casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/casadi/core/mx.hpp

@@ -0,0 +1,953 @@
+/*
+ *    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_MX_HPP
+#define CASADI_MX_HPP
+#include "shared_object.hpp"
+#include "matrix_fwd.hpp"
+#include "sx_fwd.hpp"
+#include "dm.hpp"
+#include "generic_matrix.hpp"
+#include "generic_expression.hpp"
+#include "generic_type.hpp"
+#include "printable.hpp"
+#include <vector>
+namespace casadi {
+
+  /** \brief  Forward declaration
+
+      \identifier{px} */
+  class MXNode;
+  class Function;
+  class SerializingStream;
+  class DeserializingStream;
+
+#ifndef SWIG
+  struct ConvexifyData {
+    std::vector<casadi_int> scc_offset, scc_mapping;
+    Sparsity scc_sp;
+    Sparsity Hrsp;
+    Sparsity Hsp;
+    casadi_convexify_config<double> config;
+    casadi_int sz_iw;
+    casadi_int sz_w;
+    casadi_int *iw;
+    double* w;
+  };
+#endif
+
+  /** \brief MX - Matrix expression
+
+      The MX class is used to build up trees made up from MXNodes. It is a more general
+      graph representation than the scalar expression, SX, and much less efficient for small
+      objects. On the other hand, the class allows much more general operations than does SX,
+      in particular matrix valued operations and calls to arbitrary differentiable functions.
+
+      The MX class is designed to have identical syntax with the Matrix<> template class,
+      and uses DM (i.e. Matrix<double>) as its internal representation of the values at a node. By keeping
+      the syntaxes identical, it is possible to switch from one class to the other,
+      as well as inlining MX functions to SXElem functions.
+
+      Note that an operation is always "lazy", making a matrix multiplication will create a
+      matrix multiplication node, not perform the actual multiplication.
+
+      \author Joel Andersson
+      \date 2010-2011
+
+      \identifier{py} */
+  class CASADI_EXPORT MX :
+    public SWIG_IF_ELSE(GenericExpressionCommon, GenericExpression<MX>),
+    public SWIG_IF_ELSE(PrintableCommon, Printable<MX>),
+    public GenericMatrix<MX>,
+    public SharedObject {
+  public:
+    /** \brief Get type name
+
+        \identifier{pz} */
+    static std::string type_name() {return "MX";}
+
+    /** \brief  Default constructor
+
+        \identifier{q0} */
+    MX();
+
+    /** \brief Create a sparse matrix with all structural zeros
+
+        \identifier{q1} */
+    MX(casadi_int nrow, casadi_int ncol);
+
+#ifndef SWIG
+    /** \brief Create a sparse matrix with all structural zeros
+
+        \identifier{q2} */
+    explicit MX(const std::pair<casadi_int, casadi_int>& rc);
+#endif // SWIG
+
+    /** \brief Create a sparse matrix from a sparsity pattern.
