of initialize responsible of prepaprign copy elision. More...

size_t	codegen_sz_w (const CodeGenerator &g) const override
	Get the size of the work vector, for codegen. More...

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

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

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

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

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

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

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

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

std::vector< Matrix< SXElem > >	jac (const Dict &opts) const
	Construct a complete Jacobian by compression. More...

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

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

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

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

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

virtual bool	isInput (const std::vector< Matrix< SXElem > > &arg) const
	Helper function: Check if a vector equals ex_in. More...

void	call_forward (const std::vector< Matrix< SXElem > > &arg, const std::vector< Matrix< SXElem > > &res, const std::vector< std::vector< Matrix< SXElem > > > &fseed, std::vector< std::vector< Matrix< SXElem > > > &fsens, bool always_inline, bool never_inline) const override
	Create call to (cached) derivative function, forward mode. More...

void	call_reverse (const std::vector< Matrix< SXElem > > &arg, const std::vector< Matrix< SXElem > > &res, const std::vector< std::vector< Matrix< SXElem > > > &aseed, std::vector< std::vector< Matrix< SXElem > > > &asens, bool always_inline, bool never_inline) const override
	Create call to (cached) derivative function, reverse mode. More...

void	delayed_serialize_members (SerializingStream &s) const
	Helper functions to avoid recursion limit. More...

void	delayed_deserialize_members (DeserializingStream &s)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	codegen_init_mem (CodeGenerator &g) const
	Codegen decref for init_mem. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual Dict	info () const

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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


bool	has_spfwd () const override

bool	has_sprev () const override


bool	has_forward (casadi_int nfwd) const override
	Generate a function that calculates nfwd forward derivatives. More...

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


bool	has_reverse (casadi_int nadj) const override
	Generate a function that calculates nadj adjoint derivatives. More...

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


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

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


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

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


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

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


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

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


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

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


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


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

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


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

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


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

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


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


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


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

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

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

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


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

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

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

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


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


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

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

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


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


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


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

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

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

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

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

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

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

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

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

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


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

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

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

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


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

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

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

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


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

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

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

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

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

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


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

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


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

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

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

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

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

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

Sparsity	get_jac_sparsity_hierarchical_symm (casadi_int oind, casadi_int iind) const

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


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

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


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

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

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


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

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

Static Public Member Functions
static ProtoFunction *	deserialize (DeserializingStream &s)
	Deserialize without type information. More...

static std::vector< SX >	order (const std::vector< SX > &expr)

static void	sort_depth_first (std::stack< SXNode * > &s, std::vector< SXNode * > &nodes)
	Topological sorting of the nodes based on Depth-First Search (DFS) More...

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

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

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

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

static std::string	string_from_UnifiedReturnStatus (UnifiedReturnStatus status)

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

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

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


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

Public Attributes
std::vector< AlgEl >	algorithm_
	all binary nodes of the tree in the order of execution More...

size_t	worksize_

std::vector< SXElem >	free_vars_
	Free variables. More...

std::vector< SXElem >	operations_
	The expressions corresponding to each binary operation. More...

std::vector< SXElem >	constants_
	The expressions corresponding to each constant. More...

std::vector< double >	default_in_
	Default input values. More...

std::vector< bool >	copy_elision_
	Copy elision per algel. More...

bool	print_instructions_
	Print each operation during evaluation. More...

struct casadi::SXFunction::CallInfo	call_

bool	just_in_time_opencl_
	With just-in-time compilation using OpenCL. More...

bool	just_in_time_sparsity_
	With just-in-time compilation for the sparsity propagation. More...

bool	live_variables_
	Live variables? More...

std::vector< Matrix< SXElem > >	in_
	Inputs of the function (needed for symbolic calculations) More...

std::vector< Matrix< SXElem > >	out_
	Outputs of the function (needed for symbolic calculations) More...

bool	always_inline_

bool	never_inline_

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

size_t	n_out_

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

std::vector< bool >	is_diff_out_

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

std::vector< Sparsity >	sparsity_out_

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

std::vector< std::string >	name_out_

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

bool	jit_cleanup_
	Cleanup jit source file. More...

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

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

std::string	jit_base_name_

bool	jit_temp_suffix_
	Use a temporary name. More...

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

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

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

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

bool	has_refcount_
	Reference counting in codegen? More...

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

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

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

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

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

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

Importer	compiler_

Dict	jit_options_

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

bool	enable_forward_

bool	enable_reverse_

bool	enable_jacobian_

bool	enable_fd_

bool	enable_forward_op_

bool	enable_reverse_op_

bool	enable_jacobian_op_

bool	enable_fd_op_

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

double	ad_weight_sp_

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

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

Dict	fd_options_

double	fd_step_

std::string	fd_method_

bool	print_in_

bool	print_out_

bool	print_canonical_

casadi_int	max_io_

bool	dump_in_

bool	dump_out_

bool	dump_

std::string	dump_dir_

std::string	dump_format_

Dict	forward_options_

Dict	reverse_options_

Dict	jacobian_options_

Dict	der_options_

Function	custom_jacobian_

casadi_int	dump_count_

std::string	name_
	Name. More...

bool	verbose_
	Verbose printout. More...

bool	print_time_

bool	record_time_

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

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

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

Protected Member Functions
template<typename T >
void	call_fwd (const AlgEl &e, const T arg, T res, casadi_int iw, T w) const

template<typename T >
void	call_rev (const AlgEl &e, T arg, T res, casadi_int iw, T w) const

template<typename T , typename CT >
void	call_setup (const ExtendedAlgEl &m, CT *call_arg, T call_res, casadi_int call_iw, T call_w, T nz_in, T *nz_out) const

	SXFunction (DeserializingStream &s)
	Deserializing constructor. More...

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

void	initSingleton ()

void	destroySingleton ()

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

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

static const Options	options_
	Options. More...

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

Member Typedef Documentation

◆ AlgEl

typedef ScalarAtomic casadi::SXFunction::AlgEl

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

An element of the algorithm, namely a binary operation

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

Definition at line 235 of file sx_function.hpp.

◆ weak_ref_type

using casadi::SharedObjectInternal::weak_ref_type = WeakRefInternal

inherited

Definition at line 152 of file shared_object.hpp.

Constructor & Destructor Documentation

◆ SXFunction() [1/2]

casadi::SXFunction::SXFunction	(	const std::string &	name,
		const std::vector< Matrix< SXElem > > &	inputv,
		const std::vector< Matrix< SXElem > > &	outputv,
		const std::vector< std::string > &	name_in,
		const std::vector< std::string > &	name_out
	)

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

Referenced by deserialize(), and is_a().

◆ ~SXFunction()

casadi::SXFunction::~SXFunction ( )

override

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

Definition at line 68 of file sx_function.cpp.

                           {
     clear_mem();
   }

References casadi::ProtoFunction::clear_mem().

◆ SXFunction() [2/2]

casadi::SXFunction::SXFunction ( DeserializingStream & s )

explicitprotected

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

Definition at line 1824 of file sx_function.cpp.

                                                :
     XFunction<SXFunction, SX, SXNode>(s) {
     int version = s.version("SXFunction", 1, 3);
     size_t n_instructions;
     s.unpack("SXFunction::n_instr", n_instructions);
  
     s.unpack("SXFunction::worksize", worksize_);
     s.unpack("SXFunction::free_vars", free_vars_);
     s.unpack("SXFunction::operations", operations_);
     s.unpack("SXFunction::constants", constants_);
     s.unpack("SXFunction::default_in", default_in_);
  
     if (version>=2) {
  
       s.unpack("SXFunction::call_sz_arg", call_.sz_arg);
       s.unpack("SXFunction::call_sz_res", call_.sz_res);
       s.unpack("SXFunction::call_sz_iw", call_.sz_iw);
       s.unpack("SXFunction::call_sz_w", call_.sz_w);
       s.unpack("SXFunction::call_sz_arg", call_.sz_w_arg);
       s.unpack("SXFunction::call_sz_res", call_.sz_w_res);
  
       size_t el_size;
       s.unpack("SXFunction::call_el_size", el_size);
       call_.el.reserve(el_size);
  
       // Loop over nodes
       for (casadi_int k=0;k<el_size;++k) {
         Function f;
         s.unpack("SXFunction::call_el_f", f);
         call_.el.emplace_back(f);
         auto& e = call_.el[k];
         s.unpack("SXFunction::call_el_dep", e.dep);
         s.unpack("SXFunction::call_el_res", e.res);
         s.unpack("SXFunction::call_el_copy_elision_arg", e.copy_elision_arg);
         s.unpack("SXFunction::call_el_copy_elision_offset", e.copy_elision_offset);
       }
  
       s.unpack("SXFunction::copy_elision", copy_elision_);
  
     } else {
       call_.sz_arg = 0;
       call_.sz_res = 0;
       call_.sz_iw = 0;
       call_.sz_w = 0;
       call_.sz_w_arg = 0;
       call_.sz_w_res = 0;
       call_.el.clear();
       copy_elision_.resize(n_instructions, false);
     }
  
     algorithm_.resize(n_instructions);
     for (casadi_int k=0;k<n_instructions;++k) {
       AlgEl& e = algorithm_[k];
       s.unpack("SXFunction::ScalarAtomic::op", e.op);
       s.unpack("SXFunction::ScalarAtomic::i0", e.i0);
       s.unpack("SXFunction::ScalarAtomic::i1", e.i1);
       s.unpack("SXFunction::ScalarAtomic::i2", e.i2);
     }
  
     // Default (persistent) options
     just_in_time_opencl_ = false;
     just_in_time_sparsity_ = false;
  
     s.unpack("SXFunction::live_variables", live_variables_);
     if (version>=3) {
       s.unpack("SXFunction::print_instructions", print_instructions_);
     } else {
       print_instructions_ = false;
     }
  
     XFunction<SXFunction, SX, SXNode>::delayed_deserialize_members(s);
   }

References algorithm_, call_, constants_, copy_elision_, default_in_, casadi::XFunction< DerivedType, MatType, NodeType >::delayed_deserialize_members(), casadi::SXFunction::CallInfo::el, free_vars_, casadi::ScalarAtomic::i0, casadi::ScalarAtomic::i1, casadi::ScalarAtomic::i2, just_in_time_opencl_, just_in_time_sparsity_, live_variables_, n_instructions(), casadi::ScalarAtomic::op, operations_, print_instructions_, casadi::SXFunction::CallInfo::sz_arg, casadi::SXFunction::CallInfo::sz_iw, casadi::SXFunction::CallInfo::sz_res, casadi::SXFunction::CallInfo::sz_w, casadi::SXFunction::CallInfo::sz_w_arg, casadi::SXFunction::CallInfo::sz_w_res, casadi::DeserializingStream::unpack(), casadi::DeserializingStream::version(), and worksize_.

Member Function Documentation

◆ ad_forward()

void casadi::SXFunction::ad_forward	(	const std::vector< std::vector< SX > > &	fseed,
		std::vector< std::vector< SX > > &	fsens
	)		const

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

Definition at line 1192 of file sx_function.cpp.

                                                                         {
     if (verbose_) casadi_message(name_ + "::ad_forward");
  
     // Number of forward seeds
     casadi_int nfwd = fseed.size();
     fsens.resize(nfwd);
  
     // Quick return if possible
     if (nfwd==0) return;
  
     // Check if seeds need to have dimensions corrected
     casadi_int npar = 1;
     for (auto&& r : fseed) {
       if (!matching_arg(r, npar)) {
         casadi_assert_dev(npar==1);
         return ad_forward(replace_fseed(fseed, npar), fsens);
       }
     }
  
     // Make sure seeds have matching sparsity patterns
     for (auto it=fseed.begin(); it!=fseed.end(); ++it) {
       casadi_assert_dev(it->size()==n_in_);
       for (casadi_int i=0; i<n_in_; ++i) {
         if (it->at(i).sparsity()!=sparsity_in_[i]) {
           // Correct sparsity
           std::vector<std::vector<SX> > fseed2(fseed);
           for (auto&& r : fseed2) {
             for (casadi_int i=0; i<n_in_; ++i) r[i] = project(r[i], sparsity_in_[i]);
           }
           return ad_forward(fseed2, fsens);
         }
       }
     }
  
     // Allocate results
     for (casadi_int d=0; d<nfwd; ++d) {
       fsens[d].resize(n_out_);
       for (casadi_int i=0; i<fsens[d].size(); ++i)
         if (fsens[d][i].sparsity()!=sparsity_out_[i])
           fsens[d][i] = SX::zeros(sparsity_out_[i]);
     }
  
     // Iterator to the binary operations
     std::vector<SXElem>::const_iterator b_it=operations_.begin();
  
     // Tape
     std::vector<TapeEl<SXElem> > s_pdwork(operations_.size());
     std::vector<TapeEl<SXElem> >::iterator it1 = s_pdwork.begin();
  
     // Evaluate algorithm
     if (verbose_) casadi_message("Evaluating algorithm forward");
     for (auto&& e : algorithm_) {
       switch (e.op) {
       case OP_INPUT:
       case OP_OUTPUT:
       case OP_CONST:
       case OP_PARAMETER:
         break;
       default:
         {
           const SXElem& f=*b_it++;
           switch (e.op) {
             CASADI_MATH_DER_BUILTIN(f->dep(0), f->dep(1), f, it1++->d)
             case OP_CALL:
               it1++->d[0] = f;
           }
         }
       }
     }
  
     // Work vector
     std::vector<SXElem> w(worksize_);
  
     // Calculate forward sensitivities
     if (verbose_) casadi_message("Calculating forward derivatives");
     for (casadi_int dir=0; dir<nfwd; ++dir) {
       std::vector<TapeEl<SXElem> >::const_iterator it2 = s_pdwork.begin();
       for (auto&& a : algorithm_) {
         switch (a.op) {
         case OP_INPUT:
           w[a.i0] = fseed[dir][a.i1].nonzeros()[a.i2]; break;
         case OP_OUTPUT:
           fsens[dir][a.i0].nonzeros()[a.i2] = w[a.i1]; break;
         case OP_CONST:
         case OP_PARAMETER:
           w[a.i0] = 0;
           break;
         case OP_IF_ELSE_ZERO:
           w[a.i0] = if_else_zero(it2++->d[1], w[a.i2]);
           break;
         case OP_CALL:
           {
             auto& m = call_.el.at(a.i1);
             CallSX* call_node = static_cast<CallSX*>(it2->d[0].get());
  
             // Construct forward sensitivity function
             Function ff = m.f.forward(1);
  
             // Symbolic inputs to forward sensitivity function
             std::vector<SXElem> deps;
             deps.reserve(2*m.n_dep);
  
             // Set nominal inputs from node
             casadi_int offset = 0;
             for (casadi_int i=0;i<m.f_n_in;++i) {
               casadi_int nnz = ff.nnz_in(i);
               casadi_assert(nnz==0 || nnz==m.f.nnz_in(i), "Not implemented");
               for (casadi_int j=0;j<nnz;++j) {
                 deps.push_back(call_node->dep(offset+j));
               }
               offset += m.f_nnz_in[i];
             }
  
             // Do not set nominal outputs
             offset = 0;
             for (casadi_int i=0;i<m.f_n_out;++i) {
               casadi_int nnz = ff.nnz_in(i+m.f_n_in);
               casadi_assert(nnz==0 || nnz==m.f.nnz_out(i), "Not implemented");
               for (casadi_int j=0;j<nnz;++j) {
                 deps.push_back(call_node->get_output(offset+j));
               }
               offset += m.f_nnz_out[i];
             }
  
             // Read in forward seeds from work vector
             offset = 0;
             for (casadi_int i=0;i<m.f_n_in;++i) {
               casadi_int nnz = ff.nnz_in(i+m.f_n_in+m.f_n_out);
               // nnz=0 occurs for is_diff_in[i] false
               casadi_assert(nnz==0 || nnz==m.f.nnz_in(i), "Not implemented");
               if (nnz) {
                 for (casadi_int j=0;j<nnz;++j) {
                   deps.push_back(w[m.dep[offset+j]]);
                 }
               }
               offset += m.f_nnz_in[i];
             }
  
             // Call forward sensitivity function
             std::vector<SXElem> ret = SXElem::call(ff, deps);
  
             // Retrieve sensitivities
             offset = 0;
             casadi_int k = 0;
             for (casadi_int i=0;i<m.f_n_out;++i) {
               casadi_int nnz = ff.nnz_out(i);
               // nnz=0 occurs for is_diff_out[i] false
               casadi_assert(nnz==0 || nnz==m.f_nnz_out[i], "Not implemented");
               if (nnz) {
                 for (casadi_int j=0;j<nnz;++j) {
                   if (m.res[offset+j]>=0) w[m.res[offset+j]] = ret[k];
                   k++;
                 }
               }
               offset += m.f_nnz_out[i];
             }
           }
           it2++;
           break;
         CASADI_MATH_BINARY_BUILTIN // Binary operation
           w[a.i0] = it2->d[0] * w[a.i1] + it2->d[1] * w[a.i2];
           it2++;
           break;
         default: // Unary operation
           w[a.i0] = it2->d[0] * w[a.i1];
           it2++;
         }
       }
     }
   }

References algorithm_, casadi::SXElem::call(), call_, casadi::SXNode::dep(), casadi::CallSX::dep(), casadi::SXFunction::CallInfo::el, casadi::Function::forward(), casadi::CallSX::get_output(), casadi::if_else_zero(), casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::ProtoFunction::name_, casadi::Function::nnz_in(), casadi::Function::nnz_out(), casadi::OP_CALL, casadi::OP_CONST, casadi::OP_IF_ELSE_ZERO, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, operations_, casadi::FunctionInternal::replace_fseed(), casadi::FunctionInternal::sparsity_in_, casadi::FunctionInternal::sparsity_out_, casadi::ProtoFunction::verbose_, worksize_, and casadi::GenericMatrix< Matrix< Scalar > >::zeros().

◆ ad_reverse()

void casadi::SXFunction::ad_reverse	(	const std::vector< std::vector< SX > > &	aseed,
		std::vector< std::vector< SX > > &	asens
	)		const

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

Definition at line 1364 of file sx_function.cpp.

                                                                         {
     if (verbose_) casadi_message(name_ + "::ad_reverse");
  
     // number of adjoint seeds
     casadi_int nadj = aseed.size();
     asens.resize(nadj);
  
     // Quick return if possible
     if (nadj==0) return;
  
     // Check if seeds need to have dimensions corrected
     casadi_int npar = 1;
     for (auto&& r : aseed) {
       if (!matching_res(r, npar)) {
         casadi_assert_dev(npar==1);
         return ad_reverse(replace_aseed(aseed, npar), asens);
       }
     }
  
     // Make sure matching sparsity of fseed
     bool matching_sparsity = true;
     for (casadi_int d=0; d<nadj; ++d) {
       casadi_assert_dev(aseed[d].size()==n_out_);
       for (casadi_int i=0; matching_sparsity && i<n_out_; ++i)
         matching_sparsity = aseed[d][i].sparsity()==sparsity_out_[i];
     }
  
     // Correct sparsity if needed
     if (!matching_sparsity) {
       std::vector<std::vector<SX> > aseed2(aseed);
       for (casadi_int d=0; d<nadj; ++d)
         for (casadi_int i=0; i<n_out_; ++i)
           if (aseed2[d][i].sparsity()!=sparsity_out_[i])
             aseed2[d][i] = project(aseed2[d][i], sparsity_out_[i]);
       return ad_reverse(aseed2, asens);
     }
  
     // Allocate results if needed
     for (casadi_int d=0; d<nadj; ++d) {
       asens[d].resize(n_in_);
       for (casadi_int i=0; i<asens[d].size(); ++i) {
         if (asens[d][i].sparsity()!=sparsity_in_[i]) {
           asens[d][i] = SX::zeros(sparsity_in_[i]);
         } else {
           std::fill(asens[d][i]->begin(), asens[d][i]->end(), 0);
         }
       }
     }
  
     // Iterator to the binary operations
     std::vector<SXElem>::const_iterator b_it=operations_.begin();
  
     // Tape
     std::vector<TapeEl<SXElem> > s_pdwork(operations_.size());
     std::vector<TapeEl<SXElem> >::iterator it1 = s_pdwork.begin();
  
     // Evaluate algorithm
     if (verbose_) casadi_message("Evaluating algorithm forward");
     for (auto&& a : algorithm_) {
       switch (a.op) {
       case OP_INPUT:
       case OP_OUTPUT:
       case OP_CONST:
       case OP_PARAMETER:
         break;
       default:
         {
           const SXElem& f=*b_it++;
           switch (a.op) {
             CASADI_MATH_DER_BUILTIN(f->dep(0), f->dep(1), f, it1++->d)
             case OP_CALL:
               it1++->d[0] = f;
           }
         }
       }
     }
  
     // Calculate adjoint sensitivities
     if (verbose_) casadi_message("Calculating adjoint derivatives");
  
     // Work vector
     std::vector<SXElem> w(worksize_, 0);
  
     for (casadi_int dir=0; dir<nadj; ++dir) {
       auto it2 = s_pdwork.rbegin();
       for (auto it = algorithm_.rbegin(); it!=algorithm_.rend(); ++it) {
         SXElem seed;
         switch (it->op) {
         case OP_INPUT:
           asens[dir][it->i1].nonzeros()[it->i2] = w[it->i0];
           w[it->i0] = 0;
           break;
         case OP_OUTPUT:
           w[it->i1] += aseed[dir][it->i0].nonzeros()[it->i2];
           break;
         case OP_CONST:
         case OP_PARAMETER:
           w[it->i0] = 0;
           break;
         case OP_IF_ELSE_ZERO:
           seed = w[it->i0];
           w[it->i0] = 0;
           w[it->i2] += if_else_zero(it2++->d[1], seed);
           break;
         case OP_CALL:
           {
             auto& m = call_.el.at(it->i1);
             CallSX* call_node = static_cast<CallSX*>(it2->d[0].get());
  
             // Construct reverse sensitivity function
             Function fr = m.f.reverse(1);
  
             // Symbolic inputs to reverse sensitivity function
             std::vector<SXElem> deps;
             deps.reserve(m.n_dep+m.n_res);
  
             // Set nominal inputs from node
             casadi_int offset = 0;
             for (casadi_int i=0;i<m.f_n_in;++i) {
               casadi_int nnz = fr.nnz_in(i);
               casadi_assert(nnz==0 || nnz==m.f.nnz_in(i), "Not implemented");
               for (casadi_int j=0;j<nnz;++j) {
                 deps.push_back(call_node->dep(offset+j));
               }
               offset += m.f_nnz_in[i];
             }
  
             // Do not set nominal outputs
             offset = 0;
             for (casadi_int i=0;i<m.f_n_out;++i) {
               casadi_int nnz = fr.nnz_in(i+m.f_n_in);
               casadi_assert(nnz==0 || nnz==m.f.nnz_out(i), "Not implemented");
               for (casadi_int j=0;j<nnz;++j) {
                 deps.push_back(call_node->get_output(offset+j));
               }
               offset += m.f_nnz_out[i];
             }
  
             // Read in reverse seeds from work vector
             offset = 0;
             for (casadi_int i=0;i<m.f_n_out;++i) {
               casadi_int nnz = fr.nnz_in(i+m.f_n_in+m.f_n_out);
               // nnz=0 occurs for is_diff_out[i] false
               casadi_assert(nnz==0 || nnz==m.f.nnz_out(i), "Not implemented");
               if (nnz) {
                 for (casadi_int j=0;j<nnz;++j) {
                   deps.push_back((m.res[offset+j]>=0) ? w[m.res[offset+j]] : 0);
                 }
               }
               offset += m.f.nnz_out(i);
             }
  
             // Call reverse sensitivity function
             std::vector<SXElem> ret = SXElem::call(fr, deps);
  
             // Clear out reverse seeds
             for (casadi_int i=0;i<m.n_res;++i) {
               if (m.res[i]>=0) w[m.res[i]] = 0;
             }
  
             // Store reverse sensitivities into work vector
             offset = 0;
             casadi_int k = 0;
             for (casadi_int i=0;i<m.f_n_in;++i) {
               casadi_int nnz = fr.nnz_out(i);
               // nnz=0 occurs for is_diff_in[i] false
               casadi_assert(nnz==0 || nnz==m.f_nnz_in[i], "Not implemented");
               if (nnz) {
                 for (casadi_int j=0;j<nnz;++j) {
                   w[m.dep[offset+j]] += ret[k++];
                 }
               }
               offset += m.f_nnz_in[i];
             }
           }
           it2++;
           break;
         CASADI_MATH_BINARY_BUILTIN // Binary operation
           seed = w[it->i0];
           w[it->i0] = 0;
           w[it->i1] += it2->d[0] * seed;
           w[it->i2] += it2++->d[1] * seed;
           break;
         default: // Unary operation
           seed = w[it->i0];
           w[it->i0] = 0;
           w[it->i1] += it2++->d[0] * seed;
         }
       }
     }
   }

References algorithm_, casadi::SXElem::call(), call_, casadi::SXNode::dep(), casadi::CallSX::dep(), casadi::SXFunction::CallInfo::el, casadi::CallSX::get_output(), casadi::if_else_zero(), casadi::FunctionInternal::matching_res(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::ProtoFunction::name_, casadi::Function::nnz_in(), casadi::Function::nnz_out(), casadi::OP_CALL, casadi::OP_CONST, casadi::OP_IF_ELSE_ZERO, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, operations_, casadi::FunctionInternal::replace_aseed(), casadi::Function::reverse(), casadi::FunctionInternal::sparsity_in_, casadi::FunctionInternal::sparsity_out_, casadi::ProtoFunction::verbose_, worksize_, and casadi::GenericMatrix< Matrix< Scalar > >::zeros().

◆ ad_weight()

double casadi::FunctionInternal::ad_weight ( ) const

virtualinherited

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

Definition at line 3274 of file function_internal.cpp.

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

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

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

◆ add_embedded()

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

inherited

Definition at line 3717 of file function_internal.cpp.

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

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

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

◆ adjViaJac()

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

virtualinherited

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

Definition at line 3009 of file function_internal.cpp.

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

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

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

◆ all_scalar()

bool casadi::FunctionInternal::all_scalar ( ) const

inherited

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

Definition at line 3748 of file function_internal.cpp.

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

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

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

◆ alloc()

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

inherited

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

Definition at line 2958 of file function_internal.cpp.

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

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

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

◆ alloc_arg()

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

inherited

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

Definition at line 2926 of file function_internal.cpp.

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

References casadi::FunctionInternal::sz_arg().

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

◆ alloc_iw()

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

inherited

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

Definition at line 2942 of file function_internal.cpp.

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

References casadi::FunctionInternal::sz_iw().

◆ alloc_mem()

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

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2d2

Reimplemented from casadi::ProtoFunction.

Definition at line 340 of file function_internal.hpp.

340 { return new FunctionMemory(); }

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

◆ alloc_res()

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

inherited

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

Definition at line 2934 of file function_internal.cpp.

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

References casadi::FunctionInternal::sz_res().

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

◆ alloc_w()

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

inherited

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

Definition at line 2950 of file function_internal.cpp.

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

References casadi::FunctionInternal::sz_w().

◆ cache()

Dict casadi::FunctionInternal::cache ( ) const

inherited

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

Definition at line 1054 of file function_internal.cpp.

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

References casadi::FunctionInternal::cache_.

