casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/casadi/core/dae_builder.hpp

@@ -0,0 +1,723 @@
+/*
+ *    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_DAE_BUILDER_HPP
+#define CASADI_DAE_BUILDER_HPP
+
+#include "function.hpp"
+
+namespace casadi {
+
+// Forward declarations
+class DaeBuilderInternal;
+
+/** \brief A symbolic representation of a differential-algebraic equations model
+
+    <H3>Variables:  </H3>
+    \verbatim
+    t:      independent variable (usually time)
+    c:      constants
+    p:      parameters
+    d:      dependent parameters (time independent)
+    u:      controls
+    w:      dependent variables  (time dependent)
+    x:      differential states
+    z:      algebraic variables
+    q:      quadrature states
+    y:      outputs
+    \endverbatim
+
+    <H3>Equations:  </H3>
+    \verbatim
+    differential equations: \dot{x} ==  ode(...)
+    algebraic equations:          0 ==  alg(...)
+    quadrature equations:   \dot{q} == quad(...)
+    dependent parameters:         d == ddef(d_prev,p)
+    dependent variables:          w == wdef(w_prev,x,z,u,p,t)
+    output equations:             y == ydef(...)
+    initial equations:     init_lhs == init_rhs(...)
+    events:      when when_cond < 0: when_lhs := when_rhs
+    \endverbatim
+
+    \date 2012-2021
+    \author Joel Andersson
+
+    \identifier{5c} */
+class CASADI_EXPORT DaeBuilder
+  : public SharedObject,
+    public SWIG_IF_ELSE(PrintableCommon, Printable<DaeBuilder>) {
+ public:
+
+  /// Readable name of the class
+  std::string type_name() const {return "DaeBuilder";}
+
+  /// Default constructor
+  DaeBuilder();
+
+  /// Construct a DaeBuilder instance
+  explicit DaeBuilder(const std::string& name, const std::string& path = "",
+    const Dict& opts = Dict());
+
+  /** \brief Name of instance
+
+      \identifier{5d} */
+  const std::string& name() const;
+
+  /** @name Variables and equations */
+  ///@{
+  /** \brief Independent variable (usually time)
+
+      \identifier{5e} */
+  const MX& t() const;
+
+  /** \brief Differential states
+
+      \identifier{5f} */
+  std::vector<std::string> x() const;
+
+  /** \brief Ordinary differential equations (ODE)
+
+      \identifier{5g} */
+  std::vector<MX> ode() const;
+
+  /** \brief Algebraic variables
+
+      \identifier{5h} */
+  std::vector<std::string> z() const;
+
+  /** \brief Algebraic equations
+
+      \identifier{5i} */
+  std::vector<MX> alg() const;
+
+  /** \brief Quadrature states
+
+      \identifier{5j} */
+  std::vector<std::string> q() const;
+
+  /** \brief Quadrature equations
+
+      \identifier{5k} */
+  std::vector<MX> quad() const;
+
+  /** \brief Output variables
+
+      \identifier{5l} */
+  std::vector<std::string> y() const;
+
+  /** \brief Definitions of output variables
+
+      \identifier{5m} */
+  std::vector<MX> ydef() const;
+
+  /** \brief Free controls
+
+      \identifier{5n} */
+  std::vector<std::string> u() const;
+
+  /** \brief Parameters
+
+      \identifier{5o} */
+  std::vector<std::string> p() const;
+
+  /** \brief Named constants
+
+      \identifier{5p} */
+  std::vector<std::string> c() const;
+
+  /** \brief Definitions of named constants
+
+      \identifier{5q} */
+  std::vector<MX> cdef() const;
+
+  /** \brief Dependent parameters
+
+      \identifier{5r} */
+  std::vector<std::string> d() const;
+
+  /** \brief Definitions of dependent parameters
+
+    * Interdependencies are allowed but must be non-cyclic.
+
+      \identifier{5s} */
+  std::vector<MX> ddef() const;
+
+  /** \brief Dependent variables
+
+      \identifier{5t} */
+  std::vector<std::string> w() const;
+
+  /** \brief Dependent variables and corresponding definitions
+
+   * Interdependencies are allowed but must be non-cyclic.