+
+        Same as MX::ones(sparsity)
+
+        \identifier{q3} */
+    explicit MX(const Sparsity& sp);
+
+    /** \brief Construct matrix with a given sparsity and nonzeros
+
+        \identifier{q4} */
+    MX(const Sparsity& sp, const MX& val);
+
+    /** \brief Construct matrix with a given sparsity and a file with nonzeros
+
+        \identifier{q5} */
+    MX(const Sparsity& sp, const std::string& fname);
+
+    /** \brief  Create scalar constant (also implicit type conversion)
+
+        \identifier{q6} */
+    MX(double x);
+
+#ifndef SWIG
+    /** \brief  Create vector constant (also implicit type conversion)
+
+        \identifier{q7} */
+    MX(const std::vector<double> &x);
+#endif
+
+    /** \brief  Create sparse matrix constant (also implicit type conversion)
+
+        \identifier{q8} */
+    MX(const Matrix<double> &x);
+
+/// \cond INTERNAL
+    /** \brief  Destructor
+
+        \identifier{q9} */
+    ~MX();
+/// \endcond
+
+#ifndef SWIG
+/// \cond INTERNAL
+    /** \brief  Create from node
+
+        \identifier{qa} */
+    static MX create(MXNode* node);
+
+    /** \brief  Create from node (multiple-outputs)
+
+        \identifier{qb} */
+    static std::vector<MX> createMultipleOutput(MXNode* node);
+/// \endcond
+
+    /** \brief Get the sparsity pattern
+
+        \identifier{qc} */
+    const Sparsity& sparsity() const;
+
+    /// \cond INTERNAL
+    /// Scalar type
+    typedef MX ScalarType;
+    /// \endcond
+
+    /// Base class
+    typedef GenericMatrix<MX> B;
+
+    /// Expose base class functions
+    using B::horzsplit;
+    using B::diagsplit;
+    using B::vertsplit;
+    using B::mtimes;
+    using B::repmat;
+#endif // SWIG
+
+    /// Returns the truth value of an MX expression
+    bool __nonzero__() const;
+
+    /** \brief Get an owning reference to the sparsity pattern
+
+        \identifier{qd} */
+    Sparsity get_sparsity() const { return sparsity();}
+
+    /** \brief Erase a submatrix (leaving structural zeros in its place)
+
+        Erase rows and/or columns of a matrix
+
+        \identifier{qe} */
+    void erase(const std::vector<casadi_int>& rr, const std::vector<casadi_int>& cc,
+                bool ind1=false);
+
+    /** \brief Erase a submatrix (leaving structural zeros in its place)
+
+        Erase elements of a matrix
+
+        \identifier{qf} */
+    void erase(const std::vector<casadi_int>& rr, bool ind1=false);
+
+    /** \brief Enlarge matrix
+
+        Make the matrix larger by inserting empty rows and columns, keeping the existing non-zeros
+
+        \identifier{qg} */
+    void enlarge(casadi_int nrow, casadi_int ncol,
+                  const std::vector<casadi_int>& rr, const std::vector<casadi_int>& cc,
+                  bool ind1=false);
+
+    MX operator-() const;
+
+#ifndef SWIG
+    /// \cond INTERNAL
+    ///@{
+    /** \brief  Access a member of the node
+
+        \identifier{qh} */
+    MXNode* operator->();
+
+    /** \brief  Const access a member of the node
+
+        \identifier{qi} */
+    const MXNode* operator->() const;
+    ///@}
+    /// \endcond
+#endif // SWIG
+
+    /** \brief Get the nth dependency as MX
+
+        \identifier{qj} */
+    MX dep(casadi_int ch=0) const;
+
+    /** \brief  Number of outputs
+
+        \identifier{qk} */
+    casadi_int n_out() const;
+
+    /** \brief  Get an output
+
+        \identifier{ql} */
+    MX get_output(casadi_int oind) const;
+
+    /** \brief Get the number of dependencies of a binary SXElem
+
+        \identifier{qm} */
+    casadi_int n_dep() const;
+
+    /// Get the name.
+    std::string name() const;
+
+    /// Get the value (only for scalar constant nodes)
+    explicit operator double() const;
+
+    /// Get the value (only for constant nodes)
+    explicit operator Matrix<double>() const;
+
+    /// Check if symbolic
+    bool is_symbolic() const;
+
+    /// Check if constant
+    bool is_constant() const;
+
+    /// Check if evaluation
+    bool is_call() const;
+
+    /// Get function - only valid when is_call() is true
+    Function which_function() const;
+
+    /// Check if evaluation output
+    bool is_output() const;
+
+    /** \brief  Check if a multiple output node
+
+        \identifier{284} */
+    bool has_output() const;
+
+    /// Get the index of evaluation output - only valid when is_output() is true
+    casadi_int which_output() const;
+
+    /// Is it a certain operation
+    bool is_op(casadi_int op) const;
+
+    /// Check if multiplication
+    bool is_multiplication() const;
+
+    /// Check if commutative operation
+    bool is_commutative() const;
+
+    /// Check if norm
+    bool is_norm() const;
+
+    /** \brief Check if matrix can be used to define function inputs.
