casadi 3.6.7__cp312-none-win_amd64.whl → 3.7.0__cp312-none-win_amd64.whl

casadi/tools/structure.py

@@ -1,1446 +0,0 @@
-#
-#     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
-#
-#
-from casadi import *
-
-
-import numpy as np
-import operator
-import sys
-import copy
-
-import __builtin__
-
-def is_integer(a):
-  return isinstance(a,int) or isinstance(a,np.integer)
-
-def is_string(a):
-  return isinstance(a,str) or isinstance(a,unicode)
-
-def isIterable(a):
-  return isinstance(a,list) or isinstance(a,tuple)
-
-# StructIndex :tuple/list of strings
-# canonicalIndex : tuple/list of string or numbers
-# powerIndex: tuple/list of string, numbers, lists, slices, dicts
-
-# flatIndex
-
-# Primitive helpers
-def lpack(L): return [[x] for x in L]
-
-def combine(*args):
-  if len(args)==0:
-    return [[]]
-  else:
-    return [a + b for a in args[0] for b in combine(*args[1:])]
-
-def listindices(dims,nest=False):
-  if len(dims)==0:
-    if nest:
-      return [[[]]]
-    else:
-      return [[]]
-  else:
-    tail = listindices(dims[1:])
-    if nest:
-      return [combine([[i]],tail) for i in range(dims[0])]
-    else:
-      return combine(lpack(range(dims[0])),tail)
-
-def intersperseIt(*args):
-  iterators = map(iter,args)
-  active = [True]*len(args)
-  i = 0
-  while any(active):
-    try:
-      yield iterators[i].next()
-    except:
-      active[i] = False
-    i = (i + 1) % len(args)
-
-def intersperse(*args):
-   return list(intersperseIt(*args))
-
-def canonicalIndexAncestors(ind):
-  if len(ind)==0: return []
-  return [ind] + canonicalIndexAncestors(ind[:-(map(is_string,ind[::-1]).index(True)+1)])
-
-def canonical(ind,s):
-  if ind < 0:
-    return ind + s
-  else:
-    return ind
-
-def vec(e):
-  if any(isinstance(i,list) for i in e):
-    return sum(map(vec,e),[])
-  else:
-    return e
-
-def correct_vector_indexing(x, i):
-  return casadi.reshape(x[i], i.shape)
-
-# Decoraters
-
-def properGetitem(f):
-  """
-    This decorator modifies a __getitem__/__setitem__ method such that it will always receive a tuple
-  """
-  def proper(self,mbt,*args):
-    if not isinstance(mbt,tuple):
-      mbt = (mbt,)
-    return f(self,mbt,*args)
-  return proper
-
-# Enhanced standard classes
-class SafeDict(dict):
-  def __getitem__(self,k):
-    if k not in self:
-      raise Exception("Unknown keyword '%s'. Available entries: %s" % (k,str(self.keys())))
-    return dict.__getitem__(self,k)
-
-# Placeholder classes and instances
-class Repeater:
-  def __init__(self,e): self.e = e
-
-def repeated(e):
-  """
-    From the arguemnt, constructs something that acts like a 'list' with the argument repeated the 'correct' number of times
-
-    s = struct_symSX([entry("x",repeat=6)])
-    s["x"] = repeated(12)
-
-  """
-  return Repeater(e)
-
-class NestedDictLiteral:
-  """
-    NestedDictLiteral will cause all dictionaries to become explicit recursively
-  """
-
-nesteddict = NestedDictLiteral()
-
-# Casadi-independent Structure framework
-
-def payloadUnpack(payload,i):
-  if is_string(i):
-    raise Exception("Got string %s where number expected."% i)
-  if isIterable(payload):
-    if i>=len(payload):
-      raise Exception("Rhs out of range. Got list index %s but rhs list is only of length %s." % (i,len(payload)))
-    return payload[i]
-  elif isinstance(payload,Repeater):
-    return payload.e
-  else:
-    return payload
-
-class StructEntry:
-  def __init__(self,name,struct=None,data=None,dims=[]):
-    self.name = name
-    self.dims = dims
-    self.struct = struct
-
-  def __str__(self,compact=False):
-     s=''
-     if len(self.dims)>=1:
-       s+= "repeated(%s): " % str(self.dims)
-     if self.isPrimitive():
-       s+=self.primitiveString()
-     else:
-       s+=self.struct.__str__(compact=True)
-     return s
-
-  __repr__ = __str__
-
-  def primitiveString(self):
-    return "*"
-
-  def isPrimitive(self):
-    return self.struct is None
-
-  def traverseCanonicalIndex(self,nest=False,limit=1000):
-    children = [[]] if (self.struct is None or limit==0) else self.struct.traverseCanonicalIndex(limit=limit-1)
-    li = listindices(self.dims,nest)
-    n = [[self.name]]
-    if nest:
-      return [combine(n,i,children) for i in li]
-    else:
-      return combine(n,li,children)
-
-  def getStructEntryByStructIndex(self,structIndex):
-    return self.struct.getStructEntryByStructIndex(structIndex)
-
-  def traverseByPowerIndex(self,powerIndex,dims=None,canonicalIndex=(),dispatcher=None,payload=None):
-    try:
-      if dims is None: dims = self.dims
-      # At the end of powerIndex, pending : are added automatically if dims is not exhausted
-      if len(powerIndex)==0:
-        if len(dims)>0:
-          return self.traverseByPowerIndex(
-                   [slice(None) for i in dims],
-                   dims=dims,
-                   canonicalIndex=canonicalIndex,
-                   dispatcher=dispatcher,
-                   payload=payload
-                 )
-        else:
-          return dispatcher(payload,canonicalIndex,entry=self)
-
-      if len(dims)==0:
-        if self.isPrimitive(): # Pass on remainder of powerIndex to dispatcher
-          return dispatcher(payload,canonicalIndex,extraIndex=tuple(powerIndex),entry=self)
-        else:
-          return self.struct.traverseByPowerIndex(
-                   powerIndex,
-                   canonicalIndex=canonicalIndex,
-                   dispatcher=dispatcher,
-                   payload=payload
-                 )
-      else:
-        p = powerIndex[0]
-        s = dims[0]
-        if isinstance(p,slice): # Expand slice
-          p = range(*p.indices(s))
-        if is_integer(p):
-          return self.traverseByPowerIndex(
-                   powerIndex[1:],
-                   dims=dims[1:],
-                   canonicalIndex=canonicalIndex+(canonical(p,s),),
-                   dispatcher=dispatcher,
-                   payload=payload
-                 )
-        elif isinstance(p,list):
-          return [
-                    self.traverseByPowerIndex(
-                      powerIndex[1:],
-                      dims=dims[1:],
-                      canonicalIndex=canonicalIndex+(canonical(i,s),),
-                      dispatcher=dispatcher,
-                      payload = payloadUnpack(payload,i)
-                    )
-                 for i in p]
-        elif isinstance(p,dict):
-          raise Exception("powerIndex entry {} cannot be used in list context.")
