casadi 3.6.5__cp37-none-manylinux2014_aarch64.whl → 3.6.7__cp37-none-manylinux2014_aarch64.whl

casadi/include/fatrop/auxiliary/FatropVector.hpp

@@ -0,0 +1,143 @@
+/*
+ * Fatrop - A fast trajectory optimization solver
+ *  Copyright (C) 2022 - 2024 Lander Vanroye, KU Leuven. All rights reserved.
+ *
+ * This file is part of Fatrop.
+ *
+ * Fatrop 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.
+ *
+ * Fatrop 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 Fatrop.  If not, see <http://www.gnu.org/licenses/>. */
+#ifndef FATROP_VECTOR_INCLUDED
+#define FATROP_VECTOR_INCLUDED
+#include <vector>
+#include <assert.h>
+#include <utility>
+#include <functional>
+#include <fatrop/auxiliary/Common.hpp>
+namespace fatrop
+{
+    // static polymorphism using CRTP
+    template <typename E, typename T>
+    class VecExpr
+    {
+    public:
+        T get(const fatrop_int ai) const { return static_cast<E const &>(*this).get(ai); };
+        fatrop_int size() const { return static_cast<E const &>(*this).size(); };
+    };
+
+    template <typename T, typename E1, typename E2>
+    class VecSum : public VecExpr<VecSum<T, E1, E2>, T>
+    {
+    public:
+        VecSum(const VecExpr<E1, T> &expr1, const VecExpr<E2, T> &expr2) : expr1_(expr1), expr2_(expr2)
+        {
+            assert(expr1.size() == expr2.size());
+        };
+        T get(const fatrop_int ai) const { return expr1_.get(ai) + expr2_.get(ai); };
+        fatrop_int size() const { return expr1_.size(); };
+
+    private:
+        const VecExpr<E1, T> &expr1_;
+        const VecExpr<E2, T> &expr2_;
+    };
+    template <typename T, typename E1>
+    class VecScalarSum : public VecExpr<VecScalarSum<T, E1>, T>
+    {
+    public:
+        VecScalarSum(const VecExpr<E1, T> &expr, const fatrop_int scalar) : expr_(expr), scalar_(scalar){};
+        T get(const fatrop_int ai) const { return expr_.get(ai) + scalar_; };
+        fatrop_int size() const { return expr_.size(); };
+
+    public:
+        const VecExpr<E1, T> &expr_;
+        T scalar_;
+    };
+    template <typename T, typename E1>
+    class VecRotate : public VecExpr<VecRotate<T, E1>, T>
+    {
+    public:
+        VecRotate(const VecExpr<E1, T> &expr, const fatrop_int shift) : expr_(expr), shift_(shift){};
+        T get(const fatrop_int ai) const { return expr_.get((ai + shift_ + (((ai + shift_) / size() + 1) * size())) % size()); };
+        fatrop_int size() const { return expr_.size(); };
+
+    public:
+        const VecExpr<E1, T> &expr_;
+        fatrop_int shift_;
+    };
+
+    template <typename T>
+    class FatropVector : public std::vector<T>, public VecExpr<FatropVector<T>, T>
+    {
+    public:
+        FatropVector() : std::vector<T>(){};
+        FatropVector(const fatrop_int size) : std::vector<T>(size){};
+        template <typename E>
+        FatropVector(const VecExpr<E, T> &vecexpr) : std::vector<T>(vecexpr.size())
+        {
+            // todo: vector is first initialized, initialize with iterator
+            for (fatrop_int i = 0; i < vecexpr.size(); i++)
+            {
+               std:: vector<T>::at(i) = vecexpr.get(i);
+            }
+        }
+        FatropVector(const std::vector<T> &vec) : std::vector<T>(vec){};
+        FatropVector(std::vector<T> &&vec) : std::vector<T>(std::move(vec)){};
+        T get(const fatrop_int ai) const { return std::vector<T>::at(ai); };
+        fatrop_int size() const { return std::vector<T>::size(); };
+        operator T *() { return this->data(); };
+    };
+    template <typename T, typename E1, typename E2>
+    VecSum<T, E1, E2> operator+(const VecExpr<E1, T> &expr1, const VecExpr<E2, T> &expr2)
+    {
+        return VecSum<T, E1, E2>(expr1, expr2);
+    }
+
+    template <typename T, typename E1>
+    VecScalarSum<T, E1> operator+(const VecExpr<E1, T> &expr1, const fatrop_int scalar)
+    {
+        return VecScalarSum<T, E1>(expr1, scalar);
+    }
+
+    template <typename T, typename E1>
+    VecScalarSum<T, E1> operator+(const fatrop_int scalar, const VecExpr<E1, T> &expr1)
+    {
+        return VecScalarSum<T, E1>(expr1, scalar);
+    }
+    template <typename T, typename E1>
+    T sum(const VecExpr<E1, T> &expr)
+    {
+        T res = 0;
+        for (fatrop_int i = 0; i < expr.size(); i++)
+        {
+            res += expr.get(i);
+        }
+        return res;
+    }
+    template <typename T, typename E1>
+    VecRotate<T, E1> rotate(const VecExpr<E1, T> &expr, const fatrop_int shift)
+    {
+        return VecRotate<T, E1>(expr, shift);
+    };
+    template <typename T>
+    std::vector<T> TransformRange(const fatrop_int begin, const fatrop_int end, const std::function<T(fatrop_int)>& func)
+    {
+        fatrop_int size = end - begin;
+        std::vector<T> res(size);
+        for (fatrop_int i = 0; i < size; i++)
+        {
+            res.at(i) = func(begin + i);
+        }
+        return res;
+    }
+} // namespace fatrop
+
+#endif // FATROP_VECTOR_INCLUDED

