casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/casadi/core/sparsity_interface.hpp

@@ -0,0 +1,745 @@
+/*
+ *    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_SPARSITY_INTERFACE_HPP
+#define CASADI_SPARSITY_INTERFACE_HPP
+
+#include "casadi_misc.hpp"
+
+namespace casadi {
+  /** \brief Empty Base
+
+      This class is extended in SWIG.
+
+      \identifier{3c} */
+  struct CASADI_EXPORT SparsityInterfaceCommon {};
+
+#ifndef SWIG
+  /** \brief Sparsity interface class
+
+      This is a common base class for GenericMatrix (i.e. MX and Matrix<>) and Sparsity, introducing a
+      uniform syntax and implementing common functionality using the curiously recurring template pattern
+      (CRTP) idiom.\n
+
+      \author Joel Andersson
+      \date 2014
+
+      \identifier{3d} */
+  template<typename MatType>
+  class SparsityInterface : public SparsityInterfaceCommon {
+  protected:
+    // Helper functions
+    inline const MatType& self() const { return static_cast<const MatType&>(*this); }
+    inline MatType& self() { return static_cast<MatType&>(*this); }
+  public:
+
+    /// \cond CLUTTER
+    static std::vector< std::vector< MatType > >
+      blocksplit(const MatType& x, const std::vector<casadi_int>& vert_offset,
+                 const std::vector<casadi_int>& horz_offset);
+    static std::vector< std::vector< MatType > >
+      blocksplit(const MatType& x, casadi_int vert_incr, casadi_int horz_incr);
+    static MatType veccat(const std::vector< MatType >& x);
+    static MatType vec(const MatType& x);
+    static MatType repmat(const MatType& x, casadi_int n, casadi_int m=1);
+    static std::vector<casadi_int> offset(const std::vector< MatType > &v, bool vert=true);
+    static std::vector< MatType > diagsplit(const MatType& x,
+                                            const std::vector<casadi_int>& output_offset);
+    static std::vector< MatType > diagsplit(const MatType& x, casadi_int incr);
+    static std::vector< MatType > diagsplit(const MatType& x, casadi_int incr1, casadi_int incr2);
+    static MatType mtimes(const std::vector<MatType> &args);
+    static std::vector<MatType > horzsplit(const MatType& x, casadi_int incr);
+    static std::vector<MatType > vertsplit(const MatType& x, casadi_int incr);
+    static std::vector<MatType > horzsplit_n(const MatType& x, casadi_int n);
+    static std::vector<MatType > vertsplit_n(const MatType& x, casadi_int n);
+    static MatType repmat(const MatType &A, const std::pair<casadi_int, casadi_int>& rc) {
+      return MatType::repmat(A, rc.first, rc.second);
+    }
+    /// \endcond
+
+/** \defgroup expression_tools Expression tools
+* Functions for manipulating DM, SX, MX or Sparsity
+*
+*/
+/**
+\addtogroup expression_tools
+@{
+*/
+    /** \brief Concatenate a list of matrices horizontally
+
+     * Alternative terminology: horizontal stack, hstack, horizontal append, [a b]
+     *
+     *   horzcat(horzsplit(x, ...)) = x
+
+        \identifier{3e} */
+    inline friend MatType horzcat(const std::vector<MatType> &v) {
+      return MatType::horzcat(v);
+    }
+
+    /** \brief Concatenate a list of matrices vertically
+
+     * Alternative terminology: vertical stack, vstack, vertical append, [a;b]
+     *
+     *   vertcat(vertsplit(x, ...)) = x
+
+        \identifier{3f} */
+    inline friend MatType vertcat(const std::vector<MatType> &v) {
+      return MatType::vertcat(v);
+    }
+
+    /** \brief  split horizontally, retaining groups of columns
+
+     * \param offset List of all start columns for each group
+     *      the last column group will run to the end.
