List of all members | Public Types | Public Member Functions | Static Public Member Functions
casadi::Function Class Reference

General function. More...

#include <function.hpp>

Detailed Description

A general function $f$ in casadi can be multi-input, multi-output.
Number of inputs: nin n_in()
Number of outputs: nout n_out()
We can view this function as a being composed of a (nin, nout) grid of single-input, single-output primitive functions.
Each such primitive function $f_ {i, j} \forall i \in [0, nin-1], j \in [0, nout-1]$ can map as $\mathbf {R}^{n, m}\to\mathbf{R}^{p, q}$, in which n, m, p, q can take different values for every (i, j) pair.
When passing input, you specify which partition $i$ is active. You pass the numbers vectorized, as a vector of size $(n*m)$.
When requesting output, you specify which partition $j$ is active. You get the numbers vectorized, as a vector of size $(p*q)$.
To calculate Jacobians, you need to have $(m=1, q=1)$.

Write the Jacobian as $J_ {i, j} = \nabla f_{i, j} = \frac {\partial f_{i, j}(\vec{x})}{\partial \vec{x}}$.

We have the following relationships for function mapping from a row vector to a row vector:

$ \vec {s}_f = \nabla f_{i, j} . \vec{v}$
$ \vec {s}_a = (\nabla f_{i, j})^T . \vec{w}$

Some quantities in these formulas must be transposed:
input col: transpose $ \vec {v} $ and $\vec{s}_a$
output col: transpose $ \vec {w} $ and $\vec{s}_f$
NOTE: Functions are allowed to modify their input arguments when evaluating: implicitFunction, IDAS solver Further releases may disallow this.

Author
Joel Andersson
Date
2010

List of available options
IdTypeDescriptionUsed in
ad_weightOT_DOUBLEWeighting factor for derivative calculation.When there is an option of either using forward or reverse mode directional derivatives, the condition ad_weight*nf<=(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_spOT_DOUBLEWeighting 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".casadi::FunctionInternal
compilerOT_STRINGJust-in-time compiler plugin to be used.casadi::FunctionInternal
derivative_ofOT_FUNCTIONThe function is a derivative of another function. The type of derivative (directional derivative, Jacobian) is inferred from the function name.casadi::FunctionInternal
gather_statsOT_BOOLDeprecated option (ignored): Statistics are now always collected.casadi::FunctionInternal
input_schemeOT_STRINGVECTORCustom input schemecasadi::FunctionInternal
inputs_checkOT_BOOLThrow exceptions when the numerical values of the inputs don't make sensecasadi::FunctionInternal
jac_penaltyOT_DOUBLEWhen 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 strategycasadi::FunctionInternal
jitOT_BOOLUse just-in-time compiler to speed up the evaluationcasadi::FunctionInternal
jit_optionsOT_DICTOptions to be passed to the jit compiler.casadi::FunctionInternal
max_num_dirOT_INTSpecify the maximum number of directions for derivative functions. Overrules the builtin optimized_num_dir.casadi::FunctionInternal
output_schemeOT_STRINGVECTORCustom output schemecasadi::FunctionInternal
print_timeOT_BOOLprint information about execution timecasadi::FunctionInternal
regularity_checkOT_BOOLThrow exceptions when NaN or Inf appears during evaluationcasadi::FunctionInternal
user_dataOT_VOIDPTRA user-defined field that can be used to identify the function or pass additional informationcasadi::FunctionInternal
verboseOT_BOOLVerbose evaluation – for debuggingcasadi::FunctionInternal
Examples:
Function/callback_c.cc, integrators/simulator.py, solvers/callback.py, solvers/exacthessian.py, solvers/ipopt.py, SX/SXFunction_constr_oct.m, and SX/SXFunction_constr_py.py.

Definition at line 103 of file function.hpp.

Inheritance diagram for casadi::Function:
Inheritance graph
[legend]

Public Types

typedef std::map< std::string,
std::vector< std::string > > 
AuxOut
 

Public Member Functions

 Function ()
 Default constructor, null pointer. More...
 
 Function (const std::string &fname)
 Construct from a file. More...
 
 ~Function ()
 To resolve ambiguity on some compilers. More...
 
int n_in () const
 Get the number of function inputs. More...
 
int n_out () const
 Get the number of function outputs. More...
 
std::vector< std::string > name_in () const
 Get input scheme. More...
 
std::vector< std::string > name_out () const
 Get output scheme. More...
 
std::string name_in (int ind) const
 Get input scheme name by index. More...
 
std::string name_out (int ind) const
 Get output scheme name by index. More...
 
int index_in (const std::string &name) const
 Find the index for a string describing a particular entry of an input scheme. More...
 
int index_out (const std::string &name) const
 Find the index for a string describing a particular entry of an output scheme. More...
 
double default_in (int ind) const
 Get default input value (NOTE: constant reference) More...
 
Function factory (const std::string &name, const std::vector< std::string > &s_in, const std::vector< std::string > &s_out, const AuxOut &aux=AuxOut(), const Dict &opts=Dict()) const
 
Function oracle () const
 Get oracle. More...
 