◆ call()

template<typename M >

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

inherited

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

Definition at line 1559 of file function_internal.hpp.

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

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

◆ call_forward() [1/3]

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::call_forward	(	const std::vector< Matrix< SXElem > > &	arg,
		const std::vector< Matrix< SXElem > > &	res,
		const std::vector< std::vector< Matrix< SXElem > > > &	fseed,
		std::vector< std::vector< Matrix< SXElem > > > &	fsens,
		bool	always_inline,
		bool	never_inline
	)		const

overrideinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y5

Definition at line 201 of file x_function.hpp.

                                                             {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     if (!should_inline(MatType::type_name()=="SX", always_inline, never_inline)) {
       // The non-inlining version is implemented in the base class
       return FunctionInternal::call_forward(arg, res, fseed, fsens,
                                             always_inline, never_inline);
     }
  
     // Quick return if no seeds
     if (fseed.empty()) {
       fsens.clear();
       return;
     }
  
     // Call inlining
     if (isInput(arg)) {
       // Argument agrees with in_, call ad_forward directly
       static_cast<const DerivedType*>(this)->ad_forward(fseed, fsens);
     } else {
       // Need to create a temporary function
       Function f("tmp_call_forward", arg, res);
       static_cast<DerivedType *>(f.get())->ad_forward(fseed, fsens);
     }
   }

◆ call_forward() [2/3]

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

virtualinherited

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

Definition at line 3029 of file function_internal.cpp.

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

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

◆ call_forward() [3/3]

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

virtualinherited

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

Definition at line 3248 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

◆ call_fwd()

template<typename T >

void casadi::SXFunction::call_fwd	(	const AlgEl &	e,
		const T **	arg,
		T **	res,
		casadi_int *	iw,
		T *	w
	)		const

protected

Definition at line 1582 of file sx_function.cpp.

                                                                                               {
     auto& m = call_.el[e.i1];
     const T** call_arg   = arg;
     T** call_res         = res;
     casadi_int* call_iw  = iw;
     T* call_w            = w;
     T* nz_in;
     T* nz_out;
  
     call_setup(m, &call_arg, &call_res, &call_iw, &call_w, &nz_in, &nz_out);
  
     // Populate nz_in from work vector
     for (casadi_int i=0;i<m.n_dep;++i) {
       nz_in[i] = w[m.dep[i]];
     }
     // Perform call nz_in -> nz_out
     m.f(call_arg, call_res, call_iw, call_w);
  
     // Store nz_out results back in workvector
     for (casadi_int i=0;i<m.n_res;++i) {
       // Only if the result is actually needed
       if (m.res[i]>=0) {
         w[m.res[i]] = nz_out[i];
       }
     }
   }

References call_, call_setup(), casadi::SXFunction::CallInfo::el, casadi::ScalarAtomic::i1, casadi::FunctionInternal::nz_in(), casadi::FunctionInternal::nz_out(), and casadi::T.

Referenced by eval(), and sp_forward().

◆ call_gen() [1/2]

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

inherited

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

Definition at line 3922 of file function_internal.cpp.

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

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

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

◆ call_gen() [2/2]

template<typename D >

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

inherited

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

Definition at line 1663 of file function_internal.hpp.

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

◆ call_rev()

template<typename T >

void casadi::SXFunction::call_rev	(	const AlgEl &	e,
		T **	arg,
		T **	res,
		casadi_int *	iw,
		T *	w
	)		const

protected

Definition at line 1611 of file sx_function.cpp.

                                                                                         {
     auto& m = call_.el[e.i1];
     bvec_t** call_arg = arg;
     bvec_t** call_res       = res;
     casadi_int* call_iw     = iw;
     bvec_t* call_w          = w;
     bvec_t* nz_in;
     bvec_t* nz_out;
  
     call_setup(m, &call_arg, &call_res, &call_iw, &call_w, &nz_in, &nz_out);
  
     std::fill_n(nz_in, m.n_dep, 0);
  
     // Read in reverse seeds nz_out from work vector
     for (casadi_int i=0;i<m.n_res;++i) {
       nz_out[i] = (m.res[i]>=0) ? w[m.res[i]] : 0;
     }
  
     // Perform reverse mode call nz_out -> nz_in
     m.f.rev(call_arg, call_res, call_iw, call_w);
  
     // Clear out reverse seeds
     for (casadi_int i=0;i<m.n_res;++i) {
       if (m.res[i]>=0) w[m.res[i]] = 0;
     }
  
     // Store reverse sensitivities into work vector
     for (casadi_int i=0;i<m.n_dep;++i) {
       w[m.dep[i]] |= nz_in[i];
     }
   }

References call_, call_setup(), casadi::SXFunction::CallInfo::el, casadi::ScalarAtomic::i1, casadi::FunctionInternal::nz_in(), and casadi::FunctionInternal::nz_out().

Referenced by sp_reverse().

◆ call_reverse() [1/3]

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::call_reverse	(	const std::vector< Matrix< SXElem > > &	arg,
		const std::vector< Matrix< SXElem > > &	res,
		const std::vector< std::vector< Matrix< SXElem > > > &	aseed,
		std::vector< std::vector< Matrix< SXElem > > > &	asens,
		bool	always_inline,
		bool	never_inline
	)		const

overrideinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y6

Definition at line 210 of file x_function.hpp.

                                                             {
     casadi_assert(!(always_inline && never_inline), "Inconsistent options");
     if (!should_inline(MatType::type_name()=="SX", always_inline, never_inline)) {
       // The non-inlining version is implemented in the base class
       return FunctionInternal::call_reverse(arg, res, aseed, asens,
                                             always_inline, never_inline);
     }
  
     // Quick return if no seeds
     if (aseed.empty()) {
       asens.clear();
       return;
     }
  
     // Call inlining
     if (isInput(arg)) {
       // Argument agrees with in_, call ad_reverse directly
       static_cast<const DerivedType*>(this)->ad_reverse(aseed, asens);
     } else {
       // Need to create a temporary function
       Function f("tmp_call_reverse", arg, res);
       static_cast<DerivedType *>(f.get())->ad_reverse(aseed, asens);
     }
   }

◆ call_reverse() [2/3]

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

virtualinherited

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

Definition at line 3134 of file function_internal.cpp.

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

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

◆ call_reverse() [3/3]

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

virtualinherited

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

Definition at line 3261 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

◆ call_setup()

template<typename T , typename CT >

void casadi::SXFunction::call_setup	(	const ExtendedAlgEl &	m,
		CT ***	call_arg,
		T ***	call_res,
		casadi_int **	call_iw,
		T **	call_w,
		T **	nz_in,
		T **	nz_out
	)		const

protected

Definition at line 1558 of file sx_function.cpp.

                                                                                                   {
     *call_arg += n_in_;
     *call_res += n_out_;
     *nz_in    = *call_w + worksize_;
     *nz_out   = *call_w + worksize_ + call_.sz_w_arg;
     *call_w   = *call_w + worksize_ + call_.sz_w_arg + call_.sz_w_res;
  
     // Set up call_arg to point to nz_in
     T* ptr_w = *nz_in;
     for (casadi_int i=0;i<m.f_n_in;++i) {
       (*call_arg)[i] = ptr_w;
       ptr_w+=m.f_nnz_in[i];
     }
  
     // Set up call_res to point to nz_out
     ptr_w = *nz_out;
     for (casadi_int i=0;i<m.f_n_out;++i) {
       (*call_res)[i] = ptr_w;
       ptr_w+=m.f_nnz_out[i];
     }
   }

References call_, casadi::SXFunction::ExtendedAlgEl::f_n_in, casadi::SXFunction::ExtendedAlgEl::f_n_out, casadi::SXFunction::ExtendedAlgEl::f_nnz_in, casadi::SXFunction::ExtendedAlgEl::f_nnz_out, casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nz_in(), casadi::FunctionInternal::nz_out(), casadi::SXFunction::CallInfo::sz_w_arg, casadi::SXFunction::CallInfo::sz_w_res, casadi::T, and worksize_.

Referenced by call_fwd(), and call_rev().

◆ change_option()

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

overridevirtualinherited

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

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::MXFunction.

Definition at line 433 of file function_internal.cpp.

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

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

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

◆ check_arg()

template<typename M >

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

inherited

Raises errors.

Parameters

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

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

Definition at line 1710 of file function_internal.hpp.

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

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

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

◆ check_mat()

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

staticinherited

Helper function

Parameters

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

Definition at line 3460 of file function_internal.cpp.

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

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

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

◆ check_mem_count()

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

inlinevirtualinherited

Purpose if to allow more helpful error messages

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

Reimplemented in casadi::FmuFunction.

Definition at line 179 of file function_internal.hpp.

179 { }

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

◆ check_res()

template<typename M >

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

inherited

Raises errors.

Parameters

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

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

Definition at line 1734 of file function_internal.hpp.

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

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

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

◆ checkout()

int casadi::ProtoFunction::checkout ( ) const

inherited

Definition at line 3669 of file function_internal.cpp.

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

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

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

◆ class_name()

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

inlineoverridevirtual

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

Implements casadi::SharedObjectInternal.

Definition at line 133 of file sx_function.hpp.

133 {return "SXFunction";}

◆ clear_mem()

void casadi::ProtoFunction::clear_mem ( )

inherited

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

Definition at line 3557 of file function_internal.cpp.

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

References casadi::ProtoFunction::free_mem().

◆ codegen()

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

inherited

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

Definition at line 2390 of file function_internal.cpp.

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

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

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

◆ codegen_alloc_mem()

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

virtualinherited

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

Reimplemented in casadi::External.

Definition at line 2438 of file function_internal.cpp.

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

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

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

◆ codegen_body()

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

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v5

Implements casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 344 of file sx_function.cpp.

                                                       {
     g.reserve_work(worksize_);
  
     casadi_int cnt = 0;
     // Run the algorithm
     for (auto&& a : algorithm_) {
       if (a.op==OP_OUTPUT) {
         g << "if (res[" << a.i0 << "]!=0) "
           << g.res(a.i0) << "[" << a.i2 << "]=" << g.sx_work(a.i1) << ";\n";
       } else if (a.op==OP_CALL) {
         const ExtendedAlgEl& m = call_.el[a.i1];
  
         casadi_int worksize = g.avoid_stack() ? worksize_ : 0;
  
         // Collect input arguments
         casadi_int offset = worksize;
         for (casadi_int i=0; i<m.f_n_in; ++i) {
           if (m.copy_elision_arg[i]>=0) {
             g << "arg[" << n_in_+i << "] = "
               << "arg[" + str(m.copy_elision_arg[i]) << "]? "
               << "arg[" + str(m.copy_elision_arg[i]) << "] + "
               << str(m.copy_elision_offset[i]) << " : 0;\n";
           } else {
             if (m.f_nnz_in[i]==0) {
               g << "arg[" << n_in_+i << "]=" << 0 << ";\n";
             } else {
               g << "arg[" << n_in_+i << "]=" << "w+" + str(offset) << ";\n";
             }
           }
           offset += m.f_nnz_in[i];
         }
  
  
         casadi_int out_offset = offset;
  
         // Collect output arguments
         for (casadi_int i=0; i<m.f_n_out; ++i) {
           g << "res[" << n_out_+i << "]=" << "w+" + str(offset) << ";\n";
           offset += m.f_nnz_out[i];
         }
         casadi_int k=0;
         for (casadi_int i=0; i<m.f_n_in; ++i) {
           if (m.copy_elision_arg[i]==-1) {
             for (casadi_int j=0; j<m.f_nnz_in[i]; ++j) {
               g << "w["+str(k+worksize) + "] = " << g.sx_work(m.dep[k]) << ";\n";
               k++;
             }
           } else {
             k+=m.f_nnz_in[i];
           }
         }
         if (print_instructions_) print_arg(g, cnt, a);
         std::string flag =
           g(m.f, "arg+"+str(n_in_), "res+"+str(n_out_), "iw", "w+" + str(offset));
         // Call function
         g << "if (" << flag << ") return 1;\n";
         if (print_instructions_) print_res(g, cnt, a);
         for (casadi_int i=0;i<m.n_res;++i) {
           if (m.res[i]>=0) {
             g << g.sx_work(m.res[i]) << " = ";
             g << "w[" + str(i+out_offset) + "];\n";
           }
         }
       } else if (a.op==OP_INPUT) {
           if (!copy_elision_[cnt]) {
             g << g.sx_work(a.i0) << "="
               << g.arg(a.i1) << "? " << g.arg(a.i1) << "[" << a.i2 << "] : 0;\n";
           }
       } else {
         if (print_instructions_) print_arg(g, cnt, a);
  
         // Where to store the result
         g << g.sx_work(a.i0) << "=";
  
         // What to store
         if (a.op==OP_CONST) {
           g << g.constant(a.d);
         } else {
           casadi_int ndep = casadi_math<double>::ndeps(a.op);
           casadi_assert_dev(ndep>0);
           if (ndep==1) g << g.print_op(a.op, g.sx_work(a.i1));
           if (ndep==2) g << g.print_op(a.op, g.sx_work(a.i1), g.sx_work(a.i2));
         }
  
         g << ";\n";
  
         if (print_instructions_) print_res(g, cnt, a);
       }
       cnt++;
     }
   }

◆ codegen_checkout()

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

virtualinherited

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

Reimplemented in casadi::External.

Definition at line 2447 of file function_internal.cpp.

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

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

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

◆ codegen_declarations()

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

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v4

Implements casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 219 of file sx_function.cpp.

                                                               {
  
     // Make sure that there are no free variables
     if (!free_vars_.empty()) {
       casadi_error("Code generation of '" + name_ + "' is not possible since variables "
                    + str(free_vars_) + " are free.");
     }
  
     // Generate code for the call nodes
     for (auto&& m : call_.el) {
       g.add_dependency(m.f);
     }
   }

References casadi::CodeGenerator::add_dependency(), call_, casadi::SXFunction::CallInfo::el, free_vars_, casadi::ProtoFunction::name_, and casadi::str().

◆ codegen_decref()

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

inlinevirtualinherited

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

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

Definition at line 854 of file function_internal.hpp.

854 {}

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

◆ codegen_free_mem()

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

inlinevirtualinherited

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

Reimplemented in casadi::OsqpInterface, casadi::MadnlpInterface, casadi::IpoptInterface, casadi::HighsInterface, casadi::FatropInterface, casadi::DaqpInterface, casadi::ClarabelInterface, and casadi::External.

Definition at line 869 of file function_internal.hpp.

869 {}

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

◆ codegen_incref()

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

inlinevirtualinherited

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

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

Definition at line 849 of file function_internal.hpp.

849 {}

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

◆ codegen_init_mem()

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

virtualinherited

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

Reimplemented in casadi::OsqpInterface, casadi::MadnlpInterface, casadi::IpoptInterface, casadi::HighsInterface, casadi::FatropInterface, casadi::DaqpInterface, casadi::ClarabelInterface, and casadi::External.

Definition at line 2434 of file function_internal.cpp.

                                                                 {
     g << "return 0;\n";
   }

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

◆ codegen_mem()

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

inherited

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

Definition at line 2816 of file function_internal.cpp.

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

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

◆ codegen_mem_type()

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

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m1

Reimplemented in casadi::Sqpmethod, casadi::OsqpInterface, casadi::MadnlpInterface, casadi::IpoptInterface, casadi::HighsInterface, casadi::FatropInterface, casadi::DaqpInterface, casadi::ClarabelInterface, and casadi::External.

Definition at line 904 of file function_internal.hpp.

904 { return ""; }

Referenced by casadi::CodeGenerator::add_dependency(), casadi::FunctionInternal::codegen_alloc_mem(), casadi::FunctionInternal::codegen_checkout(), casadi::FunctionInternal::codegen_meta(), casadi::CodeGenerator::operator()(), and casadi::CodeGenerator::setup_callback().

◆ codegen_meta()

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

inherited

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

Definition at line 2484 of file function_internal.cpp.

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

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

◆ codegen_name()

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

virtualinherited

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

Definition at line 2801 of file function_internal.cpp.

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

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

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

◆ codegen_release()

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

virtualinherited

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

Reimplemented in casadi::External.

Definition at line 2473 of file function_internal.cpp.

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

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

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

◆ codegen_sparsities()

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

inherited

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

Definition at line 2480 of file function_internal.cpp.

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

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

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

◆ codegen_sz_arg()

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

virtualinherited

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

Definition at line 2913 of file function_internal.cpp.

                                                                       {
     return sz_arg();
   }

References casadi::FunctionInternal::sz_arg().

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

◆ codegen_sz_iw()

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

virtualinherited

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

Definition at line 2919 of file function_internal.cpp.

                                                                      {
     return sz_iw();
   }

References casadi::FunctionInternal::sz_iw().

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

◆ codegen_sz_res()

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

virtualinherited

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

Definition at line 2916 of file function_internal.cpp.

                                                                       {
     return sz_res();
   }

References casadi::FunctionInternal::sz_res().

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

◆ codegen_sz_w()

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

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_290

Reimplemented from casadi::FunctionInternal.

Definition at line 214 of file sx_function.cpp.

                                                               {
     if (!g.avoid_stack()) return call_.sz_w+call_.sz_w_arg+call_.sz_w_res;
     return sz_w();
   }

References casadi::CodeGenerator::avoid_stack(), call_, casadi::FunctionInternal::sz_w(), casadi::SXFunction::CallInfo::sz_w, casadi::SXFunction::CallInfo::sz_w_arg, and casadi::SXFunction::CallInfo::sz_w_res.

◆ construct()

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

inherited

Prepares the function for evaluation

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

Definition at line 138 of file function_internal.cpp.

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

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

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

◆ convert_arg() [1/2]

template<typename M >

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

inherited

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

Definition at line 1834 of file function_internal.hpp.

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

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

◆ convert_arg() [2/2]

template<typename M >

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

inherited

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

Definition at line 1822 of file function_internal.hpp.

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

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

◆ convert_res() [1/2]

template<typename M >

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

inherited

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

Definition at line 1863 of file function_internal.hpp.

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

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

◆ convert_res() [2/2]

template<typename M >

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

inherited

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

Definition at line 1851 of file function_internal.hpp.

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

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

◆ debug_repr()

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

inherited

Definition at line 62 of file generic_shared_internal.hpp.

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

◆ definition()

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

inherited

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

Definition at line 1025 of file function_internal.cpp.

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

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

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

◆ delayed_deserialize_members()

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::delayed_deserialize_members ( DeserializingStream & s )

inherited

Definition at line 249 of file x_function.hpp.

                                                       {
     s.unpack("XFunction::out", out_);
   }

◆ delayed_serialize_members()

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::delayed_serialize_members ( SerializingStream & s ) const

inherited

The out member is problematic to de/serialize before the sorted algorithm has a chance of laying out the expression graph efficiently

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

Definition at line 248 of file x_function.hpp.

                                                         {
     s.pack("XFunction::out", out_);
   }

◆ deserialize()

ProtoFunction * casadi::SXFunction::deserialize ( DeserializingStream & s )

static

Extra doc: https://github.com/casadi/casadi/wiki/L_v1

Definition at line 1941 of file sx_function.cpp.

                                                                {
     return new SXFunction(s);
   }

References SXFunction().

◆ destroySingleton()

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

inlineprotectedinherited

Called in the destructor of singletons

Definition at line 77 of file generic_shared_internal.hpp.

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

◆ diff_prefix()

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

inherited

Definition at line 2127 of file function_internal.cpp.

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

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

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

◆ disp()

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

overridevirtualinherited

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

Implements casadi::SharedObjectInternal.

Definition at line 1046 of file function_internal.cpp.

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

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

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

◆ disp_more()

void casadi::SXFunction::disp_more ( std::ostream & stream ) const

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 202 of file sx_function.cpp.

                                                      {
     stream << "Algorithm:";
  
     // Normal, interpreted output
     for (auto&& a : algorithm_) {
       InterruptHandler::check();
       stream << std::endl;
       stream << print(a);
       stream << ";";
     }
   }

References algorithm_, casadi::InterruptHandler::check(), and print().

◆ dm_in() [1/2]

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

inherited

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

Definition at line 3328 of file function_internal.cpp.

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

References casadi::FunctionInternal::n_in_.

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

◆ dm_in() [2/2]

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

inherited

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

Definition at line 3304 of file function_internal.cpp.

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

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

◆ dm_out() [1/2]

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

inherited

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

Definition at line 3336 of file function_internal.cpp.

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

References casadi::FunctionInternal::n_out_.

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

◆ dm_out() [2/2]

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

inherited

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

Definition at line 3308 of file function_internal.cpp.

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

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

◆ ensure_stacked()

template<typename MatType >

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

staticinherited

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

Definition at line 1880 of file function_internal.hpp.

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

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

◆ eval()

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

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 72 of file sx_function.cpp.

                                                   {
     if (verbose_) casadi_message(name_ + "::eval");
     setup(mem, arg, res, iw, w);
  
     // Make sure no free parameters
     if (!free_vars_.empty()) {
       std::stringstream ss;
       disp(ss, false);
       casadi_error("Cannot evaluate \"" + ss.str() + "\" since variables "
                    + str(free_vars_) + " are free.");
     }
  
     // NOTE: The implementation of this function is very delicate. Small changes in the
     // class structure can cause large performance losses. For this reason,
     // the preprocessor macros are used below
  
     if (print_instructions_) {
       int k = 0;
       // Evaluate the algorithm
       for (auto&& e : algorithm_) {
         print_arg(uout(), k, e, w);
         switch (e.op) {
           CASADI_MATH_FUN_BUILTIN(w[e.i1], w[e.i2], w[e.i0])
  
         case OP_CONST: w[e.i0] = e.d; break;
         case OP_INPUT: w[e.i0] = arg[e.i1]==nullptr ? 0 : arg[e.i1][e.i2]; break;
         case OP_OUTPUT: if (res[e.i0]!=nullptr) res[e.i0][e.i2] = w[e.i1]; break;
         case OP_CALL:
           call_fwd(e, arg, res, iw, w);
         break;
         default:
           casadi_error("Unknown operation" + str(e.op));
         }
         print_res(uout(), k, e, w);
         k++;
       }
     } else {
       // Evaluate the algorithm
       for (auto&& e : algorithm_) {
         switch (e.op) {
           CASADI_MATH_FUN_BUILTIN(w[e.i1], w[e.i2], w[e.i0])
  
         case OP_CONST: w[e.i0] = e.d; break;
         case OP_INPUT: w[e.i0] = arg[e.i1]==nullptr ? 0 : arg[e.i1][e.i2]; break;
         case OP_OUTPUT: if (res[e.i0]!=nullptr) res[e.i0][e.i2] = w[e.i1]; break;
         case OP_CALL:
           call_fwd(e, arg, res, iw, w);
         break;
         default:
           casadi_error("Unknown operation" + str(e.op));
         }
       }
     }
     return 0;
   }

References algorithm_, call_fwd(), casadi::FunctionInternal::disp(), free_vars_, casadi::ProtoFunction::name_, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, print_arg(), print_instructions_, print_res(), casadi::FunctionInternal::setup(), casadi::str(), casadi::uout(), and casadi::ProtoFunction::verbose_.

◆ eval_dm()

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

virtualinherited

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

Reimplemented in casadi::CallbackInternal.

Definition at line 2110 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

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

◆ eval_gen() [1/3]

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

inlineinherited

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

Definition at line 435 of file function_internal.hpp.

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

◆ eval_gen() [2/3]

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

inherited

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

Definition at line 914 of file function_internal.cpp.

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

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

◆ eval_gen() [3/3]

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

inlineinherited

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

Definition at line 431 of file function_internal.hpp.

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

◆ eval_mx()

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

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_2bd

Reimplemented from casadi::FunctionInternal.

Definition at line 1068 of file sx_function.cpp.

                                                                        {
     always_inline = always_inline || always_inline_;
     never_inline = never_inline || never_inline_;
  
     // non-inlining call is implemented in the base-class
     if (!always_inline) {
       return FunctionInternal::eval_mx(arg, res, false, true);
     }
  
     if (verbose_) casadi_message(name_ + "::eval_mx");
  
     // Iterator to stack of constants
     std::vector<SXElem>::const_iterator c_it = constants_.begin();
  
     casadi_assert(!has_free(),
       "Free variables not supported in inlining call to SXFunction::eval_mx");
  
     // Resize the number of outputs
     casadi_assert(arg.size()==n_in_, "Wrong number of input arguments");
     res.resize(out_.size());
  
     // Symbolic work, non-differentiated
     std::vector<MX> w(sz_w());
     if (verbose_) casadi_message("Allocated work vector");
  
     // Split up inputs analogous to symbolic primitives
     std::vector<std::vector<MX> > arg_split(in_.size());
     for (casadi_int i=0; i<in_.size(); ++i) {
       // Get nonzeros of argument
       std::vector<MX> orig = arg[i].get_nonzeros();
  
       // Project to needed sparsity
       std::vector<MX> target(sparsity_in_[i].nnz(), 0);
       std::vector<MX> w(arg[i].size1());
       casadi_project(get_ptr(orig), arg[i].sparsity(),
                      get_ptr(target), sparsity_in_[i], get_ptr(w));
  
       // Store
       arg_split[i] = target;
     }
  
     // Allocate storage for split outputs
     std::vector<std::vector<MX> > res_split(out_.size());
     for (casadi_int i=0; i<out_.size(); ++i) res_split[i].resize(nnz_out(i));
  
     // Evaluate algorithm
     if (verbose_) casadi_message("Evaluating algorithm forward");
     for (auto&& a : algorithm_) {
       switch (a.op) {
       case OP_INPUT:
         w[a.i0] = arg_split[a.i1][a.i2];
         break;
       case OP_OUTPUT:
         res_split[a.i0][a.i2] = w[a.i1];
         break;
       case OP_CONST:
         w[a.i0] = static_cast<double>(*c_it++);
         break;
       case OP_CALL:
         {
           const ExtendedAlgEl& m = call_.el.at(a.i1);
           std::vector<MX> deps(m.n_dep);
           std::vector<MX> args;
  
           casadi_int k = 0;
           // Construct matrix-valued function arguments
           for (casadi_int i=0;i<m.f_n_in;++i) {
             std::vector<MX> arg;
             for (casadi_int j=0;j<m.f_nnz_in[i];++j) {
               arg.push_back(w[m.dep[k++]]);
             }
             args.push_back(sparsity_cast(vertcat(arg), m.f.sparsity_in(i)));
           }
  
  
           std::vector<MX> ret = m.f(args);
           std::vector<MX> res;
  
           // Break apart matriv-valued outputs into scalar components
           for (casadi_int i=0;i<m.f_n_out;++i) {
             std::vector<MX> nz = ret[i].get_nonzeros();
             res.insert(res.end(), nz.begin(), nz.end());
           }
  
           // Store into work vector
           for (casadi_int i=0;i<m.n_res;++i) {
             if (m.res[i]>=0) w[m.res[i]] = res[i];
           }
         }
         break;
       default:
         // Evaluate the function to a temporary value
         // (as it might overwrite the children in the work vector)
         MX f;
         switch (a.op) {
           CASADI_MATH_FUN_BUILTIN(w[a.i1], w[a.i2], f)
         }
  
         // Finally save the function value
         w[a.i0] = f;
       }
     }
  
     // Join split outputs
     for (casadi_int i=0; i<res.size(); ++i) {
       res[i] = sparsity_cast(vertcat(res_split[i]), sparsity_out_[i]);
     }
   }

◆ eval_sx()

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

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 986 of file sx_function.cpp.