+     *
+     *   horzcat(horzsplit(x, ...)) = x
+
+        \identifier{3g} */
+    inline friend std::vector<MatType >
+      horzsplit(const MatType &x, const std::vector<casadi_int>& offset) {
+      return MatType::horzsplit(x, offset);
+    }
+
+    /** \brief  split horizontally, retaining fixed-sized groups of columns
+
+     * \param incr Size (width) of each group of columns
+     *
+     *   horzcat(horzsplit(x, ...)) = x
+     *
+     * \seealso horzsplit_n
+
+        \identifier{3h} */
+    inline friend std::vector<MatType > horzsplit(const MatType& x, casadi_int incr=1) {
+      return MatType::horzsplit(x, incr);
+    }
+
+    /** \brief  split horizontally, retaining fixed-sized groups of columns
+
+     * \param n Number of groups of columns
+     *
+     * Will error when the number of columns is not a multiple of n
+     *
+     *   horzcat(horzsplit(x, ...)) = x
+     *
+     * \seealso horzsplit
+
+        \identifier{277} */
+    inline friend std::vector<MatType > horzsplit_n(const MatType& x, casadi_int n) {
+      return MatType::horzsplit_n(x, n);
+    }
+
+    /** \brief  split vertically, retaining groups of rows
+
+     * \param output_offset List of all start rows for each group
+     *      the last row group will run to the end.
+     *
+     *   vertcat(vertsplit(x, ...)) = x
+
+          \identifier{3i} */
+    inline friend std::vector<MatType >
+      vertsplit(const MatType& x, const std::vector<casadi_int>& offset) {
+      return MatType::vertsplit(x, offset);
+    }
+
+    /** \brief Helper function, get offsets corresponding to a vector of matrices
+
+        \identifier{3j} */
+    inline friend std::vector<casadi_int > offset(const std::vector<MatType> &v, bool vert=true) {
+      return MatType::offset(v, vert);
+    }
+
+    /** \brief  split vertically, retaining fixed-sized groups of rows
+
+     * \param incr Size of each group of rows
+     *
+     *   vertcat(vertsplit(x, ...)) = x
+
+     \doctest
+     print vertsplit(SX.sym("a",4))
+     \doctestout
+     [SX(a_0), SX(a_1), SX(a_2), SX(a_3)]
+     \enddoctest
+
+     \doctest
+     print vertsplit(SX.sym("a",4),2)
+     \doctestout
+     [SX([a_0, a_1]), SX([a_2, a_3])]
+     \enddoctest
+
+     If the number of rows is not a multiple of \p incr,
+     the last entry returned will have a size smaller than \p incr.
+
+     \doctest
+     print vertsplit(DM([0,1,2,3,4]),2)
+     \doctestout
+     [DM([0, 1]), DM([2, 3]), DM(4)]
+     \enddoctest
+     *
+
+     * \seealso vertsplit_n
+     
+        \identifier{3k} */
+    inline friend std::vector<MatType > vertsplit(const MatType &x, casadi_int incr=1) {
+      return MatType::vertsplit(x, incr);
+    }
+
+    /** \brief  split vertically, retaining fixed-sized groups of rows
+
+     * \param n Number of groups of rows
+     *
+     * Will error when the number of rows is not a multiple of n
+     *
+     *   vertcat(vertsplit(x, ...)) = x
+     *
+     * \seealso vertsplit
+
+        \identifier{278} */
+    inline friend std::vector<MatType > vertsplit_n(const MatType& x, casadi_int n) {
+      return MatType::vertsplit_n(x, n);
+    }
+
+    /** \brief Construct a matrix from a list of list of blocks.
+
+        \identifier{3l} */
+    inline friend MatType blockcat(const std::vector< std::vector<MatType > > &v) {
+      return MatType::blockcat(v);
+    }
+
+    /** \brief Construct a matrix from 4 blocks
+
+        \identifier{3m} */
+    inline friend MatType
+      blockcat(const MatType &A, const MatType &B, const MatType &C, const MatType &D) {
+      return vertcat(horzcat(A, B), horzcat(C, D));
+    }
+
+    /** \brief  chop up into blocks
+
+     * \param vert_offset Defines the boundaries of the block rows
+     * \param horz_offset Defines the boundaries of the block columns
+     *
+     *   blockcat(blocksplit(x,..., ...)) = x
+
+        \identifier{3n} */
+    inline friend std::vector< std::vector< MatType > >
+      blocksplit(const MatType& x,
+                 const std::vector<casadi_int>& vert_offset,
+                 const std::vector<casadi_int>& horz_offset) {
+      return MatType::blocksplit(x, vert_offset, horz_offset);
+    }
+
+    /** \brief  chop up into blocks
+
+     * \param vert_incr Defines the increment for block boundaries in row dimension
+     * \param horz_incr Defines the increment for block boundaries in column dimension
+     *
+     *   blockcat(blocksplit(x,..., ...)) = x
+
+        \identifier{3o} */
+    inline friend std::vector< std::vector< MatType > >
+      blocksplit(const MatType& x, casadi_int vert_incr=1, casadi_int horz_incr=1) {
+      return MatType::blocksplit(x, vert_incr, horz_incr);
+    }
+
+    /** \brief Construct a matrix with given block on the diagonal
+
+        \identifier{3p} */
+    inline friend MatType diagcat(const std::vector<MatType> &A) {
+      return MatType::diagcat(A);
+    }
+
+    /** \brief  split diagonally, retaining square matrices
+
+     * \param output_offset1 List of all start locations (row) for each group
+     *      the last matrix will run to the end.