Function wrap () const
 Wrap in an Function instance consisting of only one MX call. More...
 
std::vector< bool > which_depends (const std::string &s_in, const std::vector< std::string > &s_out, int order=1, bool tr=false) const
 Which variables enter with some order. More...
 
void print_dimensions (std::ostream &stream=casadi::userOut()) const
 Print dimensions of inputs and outputs. More...
 
void print_options (std::ostream &stream=casadi::userOut()) const
 Print options to a stream. More...
 
void print_option (const std::string &name, std::ostream &stream=casadi::userOut()) const
 Print all information there is to know about a certain option. More...
 
void print_free (std::ostream &stream=casadi::userOut()) const
 Print free variables. More...
 
void setJacobian (const Function &jac, int iind=0, int oind=0, bool compact=false)
 
Function fullJacobian ()
 Generate a Jacobian function of all the inputs elements with respect to all the output elements). More...
 
void setFullJacobian (const Function &jac)
 
std::vector< MXmapsum (const std::vector< MX > &arg, const std::string &parallelization="serial") const
 Evaluate symbolically in parallel and sum (matrix graph) More...
 
Function map (int n, const std::string &parallelization="serial") const
 Create a mapped version of this function. More...
 
Function slice (const std::string &name, const std::vector< int > &order_in, const std::vector< int > &order_out, const Dict &opts=Dict()) const
 returns a new function with a selection of inputs/outputs of the original More...
 
Function forward (int nfwd) const
 Get a function that calculates nfwd forward derivatives. More...
 
Function reverse (int nadj) const
 Get a function that calculates nadj adjoint derivatives. More...
 
std::string generate (const std::string &fname, const Dict &opts=Dict()) const
 Export / Generate C code for the function. More...
 
std::string generate (const Dict &opts=Dict()) const
 Export / Generate C code for the function. More...
 
std::string generate_dependencies (const std::string &fname, const Dict &opts=Dict()) const
 Export / Generate C code for the dependency function. More...
 
Dict stats (int mem=0) const
 Get all statistics obtained at the end of the last evaluate call. More...
 
std::vector< SXfree_sx () const
 Get all the free variables of the function. More...
 
std::vector< MXfree_mx () const
 Get all the free variables of the function. More...
 
bool has_free () const
 Does the function have free variables. More...
 
void generate_lifted (Function &output_vdef_fcn, Function &output_vinit_fcn) const
 Extract the functions needed for the Lifted Newton method. More...
 
int getAlgorithmSize () const
 Get the number of atomic operations. More...
 
int getWorkSize () const
 Get the length of the work vector. More...
 
int getAtomicOperation (int k) const
 Get an atomic operation operator index. More...
 
std::pair< int, int > getAtomicInput (int k) const
 Get the (integer) input arguments of an atomic operation. More...
 
double getAtomicInputReal (int k) const
 Get the floating point output argument of an atomic operation. More...
 
int getAtomicOutput (int k) const
 Get the (integer) output argument of an atomic operation. More...
 
int n_nodes () const
 Number of nodes in the algorithm. More...
 
std::string name () const
 Name of the function. More...
 
std::string type_name () const
 Get type name. More...
 
bool is_a (const std::string &type, bool recursive=true) const
 Check if the function is of a particular type Optionally check if name matches one of the base classes (default true) More...
 
void assert_size_in (int i, int nrow, int ncol) const
 Assert that an input dimension is equal so some given value. More...
 
void assert_size_out (int i, int nrow, int ncol) const
 Assert that an output dimension is equal so some given value. More...
 
int checkout () const
 Checkout a memory object. More...
 
void release (int mem) const
 Release a memory object. More...
 
std::vector< std::string > get_function () const
 
Function get_function (const std::string &name) const
 
bool has_function (const std::string &fname) const
 
Function rootfinder_fun () const
 
void conic_debug (const std::string &filename) const
 
void conic_debug (std::ostream &file) const
 
void repr (std::ostream &stream=casadi::userOut(), bool trailing_newline=true) const
 Print a representation of the object. More...
 
void print (std::ostream &stream=casadi::userOut(), bool trailing_newline=true) const
 Print a description of the object. More...
 
bool is_null () const
 Is a null pointer? More...
 
size_t __hash__ () const
 Returns a number that is unique for a given Node. If the Object does not point to any node, "0" is returned. More...
 
std::string getDescription () const
 Return a string with a description (for SWIG) More...
 
std::string getRepresentation () const
 Return a string with a representation (for SWIG) More...
 
 Function (const std::string &name, const std::vector< SX > &arg, const std::vector< SX > &res, const Dict &opts=Dict())
 Construct an SX function. More...
 
 Function (const std::string &name, const std::vector< SX > &arg, const std::vector< SX > &res, const std::vector< std::string > &argn, const std::vector< std::string > &resn, const Dict &opts=Dict())
 Construct an SX function. More...
 
 Function (const std::string &name, const std::map< std::string, SX > &dict, const std::vector< std::string > &argn, const std::vector< std::string > &resn, const Dict &opts=Dict())
 Construct an SX function. More...
 