                                                  {
  
     always_inline = always_inline || always_inline_;
     never_inline = never_inline || never_inline_;
  
     // non-inlining call is implemented in the base-class
     if (!should_inline(true, always_inline, never_inline)) {
       return FunctionInternal::eval_sx(arg, res, iw, w, mem, false, true);
     }
  
     if (verbose_) casadi_message(name_ + "::eval_sx");
  
     // Iterator to the binary operations
     std::vector<SXElem>::const_iterator b_it=operations_.begin();
  
     // Iterator to stack of constants
     std::vector<SXElem>::const_iterator c_it = constants_.begin();
  
     // Iterator to free variables
     std::vector<SXElem>::const_iterator p_it = free_vars_.begin();
  
     // Evaluate algorithm
     if (verbose_) casadi_message("Evaluating algorithm forward");
     for (auto&& a : algorithm_) {
       switch (a.op) {
       case OP_INPUT:
         w[a.i0] = arg[a.i1]==nullptr ? 0 : arg[a.i1][a.i2];
         break;
       case OP_OUTPUT:
         if (res[a.i0]!=nullptr) res[a.i0][a.i2] = w[a.i1];
         break;
       case OP_CONST:
         w[a.i0] = *c_it++;
         break;
       case OP_PARAMETER:
         w[a.i0] = *p_it++; break;
       case OP_CALL:
         {
           const ExtendedAlgEl& m = call_.el.at(a.i1);
           const SXElem& orig = *b_it++;
           std::vector<SXElem> deps(m.n_dep);
           bool identical = true;
  
           std::vector<SXElem> ret;
           for (casadi_int i=0;i<m.n_dep;++i) {
             identical &= SXElem::is_equal(w[m.dep.at(i)], orig->dep(i), 2);
           }
           if (identical) {
             ret = OutputSX::split(orig, m.n_res);
           } else {
             for (casadi_int i=0;i<m.n_dep;++i) deps[i] = w[m.dep[i]];
             ret = SXElem::call(m.f, deps);
           }
           for (casadi_int i=0;i<m.n_res;++i) {
             if (m.res[i]>=0) w[m.res[i]] = ret[i];
           }
         }
         break;
       default:
         {
           // Evaluate the function to a temporary value
           // (as it might overwrite the children in the work vector)
           SXElem f;
           switch (a.op) {
             CASADI_MATH_FUN_BUILTIN(w[a.i1], w[a.i2], f)
           }
  
           // If this new expression is identical to the expression used
           // to define the algorithm, then reuse
           const casadi_int depth = 2; // NOTE: a higher depth could possibly give more savings
           f.assignIfDuplicate(*b_it++, depth);
  
           // Finally save the function value
           w[a.i0] = f;
         }
       }
     }
     return 0;
   }

References algorithm_, casadi::FunctionInternal::always_inline_, casadi::SXElem::assignIfDuplicate(), casadi::SXElem::call(), call_, constants_, casadi::SXFunction::ExtendedAlgEl::dep, casadi::SXNode::dep(), casadi::SXFunction::CallInfo::el, casadi::FunctionInternal::eval_sx(), casadi::SXFunction::ExtendedAlgEl::f, free_vars_, casadi::SXElem::is_equal(), casadi::SXFunction::ExtendedAlgEl::n_dep, casadi::SXFunction::ExtendedAlgEl::n_res, casadi::ProtoFunction::name_, casadi::FunctionInternal::never_inline_, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, operations_, casadi::SXFunction::ExtendedAlgEl::res, should_inline(), casadi::OutputSX::split(), and casadi::ProtoFunction::verbose_.

◆ export_code()

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::export_code	(	const std::string &	lang,
		std::ostream &	stream,
		const Dict &	options
	)		const

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y1

Reimplemented from casadi::FunctionInternal.

Definition at line 176 of file x_function.hpp.

                                                                                     {
  
     casadi_assert(!has_free(), "export_code needs a Function without free variables");
  
     casadi_assert(lang=="matlab", "Only matlab language supported for now.");
  
     // start function
     stream << "function [varargout] = " << name_ << "(varargin)" << std::endl;
  
     // Allocate space for output argument (segments)
     for (casadi_int i=0;i<n_out_;++i) {
       stream << "  argout_" << i <<  " = cell(" << nnz_out(i) << ",1);" << std::endl;
     }
  
     Dict opts;
     opts["indent_level"] = 1;
     export_code_body(lang, stream, opts);
  
     // Process the outputs
     for (casadi_int i=0;i<n_out_;++i) {
       const Sparsity& out = sparsity_out_.at(i);
       if (out.is_dense()) {
         // Special case if dense
         stream << "  varargout{" << i+1 <<  "} = reshape(vertcat(argout_" << i << "{:}), ";
         stream << out.size1() << ", " << out.size2() << ");" << std::endl;
       } else {
         // For sparse outputs, export sparsity and call 'sparse'
         Dict opts;
         opts["name"] = "sp";
         opts["indent_level"] = 1;
         opts["as_matrix"] = false;
         out.export_code("matlab", stream, opts);
         stream << "  varargout{" << i+1 <<  "} = ";
         stream << "sparse(sp_i, sp_j, vertcat(argout_" << i << "{:}), sp_m, sp_n);" << std::endl;
       }
     }
  
     // end function
     stream << "end" << std::endl;
     stream << "function y=nonzeros_gen(x)" << std::endl;
     stream << "  if isa(x,'casadi.SX') || isa(x,'casadi.MX') || isa(x,'casadi.DM')" << std::endl;
     stream << "    y = x{:};" << std::endl;
     stream << "  elseif isa(x,'sdpvar')" << std::endl;
     stream << "    b = getbase(x);" << std::endl;
     stream << "    f = find(sum(b~=0,2));" << std::endl;
     stream << "    y = sdpvar(length(f),1,[],getvariables(x),b(f,:));" << std::endl;
     stream << "  else" << std::endl;
     stream << "    y = nonzeros(x);" << std::endl;
     stream << "  end" << std::endl;
     stream << "end" << std::endl;
     stream << "function y=if_else_zero_gen(c,e)" << std::endl;
     stream << "  if isa(c+e,'casadi.SX') || isa(c+e,'casadi.MX') "
               "|| isa(c+e,'casadi.DM')" << std::endl;
     stream << "    y = if_else(c, e, 0);" << std::endl;
     stream << "  else" << std::endl;
     stream << "    if c" << std::endl;
     stream << "        y = x;" << std::endl;
     stream << "    else" << std::endl;
     stream << "        y = 0;" << std::endl;
     stream << "    end" << std::endl;
     stream << "  end" << std::endl;
     stream << "end" << std::endl;
  
  
   }

◆ export_code_body()

void casadi::SXFunction::export_code_body	(	const std::string &	lang,
		std::ostream &	stream,
		const Dict &	options
	)		const

overridevirtual

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

Implements casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 1724 of file sx_function.cpp.

                                                  {
  
     // Default values for options
     casadi_int indent_level = 0;
  
     // Read options
     for (auto&& op : options) {
       if (op.first=="indent_level") {
         indent_level = op.second;
       } else {
         casadi_error("Unknown option '" + op.first + "'.");
       }
     }
  
     // Construct indent string
     std::string indent;
     for (casadi_int i=0;i<indent_level;++i) {
       indent += "  ";
     }
  
     // Non-cell aliases for inputs
     for (casadi_int i=0;i<n_in_;++i) {
       ss << indent << "argin_" << i <<  " = nonzeros_gen(varargin{" << i+1 << "});" << std::endl;
     }
  
     Function f = shared_from_this<Function>();
  
     for (casadi_int k=0;k<f.n_instructions();++k) {
       // Get operation
       casadi_int op = static_cast<casadi_int>(f.instruction_id(k));
       // Get input positions into workvector
       std::vector<casadi_int> o = f.instruction_output(k);
       // Get output positions into workvector
       std::vector<casadi_int> i = f.instruction_input(k);
       switch (op) {
         case OP_INPUT:
           {
             ss << indent << "w" << o[0] << " = " << "argin_" << i[0] << "(" << i[1]+1 << ");";
             ss << std::endl;
           }
           break;
         case OP_OUTPUT:
           {
             ss << indent << "argout_" << o[0] << "{" << o[1]+1 << "} = w" << i[0] << ";";
             ss << std::endl;
           }
           break;
         case OP_CONST:
           {
             std::ios_base::fmtflags fmtfl = ss.flags();
             ss << indent << "w" << o[0] << " = ";
             ss << std::scientific << std::setprecision(std::numeric_limits<double>::digits10 + 1);
             ss << f.instruction_constant(k) << ";" << std::endl;
             ss.flags(fmtfl);
           }
           break;
         case OP_SQ:
           {
             ss << indent << "w" << o[0] << " = " << "w" << i[0] << "^2;" << std::endl;
           }
           break;
         case OP_FABS:
           {
             ss << indent << "w" << o[0] << " = abs(" << "w" << i[0] << ");" << std::endl;
           }
           break;
         case OP_POW:
         case OP_CONSTPOW:
           ss << indent << "w" << o[0] << " = " << "w" << i[0] << ".^w" << i[1] << ";" << std::endl;
           break;
         case OP_NOT:
           ss << indent << "w" << o[0] << " = ~" << "w" << i[0] << ";" << std::endl;
           break;
         case OP_OR:
           ss << indent << "w" << o[0] << " = w" << i[0] << " | w" << i[1] << ";" << std::endl;
           break;
         case OP_AND:
           ss << indent << "w" << o[0] << " = w" << i[0] << " & w" << i[1] << ";" << std::endl;
           break;
         case OP_NE:
           ss << indent << "w" << o[0] << " = w" << i[0] << " ~= w" << i[1] << ";" << std::endl;
           break;
         case OP_IF_ELSE_ZERO:
           ss << indent << "w" << o[0] << " = ";
           ss << "if_else_zero_gen(w" << i[0] << ", w" << i[1] << ");" << std::endl;
           break;
         default:
           if (casadi::casadi_math<double>::ndeps(op)==2) {
             ss << indent << "w" << o[0] << " = " << casadi::casadi_math<double>::print(op,
               "w"+std::to_string(i[0]), "w"+std::to_string(i[1])) << ";" << std::endl;
           } else {
             ss << indent << "w" << o[0] << " = " << casadi::casadi_math<double>::print(op,
               "w"+std::to_string(i[0])) << ";" << std::endl;
           }
       }
     }
  
   }

References casadi::Function::instruction_constant(), casadi::Function::instruction_id(), casadi::Function::instruction_input(), casadi::Function::instruction_output(), casadi::FunctionInternal::n_in_, casadi::Function::n_instructions(), casadi::OP_AND, casadi::OP_CONST, casadi::OP_CONSTPOW, casadi::OP_FABS, casadi::OP_IF_ELSE_ZERO, casadi::OP_INPUT, casadi::OP_NE, casadi::OP_NOT, casadi::OP_OR, casadi::OP_OUTPUT, casadi::OP_POW, casadi::OP_SQ, and casadi::casadi_math< T >::print().

◆ factory()

Function casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::factory	(	const std::string &	name,
		const std::vector< std::string > &	s_in,
		const std::vector< std::string > &	s_out,
		const Function::AuxOut &	aux,
		const Dict &	opts
	)		const

overridevirtualinherited

Reimplemented from casadi::FunctionInternal.

Definition at line 108 of file x_function.hpp.

                                   {
  
     Dict g_ops = generate_options("clone");
     Dict f_options;
     f_options["helper_options"] = g_ops;
     f_options["final_options"] = g_ops;
     update_dict(f_options, opts, true);
  
     Dict final_options;
     extract_from_dict_inplace(f_options, "final_options", final_options);
     final_options["allow_duplicate_io_names"] = true;
  
     // Create an expression factory
     Factory<MatType> f;
     for (casadi_int i=0; i<in_.size(); ++i) f.add_input(name_in_[i], in_[i], is_diff_in_[i]);
     for (casadi_int i=0; i<out_.size(); ++i) f.add_output(name_out_[i], out_[i], is_diff_out_[i]);
     f.add_dual(aux);
  
     // Specify input expressions to be calculated
     std::vector<std::string> ret_iname;
     for (const std::string& s : s_in) {
       try {
         ret_iname.push_back(f.request_input(s));
       } catch (CasadiException& ex) {
         casadi_error("Cannot process factory input \"" + s + "\":" + ex.what());
       }
     }
  
     // Specify output expressions to be calculated
     std::vector<std::string> ret_oname;
     for (const std::string& s : s_out) {
       try {
         ret_oname.push_back(f.request_output(s));
       } catch (CasadiException& ex) {
         casadi_error("Cannot process factory output \"" + s + "\":" + ex.what());
       }
     }
  
     // Calculate expressions
     f.calculate(f_options);
  
     // Get input expressions
     std::vector<MatType> ret_in;
     ret_in.reserve(s_in.size());
     for (const std::string& s : s_in) ret_in.push_back(f.get_input(s));
  
     // Get output expressions
     std::vector<MatType> ret_out;
     ret_out.reserve(s_out.size());
     for (const std::string& s : s_out) ret_out.push_back(f.get_output(s));
  
     // Create function and return
     Dict final_options_allow_free = final_options;
     final_options_allow_free["allow_free"] = true;
     final_options_allow_free["allow_duplicate_io_names"] = true;
     Function ret(name, ret_in, ret_out, ret_iname, ret_oname, final_options_allow_free);
     if (ret.has_free()) {
       // Substitute free variables with zeros
       // We assume that the free variables are caused by false positive dependencies
       std::vector<MatType> free_in = MatType::get_free(ret);
       std::vector<MatType> free_sub = free_in;
       for (auto&& e : free_sub) e = MatType::zeros(e.sparsity());
       ret_out = substitute(ret_out, free_in, free_sub);
       ret = Function(name, ret_in, ret_out, ret_iname, ret_oname, final_options);
     }
     return ret;
   }

◆ finalize()

void casadi::FunctionInternal::finalize ( )

overridevirtualinherited

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

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::OracleFunction.

Definition at line 704 of file function_internal.cpp.

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

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

◆ find()

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

overridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 1945 of file sx_function.cpp.

                                   {
     for (auto&& e : algorithm_) {
       if (e.op == OP_CALL) {
         const ExtendedAlgEl& m = call_.el.at(e.i1);
         add_embedded(all_fun, m.f, max_depth);
       }
     }
   }

References casadi::FunctionInternal::add_embedded(), algorithm_, call_, casadi::SXFunction::CallInfo::el, casadi::SXFunction::ExtendedAlgEl::f, and casadi::OP_CALL.

◆ format_time()

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

inherited

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

Definition at line 3856 of file function_internal.cpp.

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

References casadi::ProtoFunction::sprint().

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

◆ forward()

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

inherited

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

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

Definition at line 2163 of file function_internal.cpp.

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

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

◆ forward_name()

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

inlinestaticinherited

Definition at line 638 of file function_internal.hpp.

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

References casadi::str().

◆ free_mem()

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

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2d3

Reimplemented from casadi::ProtoFunction.

Definition at line 345 of file function_internal.hpp.

345 { delete static_cast<FunctionMemory*>(mem); }

◆ free_mx()

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

virtualinherited

Reimplemented in casadi::MXFunction.

Definition at line 3377 of file function_internal.cpp.

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

◆ free_sx()

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

inlineoverridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 149 of file sx_function.hpp.

                                          {
     std::vector<SX> ret(free_vars_.size());
     std::copy(free_vars_.begin(), free_vars_.end(), ret.begin());
     return ret;
   }

◆ from_compact()

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

inherited

Definition at line 1928 of file function_internal.cpp.

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

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

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

◆ fwd_seed()

template<typename MatType >

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

inherited

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

Definition at line 1519 of file function_internal.hpp.

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

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

◆ fwdViaJac()

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

virtualinherited

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

Definition at line 2993 of file function_internal.cpp.

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

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

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

◆ generate_dependencies()

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

virtualinherited

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

Reimplemented in casadi::OracleFunction.

Definition at line 2833 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

◆ generate_in()

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

inherited

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

Definition at line 749 of file function_internal.cpp.

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

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

◆ generate_lifted()

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

virtualinherited

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

Reimplemented in casadi::MXFunction.

Definition at line 3385 of file function_internal.cpp.

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

◆ generate_options()

Dict casadi::SXFunction::generate_options ( const std::string & target = "clone" ) const

overridevirtual

Reimplemented from casadi::FunctionInternal.

Definition at line 466 of file sx_function.cpp.

                                                                  {
     Dict opts = FunctionInternal::generate_options(target);
     //opts["default_in"] = default_in_;
     opts["live_variables"] = live_variables_;
     opts["just_in_time_sparsity"] = just_in_time_sparsity_;
     opts["just_in_time_opencl"] = just_in_time_opencl_;
     return opts;
   }

References casadi::FunctionInternal::generate_options(), just_in_time_opencl_, just_in_time_sparsity_, and live_variables_.

◆ generate_out()

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

inherited

Definition at line 765 of file function_internal.cpp.

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

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

◆ get_abstol()

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

inlinevirtualinherited

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

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

Definition at line 1099 of file function_internal.hpp.

                                       {
       return eps;
     }

References casadi::eps.

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

◆ get_default_in()

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

inlineoverridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v9

Reimplemented from casadi::FunctionInternal.

Definition at line 370 of file sx_function.hpp.

370 { return default_in_.at(ind);}

◆ get_diff_in()

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

inlinevirtualinherited

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

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

Definition at line 1116 of file function_internal.hpp.

1116 { return true; }

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

◆ get_diff_out()

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

inlinevirtualinherited

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

Reimplemented in casadi::GenericExternal.

Definition at line 1121 of file function_internal.hpp.

1121 { return true; }

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

◆ get_forward()

Function casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_forward	(	casadi_int	nfwd,
		const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

overridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 129 of file x_function.hpp.

                                         {
     try {
       // Seeds
       std::vector<std::vector<MatType> > fseed = fwd_seed<MatType>(nfwd), fsens;
  
       // Evaluate symbolically
       static_cast<const DerivedType*>(this)->ad_forward(fseed, fsens);
       casadi_assert_dev(fsens.size()==fseed.size());
  
       // All inputs of the return function
       std::vector<MatType> ret_in(inames.size());
       std::copy(in_.begin(), in_.end(), ret_in.begin());
       for (casadi_int i=0; i<n_out_; ++i) {
         ret_in.at(n_in_+i) = MatType::sym(inames[n_in_+i], Sparsity(out_.at(i).size()));
       }
       std::vector<MatType> v(nfwd);
       for (casadi_int i=0; i<n_in_; ++i) {
         for (casadi_int d=0; d<nfwd; ++d) v[d] = fseed[d][i];
         ret_in.at(n_in_ + n_out_ + i) = horzcat(v);
       }
  
       // All outputs of the return function
       std::vector<MatType> ret_out(onames.size());
       for (casadi_int i=0; i<n_out_; ++i) {
         if (is_diff_out_[i]) {
           // Concatenate sensitivities, correct sparsity pattern if needed
           for (casadi_int d=0; d<nfwd; ++d) v[d] = fsens[d][i];
           ret_out.at(i) = ensure_stacked(horzcat(v), sparsity_out(i), nfwd);
         } else {
           // Output is non-differentable
           ret_out.at(i) = MatType(size1_out(i), size2_out(i) * nfwd);
         }
       }
  
       Dict options = opts;
       if (opts.find("is_diff_in")==opts.end())
         options["is_diff_in"] = join(is_diff_in_, is_diff_out_, is_diff_in_);
       if (opts.find("is_diff_out")==opts.end())
         options["is_diff_out"] = is_diff_out_;
       options["allow_duplicate_io_names"] = true;
       // Assemble function and return
       return Function(name, ret_in, ret_out, inames, onames, options);
     } catch (std::exception& e) {
       CASADI_THROW_ERROR("get_forward", e.what());
     }
   }

◆ get_free()

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

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 163 of file sx_function.hpp.

                                                  {
     std::vector<std::string> ret;
     for (auto&& e : free_vars_) ret.push_back(e.name());
     return ret;
   }

Referenced by init().

◆ get_function() [1/2]

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

virtualinherited

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

Definition at line 3706 of file function_internal.cpp.

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

◆ get_function() [2/2]

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

virtualinherited

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

Definition at line 3711 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

◆ get_jac_sparsity()

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

virtualinherited

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

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

Definition at line 1871 of file function_internal.cpp.

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

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

◆ get_jac_sparsity_gen()

template<bool fwd>

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

inherited

Definition at line 1216 of file function_internal.cpp.

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

◆ get_jac_sparsity_hierarchical()

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

inherited

Decide which ad_mode to take

Definition at line 1556 of file function_internal.cpp.

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

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

◆ get_jac_sparsity_hierarchical_symm()

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

inherited

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

Definition at line 1321 of file function_internal.cpp.

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

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

◆ get_jacobian()

Function casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_jacobian	(	const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

overridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 151 of file x_function.hpp.

                                          {
     try {
       Dict tmp_options = generate_options("tmp");
       tmp_options["allow_free"] = true;
       tmp_options["allow_duplicate_io_names"] = true;
       // Temporary single-input, single-output function FIXME(@jaeandersson)
       Function tmp("flattened_" + name, {veccat(in_)}, {veccat(out_)}, tmp_options);
  
       // Expression for the extended Jacobian
       MatType J = tmp.get<DerivedType>()->jac(Dict()).at(0);
  
       // Split up extended Jacobian
       std::vector<casadi_int> r_offset = {0}, c_offset = {0};
       for (auto& e : out_) r_offset.push_back(r_offset.back() + e.numel());
       for (auto& e : in_) c_offset.push_back(c_offset.back() + e.numel());
       auto Jblocks = MatType::blocksplit(J, r_offset, c_offset);
  
       // Collect all outputs
       std::vector<MatType> ret_out;
       ret_out.reserve(onames.size());
       for (casadi_int i = 0; i < n_out_; ++i) {
         for (casadi_int j = 0; j < n_in_; ++j) {
           MatType b = Jblocks.at(i).at(j);
           if (!is_diff_out_.at(i) || !is_diff_in_.at(j)) {
             b = MatType(b.size());
           }
           ret_out.push_back(b);
         }
       }
  
       // All inputs of the return function
       std::vector<MatType> ret_in(inames.size());
       std::copy(in_.begin(), in_.end(), ret_in.begin());
       for (casadi_int i=0; i<n_out_; ++i) {
         ret_in.at(n_in_+i) = MatType::sym(inames[n_in_+i], Sparsity(out_.at(i).size()));
       }
  
       Dict options = opts;
       options["allow_free"] = true;
       options["allow_duplicate_io_names"] = true;
  
       // Assemble function and return
       return Function(name, ret_in, ret_out, inames, onames, options);
     } catch (std::exception& e) {
       CASADI_THROW_ERROR("get_jacobian", e.what());
     }
   }

◆ get_max_in()

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

inlinevirtualinherited

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

Definition at line 1070 of file function_internal.hpp.

                                                     {
       return inf;
     }

References casadi::inf.

◆ get_min_in()

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

inlinevirtualinherited

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

Definition at line 1077 of file function_internal.hpp.

                                                     {
       return -inf;
     }

References casadi::inf.

◆ get_n_in()

size_t casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_n_in ( )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y7

Reimplemented from casadi::FunctionInternal.

Definition at line 220 of file x_function.hpp.

220 { return in_.size(); }

◆ get_n_out()

size_t casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_n_out ( )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y7

Reimplemented from casadi::FunctionInternal.

Definition at line 221 of file x_function.hpp.

221 { return out_.size(); }

◆ get_name_in()

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

virtualinherited

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

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

Definition at line 667 of file function_internal.cpp.

                                                       {
     if (!derivative_of_.is_null()) {
       std::string n = derivative_of_.name();
       if (name_ == "jac_" + n || name_ == "adj1_" + n) {
         if (i < derivative_of_.n_in()) {
           // Same as nondifferentiated function
           return derivative_of_.name_in(i);
         } else if (i < derivative_of_.n_in() + derivative_of_.n_out()) {
           // Nondifferentiated output
           return "out_" + derivative_of_.name_out(i - derivative_of_.n_in());
         } else {
           // Adjoint seed
           return "adj_" + derivative_of_.name_out(i - derivative_of_.n_in()
             - derivative_of_.n_out());
         }
       }
     }
     // Default name
     return "i" + str(i);
   }

References casadi::FunctionInternal::derivative_of_, casadi::GenericShared< Shared, Internal >::is_null(), casadi::Function::n_in(), casadi::Function::n_out(), casadi::Function::name(), casadi::ProtoFunction::name_, casadi::Function::name_in(), casadi::Function::name_out(), and casadi::str().

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

◆ get_name_out()

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

virtualinherited

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

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

Definition at line 688 of file function_internal.cpp.

                                                        {
     if (!derivative_of_.is_null()) {
       std::string n = derivative_of_.name();
       if (name_ == "jac_" + n) {
         // Jacobian block
         casadi_int oind = i / derivative_of_.n_in(), iind = i % derivative_of_.n_in();
         return "jac_" + derivative_of_.name_out(oind) + "_" + derivative_of_.name_in(iind);
       } else if (name_ == "adj1_" + n) {
         // Adjoint sensitivity
         return "adj_" + derivative_of_.name_in(i);
       }
     }
     // Default name
     return "o" + str(i);
   }

References casadi::FunctionInternal::derivative_of_, casadi::GenericShared< Shared, Internal >::is_null(), casadi::Function::n_in(), casadi::Function::name(), casadi::ProtoFunction::name_, casadi::Function::name_in(), casadi::Function::name_out(), and casadi::str().

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

◆ get_nominal_in()

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

inlinevirtualinherited

Reimplemented in casadi::FmuFunction.

Definition at line 1081 of file function_internal.hpp.

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

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

◆ get_nominal_out()

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

inlinevirtualinherited

Reimplemented in casadi::FmuFunction.

Definition at line 1085 of file function_internal.hpp.

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

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

◆ get_options()

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

inlineoverridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v2

Reimplemented from casadi::FunctionInternal.

Definition at line 317 of file sx_function.hpp.

317 { return options_;}

casadi::SXFunction::options_

static const Options options_

Options.

Definition: sx_function.hpp:316

◆ get_partition()

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

inherited

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

Definition at line 2011 of file function_internal.cpp.

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

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

◆ get_reltol()

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

inlinevirtualinherited

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

Reimplemented in casadi::SundialsInterface.

Definition at line 1092 of file function_internal.hpp.

                                       {
       return eps;
     }

References casadi::eps.

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

◆ get_reverse()

Function casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_reverse	(	casadi_int	nadj,
		const std::string &	name,
		const std::vector< std::string > &	inames,
		const std::vector< std::string > &	onames,
		const Dict &	opts
	)		const

overridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 140 of file x_function.hpp.

