casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/casadi/core/runtime/casadi_dense_lsqr.hpp

@@ -0,0 +1,247 @@
+// C-REPLACE "fabs" "casadi_fabs"
+// C-REPLACE "sign" "casadi_sign"
+
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "lsqr_sym_ortho"
+template<typename T1>
+void casadi_dense_lsqr_sym_ortho(T1 a, T1 b, T1* cs, T1* sn, T1* rho) {
+    T1 tau;
+    if (b == 0) {
+        *cs = sign(a);
+        *sn = 0;
+        *rho = fabs(a);
+    } else if (a==0) {
+        *cs = 0;
+        *sn = sign(b);
+        *rho = fabs(b);
+    } else if (fabs(b)>fabs(a)) {
+        tau = a/b;
+        *sn = sign(b)/sqrt(1+tau*tau);
+        *cs = (*sn)*tau;
+        *rho = b/(*sn);
+    } else {
+        tau = b/a;
+        *cs = sign(a)/sqrt(1+tau*tau);
+        *sn = (*cs)*tau;
+        *rho = a/(*cs);
+    }
+}
+
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "lsqr_single_solve"
+// Ref: scipy
+template<typename T1>
+int casadi_dense_lsqr_single_solve(const T1* A, T1* x, casadi_int tr, const casadi_int ncol,
+      const casadi_int nrow, T1* w) {
+    casadi_int m, n, i;
+    T1 damp, atol, btol, conlim, ctol, anorm, acond, dampsq, ddnorm, res2, xnorm, xxnorm, z;
+    T1 cs2, sn2, alpha, beta, rhobar, phibar, bnorm, rnorm, arnorm, rhobar1, cs1, sn1, psi;
+    T1 cs, sn, rho, theta, phi, tau, t1, t2, n2dk, delta, gambar, rhs, zbar, gamma, res1;
+    T1 r1sq, r1norm, test1, test2, test3, rtol;
+    casadi_int iter_lim, itn, istop;
+    T1 *u, *v, *xx, *ww, *dk;
+
+    m = ncol;//sp[0];
+    n = nrow;//sp[1];
+
+    damp = 0;
+    atol = 1e-15;
+    btol = 1e-15;
+    conlim = 1e8;
+    iter_lim = 10000;
+
+    itn = 0;
+    istop = 0;
+
+    ctol = 0;
+    if (conlim > 0) ctol = 1/conlim;
+    anorm = 0;
+    acond = 0;
+    dampsq = damp*damp;
+    ddnorm = 0;
+    res2 = 0;
+    xnorm = 0;
+    xxnorm = 0;
+    z = 0;
+    cs2 = -1;
+    sn2 = 0;
+
+    u = w;  w+= m; casadi_copy(x, m, u);
+    v = w;  w+= n; casadi_clear(v, n);
+    xx = w; w+= n; casadi_clear(xx, n);
+    ww = w; w+= n; casadi_clear(v, n);
+    dk = w; w+= n;
+
+    alpha = 0;
+    beta = casadi_norm_2(m, u);
+
+    if (beta>0) {
+      for (i=0;i<m;++i) u[i]*=1/beta;
+      casadi_mv_dense(A, nrow, ncol, u, v, !tr);
+      // casadi_mv(A, sp, u, v, !tr);
+      alpha = casadi_norm_2(n, v);
+    }
+
+    if (alpha>0) {
+      for (i=0;i<n;++i) v[i]*=1/alpha;
+      casadi_copy(v, n, ww);
+    }
+
+    rhobar = alpha;
+    phibar = beta;
+    bnorm = beta;
+    rnorm = beta;
+    arnorm = alpha * beta;
+
+    while (itn<iter_lim) {
+      itn++;
+      for (i=0;i<m;++i) u[i]*=-alpha;
+      // casadi_mv(A, sp, v, u, tr);
+      casadi_mv_dense(A, nrow, ncol, u, v, !tr);
+      beta = casadi_norm_2(m, u);
+
+      if (beta>0) {
+        for (i=0;i<m;++i) u[i]*=1/beta;
+        anorm = sqrt(anorm*anorm + alpha*alpha+beta*beta+damp*damp);
+        for (i=0;i<n;++i) v[i]*=-beta;
+        // casadi_mv(A, sp, u, v, !tr);
+        casadi_mv_dense(A, nrow, ncol, u, v, !tr);
+        alpha = casadi_norm_2(n, v);
+        if (alpha>0) for (i=0;i<n;++i) v[i]*=1/alpha;
+      }
+
+      rhobar1 = sqrt(rhobar*rhobar+damp*damp);
+
+      cs1 = rhobar / rhobar1;
+      sn1 = damp / rhobar1;
+      psi = sn1 * phibar;
+      phibar *= cs1;
+
+      casadi_dense_lsqr_sym_ortho(rhobar1, beta, &cs, &sn, &rho);
+
+      theta = sn * alpha;
+      rhobar = -cs * alpha;
+      phi = cs * phibar;
+      phibar *= sn;
+      tau = sn * phi;
+
+      t1 = phi / rho;
+      t2 = -theta / rho;
+
+      for (i=0;i<n;++i) dk[i]=ww[i]/rho;
+
+      for (i=0; i<n; ++i) xx[i] += t1*ww[i];
+      for (i=0; i<n; ++i) ww[i] = v[i] + t2*ww[i];
+
+      n2dk = casadi_norm_2(n, dk);
+      ddnorm += n2dk*n2dk;
+
+      delta = sn2 * rho;
+      gambar = -cs2 * rho;
+      rhs = phi - delta * z;
+      zbar = rhs / gambar;
+      xnorm = sqrt(xxnorm + zbar*zbar);
+      gamma = sqrt(gambar*gambar + theta*theta);
+      cs2 = gambar / gamma;
+      sn2 = theta / gamma;
+      z = rhs / gamma;
+      xxnorm += z*z;
+
+      acond = anorm * sqrt(ddnorm);
+      res1 = phibar*phibar;
+      res2 += psi*psi;
+      rnorm = sqrt(res1+res2);
+      arnorm = alpha*fabs(tau);
+
+      r1sq = rnorm*rnorm - dampsq * xxnorm;
+      r1norm = sqrt(fabs(r1sq));
+      if (r1sq < 0) r1norm = -r1norm;
+
+      test1 = rnorm / bnorm;
+      test2 = arnorm / (anorm * rnorm);
+      test3 = 1 / acond;
+      t1 = test1 / (1 + anorm * xnorm / bnorm);
+      rtol = btol + atol * anorm * xnorm / bnorm;
+
+      if (itn >= iter_lim) istop = 7;
+      if (1 + test3 <= 1) istop = 6;
+      if (1 + test2 <= 1) istop = 5;
+      if (1 + t1 <= 1) istop = 4;
+
+      if (test3 <= ctol) istop = 3;
+      if (test2 <= atol) istop = 2;
+      if (test1 <= rtol) istop = 1;
+
+      if (istop != 0) break;
+
+    }
+    casadi_copy(xx, m, x);
+    return 0;
+}
+
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "lsqr_solve"
+template<typename T1>
+int casadi_dense_lsqr_solve(const T1* A, T1* x, casadi_int nrhs, casadi_int tr,
+      const casadi_int ncol, const casadi_int nrow, T1* w) {
+    casadi_int i;
+    for (i=0; i<nrhs;++i) {
+      // if (casadi_dense_lsqr_single_solve(A, x+i*sp[1], tr, ncol, nrow, w)) return 1;
+      if (casadi_dense_lsqr_single_solve(A, x+i*nrow, tr, ncol, nrow, w)) return 1;
+    }
+    return 0;
+}