+     * \param output_offset2 List of all start locations (row) for each group
+     *      the last matrix will run to the end.
+     *
+     *   diagcat(diagsplit(x, ...)) = x
+
+        \identifier{3q} */
+    friend std::vector< MatType >
+      diagsplit(const MatType& x,
+                const std::vector<casadi_int>& output_offset1,
+                const std::vector<casadi_int>& output_offset2) {
+      return MatType::diagsplit(x, output_offset1, output_offset2);
+    }
+
+    /** \brief  split diagonally, retaining square matrices
+
+     * \param output_offset List of all start locations for each group
+     *      the last matrix will run to the end.
+     *
+     *   diagcat(diagsplit(x, ...)) = x
+
+        \identifier{3r} */
+    inline friend std::vector< MatType >
+      diagsplit(const MatType& x, const std::vector<casadi_int>& output_offset) {
+      return MatType::diagsplit(x, output_offset);
+    }
+
+    /** \brief  split diagonally, retaining groups of square matrices
+
+     * \param incr Size of each matrix
+     *
+     *  diagsplit(diagsplit(x, ...)) = x
+
+        \identifier{3s} */
+    inline friend std::vector< MatType >
+      diagsplit(const MatType& x, casadi_int incr=1) {
+      return MatType::diagsplit(x, incr);
+    }
+
+    /** \brief  split diagonally, retaining fixed-sized matrices
+
+     * \param incr1 Row dimension of each matrix
+     * \param incr2 Column dimension of each matrix
+     *
+     *  diagsplit(diagsplit(x, ...)) = x
+
+        \identifier{3t} */
+    inline friend std::vector< MatType >
+      diagsplit(const MatType& x, casadi_int incr1, casadi_int incr2) {
+      return MatType::diagsplit(x, incr1, incr2);
+    }
+
+    /** \brief  concatenate vertically while vectorizing all arguments with vec
+
+        \identifier{3u} */
+    inline friend MatType veccat(const std::vector< MatType >& x) {
+      return MatType::veccat(x);
+    }
+
+    /** \brief Matrix product of two matrices
+
+        \identifier{3v} */
+    inline friend MatType mtimes(const MatType &x, const MatType &y) {
+      return MatType::mtimes(x, y);
+    }
+
+    /** \brief Matrix product of n matrices
+
+        \identifier{3w} */
+    inline friend MatType mtimes(const std::vector<MatType> &args) {
+      return MatType::mtimes(args);
+    }
+
+    /** \brief Multiply-accumulate operation
+
+        Matrix product of two matrices (x and y), adding the result to
+        a third matrix z. The result has the same sparsity pattern as
+        C meaning that other entries of (x*y) are ignored.
+        The operation is equivalent to: z+mtimes(x,y).project(z.sparsity()).
+
+        \identifier{3x} */
+    inline friend MatType
+      mac(const MatType &x, const MatType &y, const MatType &z) {
+      return MatType::mac(x, y, z);
+    }
+
+    /** \brief Transpose
+
+        \identifier{3y} */
+    inline friend MatType transpose(const MatType& X) {
+      return X.T();
+    }
+
+    /** \brief  make a vector
+
+        Reshapes/vectorizes the matrix such that the shape becomes (expr.numel(), 1).
+        Columns are stacked on top of each other.
