casadi 3.6.0__cp39-none-macosx_11_0_arm64.whl

casadi/include/casadi/core/casadi_misc.hpp

@@ -0,0 +1,949 @@
+/*
+ *    This file is part of CasADi.
+ *
+ *    CasADi -- A symbolic framework for dynamic optimization.
+ *    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
+ *    modify it under the terms of the GNU Lesser General Public
+ *    License as published by the Free Software Foundation; either
+ *    version 3 of the License, or (at your option) any later version.
+ *
+ *    CasADi is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *    Lesser General Public License for more details.
+ *
+ *    You should have received a copy of the GNU Lesser General Public
+ *    License along with CasADi; if not, write to the Free Software
+ *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+#ifndef CASADI_MISC_HPP
+#define CASADI_MISC_HPP
+
+#include "exception.hpp"
+#include "casadi_common.hpp"
+
+/** \brief Convenience tools for C++ Standard Library vectors
+
+    \author Joel Andersson
+    \date 2010-2011
+
+    \identifier{1l5} */
+
+namespace casadi {
+
+#ifndef SWIG
+
+template<typename T>
+class scoped_checkout {
+public:
+  scoped_checkout(const T& proto) : proto_(proto) {
+    mem = proto_.checkout();
+  }
+
+  scoped_checkout(scoped_checkout&& that) : mem(that.mem), proto_(that.proto_) {
+    that.mem = -1;
+  }
+
+  scoped_checkout(const scoped_checkout& that) = delete;
+
+  ~scoped_checkout() {
+    if (mem!=-1) proto_.release(mem);
+  }
+
+  operator casadi_int() const {
+    return mem;
+  }
+
+private:
+  int mem;
+  const T& proto_;
+};
+
+  /**  \brief Range function
+
+  * \param start
+  * \param stop
+  * \param step
+  * \param len
+  *
+  * Consider a infinitely long list [start, start+step, start+2*step, ...]
+  * Elements larger than or equal to stop are chopped off.
+  *
+       \identifier{1l6} */
+  CASADI_EXPORT std::vector<casadi_int> range(casadi_int start, casadi_int stop, casadi_int step=1,
+                                            casadi_int len=std::numeric_limits<casadi_int>::max());
+
+  /** \brief Check if a vector matches a range
+   *
+      \identifier{1l7} */
+  CASADI_EXPORT bool is_range(const std::vector<casadi_int>& v,
+    casadi_int start, casadi_int stop, casadi_int step=1);
+
+  CASADI_EXPORT std::string join(const std::vector<std::string>& l, const std::string& delim=",");
+
+  /// Checks if s starts with p
+  CASADI_EXPORT bool startswith(const std::string& s, const std::string& p);
+
+  /// Replace all occurences of p with r in s
+  CASADI_EXPORT std::string replace(const std::string& s,
+    const std::string& p, const std::string& r);
+
+  /**  \brief Range function
+
+  * \param stop
+  *
+  * \return list [0, 1, 2...stop-1]
+
+       \identifier{1l8} */
+  CASADI_EXPORT std::vector<casadi_int> range(casadi_int stop);
+
+  /// Check if all arguments are true
+  CASADI_EXPORT bool all(const std::vector<bool> &v);
+  /// Check if any arguments are true
+  CASADI_EXPORT bool any(const std::vector<bool> &v);
+  /// Invert all entries
+  CASADI_EXPORT std::vector<bool> boolvec_not(const std::vector<bool> &v);
+  /// And operation on boolean vector
+  CASADI_EXPORT std::vector<bool> boolvec_and(const std::vector<bool> &lhs,
+      const std::vector<bool> &rhs);
+  /// Or operation on boolean vector
