casadi 3.5.6.pre2__cp39-none-win_amd64.whl → 3.6.0__cp39-none-win_amd64.whl

casadi/include/casadi/core/runtime/casadi_rank1.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "rank1"
 template<typename T1>
 void casadi_rank1(T1* A, const casadi_int* sp_A, T1 alpha, const T1* x, const T1* y) {

casadi/include/casadi/core/runtime/casadi_regularize.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 
 // C-REPLACE "fmin" "casadi_fmin"
 

casadi/include/casadi/core/runtime/casadi_runtime.hpp

@@ -2,8 +2,8 @@
  *    This file is part of CasADi.
  *
  *    CasADi -- A symbolic framework for dynamic optimization.
- *    Copyright (C) 2010-2014 Joel Andersson, Joris Gillis, Moritz Diehl,
- *                            K.U. Leuven. All rights reserved.
+ *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
+ *                            KU Leuven. All rights reserved.
  *    Copyright (C) 2011-2014 Greg Horn
  *
  *    CasADi is free software; you can redistribute it and/or
@@ -94,6 +94,16 @@ namespace casadi {
   template<typename T1>
   void casadi_mv(const T1* x, const casadi_int* sp_x, const T1* y, T1* z, casadi_int tr);
 
+  /// Linear solve, upper triangular matrix, optionally transposed or unity diagonal (1 - R)
+  template<typename T1>
+  void casadi_triusolve(const casadi_int* sp_a, const T1* nz_a, T1* x, int tr, int unity,
+      casadi_int nrhs);
+
+  /// Linear solve, lower triangular matrix, optionally transposed or unity diagonal (1 - L)
+  template<typename T1>
+  void casadi_trilsolve(const casadi_int* sp_a, const T1* nz_a, T1* x, int tr, int unity,
+      casadi_int nrhs);
+
   /// TRANS: y <- trans(x) , w work vector (length >= rows x)
   template<typename T1>
   void casadi_trans(const T1* x, const casadi_int* sp_x, T1* y, const casadi_int* sp_y,
@@ -208,6 +218,10 @@ namespace casadi {
   void casadi_bound_consistency(casadi_int n, T1* x, T1* lam,
                                  const T1* lbx, const T1* ubx);
 
+  // Numerically accurate logsumexp
+  template<typename T1>
+  T1 casadi_logsumexp(const T1* x, casadi_int n);
+
   template <class T1>
   struct casadi_newton_mem;
 
@@ -236,18 +250,26 @@ namespace casadi {
   #include "casadi_dot.hpp"
   #include "casadi_kron.hpp"
   #include "casadi_clear.hpp"
+  #include "casadi_clip_max.hpp"
+  #include "casadi_clip_min.hpp"
   #include "casadi_fill.hpp"
   #include "casadi_max_viol.hpp"
-  #include "casadi_minmax.hpp"
+  #include "casadi_mmin.hpp"
+  #include "casadi_mmax.hpp"
   #include "casadi_vfmin.hpp"
   #include "casadi_vfmax.hpp"
+  #include "casadi_vector_fmin.hpp"
+  #include "casadi_vector_fmax.hpp"
   #include "casadi_sum_viol.hpp"
   #include "casadi_mtimes.hpp"
   #include "casadi_mv.hpp"
+  #include "casadi_trilsolve.hpp"
+  #include "casadi_triusolve.hpp"
   #include "casadi_trans.hpp"
   #include "casadi_norm_1.hpp"
   #include "casadi_norm_2.hpp"
   #include "casadi_norm_inf.hpp"
+  #include "casadi_masked_norm_inf.hpp"
   #include "casadi_norm_inf_mul.hpp"
   #include "casadi_bilin.hpp"
   #include "casadi_rank1.hpp"
@@ -267,15 +289,24 @@ namespace casadi {
   #include "casadi_ldl.hpp"
   #include "casadi_qr.hpp"
   #include "casadi_qp.hpp"
+  #include "casadi_qrqp.hpp"
+  #include "casadi_kkt.hpp"
+  #include "casadi_ipqp.hpp"
   #include "casadi_nlp.hpp"
   #include "casadi_sqpmethod.hpp"
+  #include "casadi_feasiblesqpmethod.hpp"
   #include "casadi_bfgs.hpp"
   #include "casadi_regularize.hpp"
   #include "casadi_newton.hpp"
   #include "casadi_bound_consistency.hpp"
   #include "casadi_lsqr.hpp"
+  #include "casadi_dense_lsqr.hpp"
   #include "casadi_cache.hpp"
   #include "casadi_convexify.hpp"
+  #include "casadi_logsumexp.hpp"
+  #include "casadi_sum.hpp"
+  #include "casadi_sparsity.hpp"
+  #include "casadi_jac.hpp"
 