casadi/include/casadi/core/runtime/casadi_densify.hpp

@@ -0,0 +1,48 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "densify"
+template<typename T1, typename T2>
+void casadi_densify(const T1* x, const casadi_int* sp_x, T2* y, casadi_int tr) {
+  casadi_int nrow_x, ncol_x, i, el;
+  const casadi_int *colind_x, *row_x;
+  // Quick return - output ignored
+  if (!y) return;
+  nrow_x = sp_x[0]; ncol_x = sp_x[1];
+  colind_x = sp_x+2; row_x = sp_x+ncol_x+3;
+  // Zero out return value
+  casadi_clear(y, nrow_x*ncol_x);
+  // Quick return - input is zero
+  if (!x) return;
+  // Copy nonzeros
+  if (tr) {
+    for (i=0; i<ncol_x; ++i) {
+      for (el=colind_x[i]; el!=colind_x[i+1]; ++el) {
+        y[i + row_x[el]*ncol_x] = CASADI_CAST(T2, *x++);
+      }
+    }
+  } else {
+    for (i=0; i<ncol_x; ++i) {
+      for (el=colind_x[i]; el!=colind_x[i+1]; ++el) {
+        y[row_x[el]] = CASADI_CAST(T2, *x++);
+      }
+      y += nrow_x;
+    }
+  }
+}