                                         {
     try {
       // Seeds
       std::vector<std::vector<MatType> > aseed = symbolicAdjSeed(nadj, out_), asens;
  
       // Evaluate symbolically
       static_cast<const DerivedType*>(this)->ad_reverse(aseed, asens);
  
       // All inputs of the return function
       std::vector<MatType> ret_in(inames.size());
       std::copy(in_.begin(), in_.end(), ret_in.begin());
       for (casadi_int i=0; i<n_out_; ++i) {
         ret_in.at(n_in_ + i) = MatType::sym(inames[n_in_+i], Sparsity(out_.at(i).size()));
       }
       std::vector<MatType> v(nadj);
       for (casadi_int i=0; i<n_out_; ++i) {
         for (casadi_int d=0; d<nadj; ++d) v[d] = aseed[d][i];
         ret_in.at(n_in_ + n_out_ + i)  = horzcat(v);
       }
  
       // All outputs of the return function
       std::vector<MatType> ret_out(onames.size());
       for (casadi_int i=0; i<n_in_; ++i) {
         if (is_diff_in_[i]) {
           // Concatenate sensitivities, correct sparsity pattern if needed
           for (casadi_int d=0; d<nadj; ++d) v[d] = asens[d][i];
           ret_out.at(i) = ensure_stacked(horzcat(v), sparsity_in(i), nadj);
         } else {
           // Input is non-differentable
           ret_out.at(i) = MatType(size1_in(i), size2_in(i) * nadj);
         }
       }
  
       Dict options = opts;
       if (opts.find("is_diff_in")==opts.end())
         options["is_diff_in"] = join(is_diff_in_, is_diff_out_, is_diff_out_);
       if (opts.find("is_diff_out")==opts.end())
         options["is_diff_out"] = is_diff_in_;
  
       options["allow_duplicate_io_names"] = true;
       // Assemble function and return
       return Function(name, ret_in, ret_out, inames, onames, options);
     } catch (std::exception& e) {
       CASADI_THROW_ERROR("get_reverse", e.what());
     }
   }

◆ get_sparsity_in()

Sparsity casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_sparsity_in ( casadi_int i )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y8

Reimplemented from casadi::FunctionInternal.

Definition at line 228 of file x_function.hpp.

228 { return in_.at(i).sparsity();}

◆ get_sparsity_out()

Sparsity casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::get_sparsity_out ( casadi_int i )

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y8

Reimplemented from casadi::FunctionInternal.

Definition at line 229 of file x_function.hpp.

229 { return out_.at(i).sparsity();}

◆ get_stats()

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

overridevirtualinherited

Reimplemented from casadi::ProtoFunction.

Definition at line 2980 of file function_internal.cpp.

                                                   {
     Dict stats = ProtoFunction::get_stats(mem);
     auto m = static_cast<FunctionMemory*>(mem);
     casadi_assert(m->stats_available,
       "No stats available: Function '" + name_ + "' not set up. "
       "To get statistics, first evaluate it numerically.");
     return stats;
   }

References casadi::ProtoFunction::get_stats(), and casadi::ProtoFunction::name_.

Referenced by casadi::Conic::get_stats(), casadi::FmuFunction::get_stats(), casadi::MXFunction::get_stats(), casadi::OracleFunction::get_stats(), and casadi::QpToNlp::get_stats().

◆ getAdaptorSolverName()

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

inlinevirtualinherited

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

Definition at line 304 of file function_internal.hpp.

304 { return ""; }

◆ getCount()

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

inherited

Definition at line 60 of file generic_shared_internal.hpp.

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

◆ has_codegen()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_codegen ( ) const

inlineoverridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y3

Reimplemented from casadi::FunctionInternal.

Definition at line 188 of file x_function.hpp.

188 { return true;}

◆ has_derivative()

bool casadi::FunctionInternal::has_derivative ( ) const

inherited

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

Definition at line 2989 of file function_internal.cpp.

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

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

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

◆ has_eval_dm()

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

inlinevirtualinherited

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

Reimplemented in casadi::CallbackInternal.

Definition at line 424 of file function_internal.hpp.

424 { return false;}

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

◆ has_forward()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_forward ( casadi_int nfwd ) const

inlineoverridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 128 of file x_function.hpp.

128 { return true;}

◆ has_free()

bool casadi::SXFunction::has_free ( ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 158 of file sx_function.hpp.

158 { return !free_vars_.empty();}

Referenced by eval_mx(), init(), and should_inline().

◆ has_function()

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

inlinevirtualinherited

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

Definition at line 369 of file function_internal.hpp.

369 {return false;}

◆ has_jac_sparsity()

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

inlinevirtualinherited

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

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

Definition at line 633 of file function_internal.hpp.

633 { return false;}

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

◆ has_jacobian()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_jacobian ( ) const

inlineoverridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 150 of file x_function.hpp.

150 { return true;}

◆ has_memory()

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

inherited

Definition at line 3665 of file function_internal.cpp.

                                               {
     return ind<mem_.size();
   }

◆ has_option()

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

inherited

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

Definition at line 1004 of file function_internal.cpp.

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

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

◆ has_reverse()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_reverse ( casadi_int nadj ) const

inlineoverridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 139 of file x_function.hpp.

139 { return true;}

◆ has_spfwd()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_spfwd ( ) const

inlineoverridevirtualinherited

Is the class able to propagate seeds through the algorithm?

Reimplemented from casadi::FunctionInternal.

Definition at line 82 of file x_function.hpp.

82 { return true;}

◆ has_sprev()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::has_sprev ( ) const

inlineoverridevirtualinherited

Is the class able to propagate seeds through the algorithm?

Reimplemented from casadi::FunctionInternal.

Definition at line 83 of file x_function.hpp.

83 { return true;}

◆ hess()

SX casadi::SXFunction::hess	(	casadi_int	iind = `0`,
		casadi_int	oind = `0`
	)

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

◆ incache()

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

inherited

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

Definition at line 1078 of file function_internal.cpp.

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

References casadi::FunctionInternal::cache_.

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

◆ index_in()

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

inlineinherited

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

Definition at line 1126 of file function_internal.hpp.

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

References casadi::str().

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

◆ index_out()

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

inlineinherited

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

Definition at line 1138 of file function_internal.hpp.

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

References casadi::str().

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

◆ info()

Dict casadi::FunctionInternal::info ( ) const

virtualinherited

Obtain information about function

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

Definition at line 3025 of file function_internal.cpp.

                                     {
     return Dict();
   }

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

◆ init()

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

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v3

Reimplemented from casadi::FunctionInternal.

Definition at line 475 of file sx_function.cpp.

                                         {
     // Call the init function of the base class
     XFunction<SXFunction, SX, SXNode>::init(opts);
     if (verbose_) casadi_message(name_ + "::init");
  
     // Default (temporary) options
     live_variables_ = true;
  
     bool cse_opt = false;
     bool allow_free = false;
  
     // Read options
     for (auto&& op : opts) {
       if (op.first=="default_in") {
         default_in_ = op.second;
       } else if (op.first=="live_variables") {
         live_variables_ = op.second;
       } else if (op.first=="just_in_time_opencl") {
         just_in_time_opencl_ = op.second;
       } else if (op.first=="just_in_time_sparsity") {
         just_in_time_sparsity_ = op.second;
       } else if (op.first=="cse") {
         cse_opt = op.second;
       } else if (op.first=="allow_free") {
         allow_free = op.second;
       } else if (op.first=="print_instructions") {
         print_instructions_ = op.second;
       }
     }
  
     // Perform common subexpression elimination
     // This must be done before the lock, to avoid deadlocks
     if (cse_opt) out_ = cse(out_);
  
     // Check/set default inputs
     if (default_in_.empty()) {
       default_in_.resize(n_in_, 0);
     } else {
       casadi_assert(default_in_.size()==n_in_,
                             "Option 'default_in' has incorrect length");
     }
  
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     std::lock_guard<std::mutex> lock(SX::get_mutex_temp());
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
  
     // Stack used to sort the computational graph
     std::stack<SXNode*> s;
  
     // All nodes
     std::vector<SXNode*> nodes;
  
     // Add the list of nodes
     casadi_int ind=0;
     for (auto it = out_.begin(); it != out_.end(); ++it, ++ind) {
       casadi_int nz=0;
       for (auto itc = (*it)->begin(); itc != (*it)->end(); ++itc, ++nz) {
         // Add outputs to the list
         s.push(itc->get());
         sort_depth_first(s, nodes);
  
         // A null pointer means an output instruction
         nodes.push_back(static_cast<SXNode*>(nullptr));
       }
     }
  
     casadi_assert(nodes.size() <= std::numeric_limits<int>::max(), "Integer overflow");
     // Set the temporary variables to be the corresponding place in the sorted graph
     for (casadi_int i=0; i<nodes.size(); ++i) {
       if (nodes[i]) {
         nodes[i]->temp = static_cast<int>(i);
       }
     }
  
     // Sort the nodes by type
     constants_.clear();
     operations_.clear();
     for (std::vector<SXNode*>::iterator it = nodes.begin(); it != nodes.end(); ++it) {
       SXNode* t = *it;
       if (t) {
         if (t->is_constant())
           constants_.push_back(SXElem::create(t));
         else if (!t->is_symbolic() && t->op()>=0)
           operations_.push_back(SXElem::create(t));
       }
     }
  
     // Input instructions
     std::vector<std::pair<int, SXNode*> > symb_loc;
  
     // Current output and nonzero, start with the first one
     int curr_oind, curr_nz=0;
     casadi_assert(out_.size() <= std::numeric_limits<int>::max(), "Integer overflow");
     for (curr_oind=0; curr_oind<out_.size(); ++curr_oind) {
       if (out_[curr_oind].nnz()!=0) {
         break;
       }
     }
  
     // Count the number of times each node is used
     std::vector<casadi_int> refcount(nodes.size(), 0);
  
     // Get the sequence of instructions for the virtual machine
     algorithm_.resize(0);
     algorithm_.reserve(nodes.size());
  
     // Mapping of node index (cfr. temp) to algorithm index
     std::vector<int> alg_index;
     alg_index.reserve(nodes.size());
  
     for (std::vector<SXNode*>::iterator it=nodes.begin(); it!=nodes.end(); ++it) {
       // Current node
       SXNode* n = *it;
  
       // New element in the algorithm
       AlgEl ae;
  
       // Get operation
       ae.op = n==nullptr ? static_cast<int>(OP_OUTPUT) : static_cast<int>(n->op());
  
       // Default dependencies
       int* dep = &ae.i1;
       casadi_int ndeps = ae.op == -1 ? 1 : casadi_math<double>::ndeps(ae.op);
  
       // Get instruction
       switch (ae.op) {
       case OP_CONST: // constant
         ae.d = n->to_double();
         ae.i0 = n->temp;
         break;
       case OP_PARAMETER: // a parameter or input
         symb_loc.push_back(std::make_pair(algorithm_.size(), n));
         ae.i0 = n->temp;
         ae.d = 0; // value not used, but set here to avoid uninitialized data in serialization
         break;
       case OP_OUTPUT: // output instruction
         ae.i0 = curr_oind;
         ae.i1 = out_[curr_oind]->at(curr_nz)->temp;
         ae.i2 = curr_nz;
  
         // Go to the next nonzero
         casadi_assert(curr_nz < std::numeric_limits<int>::max(), "Integer overflow");
         curr_nz++;
         if (curr_nz>=out_[curr_oind].nnz()) {
           curr_nz=0;
           casadi_assert(curr_oind < std::numeric_limits<int>::max(), "Integer overflow");
           curr_oind++;
           for (; curr_oind<out_.size(); ++curr_oind) {
             if (out_[curr_oind].nnz()!=0) {
               break;
             }
           }
         }
         break;
       case OP_CALL: // Call node
         {
           ae.i0 = n->temp;
  
           // Index into ExtentedAlgEl collection
           ae.i1 = call_.el.size();
  
           // Create ExtentedAlgEl instance
           // This allocates space for dep and res
           const Function& f = static_cast<const CallSX*>(n)->f_;
           call_.el.emplace_back(f);
  
           // Make sure we have enough space to evaluate the Function call,
           // noting that we wil only ever evaluate one call at a time.
           call_.sz_arg = std::max(call_.sz_arg, f.sz_arg());
           call_.sz_res = std::max(call_.sz_res, f.sz_res());
           call_.sz_iw  = std::max(call_.sz_iw, f.sz_iw());
           call_.sz_w   = std::max(call_.sz_w, f.sz_w());
           call_.sz_w_arg   = std::max(call_.sz_w_arg, static_cast<size_t>(f.nnz_in()));
           call_.sz_w_res   = std::max(call_.sz_w_res,  static_cast<size_t>(f.nnz_out()));
  
           // Set the dependency pointer to the (uninitialised) slots of the ExtendedAlgEl
           ExtendedAlgEl& m = call_.el.at(ae.i1);
           dep = get_ptr(m.dep);
           ndeps = m.n_dep;
  
           // Populate the dependency slots with node ids.
           for (casadi_int i=0; i<ndeps; ++i) {
             dep[i] = n->dep(i).get()->temp;
           }
         }
         break;
       case -1: // Output extraction node
         {
           dep = &algorithm_.at(alg_index.at(n->dep(0).get()->temp)).i1;
           int oind = static_cast<OutputSX*>(n)->oind_;
           casadi_assert(call_.el.at(dep[0]).res.at(oind)==-1, "Duplicate");
           call_.el.at(dep[0]).res.at(oind) = n->temp;
         }
         break;
       default:       // Unary or binary operation
         ae.i0 = n->temp;
         ae.i1 = n->dep(0).get()->temp;
         ae.i2 = n->dep(1).get()->temp;
       }
  
       // Increase count of dependencies
       for (casadi_int c=0; c<ndeps; ++c) {
         refcount.at(dep[c])++;
       }
  
       // Amend node index to algorithm index mapping
       alg_index.push_back(algorithm_.size());
  
       // Add to algorithm
       if (ae.op>=0) algorithm_.push_back(ae);
  
     }
  
     // Place in the work vector for each of the nodes in the tree (overwrites the reference counter)
     std::vector<int> place(nodes.size());
  
     // Stack with unused elements in the work vector
     std::stack<int> unused;
  
     // Work vector size
     int worksize = 0;
  
     // Find a place in the work vector for the operation
     for (auto&& a : algorithm_) {
  
       // Default dependencies
       int* dep = &a.i1;
       casadi_int ndeps = casadi_math<double>::ndeps(a.op);
  
       // Default outputs
       int* res = &a.i0;
       casadi_int nres = 1;
  
       // Call node overrides these defaults
       if (a.op==OP_CALL) {
         ExtendedAlgEl& e = call_.el.at(a.i1);
         ndeps = e.n_dep;
         dep = get_ptr(e.dep);
         nres = e.n_res;
         res = get_ptr(e.res);
       }
  
       // decrease reference count of children
       // reverse order so that the first argument will end up at the top of the stack
       for (casadi_int c=ndeps-1; c>=0; --c) {
         casadi_int ch_ind = dep[c];
         casadi_int remaining = --refcount.at(ch_ind);
         if (remaining==0) unused.push(place[ch_ind]);
       }
  
       // Find a place to store the variable
       if (a.op!=OP_OUTPUT) {
         for (casadi_int c=0; c<nres; ++c) {
           if (res[c]<0) continue;
           if (live_variables_ && !unused.empty()) {
             // Try to reuse a variable from the stack if possible (last in, first out)
             res[c] = place[res[c]] = unused.top();
             unused.pop();
           } else {
             // Allocate a new variable
             res[c] = place[res[c]] = worksize++;
           }
         }
       }
  
       // Save the location of the children
       for (casadi_int c=0; c<ndeps; ++c) {
         dep[c] = place[dep[c]];
       }
  
       // If binary, make sure that the second argument is the same as the first one
       // (in order to treat all operations as binary) NOTE: ugly
       if (ndeps==1 && a.op!=OP_OUTPUT) {
         a.i2 = a.i1;
       }
     }
  
     worksize_ = worksize;
  
     if (verbose_) {
       if (live_variables_) {
         casadi_message("Using live variables: work array is " + str(worksize_)
          + " instead of " + str(nodes.size()));
       } else {
         casadi_message("Live variables disabled.");
       }
     }
  
     // Allocate work vectors (symbolic/numeric)
     alloc_w(worksize_);
  
     alloc_arg(call_.sz_arg, true);
     alloc_res(call_.sz_res, true);
     alloc_iw(call_.sz_iw, true);
     alloc_w(call_.sz_w+call_.sz_w_arg+call_.sz_w_res, true);
  
     // Reset the temporary variables
     for (casadi_int i=0; i<nodes.size(); ++i) {
       if (nodes[i]) {
         nodes[i]->temp = 0;
       }
     }
  
     // Now mark each input's place in the algorithm
     for (auto it=symb_loc.begin(); it!=symb_loc.end(); ++it) {
       it->second->temp = it->first+1;
     }
  
     // Add input instructions
     casadi_assert(in_.size() <= std::numeric_limits<int>::max(), "Integer overflow");
     for (int ind=0; ind<in_.size(); ++ind) {
       int nz=0;
       for (auto itc = in_[ind]->begin(); itc != in_[ind]->end(); ++itc, ++nz) {
         int i = itc->get_temp()-1;
         if (i>=0) {
           // Mark as input
           algorithm_[i].op = OP_INPUT;
  
           // Location of the input
           algorithm_[i].i1 = ind;
           algorithm_[i].i2 = nz;
  
           // Mark input as read
           itc->set_temp(0);
         }
       }
     }
  
     // Locate free variables
     free_vars_.clear();
     for (std::vector<std::pair<int, SXNode*> >::const_iterator it=symb_loc.begin();
          it!=symb_loc.end(); ++it) {
       if (it->second->temp!=0) {
         // Store the index into free_vars
         algorithm_[it->first].i1 = free_vars_.size();
  
         // Save to list of free parameters
         free_vars_.push_back(SXElem::create(it->second));
  
         // Remove marker
         it->second->temp=0;
       }
     }
  
     if (!allow_free && has_free()) {
       casadi_error(name_ + "::init: Initialization failed since variables [" +
       join(get_free(), ", ") + "] are free. These symbols occur in the output expressions "
       "but you forgot to declare these as inputs. "
       "Set option 'allow_free' to allow free variables.");
     }
  
     init_copy_elision();
  
     // Initialize just-in-time compilation for numeric evaluation using OpenCL
     if (just_in_time_opencl_) {
       casadi_error("OpenCL is not supported in this version of CasADi");
     }
  
     // Initialize just-in-time compilation for sparsity propagation using OpenCL
     if (just_in_time_sparsity_) {
       casadi_error("OpenCL is not supported in this version of CasADi");
     }
  
     // Print
     if (verbose_) casadi_message(str(algorithm_.size()) + " elementary operations");
   }

◆ init_copy_elision()

void casadi::SXFunction::init_copy_elision ( )

Extra doc: https://github.com/casadi/casadi/wiki/L_29h

Definition at line 842 of file sx_function.cpp.

                                      {
     if (GlobalOptions::copy_elision_min_size==-1) {
       copy_elision_.resize(algorithm_.size(), false);
       return;
     }
     // Perform copy elision (codegen-only)
     // Remove nodes that only serve to compose CALL inputs
  
     // For work vector elements, store the arg source (-1 for no trivial source)
     std::vector<int> arg_i(worksize_, -1);
     std::vector<int> nz_i(worksize_, -1);
  
     // Which algel corresponds to this source?
     std::vector<casadi_int> alg_i(worksize_, -1);
  
     // Is this algel to be elided?
     copy_elision_.resize(algorithm_.size(), false);
  
     casadi_int k=0;
     for (auto&& e : algorithm_) {
       switch (e.op) {
       case OP_INPUT:
         // Make source association
         arg_i[e.i0] = e.i1;
         nz_i[e.i0] = e.i2;
         alg_i[e.i0] = k;
         copy_elision_[k] = true;
         break;
       case OP_OUTPUT:
         if (arg_i[e.i1]>=0) {
           copy_elision_[alg_i[e.i1]] = false;
         }
         break;
       case OP_CALL:
         {
           auto& m = call_.el[e.i1];
  
           // Inspect input arguments
           casadi_int offset_input = 0;
           for (casadi_int i=0; i<m.f_n_in; ++i) {
             // Pattern match results
             casadi_int arg = -1;
             casadi_int offset = -1;
             for (casadi_int j=0; j<m.f_nnz_in[i]; ++j) {
               casadi_int k = offset_input+j;
               if (j==0) {
                 arg = arg_i[m.dep[k]];
                 offset = nz_i[m.dep[k]];
               }
               if (arg_i[m.dep[k]]==-1) {
                 arg = -1;
                 // Pattern match failed
                 break;
               }
               if (nz_i[m.dep[k]]!=offset+j) {
                 arg = -1;
                 // Pattern match failed
                 break;
               }
             }
  
             // If we cannot perform elision
             if (arg==-1) {
               // We need copies for all nonzeros of input i
               for (casadi_int j=0; j<m.f_nnz_in[i]; ++j) {
                 casadi_int k = offset_input+j;
                 if (arg_i[m.dep[k]]>=0) {
                   copy_elision_[alg_i[m.dep[k]]] = false;
                 }
               }
             }
             // Store pattern match results
             m.copy_elision_arg[i] = arg;
             m.copy_elision_offset[i] = offset;
  
             offset += m.f_nnz_in[i];
             offset_input += m.f_nnz_in[i];
           }
  
           // Remove source association of all outputs
           for (casadi_int i=0; i<m.n_res; ++i) {
             if (m.res[i]>=0) {
               arg_i[m.res[i]] = -1;
             }
           }
         }
         break;
       case OP_CONST:
       case OP_PARAMETER:
         // Remove source association
         arg_i[e.i0] = -1;
         break;
       default:
         if (arg_i[e.i1]>=0) {
           copy_elision_[alg_i[e.i1]] = false;
         }
         if (!casadi_math<double>::is_unary(e.op)) {
           if (arg_i[e.i2]>=0) {
             copy_elision_[alg_i[e.i2]] = false;
           }
         }
         // Remove source association
         arg_i[e.i0] = -1;
       }
       k++;
     }
   }

References algorithm_, call_, copy_elision_, casadi::GlobalOptions::copy_elision_min_size, casadi::SXFunction::CallInfo::el, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, and worksize_.

Referenced by init().

◆ init_mem()

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

virtualinherited

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

Reimplemented in casadi::SymbolicQr, casadi::Sqpmethod, casadi::Scpgen, casadi::Qrqp, casadi::Newton, casadi::Lsqr, casadi::LinsolTridiag, casadi::LinsolQr, casadi::LinsolLdl, casadi::Ipqp, casadi::Feasiblesqpmethod, casadi::FastNewton, casadi::WorhpInterface, casadi::SuperscsInterface, casadi::SundialsInterface, casadi::KinsolInterface, casadi::IdasInterface, casadi::CvodesInterface, casadi::SnoptInterface, casadi::SlicotExpm, casadi::SlicotDple, casadi::SLEQPInterface, casadi::QpoasesInterface, casadi::ProxqpInterface, casadi::OsqpInterface, casadi::MumpsInterface, casadi::MadnlpInterface, casadi::LapackQr, casadi::LapackLu, casadi::KnitroInterface, casadi::IpoptInterface, casadi::Ma27Interface, casadi::HpmpcInterface, casadi::HpipmInterface, casadi::HighsInterface, casadi::GurobiInterface, casadi::FatropInterface, casadi::FatropConicInterface, casadi::DaqpInterface, casadi::CsparseInterface, casadi::CSparseCholeskyInterface, casadi::CplexInterface, casadi::ClpInterface, casadi::ClarabelInterface, casadi::CbcInterface, casadi::BonminInterface, casadi::Blocksqp, casadi::AmplInterface, casadi::AlpaqaInterface, casadi::Rootfinder, casadi::OracleFunction, casadi::Nlpsol, casadi::LinsolInternal, casadi::FixedStepIntegrator, casadi::Integrator, casadi::FmuFunction, and casadi::Conic.

Definition at line 813 of file function_internal.cpp.

                                              {
     auto m = static_cast<ProtoFunctionMemory*>(mem);
     if (record_time_) {
       m->add_stat("total");
       m->t_total = &m->fstats.at("total");
     } else {
       m->t_total = nullptr;
     }
     return 0;
   }

References casadi::ProtoFunctionMemory::add_stat(), and casadi::ProtoFunction::record_time_.

Referenced by casadi::ProtoFunction::checkout(), casadi::FunctionInternal::codegen_checkout(), casadi::Conic::init_mem(), casadi::FmuFunction::init_mem(), casadi::LinsolInternal::init_mem(), casadi::OracleFunction::init_mem(), casadi::SlicotDple::init_mem(), casadi::SlicotExpm::init_mem(), and casadi::OracleFunction::local_init_mem().

◆ 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++;
     }

◆ instruction_constant()

double casadi::SXFunction::instruction_constant ( casadi_int k ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 204 of file sx_function.hpp.

                                                            {
     return algorithm_.at(k).d;
   }

◆ instruction_id()

casadi_int casadi::SXFunction::instruction_id ( casadi_int k ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 182 of file sx_function.hpp.

182 { return algorithm_.at(k).op;}

◆ instruction_input()

std::vector<casadi_int> casadi::SXFunction::instruction_input ( casadi_int k ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 187 of file sx_function.hpp.

                                                                        {
     auto e = algorithm_.at(k);
     if (e.op==OP_CALL) {
       const ExtendedAlgEl& m = call_.el[e.i1];
       return vector_static_cast<casadi_int>(m.dep);
     } else if (casadi_math<double>::ndeps(e.op)==2 || e.op==OP_INPUT) {
       return {e.i1, e.i2};
     } else if (casadi_math<double>::ndeps(e.op)==1) {
       return {e.i1};
     } else {
       return {};
     }
   }

References casadi::SXFunction::ExtendedAlgEl::dep, casadi::OP_CALL, and casadi::OP_INPUT.

◆ instruction_MX()

MX casadi::FunctionInternal::instruction_MX ( casadi_int k ) const

virtualinherited

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

Reimplemented in casadi::MXFunction.

Definition at line 3410 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

◆ instruction_output()

std::vector<casadi_int> casadi::SXFunction::instruction_output ( casadi_int k ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 211 of file sx_function.hpp.

                                                                         {
     auto e = algorithm_.at(k);
     if (e.op==OP_CALL) {
       const ExtendedAlgEl& m = call_.el[e.i1];
       return vector_static_cast<casadi_int>(m.res);
     } else if (e.op==OP_OUTPUT) {
       return {e.i0, e.i2};
     } else {
       return {e.i0};
     }
   }

References casadi::OP_CALL, casadi::OP_OUTPUT, and casadi::SXFunction::ExtendedAlgEl::res.

◆ instructions_sx()

SX casadi::SXFunction::instructions_sx ( ) const

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v8

Reimplemented from casadi::FunctionInternal.

Definition at line 950 of file sx_function.cpp.

                                        {
     std::vector<SXElem> ret(algorithm_.size(), casadi_limits<SXElem>::nan);
  
     std::vector<SXElem>::iterator it=ret.begin();
  
     // Iterator to the binary operations
     std::vector<SXElem>::const_iterator b_it = operations_.begin();
  
     // Iterator to stack of constants
     std::vector<SXElem>::const_iterator c_it = constants_.begin();
  
     // Iterator to free variables
     std::vector<SXElem>::const_iterator p_it = free_vars_.begin();
  
     // Evaluate algorithm
     if (verbose_) casadi_message("Evaluating algorithm forward");
     for (auto&& a : algorithm_) {
       switch (a.op) {
       case OP_INPUT:
       case OP_OUTPUT:
         it++;
         break;
       case OP_CONST:
         *it++ = *c_it++;
         break;
       case OP_PARAMETER:
         *it++ = *p_it++;
         break;
       default:
         *it++ = *b_it++;
       }
     }
     casadi_assert(it==ret.end(), "Dimension mismatch");
     return ret;
   }

References algorithm_, constants_, free_vars_, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, operations_, and casadi::ProtoFunction::verbose_.