-        elif isinstance(p,set):
-          raise Exception("""powerIndex entry {"foo","bar"} cannot be used in list context.""")
-        elif isinstance(p,NestedDictLiteral):
-          return [
-                    self.traverseByPowerIndex(
-                      [p],
-                      dims=dims[1:],
-                      canonicalIndex=canonicalIndex+(canonical(i,s),),
-                      dispatcher=dispatcher,
-                      payload = payloadUnpack(payload,i)
-                    )
-                 for i in range(s)]
-        elif callable(p):
-          r = p(self.traverseByPowerIndex(
-                powerIndex[1:],
-                dims=dims,
-                canonicalIndex=canonicalIndex,
-                dispatcher=dispatcher.callableInner(),
-                payload=payload
-              ))
-          return dispatcher.callableOuter(payload,canonicalIndex,extraIndex=None,entry=None,inner=r)
-        else:
-          raise Exception("I don't know what to do with this: %s" % str(p))
-    except Exception as e:
-      exc_class, exc, tb = sys.exc_info()
-      new_exc = Exception("Error occured in entry context with powerIndex %s, at canonicalIndex %s:\n%s" % (str(powerIndex),str(canonicalIndex),str(e)))
-      raise new_exc.__class__, new_exc, tb
-
-class Structure(object):
-  def __init__(self,entries,order=None):
-    self.entries = entries
-
-    self.order = [e.name for e in self.entries] if order is None else order
-    self.keyslist = sum([ list(i) if isinstance(i,tuple) else list([i]) for i in self.order],[])
-
-    self.dict = SafeDict([(e.name,e) for e in self.entries])
-
-    for e in self.order:
-      if is_string(e):
-        if e not in self.dict:
-          raise Exception("Order '%s' is invalid." % e)
-      elif isinstance(e,tuple):
-        for ee in e:
-          if ee not in self.dict:
-            raise Exception("Order '%s' is invalid." % ee)
-
-  def keys(self):
-    return self.keyslist
-
-  def __str__(self,compact=False):
-     s=''
-     if compact:
-       s+= "{" + ",".join(k + ": " +  v.__str__(compact=True) for k,v in self.dict.items()) + "}"
-     else:
-       s+= "Structure holding %d entries.\n" % len(self.dict)
-       s+="  Order: %s\n" % str(self.order)
-       for k,v in self.dict.items():
-          s+= "  " + k + " = " +  v.__str__(compact=True) + "\n"
-     return s
-
-  __repr__ = __str__
-
-  def traverseCanonicalIndex(self,limit=1000):
-    ret = []
-    for d in self.order:
-      if isinstance(d,tuple):
-        for v in intersperse(*[self.dict[de].traverseCanonicalIndex(True,limit=limit-1) for de in d]):
-          ret += v
-      else:
-        ret += self.dict[d].traverseCanonicalIndex(limit=limit-1)
-    return ret
-
-  def getStructEntryByStructIndex(self,structIndex):
-    e = self.dict[structIndex[0]]
-    if len(structIndex)>1:
-      return e.getStructEntryByStructIndex(structIndex[1:])
-    else:
-      return e
-
-  def getStructEntryByCanonicalIndex(self,indices):
-    return self.getStructEntryByStructIndex(filter(lambda x: is_string(x),indices))
-
-  def getStruct(self,name):
-    if name not in self.struct.dict:
-      raise Exception("Cannot find entry with key '%s'. Candidates: " % (str(name),str(name.keys())))
-    ret = self.struct.dict[name].struct
-    if ret is None:
-      raise Exception("Entry '%s' has no structure." % (name))
-    else:
-      return ret
-
-  def traverseByPowerIndex(self,powerIndex,canonicalIndex=(),dispatcher=None,payload=None):
-      try:
-        if len(powerIndex)==0: return dispatcher(payload,canonicalIndex)
-        p = powerIndex[0]
-        if is_string(p):
-          return self.dict[p].traverseByPowerIndex(
-            powerIndex[1:],
-            canonicalIndex=canonicalIndex+(p,),
-            dispatcher=dispatcher,
-            payload=payload
-          )
-        elif isinstance(p,slice):
-          raise Exception("slice not allowed here, did you mean '...' ?")
