Dict session() const{
onion_dict *d=onion_request_get_session_dict(ptr);
if (d)
return Dict(d);
else
return Dict();
}
const Dict files() const{
const onion_dict *d=onion_request_get_file_dict(ptr);
if (d)
return Dict(d);
else
return Dict();
}
const Dict post() const{
const onion_dict *d=onion_request_get_post_dict(ptr);
if (d)
return Dict(d);
else
return Dict();
}
namespace casadi {
/** \brief Load an external function
* File name is assumed to be ./<f_name>.so
*/
CASADI_EXPORT Function external(const std::string& name, const Dict& opts=Dict());
/** \brief Load an external function
* File name given
*/
CASADI_EXPORT Function external(const std::string& name, const std::string& bin_name,
const Dict& opts=Dict());
/** \brief Load a just-in-time compiled external function
* File name given
*/
CASADI_EXPORT Function external(const std::string& name, const Compiler& compiler,
const Dict& opts=Dict());
#ifndef SWIG
/** \brief Load an external function
* Library given
*/
CASADI_EXPORT Function external(const std::string& name, Library li,
const Dict& opts=Dict());
#endif // SWIG
} // namespace casadi
namespace casadi {
/** \brief Create a just-in-time compiled function from a C/C++ language string
* The function can an arbitrary number of inputs and outputs that must all be
* scalar-valued.
* Only specify the function body, assuming that the inputs are stored in an array
* named 'arg' and the outputs stored in an array named 'res'. The data type
* used must be 'real_t', which is typically equal to 'double` or another data
* type with the same API as 'double'.
*
* The final generated function will have a structure similar to:
*
* void fname(const real_t* arg, real_t* res) {
* <FUNCTION_BODY>
* }
*
*/
CASADI_EXPORT Function jit(const std::string& name, int n_in, int n_out,
const std::string& body, const Dict& opts=Dict());
#ifndef SWIG
/** \brief Create a just-in-time compiled function from a .casadi file
*/
CASADI_EXPORT Function jit(const ParsedFile& file);
#endif // SWIG
} // namespace casadi
DictionaryT* get_command_dict() {
static DictionaryT* command_dict = NULL;
if (command_dict == NULL) {
command_dict = Dict();
dict_add(command_dict, "n", &execute_new);
dict_add(command_dict, "new", &execute_new);
dict_add(command_dict, "f", &execute_finish);
dict_add(command_dict, "finish", &execute_finish);
dict_add(command_dict, "s", &execute_show);
dict_add(command_dict, "show", &execute_show);
dict_add(command_dict, "a", &execute_add_note);
dict_add(command_dict, "add", &execute_add_note);
dict_add(command_dict, "l", &execute_load);
dict_add(command_dict, "load", &execute_load);
dict_add(command_dict, "w", &execute_save);
dict_add(command_dict, "write", &execute_save);
dict_add(command_dict, "print", &execute_print);
dict_add(command_dict, "p", &execute_print);
dict_add(command_dict, "c", &execute_change);
dict_add(command_dict, "change", &execute_change);
}
return command_dict;
}
void ff::Dict::SetDict(StringRef name, const Dict &value)
{
ValuePtr newValue;
assertRet(Value::CreateDict(Dict(value), &newValue));
SetValue(name, newValue);
}
static std::string toString(const std::pair<T1, T2>& x, const Field& field)
{
Format fs = (field.subformats.size()
? field.subformats[0]
: fmt("({*1}, {*2})"));
return fs % Dict()
("*1", x.first)
("*2", x.second);
}
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;
}
namespace casadi {
/** \defgroup main_expm
Performs a matrix exponentiation
expm(A)
\generalsection{Expm}
\pluginssection{Expm}
\author Joris Gillis
\date 2017
*/
/** \defgroup expm
* @copydoc main_expm
* @{
*/
/** \if EXPANDED
* @copydoc main_expm
* \endif
*/
///@{
CASADI_EXPORT Function expmsol(const std::string& name, const std::string& solver,
const Sparsity& A, const Dict& opts=Dict());
///@}
/** \brief Get the number of expm solver inputs */
CASADI_EXPORT casadi_int expm_n_in();
/** \brief Get the number of expm solver outputs */
CASADI_EXPORT casadi_int expm_n_out();
/// Check if a particular plugin is available
CASADI_EXPORT bool has_expm(const std::string& name);
/// Explicitly load a plugin dynamically
CASADI_EXPORT void load_expm(const std::string& name);
/// Get the documentation string for a plugin
CASADI_EXPORT std::string doc_expm(const std::string& name);
/** @} */
} // namespace casadi
// *****************************************************************************
FilterBy &FilterBy::op(const std::string &logicOperator,
const std::string &path,
const std::string &relation,
const xmlrpc_c::value &value)
{
// -------------------------------------------------------------------
// The new simple condition
Dict newCondition = Dict("path", path)
.add("relation", relation);
// The value has to be converted to an array
List valueList;
if (value.type() == xmlrpc_c::value::TYPE_ARRAY)
{
fromXmlrpcValue(value, valueList);
}
else
{
valueList.append(value);
}
newCondition.add("values", valueList);
// -------------------------------------------------------------------
// Add the new simple condition to the conditions list
List conditions;
if (!m_filters.empty())
{
// The Original m_filters map now becomes a condition
conditions.append(m_filters);
}
conditions.append(newCondition);
// -------------------------------------------------------------------
// Update the filters
m_filters.clear();
m_filters.add("logical_operator", logicOperator)
.add("conditions", conditions);
return *this;
}
/**
* @short Returns a subdictionary.
