casadi 3.6.5__cp39-none-macosx_11_0_arm64.whl → 3.6.7__cp39-none-macosx_11_0_arm64.whl

casadi/include/alpaqa/implementation/casadi/CasADiControlProblem.tpp

@@ -1,594 +0,0 @@
-#pragma once
-
-#include <alpaqa/casadi/CasADiControlProblem.hpp>
-#include <alpaqa/casadi/CasADiFunctionWrapper.hpp>
-#include <alpaqa/config/config.hpp>
-#include <alpaqa/util/io/csv.hpp>
-#include <alpaqa/util/not-implemented.hpp>
-#include <alpaqa/util/sparse-ops.hpp>
-#include "CasADiLoader-util.hpp"
-
-#include <Eigen/Sparse>
-#include <casadi/core/external.hpp>
-
-#include <memory>
-#include <optional>
-#include <stdexcept>
-#include <type_traits>
-
-namespace alpaqa {
-
-namespace fs = std::filesystem;
-
-namespace casadi_loader {
-
-using namespace alpaqa::casadi_loader;
-
-template <Config Conf>
-struct CasADiControlFunctionsWithParam {
-    USING_ALPAQA_CONFIG(Conf);
-
-    static constexpr bool WithParam = true;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> f;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> jac_f;
-    CasADiFunctionEvaluator<Conf, 3 + WithParam, 1> grad_f_prod;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> h;
-    CasADiFunctionEvaluator<Conf, 1 + WithParam, 1> h_N;
-    CasADiFunctionEvaluator<Conf, 1 + WithParam, 1> l;
-    CasADiFunctionEvaluator<Conf, 1 + WithParam, 1> l_N;
-
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> qr;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> q_N;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> Q;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> Q_N;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> R;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> S;
-
-    CasADiFunctionEvaluator<Conf, 1 + WithParam, 1> c;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> grad_c_prod;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> gn_hess_c;
-
-    CasADiFunctionEvaluator<Conf, 1 + WithParam, 1> c_N;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> grad_c_prod_N;
-    CasADiFunctionEvaluator<Conf, 2 + WithParam, 1> gn_hess_c_N;
-};
-
-} // namespace casadi_loader
-
-template <Config Conf>
-CasADiControlProblem<Conf>::CasADiControlProblem(const std::string &so_name,
-                                                 length_t N)
-    : N{N} {
-    length_t p;
-    using namespace casadi_loader;
-    auto load_f = [&]() -> CasADiFunctionEvaluator<Conf, 3, 1> {
-        casadi::Function ffun = casadi::external("f", so_name);
-        using namespace std::literals::string_literals;
-        if (ffun.n_in() != 3)
-            throw std::invalid_argument(
-                "Invalid number of input arguments: got "s +
-                std::to_string(ffun.n_in()) + ", should be 3.");
-        if (ffun.n_out() != 1)
-            throw std::invalid_argument(
-                "Invalid number of output arguments: got "s +
-                std::to_string(ffun.n_in()) + ", should be 1.");
-        nx = static_cast<length_t>(ffun.size1_in(0));
-        nu = static_cast<length_t>(ffun.size1_in(1));
-        p  = static_cast<length_t>(ffun.size1_in(2));
-        CasADiFunctionEvaluator<Conf, 3, 1> f{std::move(ffun)};
-        f.validate_dimensions({dim(nx, 1), dim(nu, 1), dim(p, 1)},
-                              {dim(nx, 1)});
-        return f;
-    };
-    auto load_h = [&]() -> CasADiFunctionEvaluator<Conf, 3, 1> {