-        elif isinstance(p,type(Ellipsis)):
-          """
-             Why ellipsis? Because it's all or nothing
-          """
-          return [
-                     self.dict[k].traverseByPowerIndex(
-                       powerIndex[1:],
-                       canonicalIndex=canonicalIndex+(k,),
-                       dispatcher=dispatcher,
-                       payload=payloadUnpack(payload,i)
-                     )
-                  for i,k in enumerate(self.keys())]
-        elif isinstance(p,dict) or isinstance(p,NestedDictLiteral):
-          if isinstance(payload,dict):
-            return dict([
-                    ( k,
-                      self.dict[k].traverseByPowerIndex(
-                        powerIndex[1:] if isinstance(p,dict) else [p],
-                        canonicalIndex=canonicalIndex+(k,),
-                        dispatcher=dispatcher,
-                        payload=v
-                      )
-                    ) for k,v in payload.iteritems()
-                   ])
-          else:
-            return dict([
-                    ( k,
-                      v.traverseByPowerIndex(
-                        powerIndex[1:] if isinstance(p,dict) else [p],
-                        canonicalIndex=canonicalIndex+(k,),
-                        dispatcher=dispatcher,
-                        payload=payload
-                      )
-                    ) for k,v in self.dict.iteritems()
-                   ])
-        elif isinstance(p,set):
-          if isinstance(payload,dict):
-            return dict([
-                    ( k,
-                      self.dict[k].traverseByPowerIndex(
-                        powerIndex[1:],
-                        canonicalIndex=canonicalIndex+(k,),
-                        dispatcher=dispatcher,
-                        payload=v
-                      )
-                    ) for k,v in payload.iteritems() if k in p
-                   ])
-          else:
-            return dict([
-                    ( k,
-                      self.dict[k].traverseByPowerIndex(
-                        powerIndex[1:],
-                        canonicalIndex=canonicalIndex+(k,),
-                        dispatcher=dispatcher,
-                        payload=payload
-                      )
-                    ) for k in p
-                   ])
-        elif isinstance(p,list):
-          return [
-                     self.traverseByPowerIndex(
-                       powerIndex[1:],
-                       canonicalIndex=canonicalIndex+(s,),
-                       dispatcher=dispatcher,
-                       payload=payloadUnpack(payload,i)
-                     )
-                 for i,s in enumerate(p)]
-        elif callable(p):
-          r = p(self.traverseByPowerIndex(
-                powerIndex[1:],
-                canonicalIndex=canonicalIndex,
-                dispatcher=dispatcher.callableInner(),
-                payload=payload
-              ))
-          return dispatcher.callableOuter(payload,canonicalIndex,extraIndex=None,entry=None,inner=r)
-        else:
-          raise Exception("I don't know what to do with this: %s" % str(p))
-      except Exception as e:
-        exc_class, exc, tb = sys.exc_info()
-        new_exc = Exception("Error occured in struct context with powerIndex %s, at canonicalIndex %s:\n%s" % (str(powerIndex),str(canonicalIndex),str(e)))
-        raise new_exc.__class__, new_exc, tb
-
-# Casadi-dependent Structure framework
-
-class Dispatcher:
-  def __init__(self,**args):
-    for k,v in args.items():
-      setattr(self,k,v)
-
-  def callableInner(self):
-    return self
-
-  def callableOuter(self,payload,canonicalIndex,extraIndex=None,entry=None,inner=None):
-    return inner
-
-
-#Mixins
-class CasadiStructureDerivable:
-
-  def argtype(self,arg):
-    mtype = None
-    if isinstance(arg,DM):
-      a = arg
-      mtype = DM
-    elif not isinstance(arg,MX) and not isinstance(arg,SX):
-      try:
-        a = DM(arg)
-        mtype = DM
-      except:
-        pass
-
-    if mtype is None:
-      if isinstance(arg,MX):
-        a = arg
-        mtype = MX
-      else:
-        try:
-          a = MX(arg)
-          mtype = MX
-        except:
-          pass
-
-    if mtype is None:
-      if isinstance(arg,SX):
-        a = arg
-        mtype = SX
-      else:
-        try:
-          a = SX(arg)
-          mtype = SX
-        except:
-          raise Exception("Call to Structure has weird argument: expecting DM-like or MX-like or SXMatrix-like")
-
-    return (a,mtype)
-
-  def __call__(self,arg=0):
-    (a,mtype) = self.argtype(arg)
-
-    if isinstance(a,DM):
-      if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
-        a = DM.ones(self.size,1)*a
-      return DMStruct(self,data=a)
-
-    if isinstance(a,MX):
-      return MXStruct(self,data=a)
-
-    if isinstance(a,SX):
-      return SXStruct(self,data=a)
-
-  def repeated(self,arg=0):
-    (a,mtype) = self.argtype(arg)
-
-    if not(a.shape[0] == self.size):
-       raise Exception("Expecting %d x n DM. Got %s" % (self.size,a.dim()))
-    s = struct([entry("t",struct=self,repeat=a.shape[1])])
-
-    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
-      if isinstance(a,t):
-        numbers = c(s,data=DataReferenceRepeated(a,a.shape[1]))
-
-    p = numbers.prefix["t"]
-    p.castmaster = True
-    return p
-
-  def squared(self,arg=0):
-    (a,mtype) = self.argtype(arg)
-
-    if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
-       a = DM.ones(self.size,self.size)*a
-    if not(a.shape[1] == a.shape[0] and a.shape[0]==self.size):
-       raise Exception("Expecting square DM of size %s. Got %s" % (self.size,a.dim()))
-    s = struct([entry("t",shapestruct=(self,self))])
-    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
-      if isinstance(a,t):
-        numbers = c(s,data=DataReferenceSquared(a,a.shape[0]))
-    p = numbers.prefix["t"]
-    p.castmaster = True
-    return p
-
-  def product(self,otherstruct,arg=0):
-    (a,mtype) = self.argtype(arg)
-
-    if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
-       a = DM.ones(self.size,otherstruct.size)*a
-    if not(a.shape[1]==otherstruct.size and a.shape[0]==self.size):
-       raise Exception("Expecting DM of shape (%s,%s). Got %s" % (self.size,otherstruct.size,a.dim()))
-    s = struct([entry("t",shapestruct=(self,otherstruct))])
-    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
-      if isinstance(a,t):
-        numbers = c(s,data=DataReferenceProduct(a,a.shape[0],a.shape[1]))
-    p = numbers.prefix["t"]
-    p.castmaster = True
-    return p
-
-  def squared_repeated(self,arg=0):
-    (a,mtype) = self.argtype(arg)
-
-    if not(a.shape[0]==self.size and a.shape[1] % self.size == 0):
-       raise Exception("Expecting square (%d) DM by N. Got %s" % (self.size,a.dim()))
-    s = struct([entry("t",shapestruct=(self,self),repeat=a.shape[1] / self.size)])
-
-    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
-      if isinstance(a,t):