◆ is_a()

bool casadi::SXFunction::is_a	(	const std::string &	type,
		bool	recursive
	)		const

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 1719 of file sx_function.cpp.

                                                                    {
     return type=="SXFunction" || (recursive && XFunction<SXFunction,
                                   SX, SXNode>::is_a(type, recursive));
   }

References SXFunction().

◆ is_smooth()

bool casadi::SXFunction::is_smooth ( ) const

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

Definition at line 129 of file sx_function.cpp.

                                    {
     // Go through all nodes and check if any node is non-smooth
     for (auto&& a : algorithm_) {
       if (!operation_checker<SmoothChecker>(a.op)) {
         return false;
       }
     }
     return true;
   }

References algorithm_.

Referenced by casadi::Matrix< Scalar >::is_smooth().

◆ isInput()

bool casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::isInput ( const std::vector< Matrix< SXElem > > & arg ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_y4

Definition at line 193 of file x_function.hpp.

                                                {
     // Check if arguments matches the input expressions, in which case
     // the output is known to be the output expressions
     const casadi_int checking_depth = 2;
     for (casadi_int i=0; i<arg.size(); ++i) {
       if (!is_equal(arg[i], in_[i], checking_depth)) {
         return false;
       }
     }
     return true;
   }

◆ jac()

std::vector< Matrix< SXElem > > casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::jac ( const Dict & opts ) const

inherited

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

Definition at line 98 of file x_function.hpp.

                               {
     try {
       // Read options
       bool compact = false;
       bool symmetric = false;
       bool allow_forward = true;
       bool allow_reverse = true;
       for (auto&& op : opts) {
         if (op.first=="compact") {
           compact = op.second;
         } else if (op.first=="symmetric") {
           symmetric = op.second;
         } else if (op.first=="allow_forward") {
           allow_forward = op.second;
         } else if (op.first=="allow_reverse") {
           allow_reverse = op.second;
         } else if (op.first=="verbose") {
           continue;
         } else {
           casadi_error("No such Jacobian option: " + std::string(op.first));
         }
       }
  
       // Return object
       std::vector<MatType> ret(n_in_ * n_out_);
  
       // Quick return if trivially empty
       if (nnz_in() == 0 || nnz_out() == 0) {
         for (casadi_int i = 0; i < n_out_; ++i) {
           for (casadi_int j = 0; j < n_in_; ++j) {
             if (compact) {
               ret[i * n_in_ + j] = MatType(nnz_out(i), nnz_in(j));
             } else {
               ret[i * n_in_ + j] = MatType(numel_out(i), numel_in(j));
             }
           }
         }
         return ret;
       }
  
       // FIXME(@jaeandersson)
       casadi_int iind = 0, oind = 0;
       casadi_assert(n_in_ == 1, "Not implemented");
       casadi_assert(n_out_ == 1, "Not implemented");
  
       // Create return object
       ret.at(0) = MatType::zeros(jac_sparsity(0, 0, false, symmetric).T());
       if (verbose_) casadi_message("Allocated return value");
  
       // Quick return if empty
       if (ret.at(0).nnz()==0) {
         ret.at(0) = ret.at(0).T();
         return ret;
       }
  
       // Get a bidirectional partition
       Sparsity D1, D2;
       get_partition(iind, oind, D1, D2, true, symmetric, allow_forward, allow_reverse);
       if (verbose_) casadi_message("Graph coloring completed");
  
       // Get the number of forward and adjoint sweeps
       casadi_int nfdir = D1.is_null() ? 0 : D1.size2();
       casadi_int nadir = D2.is_null() ? 0 : D2.size2();
  
       // Number of derivative directions supported by the function
       casadi_int max_nfdir = max_num_dir_;
       casadi_int max_nadir = max_num_dir_;
  
       // Current forward and adjoint direction
       casadi_int offset_nfdir = 0, offset_nadir = 0;
  
       // Evaluation result (known)
       std::vector<MatType> res(out_);
  
       // Forward and adjoint seeds and sensitivities
       std::vector<std::vector<MatType> > fseed, aseed, fsens, asens;
  
       // Get the sparsity of the Jacobian block
       Sparsity jsp = jac_sparsity(0, 0, true, symmetric).T();
       const casadi_int* jsp_colind = jsp.colind();
       const casadi_int* jsp_row = jsp.row();
  
       // Input sparsity
       std::vector<casadi_int> input_col = sparsity_in_.at(iind).get_col();
       const casadi_int* input_row = sparsity_in_.at(iind).row();
  
       // Output sparsity
       std::vector<casadi_int> output_col = sparsity_out_.at(oind).get_col();
       const casadi_int* output_row = sparsity_out_.at(oind).row();
  
       // Get transposes and mappings for jacobian sparsity pattern if we are using forward mode
       if (verbose_) casadi_message("jac transposes and mapping");
       std::vector<casadi_int> mapping;
       Sparsity jsp_trans;
       if (nfdir>0) {
         jsp_trans = jsp.transpose(mapping);
       }
  
       // The nonzeros of the sensitivity matrix
       std::vector<casadi_int> nzmap, nzmap2;
  
       // Additions to the jacobian matrix
       std::vector<casadi_int> adds, adds2;
  
       // Temporary vector
       std::vector<casadi_int> tmp;
  
       // Progress
       casadi_int progress = -10;
  
       // Number of sweeps
       casadi_int nsweep_fwd = nfdir/max_nfdir;   // Number of sweeps needed for the forward mode
       if (nfdir%max_nfdir>0) nsweep_fwd++;
       casadi_int nsweep_adj = nadir/max_nadir;   // Number of sweeps needed for the adjoint mode
       if (nadir%max_nadir>0) nsweep_adj++;
       casadi_int nsweep = std::max(nsweep_fwd, nsweep_adj);
       if (verbose_) {
         casadi_message(str(nsweep) + " sweeps needed for " + str(nfdir) + " forward and "
                        + str(nadir) + " reverse directions");
       }
  
       // Sparsity of the seeds
       std::vector<casadi_int> seed_col, seed_row;
  
       // Evaluate until everything has been determined
       for (casadi_int s=0; s<nsweep; ++s) {
         // Print progress
         if (verbose_) {
           casadi_int progress_new = (s*100)/nsweep;
           // Print when entering a new decade
           if (progress_new / 10 > progress / 10) {
             progress = progress_new;
             casadi_message(str(progress) + " %");
           }
         }
  
         // Number of forward and adjoint directions in the current "batch"
         casadi_int nfdir_batch = std::min(nfdir - offset_nfdir, max_nfdir);
         casadi_int nadir_batch = std::min(nadir - offset_nadir, max_nadir);
  
         // Forward seeds
         fseed.resize(nfdir_batch);
         for (casadi_int d=0; d<nfdir_batch; ++d) {
           // Nonzeros of the seed matrix
           seed_col.clear();
           seed_row.clear();
  
           // For all the directions
           for (casadi_int el = D1.colind(offset_nfdir+d); el<D1.colind(offset_nfdir+d+1); ++el) {
  
             // Get the direction
             casadi_int c = D1.row(el);
  
             // Give a seed in the direction
             seed_col.push_back(input_col[c]);
             seed_row.push_back(input_row[c]);
           }
  
           // initialize to zero
           fseed[d].resize(n_in_);
           for (casadi_int ind=0; ind<fseed[d].size(); ++ind) {
             casadi_int nrow = size1_in(ind), ncol = size2_in(ind); // Input dimensions
             if (ind==iind) {
               fseed[d][ind] = MatType::ones(Sparsity::triplet(nrow, ncol, seed_row, seed_col));
             } else {
               fseed[d][ind] = MatType(nrow, ncol);
             }
           }
         }
  
         // Adjoint seeds
         aseed.resize(nadir_batch);
         for (casadi_int d=0; d<nadir_batch; ++d) {
           // Nonzeros of the seed matrix
           seed_col.clear();
           seed_row.clear();
  
           // For all the directions
           for (casadi_int el = D2.colind(offset_nadir+d); el<D2.colind(offset_nadir+d+1); ++el) {
  
             // Get the direction
             casadi_int c = D2.row(el);
  
             // Give a seed in the direction
             seed_col.push_back(output_col[c]);
             seed_row.push_back(output_row[c]);
           }
  
           //initialize to zero
           aseed[d].resize(n_out_);
           for (casadi_int ind=0; ind<aseed[d].size(); ++ind) {
             casadi_int nrow = size1_out(ind), ncol = size2_out(ind); // Output dimensions
             if (ind==oind) {
               aseed[d][ind] = MatType::ones(Sparsity::triplet(nrow, ncol, seed_row, seed_col));
             } else {
               aseed[d][ind] = MatType(nrow, ncol);
             }
           }
         }
  
         // Forward sensitivities
         fsens.resize(nfdir_batch);
         for (casadi_int d=0; d<nfdir_batch; ++d) {
           // initialize to zero
           fsens[d].resize(n_out_);
           for (casadi_int oind=0; oind<fsens[d].size(); ++oind) {
             fsens[d][oind] = MatType::zeros(sparsity_out_.at(oind));
           }
         }
  
         // Adjoint sensitivities
         asens.resize(nadir_batch);
         for (casadi_int d=0; d<nadir_batch; ++d) {
           // initialize to zero
           asens[d].resize(n_in_);
           for (casadi_int ind=0; ind<asens[d].size(); ++ind) {
             asens[d][ind] = MatType::zeros(sparsity_in_.at(ind));
           }
         }
  
         // Evaluate symbolically
         if (!fseed.empty()) {
           casadi_assert_dev(aseed.empty());
           if (verbose_) casadi_message("Calling 'ad_forward'");
           static_cast<const DerivedType*>(this)->ad_forward(fseed, fsens);
           if (verbose_) casadi_message("Back from 'ad_forward'");
         } else if (!aseed.empty()) {
           casadi_assert_dev(fseed.empty());
           if (verbose_) casadi_message("Calling 'ad_reverse'");
           static_cast<const DerivedType*>(this)->ad_reverse(aseed, asens);
           if (verbose_) casadi_message("Back from 'ad_reverse'");
         }
  
         // Carry out the forward sweeps
         for (casadi_int d=0; d<nfdir_batch; ++d) {
           // Skip if nothing to add
           if (fsens[d][oind].nnz()==0) {
             continue;
           }
  
           // If symmetric, see how many times each output appears
           if (symmetric) {
             // Initialize to zero
             tmp.resize(nnz_out(oind));
             std::fill(tmp.begin(), tmp.end(), 0);
  
             // "Multiply" Jacobian sparsity by seed vector
             for (casadi_int el = D1.colind(offset_nfdir+d); el<D1.colind(offset_nfdir+d+1); ++el) {
  
               // Get the input nonzero
               casadi_int c = D1.row(el);
  
               // Propagate dependencies
               for (casadi_int el_jsp=jsp_colind[c]; el_jsp<jsp_colind[c+1]; ++el_jsp) {
                 tmp[jsp_row[el_jsp]]++;
               }
             }
           }
  
           // Locate the nonzeros of the forward sensitivity matrix
           sparsity_out_.at(oind).find(nzmap);
           fsens[d][oind].sparsity().get_nz(nzmap);
  
           if (symmetric) {
             sparsity_in_.at(iind).find(nzmap2);
             fsens[d][oind].sparsity().get_nz(nzmap2);
           }
  
           // Assignments to the Jacobian
           adds.resize(fsens[d][oind].nnz());
           std::fill(adds.begin(), adds.end(), -1);
           if (symmetric) {
             adds2.resize(adds.size());
             std::fill(adds2.begin(), adds2.end(), -1);
           }
  
           // For all the input nonzeros treated in the sweep
           for (casadi_int el = D1.colind(offset_nfdir+d); el<D1.colind(offset_nfdir+d+1); ++el) {
  
             // Get the input nonzero
             casadi_int c = D1.row(el);
             //casadi_int f2_out;
             //if (symmetric) {
             //  f2_out = nzmap2[c];
             //}
  
             // Loop over the output nonzeros corresponding to this input nonzero
             for (casadi_int el_out = jsp_trans.colind(c); el_out<jsp_trans.colind(c+1); ++el_out) {
  
               // Get the output nonzero
               casadi_int r_out = jsp_trans.row(el_out);
  
               // Get the forward sensitivity nonzero
               casadi_int f_out = nzmap[r_out];
               if (f_out<0) continue; // Skip if structurally zero
  
               // The nonzero of the Jacobian now treated
               casadi_int elJ = mapping[el_out];
  
               if (symmetric) {
                 if (tmp[r_out]==1) {
                   adds[f_out] = el_out;
                   adds2[f_out] = elJ;
                 }
               } else {
                 // Get the output seed
                 adds[f_out] = elJ;
               }
             }
           }
  
           // Get entries in fsens[d][oind] with nonnegative indices
           tmp.resize(adds.size());
           casadi_int sz = 0;
           for (casadi_int i=0; i<adds.size(); ++i) {
             if (adds[i]>=0) {
               adds[sz] = adds[i];
               tmp[sz++] = i;
             }
           }
           adds.resize(sz);
           tmp.resize(sz);
  
           // Add contribution to the Jacobian
           ret.at(0).nz(adds) = fsens[d][oind].nz(tmp);
  
           if (symmetric) {
             // Get entries in fsens[d][oind] with nonnegative indices
             tmp.resize(adds2.size());
             sz = 0;
             for (casadi_int i=0; i<adds2.size(); ++i) {
               if (adds2[i]>=0) {
                 adds2[sz] = adds2[i];
                 tmp[sz++] = i;
               }
             }
             adds2.resize(sz);
             tmp.resize(sz);
  
             // Add contribution to the Jacobian
             ret.at(0).nz(adds2) = fsens[d][oind].nz(tmp);
           }
         }
  
         // Add elements to the Jacobian matrix
         for (casadi_int d=0; d<nadir_batch; ++d) {
           // Skip if nothing to add
           if (asens[d][iind].nnz()==0) {
             continue;
           }
  
           // Locate the nonzeros of the adjoint sensitivity matrix
           sparsity_in_.at(iind).find(nzmap);
           asens[d][iind].sparsity().get_nz(nzmap);
  
           // For all the output nonzeros treated in the sweep
           for (casadi_int el = D2.colind(offset_nadir+d); el<D2.colind(offset_nadir+d+1); ++el) {
  
             // Get the output nonzero
             casadi_int r = D2.row(el);
  
             // Loop over the input nonzeros that influences this output nonzero
             for (casadi_int elJ = jsp.colind(r); elJ<jsp.colind(r+1); ++elJ) {
  
               // Get the input nonzero
               casadi_int inz = jsp.row(elJ);
  
               // Get the corresponding adjoint sensitivity nonzero
               casadi_int anz = nzmap[inz];
               if (anz<0) continue;
  
               // Get the input seed
               ret.at(0).nz(elJ) = asens[d][iind].nz(anz);
             }
           }
         }
  
         // Update direction offsets
         offset_nfdir += nfdir_batch;
         offset_nadir += nadir_batch;
       }
  
       // Return
       for (MatType& Jb : ret) Jb = Jb.T();
       return ret;
  
     } catch (std::exception& e) {
       CASADI_THROW_ERROR("jac", e.what());
     }
   }

◆ jac_is_symm()

bool casadi::FunctionInternal::jac_is_symm	(	casadi_int	oind,
		casadi_int	iind
	)		const

virtualinherited

Definition at line 1858 of file function_internal.cpp.

                                                                            {
     // If derivative expression
     if (!derivative_of_.is_null()) {
       std::string n = derivative_of_.name();
       // Reverse move
       if (name_ == "adj1_" + n) {
         if (iind == oind) return true;
       }
     }
     // Not symmetric by default
     return false;
   }

References casadi::FunctionInternal::derivative_of_, casadi::GenericShared< Shared, Internal >::is_null(), casadi::Function::name(), and casadi::ProtoFunction::name_.

◆ jac_sparsity()

Sparsity & casadi::FunctionInternal::jac_sparsity	(	casadi_int	oind,
		casadi_int	iind,
		bool	compact,
		bool	symmetric
	)		const

inherited

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

Definition at line 1946 of file function_internal.cpp.

                             {
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     // Safe access to jac_sparsity_
     std::lock_guard<std::mutex> lock(jac_sparsity_mtx_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
     // If first call, allocate cache
     for (bool c : {false, true}) {
       if (jac_sparsity_[c].empty()) jac_sparsity_[c].resize(n_in_ * n_out_);
     }
     // Flat index
     casadi_int ind = iind + oind * n_in_;
     // Reference to the block
     Sparsity& jsp = jac_sparsity_[compact].at(ind);
     // If null, generate
     if (jsp.is_null()) {
       // Use (non)-compact pattern, if given
       Sparsity& jsp_other = jac_sparsity_[!compact].at(ind);
       if (!jsp_other.is_null()) {
         jsp = compact ? to_compact(oind, iind, jsp_other) : from_compact(oind, iind, jsp_other);
       } else {
         // Generate pattern
         Sparsity sp;
         bool sp_is_compact;
         if (!is_diff_out_.at(oind) || !is_diff_in_.at(iind)) {
           // All-zero sparse
           sp = Sparsity(nnz_out(oind), nnz_in(iind));
           sp_is_compact = true;
         } else {
           // Use internal routine to determine sparsity
           if (has_spfwd() || has_sprev() || has_jac_sparsity(oind, iind)) {
             sp = get_jac_sparsity(oind, iind, symmetric);
           }
           // If null, dense
           if (sp.is_null()) sp = Sparsity::dense(nnz_out(oind), nnz_in(iind));
           // Is the return the compact pattern?
           sp_is_compact = sp.size1() == nnz_out(oind) && sp.size2() == nnz_in(iind);
         }
         // Save to cache and convert if needed
         if (sp_is_compact == compact) {
           jsp = sp;
         } else {
           jsp_other = sp;
           jsp = compact ? to_compact(oind, iind, sp) : from_compact(oind, iind, sp);
         }
       }
     }
  
     // Make sure the Jacobian is symmetric if requested, cf. #1522, #3074, #3134
     if (symmetric) {
       if (compact) {
         Sparsity sp = from_compact(oind, iind, jsp);
         if (!sp.is_symmetric()) {
           sp = sp * sp.T();
           jsp = to_compact(oind, iind, sp);
         }
       } else {
         if (!jsp.is_symmetric()) jsp = jsp * jsp.T();
       }
     }
  
     // Return a reference to the block
     return jsp;
   }

Referenced by casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::sp_forward_block(), and casadi::FunctionInternal::sp_reverse().

◆ jacobian()

Function casadi::FunctionInternal::jacobian ( ) const

inherited

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

Definition at line 2341 of file function_internal.cpp.

                                             {
     // Used wrapped function if jacobian not available
     if (!has_jacobian()) {
       // Derivative information must be available
       casadi_assert(has_derivative(),
                             "Derivatives cannot be calculated for " + name_);
       return wrap().jacobian();
     }
     // Retrieve/generate cached
     Function f;
     std::string fname = "jac_" + name_;
     if (!incache(fname, f)) {
       // Names of inputs
       std::vector<std::string> inames;
       for (casadi_int i=0; i<n_in_; ++i) inames.push_back(name_in_[i]);
       for (casadi_int i=0; i<n_out_; ++i) inames.push_back("out_" + name_out_[i]);
       // Names of outputs
       std::vector<std::string> onames;
       onames.reserve(n_in_ * n_out_);
       for (size_t oind = 0; oind < n_out_; ++oind) {
         for (size_t iind = 0; iind < n_in_; ++iind) {
           onames.push_back("jac_" + name_out_[oind] + "_" + name_in_[iind]);
         }
       }
       // Options
       Dict opts = combine(jacobian_options_, der_options_);
       opts["derivative_of"] = self();
       // Generate derivative function
       casadi_assert_dev(enable_jacobian_);
       f = get_jacobian(fname, inames, onames, opts);
       // Consistency checks
       casadi_assert(f.n_in() == inames.size(),
         "Mismatching input signature, expected " + str(inames));
       casadi_assert(f.n_out() == onames.size(),
         "Mismatching output signature, expected " + str(onames));
       // Save to cache
       tocache_if_missing(f);
     }
     return f;
   }

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

◆ jit_dependencies()

virtual void casadi::FunctionInternal::jit_dependencies ( const std::string & fname )

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m4

Reimplemented in casadi::OracleFunction.

Definition at line 919 of file function_internal.hpp.

919 {}

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

◆ map()

Function casadi::FunctionInternal::map	(	casadi_int	n,
		const std::string &	parallelization
	)		const

inherited

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

Definition at line 1091 of file function_internal.cpp.

                                                                                      {
     Function f;
     if (parallelization=="serial") {
       // Serial maps are cached
       std::string fname = "map" + str(n) + "_" + name_;
       if (!incache(fname, f)) {
         // Create new serial map
         f = Map::create(parallelization, self(), n);
         casadi_assert_dev(f.name()==fname);
         // Save in cache
         tocache_if_missing(f);
       }
     } else {
       // Non-serial maps are not cached
       f = Map::create(parallelization, self(), n);
     }
     return f;
   }

References casadi::Map::create(), casadi::FunctionInternal::incache(), casadi::Function::name(), casadi::ProtoFunction::name_, casadi::str(), and casadi::FunctionInternal::tocache_if_missing().

Referenced by casadi::Dple::get_forward(), casadi::Dple::get_reverse(), and casadi::FunctionInternal::mapsum_mx().

◆ mapsum_mx()

std::vector< MX > casadi::FunctionInternal::mapsum_mx	(	const std::vector< MX > &	arg,
		const std::string &	parallelization
	)

inherited

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

Definition at line 3423 of file function_internal.cpp.

                                                                 {
     if (x.empty()) return x;
     // Check number of arguments
     casadi_assert(x.size()==n_in_, "mapsum_mx: Wrong number_i of arguments");
     // Number of parallel calls
     casadi_int npar = 1;
     // Check/replace arguments
     std::vector<MX> x_mod(x.size());
     for (casadi_int i=0; i<n_in_; ++i) {
       if (check_mat(x[i].sparsity(), sparsity_in_[i], npar)) {
         x_mod[i] = replace_mat(x[i], sparsity_in_[i], npar);
       } else {
         // Mismatching sparsity: The following will throw an error message
         npar = 0;
         check_arg(x, npar);
       }
     }
  
     casadi_int n = 1;
     for (casadi_int i=0; i<x_mod.size(); ++i) {
       n = std::max(x_mod[i].size2() / size2_in(i), n);
     }
  
     std::vector<casadi_int> reduce_in;
     for (casadi_int i=0; i<x_mod.size(); ++i) {
       if (x_mod[i].size2()/size2_in(i)!=n) {
         reduce_in.push_back(i);
       }
     }
  
     Function ms = self().map("mapsum", parallelization, n, reduce_in, range(n_out_));
  
     // Call the internal function
     return ms(x_mod);
   }

References casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::check_mat(), casadi::FunctionInternal::map(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, casadi::range(), casadi::replace_mat(), casadi::FunctionInternal::size2_in(), and casadi::FunctionInternal::sparsity_in_.

◆ matching_arg()

template<typename M >

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

inherited

Raises errors

Parameters

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

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

Definition at line 1745 of file function_internal.hpp.

                                                                                      {
     check_arg(arg, npar);
     for (casadi_int i=0; i<n_in_; ++i) {
       if (arg.at(i).size1()!=size1_in(i)) return false;
       if (arg.at(i).size2()!=size2_in(i) && arg.at(i).size2()!=npar*size2_in(i)) return false;
     }
     return true;
   }

References casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::size1_in(), and casadi::FunctionInternal::size2_in().

Referenced by casadi::MXFunction::ad_forward(), ad_forward(), casadi::FunctionInternal::call(), casadi::FunctionInternal::call_forward(), and casadi::FunctionInternal::nz_in().

◆ matching_res()

template<typename M >

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

inherited

Raises errors

Parameters

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

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

Definition at line 1755 of file function_internal.hpp.

                                                                                      {
     check_res(res, npar);
     for (casadi_int i=0; i<n_out_; ++i) {
       if (res.at(i).size1()!=size1_out(i)) return false;
       if (res.at(i).size2()!=size2_out(i) && res.at(i).size2()!=npar*size2_out(i)) return false;
     }
     return true;
   }

References casadi::FunctionInternal::check_res(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::size1_out(), and casadi::FunctionInternal::size2_out().

Referenced by casadi::MXFunction::ad_reverse(), ad_reverse(), casadi::FunctionInternal::call_reverse(), and casadi::FunctionInternal::nz_out().

◆ memory()

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

inherited

Definition at line 3658 of file function_internal.cpp.

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

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

◆ merge()

void casadi::FunctionInternal::merge	(	const std::vector< MX > &	arg,
		std::vector< MX > &	subs_from,
		std::vector< MX > &	subs_to
	)		const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2b8

Reimplemented in casadi::BlazingSplineFunction.

Definition at line 3372 of file function_internal.cpp.

                                                             {
     return;
   }

◆ mx_in() [1/2]

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

virtualinherited

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

Reimplemented in casadi::MXFunction.

Definition at line 3352 of file function_internal.cpp.

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

References casadi::FunctionInternal::n_in_.

Referenced by casadi::Nlpsol::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::Nlpsol::get_reverse(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ mx_in() [2/2]

const MX casadi::FunctionInternal::mx_in ( casadi_int ind ) const

virtualinherited

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

Reimplemented in casadi::MXFunction.

Definition at line 3344 of file function_internal.cpp.

                                                        {
     return MX::sym(name_in_.at(ind), sparsity_in(ind));
   }

References casadi::FunctionInternal::name_in_, casadi::FunctionInternal::sparsity_in(), and casadi::GenericMatrix< MX >::sym().

◆ mx_out() [1/2]

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

virtualinherited

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

Definition at line 3360 of file function_internal.cpp.

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

References casadi::FunctionInternal::n_out_.

Referenced by casadi::Nlpsol::get_forward(), and casadi::Nlpsol::get_reverse().

◆ mx_out() [2/2]

const MX casadi::FunctionInternal::mx_out ( casadi_int ind ) const

virtualinherited

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

Definition at line 3348 of file function_internal.cpp.

                                                         {
     return MX::sym(name_out_.at(ind), sparsity_out(ind));
   }

References casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_out(), and casadi::GenericMatrix< MX >::sym().

◆ n_instructions()

casadi_int casadi::SXFunction::n_instructions ( ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 177 of file sx_function.hpp.

177 { return algorithm_.size();}

Referenced by SXFunction().

◆ n_nodes()

casadi_int casadi::SXFunction::n_nodes ( ) const

inlineoverridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 226 of file sx_function.hpp.

226 { return algorithm_.size() - nnz_out();}

◆ nnz_in() [1/2]

casadi_int casadi::FunctionInternal::nnz_in ( ) const

inherited

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

Definition at line 2301 of file function_internal.cpp.

                                             {
     casadi_int ret=0;
     for (casadi_int iind=0; iind<n_in_; ++iind) ret += nnz_in(iind);
     return ret;
   }

References casadi::FunctionInternal::n_in_.