*
* For a given key, returns the subdictionary.
*/
Dict getDict(const std::string &k) const{
return Dict(onion_dict_get_dict(ptr, k.c_str()));
}
/**
* @short Creates a real copy of all the elements on the dictionary.
*/
Dict hard_dup() const{
return Dict(onion_dict_hard_dup(ptr), true);
}
// Creator function for internal class
typedef Integrator* (*Creator)(const std::string& name, const Function& oracle);
// No static functions exposed
struct Exposed{ };
/// Collection of solvers
static std::map<std::string, Plugin> solvers_;
/// Infix
static const std::string infix_;
/// Convert dictionary to Problem
template<typename XType>
static Function map2oracle(const std::string& name,
const std::map<std::string, XType>& d, const Dict& opts=Dict());
};
struct CASADI_EXPORT FixedStepMemory : public IntegratorMemory {
// Current time
double t;
// Discrete time
int k;
// Current state
std::vector<double> x, z, p, q, rx, rz, rp, rq;
// Previous state
std::vector<double> x_prev, Z_prev, q_prev, rx_prev, RZ_prev, rq_prev;
const Dict headers() const{
return Dict(onion_request_get_header_dict(ptr));
}
/** \brief Computes the Moore-Penrose pseudo-inverse
*
* If the matrix A is fat (size1>size2), mul(A, pinv(A)) is unity.
* If the matrix A is slender (size2<size1), mul(pinv(A), A) is unity.
*
*/
friend inline MatType pinv(const MatType& A, const std::string& lsolver,
const Dict& dict = Dict()) {
return MatType::pinv(A, lsolver, dict);
}
MX variable(casadi_int n=1, casadi_int m=1, const std::string& attribute="full");
/// Create a parameter (symbol); fixed during optimization
MX parameter(casadi_int n=1, casadi_int m=1, const std::string& attribute="full");
/// Set objective
void minimize(const MX& f);
/// brief Add constraints
void subject_to(const MX& g);
/// Clear constraints
void subject_to();
/// Solver
void solver(const std::string& solver,
const Dict& plugin_options=Dict(),
const Dict& solver_options=Dict());
/// @{
/// Set initial value for decision variables
void set_initial(const MX& x, const DM& v);
void set_initial(const std::vector<MX>& assignments);
/// @}
/// @{
/** \brief Set value of parameter
*
* Each parameter must be given a value before 'solve' can be called
*/
void set_value(const MX& x, const DM& v);
void set_value(const std::vector<MX>& assignments);
/** \brief Forward directional derivative */
friend inline std::vector<std::vector<MatType> >
forward(const std::vector<MatType> &ex, const std::vector<MatType> &arg,
const std::vector<std::vector<MatType> > &v,
const Dict& opts = Dict()) {
return MatType::forward(ex, arg, v, opts);
}
namespace casadi {
///@{
/** \brief Obtain collocation points of specific order and scheme
\param scheme 'radau' or 'legendre'
**/
CASADI_EXPORT
std::vector<double> collocationPoints(int order, const std::string& scheme="radau");
#ifndef SWIG
CASADI_EXPORT
std::vector<long double> collocationPointsL(int order, const std::string& scheme="radau");
#endif // SWIG
///@}
/** \brief Obtain collocation interpolating matrices
\param tau_root location of collocation points, as obtained from collocationPoints
\param[out] C interpolating coefficients to obtain derivatives
Length: order+1, order + 1
\verbatim
dX/dt @collPoint(j) ~ Sum_i C[j][i]*X@collPoint(i)
\endverbatim
\param[out] D interpolating coefficients to obtain end state
Length: order+1
*/
#ifndef SWIG
CASADI_EXPORT
void collocationInterpolators(const std::vector<double> & tau_root,
std::vector< std::vector<double> > &C,
std::vector< double > &D);
#else // SWIG
CASADI_EXPORT
void collocationInterpolators(const std::vector<double> & tau_root,
std::vector< std::vector<double> > &OUTPUT,
std::vector< double > &OUTPUT);
#endif // SWIG
// Type of collocation points
enum CollocationPoints {LEGENDRE, RADAU};
/** \brief Construct an explicit Runge-Kutta integrator
* The constructed function (which is of type MXFunction), has three inputs,
* corresponding to initial state (x0), parameter (p) and integration time (h)
* and one output, corresponding to final state (xf).