+
+      \identifier{5u} */
+  std::vector<MX> wdef() const;
+
+  /** \brief Auxiliary variables: Used e.g. to define functions
+
+      \identifier{5v} */
+  const std::vector<MX>& aux() const;
+
+  /** \brief Initial conditions, left-hand-side
+
+      \identifier{5w} */
+  const std::vector<MX>& init_lhs() const;
+
+  /** \brief Initial conditions, right-hand-side
+
+      \identifier{5x} */
+  const std::vector<MX>& init_rhs() const;
+
+  /** \brief When statement: triggering condition
+
+      \identifier{5y} */
+  const std::vector<MX>& when_cond() const;
+
+  /** \brief When statement: left-hand-side
+
+      \identifier{5z} */
+  const std::vector<MX>& when_lhs() const;
+
+  /** \brief When statement: right-hand-side
+
+      \identifier{60} */
+  const std::vector<MX>& when_rhs() const;
+  ///@}
+
+  /** \brief Model structure: outputs
+
+      \identifier{61} */
+  std::vector<std::string> outputs() const;
+
+  /** \brief Model structure: derivatives
+
+      \identifier{62} */
+  std::vector<std::string> derivatives() const;
+
+  /** \brief Model structure: initial unknowns
+
+      \identifier{63} */
+  std::vector<std::string> initial_unknowns() const;
+
+  /** @name Variables and equations */
+  ///@{
+
+  /** \brief Is there a time variable?
+
+      \identifier{64} */
+  bool has_t() const;
+
+  /** \brief Differential states
+
+      \identifier{65} */
+  casadi_int nx() const;
+
+  /** \brief Algebraic variables
+
+      \identifier{66} */
+  casadi_int nz() const;
+
+  /** \brief Quadrature states
+
+      \identifier{67} */
+  casadi_int nq() const;
+
+  /** \brief Output variables
+
+      \identifier{68} */
+  casadi_int ny() const;
+
+  /** \brief Free controls
+
+      \identifier{69} */
+  casadi_int nu() const;
+
+  /** \brief Parameters
+
+      \identifier{6a} */
+  casadi_int np() const;
+
+  /** \brief Named constants
+
+      \identifier{6b} */
+  casadi_int nc() const;
+
+  /** \brief Dependent parameters
+
+      \identifier{6c} */
+  casadi_int nd() const;
+
+  /** \brief Dependent variables
+
+      \identifier{6d} */
+  casadi_int nw() const;
+  ///@}
+
+  /** @name Symbolic modeling
+   *  Formulate a dynamic system model
+   */
+  ///@{
+  /// Add an independent variable (time)
+  MX add_t(const std::string& name="t");
+
+  /// Add a new parameter
+  MX add_p(const std::string& name=std::string());
+
+  /// Add a new control
+  MX add_u(const std::string& name=std::string());
+
+  /// Add a new differential state
+  MX add_x(const std::string& name=std::string());
+
+  /// Add a new algebraic variable
+  MX add_z(const std::string& name=std::string());
+
+  /// Add a new quadrature state
+  MX add_q(const std::string& name=std::string());
+
+  /// Add a new constant
+  MX add_c(const std::string& name, const MX& new_cdef);
+
+  /// Add a new dependent parameter
+  MX add_d(const std::string& name, const MX& new_ddef);
+
+  /// Add a new dependent variable
+  MX add_w(const std::string& name, const MX& new_wdef);
+
+  /// Add a new output
+  MX add_y(const std::string& name, const MX& new_ydef);
+
+  /// Specify the ordinary differential equation for a state
+  void set_ode(const std::string& name, const MX& ode_rhs);
+
+  /// Specificy the residual equation for an algebraic variable
+  void set_alg(const std::string& name, const MX& alg_rhs);
+
+  /// Add an auxiliary variable
+  MX add_aux(const std::string& name=std::string(), casadi_int n=1);
+
+  /// Add an initial equation
+  void add_init(const MX& lhs, const MX& rhs);
+
+  /// Add a when statement
+  void add_when(const MX& cond, const MX& lhs, const MX& rhs);
+
+  /// Check if dimensions match
+  void sanity_check() const;
+  ///@}
+
+  /// Clear all variables of a type
+  void clear_all(const std::string& v);
+
+  /// Set all variables of a type
+  void set_all(const std::string& v, const std::vector<std::string>& name);
+
+  /** @name Register an existing variable */
+  ///@{
+  void register_t(const std::string& name);
+  void register_p(const std::string& name);
+  void register_u(const std::string& name);
+  void register_x(const std::string& name);
+  void register_z(const std::string& name);