-        casadi::Function hfun = casadi::external("h", so_name);
-        using namespace std::literals::string_literals;
-        if (hfun.n_in() != 3)
-            throw std::invalid_argument(
-                "Invalid number of input arguments: got "s +
-                std::to_string(hfun.n_in()) + ", should be 3.");
-        if (hfun.n_out() != 1)
-            throw std::invalid_argument(
-                "Invalid number of output arguments: got "s +
-                std::to_string(hfun.n_in()) + ", should be 1.");
-        nh = static_cast<length_t>(hfun.size1_out(0));
-        CasADiFunctionEvaluator<Conf, 3, 1> h{std::move(hfun)};
-        h.validate_dimensions({dim(nx, 1), dim(nu, 1), dim(p, 1)},
-                              {dim(nh, 1)});
-        return h;
-    };
-    auto load_h_N = [&]() -> CasADiFunctionEvaluator<Conf, 2, 1> {
-        casadi::Function hfun = casadi::external("h_N", so_name);
-        using namespace std::literals::string_literals;
-        if (hfun.n_in() != 2)
-            throw std::invalid_argument(
-                "Invalid number of input arguments: got "s +
-                std::to_string(hfun.n_in()) + ", should be 2.");
-        if (hfun.n_out() != 1)
-            throw std::invalid_argument(
-                "Invalid number of output arguments: got "s +
-                std::to_string(hfun.n_in()) + ", should be 1.");
-        nh_N = static_cast<length_t>(hfun.size1_out(0));
-        CasADiFunctionEvaluator<Conf, 2, 1> h{std::move(hfun)};
-        h.validate_dimensions({dim(nx, 1), dim(p, 1)}, {dim(nh_N, 1)});
-        return h;
-    };
-    auto load_c = [&]() -> CasADiFunctionEvaluator<Conf, 2, 1> {
-        casadi::Function cfun = casadi::external("c", so_name);
-        using namespace std::literals::string_literals;
-        if (cfun.n_in() != 2)
-            throw std::invalid_argument(
-                "Invalid number of input arguments: got "s +
-                std::to_string(cfun.n_in()) + ", should be 2.");
-        if (cfun.n_out() != 1)
-            throw std::invalid_argument(
-                "Invalid number of output arguments: got "s +
-                std::to_string(cfun.n_in()) + ", should be 1.");
-        nc = static_cast<length_t>(cfun.size1_out(0));
-        CasADiFunctionEvaluator<Conf, 2, 1> c{std::move(cfun)};
-        c.validate_dimensions({dim(nx, 1), dim(p, 1)}, {dim(nc, 1)});
-        return c;
-    };
-    auto load_c_N = [&]() -> CasADiFunctionEvaluator<Conf, 2, 1> {
-        casadi::Function cfun = casadi::external("c_N", so_name);
-        using namespace std::literals::string_literals;
-        if (cfun.n_in() != 2)
-            throw std::invalid_argument(
-                "Invalid number of input arguments: got "s +
-                std::to_string(cfun.n_in()) + ", should be 2.");
-        if (cfun.n_out() != 1)
-            throw std::invalid_argument(
-                "Invalid number of output arguments: got "s +
-                std::to_string(cfun.n_in()) + ", should be 1.");
-        nc_N = static_cast<length_t>(cfun.size1_out(0));
-        CasADiFunctionEvaluator<Conf, 2, 1> c{std::move(cfun)};
-        c.validate_dimensions({dim(nx, 1), dim(p, 1)}, {dim(nc_N, 1)});
-        return c;
-    };
-    // Load the functions "f", "h", and "c" to determine the unknown dimensions.