 Function (const std::string &name, const std::vector< MX > &arg, const std::vector< MX > &res, const Dict &opts=Dict())
 Construct an MX function. More...
 
 Function (const std::string &name, const std::vector< MX > &arg, const std::vector< MX > &res, const std::vector< std::string > &argn, const std::vector< std::string > &resn, const Dict &opts=Dict())
 Construct an MX function. More...
 
 Function (const std::string &name, const std::map< std::string, MX > &dict, const std::vector< std::string > &argn, const std::vector< std::string > &resn, const Dict &opts=Dict())
 Construct an MX function. More...
 
Function expand () const
 Expand a function to SX. More...
 
Function expand (const std::string &name, const Dict &opts=Dict()) const
 Expand a function to SX. More...
 
int size1_in (int ind) const
 Get input dimension. More...
 
int size1_in (const std::string &iname) const
 Get input dimension. More...
 
int size2_in (int ind) const
 Get input dimension. More...
 
int size2_in (const std::string &iname) const
 Get input dimension. More...
 
std::pair< int, int > size_in (int ind) const
 Get input dimension. More...
 
std::pair< int, int > size_in (const std::string &iname) const
 Get input dimension. More...
 
int size1_out (int ind) const
 Get output dimension. More...
 
int size1_out (const std::string &oname) const
 Get output dimension. More...
 
int size2_out (int ind) const
 Get output dimension. More...
 
int size2_out (const std::string &oname) const
 Get output dimension. More...
 
std::pair< int, int > size_out (int ind) const
 Get output dimension. More...
 
std::pair< int, int > size_out (const std::string &oname) const
 Get output dimension. More...
 
int nnz_in () const
 Get number of input nonzeros. More...
 
int nnz_in (int ind) const
 Get number of input nonzeros. More...
 
int nnz_in (const std::string &iname) const
 Get number of input nonzeros. More...
 
int nnz_out () const
 Get number of output nonzeros. More...
 
int nnz_out (int ind) const
 Get number of output nonzeros. More...
 
int nnz_out (const std::string &oname) const
 Get number of output nonzeros. More...
 
int numel_in () const
 Get number of input elements. More...
 
int numel_in (int ind) const
 Get number of input elements. More...
 
int numel_in (const std::string &iname) const
 Get number of input elements. More...
 
int numel_out () const
 Get number of output elements. More...
 
int numel_out (int ind) const
 Get number of output elements. More...
 
int numel_out (const std::string &oname) const
 Get number of output elements. More...
 
const Sparsitysparsity_in (int ind) const
 Get sparsity of a given input. More...
 
const Sparsitysparsity_in (const std::string &iname) const
 Get sparsity of a given input. More...
 
const Sparsitysparsity_out (int ind) const
 Get sparsity of a given output. More...
 
const Sparsitysparsity_out (const std::string &iname) const
 Get sparsity of a given output. More...
 
Function jacobian (int iind=0, int oind=0, bool compact=false, bool symmetric=false)
 Generate a Jacobian function of output oind with respect to input iind. More...
 
Function jacobian (const std::string &iind, int oind=0, bool compact=false, bool symmetric=false)
 Generate a Jacobian function of output oind with respect to input iind. More...
 
Function jacobian (int iind, const std::string &oind, bool compact=false, bool symmetric=false)
 Generate a Jacobian function of output oind with respect to input iind. More...
 
Function jacobian (const std::string &iind, const std::string &oind, bool compact=false, bool symmetric=false)
 Generate a Jacobian function of output oind with respect to input iind. More...
 
Function gradient (int iind=0, int oind=0)
 [DEPRECATED] Use Function::factory instead More...
 
Function gradient (const std::string &iind, int oind=0)
 [DEPRECATED] Use Function::factory instead More...
 
Function gradient (int iind, const std::string &oind)
 [DEPRECATED] Use Function::factory instead More...
 
Function gradient (const std::string &iind, const std::string &oind)
 [DEPRECATED] Use Function::factory instead More...
 
Function tangent (int iind=0, int oind=0)
 [DEPRECATED] Use Function::factory instead More...
 
Function tangent (const std::string &iind, int oind=0)
 [DEPRECATED] Use Function::factory instead More...
 
Function tangent (int iind, const std::string &oind)
 [DEPRECATED] Use Function::factory instead More...
 
Function tangent (const std::string &iind, const std::string &oind)
 [DEPRECATED] Use Function::factory instead More...
 
Function hessian (int iind=0, int oind=0)
 Generate a Hessian function of output oind with respect to input iind. More...
 
Function hessian (const std::string &iind, int oind=0)
 Generate a Hessian function of output oind with respect to input iind. More...
 
Function hessian (int iind, const std::string &oind)
 Generate a Hessian function of output oind with respect to input iind. More...
 