+  CASADI_EXPORT std::vector<bool> boolvec_or(const std::vector<bool> &lhs,
+      const std::vector<bool> &rhs);
+
+  CASADI_EXPORT std::vector<casadi_int> boolvec_to_index(const std::vector<bool> &v);
+
+  CASADI_EXPORT bool is_equally_spaced(const std::vector<double> &v);
+
+  /// Computes a mapping for a (dense) tensor permutation
+  CASADI_EXPORT std::vector<casadi_int> tensor_permute_mapping(const std::vector<casadi_int>& dims,
+      const std::vector<casadi_int>& order);
+
+  CASADI_EXPORT int to_int(casadi_int rhs);
+  CASADI_EXPORT std::vector<int> to_int(const std::vector<casadi_int>& rhs);
+  CASADI_EXPORT std::vector< std::vector<int> > to_int(
+    const std::vector< std::vector<casadi_int> >& rhs);
+
+  template<typename T, typename S>
+  std::vector<T> vector_static_cast(const std::vector<S>& rhs);
+
+  CASADI_EXPORT std::string str_bvec(bvec_t v);
+
+  /**  \brief Slicing vector
+
+  *  \param v Vector to slice
+  *  \param i List of indices
+
+       \identifier{1l9} */
+  template<typename T>
+  std::vector<T> vector_slice(const std::vector<T> &v, const std::vector<casadi_int> &i);
+
+  /** \brief Reverse a list
+
+      \identifier{1la} */
+  template<typename T>
+  std::vector<T> reverse(const std::vector<T> &v);
+
+  /** \brief Join two lists
+
+      \identifier{1lb} */
+  template<typename T>
+  std::vector<T> join(const std::vector<T> &a, const std::vector<T> &b);
+
+  /** \brief Join three lists
+
+      \identifier{1lc} */
+  template<typename T>
+  std::vector<T> join(const std::vector<T> &a, const std::vector<T> &b, const std::vector<T> &c);
+
+  /** \brief Does the list represent a permutation?
+
+      \identifier{250} */
+  bool is_permutation(const std::vector<casadi_int> &order);
+
+  /** \brief permute a list
+
+      \identifier{1ld} */
+  template<typename T>
+  std::vector<T> permute(const std::vector<T> &a, const std::vector<casadi_int> &order);
+
+  /** \brief inverse a permutation vector
+
+      \identifier{251} */
+  std::vector<casadi_int> invert_permutation(const std::vector<casadi_int> &a);
+
+  /** \brief find nonzeros
+
+      \identifier{1le} */
+  template<typename T>
+  std::vector<casadi_int> find(const std::vector<T> &v);
+
+  #endif // SWIG
+
+  /// Check if for each element of v holds: v_i < upper
+  template<typename T>
+  bool in_range(const std::vector<T> &v, casadi_int upper);
+
+  /// Check if for each element of v holds: lower <= v_i < upper
+  template<typename T>
+  bool in_range(const std::vector<T> &v, casadi_int lower, casadi_int upper);
+
+  // Assert that a indices are in a range
+  #define casadi_assert_in_range(v, lower, upper) \
+   casadi_assert(in_range(v, lower, upper), \
+    "Out of bounds error. Got elements in range [" \
+    + str(*std::min_element(v.begin(), v.end())) + ","\
+    + str(*std::max_element(v.begin(), v.end())) + "], which is outside the range ["\
+    + str(lower) + "," + str(upper) + ").")
+
+    // Assert that a indices are bounded
+    #define casadi_assert_bounded(v, upper) \
+     casadi_assert(in_range(v, upper), \
+      "Out of bounds error. Got elements in range [" \
+      + str(*std::min_element(v.begin(), v.end())) + ","\
+      + str(*std::max_element(v.begin(), v.end())) + "], which exceeds the upper bound "\
+      + str(upper) + ".")