-        numbers = c(s,data=DataReferenceSquaredRepeated(a,self.size,a.shape[1] / self.size))
-
-    p = numbers.prefix["t"]
-    p.castmaster = True
-    return p
-
-class GetterDispatcher(Dispatcher):
-  def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
-    type = None if entry is None else entry.type
-    if canonicalIndex in self.struct.map:
-
-      if canonicalIndex in self.priority_object_map and (extraIndex is None or len(extraIndex)==0):
-        r = self.priority_object_map[canonicalIndex]
-        if type is None:
-          return r
-        elif type=="symm":
-          return triu2symm(r)
-        else:
-          raise Exception("Cannot handle type '%s'." % entry.type)
-
-      i = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
-
-      try:
-        if type is None:
-          return correct_vector_indexing(self.master, i)
-        elif type=="symm":
-          return triu2symm(self.master[i])
-        else:
-          raise Exception("Cannot handle type '%s'." % entry.type)
-      except Exception as e:
-        exc_class, exc, tb = sys.exc_info()
-        new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n%s" % (str(canonicalIndex),str(e)))
-        raise new_exc.__class__, new_exc, tb
-    else:
-      raise Exception("Canonical index %s does not exist." % str(canonicalIndex))
-
-class SetterDispatcher(Dispatcher):
-  def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
-    payload_ = self.mtype(payload)
-    type = None if entry is None else entry.type
-    if canonicalIndex in self.struct.map:
-      i = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
-      try:
-        if type is None:
-          self.master[i] = payload_
-        elif type=="symm":
-          iflip = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry,flip=True)
-          if payload_.is_scalar():
-            self.master[i] = payload_
-            self.master[iflip] = payload_
-          else:
-            oi = performExtraIndex(DM.ones(entry.originalsparsity),extraIndex=extraIndex,entry=entry)
-            if oi.sparsity()!=payload_.sparsity():
-              raise Exception("Payload sparsity " + payload_.dim() +  " does not match lhs sparisty " + oi.dim() + "." )
-            self.master[iflip] = payload_.T[iflip.sparsity()]
-            self.master[i] = payload_[i.sparsity()]
-        else:
-          raise Exception("Cannot handle type '%s'." % entry.type)
-      except NotImplementedError as e:
-        raise CompatibilityException("Error in canonicalIndex slicing for %s: Incompatible types in a[i]=b with a %s (%s) and b %s (%s) and i %s (%s). Error: %s" % (str(canonicalIndex),str(self.master),str(__builtin__.type(self.master)),str(payload),str(__builtin__.type(payload)),str(i),str(__builtin__.type(i)),str(e)))
-      except Exception as e:
-        exc_class, exc, tb = sys.exc_info()
-        new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n%s" % (str(canonicalIndex),str(e)))
-        raise new_exc.__class__, new_exc, tb
-    else:
-      raise Exception("Canonical index %s does not exist." % str(canonicalIndex))
-
-  def callableInner(self):
-    return CasadiStructure.IMDispatcher(struct=self.struct)
-
-  def callableOuter(self,payload,canonicalIndex,extraIndex=None,entry=None,inner=None):
-    try:
-      self.master[inner] = payload
-    except NotImplementedError:
-      raise CompatibilityException("Error in canonicalIndex slicing for %s: Incompatible types in a[i]=b with a %s and b %s." % (str(canonicalIndex),str(self.master),str(payload)))
-    except Exception as e:
-      exc_class, exc, tb = sys.exc_info()
-      new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n %s" % (str(canonicalIndex),str(e)))
-      raise new_exc.__class__, new_exc, tb
-
-class MasterGettable:
-  @properGetitem
-  def __getitem__(self,powerIndex):
-    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=GetterDispatcher(struct=self.struct,master=self.master,priority_object_map=self.priority_object_map))
-
-class MasterSettable:
-  @properGetitem
-  def __setitem__(self,powerIndex,value):
-    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=
-    SetterDispatcher(struct=self.struct,master=self.master,mtype=self.mtype),payload=value)
-
-def delegation(extraIndex,entry,i):
-  if is_string(extraIndex) or (isinstance(extraIndex,list) and len(extraIndex)>0 and all([is_string(e) for e in extraIndex])):
-    extraIndex = FlatIndexDelegater(extraIndex)
-  if isinstance(extraIndex,Delegater):
-    if entry is None: raise Exception("Cannot use delayed index without supplied entry.")
-    if entry.shapestruct is None: raise Exception("Cannot use delayed index without supplied shapestruct.")
-    if not(isinstance(entry.shapestruct[i],Structure)) : raise Exception("Cannot use delayed index with a integer shapestruct argument.")
-    return extraIndex(entry.shapestruct[i])
-  else:
-    return extraIndex
-
-def performExtraIndex(i,extraIndex=None,entry=None,flip=False):
-  if extraIndex is None or len(extraIndex)==0:
-    return i
-  if callable(extraIndex[0]) and not isinstance(extraIndex[0],Delegater):
-    return extraIndex[0](performExtraIndex(i,extraIndex=extraIndex[1:],entry=entry,flip=flip))
-  if not(isinstance(extraIndex[0],NestedDictLiteral)):
-    if len(extraIndex)>2 or len(extraIndex)==0:
-      raise Exception("Powerindex exhausted. Remaining %s is interpreted as extraIndex, but length must be 1 or 2." % str(extraIndex))
-    try:
-      if len(extraIndex)==1:
-        a = extraIndex[0]
-        a = delegation(a,entry,0)
-        return i.__getitem__(a)
-      else:
-        a,b = extraIndex
-        a = delegation(a,entry,0)
-        b = delegation(b,entry,1)
-        return i.__getitem__((b,a) if flip else (a,b))
-    except NotImplementedError:
-       raise Exception("Powerindex exhausted. Passing on %s to %s, but it doesn't know what to do with it" % (str(extraIndex),str(type(i))))
-  else:
-    return i
-
-
-class Prefixer:
-  def __init__(self,struct,prefix,castmaster=False):
-    self.struct = struct
-    self.prefix = prefix
-    self.castmaster = castmaster
-
-    methods = [ "__DM__", "__SX__","__MX__"]
-    for m in methods:
-      if hasattr(self.struct,m):
-        setattr(self,m,self.cast)
-
-  def __setstate__(self,state):
-    self.__init__(state["struct"],state["prefix"],state["castmaster"])
-
-  def __getstate__(self):
-    return {"struct": self.struct, "prefix": self.prefix,"castmaster": self.castmaster}
-
-  def __getattr__(self,name):
-    # When attributes are not found, delegate to self()
-    # This allows for e.g. sin(x) and x+1 to work
-    if isinstance(self.struct.master,DataReference):
-      t = self.struct.master.a
-    else:
-      t = self.struct.master
-    if not(isinstance(t,list) or isinstance(t,dict) or isinstance(t,tuple)):
-      return getattr(t,name)
-
-  def cast(self):
-    if self.castmaster:
-      if isinstance(self.struct.master,DataReference):
-        return self.struct.master.a
-      else:
-        return self.struct.master