Function hessian (const std::string &iind, const std::string &oind)
 Generate a Hessian function of output oind with respect to input iind. More...
 
void call (const std::vector< DM > &arg, std::vector< DM > &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
void call (const std::vector< SX > &arg, std::vector< SX > &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
void call (const std::vector< MX > &arg, std::vector< MX > &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
void call (const DMDict &arg, DMDict &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
void call (const SXDict &arg, SXDict &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
void call (const MXDict &arg, MXDict &output_res, bool always_inline=false, bool never_inline=false) const
 Evaluate the function symbolically or numerically. More...
 
Function mapaccum (const std::string &name, int n, int n_accum=1, const Dict &opts=Dict()) const
 Create a mapaccumulated version of this function. More...
 
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
 Create a mapaccumulated version of this function. More...
 
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
 Create a mapaccumulated version of this function. More...
 
Function map (const std::string &name, const std::string &parallelization, int n, const std::vector< int > &reduce_in, const std::vector< int > &reduce_out, const Dict &opts=Dict()) const
 Map with reduction A subset of the inputs are non-repeated and a subset of the outputs summed up. More...
 
Function map (const std::string &name, const std::string &parallelization, int n, const std::vector< std::string > &reduce_in, const std::vector< std::string > &reduce_out, const Dict &opts=Dict()) const
 Map with reduction A subset of the inputs are non-repeated and a subset of the outputs summed up. More...
 
const Sparsity sparsity_jac (int iind=0, int oind=0, bool compact=false, bool symmetric=false) const
 
const Sparsity sparsity_jac (const std::string &iind, int oind=0, bool compact=false, bool symmetric=false) const
 
const Sparsity sparsity_jac (int iind, const std::string &oind, bool compact=false, bool symmetric=false) const
 
const Sparsity sparsity_jac (const std::string &iind, const std::string &oind, bool compact=false, bool symmetric=false) const
 
void set_jac_sparsity (const Sparsity &sp, int iind, int oind, bool compact=false)
 
void set_jac_sparsity (const Sparsity &sp, const std::string &iind, int oind, bool compact=false)
 
void set_jac_sparsity (const Sparsity &sp, int iind, const std::string &oind, bool compact=false)
 
void set_jac_sparsity (const Sparsity &sp, const std::string &iind, const std::string &oind, bool compact=false)
 
const SX sx_in (int iind) const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const SX sx_in (const std::string &iname) const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const std::vector< SXsx_in () const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const MX mx_in (int ind) const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const MX mx_in (const std::string &iname) const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const std::vector< MXmx_in () const
 Get symbolic primitives equivalent to the input expressions There is no guarantee that subsequent calls return unique answers. More...
 
const SX sx_out (int oind) const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 
const SX sx_out (const std::string &oname) const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 
const std::vector< SXsx_out () const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 
const MX mx_out (int ind) const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 
const MX mx_out (const std::string &oname) const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 
const std::vector< MXmx_out () const
 Get symbolic primitives equivalent to the output expressions There is no guarantee that subsequent calls return unique answers. More...
 

Static Public Member Functions

static Function conditional (const std::string &name, const std::vector< Function > &f, const Function &f_def, const Dict &opts=Dict())
 Constuct a switch function. More...
 
static Function bspline (const std::string &name, const std::vector< std::vector< double > > &knots, const std::vector< double > &coeffs, const std::vector< int > &degree, int m=1, const Dict &opts=Dict())
 BSpline evaluator function. More...
 
static Function bspline_dual (const std::string &name, const std::vector< std::vector< double > > &knots, const std::vector< double > &x, const std::vector< int > &degree, int m=1, bool reverse=false, const Dict &opts=Dict())
 Dual BSpline evaluator function. More...
 
static Function if_else (const std::string &name, const Function &f_true, const Function &f_false, const Dict &opts=Dict())
 Constructor (if-else) More...
 
static bool check_name (const std::string &name)
 Check if a string is a valid function name Valid function names consist of. More...
 
static std::string fix_name (const std::string &name)
 Turn a string into a valid function name as defined by "check_name" Non-alphanumeric characters are converted into underscores and multiple consecutive undercores are dropped. More...
 

Member Typedef Documentation

typedef std::map<std::string, std::vector<std::string> > casadi::Function::AuxOut

Definition at line 291 of file function.hpp.

Constructor & Destructor Documentation

casadi::Function::Function ( )
casadi::Function::Function ( const std::string &  fname)
casadi::Function::Function ( const std::string &  name,
const std::vector< SX > &  arg,
const std::vector< SX > &  res,
const Dict opts = Dict() 
)
casadi::Function::Function ( const std::string &  name,
const std::vector< SX > &  arg,
const std::vector< SX > &  res,
const std::vector< std::string > &  argn,
const std::vector< std::string > &  resn,
const Dict opts = Dict() 
)
casadi::Function::Function ( const std::string &  name,
const std::map< std::string, SX > &  dict,
const std::vector< std::string > &  argn,
const std::vector< std::string > &  resn,
const Dict opts = Dict() 
)
casadi::Function::Function ( const std::string &  name,
const std::vector< MX > &  arg,
const std::vector< MX > &  res,
const Dict opts = Dict() 
)
casadi::Function::Function ( const std::string &  name,
const std::vector< MX > &  arg,
const std::vector< MX > &  res,
const std::vector< std::string > &  argn,
const std::vector< std::string > &  resn,
const Dict opts = Dict() 
)
casadi::Function::Function ( const std::string &  name,
const std::map< std::string, MX > &  dict,
const std::vector< std::string > &  argn,
const std::vector< std::string > &  resn,
const Dict opts = Dict() 
)
casadi::Function::~Function ( )