-    auto f   = wrap_load(so_name, "f", load_f);
-    auto h   = wrap_load(so_name, "h", load_h);
-    auto h_N = wrap_load(so_name, "h_N", load_h_N);
-    auto c   = wrap_load(so_name, "c", load_c);
-    auto c_N = wrap_load(so_name, "c_N", load_c_N);
-
-    this->x_init = vec::Constant(nx, alpaqa::NaN<Conf>);
-    this->param  = vec::Constant(p, alpaqa::NaN<Conf>);
-    this->U      = Box{nu};
-    this->D      = Box{nc};
-    this->D_N    = Box{nc_N};
-
-    impl = std::make_unique<CasADiControlFunctionsWithParam<Conf>>(
-        CasADiControlFunctionsWithParam<Conf>{
-            .f     = std::move(f),
-            .jac_f = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "jacobian_f", dims(nx, nu, p), dims(dim(nx, nx + nu))),
-            .grad_f_prod = wrapped_load<CasADiFunctionEvaluator<Conf, 4, 1>>(
-                so_name, "grad_f_prod", dims(nx, nu, p, nx), dims(nx + nu)),
-            .h   = std::move(h),
-            .h_N = std::move(h_N),
-            .l   = wrapped_load<CasADiFunctionEvaluator<Conf, 2, 1>>(
-                so_name, "l", dims(nh, p), dims(1)),
-            .l_N = wrapped_load<CasADiFunctionEvaluator<Conf, 2, 1>>(
-                so_name, "l_N", dims(nh_N, p), dims(1)),
-            .qr = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "qr", dims(nx + nu, nh, p), dims(nx + nu)),
-            .q_N = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "q_N", dims(nx, nh_N, p), dims(nx)),
-            .Q = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "Q", dims(nx + nu, nh, p), dims(dim{nx, nx})),
-            .Q_N = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "Q_N", dims(nx, nh_N, p), dims(dim{nx, nx})),
-            .R = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "R", dims(nx + nu, nh, p), dims(dim{nu, nu})),
-            .S = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "S", dims(nx + nu, nh, p), dims(dim{nu, nx})),
-            .c           = std::move(c),
-            .grad_c_prod = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "grad_c_prod", dims(nx, p, nc), dims(nx)),
-            .gn_hess_c = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "gn_hess_c", dims(nx, p, nc), dims(dim{nx, nx})),
-            .c_N           = std::move(c_N),
-            .grad_c_prod_N = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "grad_c_prod_N", dims(nx, p, nc_N), dims(nx)),
-            .gn_hess_c_N = wrapped_load<CasADiFunctionEvaluator<Conf, 3, 1>>(
-                so_name, "gn_hess_c_N", dims(nx, p, nc_N), dims(dim{nx, nx})),
-        });
-
-    auto n_work = std::max({
-        impl->Q.fun.sparsity_out(0).nnz(),
-        impl->Q_N.fun.sparsity_out(0).nnz(),
-        impl->gn_hess_c.fun.sparsity_out(0).nnz(),
-        impl->gn_hess_c_N.fun.sparsity_out(0).nnz(),
-    });
-    this->work  = vec::Constant(static_cast<length_t>(n_work), NaN<Conf>);
-
-    auto bounds_filepath = fs::path{so_name}.replace_extension("csv");
-    if (fs::exists(bounds_filepath))
-        load_numerical_data(bounds_filepath);
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::load_numerical_data(
-    const std::filesystem::path &filepath, char sep) {
-    std::ifstream data_file{filepath};
-    if (!data_file)
-        throw std::runtime_error("Unable to open bounds file \"" +
-                                 filepath.string() + '"');
-    index_t line          = 0;
-    auto wrap_bounds_load = [&](std::string_view name, auto &v) {
-        try {
-            ++line;
-            csv::read_row(data_file, v, sep);
-        } catch (csv::read_error &e) {
-            throw std::runtime_error("Unable to read " + std::string(name) +
-                                     " from bounds file \"" +
-                                     filepath.string() + ':' +
-                                     std::to_string(line) + "\": " + e.what());
-        }
-    };
-    wrap_bounds_load("U.lowerbound", this->U.lowerbound);
-    wrap_bounds_load("U.upperbound", this->U.upperbound);
-    wrap_bounds_load("D.lowerbound", this->D.lowerbound);
-    wrap_bounds_load("D.upperbound", this->D.upperbound);
-    wrap_bounds_load("D_N.lowerbound", this->D_N.lowerbound);
-    wrap_bounds_load("D_N.upperbound", this->D_N.upperbound);
-    wrap_bounds_load("x_init", this->x_init);