+
+  /** \brief Returns the list of all i in [0, size[ not found in supplied list
+  *
+  * The supplied vector may contain duplicates and may be non-monotonous
+  * The supplied vector will be checked for bounds
+  * The result vector is guaranteed to be monotonously increasing
+
+      \identifier{1lf} */
+  CASADI_EXPORT std::vector<casadi_int> complement(const std::vector<casadi_int> &v,
+                                                    casadi_int size);
+
+  /** \brief Returns a vector for quickly looking up entries of supplied list
+  *
+  *  lookupvector[i]!=-1     <=>  v contains i
+  *  v[lookupvector[i]] == i <=>  v contains i
+  *
+  *  Duplicates are treated by looking up last occurrence
+
+      \identifier{1lg} */
+  CASADI_EXPORT std::vector<casadi_int> lookupvector(const std::vector<casadi_int> &v,
+                                                     casadi_int size);
+  CASADI_EXPORT std::vector<casadi_int> lookupvector(const std::vector<casadi_int> &v);
+
+  /** \brief Flatten a nested std::vector tot a single flattened vector
+   * 
+   * Contents of nested[i] ends up in flat[indices[i]]..flat[indices[i+1]-1]
+
+      \identifier{1lh} */
+  template<class T, class S>
+  void flatten_nested_vector(const std::vector< std::vector<T> >& nested,
+                            std::vector<S>& flat);
+
+  /** \brief Flatten a nested std::vector tot a single flattened vector
+   * 
+   * Contents of nested[i] ends up in flat[indices[i]]..flat[indices[i+1]-1]
+
+      \identifier{1li} */
+  template<class T, class S, class I>
+  void flatten_nested_vector(const std::vector< std::vector<T> >& nested,
+                            std::vector<S>& flat,
+                            std::vector<I>& indices);
+
+  /// \cond INTERNAL
+#ifndef SWIG
+  /**
+  Apply a function f to each element in a vector
+  */
+  template<class T>
+  std::vector<T> applymap(T (*f)(const T&), const std::vector<T>& comp);
+
+  /**
+  Apply a function f to each element in a vector
+  */
+  template<class T>
+  void applymap(void (*f)(T&), std::vector<T>& comp);
+#endif // SWIG
+  /// \endcond
+
+
+  /// Check if the vector is strictly increasing
+  template<typename T>
+  bool is_increasing(const std::vector<T> &v);
+
+  /// Check if the vector is strictly decreasing
+  template<typename T>
+  bool is_decreasing(const std::vector<T> &v);
+
+  /// Check if the vector is non-increasing
+  template<typename T>
+  bool is_nonincreasing(const std::vector<T> &v);
+
+  /// Check if the vector is non-decreasing
+  template<typename T>
+  bool is_nondecreasing(const std::vector<T> &v);
+
+  /// Check if the vector is monotone
+  template<typename T>
+  bool is_monotone(const std::vector<T> &v);
+
+  /// Check if the vector is strictly monotone
+  template<typename T>
+  bool is_strictly_monotone(const std::vector<T> &v);
+
+  /// Check if the vector has negative entries
+  template<typename T>
+  bool has_negative(const std::vector<T> &v);
+
+  /// Print vector, matlab style
+  template<typename T>
+  void write_matlab(std::ostream &stream, const std::vector<T> &v);
+
+  /// Print matrix, matlab style
+  template<typename T>
+  void write_matlab(std::ostream &stream, const std::vector<std::vector<T> > &v);
+
+  /// Read vector, matlab style
+  template<typename T>
+  void read_matlab(std::istream &stream, std::vector<T> &v);
+
+  /// Read matrix, matlab style
+  template<typename T>