-    else:
-      return self()
-
-  def __str__(self):
-    return "prefix( " + str(self.prefix) + "," + self.struct.__str__(compact=True) + ")"
-
-  __repr__ = __str__
-
-  def __call__(self):
-    return self.struct.__getitem__(self.prefix)
-
-  @properGetitem
-  def __getitem__(self,powerIndex):
-    return self.struct.__getitem__(self.prefix + powerIndex)
-
-  @properGetitem
-  def __setitem__(self,powerIndex,data):
-    return self.struct.__setitem__(self.prefix + powerIndex,data)
-
-class PrefixConstructor:
-
-  def __str__(self):
-    return "prefixConstructor(" + self.struct.__str__(compact=True) + ")"
-
-  __repr__ = __str__
-
-  def __init__(self,struct,castmaster=False):
-    self.struct = struct
-    self.castmaster=castmaster
-
-  @properGetitem
-  def __getitem__(self,prefix):
-    return Prefixer(self.struct,prefix,castmaster=self.castmaster)
-
-class CasadiStructure(Structure,CasadiStructureDerivable):
-  """
-    size
-    map
-  """
-
-  def save(self,filename):
-    import pickle
-    pickle.dump(self,file(filename,"wb"),2)
-
-  class FlatIndexDispatcher(Dispatcher):
-    def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
-      if canonicalIndex in self.struct.map:
-        res = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
-        if isinstance(res,DM):
-          assert res.is_dense()
-          return map(int,list(res.nonzeros()))
-        return list(res)
-      else:
-        raise Exception("Canonical index %s not found." % str(canonicalIndex))
-
-  class IMDispatcher(Dispatcher):
-    def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
-      if canonicalIndex in self.struct.map:
-        return performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
-      else:
-        raise Exception("Canonical index %s not found." % str(canonicalIndex))
-
-  def __setstate__(self,state):
-    self.__init__(*state["args"],**state["kwargs"])
-
-  def __getstate__(self):
-    return self.initializer
-
-  def __init__(self,*args,**kwargs):
-    self.initializer = {"args": args, "kwargs": kwargs}
-    Structure.__init__(self,*args,**kwargs)
-
-    self.map = {}
-    self.lookuptable = []
-
-    hmap = {}
-    k = 0 # Global index counter
-    for i in self.traverseCanonicalIndex():
-      e = self.getStructEntryByCanonicalIndex(i)
-      sp = Sparsity.dense(1,1) if e.sparsity is None else e.sparsity
-      m = DM(sp,range(k,k+sp.nnz()))
-      k += sp.nnz()
-      it = tuple(i)
-      self.map[it] = m
-      self.lookuptable+=[(it,kk,p) for kk,p in enumerate(zip(sp.get_col(),sp.row()))]
-      for a in canonicalIndexAncestors(it)[1:]:
-        if a in hmap:
-          hmap[a].append(m)
-        else:
-          hmap[a] = [m]
-    self.size = k
-    for k,v in hmap.iteritems():
-      hmap[k] = vertcat(*[i.nz[:] for i in v])
-
-    self.map.update(hmap)
-
-    class StructureGetter:
-      def __init__(self,struct):
-        self.struct = struct
-
-    class IMGetter(StructureGetter):
-      @properGetitem
-      def __getitem__(self,powerIndex):
-        return self.struct.traverseByPowerIndex(powerIndex,dispatcher=CasadiStructure.IMDispatcher(struct=self.struct))
-
-    class FlatIndexGetter(StructureGetter):
-      @properGetitem
-      def __getitem__(self,powerIndex):
-        return vec(self.struct.traverseByPowerIndex(powerIndex,dispatcher=CasadiStructure.FlatIndexDispatcher(struct=self.struct)))
-
-    self.i = IMGetter(self)
-    self.f = FlatIndexGetter(self)
-    self.struct = self
-
-  def __str__(self,compact=False):
-    return ("" if compact else "Structure with total size %d.\n" % self.size)+ Structure.__str__(self,compact=compact)
-
-  def getCanonicalIndex(self,i,extraMode=1):
-    """
-      Returns the canonicalIndex of the entry with a given flatIndex
-      extraMode influences wether nothing (0), [i] (1) or [i,j] (2) will be returned as extra index
-    """
-    if i<0 or i>=self.size:
-      raise Exception("Lookup index out of range. Got %d, but structure is of size %d" % (i,self.size))
-    can,k,p = self.lookuptable[i]
-    if extraMode==0:
-      return can
-    elif extraMode==1:
-      return can+(k,)
-    else:
-      return can+p
-
-  def canonicalIndices(self,extraMode=1):
-    return [self.getCanonicalIndex(i,extraMode=extraMode) for i in range(self.size)]
-
-  def getLabel(self,i,extraMode=1):
-    t = self.getCanonicalIndex(i,extraMode=extraMode)
-    return "["+ ",".join(map(str,t)) + "]"
-
-  def labels(self,extraMode=1):
-    return [self.getLabel(i,extraMode=extraMode) for i in range(self.size)]
-
-class Structured(object):
-  description = "Generic Structured object"
-
-  def __init__(self,structure):
-    self.struct = structure.struct
-    self.i = self.struct.i
-    self.f = self.struct.f
-    self.getStruct = self.struct.getStruct
-    self.prefix = PrefixConstructor(self)
-
-  @property
-  def size(self):
-    return self.struct.size
-
-  @property
-  def cat(self):
-    if isinstance(self.master,DataReference):
-      return self.master.a
-    else:
-      return self.master
-
-  def __str__(self,compact=False):
-    if compact is False:
-      return self.description + " with following structure:\n" + self.struct.__str__()
-    else:
-      return self.description + " (" + self.struct.__str__(compact=True) + ")"
-
-  def keys(self):
-    return self.struct.keys()
-
-class CasadiStructured(Structured,CasadiStructureDerivable):
-  description = "Generic Structured object"
-
-  def __setstate__(self,state):
-    cs = CasadiStructure.__new__(CasadiStructure)
-    cs.__setstate__({"args": state["args"],"kwargs": state["kwargs"]})
-    self.__init__(cs,order=state["order"])
-
-  def __getstate__(self):
-    d = copy.deepcopy(self.struct.__getstate__())
-    d["order"] = self.order
-    return d
-
-  def __init__(self,struct,order=None):
-    self.order = order
-    if hasattr(struct,"struct"):
-      Structured.__init__(self,struct.struct)
-      self.entries = []
-    else:
-      entrylist = EntryList(struct,order=order)
-      self.entries = entrylist.entries
-      Structured.__init__(self,CasadiStructure(self.entries, order=entrylist.order))
-
-    self.getCanonicalIndex = self.struct.getCanonicalIndex
-    self.canonicalIndices = self.struct.canonicalIndices
-    self.getLabel = self.struct.getLabel
-    self.labels = self.struct.labels
-    self.priority_object_map = {}
-
-  @property
-  def shape(self):
-    return (self.size,1)
-
-  def sparsity(self):
-    return Sparsity.dense(self.size,1)
-
-  def getCanonicalIndex(self,*args,**kwargs):
-    return self.struct.lookup(*args,**kwargs)
-
-class CompatibilityException(Exception):
-  pass
-
-class ssymStruct(CasadiStructured,MasterGettable):
-  description = "symbolic SX"
-  def __init__(self,struct,order=None):
-    CasadiStructured.__init__(self,struct,order=order)
-
-    if any(e.expr is not None for e in self.entries):
-      raise Exception("struct_symSX does not accept entries with an 'expr' argument, because such an element is not purely symbolic.")