Destructor

Member Function Documentation

size_t casadi::SharedObject::__hash__ ( ) const
inherited
void casadi::Function::assert_size_in ( int  i,
int  nrow,
int  ncol 
) const
void casadi::Function::assert_size_out ( int  i,
int  nrow,
int  ncol 
) const
static Function casadi::Function::bspline ( const std::string &  name,
const std::vector< std::vector< double > > &  knots,
const std::vector< double > &  coeffs,
const std::vector< int > &  degree,
int  m = 1,
const Dict opts = Dict() 
)
static

Requires a known coefficient tensor

static Function casadi::Function::bspline_dual ( const std::string &  name,
const std::vector< std::vector< double > > &  knots,
const std::vector< double > &  x,
const std::vector< int > &  degree,
int  m = 1,
bool  reverse = false,
const Dict opts = Dict() 
)
static

Requires known evaluation positions WARNING: This function may drastically change or be removed

void casadi::Function::call ( const std::vector< DM > &  arg,
std::vector< DM > &  output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
void casadi::Function::call ( const std::vector< SX > &  arg,
std::vector< SX > &  output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
void casadi::Function::call ( const std::vector< MX > &  arg,
std::vector< MX > &  output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
void casadi::Function::call ( const DMDict arg,
DMDict output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
void casadi::Function::call ( const SXDict arg,
SXDict output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
void casadi::Function::call ( const MXDict arg,
MXDict output_res,
bool  always_inline = false,
bool  never_inline = false 
) const
static bool casadi::Function::check_name ( const std::string &  name)
static
  • At least one character
  • Upper and lower case letters: a-zA-Z
  • Numbers 0-9, but never as first character
  • Underscore, but never as first character and never next to another underscore

May not be one of the following keywords: "null", "jac", "hess"

int casadi::Function::checkout ( ) const
static Function casadi::Function::conditional ( const std::string &  name,
const std::vector< Function > &  f,
const Function f_def,
const Dict opts = Dict() 
)
static
void casadi::Function::conic_debug ( const std::string &  filename) const

Generate native code in the interfaced language for debugging

void casadi::Function::conic_debug ( std::ostream &  file) const

Generate native code in the interfaced language for debugging

double casadi::Function::default_in ( int  ind) const
Function casadi::Function::expand ( ) const
Function casadi::Function::expand ( const std::string &  name,
const Dict opts = Dict() 
) const
Function casadi::Function::factory ( const std::string &  name,
const std::vector< std::string > &  s_in,
const std::vector< std::string > &  s_out,
const AuxOut aux = AuxOut(),
const Dict opts = Dict() 
) const
static std::string casadi::Function::fix_name ( const std::string &  name)
static
Function casadi::Function::forward ( int  nfwd) const

Returns a function with n_in + n_out + n_in inputs and nfwd outputs. The first n_in inputs correspond to nondifferentiated inputs. The next n_out inputs correspond to nondifferentiated outputs. and the last n_in inputs correspond to forward seeds, stacked horizontally The n_out outputs correspond to forward sensitivities, stacked horizontally. * (n_in = n_in(), n_out = n_out())

The functions returned are cached, meaning that if called multiple timed with the same value, then multiple references to the same function will be returned.

std::vector<MX> casadi::Function::free_mx ( ) const
std::vector<SX> casadi::Function::free_sx ( ) const
Function casadi::Function::fullJacobian ( )
std::string casadi::Function::generate ( const std::string &  fname,
const Dict opts = Dict() 
) const
Examples:
SX/generateCode.py.
std::string casadi::Function::generate ( const Dict opts = Dict()) const
std::string casadi::Function::generate_dependencies ( const std::string &  fname,
const Dict opts = Dict() 
) const
void casadi::Function::generate_lifted ( Function output_vdef_fcn,
Function output_vinit_fcn 
) const
std::vector<std::string> casadi::Function::get_function ( ) const
Function casadi::Function::get_function ( const std::string &  name) const
int casadi::Function::getAlgorithmSize ( ) const
std::pair<int, int> casadi::Function::getAtomicInput ( int  k) const
double casadi::Function::getAtomicInputReal ( int  k) const
int casadi::Function::getAtomicOperation ( int  k) const
int casadi::Function::getAtomicOutput ( int  k) const
std::string casadi::PrintableObject< SharedObject >::getDescription ( ) const
inlineinherited

Definition at line 49 of file printable_object.hpp.

std::string casadi::PrintableObject< SharedObject >::getRepresentation ( ) const
inlineinherited

Definition at line 56 of file printable_object.hpp.

int casadi::Function::getWorkSize ( ) const
Function casadi::Function::gradient ( int  iind = 0,
int  oind = 0 
)
Function casadi::Function::gradient ( const std::string &  iind,
int  oind = 0 
)
inline

Definition at line 365 of file function.hpp.