+  void read_matlab(std::ifstream &file, std::vector<std::vector<T> > &v);
+
+#ifndef SWIG
+  /// Matlab's linspace
+  template<typename T, typename F, typename L>
+  void linspace(std::vector<T> &v, const F& first, const L& last);
+
+  /// \cond INTERNAL
+  /// Get an pointer of sets of booleans from a double vector
+  CASADI_EXPORT bvec_t* get_bvec_t(std::vector<double>& v);
+
+  /// Get an pointer of sets of booleans from a double vector
+  CASADI_EXPORT const bvec_t* get_bvec_t(const std::vector<double>& v);
+
+  /// Bit-wise or operation on bvec_t array
+  CASADI_EXPORT bvec_t bvec_or(const bvec_t* arg, casadi_int n);
+
+  /// Get an pointer of sets of booleans from a double vector
+  template<typename T>
+  bvec_t* get_bvec_t(std::vector<T>& v);
+
+  /// Get an pointer of sets of booleans from a double vector
+  template<typename T>
+  const bvec_t* get_bvec_t(const std::vector<T>& v);
+
+  /// Get a pointer to the data contained in the vector
+  template<typename T>
+  T* get_ptr(std::vector<T> &v);
+
+  /// Get a pointer to the data contained in the vector
+  template<typename T>
+  const T* get_ptr(const std::vector<T> &v);
+
+  /// \endcond
+
+  /** \brief Sort the data in a vector
+  *
+  * \param[in]  values the vector that needs sorting
+  * \param[out] sorted_values the sorted vector
+  * \param[out] indices The indices such that 'sorted_values= values[indices]'
+  * \param[in] invert_indices Output indices such that 'sorted_values[indices=values'
+  *
+      \identifier{1lj} */
+  template<typename T>
+  void sort(const std::vector<T> &values, std::vector<T> &sorted_values,
+            std::vector<casadi_int> &indices, bool invert_indices =false);
+
+  /** \brief product
+  *
+      \identifier{1lk} */
+  template<typename T>
+  T product(const std::vector<T> &values);
+
+  /** \brief sum
+  *
+      \identifier{1ll} */
+  template<typename T>
+  T sum(const std::vector<T> &values);
+
+  /** \brief cumulative sum
+  *
+      \identifier{1lm} */
+  template<typename T>
+  std::vector<T> cumsum(const std::vector<T> &values);
+
+  /** \brief diff
+  *
+      \identifier{1ln} */
+  template<typename T>
+  std::vector<T> diff(const std::vector<T> &values);
+
+  /** \brief cumulative sum, starting with zero
+  *
+      \identifier{1lo} */
+  template<typename T>
+  std::vector<T> cumsum0(const std::vector<T> &values);
+#endif //SWIG
+
+  /// Checks if array does not contain NaN or Inf
+  template<typename T>
+  bool is_regular(const std::vector<T> &v) {
+    for (auto&& vk : v) {
+      if (vk!=vk || vk==std::numeric_limits<T>::infinity() ||
+          vk==-std::numeric_limits<T>::infinity()) return false;
+    }
+    return true;
+  }
+
+  // Create a temporary file
+  CASADI_EXPORT std::string temporary_file(const std::string& prefix, const std::string& suffix);
+
+  CASADI_EXPORT void normalized_setup(std::istream& stream);
+  CASADI_EXPORT void normalized_setup(std::ostream& stream);
+
+  inline void normalized_out(std::ostream& stream, double val) {
+    if (val==std::numeric_limits<double>::infinity()) {
+      stream << "inf";
+    } else if (val==-std::numeric_limits<double>::infinity()) {
+      stream << "-inf";
+    } else if (val!=val) {
+      stream << "nan";
+    } else {
+      stream << val;
+    }
+  }
+  inline int normalized_in(std::istream& stream, double& ret) {
+    std::streampos start = stream.tellg();
+    stream >> ret;
+    // Failed to interpret as double?
