void ParallelizerInternal::evaluate(int nfdir, int nadir){
// Let the first call (which may contain memory allocations) be serial when using OpenMP
if(mode_== SERIAL || (first_call_ && mode_ == OPENMP)){
for(int task=0; task<funcs_.size(); ++task){
evaluateTask(task,nfdir,nadir);
}
} else if(mode_== OPENMP) {
#ifdef WITH_OPENMP
// Allocate some lists to collect statistics
std::vector<int> task_allocation(funcs_.size());
std::vector<int> task_order(funcs_.size());
std::vector<double> task_cputime(funcs_.size());
std::vector<double> task_starttime(funcs_.size());
std::vector<double> task_endtime(funcs_.size());
// A private counter
int cnt=0;
#pragma omp parallel for firstprivate(cnt)
for(int task=0; task<funcs_.size(); ++task) {
if (gather_stats_ && task==0) {
stats_["max_threads"] = omp_get_max_threads();
stats_["num_threads"] = omp_get_num_threads();
}
task_allocation[task] = omp_get_thread_num();
task_starttime[task] = omp_get_wtime();
// Do the actual work
evaluateTask(task,nfdir,nadir);
task_endtime[task] = omp_get_wtime();
task_cputime[task] = task_endtime[task] - task_starttime[task];
task_order[task] = cnt++;
}
if (gather_stats_) {
stats_["task_allocation"] = task_allocation;
stats_["task_order"] = task_order;
stats_["task_cputime"] = task_cputime;
}
// Measure all times relative to the earliest start_time.
double start = *std::min_element(task_starttime.begin(),task_starttime.end());
for (int task=0; task<funcs_.size(); ++task) {
task_starttime[task] = task_starttime[task] - start;
task_endtime[task] = task_endtime[task] - start;
}
if (gather_stats_) {
stats_["task_starttime"] = task_starttime;
stats_["task_endtime"] = task_endtime;
}
#endif //WITH_OPENMP
#ifndef WITH_OPENMP
casadi_error("ParallelizerInternal::evaluate: OPENMP support was not available during CasADi compilation");
#endif //WITH_OPENMP
} else if(mode_ == MPI){
casadi_error("ParallelizerInternal::evaluate: MPI not implemented");
}
first_call_ = false;
}
void ShellCompiler::init() {
// Initialize the base classes
CompilerInternal::init();
// Read options
string compiler = getOption("compiler").toString();
string compiler_setup = getOption("compiler_setup").toString();
vector<string> flags;
if (hasSetOption("flags")) flags = getOption("flags");
// Construct the compiler command
stringstream cmd;
cmd << compiler << " " << compiler_setup;
for (vector<string>::const_iterator i=flags.begin(); i!=flags.end(); ++i) {
cmd << " " << *i;
}
// C/C++ source file
cmd << " " << name_;
// Name of temporary file
#ifdef HAVE_MKSTEMPS
// Preferred solution
char bin_name[] = "tmp_casadi_compiler_shell_XXXXXX.so";
if (mkstemps(bin_name, 3) == -1) {
casadi_error("Failed to create a temporary file name");
}
bin_name_ = bin_name;
#else
// Fallback, may result in deprecation warnings
char* bin_name = tempnam(0, "tmp_casadi_compiler_shell_");
bin_name_ = bin_name;
free(bin_name);
#endif
// Have relative paths start with ./
if (bin_name_.at(0)!='/') {
bin_name_ = "./" + bin_name_;
}
// Temporary file
cmd << " -o " << bin_name_;
// Compile into a shared library
if (system(cmd.str().c_str())) {
casadi_error("Compilation failed. Tried \"" + cmd.str() + "\"");
}
// Load shared library
handle_ = dlopen(bin_name_.c_str(), RTLD_LAZY);
casadi_assert_message(handle_!=0, "CommonExternal: Cannot open function: "
<< bin_name_ << ". error code: "<< dlerror());
// reset error
dlerror();
}
DMatrix IpoptInternal::getReducedHessian(){
#ifndef WITH_SIPOPT
casadi_error("This feature requires sIPOPT support. Please consult the CasADi documentation.");
#else // WITH_SIPOPT
#ifndef WITH_CASADI_PATCH
casadi_error("Retrieving the Hessian requires the CasADi sIPOPT patch. Please consult the CasADi documentation.");
#else // WITH_CASADI_PATCH
return red_hess_;
#endif // WITH_SIPOPT