 } // namespace casadi
 

casadi/include/casadi/core/runtime/casadi_scal.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "scal"
 template<typename T1>
 void casadi_scal(casadi_int n, T1 alpha, T1* x) {

casadi/include/casadi/core/runtime/casadi_sparsify.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "sparsify"
 template<typename T1, typename T2>
 void casadi_sparsify(const T1* x, T2* y, const casadi_int* sp_y, casadi_int tr) {

casadi/include/casadi/core/runtime/casadi_sparsity.hpp

@@ -0,0 +1,24 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "sp_nnz"
+inline
+casadi_int casadi_sp_nnz(const casadi_int* sp) {
+  return sp[2+sp[1]];
+}

casadi/include/casadi/core/runtime/casadi_sqpmethod.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 
 // C-REPLACE "casadi_nlpsol_prob<T1>" "struct casadi_nlpsol_prob"
 
@@ -35,6 +53,10 @@ struct casadi_sqpmethod_data {
   T1* Jk;
   // merit_mem
   T1* merit_mem;
+  // temp_mem
+  T1* temp_mem;
+  // temp_sol
+  T1* temp_sol;
 };
 // C-REPLACE "casadi_sqpmethod_data<T1>" "struct casadi_sqpmethod_data"
 
@@ -42,7 +64,7 @@ struct casadi_sqpmethod_data {
 // SYMBOL "sqpmethod_work"
 template<typename T1>
 void casadi_sqpmethod_work(const casadi_sqpmethod_prob<T1>* p,
-    casadi_int* sz_iw, casadi_int* sz_w) {
+    casadi_int* sz_iw, casadi_int* sz_w, int elastic_mode, int so_corr) {
   // Local variables
   casadi_int nnz_h, nnz_a, nx, ng;
   nnz_h = p->sp_h[2+p->sp_h[1]];
@@ -52,7 +74,7 @@ void casadi_sqpmethod_work(const casadi_sqpmethod_prob<T1>* p,
 
   // Reset sz_w, sz_iw
   *sz_w = *sz_iw = 0;
-  if (p->max_iter_ls>0) *sz_w += nx + ng; // z_cand
+  if (p->max_iter_ls>0 || so_corr) *sz_w += nx + ng; // z_cand
   // Lagrange gradient in the next iterate
   *sz_w += nx; // gLag
   *sz_w += nx; // gLag_old
@@ -69,12 +91,30 @@ void casadi_sqpmethod_work(const casadi_sqpmethod_prob<T1>* p,
   // Jacobian
   *sz_w += nnz_a; // Jk
   // merit_mem
-  if (p->max_iter_ls>0) *sz_w += p->merit_memsize;
+  if (p->max_iter_ls>0 || so_corr) *sz_w += p->merit_memsize;
+
+  if (elastic_mode) {
+    // Additional work for larger objective gradient
+    *sz_w += 2*ng; // gf
+    // Additional work for the larger bounds
+    *sz_w += 2*ng; // lbdz
+    *sz_w += 2*ng; // ubdz
+    // Additional work for larger solution
+    *sz_w += 2*ng; // dx
+    *sz_w += 2*ng; // dlam
+    // Additional work for larger jacobian
+    *sz_w += 2*ng; // Jk
+    // Additional work for temp memory
+    *sz_w += ng;
+  }
+
+  if (so_corr) *sz_w += nx+nx+ng; // Temp memory for failing soc
 }
 