+    if (stream.fail()) {
+      // Clear error flag
+      stream.clear();
+      // Reset stream position
+      // Need to parse e.g "-inf"
+      stream.seekg(start);
+      // Might be a inf/nan
+      std::string non_reg;
+      stream >> non_reg;
+      // Break on trailing whitespace
+      if (stream.fail()) {
+        if (stream.eof()) {
+          ret = std::numeric_limits<double>::quiet_NaN();
+          return -1; // End of stream
+        } else {
+          ret = std::numeric_limits<double>::quiet_NaN();
+          return 1; // Failed to parse to string
+        }
+      }
+      if (non_reg=="inf") {
+        ret = std::numeric_limits<double>::infinity();
+      } else if (non_reg=="-inf") {
+        ret = -std::numeric_limits<double>::infinity();
+      } else if (non_reg=="nan") {
+        ret = std::numeric_limits<double>::quiet_NaN();
+      } else {
+        ret = std::numeric_limits<double>::quiet_NaN();
+        return 2; // Failed to interpret as number
+      }
+    }
+    return 0;
+  }
+
+} // namespace casadi
+
+#ifndef SWIG
+// In std namespace
+namespace std {
+
+  /// Enables flushing an std::vector to a stream (prints representation)
+  template<typename T>
+  ostream& operator<<(ostream& stream, const vector<T>& v) {
+    stream << casadi::str(v);
+    return stream;
+  }
+
+  /// Enables flushing an std::set to a stream (prints representation)
+  template<typename T>
+  ostream& operator<<(ostream& stream, const set<T>& v) {
+    stream << casadi::str(v);
+    return stream;
+  }
+
+  template<typename T1, typename T2>
+  ostream& operator<<(ostream& stream, const pair<T1, T2>& p) {
+    stream << casadi::str(p);
+    return stream;
+  }
+
+  template<typename T1, typename T2>
+  ostream& operator<<(ostream& stream, const std::map<T1, T2>& p) {
+    stream << casadi::str(p);
+    return stream;
+  }
+
+  template<typename T2>
+  ostream& operator<<(ostream& stream, const std::map<std::string, T2>& p) {
+    stream << casadi::str(p);
+    return stream;
+  }
+
+  template<typename T>
+  bool mul_overflows(const T& a, const T& b) {
+    if (a==0 || b==0) return false;
+    return abs(std::numeric_limits<T>::max()/a) < abs(b);
+  }
+
+} // namespace std
+
+// Implementations
+namespace casadi {
+
+  template<typename T, typename S>
+  std::vector<T> vector_static_cast(const std::vector<S>& rhs) {
+    std::vector<T> ret;
+    ret.reserve(rhs.size());
+    for (auto e : rhs) ret.push_back(static_cast<T>(e));
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> vector_slice(const std::vector<T> &v, const std::vector<casadi_int> &i) {
+    std::vector<T> ret;
+    ret.reserve(i.size());
+    for (casadi_int k=0;k<i.size();++k) {
+       casadi_int j = i[k];
+       casadi_assert(j>=0,
+         "vector_slice: Indices should be larger than zero."
+         "You have " + str(j) + " at location " + str(k) + ".");
+       casadi_assert(j<v.size(),
+         "vector_slice: Indices should be larger than zero."
+         "You have " + str(j) + " at location " + str(k) + ".");
+       ret.push_back(v[j]);
+    }
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> reverse(const std::vector<T> &v) {
+    std::vector<T> ret(v.size());
+    std::reverse_copy(v.begin(), v.end(), ret.begin());
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> join(const std::vector<T> &a, const std::vector<T> &b) {
+    std::vector<T> ret = a;
+    ret.insert(ret.end(), b.begin(), b.end());
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> join(const std::vector<T> &a, const std::vector<T> &b, const std::vector<T> &c) {