+  void register_q(const std::string& name);
+  void register_c(const std::string& name);
+  void register_d(const std::string& name);
+  void register_w(const std::string& name);
+  void register_y(const std::string& name);
+  ///@}
+
+#ifdef WITH_DEPRECATED_FEATURES
+  /** @name [DEPRECATED] Specify all variables of a type: Call set_all instead */
+  ///@{
+  void set_u(const std::vector<std::string>& name) { set_all("u", name);}
+  void set_x(const std::vector<std::string>& name) { set_all("x", name);}
+  void set_z(const std::vector<std::string>& name,
+    const std::vector<std::string>& alg = std::vector<std::string>());
+  void set_q(const std::vector<std::string>& name) { set_all("q", name);}
+  void set_y(const std::vector<std::string>& name) { set_all("y", name);}
+  ///@}
+#endif  // WITH_DEPRECATED_FEATURES
+
+  /** @name Manipulation
+   *  Reformulate the dynamic optimization problem.
+   */
+  ///@{
+
+#ifdef WITH_DEPRECATED_FEATURES
+  /// [DEPRECATED] Clear input variable: Replaced by clear_all
+  void clear_in(const std::string& v) { clear_all(v);}
+#endif  // WITH_DEPRECATED_FEATURES
+
+  /// Eliminate all dependent variables
+  void eliminate_w();
+
+  /// Lift problem formulation by extracting shared subexpressions
+  void lift(bool lift_shared = true, bool lift_calls = true);
+
+  /// Eliminate quadrature states and turn them into ODE states
+  void eliminate_quad();
+
+  /// Sort dependent parameters
+  void sort_d();
+
+  /// Sort dependent variables
+  void sort_w();
+
+  /// Sort algebraic variables
+  void sort_z(const std::vector<std::string>& z_order);
+
+  /// Prune unused controls
+  void prune(bool prune_p = true, bool prune_u = true);
+
+  /// Identify iteration variables and residual equations using naming convention
+  void tear();
+  ///@}
+
+  /** @name Functions
+   *  Add or load auxiliary functions
+   */
+  ///@{
+
+  /// Add a function from loaded expressions
+  Function add_fun(const std::string& name,
+                   const std::vector<std::string>& arg,
+                   const std::vector<std::string>& res, const Dict& opts=Dict());
+
+  /// Add an already existing function
+  Function add_fun(const Function& f);
+
+  /// Add an external function
+  Function add_fun(const std::string& name, const Importer& compiler,
+                   const Dict& opts=Dict());
+
+  /// Does a particular function already exist?
+  bool has_fun(const std::string& name) const;
+
+  /// Get function by name
+  Function fun(const std::string& name) const;
+
+  /// Get all functions
+  std::vector<Function> fun() const;
+
+  /// Collect embedded functions from the expression graph
+  void gather_fun(casadi_int max_depth = -1);
+///@}
+
+  /** @name Import and export
+   */
+  ///@{
+  /// Import existing problem from FMI/XML
+  void parse_fmi(const std::string& filename) {load_fmi_description(filename); }
+
+  /// Does the FMU provide support for analytic derivatives
+  bool provides_directional_derivative() const;
+
+  /// Import problem description from FMI or XML
+  void load_fmi_description(const std::string& filename);
+
+  /// Export instance into an FMU
+  std::vector<std::string> export_fmu(const Dict& opts=Dict());
+
+  /// Add a named linear combination of output expressions
+  void add_lc(const std::string& name, const std::vector<std::string>& f_out);
+
+  /// Construct a function object, legacy syntax
+  Function create(const std::string& fname,
+    const std::vector<std::string>& name_in,
+    const std::vector<std::string>& name_out, bool sx, bool lifted_calls = false) const;
+
+  /** \brief  Construct a function object, names provided
+
+    \param name    Name assigned to the resulting function object
+    \param name_in   Names of all the inputs
+    \param name_out  Names of all the outputs
+    \param opts    Optional settings
+
+      \identifier{6e} */
+  Function create(const std::string& name,
+    const std::vector<std::string>& name_in,
+    const std::vector<std::string>& name_out,
+    const Dict& opts=Dict()) const;
+  ///@}
+
+  /** \brief  Load a function from an FMU DLL, standard IO conforming with simulator
+