#endif // WITH_CASADI_PATCH
}
DpleInternal::DpleInternal(const std::map<std::string, std::vector<Sparsity> > &st,
int nrhs, bool transp) :
nrhs_(nrhs), transp_(transp) {
// set default options
setOption("name", "unnamed_dple_solver"); // name of the function
addOption("const_dim", OT_BOOLEAN, true, "Assume constant dimension of P");
addOption("pos_def", OT_BOOLEAN, false, "Assume P positive definite");
addOption("error_unstable", OT_BOOLEAN, false,
"Throw an exception when it is detected that Product(A_i, i=N..1) "
"has eigenvalues greater than 1-eps_unstable");
addOption("eps_unstable", OT_REAL, 1e-4, "A margin for unstability detection");
st_.resize(Dple_STRUCT_NUM);
for (std::map<std::string, std::vector<Sparsity> >::const_iterator i=st.begin();
i!=st.end(); ++i) {
if (i->first=="a") {
st_[Dple_STRUCT_A]=i->second;
} else if (i->first=="v") {
st_[Dple_STRUCT_V]=i->second;
} else {
casadi_error("Unrecognized field in Dple structure: " << i->first);
}
}
if (nrhs_==1) {
ischeme_ = IOScheme(SCHEME_DPLEInput);
oscheme_ = IOScheme(SCHEME_DPLEOutput);
}
}
CRSSparsity sp_rowcol(std::vector<int> row, std::vector<int> col, int nrow, int ncol) {
std::vector<int> rowind(nrow+1);
std::vector<int> col_new(row.size()*col.size());
// resulting col: the entries of col are repeated row.size() times
for (int i=0;i<row.size();i++)
std::copy(col.begin(),col.end(),col_new.begin()+col.size()*i);
// resulting rowind: first entry is always zero
int cnt=0;
int z=0;
rowind[0]=0;
int k=0;
try {
for (k=0; k < row.size(); k++) {
// resulting rowind: fill up rowind entries with copies
while (z<row[k])
rowind.at(++z)=cnt;
// resulting rowind: add col.size() at each row[k]
rowind.at(row[k]+1)=(cnt+=col.size());
}
while (z<nrow)
rowind.at(++z)=cnt;
}
catch (out_of_range& oor) {
casadi_error(
"sp_rowcol: out-of-range error." << endl <<
"The " << k << "th entry of row (" << row[k] << ") was bigger or equal to the specified total number of rows (" << nrow << ")"
);
}
return CRSSparsity(nrow, ncol, col_new, rowind);
}
bool QpoasesInterface::BooleanType_to_bool(qpOASES::BooleanType b) {
switch (b) {
case qpOASES::BT_TRUE: return true;
case qpOASES::BT_FALSE: return false;
default: casadi_error("not_implemented");
}
}
std::vector<M> acadoIn(const std::string arg_s0="",M arg_m0=M(),const std::string arg_s1="",M arg_m1=M(),const std::string arg_s2="",M arg_m2=M(),const std::string arg_s3="",M arg_m3=M(),const std::string arg_s4="",M arg_m4=M(),const std::string arg_s5="",M arg_m5=M(),const std::string arg_s6="",M arg_m6=M(),const std::string arg_s7="",M arg_m7=M(),const std::string arg_s8="",M arg_m8=M(),const std::string arg_s9="",M arg_m9=M(),const std::string arg_s10="",M arg_m10=M(),const std::string arg_s11="",M arg_m11=M(),const std::string arg_s12="",M arg_m12=M(),const std::string arg_s13="",M arg_m13=M(),const std::string arg_s14="",M arg_m14=M(),const std::string arg_s15="",M arg_m15=M(),const std::string arg_s16="",M arg_m16=M()){
std::vector<M> ret(17);
std::map<std::string,M> arg;
if (arg_s0!="") arg.insert(make_pair(arg_s0,arg_m0));
if (arg_s1!="") arg.insert(make_pair(arg_s1,arg_m1));
if (arg_s2!="") arg.insert(make_pair(arg_s2,arg_m2));
if (arg_s3!="") arg.insert(make_pair(arg_s3,arg_m3));
if (arg_s4!="") arg.insert(make_pair(arg_s4,arg_m4));
if (arg_s5!="") arg.insert(make_pair(arg_s5,arg_m5));
if (arg_s6!="") arg.insert(make_pair(arg_s6,arg_m6));
if (arg_s7!="") arg.insert(make_pair(arg_s7,arg_m7));
if (arg_s8!="") arg.insert(make_pair(arg_s8,arg_m8));
if (arg_s9!="") arg.insert(make_pair(arg_s9,arg_m9));
if (arg_s10!="") arg.insert(make_pair(arg_s10,arg_m10));
if (arg_s11!="") arg.insert(make_pair(arg_s11,arg_m11));
if (arg_s12!="") arg.insert(make_pair(arg_s12,arg_m12));
if (arg_s13!="") arg.insert(make_pair(arg_s13,arg_m13));