+    std::vector<T> ret = a;
+    ret.insert(ret.end(), b.begin(), b.end());
+    ret.insert(ret.end(), c.begin(), c.end());
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> permute(const std::vector<T> &a, const std::vector<casadi_int> &order) {
+    casadi_assert_dev(order.size()==a.size());
+    casadi_assert_dev(is_permutation(order));
+    return vector_slice(a, order);
+  }
+
+  template<typename T>
+  std::vector<casadi_int> find(const std::vector<T> &v) {
+    std::vector<casadi_int> ret;
+    for (casadi_int i=0;i<v.size();++i) {
+      if (v[i]) ret.push_back(i);
+    }
+    return ret;
+  }
+
+#ifndef SWIG
+  template<class T>
+  std::vector<T> applymap(T (*f)(const T&) , const std::vector<T>& comp) {
+    std::vector<T> ret(comp.size());
+    std::transform(comp.begin(), comp.end(), ret.begin(), f);
+    return ret;
+  }
+
+  template<class T>
+  void applymap(void (*f)(T &), std::vector<T>& comp) {
+    std::for_each(comp.begin(), comp.end(), f);
+  }
+
+  template<class S, class D>
+  void copy_vector(const std::vector<S>& s, std::vector<D>& d) {
+    casadi_assert(s.size()==d.size(), "Dimension mismatch.");
+    std::copy(s.begin(), s.end(), d.begin());
+  }
+
+  template<class S, class D>
+  void assign_vector(const std::vector<S>& s, std::vector<D>& d) {
+    casadi_assert(d.empty(), "Receiving vector must be empty");
+    d.resize(s.size());
+    std::copy(s.begin(), s.end(), d.begin());
+  }
+
+  template<class S, class D>
+  void copy_vector(const S* s, std::vector<D>& d) {
+    for (casadi_int i=0;i<d.size();++i) {
+      d[i] = static_cast<D>(s[i]);
+    }
+  }
+
+  template<class S, class D>
+  void init_vector(std::vector<S>& d, const std::vector<D>& s) {
+    d.resize(s.size());
+    std::copy(s.begin(), s.end(), d.begin());
+  }
+#endif //SWIG
+
+  template<typename T>
+  bool in_range(const std::vector<T> &v, casadi_int upper) {
+    return in_range(v, 0, upper);
+  }
+
+  template<typename T>
+  bool in_range(const std::vector<T> &v, casadi_int lower, casadi_int upper) {
+    if (v.empty()) return true;
+    casadi_int max = *std::max_element(v.begin(), v.end());
+    if (max >= upper) return false;
+    casadi_int min = *std::min_element(v.begin(), v.end());
+    return (min >= lower);
+  }
+
+  template<class T, class S>
+  void flatten_nested_vector(const std::vector< std::vector<T> >& nested,
+                             std::vector<S>& flat) {
+    // Count total elements in nested
+    casadi_int N = 0;
+    for (const auto& e : nested) {
+      N += e.size();
+    }
+
+    // Populate flat, one nested section at a time
+    flat.clear();
+    flat.reserve(N);
+    for (const auto& e : nested) {
+      flat.insert(flat.end(), e.begin(), e.end());
+    }
+  }
+
+  template<class T, class S, class I>
+  void flatten_nested_vector(const std::vector< std::vector<T> >& nested,
+                             std::vector<S>& flat,
+                             std::vector<I>& indices) {
+    // Delegate
+    flatten_nested_vector(nested, flat);
+
+    // Build up indices
+    casadi_int N = nested.size();
+    indices.resize(1, 0);
+    indices.reserve(N+1);
+    casadi_int offset = 0;
+    for (const auto& e : nested) {
+      offset += e.size();
+      indices.push_back(offset);
+    }
+  }
+
+  template<typename T>
+  bool isUnique(const std::vector<T> &v) {
+    std::set<T> s(v.begin(), v.end());
+    return v.size()==s.size();
+  }
+
+  template<typename T>
+  bool is_increasing(const std::vector<T> &v) {
+    if (v.empty()) return true;
+    T el = v[0];
+    for (casadi_int i=1;i<v.size();++i) {