+        Same as reshape(expr, expr.numel(), 1)
+
+        a c \n
+        b d \n
+
+        turns into
+
+        a \n
+        b \n
+        c \n
+        d \n
+
+        \identifier{3z} */
+    inline friend MatType vec(const MatType& x) {
+      return MatType::vec(x);
+    }
+
+    /** \brief Returns a reshaped version of the matrix
+
+        \identifier{40} */
+    inline friend MatType reshape(const MatType& x, casadi_int nrow, casadi_int ncol) {
+      return MatType::reshape(x, nrow, ncol);
+    }
+
+    /** \brief Returns a reshaped version of the matrix, dimensions as a vector
+
+        \identifier{41} */
+    inline friend MatType reshape(const MatType& x, std::pair<casadi_int, casadi_int> rc) {
+      return MatType::reshape(x, rc.first, rc.second);
+    }
+
+    /** \brief Reshape the matrix
+
+        \identifier{42} */
+    inline friend MatType reshape(const MatType& x, const Sparsity& sp) {
+      return MatType::reshape(x, sp);
+    }
+
+    /** \brief Cast matrix nonzeros to different Sparsity
+
+        \identifier{24z} */
+    inline friend MatType sparsity_cast(const MatType& x, const Sparsity& sp) {
+      return MatType::sparsity_cast(x, sp);
+    }
+
+    /** \brief Obtain the structural rank of a sparsity-pattern
+
+        \identifier{43} */
+    inline friend casadi_int sprank(const MatType& x) {
+      return MatType::sprank(x);
+    }
+
+    /** \brief 0-norm (nonzero count) of a Matrix-matrix product
+
+        \identifier{44} */
+    inline friend casadi_int norm_0_mul(const MatType &x, const MatType &y) {
+      return MatType::norm_0_mul(x, y);
+    }
+
+    /** \brief Get the upper triangular part of a matrix
+
+        \identifier{45} */
+    inline friend MatType triu(const MatType& x, bool includeDiagonal=true) {
+      return MatType::triu(x, includeDiagonal);
+    }
+
+    /** \brief Get the lower triangular part of a matrix
+
+        \identifier{46} */
+    inline friend MatType tril(const MatType& x, bool includeDiagonal=true) {
+      return MatType::tril(x, includeDiagonal);
+    }
+
+    /** \brief Kronecker tensor product
+     *
+     * Creates a block matrix in which each element (i, j) is a_ij*b
+
+        \identifier{47} */
+    inline friend MatType kron(const MatType& a, const MatType& b) {
+      return MatType::kron(a, b);
+    }
+
+    /** \brief Repeat matrix A n times vertically and m times horizontally
+
+        \identifier{48} */
+    inline friend MatType repmat(const MatType &A, casadi_int n, casadi_int m=1) {
+      return MatType::repmat(A, n, m);
+    }
+
+    /** \brief Repeat matrix A n times vertically and m times horizontally
+
+        \identifier{49} */
+    inline friend MatType repmat(const MatType &A, const std::pair<casadi_int, casadi_int>& rc) {
+      return MatType::repmat(A, rc);
+    }
+
+    /** \brief Concatenate horizontally, two matrices
+
+        \identifier{4a} */
+    inline friend MatType horzcat(const MatType &x, const MatType &y) {
+      return horzcat(std::vector<MatType>{x, y});
+    }
+
+    /** \brief Concatenate horizontally, three matrices
+
+        \identifier{4b} */
+    inline friend MatType horzcat(const MatType &x, const MatType &y, const MatType &z) {
+      return horzcat(std::vector<MatType>{x, y, z});
+    }
+
+    /** \brief Concatenate horizontally, four matrices
+
+        \identifier{4c} */
+    inline friend MatType horzcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w) {
+      return horzcat(std::vector<MatType>{x, y, z, w});
+    }
+
+    /** \brief Concatenate horizontally, five matrices
+
+        \identifier{4d} */
+    inline friend MatType horzcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v) {
+      return horzcat(std::vector<MatType>{x, y, z, w, v});
+    }
+
+    /** \brief Concatenate horizontally, six matrices
+
+        \identifier{4e} */
+    inline friend MatType horzcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v, const MatType &u) {
+      return horzcat(std::vector<MatType>{x, y, z, w, v, u});
+    }
+
+    /** \brief Concatenate vertically, two matrices
+
+        \identifier{4f} */
+    inline friend MatType vertcat(const MatType &x, const MatType &y) {
+      return vertcat(std::vector<MatType>{x, y});
+    }