-    wrap_bounds_load("param", this->param);
-}
-
-template <Config Conf>
-CasADiControlProblem<Conf>::CasADiControlProblem(const CasADiControlProblem &) =
-    default;
-template <Config Conf>
-CasADiControlProblem<Conf> &
-CasADiControlProblem<Conf>::operator=(const CasADiControlProblem &) = default;
-
-template <Config Conf>
-CasADiControlProblem<Conf>::CasADiControlProblem(
-    CasADiControlProblem &&) noexcept = default;
-template <Config Conf>
-CasADiControlProblem<Conf> &CasADiControlProblem<Conf>::operator=(
-    CasADiControlProblem &&) noexcept = default;
-
-template <Config Conf>
-CasADiControlProblem<Conf>::~CasADiControlProblem() = default;
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_f(index_t, crvec x, crvec u,
-                                        rvec fxu) const {
-    assert(x.size() == nx);
-    assert(u.size() == nu);
-    assert(fxu.size() == nx);
-    impl->f({x.data(), u.data(), param.data()}, {fxu.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_jac_f(index_t, crvec x, crvec u,
-                                            rmat J_fxu) const {
-    assert(x.size() == nx);
-    assert(u.size() == nu);
-    assert(J_fxu.rows() == nx);
-    assert(J_fxu.cols() == nx + nu);
-    impl->jac_f({x.data(), u.data(), param.data()}, {J_fxu.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_grad_f_prod(index_t, crvec x, crvec u,
-                                                  crvec p,
-                                                  rvec grad_fxu_p) const {
-    assert(x.size() == nx);
-    assert(u.size() == nu);
-    assert(p.size() == nx);
-    assert(grad_fxu_p.size() == nx + nu);
-    impl->grad_f_prod({x.data(), u.data(), param.data(), p.data()},
-                      {grad_fxu_p.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_h(index_t, crvec x, crvec u,
-                                        rvec h) const {
-    assert(x.size() == nx);
-    assert(u.size() == nu);
-    assert(h.size() == nh);
-    impl->h({x.data(), u.data(), param.data()}, {h.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_h_N(crvec x, rvec h) const {
-    assert(x.size() == nx);
-    assert(h.size() == nh_N);
-    impl->h_N({x.data(), param.data()}, {h.data()});
-}
-template <Config Conf>
-auto CasADiControlProblem<Conf>::eval_l(index_t, crvec h) const -> real_t {
-    assert(h.size() == nh);
-    real_t l;
-    impl->l({h.data(), param.data()}, {&l});
-    return l;
-}
-template <Config Conf>
-auto CasADiControlProblem<Conf>::eval_l_N(crvec h) const -> real_t {
-    assert(h.size() == nh_N);
-    real_t l;
-    impl->l_N({h.data(), param.data()}, {&l});
-    return l;
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_qr(index_t, crvec xu, crvec h,
-                                         rvec qr) const {
-    assert(xu.size() == nx + nu);
-    assert(h.size() == nh);
-    assert(qr.size() == nx + nu);
-    impl->qr({xu.data(), h.data(), param.data()}, {qr.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_q_N(crvec x, crvec h, rvec q) const {
-    assert(x.size() == nx);
-    assert(h.size() == nh_N);
-    assert(q.size() == nx);
-    impl->q_N({x.data(), h.data(), param.data()}, {q.data()});
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_Q(index_t, crvec xu, crvec h,
-                                            rmat Q) const {
-    assert(xu.size() == nx + nu);
-    assert(h.size() == nh);
-    assert(Q.rows() == nx);
-    assert(Q.cols() == nx);
-    impl->Q({xu.data(), h.data(), param.data()}, {work.data()});
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    auto &&sparse = impl->Q.fun.sparsity_out(0);
-    if (sparse.is_dense())
-        Q += cmmat{work.data(), nx, nx};
-    else
-        Q += cmspmat{
-            nx,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-}
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_Q_N(crvec x, crvec h, rmat Q) const {
-    assert(x.size() == nx);
-    assert(h.size() == nh_N);
-    assert(Q.rows() == nx);
-    assert(Q.cols() == nx);
-    impl->Q_N({x.data(), h.data(), param.data()}, {work.data()});
-    auto &&sparse = impl->Q_N.fun.sparsity_out(0);
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    if (sparse.is_dense())
-        Q += cmmat{work.data(), nx, nx};
-    else
-        Q += cmspmat{