+      if (!(v[i] > el)) return false;
+      el = v[i];
+    }
+    return el==el; // nan -> false
+  }
+
+  template<typename T>
+  bool is_decreasing(const std::vector<T> &v) {
+    if (v.empty()) return true;
+    T el = v[0];
+    for (casadi_int i=1;i<v.size();++i) {
+      if (!(v[i] < el)) return false;
+      el = v[i];
+    }
+    return el==el; // nan -> false
+  }
+
+  template<typename T>
+  bool is_nonincreasing(const std::vector<T> &v) {
+    if (v.empty()) return true;
+    T el = v[0];
+    for (casadi_int i=1;i<v.size();++i) {
+      if (!(v[i] <= el)) return false;
+      el = v[i];
+    }
+    return el==el; // nan -> false
+  }
+
+  template<typename T>
+  bool is_nondecreasing(const std::vector<T> &v) {
+    if (v.empty()) return true;
+    T el = v[0];
+    for (casadi_int i=1;i<v.size();++i) {
+      if (!(v[i] >= el)) return false;
+      el = v[i];
+    }
+    return el==el; // nan -> false
+  }
+
+  template<typename T>
+  bool is_monotone(const std::vector<T> &v) {
+    return is_nondecreasing(v) || is_nonincreasing(v);
+  }
+
+  template<typename T>
+  bool is_strictly_monotone(const std::vector<T> &v) {
+    return is_decreasing(v) || is_increasing(v);
+  }
+
+  template<typename T>
+  bool has_negative(const std::vector<T> &v) {
+    for (std::size_t i=0; i<v.size(); ++i) {
+      if (v[i]<0) return true;
+    }
+    return false;
+  }
+
+  template<typename T>
+  void write_matlab(std::ostream &stream, const std::vector<T> &v) {
+    std::copy(v.begin(), v.end(), std::ostream_iterator<T>(stream, " "));
+  }
+
+  template<typename T>
+  void write_matlab(std::ostream &stream, const std::vector<std::vector<T> > &v) {
+    for (casadi_uint i=0; i<v.size(); ++i) {
+      std::copy(v[i].begin(), v[i].end(), std::ostream_iterator<T>(stream, " "));
+      stream << std::endl;
+    }
+  }
+
+  template<typename T>
+  void read_matlab(std::istream &stream, std::vector<T> &v) {
+    v.clear();
+
+    while (!stream.eof()) {
+      T val;
+      stream >> val;
+      if (stream.fail()) {
+        stream.clear();
+        std::string s;
+        stream >> s;
+        if (s=="inf")
+          val = std::numeric_limits<T>::infinity();
+        else
+          break;
+      }
+      v.push_back(val);
+    }
+  }
+
+  template<typename T>
+  void read_matlab(std::ifstream &file, std::vector<std::vector<T> > &v) {
+    v.clear();
+    std::string line;
+    while (!getline(file, line, '\n').eof()) {
+      std::istringstream reader(line);
+      std::vector<T> lineData;
+
+      while (!reader.eof()) {
+        T val;
+        reader >> val;
+        if (reader.fail()) {
+          reader.clear();
+          std::string s;
+          reader >> s;
+          if (s=="inf")
+            val = std::numeric_limits<T>::infinity();
+          else
+            break;
+        }
+        lineData.push_back(val);
+      }
+      v.push_back(lineData);
+    }
+  }
+
+  template<typename T, typename F, typename L>
+  void linspace(std::vector<T> &v, const F& first, const L& last) {
+    if (v.size()<2)
+        throw CasadiException("std::linspace: vector must contain at least two elements");
+
+    // Increment
+    T increment = (last-first)/T(v.size()-1);
+
+    v[0] = first;
+    for (unsigned i=1; i<v.size()-1; ++i)
+      v[i] = v[i-1] + increment;
+    v[v.size()-1] = last;
+  }
+
+  template<typename T>
+  T* get_ptr(std::vector<T> &v) {
+    if (v.empty())
+      return nullptr;
+    else
+      return &v.front();
+  }
+
+  template<typename T>
+  const T* get_ptr(const std::vector<T> &v) {
+    if (v.empty())