+
+    /** \brief Concatenate vertically, three matrices
+
+        \identifier{4g} */
+    inline friend MatType vertcat(const MatType &x, const MatType &y, const MatType &z) {
+      return vertcat(std::vector<MatType>{x, y, z});
+    }
+
+    /** \brief Concatenate vertically, four matrices
+
+        \identifier{4h} */
+    inline friend MatType vertcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w) {
+      return vertcat(std::vector<MatType>{x, y, z, w});
+    }
+
+    /** \brief Concatenate vertically, five matrices
+
+        \identifier{4i} */
+    inline friend MatType vertcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v) {
+      return vertcat(std::vector<MatType>{x, y, z, w, v});
+    }
+
+    /** \brief Concatenate vertically, six matrices
+
+        \identifier{4j} */
+    inline friend MatType vertcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v, const MatType &u) {
+      return vertcat(std::vector<MatType>{x, y, z, w, v, u});
+    }
+
+    /** \brief Concatenate along diagonal, two matrices
+
+        \identifier{4k} */
+    inline friend MatType diagcat(const MatType &x, const MatType &y) {
+      return diagcat(std::vector<MatType>{x, y});
+    }
+
+    /** \brief Concatenate along diagonal, three matrices
+
+        \identifier{4l} */
+    inline friend MatType diagcat(const MatType &x, const MatType &y, const MatType &z) {
+      return diagcat(std::vector<MatType>{x, y, z});
+    }
+
+    /** \brief Concatenate along diagonal, four matrices
+
+        \identifier{4m} */
+    inline friend MatType diagcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w) {
+      return diagcat(std::vector<MatType>{x, y, z, w});
+    }
+
+    /** \brief Concatenate along diagonal, five matrices
+
+        \identifier{4n} */
+    inline friend MatType diagcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v) {
+      return diagcat(std::vector<MatType>{x, y, z, w, v});
+    }
+
+    /** \brief Concatenate along diagonal, six matrices
+
+        \identifier{4o} */
+    inline friend MatType diagcat(const MatType &x, const MatType &y, const MatType &z,
+                                  const MatType &w, const MatType &v, const MatType &u) {
+      return diagcat(std::vector<MatType>{x, y, z, w, v, u});
+    }
+
+    /** \brief Return a row-wise summation of elements
+
+        \identifier{4p} */
+    inline friend MatType sum1(const MatType &x) { return MatType::sum1(x);}
+
+    /** \brief Return a column-wise summation of elements
+
+        \identifier{4q} */
+    inline friend MatType sum2(const MatType &x) { return MatType::sum2(x);}
+
+/** \@} */
+  };
+#endif // SWIG
+
+#ifndef SWIG
+  template<typename MatType>
+  MatType SparsityInterface<MatType>::vec(const MatType& x) {
+    if (x.size2()==1) return x;
+    return reshape(x, x.numel(), 1);
+  }
+
+  template<typename MatType>
+  MatType SparsityInterface<MatType>::repmat(const MatType& x, casadi_int n, casadi_int m) {
+    if (n==1 && m==1) return x;
+    MatType allrows = vertcat(std::vector<MatType>(n, x));
+    if (n==0) allrows = MatType(0, x.size2());
+    MatType ret = horzcat(std::vector<MatType>(m, allrows));
+    if (m==0) ret = MatType(allrows.size1(), 0);
+    return ret;
+  }
+
+  template<typename MatType>
+  std::vector< std::vector< MatType > >
+  SparsityInterface<MatType>::blocksplit(const MatType& x,
+                                         const std::vector<casadi_int>& vert_offset,
+                                         const std::vector<casadi_int>& horz_offset) {
+    std::vector<MatType> rows = MatType::vertsplit(x, vert_offset);
+    std::vector< std::vector< MatType > > ret;
+    for (auto&& r : rows) ret.push_back(MatType::horzsplit(r, horz_offset));
+    return ret;
+  }
+
+  template<typename MatType>
+  std::vector< std::vector< MatType > >
+  SparsityInterface<MatType>::blocksplit(const MatType& x,
+      casadi_int vert_incr, casadi_int horz_incr) {
+    casadi_assert_dev(horz_incr>=1);
+    casadi_assert_dev(vert_incr>=1);
+    casadi_int sz1 = x.size1();
+    std::vector<casadi_int> offset1 = range(0, sz1, vert_incr);
+    offset1.push_back(sz1);
+    casadi_int sz2 = x.size2();
+    std::vector<casadi_int> offset2 = range(0, sz2, horz_incr);