◆ nnz_in() [2/2]

casadi_int casadi::FunctionInternal::nnz_in ( casadi_int ind ) const

inlineinherited

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

Definition at line 974 of file function_internal.hpp.

974 { return sparsity_in(ind).nnz(); }

casadi::Sparsity::nnz

casadi_int nnz() const

Get the number of (structural) non-zeros.

Definition: sparsity.cpp:148

◆ nnz_out() [1/2]

casadi_int casadi::FunctionInternal::nnz_out ( ) const

inherited

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

Definition at line 2307 of file function_internal.cpp.

                                              {
     casadi_int ret=0;
     for (casadi_int oind=0; oind<n_out_; ++oind) ret += nnz_out(oind);
     return ret;
   }

References casadi::FunctionInternal::n_out_.

◆ nnz_out() [2/2]

casadi_int casadi::FunctionInternal::nnz_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 976 of file function_internal.hpp.

976 { return sparsity_out(ind).nnz(); }

◆ numel_in() [1/2]

casadi_int casadi::FunctionInternal::numel_in ( ) const

inherited

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

Definition at line 2313 of file function_internal.cpp.

                                               {
     casadi_int ret=0;
     for (casadi_int iind=0; iind<n_in_; ++iind) ret += numel_in(iind);
     return ret;
   }

References casadi::FunctionInternal::n_in_.

Referenced by casadi::FunctionInternal::from_compact(), and casadi::Integrator::get_reverse().

◆ numel_in() [2/2]

casadi_int casadi::FunctionInternal::numel_in ( casadi_int ind ) const

inlineinherited

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

Definition at line 984 of file function_internal.hpp.

984 { return sparsity_in(ind).numel(); }

casadi::Sparsity::numel

casadi_int numel() const

The total number of elements, including structural zeros, i.e. size2()*size1()

Definition: sparsity.cpp:132

◆ numel_out() [1/2]

casadi_int casadi::FunctionInternal::numel_out ( ) const

inherited

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

Definition at line 2319 of file function_internal.cpp.

                                                {
     casadi_int ret=0;
     for (casadi_int oind=0; oind<n_out_; ++oind) ret += numel_out(oind);
     return ret;
   }

References casadi::FunctionInternal::n_out_.

Referenced by casadi::FunctionInternal::from_compact(), and casadi::Integrator::get_reverse().

◆ numel_out() [2/2]

casadi_int casadi::FunctionInternal::numel_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 985 of file function_internal.hpp.

985 { return sparsity_out(ind).numel(); }

◆ nz_in() [1/2]

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

inherited

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

Definition at line 3513 of file function_internal.cpp.

                                                                           {
     // Disallow parallel inputs
     casadi_int npar = -1;
     if (!matching_arg(arg, npar)) {
       return nz_in(replace_arg(arg, npar));
     }
  
     std::vector<DM> arg2 = project_arg(arg, 1);
     std::vector<double> ret(nnz_in());
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_in_;++i) {
       const double* e = arg2.at(i).ptr();
       std::copy(e, e+nnz_in(i), ret.begin()+offset);
       offset+= nnz_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::nnz_in(), casadi::FunctionInternal::project_arg(), and casadi::FunctionInternal::replace_arg().

Referenced by call_fwd(), call_rev(), call_setup(), casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_gen(), and casadi::FunctionInternal::get_jac_sparsity_hierarchical().

◆ nz_in() [2/2]

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

inherited

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

Definition at line 3483 of file function_internal.cpp.

                                                                           {
     casadi_assert(nnz_in()==arg.size(),
       "Dimension mismatch. Expecting " + str(nnz_in()) +
       ", got " + str(arg.size()) + " instead.");
  
     std::vector<DM> ret = dm_in();
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_in_;++i) {
       DM& r = ret.at(i);
       std::copy(arg.begin()+offset, arg.begin()+offset+nnz_in(i), r.ptr());
       offset+= nnz_in(i);
     }
     return ret;
   }

References casadi::FunctionInternal::dm_in(), casadi::FunctionInternal::n_in_, casadi::FunctionInternal::nnz_in(), casadi::Matrix< Scalar >::ptr(), and casadi::str().

◆ nz_out() [1/2]

std::vector< double > casadi::FunctionInternal::nz_out ( const std::vector< DM > & res ) const

inherited

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

Definition at line 3531 of file function_internal.cpp.

                                                                            {
     // Disallow parallel inputs
     casadi_int npar = -1;
     if (!matching_res(res, npar)) {
       return nz_out(replace_res(res, npar));
     }
  
     std::vector<DM> res2 = project_res(res, 1);
     std::vector<double> ret(nnz_out());
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_out_;++i) {
       const double* e = res2.at(i).ptr();
       std::copy(e, e+nnz_out(i), ret.begin()+offset);
       offset+= nnz_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::matching_res(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_out(), casadi::FunctionInternal::project_res(), and casadi::FunctionInternal::replace_res().

Referenced by call_fwd(), call_rev(), call_setup(), casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_gen(), and casadi::FunctionInternal::get_jac_sparsity_hierarchical().

◆ nz_out() [2/2]

std::vector< DM > casadi::FunctionInternal::nz_out ( const std::vector< double > & res ) const

inherited

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

Definition at line 3498 of file function_internal.cpp.

                                                                            {
     casadi_assert(nnz_out()==res.size(),
       "Dimension mismatch. Expecting " + str(nnz_out()) +
       ", got " + str(res.size()) + " instead.");
  
     std::vector<DM> ret = dm_out();
     casadi_int offset = 0;
     for (casadi_int i=0;i<n_out_;++i) {
       DM& r = ret.at(i);
       std::copy(res.begin()+offset, res.begin()+offset+nnz_out(i), r.ptr());
       offset+= nnz_out(i);
     }
     return ret;
   }

References casadi::FunctionInternal::dm_out(), casadi::FunctionInternal::n_out_, casadi::FunctionInternal::nnz_out(), casadi::Matrix< Scalar >::ptr(), and casadi::str().

◆ oracle()

const Function & casadi::FunctionInternal::oracle ( ) const

virtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_l3

Reimplemented in casadi::OracleFunction.

Definition at line 3736 of file function_internal.cpp.

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

References casadi::SharedObjectInternal::class_name().

Referenced by casadi::Function::oracle(), and casadi::DaeBuilder::oracle().

◆ order()

std::vector< SX > casadi::SXFunction::order ( const std::vector< SX > & expr )

static

Definition at line 1955 of file sx_function.cpp.

                                                            {
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     std::lock_guard<std::mutex> lock(SX::get_mutex_temp());
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
     // Stack used to sort the computational graph
     std::stack<SXNode*> s;
  
     // All nodes
     std::vector<SXNode*> nodes;
  
     // Add the list of nodes
     casadi_int ind=0;
     for (auto it = expr.begin(); it != expr.end(); ++it, ++ind) {
       casadi_int nz=0;
       for (auto itc = (*it)->begin(); itc != (*it)->end(); ++itc, ++nz) {
         // Add outputs to the list
         s.push(itc->get());
         XFunction<SXFunction, SX, SXNode>::sort_depth_first(s, nodes);
       }
     }
  
     // Clear temporary markers
     for (casadi_int i=0; i<nodes.size(); ++i) {
       nodes[i]->temp = 0;
     }
  
     std::vector<SX> ret(nodes.size());
     for (casadi_int i=0; i<nodes.size(); ++i) {
       ret[i] = SXElem::create(nodes[i]);
     }
  
     return ret;
   }

References casadi::SXElem::create(), and casadi::XFunction< DerivedType, MatType, NodeType >::sort_depth_first().

Referenced by casadi::Function::order().

◆ print() [1/2]

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

inherited

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

Definition at line 3897 of file function_internal.cpp.

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

References casadi::uout().

◆ print() [2/2]

std::string casadi::SXFunction::print ( const ScalarAtomic & a ) const

Definition at line 138 of file sx_function.cpp.

                                                          {
     std::stringstream stream;
     if (a.op==OP_OUTPUT) {
       stream << "output[" << a.i0 << "][" << a.i2 << "] = @" << a.i1;
     } else if (a.op==OP_CALL) {
       const ExtendedAlgEl& m = call_.el.at(a.i1);
       stream << "[";
       casadi_int k = 0;
       for (casadi_int i=0; i<m.f.n_out(); ++i) {
         if (m.f.nnz_out(i)>1) stream << "[";
         for (casadi_int j=0; j<m.f.nnz_out(i); ++j) {
           int el = m.res[k++];
           if (el>=0) {
             stream << "@" << el;
           } else {
             stream << "NULL";
           }
           if (j<m.f.nnz_out(i)-1) stream << ",";
         }
         if (m.f.nnz_out(i)>1) stream << "]";
         if (i<m.f.n_out()-1) stream << ",";
       }
       stream << "] = ";
       stream << m.f.name() << "(";
       k = 0;
       for (casadi_int i=0; i<m.f.n_in(); ++i) {
         if (m.f.nnz_in(i)==0) stream << "0x0";
         if (m.f.nnz_in(i)>1) stream << "[";
         for (casadi_int j=0; j<m.f.nnz_in(i); ++j) {
           stream << "@" << m.dep[k++];
           if (j<m.f.nnz_in(i)-1) stream << ",";
         }
         if (m.f.nnz_in(i)>1) stream << "]";
         if (i<m.f.n_in()-1) stream << ",";
       }
       stream << ")";
     } else {
       stream << "@" << a.i0 << " = ";
       if (a.op==OP_INPUT) {
         stream << "input[" << a.i1 << "][" << a.i2 << "]";
       } else {
         if (a.op==OP_CONST) {
           stream << a.d;
         } else if (a.op==OP_PARAMETER) {
           stream << free_vars_[a.i1];
         } else {
           casadi_int ndep = casadi_math<double>::ndeps(a.op);
           stream << casadi_math<double>::pre(a.op);
           for (casadi_int c=0; c<ndep; ++c) {
             if (c==0) {
               stream << "@" << a.i1;
             } else {
               stream << casadi_math<double>::sep(a.op);
               stream << "@" << a.i2;
             }
  
           }
           stream << casadi_math<double>::post(a.op);
         }
       }
     }
     return stream.str();
   }

References call_, casadi::ScalarAtomic::d, casadi::SXFunction::ExtendedAlgEl::dep, casadi::SXFunction::CallInfo::el, casadi::SXFunction::ExtendedAlgEl::f, free_vars_, casadi::ScalarAtomic::i0, casadi::ScalarAtomic::i1, casadi::ScalarAtomic::i2, casadi::Function::n_in(), casadi::Function::n_out(), casadi::Function::name(), casadi::casadi_math< T >::ndeps(), casadi::Function::nnz_in(), casadi::Function::nnz_out(), casadi::ScalarAtomic::op, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, and casadi::SXFunction::ExtendedAlgEl::res.

Referenced by disp_more(), print_arg(), and print_res().

◆ print_arg() [1/2]

void casadi::SXFunction::print_arg	(	CodeGenerator &	g,
		casadi_int	k,
		const ScalarAtomic &	el
	)		const

Definition at line 273 of file sx_function.cpp.

                                                                                          {
     if (el.op==OP_INPUT || el.op==OP_OUTPUT || el.op==OP_CONST) return;
     g << g.printf(name_ + ":" + str(k) + ": " + print(el) + " inputs:\\n") << "\n";
     if (el.op==OP_CALL) {
       const ExtendedAlgEl& m = call_.el[el.i1];
       g << g.print_vector(m.f.nnz_in(), "arg[" + str(n_in_) + "]");
       g << g.printf("\\n");
     } else {
       casadi_int ndeps = casadi_math<double>::ndeps(el.op);
       if (ndeps==1) {
         g << g.printf("0: %.16e\\n", g.sx_work(el.i1));
       } else if (ndeps==2) {
         g << g.printf("0: %.16e\\n1: %.16e\\n", g.sx_work(el.i1), g.sx_work(el.i2));
       }
     }
     g << "\n";
   }

References call_, casadi::SXFunction::CallInfo::el, casadi::SXFunction::ExtendedAlgEl::f, casadi::ScalarAtomic::i1, casadi::ScalarAtomic::i2, casadi::FunctionInternal::n_in_, casadi::ProtoFunction::name_, casadi::casadi_math< T >::ndeps(), casadi::Function::nnz_in(), casadi::ScalarAtomic::op, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, print(), casadi::CodeGenerator::print_vector(), casadi::CodeGenerator::printf(), casadi::str(), and casadi::CodeGenerator::sx_work().

◆ print_arg() [2/2]

void casadi::SXFunction::print_arg	(	std::ostream &	stream,
		casadi_int	k,
		const ScalarAtomic &	el,
		const double *	w
	)		const

Definition at line 234 of file sx_function.cpp.

                              {
     if (el.op==OP_INPUT || el.op==OP_OUTPUT || el.op==OP_CONST) return;
     stream << name_ << ":" << k << ": " << print(el) << " inputs:" << std::endl;
  
     // Default dependencies
     const int* dep = &el.i1;
     casadi_int ndeps = casadi_math<double>::ndeps(el.op);
  
     // Call node overrides these defaults
     if (el.op==OP_CALL) {
       const ExtendedAlgEl& e = call_.el.at(el.i1);
       ndeps = e.n_dep;
       dep = get_ptr(e.dep);
       stream << "[";
       for (size_t i = 0; i < ndeps; ++i) {
         if (i>0) stream << ", ";
         if (print_canonical_) {
           print_canonical(stream, w[dep[i]]);
         } else {
           DM::print_scalar(stream, w[dep[i]]);
         }
       }
       stream << "]";
       stream << std::endl;
       return;
     }
  
     for (size_t i = 0; i < ndeps; ++i) {
       stream << i << ": ";
       if (print_canonical_) {
         print_canonical(stream, w[dep[i]]);
       } else {
         DM::print_scalar(stream, w[dep[i]]);
       }
       stream << std::endl;
     }
   }

References call_, casadi::SXFunction::ExtendedAlgEl::dep, casadi::SXFunction::CallInfo::el, casadi::get_ptr(), casadi::ScalarAtomic::i1, casadi::SXFunction::ExtendedAlgEl::n_dep, casadi::ProtoFunction::name_, casadi::casadi_math< T >::ndeps(), casadi::ScalarAtomic::op, casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, print(), casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, and casadi::Matrix< double >::print_scalar().

Referenced by codegen_body(), and eval().

◆ print_canonical() [1/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		casadi_int	sz,
		const double *	nz
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2di

Definition at line 858 of file function_internal.cpp.

                                                                                             {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     if (nz) {
       stream << "[";
       for (casadi_int i=0; i<sz; ++i) {
         if (i>0) stream << ", ";
         normalized_out(stream, nz[i]);
       }
       stream << "]";
     } else {
       stream << "NULL";
     }
   }

References casadi::normalized_out(), and casadi::normalized_setup().

◆ print_canonical() [2/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		const Sparsity &	sp,
		const double *	nz
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dh

Definition at line 873 of file function_internal.cpp.

                                             {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     if (nz) {
       if (!sp.is_scalar(true)) {
         stream << sp.dim(false) << ": ";
         stream << "[";
       }
       for (casadi_int i=0; i<sp.nnz(); ++i) {
         if (i>0) stream << ", ";
         normalized_out(stream, nz[i]);
       }
       if (!sp.is_scalar(true)) {
         stream << "]";
         if (!sp.is_dense()) {
           stream << ", colind: [";
           for (casadi_int i=0; i<sp.size2(); ++i) {
             if (i>0) stream << ", ";
             stream << sp.colind()[i];
           }
           stream << "]";
           stream << ", row: [";
           for (casadi_int i=0; i<sp.nnz(); ++i) {
             if (i>0) stream << ", ";
             stream << sp.row()[i];
           }
           stream << "]";
         }
       }
     } else {
       stream << "NULL";
     }
   }

References casadi::Sparsity::colind(), casadi::Sparsity::dim(), casadi::Sparsity::is_dense(), casadi::Sparsity::is_scalar(), casadi::Sparsity::nnz(), casadi::normalized_out(), casadi::normalized_setup(), casadi::Sparsity::row(), and casadi::Sparsity::size2().

Referenced by casadi::Monitor::eval(), casadi::MXFunction::print_arg(), print_arg(), casadi::FunctionInternal::print_in(), casadi::FunctionInternal::print_out(), casadi::MXFunction::print_res(), and print_res().

◆ print_canonical() [3/3]

void casadi::FunctionInternal::print_canonical	(	std::ostream &	stream,
		double	a
	)

staticinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dj

Definition at line 908 of file function_internal.cpp.

                                                                      {
     StreamStateGuard backup(stream);
     normalized_setup(stream);
     normalized_out(stream, a);
   }

References casadi::normalized_out(), and casadi::normalized_setup().

◆ print_dimensions()

void casadi::FunctionInternal::print_dimensions ( std::ostream & stream ) const

inherited

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

Definition at line 983 of file function_internal.cpp.

                                                                   {
     stream << " Number of inputs: " << n_in_ << std::endl;
     for (casadi_int i=0; i<n_in_; ++i) {
       stream << "  Input " << i  << " (\"" << name_in_[i] << "\"): "
              << sparsity_in_[i].dim() << std::endl;
     }
     stream << " Number of outputs: " << n_out_ << std::endl;
     for (casadi_int i=0; i<n_out_; ++i) {
       stream << "  Output " << i  << " (\"" << name_out_[i] << "\"): "
              << sparsity_out_[i].dim() << std::endl;
     }
   }

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

◆ print_in()

void casadi::FunctionInternal::print_in	(	std::ostream &	stream,
		const double **	arg,
		bool	truncate
	)		const

inherited

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

Definition at line 824 of file function_internal.cpp.

                                                                                              {
     stream << "Function " << name_ << " (" << this << ")" << std::endl;
     for (casadi_int i=0; i<n_in_; ++i) {
       stream << "Input " << i << " (" << name_in_[i] << "): ";
       if (arg[i]) {
         if (print_canonical_) {
           print_canonical(stream, sparsity_in_[i], arg[i]);
         } else {
           DM::print_default(stream, sparsity_in_[i], arg[i], truncate);
         }
         stream << std::endl;
       } else {
         stream << "NULL" << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_in_, casadi::ProtoFunction::name_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, casadi::Matrix< double >::print_default(), and casadi::FunctionInternal::sparsity_in_.

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

◆ print_option()

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

inherited

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

Definition at line 1000 of file function_internal.cpp.

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

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

◆ print_options()

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

inherited

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

Definition at line 996 of file function_internal.cpp.

                                                             {
     get_options().print_all(stream);
   }

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

◆ print_out()

void casadi::FunctionInternal::print_out	(	std::ostream &	stream,
		double **	res,
		bool	truncate
	)		const

inherited

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

Definition at line 841 of file function_internal.cpp.

                                                                                         {
     stream << "Function " << name_ << " (" << this << ")" << std::endl;
     for (casadi_int i=0; i<n_out_; ++i) {
       stream << "Output " << i << " (" << name_out_[i] << "): ";
       if (res[i]) {
         if (print_canonical_) {
           print_canonical(stream, sparsity_out_[i], res[i]);
         } else {
           DM::print_default(stream, sparsity_out_[i], res[i], truncate);
         }
         stream << std::endl;
       } else {
         stream << "NULL" << std::endl;
       }
     }
   }

References casadi::FunctionInternal::n_out_, casadi::ProtoFunction::name_, casadi::FunctionInternal::name_out_, casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, casadi::Matrix< double >::print_default(), and casadi::FunctionInternal::sparsity_out_.

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

◆ print_res() [1/2]

void casadi::SXFunction::print_res	(	CodeGenerator &	g,
		casadi_int	k,
		const ScalarAtomic &	el
	)		const

Definition at line 291 of file sx_function.cpp.

                                                                                          {
     if (el.op==OP_INPUT || el.op==OP_OUTPUT) return;
     g << g.printf(name_ + ":" + str(k) + ": " + print(el) + " outputs:\\n") << "\n";
     if (el.op==OP_CALL) {
       const ExtendedAlgEl& m = call_.el[el.i1];
       g << g.print_vector(m.f.nnz_out(), "w+" + str(m.f.nnz_in()));
       g << g.printf("\\n");
     } else {
       g << g.printf("0: %.16e\\n", g.sx_work(el.i0));
     }
     g << "\n";
   }

References call_, casadi::SXFunction::CallInfo::el, casadi::SXFunction::ExtendedAlgEl::f, casadi::ScalarAtomic::i0, casadi::ScalarAtomic::i1, casadi::ProtoFunction::name_, casadi::Function::nnz_in(), casadi::Function::nnz_out(), casadi::ScalarAtomic::op, casadi::OP_CALL, casadi::OP_INPUT, casadi::OP_OUTPUT, print(), casadi::CodeGenerator::print_vector(), casadi::CodeGenerator::printf(), casadi::str(), and casadi::CodeGenerator::sx_work().

◆ print_res() [2/2]

void casadi::SXFunction::print_res	(	std::ostream &	stream,
		casadi_int	k,
		const ScalarAtomic &	el,
		const double *	w
	)		const

Definition at line 304 of file sx_function.cpp.

                              {
     if (el.op==OP_INPUT || el.op==OP_OUTPUT) return;
     stream << name_ << ":" << k << ": " << print(el) << " outputs:" << std::endl;
  
     // Default outputs
     const int* res = &el.i0;
     casadi_int nres = 1;
  
     // Call node overrides these defaults
     if (el.op==OP_CALL) {
       const ExtendedAlgEl& e = call_.el.at(el.i1);
       nres = e.n_res;
       res = get_ptr(e.res);
       stream << "[";
       for (size_t i = 0; i < nres; ++i) {
         if (i>0) stream << ", ";
         if (print_canonical_) {
           print_canonical(stream, w[res[i]]);
         } else {
           DM::print_scalar(stream, w[res[i]]);
         }
       }
       stream << "]";
       stream << std::endl;
       return;
     }
  
     for (size_t i = 0; i < nres; ++i) {
       stream << i << ": ";
       if (print_canonical_) {
         print_canonical(stream, w[res[i]]);
       } else {
         DM::print_scalar(stream, w[res[i]]);
       }
       stream << std::endl;
     }
  
   }

References call_, casadi::SXFunction::CallInfo::el, casadi::get_ptr(), casadi::ScalarAtomic::i0, casadi::ScalarAtomic::i1, casadi::SXFunction::ExtendedAlgEl::n_res, casadi::ProtoFunction::name_, casadi::ScalarAtomic::op, casadi::OP_CALL, casadi::OP_INPUT, casadi::OP_OUTPUT, print(), casadi::FunctionInternal::print_canonical(), casadi::FunctionInternal::print_canonical_, casadi::Matrix< double >::print_scalar(), and casadi::SXFunction::ExtendedAlgEl::res.

Referenced by codegen_body(), and eval().

◆ print_time()

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

inherited

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

Definition at line 3817 of file function_internal.cpp.

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

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

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

◆ project_arg()

template<typename M >

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

inherited

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

Definition at line 1617 of file function_internal.hpp.

                                                               {
     casadi_assert_dev(arg.size()==n_in_);
  
     // Which arguments require mapped evaluation
     std::vector<bool> mapped(n_in_);
     for (casadi_int i=0; i<n_in_; ++i) {
       mapped[i] = arg[i].size2()!=size2_in(i);
     }
  
     // Check if matching input sparsity
     std::vector<bool> matching(n_in_);
     bool any_mismatch = false;
     for (casadi_int i=0; i<n_in_; ++i) {
       if (mapped[i]) {
         matching[i] = arg[i].sparsity().is_stacked(sparsity_in(i), npar);
       } else {
         matching[i] = arg[i].sparsity()==sparsity_in(i);
       }
       any_mismatch = any_mismatch || !matching[i];
     }
  
     // Correct input sparsity
     if (any_mismatch) {
       std::vector<M> arg2(arg);
       for (casadi_int i=0; i<n_in_; ++i) {
         if (!matching[i]) {
           if (mapped[i]) {
             arg2[i] = project(arg2[i], repmat(sparsity_in(i), 1, npar));
           } else {
             arg2[i] = project(arg2[i], sparsity_in(i));
           }
         }
       }
       return arg2;
     }
     return arg;
   }

References casadi::FunctionInternal::n_in_, casadi::FunctionInternal::size2_in(), and casadi::FunctionInternal::sparsity_in().

Referenced by casadi::FunctionInternal::call_gen(), and casadi::FunctionInternal::nz_in().

◆ project_res()

template<typename M >

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

inherited

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

Definition at line 1657 of file function_internal.hpp.

                                                                 {
       return arg;
   }

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

◆ purgable()

template<typename MatType >

bool casadi::FunctionInternal::purgable ( const std::vector< MatType > & seed )

staticinherited

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

Definition at line 1510 of file function_internal.hpp.

                                                              {
     for (auto i=v.begin(); i!=v.end(); ++i) {
       if (!i->is_zero()) return false;
     }
     return true;
   }

Referenced by casadi::MXFunction::ad_forward(), and casadi::MXFunction::ad_reverse().

◆ release()

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

inherited

Definition at line 3690 of file function_internal.cpp.

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

◆ replace_arg()

template<typename M >

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

inherited

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

Definition at line 1790 of file function_internal.hpp.

                                                               {
     std::vector<M> r(arg.size());
     for (casadi_int i=0; i<r.size(); ++i) r[i] = replace_mat(arg[i], sparsity_in(i), npar);
     return r;
   }

References casadi::replace_mat(), and casadi::FunctionInternal::sparsity_in().

Referenced by casadi::FunctionInternal::call(), casadi::FunctionInternal::nz_in(), and casadi::FunctionInternal::replace_fseed().

◆ replace_aseed() [1/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_aseed	(	const std::vector< std::vector< M > > &	aseed,
		casadi_int	npar
	)		const

inherited

Definition at line 1814 of file function_internal.hpp.

                                                                               {
     std::vector<std::vector<M> > r(aseed.size());
     for (casadi_int d=0; d<r.size(); ++d) r[d] = replace_res(aseed[d], npar);
     return r;
   }

References casadi::FunctionInternal::replace_res().

◆ replace_aseed() [2/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_aseed	(	const std::vector< std::vector< M >> &	aseed,
		casadi_int	npar
	)		const

inherited

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

Referenced by casadi::MXFunction::ad_reverse(), ad_reverse(), and casadi::FunctionInternal::call_reverse().

◆ replace_fseed() [1/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_fseed	(	const std::vector< std::vector< M > > &	fseed,
		casadi_int	npar
	)		const

inherited

Definition at line 1806 of file function_internal.hpp.

                                                                               {
     std::vector<std::vector<M> > r(fseed.size());
     for (casadi_int d=0; d<r.size(); ++d) r[d] = replace_arg(fseed[d], npar);
     return r;
   }

References casadi::FunctionInternal::replace_arg().

◆ replace_fseed() [2/2]

template<typename M >

std::vector<std::vector<M> > casadi::FunctionInternal::replace_fseed	(	const std::vector< std::vector< M >> &	fseed,
		casadi_int	npar
	)		const

inherited

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

Referenced by casadi::MXFunction::ad_forward(), ad_forward(), and casadi::FunctionInternal::call_forward().

◆ replace_res()

template<typename M >

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

inherited

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

Definition at line 1798 of file function_internal.hpp.