-
-    s = []
-    for i in self.struct.traverseCanonicalIndex():
-      e = self.struct.getStructEntryByCanonicalIndex(i)
-      s.append(SX.sym("_".join(map(str,i)),e.sparsity.nnz()))
-
-    self.master = vertcat(*[i.nz[:] for i in s])
-
-    for e in self.entries:
-      if e.sym is not None:
-        self.master[self.i[e.name]] = e.sym
-
-  def __SX__(self):
-    return self.cat
-
-class VertsplitStructure:
-  def buildMap(self,struct=None,parentIndex = (),parent=None):
-    if struct is None:  struct = self.struct
-    if parent is None:  parent = self.master
-
-    if isinstance(parent,DataReference):
-      parent = parent.a
-
-    ks  = []
-    its = []
-    sps = []
-    es  = []
-    k = 0 # Global index counter
-    for i in struct.traverseCanonicalIndex(limit=1):
-      e = struct.getStructEntryByCanonicalIndex(i)
-      sp = None
-      if e.isPrimitive():
-        sp = Sparsity.dense(1,1) if e.sparsity is None else e.sparsity
-      else:
-        sp = Sparsity.dense(e.struct.size,1)
-      ks.append(k)
-      it = tuple(i)
-      es.append(e)
-      its.append(it)
-      sps.append(sp)
-      k += sp.nnz()
-    ks.append(parent.size1())
-
-    for it, k, sp,e in zip(its,vertsplit(parent,ks),sps,es):
-      if not(e.isPrimitive()):
-        self.buildMap(struct=e.struct,parentIndex = parentIndex + it,parent=k)
-      self.priority_object_map[parentIndex+it] = k if k.sparsity()==sp else MX(sp,k) #[IM(sp,range(sp.nnz()))]
-
-class msymStruct(CasadiStructured,MasterGettable,VertsplitStructure):
-  description = "MX.sym"
-  def __init__(self,struct,order=None):
-    CasadiStructured.__init__(self,struct,order=order)
-
-    if any(e.expr is not None for e in self.entries):
-      raise Exception("struct_symMX does not accept entries with an 'expr' argument, because such an element is not purely symbolic.")
-    if any(e.sym is not None for e in self.entries):
-      raise Exception("struct_symMX does not accept entries with an 'sym' argument.")
-
-    self.master = MX.sym("V",self.size,1)
-
-    self.buildMap()
-
-  def __MX__(self):
-    return self.cat
-
-
-
-
-class MatrixStruct(CasadiStructured,MasterGettable,MasterSettable):
-
-  @property
-  def description(self):
-    return "Mutable " + self.mtype.__name__
-
-  def __init__(self,struct,mtype,data=None,order=None):
-    CasadiStructured.__init__(self,struct,order=None)
-    if any(e.expr is None for e in self.entries):
-      raise Exception("struct_SX does only accept entries with an 'expr' argument.")
-
-    self.mtype = mtype
-    if isinstance(data,mtype) or isinstance(data,DataReference):
-      self.master = data
-    elif data is None:
-      self.master = mtype.nan(self.size,1)
-    else:
-      self.master = mtype(data)
-
-    if self.master.shape[0]!=self.size:
-      raise Exception("MatrixStruct: dimension error. Expecting %d-by-1, but got %s" % (self.size,self.master.dim()))
-    if self.master.shape[1]!=1 and self.master.shape[0]>0:
-      raise Exception("MatrixStruct: dimension error. Expecting %d-by-1, but got %s" % (self.size,self.master.dim()))
-
-    for e in self.entries:
-      self[e.name] = e.expr
-
-class DMStruct(MatrixStruct):
-
-  def save(self,filename):
-    import pickle
-    pickle.dump(self,file(filename,"wb"),2)
-
-  def __setstate__(self,state):
-    cs = CasadiStructure.__new__(CasadiStructure)
-    cs.__setstate__({"args": state["args"],"kwargs": state["kwargs"]})
-    self.__init__(cs,data=state["master"])
-
-  def __getstate__(self):
-    d = copy.deepcopy(self.struct.__getstate__())
-    d["master"] = self.master
-    return d
-
-  def __init__(self,struct,data=None):
-    MatrixStruct.__init__(self,struct,DM,data=data)
-
-  def __DM__(self):
-    return self.cat
-
-class SXStruct(MatrixStruct):
-  def __init__(self,struct,data=None):
-    MatrixStruct.__init__(self,struct,SX,data=data)
-
-  def __SX__(self):
-    return self.cat
-
-class MXStruct(MatrixStruct,VertsplitStructure):
-  def __init__(self,struct,data=None):
-    MatrixStruct.__init__(self,struct,MX,data=data)
-
-    self.buildMap()
-
-  def __MX__(self):
-    return self.cat
-
-class MXVeccatStruct(CasadiStructured,MasterGettable):
-  description = "Partially mutable MX"
-  def __init__(self,arg,order=None):
-    CasadiStructured.__init__(self,arg,order=order)
-    if any(e.expr is None for e in self.entries):
-      raise Exception("struct_MX does only accept entries with an 'expr' argument.")
-
-    self.storage = []
-    self.mapping = {}
-    for k,i in enumerate(self.struct.traverseCanonicalIndex(limit=1)):
-      self.storage.append(None)
-      self.mapping[tuple(i)] = k
-
-    for e in self.entries:
-      self[e.name] = e.expr
-
-    self.dirty = True
-
-  def __setitem__(self,powerIndex,value):
-    if not isinstance(powerIndex,tuple):
-      powerIndex = (powerIndex,)
-
-    def inject(payload,canonicalIndex,extraIndex=None,entry=None):
-      if extraIndex is not None:
-        raise Exception("An MX veccat structure does not accept indexing on MX level for __setitem__.")