if (arg_s14!="") arg.insert(make_pair(arg_s14,arg_m14));
if (arg_s15!="") arg.insert(make_pair(arg_s15,arg_m15));
if (arg_s16!="") arg.insert(make_pair(arg_s16,arg_m16));
typedef typename std::map<std::string,M>::const_iterator it_type;
for(it_type it = arg.begin(); it != arg.end(); it++) {
int n = getSchemeEntryEnum(SCHEME_ACADO_Input,it->first);
if (n==-1)
casadi_error("Keyword error in ACADO_Input: '" << it->first << "' is not recognized. Available keywords are: x_guess, u_guess, p_guess, lbx, ubx, lbx0, ubx0, lbxf, ubxf, lbu, ubu, lbp, ubp, lbc, ubc, lbr, ubr");
ret[n] = it->second;
}
return ret;
}
GenericType OptionsFunctionalityNode::getOption(const string &name) const{
// Locate the option
Dictionary::const_iterator it = dictionary_.find(name);
// Check if found
if(it == dictionary_.end()){
stringstream ss;
if (allowed_options.find(name)!=allowed_options.end()) {
ss << "Option: '" << name << "' has not been set." << endl;
printOption(name,ss);
} else {
ss << "Option: '" << name << "' does not exist." << endl << endl;
std::vector<std::string> suggestions;
getBestMatches(name,suggestions,5);
ss << "Did you mean one of the following?" << endl;
for (int i=0;i<suggestions.size();++i)
printOption(suggestions[i],ss);
ss << "Use printOptions() to get a full list of options." << endl;
}
casadi_error(ss.str());
}
// Return the option
return GenericType(it->second);
}
bool IpoptInternal::eval_grad_f(int n, const double* x, bool new_x, double* grad_f)
{
try {
log("eval_grad_f started");
double time1 = clock();
casadi_assert(n == nx_);
// Pass the argument to the function
gradF_.setInput(x,NL_X);
gradF_.setInput(input(NLP_SOLVER_P),NL_P);
// Evaluate, adjoint mode
gradF_.evaluate();
// Get the result
gradF_.output().getArray(grad_f,n,DENSE);
// Printing
if(monitored("eval_grad_f")){
cout << "x = " << gradF_.input(NL_X) << endl;
cout << "grad_f = " << gradF_.output() << endl;
}
if (regularity_check_ && !isRegular(gradF_.output().data())) casadi_error("IpoptInternal::grad_f: NaN or Inf detected.");
double time2 = clock();
t_eval_grad_f_ += double(time2-time1)/CLOCKS_PER_SEC;
n_eval_grad_f_ += 1;
log("eval_grad_f ok");
return true;
} catch (exception& ex){
cerr << "eval_grad_f failed: " << ex.what() << endl;
return false;
}
}
void Options::check(const Dict& opts) const {
// Make sure all options exist and have the correct type
for (auto&& op : opts) {
const Options::Entry* entry = find(op.first);
// Informative error message if option does not exist
if (entry==nullptr) {
stringstream ss;
ss << "Unknown option: " << op.first << endl;
ss << endl;
ss << "Did you mean one of the following?" << endl;
for (auto&& s : suggestions(op.first)) {
print_one(s, ss);
}
ss << "Use print_options() to get a full list of options." << endl;
casadi_error(ss.str());
}
// Check type
casadi_assert(op.second.can_cast_to(entry->type),
"Illegal type for " + op.first + ": " +
op.second.get_description() +
" cannot be cast to " +
GenericType::get_type_description(entry->type) + ".");
}
}
SXElement Variable::atTime(double t, bool allocate) {
// Find an existing element
map<double, SXElement>::const_iterator it = timed_.find(t);
// If not found
if (it==timed_.end()) {
if (allocate) {
// Create a timed variable
stringstream ss;
ss << name() << ".atTime(" << t << ")";
SXElement tvar = SXElement::sym(ss.str());
// Save to map
timed_[t] = tvar;
// Return the expression
return tvar;
} else {
casadi_error(" has no timed variable with t = " << t << ".");
}
} else {
// Return the expression
return it->second;
}
}
NlpSolver::NlpSolver(const std::string& name,
const std::string& solver,
const MXDict& nlp,
const Dict& opts) {
// Create an NLP function
MX x, p, f, g;
for (MXDict::const_iterator i=nlp.begin(); i!=nlp.end(); ++i) {
if (i->first=="x") {