                                                               {
     std::vector<M> r(res.size());
     for (casadi_int i=0; i<r.size(); ++i) r[i] = replace_mat(res[i], sparsity_out(i), npar);
     return r;
   }

References casadi::replace_mat(), and casadi::FunctionInternal::sparsity_out().

Referenced by casadi::FunctionInternal::nz_out(), and casadi::FunctionInternal::replace_aseed().

◆ reset_dump_count()

void casadi::FunctionInternal::reset_dump_count ( )

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_2dx

Definition at line 461 of file function_internal.cpp.

                                           {
     dump_count_ = 0;
   }

References casadi::FunctionInternal::dump_count_.

◆ reverse()

Function casadi::FunctionInternal::reverse ( casadi_int nadj ) const

inherited

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

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

Definition at line 2224 of file function_internal.cpp.

                                                           {
     casadi_assert_dev(nadj>=0);
     // Used wrapped function if reverse not available
     if (!enable_reverse_) {
       // Derivative information must be available
       casadi_assert(has_derivative(), "Derivatives cannot be calculated for " + name_);
       return wrap().reverse(nadj);
     }
     // Retrieve/generate cached
     Function f;
     std::string fname = reverse_name(name_, nadj);
     if (!incache(fname, f)) {
       casadi_int i;
       // Prefix to be used for adjoint seeds, sensitivities
       std::string pref = diff_prefix("adj");
       // Names of inputs
       std::vector<std::string> inames;
       for (i=0; i<n_in_; ++i) inames.push_back(name_in_[i]);
       for (i=0; i<n_out_; ++i) inames.push_back("out_" + name_out_[i]);
       for (i=0; i<n_out_; ++i) inames.push_back(pref + name_out_[i]);
       // Names of outputs
       std::vector<std::string> onames;
       for (casadi_int i=0; i<n_in_; ++i) onames.push_back(pref + name_in_[i]);
       // Options
       Dict opts = combine(reverse_options_, der_options_);
       opts = combine(opts, generate_options("reverse"));
       opts["derivative_of"] = self();
       // Generate derivative function
       casadi_assert_dev(enable_reverse_);
       f = get_reverse(nadj, fname, inames, onames, opts);
       // Consistency check for inputs
       casadi_assert_dev(f.n_in()==n_in_ + n_out_ + n_out_);
       casadi_int ind=0;
       for (i=0; i<n_in_; ++i) f.assert_size_in(ind++, size1_in(i), size2_in(i));
       for (i=0; i<n_out_; ++i) f.assert_size_in(ind++, size1_out(i), size2_out(i));
       for (i=0; i<n_out_; ++i) f.assert_size_in(ind++, size1_out(i), nadj*size2_out(i));
       // Consistency check for outputs
       casadi_assert_dev(f.n_out()==n_in_);
       for (i=0; i<n_in_; ++i) f.assert_sparsity_out(i, sparsity_in(i), nadj);
       // Save to cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::call_reverse(), and casadi::Function::reverse().

◆ reverse_name()

static std::string casadi::FunctionInternal::reverse_name	(	const std::string &	fcn,
		casadi_int	nadj
	)

inlinestaticinherited

Definition at line 662 of file function_internal.hpp.

                                                                          {
       return "adj" + str(nadj) + "_" + fcn;
     }

References casadi::str().

Referenced by casadi::FunctionInternal::reverse(), and casadi::FixedStepIntegrator::stepB().

◆ self()

Function casadi::FunctionInternal::self ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_k8

Definition at line 353 of file function_internal.hpp.

353 { return shared_from_this<Function>();}

◆ serialize()

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

inherited

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

Definition at line 4181 of file function_internal.cpp.

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

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

◆ serialize_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::SXFunction::serialize_body ( SerializingStream & s ) const

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v0

Reimplemented from casadi::FunctionInternal.

Definition at line 1897 of file sx_function.cpp.

                                                             {
     XFunction<SXFunction, SX, SXNode>::serialize_body(s);
     s.version("SXFunction", 3);
     s.pack("SXFunction::n_instr", algorithm_.size());
  
     s.pack("SXFunction::worksize", worksize_);
     s.pack("SXFunction::free_vars", free_vars_);
     s.pack("SXFunction::operations", operations_);
     s.pack("SXFunction::constants", constants_);
     s.pack("SXFunction::default_in", default_in_);
  
     s.pack("SXFunction::call_sz_arg", call_.sz_arg);
     s.pack("SXFunction::call_sz_res", call_.sz_res);
     s.pack("SXFunction::call_sz_iw", call_.sz_iw);
     s.pack("SXFunction::call_sz_w", call_.sz_w);
     s.pack("SXFunction::call_sz_arg", call_.sz_w_arg);
     s.pack("SXFunction::call_sz_res", call_.sz_w_res);
  
     s.pack("SXFunction::call_el_size", call_.el.size());
     // Loop over ExtendedALgEl elements
     for (const auto& n : call_.el) {
       s.pack("SXFunction::call_el_f", n.f);
       s.pack("SXFunction::call_el_dep", n.dep);
       s.pack("SXFunction::call_el_res", n.res);
       s.pack("SXFunction::call_el_copy_elision_arg", n.copy_elision_arg);
       s.pack("SXFunction::call_el_copy_elision_offset", n.copy_elision_offset);
     }
  
     s.pack("SXFunction::copy_elision", copy_elision_);
  
     // Loop over algorithm
     for (const auto& e : algorithm_) {
       s.pack("SXFunction::ScalarAtomic::op", e.op);
       s.pack("SXFunction::ScalarAtomic::i0", e.i0);
       s.pack("SXFunction::ScalarAtomic::i1", e.i1);
       s.pack("SXFunction::ScalarAtomic::i2", e.i2);
     }
  
     s.pack("SXFunction::live_variables", live_variables_);
     s.pack("SXFunction::print_instructions", print_instructions_);
  
     XFunction<SXFunction, SX, SXNode>::delayed_serialize_members(s);
   }

References algorithm_, call_, constants_, copy_elision_, default_in_, casadi::XFunction< DerivedType, MatType, NodeType >::delayed_serialize_members(), casadi::SXFunction::CallInfo::el, free_vars_, live_variables_, operations_, casadi::SerializingStream::pack(), print_instructions_, casadi::XFunction< DerivedType, MatType, NodeType >::serialize_body(), casadi::SXFunction::CallInfo::sz_arg, casadi::SXFunction::CallInfo::sz_iw, casadi::SXFunction::CallInfo::sz_res, casadi::SXFunction::CallInfo::sz_w, casadi::SXFunction::CallInfo::sz_w_arg, casadi::SXFunction::CallInfo::sz_w_res, casadi::SerializingStream::version(), and worksize_.

◆ serialize_type()

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

overridevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_m6

Reimplemented from casadi::ProtoFunction.

Reimplemented in casadi::LinearInterpolantJac, casadi::LinearInterpolant, casadi::Rootfinder, casadi::Nlpsol, casadi::MapSum, casadi::Map, casadi::Interpolant, and casadi::Integrator.

Definition at line 3982 of file function_internal.cpp.

                                                                   {
     s.pack("FunctionInternal::base_function", serialize_base_function());
   }

References casadi::SerializingStream::pack(), and casadi::ProtoFunction::serialize_base_function().

Referenced by casadi::Conic::serialize_type(), casadi::GenericExternal::serialize_type(), casadi::Integrator::serialize_type(), casadi::Interpolant::serialize_type(), casadi::Map::serialize_type(), casadi::MapSum::serialize_type(), casadi::Nlpsol::serialize_type(), casadi::Rootfinder::serialize_type(), and casadi::LinearInterpolantJac::serialize_type().

◆ set_jac_sparsity()

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

protectedinherited

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

Definition at line 3761 of file function_internal.cpp.

                                                                                               {
 #ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
     // Safe access to jac_sparsity_
     std::lock_guard<std::mutex> lock(jac_sparsity_mtx_);
 #endif // CASADI_WITH_THREADSAFE_SYMBOLICS
     casadi_int ind = iind + oind * n_in_;
     jac_sparsity_[false].resize(n_in_ * n_out_);
     jac_sparsity_[false].at(ind) = sp;
     jac_sparsity_[true].resize(n_in_ * n_out_);
     jac_sparsity_[true].at(ind) = to_compact(oind, iind, sp);
   }

References casadi::FunctionInternal::jac_sparsity_, casadi::FunctionInternal::n_in_, casadi::FunctionInternal::n_out_, and casadi::FunctionInternal::to_compact().

◆ set_temp()

virtual void casadi::FunctionInternal::set_temp	(	void *	mem,
		const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w
	)		const

inlinevirtualinherited

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

Reimplemented in casadi::FatropConicInterface, and casadi::OracleFunction.

Definition at line 1233 of file function_internal.hpp.

1234 {}

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

◆ set_work()

virtual void casadi::FunctionInternal::set_work	(	void *	mem,
		const double **&	arg,
		double **&	res,
		casadi_int *&	iw,
		double *&	w
	)		const

inlinevirtualinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n9

Reimplemented in casadi::Sqpmethod, casadi::Scpgen, casadi::Qrsqp, casadi::Qrqp, casadi::Newton, casadi::ImplicitToNlp, casadi::Feasiblesqpmethod, casadi::FastNewton, casadi::WorhpInterface, casadi::SundialsInterface, casadi::KinsolInterface, casadi::SnoptInterface, casadi::SlicotExpm, casadi::SlicotDple, casadi::SLEQPInterface, casadi::MadnlpInterface, casadi::KnitroInterface, casadi::IpoptInterface, casadi::HpipmInterface, casadi::HighsInterface, casadi::FatropInterface, casadi::FatropConicInterface, casadi::DaqpInterface, casadi::ClarabelInterface, casadi::BonminInterface, casadi::Blocksqp, casadi::AmplInterface, casadi::AlpaqaInterface, casadi::Rootfinder, casadi::Nlpsol, casadi::FixedStepIntegrator, casadi::Integrator, and casadi::Conic.

Definition at line 1227 of file function_internal.hpp.

1228 {}

Referenced by casadi::Integrator::set_work(), casadi::SlicotDple::set_work(), casadi::SlicotExpm::set_work(), and casadi::FunctionInternal::setup().

◆ setup()

void casadi::FunctionInternal::setup	(	void *	mem,
		const double **	arg,
		double **	res,
		casadi_int *	iw,
		double *	w
	)		const

inherited

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

Definition at line 3549 of file function_internal.cpp.

                                                                 {
     set_work(mem, arg, res, iw, w);
     set_temp(mem, arg, res, iw, w);
     auto m = static_cast<FunctionMemory*>(mem);
     m->stats_available = true;
   }

References casadi::FunctionInternal::set_temp(), casadi::FunctionInternal::set_work(), and casadi::FunctionMemory::stats_available.

Referenced by casadi::Conic::eval(), casadi::Nlpsol::eval(), casadi::CallbackInternal::eval(), casadi::FiniteDiff::eval(), casadi::FmuFunction::eval(), casadi::Integrator::eval(), casadi::Map::eval(), casadi::OmpMap::eval(), casadi::ThreadMap::eval(), casadi::MapSum::eval(), casadi::MXFunction::eval(), casadi::Rootfinder::eval(), casadi::Switch::eval(), eval(), casadi::SlicotDple::eval(), casadi::SlicotExpm::eval(), casadi::BSplineInterpolant::eval(), and casadi::LinearInterpolant::eval().

◆ shared_from_this() [1/2]

B casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::shared_from_this ( )

inlineprotectedinherited

Definition at line 83 of file generic_shared_internal.hpp.

                          {
       casadi_assert_dev(B::test_cast(static_cast<Internal*>(this)));
       B ret;
       ret.own(static_cast<Internal*>(this));
       return ret;
     }

◆ shared_from_this() [2/2]

const B casadi::GenericSharedInternal< SharedObject , SharedObjectInternal >::shared_from_this ( ) const

inlineprotectedinherited

Definition at line 92 of file generic_shared_internal.hpp.

                                      {
       casadi_assert_dev(B::test_cast(static_cast<const Internal*>(this)));
       B ret;
       ret.own(const_cast<Internal*>(static_cast<const Internal*>(this)));
       return ret;
     }

◆ should_inline()

bool casadi::SXFunction::should_inline	(	bool	with_sx,
		bool	always_inline,
		bool	never_inline
	)		const

overridevirtual

Inline calls?

Implements casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >.

Definition at line 1178 of file sx_function.cpp.

                                                                                           {
     // If inlining has been specified
     casadi_assert(!(always_inline && never_inline),
       "Inconsistent options for " + definition());
     casadi_assert(!(never_inline && has_free()),
       "Must inline " + definition());
     if (always_inline) return true;
     if (never_inline) return false;
     // Functions with free variables must be inlined
     if (has_free()) return true;
     // Inlining by default
     return true;
   }

References casadi::FunctionInternal::definition(), and has_free().

Referenced by eval_sx().

◆ signature()

std::string casadi::FunctionInternal::signature ( const std::string & fname ) const

inherited

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

Definition at line 2413 of file function_internal.cpp.

                                                                     {
     return "int " + fname + "(const casadi_real** arg, casadi_real** res, "
                             "casadi_int* iw, casadi_real* w, int mem)";
   }

Referenced by casadi::CodeGenerator::add(), casadi::FunctionInternal::codegen(), and casadi::External::codegen_declarations().

◆ signature_unrolled()

std::string casadi::FunctionInternal::signature_unrolled ( const std::string & fname ) const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_27o

Definition at line 2418 of file function_internal.cpp.

                                                                              {
     std::vector<std::string> args;
     for (auto e : name_in_) {
       args.push_back("const casadi_real* " + str(e));
     }
     for (auto e : name_out_) {
       args.push_back("casadi_real* " + str(e));
     }
     args.push_back("const casadi_real** arg");
     args.push_back("casadi_real** res");
     args.push_back("casadi_int* iw");
     args.push_back("casadi_real* w");
     args.push_back("int mem");
     return "int " + fname + "_unrolled(" + join(args, ", ") + ")";
   }

References casadi::join(), casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, and casadi::str().

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

◆ size1_in()

casadi_int casadi::FunctionInternal::size1_in ( casadi_int ind ) const

inlineinherited

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

Definition at line 993 of file function_internal.hpp.

993 { return sparsity_in(ind).size1(); }

casadi::Sparsity::size1

casadi_int size1() const

Get the number of rows.

Definition: sparsity.cpp:124

Referenced by casadi::FunctionInternal::check_arg(), casadi::FmuFunction::eval(), casadi::FmuFunction::eval_task(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::Integrator::get_reverse(), casadi::FunctionInternal::matching_arg(), and casadi::FunctionInternal::reverse().

◆ size1_out()

casadi_int casadi::FunctionInternal::size1_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 995 of file function_internal.hpp.

995 { return sparsity_out(ind).size1(); }

Referenced by casadi::FmuFunction::eval_task(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::FunctionInternal::matching_res(), and casadi::FunctionInternal::reverse().

◆ size2_in()

casadi_int casadi::FunctionInternal::size2_in ( casadi_int ind ) const

inlineinherited

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

Definition at line 994 of file function_internal.hpp.

994 { return sparsity_in(ind).size2(); }

casadi::Sparsity::size2

casadi_int size2() const

Get the number of columns.

Definition: sparsity.cpp:128

Referenced by casadi::FunctionInternal::call_gen(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::check_arg(), casadi::FunctionInternal::forward(), casadi::Integrator::get_reverse(), casadi::FunctionInternal::mapsum_mx(), casadi::FunctionInternal::matching_arg(), casadi::FunctionInternal::project_arg(), and casadi::FunctionInternal::reverse().

◆ size2_out()

casadi_int casadi::FunctionInternal::size2_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 996 of file function_internal.hpp.

996 { return sparsity_out(ind).size2(); }

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::Integrator::get_forward(), casadi::LinearInterpolantJac::get_jacobian(), casadi::FunctionInternal::matching_res(), and casadi::FunctionInternal::reverse().

◆ size_in()

std::pair<casadi_int, casadi_int> casadi::FunctionInternal::size_in ( casadi_int ind ) const

inlineinherited

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

Definition at line 997 of file function_internal.hpp.

                                                                   {
       return sparsity_in(ind).size();
     }

Referenced by casadi::Rootfinder::ad_forward(), casadi::Rootfinder::ad_reverse(), casadi::MXFunction::ad_reverse(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::fwd_seed(), casadi::Dple::get_forward(), and casadi::Dple::get_reverse().

◆ size_out()

std::pair<casadi_int, casadi_int> casadi::FunctionInternal::size_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 1000 of file function_internal.hpp.

                                                                    {
       return sparsity_out(ind).size();
     }

Referenced by casadi::MXFunction::ad_forward(), casadi::Rootfinder::ad_reverse(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::check_res(), casadi::FunctionInternal::eval(), casadi::Integrator::get_forward(), casadi::Integrator::get_reverse(), and casadi::Nlpsol::init().

◆ slice()

Function casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::slice	(	const std::string &	name,
		const std::vector< casadi_int > &	order_in,
		const std::vector< casadi_int > &	order_out,
		const Dict &	opts
	)		const

overridevirtualinherited

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

Reimplemented from casadi::FunctionInternal.

Definition at line 160 of file x_function.hpp.

                                                                           {
     // Return expressions
     std::vector<MatType> ret_in, ret_out;
     std::vector<std::string> ret_in_name, ret_out_name;
  
     // Reorder inputs
     for (casadi_int k : order_in) {
       ret_in.push_back(in_.at(k));
       ret_in_name.push_back(name_in_.at(k));
     }
  
     // Reorder outputs
     for (casadi_int k : order_out) {
       ret_out.push_back(out_.at(k));
       ret_out_name.push_back(name_out_.at(k));
     }
  
     // Assemble function
     return Function(name, ret_in, ret_out,
                     ret_in_name, ret_out_name, opts);
   }

◆ sort_depth_first()

void casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::sort_depth_first	(	std::stack< SXNode * > &	s,
		std::vector< SXNode * > &	nodes
	)

staticinherited

This function modifies the temp member of the nodes, making it not thread-safe.

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

Definition at line 93 of file x_function.hpp.

                                                            {
     while (!s.empty()) {
       // Get the topmost element
       NodeType* t = s.top();
       // If the last element on the stack has not yet been added
       if (t && t->temp>=0) {
         // Get the index of the next dependency
         casadi_int next_dep = t->temp++;
         // If there is any dependency which has not yet been added
         if (next_dep < t->n_dep()) {
           // Add dependency to stack
           s.push(static_cast<NodeType*>(t->dep(next_dep).get()));
         } else {
           // if no dependencies need to be added, we can add the node to the algorithm
           nodes.push_back(t);
           // Mark the node as found
           t->temp = -1;
           // Remove from stack
           s.pop();
         }
       } else {
         // If the last element on the stack has already been added
         s.pop();
       }
     }
   }

◆ sp_forward()

int casadi::SXFunction::sp_forward	(	const bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem
	)		const

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v6

Reimplemented from casadi::FunctionInternal.

Definition at line 1643 of file sx_function.cpp.

                                                                                            {
     // Fall back when forward mode not allowed
     if (sp_weight()==1 || sp_weight()==-1)
       return FunctionInternal::sp_forward(arg, res, iw, w, mem);
     // Propagate sparsity forward
     for (auto&& e : algorithm_) {
       switch (e.op) {
       case OP_CONST:
       case OP_PARAMETER:
         w[e.i0] = 0; break;
       case OP_INPUT:
         w[e.i0] = arg[e.i1]==nullptr ? 0 : arg[e.i1][e.i2];
         break;
       case OP_OUTPUT:
         if (res[e.i0]!=nullptr) res[e.i0][e.i2] = w[e.i1];
         break;
       case OP_CALL:
         call_fwd(e, arg, res, iw, w);
         break;
       default: // Unary or binary operation
         w[e.i0] = w[e.i1] | w[e.i2]; break;
       }
     }
     return 0;
   }

References algorithm_, call_fwd(), casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, casadi::FunctionInternal::sp_forward(), and casadi::FunctionInternal::sp_weight().

◆ sp_forward_block()

int casadi::FunctionInternal::sp_forward_block	(	const bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem,
		casadi_int	oind,
		casadi_int	iind
	)		const

virtualinherited

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

Definition at line 2857 of file function_internal.cpp.

                                                                                     {
     // Get the sparsity of the Jacobian block
     Sparsity sp = jac_sparsity(oind, iind, true, false);
     if (sp.is_null() || sp.nnz() == 0) return 0; // Skip if zero
     // Carry out the sparse matrix-vector multiplication
     casadi_int d1 = sp.size2();
     const casadi_int *colind = sp.colind(), *row = sp.row();
     for (casadi_int cc=0; cc<d1; ++cc) {
       for (casadi_int el = colind[cc]; el < colind[cc+1]; ++el) {
         res[oind][row[el]] |= arg[iind][cc];
       }
     }
     return 0;
   }

References casadi::Sparsity::colind(), casadi::GenericShared< Shared, Internal >::is_null(), casadi::FunctionInternal::jac_sparsity(), casadi::Sparsity::nnz(), casadi::Sparsity::row(), and casadi::Sparsity::size2().

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

◆ sp_reverse()

int casadi::SXFunction::sp_reverse	(	bvec_t **	arg,
		bvec_t **	res,
		casadi_int *	iw,
		bvec_t *	w,
		void *	mem
	)		const

overridevirtual

Extra doc: https://github.com/casadi/casadi/wiki/L_v7

Reimplemented from casadi::FunctionInternal.

Definition at line 1670 of file sx_function.cpp.

                                                   {
     // Fall back when reverse mode not allowed
     if (sp_weight()==0 || sp_weight()==-1)
       return FunctionInternal::sp_reverse(arg, res, iw, w, mem);
     std::fill_n(w, sz_w(), 0);
  
     // Propagate sparsity backward
     for (auto it=algorithm_.rbegin(); it!=algorithm_.rend(); ++it) {
       // Temp seed
       bvec_t seed;
  
       // Propagate seeds
       switch (it->op) {
       case OP_CONST:
       case OP_PARAMETER:
         w[it->i0] = 0;
         break;
       case OP_INPUT:
         if (arg[it->i1]!=nullptr) arg[it->i1][it->i2] |= w[it->i0];
         w[it->i0] = 0;
         break;
       case OP_OUTPUT:
         if (res[it->i0]!=nullptr) {
           w[it->i1] |= res[it->i0][it->i2];
           res[it->i0][it->i2] = 0;
         }
         break;
       case OP_CALL:
         call_rev(*it, arg, res, iw, w);
         break;
       default: // Unary or binary operation
         seed = w[it->i0];
         w[it->i0] = 0;
         w[it->i1] |= seed;
         w[it->i2] |= seed;
       }
     }
     return 0;
   }

References algorithm_, call_rev(), casadi::OP_CALL, casadi::OP_CONST, casadi::OP_INPUT, casadi::OP_OUTPUT, casadi::OP_PARAMETER, casadi::FunctionInternal::sp_reverse(), casadi::FunctionInternal::sp_weight(), and casadi::FunctionInternal::sz_w().

◆ sp_weight()

double casadi::FunctionInternal::sp_weight ( ) const

virtualinherited

sparsity propagation

Extra doc: https://github.com/casadi/casadi/wiki/L_l6

Definition at line 3285 of file function_internal.cpp.

                                            {
     // If reverse mode propagation unavailable, use forward
     if (!has_sprev()) return 0;
  
     // If forward mode propagation unavailable, use reverse
     if (!has_spfwd()) return 1;
  
     // Use the (potentially user set) option
     return ad_weight_sp_;
   }

References casadi::FunctionInternal::ad_weight_sp_, casadi::FunctionInternal::has_spfwd(), and casadi::FunctionInternal::has_sprev().

Referenced by casadi::FunctionInternal::get_jac_sparsity(), casadi::FunctionInternal::get_jac_sparsity_hierarchical(), casadi::MXFunction::sp_forward(), sp_forward(), casadi::MXFunction::sp_reverse(), sp_reverse(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ sparsity_in()

const Sparsity& casadi::FunctionInternal::sparsity_in ( casadi_int ind ) const

inlineinherited

◆ sparsity_out()

const Sparsity& casadi::FunctionInternal::sparsity_out ( casadi_int ind ) const

inlineinherited

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

Definition at line 1010 of file function_internal.hpp.

1010 { return sparsity_out_.at(ind); }

◆ sprint()

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

inherited

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

Definition at line 3885 of file function_internal.cpp.

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

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

◆ string_from_UnifiedReturnStatus()

std::string casadi::FunctionInternal::string_from_UnifiedReturnStatus ( UnifiedReturnStatus status )

staticinherited

Definition at line 3953 of file function_internal.cpp.

                                                                                         {
     switch (status) {
       case SOLVER_RET_LIMITED:  return "SOLVER_RET_LIMITED";
       case SOLVER_RET_NAN:  return "SOLVER_RET_NAN";
       case SOLVER_RET_SUCCESS:  return "SOLVER_RET_SUCCESS";
       default: return "SOLVER_RET_UNKNOWN";
     }
   }

References casadi::SOLVER_RET_LIMITED, casadi::SOLVER_RET_NAN, and casadi::SOLVER_RET_SUCCESS.

Referenced by casadi::Conic::get_stats(), casadi::Nlpsol::get_stats(), and casadi::Rootfinder::get_stats().

◆ sx_in() [1/2]

const std::vector< SX > casadi::SXFunction::sx_in ( ) const

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 1715 of file sx_function.cpp.

                                               {
     return in_;
   }

References casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >::in_.

◆ sx_in() [2/2]

const SX casadi::SXFunction::sx_in ( casadi_int ind ) const

overridevirtual

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

Reimplemented from casadi::FunctionInternal.

Definition at line 1711 of file sx_function.cpp.

                                                  {
     return in_.at(ind);
   }

References casadi::XFunction< SXFunction, Matrix< SXElem >, SXNode >::in_.

◆ sx_out() [1/2]

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

virtualinherited

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

Definition at line 3320 of file function_internal.cpp.

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

References casadi::FunctionInternal::n_out_.

◆ sx_out() [2/2]

const SX casadi::FunctionInternal::sx_out ( casadi_int ind ) const

virtualinherited

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

Definition at line 3300 of file function_internal.cpp.

                                                         {
     return SX::sym(name_out_.at(ind), sparsity_out(ind));
   }

References casadi::FunctionInternal::name_out_, casadi::FunctionInternal::sparsity_out(), and casadi::GenericMatrix< Matrix< Scalar > >::sym().

◆ symbolic_output()

std::vector< MX > casadi::FunctionInternal::symbolic_output ( const std::vector< MX > & arg ) const

virtualinherited

Reimplemented in casadi::MXFunction.

Definition at line 1150 of file function_internal.cpp.

                                                                                 {
     return self()(arg);
   }

Referenced by casadi::MXFunction::symbolic_output().

◆ symbolicAdjSeed()

template<typename MatType >

std::vector< std::vector< MatType > > casadi::FunctionInternal::symbolicAdjSeed	(	casadi_int	nadj,
		const std::vector< MatType > &	v
	)		const

inherited

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

Definition at line 1535 of file function_internal.hpp.