-            nx,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_R_masked(index_t, crvec xu, crvec h,
-                                                   crindexvec mask, rmat R,
-                                                   rvec work) const {
-    auto &&sparse = impl->R.fun.sparsity_out(0);
-    assert(xu.size() == nx + nu);
-    assert(h.size() == nh);
-    assert(R.rows() <= nu);
-    assert(R.cols() <= nu);
-    assert(R.rows() == mask.size());
-    assert(R.cols() == mask.size());
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    impl->R({xu.data(), h.data(), param.data()}, {work.data()});
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    if (sparse.is_dense()) {
-        cmmat R_full{work.data(), nu, nu};
-        R += R_full(mask, mask);
-    } else {
-        cmspmat R_full{
-            nu,
-            nu,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-        util::sparse_add_masked(R_full, R, mask);
-    }
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_S_masked(index_t, crvec xu, crvec h,
-                                                   crindexvec mask, rmat S,
-                                                   rvec work) const {
-    auto &&sparse = impl->S.fun.sparsity_out(0);
-    assert(xu.size() == nx + nu);
-    assert(h.size() == nh);
-    assert(S.rows() <= nu);
-    assert(S.rows() == mask.size());
-    assert(S.cols() == nx);
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    impl->S({xu.data(), h.data(), param.data()}, {work.data()});
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    using Eigen::indexing::all;
-    if (sparse.is_dense()) {
-        cmmat S_full{work.data(), nu, nx};
-        S += S_full(mask, all);
-    } else {
-        cmspmat S_full{
-            nu,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-        util::sparse_add_masked_rows(S_full, S, mask);
-    }
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_R_prod_masked(index_t, crvec, crvec,
-                                                        crindexvec mask_J,
-                                                        crindexvec mask_K,
-                                                        crvec v, rvec out,
-                                                        rvec work) const {
-    auto &&sparse = impl->R.fun.sparsity_out(0);
-    assert(v.size() == nu);
-    assert(out.size() == mask_J.size());
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    if (sparse.is_dense()) {
-        auto R = cmmat{work.data(), nu, nu};
-        out.noalias() += R(mask_J, mask_K) * v(mask_K);
-    } else {
-        cmspmat R{
-            nu,
-            nu,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-        // out += R_full(mask_J,mask_K) * v(mask_K);
-        util::sparse_matvec_add_masked_rows_cols(R, v, out, mask_J, mask_K);
-    }
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_S_prod_masked(index_t, crvec, crvec,
-                                                        crindexvec mask_K,
-                                                        crvec v, rvec out,
-                                                        rvec work) const {
-    auto &&sparse = impl->S.fun.sparsity_out(0);
-    assert(v.size() == nu);
-    assert(out.size() == nx);
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    using Eigen::indexing::all;
-    if (sparse.is_dense()) {
-        auto Sᵀ = cmmat{work.data(), nu, nx}.transpose();
-        out.noalias() += Sᵀ(all, mask_K) * v(mask_K);
-    } else {
-        cmspmat S{
-            nu,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-        // out += S(mask_K,:)ᵀ * v(mask_K);
-        util::sparse_matvec_add_transpose_masked_rows(S, v, out, mask_K);
-    }
-}
-
-template <Config Conf>
-auto CasADiControlProblem<Conf>::get_R_work_size() const -> length_t {
-    auto &&sparse = impl->R.fun.sparsity_out(0);
-    return static_cast<length_t>(sparse.nnz());
-}
-
-template <Config Conf>
-auto CasADiControlProblem<Conf>::get_S_work_size() const -> length_t {
-    auto &&sparse = impl->S.fun.sparsity_out(0);
-    return static_cast<length_t>(sparse.nnz());
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_constr(index_t, crvec x, rvec c) const {
-    if (nc == 0)
-        return;
-    assert(x.size() == nx);