x = i->second;
} else if (i->first=="p") {
p = i->second;
} else if (i->first=="f") {
f = i->second;
} else if (i->first=="g") {
g = i->second;
} else {
casadi_error("No such field: \"" + i->first + "\"");
}
}
MXFunction nlpf("nlp", nlpIn("x", x, "p", p), nlpOut("f", f, "g", g));
// Create the solver instance
assignNode(NlpSolverInternal::instantiatePlugin(solver, nlpf));
setOption("name", name);
setOption(opts);
init();
}
void LapackLuDense::prepare() {
double time_start=0;
if (CasadiOptions::profiling && CasadiOptions::profilingBinary) {
time_start = getRealTime(); // Start timer
profileWriteEntry(CasadiOptions::profilingLog, this);
}
prepared_ = false;
// Get the elements of the matrix, dense format
input(0).get(mat_);
if (equilibriate_) {
// Calculate the col and row scaling factors
double colcnd, rowcnd; // ratio of the smallest to the largest col/row scaling factor
double amax; // absolute value of the largest matrix element
int info = -100;
dgeequ_(&ncol_, &nrow_, getPtr(mat_), &ncol_, getPtr(r_),
getPtr(c_), &colcnd, &rowcnd, &amax, &info);
if (info < 0)
throw CasadiException("LapackQrDense::prepare: "
"dgeequ_ failed to calculate the scaling factors");
if (info>0) {
stringstream ss;
ss << "LapackLuDense::prepare: ";
if (info<=ncol_) ss << (info-1) << "-th row (zero-based) is exactly zero";
else ss << (info-1-ncol_) << "-th col (zero-based) is exactly zero";
userOut() << "Warning: " << ss.str() << endl;
if (allow_equilibration_failure_) userOut() << "Warning: " << ss.str() << endl;
else casadi_error(ss.str());
}
// Equilibrate the matrix if scaling was successful
if (info!=0)
dlaqge_(&ncol_, &nrow_, getPtr(mat_), &ncol_, getPtr(r_), getPtr(c_),
&colcnd, &rowcnd, &amax, &equed_);
else
equed_ = 'N';
}
// Factorize the matrix
int info = -100;
dgetrf_(&ncol_, &ncol_, getPtr(mat_), &ncol_, getPtr(ipiv_), &info);
if (info != 0) throw CasadiException("LapackLuDense::prepare: "
"dgetrf_ failed to factorize the Jacobian");
// Success if reached this point
prepared_ = true;
if (CasadiOptions::profiling && CasadiOptions::profilingBinary) {
double time_stop = getRealTime(); // Stop timer
profileWriteTime(CasadiOptions::profilingLog, this, 0, time_stop-time_start,
time_stop-time_start);
profileWriteExit(CasadiOptions::profilingLog, this, time_stop-time_start);
}
}
void SXFunctionInternal::generateDeclarations(CodeGenerator& g) const {
// Make sure that there are no free variables
if (!free_vars_.empty()) {
casadi_error("Code generation is not possible since variables "
<< free_vars_ << " are free.");
}
}
void Assertion::eval(const double** arg, double** res, int* iw, double* w, int mem) const {
if (arg[1][0]!=1) {
casadi_error("Assertion error: " << fail_message_);
}
if (arg[0]!=res[0]) {
copy(arg[0], arg[0]+nnz(), res[0]);
}
}
std::string QpoasesInterface::SubjectToStatus_to_string(qpOASES::SubjectToStatus b) {
switch (b) {
case qpOASES::ST_INACTIVE: return "inactive";
case qpOASES::ST_LOWER: return "lower";
case qpOASES::ST_INFEASIBLE_LOWER: return "infeasible_lower";
case qpOASES::ST_INFEASIBLE_UPPER: return "infeasible_upper";
case qpOASES::ST_UNDEFINED: return "undefined";
default: casadi_error("not_implemented");
}
}
std::string QpoasesInterface::PrintLevel_to_string(qpOASES::PrintLevel b) {
switch (b) {
case qpOASES::PL_TABULAR: return "tabular";
case qpOASES::PL_NONE: return "none";
case qpOASES::PL_LOW: return "low";
case qpOASES::PL_MEDIUM: return "medium";
case qpOASES::PL_HIGH: return "high";
default: casadi_error("not_implemented");
}
}
void IdasInterface::idas_error(const char* module, int flag) {
// Successfull return or warning
if (flag>=IDA_SUCCESS) return;
// Construct error message
stringstream ss;
char* flagname = IDAGetReturnFlagName(flag);
ss << module << " returned \"" << flagname << "\"."