 // SYMBOL "sqpmethod_init"
 template<typename T1>
-void casadi_sqpmethod_init(casadi_sqpmethod_data<T1>* d, casadi_int** iw, T1** w) {
+void casadi_sqpmethod_init(casadi_sqpmethod_data<T1>* d, casadi_int** iw, T1** w,
+    int elastic_mode, int so_corr) {
   // Local variables
   casadi_int nnz_h, nnz_a, nx, ng;
   const casadi_sqpmethod_prob<T1>* p = d->prob;
@@ -83,28 +123,46 @@ void casadi_sqpmethod_init(casadi_sqpmethod_data<T1>* d, casadi_int** iw, T1** w
   nnz_a = p->sp_a[2+p->sp_a[1]];
   nx = p->nlp->nx;
   ng = p->nlp->ng;
-  if (p->max_iter_ls>0) {
-    d->z_cand = *w;
-    *w += nx + ng;
+  if (p->max_iter_ls>0 || so_corr) {
+    d->z_cand = *w; *w += nx + ng;
   }
   // Lagrange gradient in the next iterate
   d->gLag = *w; *w += nx;
   d->gLag_old = *w; *w += nx;
-  // Gradient of the objective
-  d->gf = *w; *w += nx;
-  // Bounds of the QP
-  d->lbdz = *w; *w += nx + ng;
-  d->ubdz = *w; *w += nx + ng;
-  // QP solution
-  d->dx = *w; *w += nx;
-  d->dlam = *w; *w += nx + ng;
   // Hessian approximation
   d->Bk = *w; *w += nnz_h;
-  // Jacobian
-  d->Jk = *w; *w += nnz_a;
   // merit_mem
-  if (p->max_iter_ls>0) {
-    d->merit_mem = *w;
-    *w += p->merit_memsize;
+  if (p->max_iter_ls>0 || so_corr) {
+    d->merit_mem = *w; *w += p->merit_memsize;
+  }
+
+  if (so_corr) {
+    d->temp_sol = *w; *w += nx+nx+ng;
+  }
+
+  if (elastic_mode) {
+    // Gradient of the objective
+    d->gf = *w; *w += nx + 2*ng;
+    // Bounds of the QP
+    d->lbdz = *w; *w += nx + 3*ng;
+    d->ubdz = *w; *w += nx + 3*ng;
+    // QP solution
+    d->dx = *w; *w += nx + 2*ng;
+    d->dlam = *w; *w += nx + 3*ng;
+    // Jacobian
+    d->Jk = *w; *w += nnz_a + 2*ng;
+    // temp mem
+    d->temp_mem = *w; *w += ng;
+  } else {
+    // Gradient of the objective
+    d->gf = *w; *w += nx;
+    // Bounds of the QP
+    d->lbdz = *w; *w += nx + ng;
+    d->ubdz = *w; *w += nx + ng;
+    // QP solution
+    d->dx = *w; *w += nx;
+    d->dlam = *w; *w += nx + ng;
+    // Jacobian
+    d->Jk = *w; *w += nnz_a;
   }
 }

casadi/include/casadi/core/runtime/casadi_sum.hpp

@@ -0,0 +1,31 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "sum"
+template<typename T1>
+T1 casadi_sum(const T1* x, casadi_int n) {
+  casadi_int i;
+  T1 r = 0;
+
+  r = 0;
+  for (i=0; i<n; ++i) {
+    r += x[i];
+  }
+  return r;
+}

casadi/include/casadi/core/runtime/casadi_sum_viol.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "sum_viol"
 template<typename T1>
 T1 casadi_sum_viol(casadi_int n, const T1* x, const T1* lb, const T1* ub) {
@@ -11,6 +29,7 @@ T1 casadi_sum_viol(casadi_int n, const T1* x, const T1* lb, const T1* ub) {
     x_i = x ? *x++ : zero;
     lb_i = lb ? *lb++ : zero;
     ub_i = ub ? *ub++ : zero;
+    // C-REPLACE "fmax" "casadi_fmax"
     r += fmax(x_i-ub_i, zero);
     r += fmax(lb_i-x_i, zero);
   }

casadi/include/casadi/core/runtime/casadi_swap.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "swap"
 template<typename T1>
 void casadi_swap(casadi_int n, T1* x, casadi_int inc_x, T1* y, casadi_int inc_y) {

casadi/include/casadi/core/runtime/casadi_trans.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "trans"
 template<typename T1>
 void casadi_trans(const T1* x, const casadi_int* sp_x, T1* y,

casadi/include/casadi/core/runtime/casadi_tri_project.hpp

@@ -1,4 +1,22 @@
-// NOLINT(legal/copyright)
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
 // SYMBOL "tri_project"
 template<typename T1>
 void casadi_tri_project(const T1* x, const casadi_int* sp_x, T1* y, casadi_int lower) {

