bool isMonotone(const std::vector<T> &v) {
return isNonDecreasing(v) || isNonIncreasing(v);
}
void SimulatorInternal::init() {
// Let the integration time start from the first point of the time grid.
if (!grid_.empty()) integrator_.setOption("t0", grid_[0]);
// Let the integration time stop at the last point of the time grid.
if (!grid_.empty()) integrator_.setOption("tf", grid_[grid_.size()-1]);
casadi_assert_message(isNonDecreasing(grid_), "The supplied time grid must be non-decreasing.");
// Initialize the integrator
integrator_.init();
// Generate an output function if there is none (returns the whole state)
if (output_fcn_.isNull()) {
SX t = SX::sym("t");
SX x = SX::sym("x", integrator_.input(INTEGRATOR_X0).sparsity());
SX z = SX::sym("z", integrator_.input(INTEGRATOR_Z0).sparsity());
SX p = SX::sym("p", integrator_.input(INTEGRATOR_P).sparsity());
vector<SX> arg(DAE_NUM_IN);
arg[DAE_T] = t;
arg[DAE_X] = x;
arg[DAE_Z] = z;
arg[DAE_P] = p;
vector<SX> out(INTEGRATOR_NUM_OUT);
out[INTEGRATOR_XF] = x;
out[INTEGRATOR_ZF] = z;
// Create the output function
output_fcn_ = SXFunction(arg, out);
output_.scheme = SCHEME_IntegratorOutput;
}
// Initialize the output function
output_fcn_.init();
// Allocate inputs
setNumInputs(INTEGRATOR_NUM_IN);
for (int i=0; i<INTEGRATOR_NUM_IN; ++i) {
input(i) = integrator_.input(i);
}
// Allocate outputs
setNumOutputs(output_fcn_->getNumOutputs());
for (int i=0; i<getNumOutputs(); ++i) {
output(i) = Matrix<double>::zeros(output_fcn_.output(i).numel(), grid_.size());
if (!output_fcn_.output(i).isEmpty()) {
casadi_assert_message(output_fcn_.output(i).isVector(),
"SimulatorInternal::init: Output function output #" << i
<< " has shape " << output_fcn_.output(i).dimString()
<< ", while a column-matrix shape is expected.");
}
}
casadi_assert_message(output_fcn_.input(DAE_T).numel() <=1,
"SimulatorInternal::init: output_fcn DAE_T argument must be "
"scalar or empty, but got " << output_fcn_.input(DAE_T).dimString());
casadi_assert_message(
output_fcn_.input(DAE_P).isEmpty() ||
integrator_.input(INTEGRATOR_P).sparsity() == output_fcn_.input(DAE_P).sparsity(),
"SimulatorInternal::init: output_fcn DAE_P argument must be empty or"
<< " have dimension " << integrator_.input(INTEGRATOR_P).dimString()
<< ", but got " << output_fcn_.input(DAE_P).dimString());
casadi_assert_message(
output_fcn_.input(DAE_X).isEmpty() ||
integrator_.input(INTEGRATOR_X0).sparsity() == output_fcn_.input(DAE_X).sparsity(),
"SimulatorInternal::init: output_fcn DAE_X argument must be empty or have dimension "
<< integrator_.input(INTEGRATOR_X0).dimString()
<< ", but got " << output_fcn_.input(DAE_X).dimString());
// Call base class method
FunctionInternal::init();
// Output iterators
output_its_.resize(getNumOutputs());
}