casadi/include/casadi/core/runtime/casadi_dot.hpp

@@ -0,0 +1,27 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "dot"
+template<typename T1>
+T1 casadi_dot(casadi_int n, const T1* x, const T1* y) {
+  casadi_int i;
+  T1 r = 0;
+  for (i=0; i<n; ++i) r += *x++ * *y++;
+  return r;
+}

casadi/include/casadi/core/runtime/casadi_feasiblesqpmethod.hpp

@@ -0,0 +1,208 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+
+// C-REPLACE "casadi_nlpsol_prob<T1>" "struct casadi_nlpsol_prob"
+
+// SYMBOL "feasiblesqpmethod_prob"
+template<typename T1>
+struct casadi_feasiblesqpmethod_prob {
+  const casadi_nlpsol_prob<T1>* nlp;
+  // Sparsity patterns
+  const casadi_int *sp_h, *sp_a, *sp_hr;
+  // casadi_int merit_memsize;
+  // casadi_int max_iter_ls;
+};
+// C-REPLACE "casadi_feasiblesqpmethod_prob<T1>" "struct casadi_feasiblesqpmethod_prob"
+
+
+// SYMBOL "feasiblesqpmethod_data"
+template<typename T1>
+struct casadi_feasiblesqpmethod_data {
+  // Problem structure
+  const casadi_feasiblesqpmethod_prob<T1>* prob;
+
+  // Lagrange gradient in the next iterate
+  T1 *gLag, *gLag_old;
+  // Gradient of the objective
+  T1 *gf;
+  // Bounds of the QP
+  T1 *lbdz, *ubdz;
+  // QP solution
+  T1 *dx, *dlam;
+  // Feasibility QP solution
+  T1 *dx_feas;
+  T1 *dlam_feas;
+  // Feasibility iterate
+  T1 *z_feas;
+  T1 *gf_feas;
+  T1 *lbdz_feas, *ubdz_feas;
+  T1* z_tmp;
+  T1 *tr_scale_vector;
+  casadi_int *tr_mask;
+  // Hessian approximation
+  T1 *Bk;
+  // Jacobian
+  T1* Jk;
+  // Anderson vectors
+  T1* anderson_memory_step;
+  T1* anderson_memory_iterate;
+  T1* gamma;
+
+  // Function value of feasibility iterate
+  T1 f_feas;
+  // merit_mem
+  // T1* merit_mem;
+  // temp_mem
+  // T1* temp_mem;
+  // temp_sol
+  // T1* temp_sol;
+};
+// C-REPLACE "casadi_feasiblesqpmethod_data<T1>" "struct casadi_feasiblesqpmethod_data"
+
+
+// SYMBOL "feasiblesqpmethod_work"
+template<typename T1>
+void casadi_feasiblesqpmethod_work(const casadi_feasiblesqpmethod_prob<T1>* p,
+    casadi_int* sz_iw, casadi_int* sz_w, int sz_anderson_memory) {
+  // Local variables
+  casadi_int nnz_h, nnz_a, nx, ng;
+  nnz_h = p->sp_h[2+p->sp_h[1]];
+  nnz_a = p->sp_a[2+p->sp_a[1]];
+  nx = p->nlp->nx;
+  ng = p->nlp->ng;
+
+  // Reset sz_w, sz_iw
+  *sz_w = *sz_iw = 0;
+  // if (p->max_iter_ls>0) *sz_w += nx + ng; // z_cand
+  // Lagrange gradient in the next iterate
+  *sz_w += nx; // gLag
+  *sz_w += nx; // gLag_old
+  // Gradient of the objective
+  *sz_w += nx; // gf
+  // Bounds of the QP
+  *sz_w += nx + ng; // lbdz
+  *sz_w += nx + ng; // ubdz
+  // QP solution
+  *sz_w += nx; // dx
+  *sz_w += nx + ng; // dlam
+  // Feasibility QP solution
+  *sz_w += nx; // dx_feas
+  *sz_w += nx + ng; // dlam_feas
+  // Feasibility iterate
+  *sz_w += nx + ng; // x_feas + g_feas
+  *sz_w += nx; // gf_feas
+  *sz_w += nx + ng; // lower bounds feasibile QP
+  *sz_w += nx + ng; // upper bounds feasible QP
+  *sz_w += nx+ng; // x tmp feasible QP
+  *sz_w += nx; // tr_scale_vector
+  *sz_iw += nx; // tr_mask
+  // Hessian approximation
+  *sz_w += nnz_h; // Bk
+  // Jacobian
+  *sz_w += nnz_a; // Jk
+  // merit_mem
+  // if (p->max_iter_ls>0) *sz_w += p->merit_memsize;
+
+  if (sz_anderson_memory > 0) {