+    \param name    Name assigned to the resulting function object
+    \param opts    Optional settings
+
+      \identifier{6f} */
+  Function create(const std::string& name, const Dict& opts=Dict()) const;
+
+  /// Construct a function for evaluating dependent parameters
+  Function dependent_fun(const std::string& fname,
+      const std::vector<std::string>& s_in,
+      const std::vector<std::string>& s_out) const;
+
+  ///@{
+  /// Get variable expression by name
+  MX var(const std::string& name) const;
+  MX operator()(const std::string& name) const {return var(name);}
+  ///@}
+
+  /// Get the time derivative of an expression
+  std::vector<std::string> der(const std::vector<std::string>& name) const;
+
+  ///@{
+  /// Get/set the binding equation for a variable
+  MX beq(const std::string& name) const;
+  void set_beq(const std::string& name, const MX& val);
+  ///@}
+
+  ///@{
+  /// Get/set value reference
+  casadi_int value_reference(const std::string& name) const;
+  void set_value_reference(const std::string& name, casadi_int val);
+  ///@}
+
+  ///@{
+  /// Get/set description
+  std::string description(const std::string& name) const;
+  void set_description(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the type
+  std::string type(const std::string& name, casadi_int fmi_version = 3) const;
+  void set_type(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the causality
+  std::string causality(const std::string& name) const;
+  void set_causality(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the variability
+  std::string variability(const std::string& name) const;
+  void set_variability(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the initial property
+  std::string initial(const std::string& name) const;
+  void set_initial(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the unit
+  std::string unit(const std::string& name) const;
+  void set_unit(const std::string& name, const std::string& val);
+  ///@}
+
+  ///@{
+  /// Get/set the display unit
+  std::string display_unit(const std::string& name) const;
+  void set_display_unit(const std::string& name, const std::string& val);
+  ///@}
+
+  /// Get the number of elements of a variable
+  casadi_int numel(const std::string& name) const;
+
+  /// Get the dimensions of a variable
+  std::vector<casadi_int> dimension(const std::string& name) const;
+
+  // The following routines are not needed in MATLAB and would cause ambiguity
+  // Note that a multirow strings can be interpreted as a vector of strings
+#if !(defined(SWIG) && defined(SWIGMATLAB))
+  /// Get the time derivative of an expression, single variable
+  std::string der(const std::string& name) const;
+
+  /// Get an attribute, single variable
+  double attribute(const std::string& a, const std::string& name) const;
+
+  /// Set an attribute, single variable
+  void set_attribute(const std::string& a, const std::string& name, double val);
+
+  /// Get the lower bound, single variable
+  double min(const std::string& name) const;
+
+  /// Set the lower bound, single variable
+  void set_min(const std::string& name, double val);
+
+  /// Get the upper bound, single variable
+  double max(const std::string& name) const;
+
+  /// Set the upper bound, single variable
+  void set_max(const std::string& name, double val);
+
+  /// Get the nominal value, single variable
+  double nominal(const std::string& name) const;
+
+  /// Set the nominal value, single variable
+  void set_nominal(const std::string& name, double val);
+
+  /// Get the start attribute, single variable
+  double start(const std::string& name) const;
+
+  /// Set the start attribute, single variable
+  void set_start(const std::string& name, double val);
+
+  // Clear all set values
+  void reset();
+
+  // Set the current value, single value
+  void set(const std::string& name, double val);
+
+  // Set the current value, single value (string)
+  void set(const std::string& name, const std::string& val);
+
+  /// Evaluate the values for a set of variables at the initial time, single value
+  GenericType get(const std::string& name) const;
+
+#endif  // !SWIGMATLAB
+
+  /// Get an attribute