Function casadi::Function::gradient ( int  iind,
const std::string &  oind 
)
inline

Definition at line 368 of file function.hpp.

Function casadi::Function::gradient ( const std::string &  iind,
const std::string &  oind 
)
inline

Definition at line 371 of file function.hpp.

bool casadi::Function::has_free ( ) const
bool casadi::Function::has_function ( const std::string &  fname) const
Function casadi::Function::hessian ( int  iind = 0,
int  oind = 0 
)
Parameters
iindThe index of the input
oindThe index of the output

The generated Hessian has two more outputs than the calling function corresponding to the Hessian and the gradients.

Function casadi::Function::hessian ( const std::string &  iind,
int  oind = 0 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The generated Hessian has two more outputs than the calling function corresponding to the Hessian and the gradients.

Definition at line 398 of file function.hpp.

Function casadi::Function::hessian ( int  iind,
const std::string &  oind 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The generated Hessian has two more outputs than the calling function corresponding to the Hessian and the gradients.

Definition at line 400 of file function.hpp.

Function casadi::Function::hessian ( const std::string &  iind,
const std::string &  oind 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The generated Hessian has two more outputs than the calling function corresponding to the Hessian and the gradients.

Definition at line 402 of file function.hpp.

static Function casadi::Function::if_else ( const std::string &  name,
const Function f_true,
const Function f_false,
const Dict opts = Dict() 
)
static
int casadi::Function::index_in ( const std::string &  name) const

example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput

int casadi::Function::index_out ( const std::string &  name) const

example: schemeEntry("x_opt") -> returns NLPSOL_X if FunctionInternal adheres to SCHEME_NLPINput

bool casadi::Function::is_a ( const std::string &  type,
bool  recursive = true 
) const
bool casadi::SharedObject::is_null ( ) const
inherited
Function casadi::Function::jacobian ( int  iind = 0,
int  oind = 0,
bool  compact = false,
bool  symmetric = false 
)
Parameters
iindThe index of the input
oindThe index of the output

The default behavior of this class is defined by the derived class. If compact is set to true, only the nonzeros of the input and output expressions are considered. If symmetric is set to true, the Jacobian being calculated is known to be symmetric (usually a Hessian), which can be exploited by the algorithm.

The generated Jacobian has one more output than the calling function corresponding to the Jacobian and the same number of inputs.

Function casadi::Function::jacobian ( const std::string &  iind,
int  oind = 0,
bool  compact = false,
bool  symmetric = false 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The default behavior of this class is defined by the derived class. If compact is set to true, only the nonzeros of the input and output expressions are considered. If symmetric is set to true, the Jacobian being calculated is known to be symmetric (usually a Hessian), which can be exploited by the algorithm.

The generated Jacobian has one more output than the calling function corresponding to the Jacobian and the same number of inputs.

Definition at line 344 of file function.hpp.

Function casadi::Function::jacobian ( int  iind,
const std::string &  oind,
bool  compact = false,
bool  symmetric = false 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The default behavior of this class is defined by the derived class. If compact is set to true, only the nonzeros of the input and output expressions are considered. If symmetric is set to true, the Jacobian being calculated is known to be symmetric (usually a Hessian), which can be exploited by the algorithm.

The generated Jacobian has one more output than the calling function corresponding to the Jacobian and the same number of inputs.

Definition at line 348 of file function.hpp.

Function casadi::Function::jacobian ( const std::string &  iind,
const std::string &  oind,
bool  compact = false,
bool  symmetric = false 
)
inline
Parameters
iindThe index of the input
oindThe index of the output

The default behavior of this class is defined by the derived class. If compact is set to true, only the nonzeros of the input and output expressions are considered. If symmetric is set to true, the Jacobian being calculated is known to be symmetric (usually a Hessian), which can be exploited by the algorithm.

The generated Jacobian has one more output than the calling function corresponding to the Jacobian and the same number of inputs.

Definition at line 351 of file function.hpp.

Function casadi::Function::map ( int  n,
const std::string &  parallelization = "serial" 
) const

Suppose the function has a signature of:

   f: (a, p) -> ( s )

The the mapped version has the signature:

   F: (A, P) -> (S )

    with
        A: horzcat([a0, a1, ..., a_(N-1)])
        P: horzcat([p0, p1, ..., p_(N-1)])
        S: horzcat([s0, s1, ..., s_(N-1)])
    and
        s0 <- f(a0, p0)
        s1 <- f(a1, p1)
        ...
        s_(N-1) <- f(a_(N-1), p_(N-1))
Parameters
parallelizationType of parallelization used: unroll|serial|openmp
Function casadi::Function::map ( const std::string &  name,
const std::string &  parallelization,
int  n,
const std::vector< int > &  reduce_in,
const std::vector< int > &  reduce_out,
const Dict opts = Dict() 
) const
Function casadi::Function::map ( const std::string &  name,
const std::string &  parallelization,
int  n,
const std::vector< std::string > &  reduce_in,
const std::vector< std::string > &  reduce_out,
const Dict opts = Dict() 
) const
Function casadi::Function::mapaccum ( const std::string &  name,
int  n,
int  n_accum = 1,
const Dict opts = Dict() 
) const