-      if not hasattr(self,"sparsity"):
-        raise Exception("An MX veccat structure __setitem__ accepts only objects that have sparsity.")
-
-      if canonicalIndex in self.mapping:
-        if self.struct.map[canonicalIndex].sparsity()!=payload.sparsity():
-          raise Exception("Error in powerIndex slicing %s for canonicalIndex %s: Shape mismatch. lhs is %s, rhs is %s." % (str(powerIndex),str(canonicalIndex),self.struct.map[canonicalIndex].sparsity().dim(),payload.sparsity().dim()))
-        self.storage[self.mapping[canonicalIndex]] = payload
-      else:
-        raise Exception("Not found: %s " % str(canonicalIndex))
-      self.dirty = True
-    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=inject,payload=value)
-
-  def __MX__(self):
-    return self.cat
-
-  @property
-  def master(self):
-    if any(e is None for e in self.storage):
-      missing = filter(lambda k: self.storage[self.mapping[k]] is None,self.mapping.keys())
-
-      raise Exception("Problem in MX vecNZcat structure cat: missing expressions. The following entries are missing: %s" % str(missing))
-
-    if self.dirty:
-      self.master_cached = vertcat(*[casadi.vec(i.nz[:]) for i in self.storage])
-
-    return self.master_cached
-
-
-struct_symSX = ssymStruct
-struct_symMX = msymStruct
-struct_SX = SXStruct
-struct_MX_mutable = MXStruct
-struct_MX = MXVeccatStruct
-struct = CasadiStructured
-
-
-
-entry = StructEntry
-
-class CasadiStructEntry(StructEntry):
-  def __init__(self,*args,**kwargs):
-    if len(args)==0:
-      raise Exception("Missing name argument (first argument of Entry)")
-    else:
-      self.name = args[0]
-    self.dict = kwargs
-
-    if len(args)>1:
-      raise Exception("Don't know what to do with unnamed arguments %s" % str(args[1:]))
-
-
-
-    kw = kwargs.keys()
-    kws = ['repeat','shape','sym','expr','struct','shapestruct','type']
-    for k in kw:
-      if k not in kws:
-        raise Exception("Unknown keyword argument '%s'. Please use one of %s." % (k,str(kws)))
-
-
-
-    for kc, fk in [
-          ('shape',['struct']),
-          ('struct',['shape','shapestruct']),
-          ('shapestruct',['struct']), # You might have a sparse matrix with shapestruct
-          ('sym',['shape','repeat','expr']),
-          ('expr',['shape','repeat','sym'])
-        ]:
-        if kc in kwargs:
-          for fki in fk:
-            if fki in kwargs:
-              raise Exception("You supplied keyword argument '%s', but it cannot be combined with keyword argument '%s'." % (kc,fki))
-
-    #     repeat   argument
-    self.repeat = []
-
-    if 'repeat' in kwargs:
-      self.repeat = kwargs["repeat"] if isinstance(kwargs["repeat"],list) else [kwargs["repeat"]]
-
-    if not all(map(lambda x: is_integer(x),self.repeat)):
-      raise Exception("The 'repeat' argument, if present, must be a list of integers, but got %s" % str(self.repeat))
-
-
-    self.struct = None
-    #     struct   argument
-    if 'struct' in kwargs:
-      struct = kwargs["struct"]
-      if isinstance(struct,Structure):
-        self.struct = struct
-      elif isinstance(struct,Structured):
-        self.struct = struct.struct
-
-
-    self.sparsity = None
-    #     shape   argument
-    if 'shape' in kwargs:
-      shape = kwargs["shape"]
-      if is_integer(shape) :
-        self.sparsity = Sparsity.dense(shape,1)
-      elif isinstance(shape,list) or isinstance(shape,tuple):
-        if len(shape)==0 or len(shape)>2:
-          raise Exception("The 'shape' argument, if present, must be an integer, a tuple of 1 or 2 integers, a sparsity pattern.")
-        else:
-          self.sparsity = Sparsity.dense(*shape)
-      elif isinstance(shape,Sparsity):
-        self.sparsity = shape
-      else:
-        raise Exception("The 'shape' argument, if present, must be an integer, a tuple of 1 or 2 integers, or a sparsity pattern. Got %s " % str(shape))
-    else:
-      self.sparsity = Sparsity.dense(1,1)
-
-    self.shapestruct = None
-    #     shapestruct  argument
-    if 'shapestruct' in kwargs:
-      shapestruct = kwargs["shapestruct"]
-      if isinstance(shapestruct,Structured) or isinstance(shapestruct,Structure):
-        self.shapestruct = (shapestruct.struct,1)
-      elif isinstance(shapestruct,tuple):
-        if not(all([isinstance(e,Structured) or isinstance(e,Structure) or is_integer(e) for e in shapestruct])) or len(shapestruct)==0 or len(shapestruct)>2:
-          raise Exception("The 'shapestruct' argument, if present, must be a structure or a tuple of structures or numbers")
-        self.shapestruct = tuple([e if is_integer(e) else e.struct for e in shapestruct])
-      else:
-        raise Exception("The 'shapestruct' argument, if present, must be a structure or a tuple of at most structures")
-
-      if 'shape' not in kwargs:
-        self.sparsity = Sparsity.dense(*[e if is_integer(e) else e.size for e in self.shapestruct])
-
-    #     sym    argument
-    self.sym = None
-    if 'sym' in kwargs:
-      sym = kwargs["sym"]
-      if isinstance(sym,SX) and sym.is_valid_input():
-        self.sym = sym
-      elif isinstance(sym,Structured):
-        self.struct = sym.struct
-        self.sym = sym.cat
-      else:
-        raise Exception("The 'sym' argument must be a purely symbolic SX or a structured symbolic. Got %s instead." % str(self.sym))
-      self.sparsity = self.sym.sparsity()
-
-    #     expr    argument
-    self.expr = None
-    if 'expr' in kwargs:
-      self.expr = kwargs["expr"]
-
-      def getPrimitive(e,repeat=[]):
-        if isinstance(e,list):
-          if len(e)==0:
-            return None,repeat+[0]
-          else:
-            return getPrimitive(e[0],repeat=repeat+[len(e)])
-        else:
-          return e,repeat
-
-
-      p,r = getPrimitive(self.expr)
-
-      if p is None:
-        self.repeat = [0]
-        self.sparsity = Sparsity.dense(0,0)
-      else:
-        self.repeat = r
-
-        if hasattr(p,"sparsity"):
-          self.sparsity = p.sparsity()
-        else:
-          raise Exception("The 'expr' argument must be a matrix expression or nested list of matrix expressions. Got %s instead." % str(p))
-
-    self.type = None
-    #     class   argument
-    if 'type' in kwargs:
-      self.type= kwargs["type"]
-      allowedclass = ['symm']
-      if self.type not in allowedclass:
-        raise Exception("You supplied a type argument '%s' but it is not recognised. Use one of %s" % (str(self.type,str(allowedclass))))
-      if self.type=="symm":
-        if self.sparsity.size1() != self.sparsity.size2():
-          raise Exception("You supplied a type 'symm', but matrix is not square. Got " % self.sparsity.dim() + ".")