+  std::vector<double> attribute(const std::string& a, const std::vector<std::string>& name) const;
+
+  /// Set an attribute
+  void set_attribute(const std::string& a, const std::vector<std::string>& name,
+    const std::vector<double>& val);
+
+  /// Get the lower bound
+  std::vector<double> min(const std::vector<std::string>& name) const;
+
+  /// Set the lower bound
+  void set_min(const std::vector<std::string>& name, const std::vector<double>& val);
+
+  /// Get the upper bound
+  std::vector<double> max(const std::vector<std::string>& name) const;
+
+  /// Set the upper bound
+  void set_max(const std::vector<std::string>& name, const std::vector<double>& val);
+
+  /// Get the nominal value
+  std::vector<double> nominal(const std::vector<std::string>& name) const;
+
+  /// Set the nominal value
+  void set_nominal(const std::vector<std::string>& name, const std::vector<double>& val);
+
+  /// Get the start attribute
+  std::vector<double> start(const std::vector<std::string>& name) const;
+
+  /// Set the start attribute
+  void set_start(const std::vector<std::string>& name, const std::vector<double>& val);
+
+  /// Set the current value
+  void set(const std::vector<std::string>& name, const std::vector<double>& val);
+
+  /// Set the current value (string)
+  void set(const std::vector<std::string>& name, const std::vector<std::string>& val);
+
+  /// Evaluate the values for a set of variables at the initial time
+  std::vector<GenericType> get(const std::vector<std::string>& name) const;
+
+  /// Add a new variable: returns corresponding symbolic expression
+  MX add_variable(const std::string& name, casadi_int n=1);
+
+  /// Add a new variable: returns corresponding symbolic expression
+  MX add_variable(const std::string& name, const Sparsity& sp);
+
+  /// Add a new variable from symbolic expressions
+  void add_variable(const MX& new_v);
+
+  /// Add a new variable: returns corresponding symbolic expression
+  size_t add_variable_new(const std::string& name, casadi_int n=1);
+
+  /// Add a new variable: returns corresponding symbolic expression
+  size_t add_variable_new(const std::string& name, const Sparsity& sp);
+
+  /// Add a new variable from symbolic expressions
+  size_t add_variable_new(const MX& new_v);
+
+  /// Check if a particular variable exists
+  bool has_variable(const std::string& name) const;
+
+  /// Get a list of all variables
+  std::vector<std::string> all_variables() const;
+
+  /// Get the (cached) oracle, SX or MX
+  Function oracle(bool sx = false, bool elim_w = false, bool lifted_calls = false) const;
+
+  /** \brief Get Jacobian sparsity
+
+      \identifier{6g} */
+  Sparsity jac_sparsity(const std::vector<std::string>& onames,
+    const std::vector<std::string>& inames) const;
+
+#ifndef SWIG
+  /// Create a new variable
+  Variable& new_variable(const std::string& name, casadi_int numel = 1);
+
+  ///@{
+  /// Access a variable by name
+  Variable& variable(const std::string& name);
+  const Variable& variable(const std::string& name) const;
+  ///@}
+
+  ///@{
+  /// Access a variable by index
+  Variable& variable(size_t ind);
+  const Variable& variable(size_t ind) const;
+  ///@}
+
+  /// Access a member function or object
+  const DaeBuilderInternal* operator->() const;
+
+  /// Access a member function or object
+  DaeBuilderInternal* operator->();
+
+  /// Check if a particular cast is allowed
+  static bool test_cast(const SharedObjectInternal* ptr);
+
+  /// Get single variable expression by index
+  const MX& var(size_t ind) const;
+
+  /// Get variable expressions by index
+  std::vector<MX> var(const std::vector<size_t>& ind) const;
+
+  /// Get index of variable
+  size_t find(const std::string& name) const;
+
+  /// Get indices of variable
+  std::vector<size_t> find(const std::vector<std::string>& name) const;
+
+  /** \brief Get variable name by index
+
+      \identifier{6h} */
+  const std::string& name(size_t ind) const;
+
+  /** \brief Get variable names by indices
+
+      \identifier{6i} */
+  std::vector<std::string> name(const std::vector<size_t>& ind) const;
+
+#endif // SWIG
+};
+
+} // namespace casadi
+
+#endif // CASADI_DAE_BUILDER_HPP