*
* \param f ODE function with two inputs (x and p) and one output (xdot)
* \param N Number of integrator steps
* \param order Order of interpolating polynomials
*/
CASADI_EXPORT MXFunction simpleRK(Function f, int N=10, int order=4);
/** \brief Construct an implicit Runge-Kutta integrator using a collocation scheme
* The constructed function (which is of type MXFunction), has three inputs,
* corresponding to initial state (x0), parameter (p) and integration time (h)
* and one output, corresponding to final state (xf).
*
* \param f ODE function with two inputs (x and p) and one output (xdot)
* \param N Number of integrator steps
* \param order Order of interpolating polynomials
* \param scheme Collocation scheme, as excepted by collocationPoints function.
*/
CASADI_EXPORT
MXFunction simpleIRK(Function f, int N=10, int order=4, const std::string& scheme="radau",
const std::string& solver="newton",
const Dict& solver_options = Dict());
/** \brief Simplified wrapper for the Integrator class
* Constructs an integrator using the same syntax as simpleRK and simpleIRK.
* The constructed function (which is of type MXFunction), has three inputs,
* corresponding to initial state (x0), parameter (p) and integration time (h)
* and one output, corresponding to final state (xf).
*
* \param f ODE function with two inputs (x and p) and one output (xdot)
* \param N Number of integrator steps
* \param order Order of interpolating polynomials
* \param scheme Collocation scheme, as excepted by collocationPoints function.
*/
CASADI_EXPORT
MXFunction simpleIntegrator(Function f, const std::string& integrator="cvodes",
const Dict& integrator_options = Dict());
} // namespace casadi
std::string str(const T& x, const Format& f)
{
return f % Dict()("*", &x);
}
std::string str(const T& x, const std::string& f = "{*}")
{
bool abbrev = (f.find('{') == std::string::npos);
return fmt(abbrev ? "{*:" + f + "}" : f) % Dict()("*", &x);
}
/**
* @short Convert a JSON string to an onion dictionary.
*
* This is not full JSON support, only dict side, and with strings.
*/
static ::Onion::Dict fromJSON(const std::string &jsondata){
return Dict(onion_dict_from_json(jsondata.c_str()));
}
/** \brief Matrix inverse */
inline friend MatType inv(const MatType& A,
const std::string& lsolver,
const Dict& options=Dict()) {
return MatType::inv(A, lsolver, options);
}
Classifier::Classifier() {
this->features = Dict();
this->labels = Dict();
}
/** \brief Solve a system of equations: A*x = b
*/
friend inline MatType solve(const MatType& A, const MatType& b,
const std::string& lsolver,
const Dict& dict = Dict()) {
return MatType::solve(A, b, lsolver, dict);
}
// *****************************************************************************
FilterBy::FilterBy() : m_filters(Dict())
{
}
/** \brief Calculate Jacobian
*/
inline friend MatType jacobian(const MatType &ex, const MatType &arg,
const Dict& opts = Dict()) {
return MatType::jacobian(ex, arg, opts);
}
const Dict query() const{
return Dict(onion_request_get_query_dict(ptr));
}
/** \brief Reverse directional derivative */
friend inline std::vector<std::vector<MatType> >
reverse(const std::vector<MatType> &ex, const std::vector<MatType> &arg,
const std::vector<std::vector<MatType> > &v,
const Dict& opts = Dict()) {
return MatType::reverse(ex, arg, v, opts);
}
with
U: horzcat([u0, u1, ..., u_(N-1)])
X: horzcat([x1, x2, ..., x_N])
Y: horzcat([y0, y1, ..., y_(N-1)])
and
x1, y0 <- f(x0, u0)
x2, y1 <- f(x1, u1)
...
x_N, y_(N-1) <- f(x_(N-1), u_(N-1))
\endverbatim
*/
Function mapaccum(const std::string& name, int n, int n_accum=1,
const Dict& opts = Dict()) const;
Function mapaccum(const std::string& name, int n,
const std::vector<int>& accum_in,
const std::vector<int>& accum_out,
const Dict& opts=Dict()) const;
Function mapaccum(const std::string& name, int n,
const std::vector<std::string>& accum_in,
const std::vector<std::string>& accum_out,
const Dict& opts=Dict()) const;
///@}
/** \brief Create a mapped version of this function
Suppose the function has a signature of:
\verbatim
f: (a, p) -> ( s )