+    offset2.push_back(sz2);
+    return blocksplit(x, offset1, offset2);
+  }
+
+  template<typename MatType>
+  std::vector<casadi_int>
+  SparsityInterface<MatType>::offset(const std::vector< MatType > &v, bool vert) {
+    std::vector<casadi_int> ret(v.size()+1);
+    ret[0]=0;
+    for (casadi_int i=0; i<v.size(); ++i) {
+      ret[i+1] = ret[i] + (vert ? v[i].size1() : v[i].size2());
+    }
+    return ret;
+  }
+
+  template<typename MatType>
+  MatType SparsityInterface<MatType>::veccat(const std::vector< MatType >& x) {
+    std::vector< MatType > x_vec = x;
+    for (typename std::vector< MatType >::iterator it=x_vec.begin();
+         it!=x_vec.end(); ++it) {
+      *it = vec(*it);
+    }
+    if (x_vec.empty()) {
+      return MatType(0, 1);
+    } else {
+      return vertcat(x_vec);
+    }
+  }
+
+  template<typename MatType>
+  std::vector< MatType >
+  SparsityInterface<MatType>::diagsplit(const MatType& x,
+      const std::vector<casadi_int>& output_offset) {
+    casadi_assert(x.is_square(), "diagsplit(x,incr)::input must be square but got "
+                          + x.dim()  + ".");
+    return MatType::diagsplit(x, output_offset, output_offset);
+  }
+
+  template<typename MatType>
+  std::vector< MatType >
+  SparsityInterface<MatType>::diagsplit(const MatType& x, casadi_int incr) {
+    casadi_assert_dev(incr>=1);
+    casadi_assert(x.is_square(), "diagsplit(x,incr)::input must be square but got "
+                          + x.dim()  + ".");
+    std::vector<casadi_int> offset2 = range(0, x.size2(), incr);
+    offset2.push_back(x.size2());
+    return MatType::diagsplit(x, offset2);
+  }
+
+  template<typename MatType>
+  std::vector< MatType >
+  SparsityInterface<MatType>::diagsplit(const MatType& x, casadi_int incr1, casadi_int incr2) {
+    casadi_assert_dev(incr1>=1);
+    casadi_assert_dev(incr2>=1);
+    std::vector<casadi_int> offset1 = range(0, x.size1(), incr1);
+    offset1.push_back(x.size1());
+    std::vector<casadi_int> offset2 = range(0, x.size2(), incr2);
+    offset2.push_back(x.size2());
+    return MatType::diagsplit(x, offset1, offset2);
+  }
+
+  template<typename MatType>
+  MatType SparsityInterface<MatType>::mtimes(const std::vector<MatType> &args) {
+    casadi_assert(!args.empty(),
+                          "mul(std::vector<MatType> &args): "
+                          "supplied list must not be empty.");
+    MatType ret = args[0];
+    for (casadi_int i=1; i<args.size(); ++i) ret = MatType::mtimes(ret, args[i]);
+    return ret;
+  }
+
+  template<typename MatType>
+  std::vector<MatType > SparsityInterface<MatType>::horzsplit(const MatType& x, casadi_int incr) {
+    casadi_assert_dev(incr>=1);
+    casadi_int sz2 = x.size2();
+    std::vector<casadi_int> offset2 = range(0, sz2, incr);
+    offset2.push_back(sz2);
+    return MatType::horzsplit(x, offset2);
+  }
+
+  template<typename MatType>
+  std::vector<MatType > SparsityInterface<MatType>::vertsplit(const MatType& x, casadi_int incr) {
+    casadi_assert_dev(incr>=1);
+    casadi_int sz1 = x.size1();
+    std::vector<casadi_int> offset1 = range(0, sz1, incr);
+    offset1.push_back(sz1);
+    return MatType::vertsplit(x, offset1);
+  }
+  template<typename MatType>
+  std::vector<MatType > SparsityInterface<MatType>::horzsplit_n(const MatType& x, casadi_int n) {
+    casadi_assert(n>=0, "horzsplit_n(x,n): n (" + str(n) + ") must be non-negative");
+    if (x.size2()==0) return std::vector<MatType>(n, x);
+    casadi_assert(x.size2() % n==0, "horzsplit_n(x,n): x.size2() (" + str(x.size2()) +
+                     ") must be a multiple of n (" + str(n) + ")");
+    return horzsplit(x, x.size2()/n);
+  }
+  template<typename MatType>
+  std::vector<MatType > SparsityInterface<MatType>::vertsplit_n(const MatType& x, casadi_int n) {
+    casadi_assert(n>=0, "vertsplit_n(x,n): n (" + str(n) + ") must be non-negative");
+    if (x.size1()==0) return std::vector<MatType>(n, x);
+    casadi_assert(x.size1() % n==0, "vertsplit(x,n): x.size1() (" + str(x.size1()) +
+                     ") must be a multiple of n (" + str(n) + ")");
+    return vertsplit(x, x.size1()/n);
+  }
+
+#endif // SWIG
+
+} // namespace casadi
+
+#endif // CASADI_SPARSITY_INTERFACE_HPP