                                                                       {
     std::vector<std::vector<MatType> > aseed(nadj, v);
     for (casadi_int dir=0; dir<nadj; ++dir) {
       // Replace symbolic inputs
       casadi_int oind=0;
       for (typename std::vector<MatType>::iterator i=aseed[dir].begin();
           i!=aseed[dir].end();
           ++i, ++oind) {
         // Name of the adjoint seed
         std::stringstream ss;
         ss << "a";
         if (nadj>1) ss << dir << "_";
         ss << oind;
  
         // Save to matrix
         *i = MatType::sym(ss.str(), is_diff_out_[oind] ? i->sparsity() : Sparsity(i->size()));
  
       }
     }
     return aseed;
   }

References casadi::FunctionInternal::is_diff_out_.

◆ sz_arg()

size_t casadi::FunctionInternal::sz_arg ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n0

Definition at line 1172 of file function_internal.hpp.

1172 { return sz_arg_per_ + sz_arg_tmp_;}

◆ sz_iw()

size_t casadi::FunctionInternal::sz_iw ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n2

Definition at line 1182 of file function_internal.hpp.

1182 { return sz_iw_per_ + sz_iw_tmp_;}

◆ sz_res()

size_t casadi::FunctionInternal::sz_res ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n1

Definition at line 1177 of file function_internal.hpp.

1177 { return sz_res_per_ + sz_res_tmp_;}

◆ sz_w()

size_t casadi::FunctionInternal::sz_w ( ) const

inlineinherited

Extra doc: https://github.com/casadi/casadi/wiki/L_n3

Definition at line 1187 of file function_internal.hpp.

1187 { return sz_w_per_ + sz_w_tmp_;}

◆ sz_work()

void casadi::FunctionInternal::sz_work	(	size_t &	sz_arg,
		size_t &	sz_res,
		size_t &	sz_iw,
		size_t &	sz_w
	)		const

inherited

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

Definition at line 2905 of file function_internal.cpp.

                                                                     {
     sz_arg = this->sz_arg();
     sz_res = this->sz_res();
     sz_iw = this->sz_iw();
     sz_w = this->sz_w();
   }

References casadi::FunctionInternal::sz_arg(), casadi::FunctionInternal::sz_iw(), casadi::FunctionInternal::sz_res(), and casadi::FunctionInternal::sz_w().

◆ to_compact()

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

inherited

Definition at line 1921 of file function_internal.cpp.

                                 {
     // Strip rows and columns
     std::vector<casadi_int> mapping;
     return sp.sub(sparsity_out(oind).find(), sparsity_in(iind).find(), mapping);
   }

References casadi::FunctionInternal::find(), casadi::FunctionInternal::sparsity_in(), casadi::FunctionInternal::sparsity_out(), and casadi::Sparsity::sub().

Referenced by casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::set_jac_sparsity().

◆ tocache()

void casadi::FunctionInternal::tocache	(	const Function &	f,
		const std::string &	suffix = `""`
	)		const

inherited

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

Definition at line 1083 of file function_internal.cpp.

                                                                                  {
     cache_.tocache(f.name() + ":" + suffix, f);
   }

References casadi::FunctionInternal::cache_, and casadi::Function::name().

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::BlazingSplineFunction::get_jacobian(), and casadi::FunctionInternal::init().

◆ tocache_if_missing()

void casadi::FunctionInternal::tocache_if_missing	(	Function &	f,
		const std::string &	suffix = `""`
	)		const

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_29j

Definition at line 1087 of file function_internal.cpp.

                                                                                       {
     cache_.tocache_if_missing(f.name() + ":" + suffix, f);
   }

References casadi::FunctionInternal::cache_, and casadi::Function::name().

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

◆ uses_output()

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

inlinevirtualinherited

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

Reimplemented in casadi::Rootfinder, casadi::Nlpsol, casadi::FiniteDiff, and casadi::CallbackInternal.

Definition at line 613 of file function_internal.hpp.

613 {return false;}

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

◆ weak()

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

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_1ai

Definition at line 67 of file generic_shared_internal.hpp.

                                                                                   {
     if (weak_ref_==nullptr) {
       weak_ref_ = new GenericWeakRef<Shared, Internal>(static_cast<Internal*>(this));
     }
     return weak_ref_;
   }

◆ which_depends()

std::vector< bool > casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::which_depends	(	const std::string &	s_in,
		const std::vector< std::string > &	s_out,
		casadi_int	order,
		bool	tr = `false`
	)		const

overridevirtualinherited

Parameters

[in]	order	Only 1 (linear) and 2 (nonlinear) allowed
[in]	tr	Flip the relationship. Return which expressions contain the variables

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

Reimplemented from casadi::FunctionInternal.

Definition at line 120 of file x_function.hpp.

                                        {
  
     // Input arguments
     auto it = std::find(name_in_.begin(), name_in_.end(), s_in);
     casadi_assert_dev(it!=name_in_.end());
     MatType arg = in_.at(it-name_in_.begin());
  
     // Output arguments
     std::vector<MatType> res;
     for (auto&& s : s_out) {
       it = std::find(name_out_.begin(), name_out_.end(), s);
       casadi_assert_dev(it!=name_out_.end());
       res.push_back(out_.at(it-name_out_.begin()));
     }
  
     // Extract variables entering nonlinearly
     return MatType::which_depends(veccat(res), arg, order, tr);
   }

◆ wrap()

Function casadi::FunctionInternal::wrap ( ) const

inherited

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

Definition at line 1128 of file function_internal.cpp.

                                         {
     Function f;
     std::string fname = "wrap_" + name_;
     if (!incache(fname, f)) {
       // Options
       Dict opts;
       opts["derivative_of"] = derivative_of_;
       opts["ad_weight"] = ad_weight();
       opts["ad_weight_sp"] = sp_weight();
       opts["max_num_dir"] = max_num_dir_;
       opts["is_diff_in"] = is_diff_in_;
       opts["is_diff_out"] = is_diff_out_;
       // Wrap the function
       std::vector<MX> arg = mx_in();
       std::vector<MX> res = self()(arg);
       f = Function(fname, arg, res, name_in_, name_out_, opts);
       // Save in cache
       tocache_if_missing(f);
     }
     return f;
   }

Referenced by casadi::FunctionInternal::eval_mx(), casadi::FunctionInternal::factory(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::reverse(), casadi::FunctionInternal::slice(), and casadi::Function::wrap().

◆ wrap_as_needed()

Function casadi::FunctionInternal::wrap_as_needed ( const Dict & opts ) const

inherited

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

Definition at line 1110 of file function_internal.cpp.

                                                                   {
     if (opts.empty()) return shared_from_this<Function>();
     std::string fname = "wrap_" + name_;
     // Options
     Dict my_opts = opts;
     my_opts["derivative_of"] = derivative_of_;
     if (my_opts.find("ad_weight")==my_opts.end())
       my_opts["ad_weight"] = ad_weight();
     if (my_opts.find("ad_weight_sp")==my_opts.end())
       my_opts["ad_weight_sp"] = sp_weight();
     if (my_opts.find("max_num_dir")==my_opts.end())
       my_opts["max_num_dir"] = max_num_dir_;
     // Wrap the function
     std::vector<MX> arg = mx_in();
     std::vector<MX> res = self()(arg);
     return Function(fname, arg, res, name_in_, name_out_, my_opts);
   }

References casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::derivative_of_, casadi::FunctionInternal::Function, casadi::FunctionInternal::max_num_dir_, casadi::FunctionInternal::mx_in(), casadi::ProtoFunction::name_, casadi::FunctionInternal::name_in_, casadi::FunctionInternal::name_out_, and casadi::FunctionInternal::sp_weight().

Referenced by casadi::Function::wrap_as_needed().

Member Data Documentation

◆ ad_weight_

double casadi::FunctionInternal::ad_weight_

inherited

Definition at line 1364 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ ad_weight_sp_

double casadi::FunctionInternal::ad_weight_sp_

inherited

Definition at line 1364 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::sp_weight().

◆ algorithm_

std::vector<AlgEl> casadi::SXFunction::algorithm_

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

Definition at line 248 of file sx_function.hpp.

Referenced by ad_forward(), ad_reverse(), codegen_body(), disp_more(), eval(), eval_mx(), eval_sx(), find(), init(), init_copy_elision(), instructions_sx(), is_smooth(), serialize_body(), sp_forward(), sp_reverse(), and SXFunction().

◆ always_inline_

bool casadi::FunctionInternal::always_inline_

inherited

Definition at line 1263 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::eval_mx(), casadi::MXFunction::eval_mx(), eval_mx(), casadi::FunctionInternal::eval_sx(), casadi::MXFunction::eval_sx(), eval_sx(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ cache_

WeakCache<std::string, Function> casadi::FunctionInternal::cache_

mutableinherited

Definition at line 1335 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::cache(), casadi::FunctionInternal::incache(), casadi::FunctionInternal::tocache(), and casadi::FunctionInternal::tocache_if_missing().

◆ cache_init_

Dict casadi::FunctionInternal::cache_init_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_26h

Definition at line 1332 of file function_internal.hpp.

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

◆ call_

struct casadi::SXFunction::CallInfo casadi::SXFunction::call_

Referenced by ad_forward(), ad_reverse(), call_fwd(), call_rev(), call_setup(), codegen_body(), codegen_declarations(), codegen_sz_w(), eval_mx(), eval_sx(), find(), init(), init_copy_elision(), print(), print_arg(), print_res(), serialize_body(), and SXFunction().

◆ checkout_

casadi_checkout_t casadi::FunctionInternal::checkout_

inherited

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

Definition at line 1312 of file function_internal.hpp.

Referenced by casadi::GenericExternal::any_symbol_found(), casadi::External::codegen_checkout(), casadi::External::codegen_declarations(), casadi::External::codegen_mem_type(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::GenericExternal::init_external(), and casadi::FunctionBuffer::operator=().

◆ compiler_

Importer casadi::FunctionInternal::compiler_

inherited

Definition at line 1353 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), and casadi::FunctionInternal::serialize_body().

◆ compiler_plugin_

std::string casadi::FunctionInternal::compiler_plugin_

inherited

Definition at line 1352 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), and casadi::FunctionInternal::serialize_body().

◆ constants_

std::vector<SXElem> casadi::SXFunction::constants_

Definition at line 260 of file sx_function.hpp.

Referenced by eval_mx(), eval_sx(), init(), instructions_sx(), serialize_body(), and SXFunction().

◆ copy_elision_

std::vector<bool> casadi::SXFunction::copy_elision_

Definition at line 266 of file sx_function.hpp.

Referenced by codegen_body(), init_copy_elision(), serialize_body(), and SXFunction().

◆ custom_jacobian_

Function casadi::FunctionInternal::custom_jacobian_

inherited

Definition at line 1404 of file function_internal.hpp.

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

◆ default_in_

std::vector<double> casadi::SXFunction::default_in_

Definition at line 263 of file sx_function.hpp.

Referenced by init(), serialize_body(), and SXFunction().

◆ der_options_

Dict casadi::FunctionInternal::der_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ derivative_of_

Function casadi::FunctionInternal::derivative_of_

inherited

Definition at line 1346 of file function_internal.hpp.

◆ deserialize_map

std::map< std::string, ProtoFunction *(*)(DeserializingStream &)> casadi::FunctionInternal::deserialize_map

staticinherited

Initial value:

= {
    {"MXFunction", MXFunction::deserialize},
    {"SXFunction", SXFunction::deserialize},
    {"Interpolant", Interpolant::deserialize},
    {"Switch", Switch::deserialize},
    {"Map", Map::deserialize},
    {"MapSum", MapSum::deserialize},
    {"Nlpsol", Nlpsol::deserialize},
    {"Rootfinder", Rootfinder::deserialize},
    {"Integrator", Integrator::deserialize},
    {"External", External::deserialize},
    {"Conic", Conic::deserialize},
    {"FmuFunction", FmuFunction::deserialize},
    {"BlazingSplineFunction", BlazingSplineFunction::deserialize}
  }

Definition at line 1455 of file function_internal.hpp.

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

◆ dump_

bool casadi::FunctionInternal::dump_

inherited

Definition at line 1392 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ dump_count_

casadi_int casadi::FunctionInternal::dump_count_

mutableinherited

Definition at line 1410 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), and casadi::FunctionInternal::reset_dump_count().

◆ dump_dir_

std::string casadi::FunctionInternal::dump_dir_

inherited

Definition at line 1395 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ dump_format_

std::string casadi::FunctionInternal::dump_format_

inherited

Definition at line 1398 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ dump_in_

bool casadi::FunctionInternal::dump_in_

inherited

Definition at line 1392 of file function_internal.hpp.

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

◆ dump_out_

bool casadi::FunctionInternal::dump_out_

inherited

Definition at line 1392 of file function_internal.hpp.

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

◆ enable_fd_

bool casadi::FunctionInternal::enable_fd_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::JitFunction::JitFunction(), and casadi::FunctionInternal::serialize_body().

◆ enable_fd_op_

bool casadi::FunctionInternal::enable_fd_op_

inherited

Definition at line 1361 of file function_internal.hpp.

Referenced by casadi::FmuFunction::FmuFunction(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_forward_

bool casadi::FunctionInternal::enable_forward_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_forward(), casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ enable_forward_op_

bool casadi::FunctionInternal::enable_forward_op_

inherited

Definition at line 1361 of file function_internal.hpp.

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

◆ enable_jacobian_

bool casadi::FunctionInternal::enable_jacobian_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), and casadi::FunctionInternal::serialize_body().

◆ enable_jacobian_op_

bool casadi::FunctionInternal::enable_jacobian_op_

inherited

Definition at line 1361 of file function_internal.hpp.

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

◆ enable_reverse_

bool casadi::FunctionInternal::enable_reverse_

inherited

Definition at line 1360 of file function_internal.hpp.

Referenced by casadi::MXFunction::ad_reverse(), casadi::FunctionInternal::ad_weight(), casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::get_partition(), casadi::FunctionInternal::has_derivative(), casadi::FunctionInternal::init(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ enable_reverse_op_

bool casadi::FunctionInternal::enable_reverse_op_

inherited

Definition at line 1361 of file function_internal.hpp.

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

◆ error_on_fail_

bool casadi::ProtoFunction::error_on_fail_

inherited

◆ eval_

eval_t casadi::FunctionInternal::eval_

inherited

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

Definition at line 1307 of file function_internal.hpp.

Referenced by casadi::FunctionBuffer::_eval(), casadi::GenericExternal::any_symbol_found(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), and casadi::GenericExternal::init_external().

◆ fd_method_

std::string casadi::FunctionInternal::fd_method_

inherited

Definition at line 1379 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FmuFunction::init(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ fd_options_

Dict casadi::FunctionInternal::fd_options_

inherited

Definition at line 1373 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ fd_step_

double casadi::FunctionInternal::fd_step_

inherited

Definition at line 1376 of file function_internal.hpp.

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

◆ forward_options_

Dict casadi::FunctionInternal::forward_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::forward(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ free_vars_

std::vector<SXElem> casadi::SXFunction::free_vars_

Definition at line 254 of file sx_function.hpp.

Referenced by codegen_declarations(), eval(), eval_sx(), init(), instructions_sx(), print(), serialize_body(), and SXFunction().

◆ has_refcount_

bool casadi::FunctionInternal::has_refcount_

inherited

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

Definition at line 1327 of file function_internal.hpp.

Referenced by casadi::CodeGenerator::add_dependency(), casadi::FunctionInternal::FunctionInternal(), casadi::Call::has_refcount(), casadi::External::init(), casadi::MXFunction::init(), casadi::OsqpInterface::OsqpInterface(), and casadi::FunctionInternal::serialize_body().

◆ in_

std::vector<Matrix< SXElem > > casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::in_

inherited

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

Definition at line 257 of file x_function.hpp.

◆ inputs_check_

bool casadi::FunctionInternal::inputs_check_

inherited

Definition at line 1370 of file function_internal.hpp.

Referenced by casadi::Nlpsol::check_inputs(), casadi::Conic::eval(), casadi::SqicInterface::evaluate(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::GurobiInterface::solve().

◆ is_diff_in_

std::vector<bool> casadi::FunctionInternal::is_diff_in_

inherited

Definition at line 1269 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::definition(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwd_seed(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::MapSum::init(), casadi::FunctionInternal::jac_sparsity(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::wrap().

◆ is_diff_out_

std::vector<bool> casadi::FunctionInternal::is_diff_out_

inherited

Definition at line 1269 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::codegen_meta(), casadi::FunctionInternal::definition(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::init(), casadi::Map::init(), casadi::MapSum::init(), casadi::FunctionInternal::jac_sparsity(), casadi::FunctionInternal::serialize_body(), casadi::FunctionInternal::symbolicAdjSeed(), and casadi::FunctionInternal::wrap().

◆ jac_penalty_

double casadi::FunctionInternal::jac_penalty_

inherited

Definition at line 1357 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::adjViaJac(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::fwdViaJac(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ jac_sparsity_

std::vector<Sparsity> casadi::FunctionInternal::jac_sparsity_[2]

mutableinherited

Definition at line 1338 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::jac_sparsity(), and casadi::FunctionInternal::set_jac_sparsity().

◆ jacobian_options_

Dict casadi::FunctionInternal::jacobian_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::BlazingSplineFunction::get_jacobian(), casadi::FunctionInternal::init(), casadi::FunctionInternal::jacobian(), and casadi::FunctionInternal::serialize_body().

◆ jit_

bool casadi::FunctionInternal::jit_

inherited

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

Definition at line 1280 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::JitFunction::JitFunction(), casadi::OracleFunction::OracleFunction(), casadi::FunctionInternal::serialize_body(), casadi::OracleFunction::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_base_name_

std::string casadi::FunctionInternal::jit_base_name_

inherited

Definition at line 1297 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ jit_cleanup_

bool casadi::FunctionInternal::jit_cleanup_

inherited

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

Definition at line 1285 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_name_

std::string casadi::FunctionInternal::jit_name_

inherited

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

Definition at line 1295 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_options_

Dict casadi::FunctionInternal::jit_options_

inherited

Definition at line 1354 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::Scpgen::init(), casadi::OracleFunction::jit_dependencies(), casadi::FunctionInternal::serialize_body(), and casadi::FunctionInternal::~FunctionInternal().

◆ jit_serialize_

std::string casadi::FunctionInternal::jit_serialize_

inherited

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

Definition at line 1290 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::OracleFunction::OracleFunction(), casadi::FunctionInternal::serialize_body(), and casadi::OracleFunction::serialize_body().

◆ jit_temp_suffix_

bool casadi::FunctionInternal::jit_temp_suffix_

inherited

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

Definition at line 1302 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ just_in_time_opencl_

bool casadi::SXFunction::just_in_time_opencl_

Definition at line 379 of file sx_function.hpp.

Referenced by generate_options(), init(), and SXFunction().

◆ just_in_time_sparsity_

bool casadi::SXFunction::just_in_time_sparsity_

Definition at line 382 of file sx_function.hpp.

Referenced by generate_options(), init(), and SXFunction().

◆ live_variables_

bool casadi::SXFunction::live_variables_

Definition at line 385 of file sx_function.hpp.

Referenced by generate_options(), init(), serialize_body(), and SXFunction().

◆ max_io_

casadi_int casadi::FunctionInternal::max_io_

inherited

Definition at line 1389 of file function_internal.hpp.

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

◆ max_num_dir_

casadi_int casadi::FunctionInternal::max_num_dir_

inherited

Definition at line 1367 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::call_forward(), casadi::FunctionInternal::call_reverse(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::serialize_body(), casadi::FunctionInternal::wrap(), and casadi::FunctionInternal::wrap_as_needed().

◆ n_in_

size_t casadi::FunctionInternal::n_in_

inherited

Definition at line 1266 of file function_internal.hpp.

◆ n_out_

size_t casadi::FunctionInternal::n_out_

inherited

Definition at line 1266 of file function_internal.hpp.

◆ name_

std::string casadi::ProtoFunction::name_

inherited

Definition at line 246 of file function_internal.hpp.

◆ name_in_

std::vector<std::string> casadi::FunctionInternal::name_in_

inherited

Definition at line 1275 of file function_internal.hpp.

◆ name_out_

std::vector<std::string> casadi::FunctionInternal::name_out_

inherited

Definition at line 1275 of file function_internal.hpp.

◆ never_inline_

bool casadi::FunctionInternal::never_inline_

inherited

Definition at line 1263 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::eval_mx(), casadi::MXFunction::eval_mx(), eval_mx(), casadi::FunctionInternal::eval_sx(), casadi::MXFunction::eval_sx(), eval_sx(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ operations_

std::vector<SXElem> casadi::SXFunction::operations_

Definition at line 257 of file sx_function.hpp.

Referenced by ad_forward(), ad_reverse(), eval_sx(), init(), instructions_sx(), serialize_body(), and SXFunction().

◆ options_

const Options casadi::SXFunction::options_

static

Initial value:

= {{&FunctionInternal::options_},
     {{"default_in",
       {OT_DOUBLEVECTOR,
        "Default input values"}},
      {"just_in_time_sparsity",
       {OT_BOOL,
        "Propagate sparsity patterns using just-in-time "
        "compilation to a CPU or GPU using OpenCL"}},
      {"just_in_time_opencl",
       {OT_BOOL,
        "Just-in-time compilation for numeric evaluation using OpenCL (experimental)"}},
      {"live_variables",
       {OT_BOOL,
        "Reuse variables in the work vector"}},
      {"cse",
       {OT_BOOL,
        "Perform common subexpression elimination (complexity is N*log(N) in graph size)"}},
      {"allow_free",
       {OT_BOOL,
        "Allow construction with free variables (Default: false)"}},
      {"allow_duplicate_io_names",
       {OT_BOOL,
        "Allow construction with duplicate io names (Default: false)"}},
      {"print_instructions",
       {OT_BOOL,
        "Print each operation during evaluation. Influenced by print_canonical."}}
     }
  }

Extra doc: https://github.com/casadi/casadi/wiki/L_v2

Definition at line 316 of file sx_function.hpp.

◆ out_

std::vector<Matrix< SXElem > > casadi::XFunction< SXFunction , Matrix< SXElem > , SXNode >::out_

inherited

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

Definition at line 262 of file x_function.hpp.

◆ print_canonical_

bool casadi::FunctionInternal::print_canonical_

inherited

Definition at line 1386 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::MXFunction::print_arg(), print_arg(), casadi::FunctionInternal::print_in(), casadi::FunctionInternal::print_out(), casadi::MXFunction::print_res(), print_res(), and casadi::FunctionInternal::serialize_body().

◆ print_in_

bool casadi::FunctionInternal::print_in_

inherited

Definition at line 1382 of file function_internal.hpp.

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

◆ print_instructions_

bool casadi::SXFunction::print_instructions_

Definition at line 269 of file sx_function.hpp.

Referenced by codegen_body(), eval(), init(), serialize_body(), and SXFunction().

◆ print_out_

bool casadi::FunctionInternal::print_out_

inherited

Definition at line 1383 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), and casadi::FunctionInternal::serialize_body().

◆ print_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().

◆ record_time_

bool casadi::ProtoFunction::record_time_

inherited

Definition at line 255 of file function_internal.hpp.

Referenced by casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::FunctionInternal::init(), casadi::ProtoFunction::init_mem(), casadi::LinsolInternal::init_mem(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

◆ regularity_check_

bool casadi::ProtoFunction::regularity_check_

inherited

Definition at line 258 of file function_internal.hpp.

Referenced by casadi::OracleFunction::calc_function(), casadi::ProtoFunction::change_option(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::FunctionInternal(), casadi::ProtoFunction::generate_options(), casadi::ProtoFunction::init(), casadi::ProtoFunction::ProtoFunction(), and casadi::ProtoFunction::serialize_body().

◆ release_

casadi_release_t casadi::FunctionInternal::release_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nm

Definition at line 1317 of file function_internal.hpp.

Referenced by casadi::GenericExternal::any_symbol_found(), casadi::External::codegen_declarations(), casadi::External::codegen_release(), casadi::FunctionInternal::eval_gen(), casadi::FunctionInternal::finalize(), casadi::FunctionInternal::FunctionInternal(), casadi::GenericExternal::init_external(), and casadi::FunctionBuffer::~FunctionBuffer().

◆ reverse_options_

Dict casadi::FunctionInternal::reverse_options_

inherited

Definition at line 1401 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), casadi::FunctionInternal::init(), casadi::FunctionInternal::reverse(), and casadi::FunctionInternal::serialize_body().

◆ sparsity_in_

std::vector<Sparsity> casadi::FunctionInternal::sparsity_in_

inherited

◆ sparsity_out_

std::vector<Sparsity> casadi::FunctionInternal::sparsity_out_

inherited

◆ stats_

Dict casadi::FunctionInternal::stats_

inherited

Extra doc: https://github.com/casadi/casadi/wiki/L_nn

Definition at line 1322 of file function_internal.hpp.

◆ user_data_

void* casadi::FunctionInternal::user_data_

inherited

Definition at line 1349 of file function_internal.hpp.

Referenced by casadi::FunctionInternal::FunctionInternal(), casadi::FunctionInternal::generate_options(), and casadi::FunctionInternal::init().

◆ verbose_

bool casadi::ProtoFunction::verbose_

inherited

Definition at line 249 of file function_internal.hpp.

◆ worksize_

size_t casadi::SXFunction::worksize_

Definition at line 251 of file sx_function.hpp.

Referenced by ad_forward(), ad_reverse(), call_setup(), codegen_body(), init(), init_copy_elision(), serialize_body(), and SXFunction().

The documentation for this class was generated from the following files:

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Member Typedef Documentation

◆ AlgEl

◆ weak_ref_type

Constructor & Destructor Documentation

◆ SXFunction() [1/2]

◆ ~SXFunction()

◆ SXFunction() [2/2]

Member Function Documentation

◆ ad_forward()

◆ ad_reverse()

◆ ad_weight()

◆ add_embedded()

◆ adjViaJac()

◆ all_scalar()

◆ alloc()

◆ alloc_arg()

◆ alloc_iw()

◆ alloc_mem()

◆ alloc_res()

◆ alloc_w()

◆ cache()

◆ call()

◆ call_forward() [1/3]

◆ call_forward() [2/3]

◆ call_forward() [3/3]

◆ call_fwd()

◆ call_gen() [1/2]

◆ call_gen() [2/2]

◆ call_rev()

◆ call_reverse() [1/3]

◆ call_reverse() [2/3]

◆ call_reverse() [3/3]

◆ call_setup()

◆ change_option()

◆ check_arg()

◆ check_mat()

◆ check_mem_count()

◆ check_res()

◆ checkout()

◆ class_name()

◆ clear_mem()

◆ codegen()

◆ codegen_alloc_mem()

◆ codegen_body()

◆ codegen_checkout()

◆ codegen_declarations()

◆ codegen_decref()

◆ codegen_free_mem()

◆ codegen_incref()

◆ codegen_init_mem()

◆ codegen_mem()

◆ codegen_mem_type()

◆ codegen_meta()

◆ codegen_name()

◆ codegen_release()

◆ codegen_sparsities()

◆ codegen_sz_arg()

◆ codegen_sz_iw()

◆ codegen_sz_res()

◆ codegen_sz_w()

◆ construct()

◆ convert_arg() [1/2]

◆ convert_arg() [2/2]

◆ convert_res() [1/2]

◆ convert_res() [2/2]

◆ debug_repr()

◆ definition()

◆ delayed_deserialize_members()

◆ delayed_serialize_members()

◆ deserialize()

◆ destroySingleton()

◆ diff_prefix()