casadi/include/fatrop/auxiliary/LinearAlgebra.hpp

@@ -0,0 +1,88 @@
+/*
+ * Fatrop - A fast trajectory optimization solver
+ *  Copyright (C) 2022 - 2024 Lander Vanroye, KU Leuven. All rights reserved.
+ *
+ * This file is part of Fatrop.
+ *
+ * Fatrop 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.
+ *
+ * Fatrop 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 Fatrop.  If not, see <http://www.gnu.org/licenses/>. */
+
+/**
+ *  @file LinearAlgebra.hpp
+ *  This file contains some interface classes for use in linear algebra.
+ *
+ */
+#ifndef FATROP_LA_INCLUDED
+#define FATROP_LA_INCLUDED
+#include <iostream>
+#include "fatrop/auxiliary/Common.hpp"
+
+namespace fatrop
+{
+    struct MatrixInd
+    {
+        fatrop_int ai;
+        fatrop_int aj;
+    };
+    /** \brief Interface class for matrix representations */
+    class FatropMat
+    {
+    public:
+        /** \brief Copy of matrix element */
+        virtual double get_el(const fatrop_int ai, const fatrop_int aj) const = 0;
+        /** \brief Number of rows */
+        virtual fatrop_int nrows() const = 0;
+        /** \brief Number of cols */
+        virtual fatrop_int ncols() const = 0;
+        void print();
+    };
+    // special matrices
+    /** \brief Identity matrix */
+    class eye : public FatropMat
+    {
+    public:
+        /** \brief Constructor */
+        eye(fatrop_int dim) : dim_(dim){};
+        /** \brief Copy of matrix element */
+        inline double get_el(const fatrop_int ai, const fatrop_int aj) const
+        {
+            if (ai == aj)
+            {
+                return 1.0;
+            }
+            else
+            {
+                return 0.0;
+            }
+        };
+        /** \brief Number of rows */
+        fatrop_int nrows() const { return dim_; };
+        /** \brief Number of cols */
+        fatrop_int ncols() const { return dim_; };
+
+    private:
+        fatrop_int dim_;
+    };
+    /** \brief Interface class for matrix representations */
+    class FatropVec
+    {
+    public:
+        /** \brief Copy of matrix element */
+        virtual double get_el(const fatrop_int ai) const = 0;
+        /** \brief Number of elements */
+        virtual fatrop_int nels() const = 0;
+        void print() const;
+    };
+} // namespace fatrop
+
+#endif // FATROP_LA_INCLUDED

casadi/include/fatrop/auxiliary/VectorUtils.hpp

@@ -0,0 +1,54 @@
+/*
+ * Fatrop - A fast trajectory optimization solver
+ *  Copyright (C) 2022 - 2024 Lander Vanroye, KU Leuven. All rights reserved.
+ *
+ * This file is part of Fatrop.
+ *
+ * Fatrop 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.
+ *
+ * Fatrop 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 Fatrop.  If not, see <http://www.gnu.org/licenses/>. */
+#ifndef FATROPAUXILIARYINCLUDED
+#define FATROPAUXILIARYINCLUDED
+#include <vector>
+#include "FatropVector.hpp"
+#include "fatrop/auxiliary/Common.hpp"
+namespace fatrop
+{
+    /** \brief function to cumulative sum integer vector, first element is zero */
+    template <typename T, typename E>
+    FatropVector<T> offsets(const VecExpr<E, T> &a)
+    {
+        const fatrop_int size_a = a.size();
+        FatropVector<T> res(size_a);
+        res.at(0) = 0;
+        for (fatrop_int i = 1; i < size_a; i++)
+        {
+            res.at(i) = a.get(i - 1) + res.get(i - 1);
+        }
+        return res;
+    }
+
+    /** \brief returns index of max el of VecExpr */
+    template <typename T, typename E>
+    fatrop_int maxel(const VecExpr<E, T> &a)
+    {
+        const fatrop_int size_a = a.size();
+        fatrop_int res = 0;
+        for (fatrop_int i = 0; i < size_a; i++)
+        {
+            fatrop_int ai = a.get(i);
+            res = ai > res ? ai : res;
+        }
+        return res;
+    }
+};     // namespace fatrop
+#endif // FATROPAUXINCLUDED