<< " Consult IDAS documentation.";
free(flagname);
casadi_error(ss.str());
}
std::vector<double> collocationPoints(int order, const std::string& scheme) {
if (scheme=="radau") {
casadi_assert_message(order>0 && order<10,"Error in collocationPoints(order, scheme): only order up to 9 supported for scheme 'radau', but got " << order << ".");
return std::vector<double>(radau_points[order],radau_points[order]+order+1);
} else if (scheme=="legendre") {
casadi_assert_message(order>0 && order<10,"Error in collocationPoints(order, scheme): only order up to 9 supported for scheme 'legendre', but got " << order << ".");
return std::vector<double>(legendre_points[order],legendre_points[order]+order+1);
} else {
casadi_error("Error in collocationPoints(order, scheme): unknown scheme '" << scheme << "'. Select one of 'radau', 'legendre'.");
}
}
bool IpoptInternal::eval_jac_g(int n, const double* x, bool new_x,int m, int nele_jac, int* iRow, int *jCol,double* values){
try{
log("eval_jac_g started");
// Quich finish if no constraints
if(m==0){
log("eval_jac_g quick return (m==0)");
return true;
}
// Get function
Function& jacG = this->jacG();
double time1 = clock();
if (values == NULL) {
int nz=0;
const vector<int>& colind = jacG.output().colind();
const vector<int>& row = jacG.output().row();
for(int cc=0; cc<colind.size()-1; ++cc)
for(int el=colind[cc]; el<colind[cc+1]; ++el){
int rr = row[el];
iRow[nz] = rr;
jCol[nz] = cc;
nz++;
}
} else {
// Pass the argument to the function
jacG.setInput(x,NL_X);
jacG.setInput(input(NLP_SOLVER_P),NL_P);
// Evaluate the function
jacG.evaluate();
// Get the output
jacG.getOutput(values);
if(monitored("eval_jac_g")){
cout << "x = " << jacG.input(NL_X).data() << endl;
cout << "J = " << endl;
jacG.output().printSparse();
}
if (regularity_check_ && !isRegular(jacG.output().data())) casadi_error("IpoptInternal::jac_g: NaN or Inf detected.");
}
double time2 = clock();
t_eval_jac_g_ += double(time2-time1)/CLOCKS_PER_SEC;
n_eval_jac_g_ += 1;
log("eval_jac_g ok");
return true;
} catch (exception& ex){
cerr << "eval_jac_g failed: " << ex.what() << endl;
return false;
}
}
void SXFunctionInternal::compileProgram(cl_program program) {
// OpenCL return flag
cl_int ret;
ret = clBuildProgram(program, 1, &sparsity_propagation_kernel_.device_id, NULL, NULL, NULL);
if (ret!=CL_SUCCESS) {
const char* msg;
switch (ret) {
case CL_INVALID_PROGRAM: msg = "Program is not a valid program object."; break;
case CL_INVALID_VALUE: msg = "(1) Device_list is NULL and num_devices is greater than zero, "
"or device_list is not NULL and num_devices is zero. (2) pfn_notify "
"is NULL but user_data is not NULL."; break;
case CL_INVALID_DEVICE: msg = "OpenCL devices listed in device_list are not in the "
"list of devices associated with program"; break;
case CL_INVALID_BINARY: msg = "Program is created with clCreateWithProgramBinary and "
"devices listed in device_list do not have a valid program binary loaded."; break;
case CL_INVALID_BUILD_OPTIONS: msg = "The build options specified by options are invalid. ";
break;
case CL_INVALID_OPERATION: msg = "(1) The build of a program executable for any of the "
"devices listed in device_list by a previous call to clBuildProgram for program "
"has not completed. (2) There are kernel objects attached to program. "; break;