casadi/include/casadi/core/runtime/casadi_trilsolve.hpp

@@ -0,0 +1,81 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+
+// SYMBOL "trilsolve"
+template<typename T1>
+void casadi_trilsolve(const casadi_int* sp_a, const T1* nz_a, T1* x, int tr, int unity,
+    casadi_int nrhs) {
+  // Local variables
+  casadi_int nrow, ncol, r, c, k, rhs;
+  const casadi_int *colind, *row;
+  // Extract sparsity
+  nrow = sp_a[0];
+  ncol = sp_a[1];
+  colind = sp_a + 2;
+  row = colind + ncol + 1;
+  // For all right hand sides
+  for (rhs = 0; rhs < nrhs; ++rhs) {
+    if (unity) {
+      if (tr) {
+        // Backward substitution
+        for (c = ncol; c-- > 0; ) {
+          for (k = colind[c + 1]; k-- > colind[c]; ) {
+            x[c] += nz_a[k] * x[row[k]];
+          }
+        }
+      } else {
+        // Forward substitution
+        for (c = 0; c < ncol; ++c) {
+          for (k = colind[c]; k < colind[c+1]; ++k) {
+            x[row[k]] += nz_a[k] * x[c];
+          }
+        }
+      }
+    } else {
+      if (tr) {
+        // Backward substitution
+        for (c = ncol; c-- > 0; ) {
+          for (k = colind[c + 1]; k-- > colind[c]; ) {
+            r = row[k];
+            if (r == c) {
+              x[c] /= nz_a[k];
+            } else {
+              x[c] -= nz_a[k] * x[r];
+            }
+          }
+        }
+      } else {
+        // Forward substitution
+        for (c = 0; c < ncol; ++c) {
+          for (k = colind[c]; k < colind[c+1]; ++k) {
+            r = row[k];
+            if (r == c) {
+              x[r] /= nz_a[k];
+            } else {
+              x[r] -= nz_a[k] * x[c];
+            }
+          }
+        }
+      }
+    }
+    // Next right-hand-side
+    x += nrow;
+  }
+}

casadi/include/casadi/core/runtime/casadi_triusolve.hpp

@@ -0,0 +1,81 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+
+// SYMBOL "triusolve"
+template<typename T1>
+void casadi_triusolve(const casadi_int* sp_a, const T1* nz_a, T1* x, int tr, int unity,
+    casadi_int nrhs) {
+  // Local variables
+  casadi_int nrow, ncol, r, c, k, rhs;
+  const casadi_int *colind, *row;
+  // Extract sparsity
+  nrow = sp_a[0];
+  ncol = sp_a[1];
+  colind = sp_a + 2;
+  row = colind + ncol + 1;
+  // For all right hand sides
+  for (rhs = 0; rhs < nrhs; ++rhs) {
+    if (unity) {
+      if (tr) {
+        // Forward substitution
+        for (c = 0; c < ncol; ++c) {
+          for (k = colind[c]; k < colind[c+1]; ++k) {
+            x[c] += nz_a[k] * x[row[k]];
+          }
+        }
+      } else {
+        // Backward substitution
+        for (c = ncol; c-- > 0; ) {
+          for (k = colind[c + 1]; k-- > colind[c]; ) {
+            x[row[k]] += nz_a[k] * x[c];
+          }
+        }
+      }
+    } else {
+      if (tr) {
+        // Forward substitution
+        for (c = 0; c < ncol; ++c) {
+          for (k = colind[c]; k < colind[c+1]; ++k) {
+            r = row[k];
+            if (r == c) {
+              x[c] /= nz_a[k];
+            } else {
+              x[c] -= nz_a[k] * x[r];
+            }
+          }
+        }
+      } else {
+        // Backward substitution
+        for (c = ncol; c-- > 0; ) {
+          for (k = colind[c + 1]; k-- > colind[c]; ) {
+            r = row[k];
+            if (r == c) {
+              x[r] /= nz_a[k];
+            } else {
+              x[r] -= nz_a[k] * x[c];
+            }
+          }
+        }
+      }
+    }
+    // Next right-hand-side
+    x += nrow;
+  }
+}