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    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))
Function casadi::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

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    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))
Function casadi::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

Suppose the function has a signature of:

   f: (x, u) -> (x_next , y )

The the mapaccumulated version has the signature:

   F: (x0, U) -> (X , Y )

    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))
std::vector<MX> casadi::Function::mapsum ( const std::vector< MX > &  arg,
const std::string &  parallelization = "serial" 
) const
Parameters
parallelizationType of parallelization used: unroll|serial|openmp
const MX casadi::Function::mx_in ( int  ind) const
const MX casadi::Function::mx_in ( const std::string &  iname) const
inline

Definition at line 742 of file function.hpp.

const std::vector<MX> casadi::Function::mx_in ( ) const
const MX casadi::Function::mx_out ( int  ind) const
const MX casadi::Function::mx_out ( const std::string &  oname) const
inline

Definition at line 758 of file function.hpp.

const std::vector<MX> casadi::Function::mx_out ( ) const
int casadi::Function::n_in ( ) const
int casadi::Function::n_nodes ( ) const
int casadi::Function::n_out ( ) const
std::string casadi::Function::name ( ) const
std::vector<std::string> casadi::Function::name_in ( ) const
std::string casadi::Function::name_in ( int  ind) const
std::vector<std::string> casadi::Function::name_out ( ) const
std::string casadi::Function::name_out ( int  ind) const
int casadi::Function::nnz_in ( ) const

For a particular input or for all of the inputs

int casadi::Function::nnz_in ( int  ind) const

For a particular input or for all of the inputs

int casadi::Function::nnz_in ( const std::string &  iname) const
inline

For a particular input or for all of the inputs

Definition at line 216 of file function.hpp.

int casadi::Function::nnz_out ( ) const

For a particular output or for all of the outputs

int casadi::Function::nnz_out ( int  ind) const

For a particular output or for all of the outputs

int casadi::Function::nnz_out ( const std::string &  oname) const
inline

For a particular output or for all of the outputs

Definition at line 226 of file function.hpp.

int casadi::Function::numel_in ( ) const

For a particular input or for all of the inputs

int casadi::Function::numel_in ( int  ind) const

For a particular input or for all of the inputs

int casadi::Function::numel_in ( const std::string &  iname) const
inline

For a particular input or for all of the inputs

Definition at line 236 of file function.hpp.

int casadi::Function::numel_out ( ) const

For a particular output or for all of the outputs

int casadi::Function::numel_out ( int  ind) const

For a particular output or for all of the outputs

int casadi::Function::numel_out ( const std::string &  oname) const
inline

For a particular output or for all of the outputs

Definition at line 246 of file function.hpp.

Function casadi::Function::oracle ( ) const
void casadi::SharedObject::print ( std::ostream &  stream = casadi::userOut(),
bool  trailing_newline = true 
) const
inherited
Examples:
SX/generateCode.py.
void casadi::Function::print_dimensions ( std::ostream &  stream = casadi::userOut()) const
void casadi::Function::print_free ( std::ostream &  stream = casadi::userOut()) const
void casadi::Function::print_option ( const std::string &  name,
std::ostream &  stream = casadi::userOut() 
) const
void casadi::Function::print_options ( std::ostream &  stream = casadi::userOut()) const
void casadi::Function::release ( int  mem) const
void casadi::SharedObject::repr ( std::ostream &  stream = casadi::userOut(),
bool  trailing_newline = true 
) const
inherited
Examples:
SX/generateCode.py.
Function casadi::Function::reverse ( int  nadj) const

Returns a function with n_in + n_out + n_out inputs and n_in outputs. The first n_in inputs correspond to nondifferentiated inputs. The next n_out inputs correspond to nondifferentiated outputs. and the last n_out inputs correspond to adjoint seeds, stacked horizontally The n_in outputs correspond to adjoint sensitivities, stacked horizontally. * (n_in = n_in(), n_out = n_out())

(n_in = n_in(), n_out = n_out())

The functions returned are cached, meaning that if called multiple timed with the same value, then multiple references to the same function will be returned.

Function casadi::Function::rootfinder_fun ( ) const
inline

[DEPRECATED] Use oracle() instead

Definition at line 897 of file function.hpp.

void casadi::Function::set_jac_sparsity ( const Sparsity sp,
int  iind,
int  oind,
bool  compact = false 
)

[DEPRECATED] Generate the sparsity of a Jacobian block

void casadi::Function::set_jac_sparsity ( const Sparsity sp,
const std::string &  iind,
int  oind,
bool  compact = false 
)
inline

[DEPRECATED] Generate the sparsity of a Jacobian block

Definition at line 684 of file function.hpp.

void casadi::Function::set_jac_sparsity ( const Sparsity sp,
int  iind,
const std::string &  oind,
bool  compact = false 
)
inline

[DEPRECATED] Generate the sparsity of a Jacobian block

Definition at line 688 of file function.hpp.