+      return nullptr;
+    else
+      return &v.front();
+  }
+
+  // Helper class
+  template<typename T>
+  struct sortCompare {
+    const std::vector<T> &v_;
+    sortCompare(const std::vector<T> &v) : v_(v) {}
+    bool operator() (casadi_int i, casadi_int j) const { return v_[i]<v_[j];}
+  };
+
+  template<typename T>
+  void sort(const std::vector<T> &values, std::vector<T> &sorted_values,
+            std::vector<casadi_int> &indices, bool invert_indices) {
+    // Call recursively if indices need to be inverted
+    if (invert_indices) {
+      std::vector<casadi_int> inverted;
+      sort(values, sorted_values, inverted, false);
+      indices.resize(inverted.size());
+      for (size_t i=0; i<inverted.size(); ++i) {
+        indices[inverted[i]] = i;
+      }
+      return;
+    }
+
+    // Create list of indices
+    indices.resize(values.size());
+    for (size_t i=0; i<indices.size(); ++i) indices[i] = i;
+
+    // Sort this list by the values
+    std::sort(indices.begin(), indices.end(), sortCompare<T>(values));
+
+    // Sort the values accordingly
+    sorted_values.resize(values.size());
+    for (size_t i=0; i<values.size(); ++i) {
+      sorted_values[i] = values[indices[i]];
+    }
+  }
+
+  template<typename T>
+  T product(const std::vector<T> &values) {
+    T r = 1;
+    for (casadi_int i=0;i<values.size();++i) r*=values[i];
+    return r;
+  }
+
+  template<typename T>
+  T sum(const std::vector<T> &values) {
+    T r = 0;
+    for (casadi_int i=0;i<values.size();++i) r+=values[i];
+    return r;
+  }
+
+  template<typename T>
+  std::vector<T> cumsum(const std::vector<T> &values) {
+    std::vector<T> ret(values.size());
+    T acc = 0;
+    for (casadi_int i=0;i<values.size();++i) {
+      acc+= values[i];
+      ret[i] = acc;
+    }
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> cumsum0(const std::vector<T> &values) {
+    std::vector<T> ret(values.size()+1, 0);
+    T acc = 0;
+    for (casadi_int i=0;i<values.size();++i) {
+      acc+= values[i];
+      ret[i+1] = acc;
+    }
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> diff(const std::vector<T> &values) {
+    casadi_assert(!values.empty(), "Array must be non-empty");
+    std::vector<T> ret(values.size()-1);
+    for (casadi_int i=0;i<values.size()-1;++i) {
+      ret[i] = values[i+1]-values[i];
+    }
+    return ret;
+  }
+
+  template<typename T>
+  T dot(const std::vector<T>& a, const std::vector<T>& b) {
+    T ret = 0;
+    for (casadi_int k=0; k<a.size(); ++k) {
+      ret += a[k]*b[k];
+    }
+    return ret;
+  }
+
+  template<typename T>
+  T norm_inf(const std::vector<T>& x) {
+    T ret = 0;
+    for (casadi_int k=0; k<x.size(); ++k) {
+      ret = fmax(ret, fabs(x[k]));
+    }
+    return ret;
+  }
+
+  template<typename T>
+  T norm_1(const std::vector<T>& x) {
+    T ret = 0;
+    for (casadi_int k=0; k<x.size(); ++k) {
+      ret += fabs(x[k]);
+    }
+    return ret;
+  }
+
+  template<typename T>
+  T norm_2(const std::vector<T>& x) {
+    T ret = 0;
+    for (casadi_int k=0; k<x.size(); ++k) {
+      ret += x[k]*x[k];
+    }
+    return sqrt(ret);
+  }
+
+  template<typename T>
+  bvec_t* get_bvec_t(std::vector<T>& v) {
+    casadi_assert(0, "get_bvec_t only supported for double");
+  }
+
+  template<typename T>
+  const bvec_t* get_bvec_t(const std::vector<T>& v) {
+    casadi_assert(0, "get_bvec_t only supported for double");
+  }
+
+  ///@{
+  /// Readability typedefs
+  typedef std::vector<std::string> StringVector;
+  ///@}
+
+} // namespace casadi
+#endif // SWIG
+
+#endif // CASADI_MISC_HPP