-        self.originalsparsity = self.sparsity
-        self.sparsity = self.sparsity*Sparsity.upper(self.sparsity.size1())
-
-
-
-    StructEntry.__init__(self,self.name,struct=self.struct,dims=self.repeat,data=self.sparsity)
-
-  def primitiveString(self):
-    if self.type is None:
-      return self.sparsity.dim()
-    elif self.type=="symm":
-      return "symm(" +  self.sparsity.dim() + ")"
-
-  def __getstate__(self):
-    return dict((k,getattr(self,k)) for k in ["name", "struct", "sparsity","type","repeat","shapestruct","dims"])
-
-
-def entry(*args,**kwargs):
-  if len(args)==1 and isinstance(args[0],CasadiStructEntry):
-    return args[0]
-  return CasadiStructEntry(*args,**kwargs)
-
-class EntryList:
-  def __init__(self,arg,order = None):
-    self.entries = []
-    self.order = []
-
-    if not isinstance(arg,list):
-      raise Exception("Expecting list of entries, with possible tuples for grouping, but got %s" % str(arg))
-
-    for e in arg:
-      if isinstance(e,tuple):
-        entries = map(entry,e)
-        self.order.append(tuple(x.name for x in entries))
-        self.entries+=entries
-      else:
-        ee = entry(e)
-        self.order.append(ee.name)
-        self.entries.append(ee)
-
-    # Override order
-    if order is not None:
-      if any(isinstance(e,tuple) for e in self.order):
-        raise Exception("You supplied an order by using tuple syntax on entries %s, but you overwrite it with the 'order' keyword. Use one or the other, not both.")
-      self.order = order
-
-    self.names = map(lambda x : x.name,self.entries)
-    if len(self.names)!=len(set(self.names)):
-      duplicates = []
-      for i,e in enumerate(self.names):
-        if e in self.names[:i] or e in self.names[i+1:]:
-          duplicates.append(e)
-      raise Exception("Your list of entries contains duplicates: %s" % str(list(set(duplicates))))
-
-
-class Delegater:
-  def __init__(self,arg):
-    self.arg = arg
-
-  def __str__(self):
-    return "%s[%s]" % (self.__class__.__name__,str(self.arg))
-
-  __repr__ = __str__
-
-
-class IndexDelegater(Delegater):
-  def __call__(self,struct):
-    return struct.i.__getitem__(self.arg)
-
-class FlatIndexDelegater(Delegater):
-  def __call__(self,struct):
-    return struct.f.__getitem__(self.arg)
-
-
-class DelegaterConstructor:
-  """
-    Creates an object that delegates a slicing operation.
-
-    Example usage:
-      s = struct_symSX([])
-      x = struct_symSX(entry("x",Sparsity.diag(4)))
-      x["x",0,index[:]]
-
-  """
-  def __init__(self,delegater,prepend=()):
-    self.prepend = prepend
-    self.delegater = delegater
-
-  @properGetitem
-  def __getitem__(self,arg):
-    return self.delegater(self.prepend + arg)
-
-index  = DelegaterConstructor(IndexDelegater)
-indexf = DelegaterConstructor(FlatIndexDelegater)
-
-class DataReference:
-  @property
-  def shape(self):
-    return self.v.shape
-
-  def dim(self):
-    return self.v.dim()
-
-
-class DataReferenceRepeated(DataReference):
-  def __init__(self,a,n):
-    assert(a.is_dense())
-    self.a = a
-    self.n = n
-    self.v = a.reshape((n*a.size1(),1))
-
-  def __setitem__(self,a,b):
-    self.v.nz[a] = b
-    I = self.a.sparsity().find()
-    self.a.nz[I] = self.v.nz[I]
-
-  def __getitem__(self,a):
-    return self.v.nz[a]
-
-class DataReferenceSquared(DataReference):
-  def __init__(self,a,n):
-    assert(a.is_dense())
-    self.a = a
-    self.v = a
-    self.n = n
-
-  def __setitem__(self,a,b):
-    self.a.nz[a] = b
-
-  def __getitem__(self,a):
-    return self.a.nz[a]
-
-  @property
-  def shape(self):
-    return (self.n*self.n,1)
-
-class DataReferenceProduct(DataReference):
-  def __init__(self,a,n,m):
-    assert(a.is_dense())
-    self.a = a
-    self.v = a
-    self.n = n
-    self.m = m
-
-  def __setitem__(self,a,b):
-    self.a.nz[a] = b
-
-  def __getitem__(self,a):
-    return self.a.nz[a]
-
-  @property
-  def shape(self):
-    return (self.n*self.m,1)
-
-  def size1(self):
-    return self.n
-
-  def size2(self):
-    return self.m
-
-class DataReferenceSquaredRepeated(DataReference):
-  def __init__(self,a,n,N):
-    assert(a.is_dense())
-    self.a = a
-    self.n = n
-    self.N = N
-    self.v = a.reshape((n*n*N,1))
-
-  def __setitem__(self,a,b):
-    self.v.nz[a] = b
-    I = self.a.sparsity().find()
-    self.a.nz[I] = self.v.nz[I]
-
-  def __getitem__(self,a):
-    return self.v.nz[a]
-
-def struct_load(filename):
-    import pickle
-    return pickle.load(file(filename,"rb"))
-