+    // for step (dx)
+    *sz_w += sz_anderson_memory*nx;
+    // for x
+    *sz_w += sz_anderson_memory*nx;
+    // for gamma
+    *sz_w += sz_anderson_memory;
+  }
+
+  // if (elastic_mode) {
+  //   // Additional work for larger objective gradient
+  //   *sz_w += 2*ng; // gf
+  //   // Additional work for the larger bounds
+  //   *sz_w += 2*ng; // lbdz
+  //   *sz_w += 2*ng; // ubdz
+  //   // Additional work for larger solution
+  //   *sz_w += 2*ng; // dx
+  //   *sz_w += 2*ng; // dlam
+  //   // Additional work for larger jacobian
+  //   *sz_w += 2*ng; // Jk
+  //   // Additional work for temp memory
+  //   *sz_w += ng;
+  // }
+
+  // if (so_corr) *sz_w += nx+nx+ng; // Temp memory for failing soc
+}
+
+// SYMBOL "feasiblesqpmethod_init"
+template<typename T1>
+void casadi_feasiblesqpmethod_init(casadi_feasiblesqpmethod_data<T1>* d,
+    casadi_int** iw, T1** w, int sz_anderson_memory) {
+  // Local variables
+  casadi_int nnz_h, nnz_a, nx, ng;
+  const casadi_feasiblesqpmethod_prob<T1>* p = d->prob;
+  // Get matrix number of nonzeros
+  nnz_h = p->sp_h[2+p->sp_h[1]];
+  nnz_a = p->sp_a[2+p->sp_a[1]];
+  nx = p->nlp->nx;
+  ng = p->nlp->ng;
+  // if (p->max_iter_ls>0) {
+  //   d->z_cand = *w; *w += nx + ng;
+  // }
+  // Lagrange gradient in the next iterate
+  d->gLag = *w; *w += nx;
+  d->gLag_old = *w; *w += nx;
+  // Hessian approximation
+  d->Bk = *w; *w += nnz_h;
+  // merit_mem
+  // if (p->max_iter_ls>0) {
+  //   d->merit_mem = *w; *w += p->merit_memsize;
+  // }
+
+  // if (so_corr) {
+  //   d->temp_sol = *w; *w += nx+nx+ng;
+  // }
+
+  // Gradient of the objective
+  d->gf = *w; *w += nx;
+  // Bounds of the QP
+  d->lbdz = *w; *w += nx + ng;
+  d->ubdz = *w; *w += nx + ng;
+  // QP solution
+  d->dx = *w; *w += nx;
+  d->dlam = *w; *w += nx + ng;
+  // Feasible QP solution
+  d->dx_feas = *w; *w += nx;
+  d->dlam_feas = *w; *w += nx + ng;
+  // feasibility iterate
+  d->z_feas = *w; *w += nx + ng;
+  d->gf_feas = *w; *w += nx;
+  // Bounds of the feasibility QPs
+  d->lbdz_feas = *w; *w += nx + ng;
+  d->ubdz_feas = *w; *w += nx + ng;
+  // x tmp for QPs
+  d->z_tmp = *w; *w += sz_anderson_memory*nx+ng;
+  // trust-region scale vector
+  d->tr_scale_vector = *w; *w += nx;
+  d->tr_mask = *iw; *iw += nx;
+  // Jacobian
+  d->Jk = *w; *w += nnz_a;
+  // Anderson vector
+  d->anderson_memory_step = *w; *w += sz_anderson_memory*nx;
+  d->anderson_memory_iterate = *w; *w += sz_anderson_memory*nx;
+  d->gamma = *w; *w += sz_anderson_memory;
+
+}

casadi/include/casadi/core/runtime/casadi_file_slurp.hpp

@@ -0,0 +1,32 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "file_slurp"
+template <typename T1>
+int casadi_file_slurp(const char* fname, casadi_int n, T1* x) {
+  casadi_int i;
+  FILE *fp;
+  fp = fopen(fname, "r");
+  if (!fp) return 1;
+  for (i=0;i<n;++i) {
+    if (fscanf(fp, "%lg", x++)<=0) return 2;
+  }
+  fclose(fp);
+  return 0;
+}

casadi/include/casadi/core/runtime/casadi_fill.hpp

@@ -0,0 +1,27 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// SYMBOL "fill"
+template<typename T1>
+void casadi_fill(T1* x, casadi_int n, T1 alpha) {
+  casadi_int i;
+  if (x) {
+    for (i=0; i<n; ++i) *x++ = alpha;
+  }
+}