void makeSmooth(SXMatrix &ex, SXMatrix &bvar, SXMatrix &bexpr){
// Initialize
SXFunction fcn(SXMatrix(),ex);
casadi_assert(bexpr.empty());
// Nodes to be replaced
std::map<int,SX> replace;
// Go through all nodes and check if any node is non-smooth
for(int i=0; i<fcn->algorithm.size(); ++i){
// Check if we have a step node
if(fcn->algorithm[i].op == STEP){
// Get the index of the child
int ch0 = fcn->algorithm[i].ch[0];
// Binary variable corresponding to the the switch
SXMatrix sw;
#if 0
// Find out if the switch has already been added
for(int j=0; j<bexpr.size(); ++j)
if(bexpr[j].isEqual(algorithm[i]->child0)){
sw = bvar[j];
break;
}
#endif
if(sw.empty()){ // the switch has not yet been added
// Get an approriate name of the switch
std::stringstream name;
name << "sw_" << bvar.size1();
sw = SX(name.str());
// Add to list of switches
bvar << sw;
// bexpr << algorithm[i]->child0;
}
// Add to the substition map
replace[i] = sw[0];
}
}
SXMatrix res;
fcn->eval(SXMatrix(),res,replace,bexpr);
for(int i=0; i<bexpr.size(); ++i)
bexpr[i] = bexpr[i]->dep(0);
ex = res;
#if 0
// Make sure that the binding expression is smooth
bexpr.init(SXMatrix());
SXMatrix b;
bexpr.eval_symbolic(SXMatrix(),b,replace,bexpr);
bexpr = b;
#endif
}
void substituteInPlace(const SXMatrix &v, SXMatrix &vdef, std::vector<SXMatrix>& ex, bool reverse){
casadi_assert_message(isSymbolic(v),"the variable is not symbolic");
casadi_assert_message(v.sparsity() == vdef.sparsity(),"the sparsity patterns of the expression and its defining expression do not match");
if(v.empty()) return; // quick return if nothing to replace
// Function inputs
std::vector<SXMatrix> f_in;
if(!reverse) f_in.push_back(v);
// Function outputs
std::vector<SXMatrix> f_out;
f_out.push_back(vdef);
f_out.insert(f_out.end(),ex.begin(),ex.end());
// Write the mapping function
SXFunction f(f_in,f_out);
f.init();
// Get references to the internal data structures
const vector<SXAlgEl>& algorithm = f.algorithm();
vector<SX> work(f.getWorkSize());
// Iterator to the binary operations
vector<SX>::const_iterator b_it=f->operations_.begin();
// Iterator to stack of constants
vector<SX>::const_iterator c_it = f->constants_.begin();
// Iterator to free variables
vector<SX>::const_iterator p_it = f->free_vars_.begin();
// Evaluate the algorithm
for(vector<SXAlgEl>::const_iterator it=algorithm.begin(); it<algorithm.end(); ++it){
switch(it->op){
case OP_INPUT:
// reverse is false, substitute out
work[it->res] = vdef.at(it->arg.i[1]);
break;
case OP_OUTPUT:
if(it->res==0){
vdef.at(it->arg.i[1]) = work[it->arg.i[0]];
if(reverse){
// Use the new variable henceforth, substitute in
work[it->arg.i[0]] = v.at(it->arg.i[1]);
}
} else {
// Auxillary output
ex[it->res-1].at(it->arg.i[1]) = work[it->arg.i[0]];
}
break;
case OP_CONST: work[it->res] = *c_it++; break;
case OP_PARAMETER: work[it->res] = *p_it++; break;
default:
{
switch(it->op){
CASADI_MATH_FUN_BUILTIN(work[it->arg.i[0]],work[it->arg.i[1]],work[it->res])
}
// Avoid creating duplicates
const int depth = 2; // NOTE: a higher depth could possibly give more savings
work[it->res].assignIfDuplicate(*b_it++,depth);
}
}
}
}