void casadi::Function::set_jac_sparsity ( const Sparsity sp,
const std::string &  iind,
const std::string &  oind,
bool  compact = false 
)
inline

[DEPRECATED] Generate the sparsity of a Jacobian block

Definition at line 692 of file function.hpp.

void casadi::Function::setFullJacobian ( const Function jac)

Set the Jacobian of all the input nonzeros with respect to all output nonzeros NOTE: Does not take ownership, only weak references to the Jacobian are kept internally

void casadi::Function::setJacobian ( const Function jac,
int  iind = 0,
int  oind = 0,
bool  compact = false 
)

[DEPRECATED] Set the Jacobian function of output oind with respect to input iind NOTE: Does not take ownership, only weak references to the Jacobians are kept internally

int casadi::Function::size1_in ( int  ind) const
int casadi::Function::size1_in ( const std::string &  iname) const
inline

Definition at line 190 of file function.hpp.

int casadi::Function::size1_out ( int  ind) const
int casadi::Function::size1_out ( const std::string &  oname) const
inline

Definition at line 200 of file function.hpp.

int casadi::Function::size2_in ( int  ind) const
int casadi::Function::size2_in ( const std::string &  iname) const
inline

Definition at line 192 of file function.hpp.

int casadi::Function::size2_out ( int  ind) const
int casadi::Function::size2_out ( const std::string &  oname) const
inline

Definition at line 202 of file function.hpp.

std::pair<int, int> casadi::Function::size_in ( int  ind) const
std::pair<int, int> casadi::Function::size_in ( const std::string &  iname) const
inline

Definition at line 194 of file function.hpp.

std::pair<int, int> casadi::Function::size_out ( int  ind) const
std::pair<int, int> casadi::Function::size_out ( const std::string &  oname) const
inline

Definition at line 204 of file function.hpp.

Function casadi::Function::slice ( const std::string &  name,
const std::vector< int > &  order_in,
const std::vector< int > &  order_out,
const Dict opts = Dict() 
) const
const Sparsity& casadi::Function::sparsity_in ( int  ind) const
const Sparsity& casadi::Function::sparsity_in ( const std::string &  iname) const
const Sparsity casadi::Function::sparsity_jac ( int  iind = 0,
int  oind = 0,
bool  compact = false,
bool  symmetric = false 
) const

Get, if necessary generate, the sparsity of a Jacobian block

const Sparsity casadi::Function::sparsity_jac ( const std::string &  iind,
int  oind = 0,
bool  compact = false,
bool  symmetric = false 
) const
inline

Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 666 of file function.hpp.

const Sparsity casadi::Function::sparsity_jac ( int  iind,
const std::string &  oind,
bool  compact = false,
bool  symmetric = false 
) const
inline

Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 670 of file function.hpp.

const Sparsity casadi::Function::sparsity_jac ( const std::string &  iind,
const std::string &  oind,
bool  compact = false,
bool  symmetric = false 
) const
inline

Get, if necessary generate, the sparsity of a Jacobian block

Definition at line 674 of file function.hpp.

const Sparsity& casadi::Function::sparsity_out ( int  ind) const
const Sparsity& casadi::Function::sparsity_out ( const std::string &  iname) const
Dict casadi::Function::stats ( int  mem = 0) const
const SX casadi::Function::sx_in ( int  iind) const
const SX casadi::Function::sx_in ( const std::string &  iname) const
inline

Definition at line 737 of file function.hpp.

const std::vector<SX> casadi::Function::sx_in ( ) const
const SX casadi::Function::sx_out ( int  oind) const
const SX casadi::Function::sx_out ( const std::string &  oname) const
inline

Definition at line 753 of file function.hpp.

const std::vector<SX> casadi::Function::sx_out ( ) const
Function casadi::Function::tangent ( int  iind = 0,
int  oind = 0 
)
Function casadi::Function::tangent ( const std::string &  iind,
int  oind = 0 
)
inline

Definition at line 379 of file function.hpp.

Function casadi::Function::tangent ( int  iind,
const std::string &  oind 
)
inline

Definition at line 381 of file function.hpp.

Function casadi::Function::tangent ( const std::string &  iind,
const std::string &  oind 
)
inline

Definition at line 383 of file function.hpp.

std::string casadi::Function::type_name ( ) const
std::vector<bool> casadi::Function::which_depends ( const std::string &  s_in,
const std::vector< std::string > &  s_out,
int  order = 1,
bool  tr = false 
) const
Parameters
[in]orderOnly 1 (linear) and 2 (nonlinear) allowed
[in]trFlip the relationship. Return which expressions contain the variables
Function casadi::Function::wrap ( ) const

The documentation for this class was generated from the following file:
Release pointers: extensive python examples, Users Guide (pdf | html )
Official releases: 3.1.0 3.1.0-rc1 3.0.0 2.4.2 2.3.0 2.2.0 2.1.1 2.0.0 1.9.0 1.8.0 1.7.1 1.7.0 1.6.1 1.6.0 1.5.0 1.4.0 1.3.0 bleeding edge