case CL_COMPILER_NOT_AVAILABLE: msg = "Program is created with clCreateProgramWithSource "
"and a compiler is not available i.e. CL_DEVICE_COMPILER_AVAILABLE specified "
"in table 4.3 is set to CL_FALSE."; break;
case CL_BUILD_PROGRAM_FAILURE: {
msg = "There is a failure to build the program executable. This error will be "
"returned if clBuildProgram does not return until the build has completed. ";
// Determine the size of the log
size_t log_size;
clGetProgramBuildInfo(program, sparsity_propagation_kernel_.device_id,
CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
// Allocate memory for the log
std::vector<char> log;
log.resize(log_size);
// Print the log
clGetProgramBuildInfo(program, sparsity_propagation_kernel_.device_id,
CL_PROGRAM_BUILD_LOG, log_size, &(log[0]), NULL);
userOut<true, PL_WARN>() << log << endl;
break;
}
case CL_OUT_OF_RESOURCES: msg = "There is a failure to allocate resources required by the "
"OpenCL implementation on the device."; break;
case CL_OUT_OF_HOST_MEMORY: msg = "There is a failure to allocate resources required by "
"the OpenCL implementation on the host."; break;
default: msg = "Unknown error"; break;
}
casadi_error("clBuildProgram failed: " << msg);
}
}
void SqicInterface::sqic_error(const string& module, int flag) {
// Find the error
map<int, string>::const_iterator it = flagmap.find(flag);
stringstream ss;
if (it == flagmap.end()) {
ss << "Unknown error (" << flag << ") from module \"" << module << "\".";
} else {
ss << "Module \"" << module << "\" returned flag \"" << it->second << "\".";
}
ss << " Consult SQIC documentation.";
casadi_error(ss.str());
}
GenericType GenericType::from_type(opt_type type) {
switch (type) {
case OT_INTEGERVECTOR:
return std::vector<int>();
case OT_BOOLVECTOR:
return std::vector<bool>();
case OT_REALVECTOR:
return std::vector<double>();
case OT_STRINGVECTOR:
return std::vector<std::string>();
default:
casadi_error("empty_from_type. Unsupported type " << type);
}
}
std::vector<M> mayerIn(const std::string arg_s0="",M arg_m0=M(),const std::string arg_s1="",M arg_m1=M()){
std::vector<M> ret(2);
std::map<std::string,M> arg;
if (arg_s0!="") arg.insert(make_pair(arg_s0,arg_m0));
if (arg_s1!="") arg.insert(make_pair(arg_s1,arg_m1));
typedef typename std::map<std::string,M>::const_iterator it_type;
for(it_type it = arg.begin(); it != arg.end(); it++) {
int n = getSchemeEntryEnum(SCHEME_MayerInput,it->first);
if (n==-1)
casadi_error("Keyword error in MayerInput: '" << it->first << "' is not recognized. Available keywords are: x, p");
ret[n] = it->second;
}
return ret;
}
qpOASES::PrintLevel QpoasesInterface::string_to_PrintLevel(std::string b) {
if (b.compare("tabular")==0) {
return qpOASES::PL_TABULAR;
} else if (b.compare("none")==0) {
return qpOASES::PL_NONE;
} else if (b.compare("low")==0) {
return qpOASES::PL_LOW;
} else if (b.compare("medium")==0) {
return qpOASES::PL_MEDIUM;
} else if (b.compare("high")==0) {
return qpOASES::PL_HIGH;
} else {
casadi_error("not_implemented");
}
}
Function Map::create(const std::string& parallelization, const Function& f, int n) {
// Create instance of the right class
string name = f.name() + "_" + to_string(n);
Function ret;
if (parallelization == "serial") {
ret.assignNode(new Map(name, f, n));
} else if (parallelization== "openmp") {
ret.assignNode(new MapOmp(name, f, n));
} else {
casadi_error("Unknown parallelization: " + parallelization);