-    assert(c.size() == nc);
-    impl->c({x.data(), param.data()}, {c.data()});
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_grad_constr_prod(index_t, crvec x,
-                                                       crvec p,
-                                                       rvec grad_cx_p) const {
-    assert(x.size() == nx);
-    assert(p.size() == nc);
-    assert(grad_cx_p.size() == nx);
-    impl->grad_c_prod({x.data(), param.data(), p.data()}, {grad_cx_p.data()});
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_gn_hess_constr(index_t, crvec x,
-                                                         crvec M,
-                                                         rmat out) const {
-    auto &&sparse = impl->gn_hess_c.fun.sparsity_out(0);
-    assert(x.size() == nx);
-    assert(M.size() == nc);
-    assert(out.rows() == nx);
-    assert(out.cols() == nx);
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    impl->gn_hess_c({x.data(), param.data(), M.data()}, {work.data()});
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    if (sparse.is_dense())
-        out += cmmat{work.data(), nx, nx};
-    else
-        out += cmspmat{
-            nx,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_constr_N(crvec x, rvec c) const {
-    if (nc_N == 0)
-        return;
-    assert(x.size() == nx);
-    assert(c.size() == nc_N);
-    impl->c_N({x.data(), param.data()}, {c.data()});
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_grad_constr_prod_N(crvec x, crvec p,
-                                                         rvec grad_cx_p) const {
-    assert(x.size() == nx);
-    assert(p.size() == nc_N);
-    assert(grad_cx_p.size() == nx);
-    impl->grad_c_prod_N({x.data(), param.data(), p.data()}, {grad_cx_p.data()});
-}
-
-template <Config Conf>
-void CasADiControlProblem<Conf>::eval_add_gn_hess_constr_N(crvec x, crvec M,
-                                                           rmat out) const {
-    auto &&sparse = impl->gn_hess_c.fun.sparsity_out(0);
-    assert(x.size() == nx);
-    assert(M.size() == nc_N);
-    assert(out.rows() == nx);
-    assert(out.cols() == nx);
-    assert(work.size() >= static_cast<length_t>(sparse.nnz()));
-    impl->gn_hess_c_N({x.data(), param.data(), M.data()}, {work.data()});
-    using spmat   = Eigen::SparseMatrix<real_t, Eigen::ColMajor, casadi_int>;
-    using cmspmat = Eigen::Map<const spmat>;
-    if (sparse.is_dense())
-        out += cmmat{work.data(), nx, nx};
-    else
-        out += cmspmat{
-            nx,
-            nx,
-            static_cast<length_t>(sparse.nnz()),
-            sparse.colind(),
-            sparse.row(),
-            work.data(),
-        };
-}
-
-} // namespace alpaqa

casadi/include/alpaqa/implementation/casadi/CasADiLoader-util.hpp

@@ -1,50 +0,0 @@
-#pragma once
-
-#include <casadi/core/casadi_types.hpp>
-#include <casadi/core/external.hpp>
-#include <array>
-#include <optional>
-#include <stdexcept>
-#include <string>
-#include <utility>
-
-namespace alpaqa::casadi_loader {
-
-template <class F>
-auto wrap_load(const std::string &so_name, const char *name, F f) {
-    try {
-        return f();
-    } catch (const std::invalid_argument &e) {
-        throw std::invalid_argument("Unable to load function '" + so_name +
-                                    ":" + name + "': " + e.what());
-    }
-}
-
-template <class T, class... Args>
-auto wrapped_load(const std::string &so_name, const char *name,
-                  Args &&...args) {
-    return wrap_load(so_name, name, [&] {
-        return T(casadi::external(name, so_name), std::forward<Args>(args)...);
-    });
-}
-
-template <class T, class... Args>
-std::optional<T> try_load(const std::string &so_name, const char *name,
-                          Args &&...args) {
-    try {
-        return std::make_optional(
-            wrapped_load<T>(so_name, name, std::forward<Args>(args)...));
-    } catch (casadi::CasadiException &e) {
-        return std::nullopt;
-    }
-}
-
-using dim = std::pair<casadi_int, casadi_int>;
-inline constexpr auto dims(auto... a) {
-    if constexpr ((... && std::is_constructible_v<dim, decltype(a)>))
-        return std::array{a...};
-    else
-        return std::array{dim{a, 1}...};
-}
-
-} // namespace alpaqa::casadi_loader