}
// Finalize creation
ret->construct(Dict());
return ret;
}
qpOASES::SubjectToStatus QpoasesInterface::string_to_SubjectToStatus(std::string b) {
if (b.compare("inactive")==0) {
return qpOASES::ST_INACTIVE;
} else if (b.compare("lower")==0) {
return qpOASES::ST_LOWER;
} else if (b.compare("infeasible_lower")==0) {
return qpOASES::ST_INFEASIBLE_LOWER;
} else if (b.compare("infeasible_upper")==0) {
return qpOASES::ST_INFEASIBLE_UPPER;
} else if (b.compare("undefined")==0) {
return qpOASES::ST_UNDEFINED;
} else {
casadi_error("not_implemented");
}
}
void OptionsFunctionalityNode::assert_exists(const std::string &name) const {
// First check if the option exists
map<string, opt_type>::const_iterator it = allowed_options.find(name);
if(it == allowed_options.end()){
stringstream ss;
ss << "Unknown option: " << name << endl;
std::vector<std::string> suggestions;
getBestMatches(name,suggestions,5);
ss << endl;
ss << "Did you mean one of the following?" << endl;
for (int i=0;i<suggestions.size();++i)
printOption(suggestions[i],ss);
ss << "Use printOptions() to get a full list of options." << endl;
casadi_error(ss.str());
}
}
std::vector<M> acadoOut(const std::string arg_s0="",M arg_m0=M(),const std::string arg_s1="",M arg_m1=M(),const std::string arg_s2="",M arg_m2=M(),const std::string arg_s3="",M arg_m3=M()){
std::vector<M> ret(4);
std::map<std::string,M> arg;
if (arg_s0!="") arg.insert(make_pair(arg_s0,arg_m0));
if (arg_s1!="") arg.insert(make_pair(arg_s1,arg_m1));
if (arg_s2!="") arg.insert(make_pair(arg_s2,arg_m2));
if (arg_s3!="") arg.insert(make_pair(arg_s3,arg_m3));
typedef typename std::map<std::string,M>::const_iterator it_type;
for(it_type it = arg.begin(); it != arg.end(); it++) {
int n = getSchemeEntryEnum(SCHEME_ACADO_Output,it->first);
if (n==-1)
casadi_error("Keyword error in ACADO_Output: '" << it->first << "' is not recognized. Available keywords are: x_opt, u_opt, p_opt, cost");
ret[n] = it->second;
}
return ret;
}
int IdasInterface::lsolveB(IDAMem IDA_mem, N_Vector b, N_Vector weight, N_Vector xzB,
N_Vector xzdotB, N_Vector rrB) {
try {
auto m = to_mem(IDA_mem->ida_lmem);
auto& s = m->self;
IDAadjMem IDAADJ_mem;
//IDABMem IDAB_mem;
int flag;
// Current time
double t = IDA_mem->ida_tn; // TODO(Joel): is this correct?
// Multiple of df_dydot to be added to the matrix
double cj = IDA_mem->ida_cj;
double cjratio = IDA_mem->ida_cjratio;
IDA_mem = (IDAMem) IDA_mem->ida_user_data;
IDAADJ_mem = IDA_mem->ida_adj_mem;
//IDAB_mem = IDAADJ_mem->ia_bckpbCrt;
// Get FORWARD solution from interpolation.
if (IDAADJ_mem->ia_noInterp==FALSE) {
flag = IDAADJ_mem->ia_getY(IDA_mem, t, IDAADJ_mem->ia_yyTmp, IDAADJ_mem->ia_ypTmp,
NULL, NULL);
if (flag != IDA_SUCCESS) casadi_error("Could not interpolate forward states");
}
// Accuracy
double delta = 0.0;
// Call the preconditioner solve function (which solves the linear system)
if (psolveB(t, IDAADJ_mem->ia_yyTmp, IDAADJ_mem->ia_ypTmp, xzB, xzdotB,
rrB, b, b, cj, delta, static_cast<void*>(m), 0)) return 1;
// Scale the correction to account for change in cj
if (s.cj_scaling_) {
if (cjratio != 1.0) N_VScale(2.0/(1.0 + cjratio), b, b);
}
return 0;
} catch(int flag) { // recoverable error
return flag;
} catch(exception& e) { // non-recoverable error
userOut<true, PL_WARN>() << "lsolveB failed: " << e.what() << endl;
return -1;
}
}