+
+        Valid inputs for MXFunctions are combinations of Reshape, concatenations and SymbolicMX
+
+        \identifier{qn} */
+    bool is_valid_input() const;
+
+    /** \brief Get the number of primitives for MXFunction inputs/outputs
+
+        \identifier{qo} */
+    casadi_int n_primitives() const;
+
+    /** \brief Get primitives
+
+        \identifier{qp} */
+    std::vector<MX> primitives() const;
+
+    /// @{
+    /** \brief Split up an expression along symbolic primitives
+
+        \identifier{qq} */
+    std::vector<MX> split_primitives(const MX& x) const;
+    std::vector<SX> split_primitives(const SX& x) const;
+    std::vector<DM> split_primitives(const DM& x) const;
+    /// @}
+
+    /// @{
+    /** \brief Join an expression along symbolic primitives
+
+        \identifier{qr} */
+    MX join_primitives(const std::vector<MX>& v) const;
+    SX join_primitives(const std::vector<SX>& v) const;
+    DM join_primitives(const std::vector<DM>& v) const;
+    /// @}
+
+    /// \cond INTERNAL
+    /** \brief Detect duplicate symbolic expressions
+
+        If there are symbolic primitives appearing more than once, the function will return
+        true and the names of the duplicate expressions will be passed to casadi_warning.
+        Note: Will mark the node using MX::set_temp.
+        Make sure to call reset_input() after usage.
+
+        \identifier{qs} */
+    bool has_duplicates() const;
+
+    /** \brief Reset the marker for an input expression
+
+        \identifier{qt} */
+    void reset_input() const;
+  /// \endcond
+
+    /** \brief  check if identity
+
+        \identifier{qu} */
+    bool is_eye() const;
+
+    /** \brief  check if zero (note that false negative answers are possible)
+
+        \identifier{qv} */
+    bool is_zero() const;
+
+    /** \brief  check if zero (note that false negative answers are possible)
+
+        \identifier{qw} */
+    bool is_one() const;
+
+    /** \brief  check if zero (note that false negative answers are possible)
+
+        \identifier{qx} */
+    bool is_minus_one() const;
+
+    /** \brief  Is the expression a transpose?
+
+        \identifier{qy} */
+    bool is_transpose() const;
+
+    /// Checks if expression does not contain NaN or Inf
+    bool is_regular() const;
+
+    /// Is binary operation
+    bool is_binary() const;
+
+    /// Is unary operation
+    bool is_unary() const;
+
+    /// Get operation type
+    casadi_int op() const;
+
+    /** Obtain information about node */
+    Dict info() const;
+
+    /** \brief Serialize an object
+
+        \identifier{qz} */
+    void serialize(SerializingStream& s) const;
+
+    /** \brief Deserialize with type disambiguation
+
+        \identifier{r0} */
+    static MX deserialize(DeserializingStream& s);
+
+    /// \cond INTERNAL
+    /// Get the temporary variable
+    casadi_int get_temp() const;
+
+    /// Set the temporary variable
+    void set_temp(casadi_int t) const;
+    /// \endcond
+
+    ///@{
+    /** \brief  Create nodes by their ID
+
+        \identifier{r1} */
+    static MX binary(casadi_int op, const MX &x, const MX &y);
+    static MX unary(casadi_int op, const MX &x);
+    ///@}
+
+    ///@{
+    /** \brief  create a matrix with all inf
+
+        \identifier{r2} */
+    static MX inf(const Sparsity& sp);
+    static MX inf(casadi_int nrow=1, casadi_int ncol=1);
+    static MX inf(const std::pair<casadi_int, casadi_int>& rc);
+    ///@}
+
+    ///@{
+    /** \brief  create a matrix with all nan
+
+        \identifier{r3} */
+    static MX nan(const Sparsity& sp);
+    static MX nan(casadi_int nrow=1, casadi_int ncol=1);
+    static MX nan(const std::pair<casadi_int, casadi_int>& rc);
+    ///@}
+
+    /** \brief  Identity matrix
+
+        \identifier{r4} */
+    static MX eye(casadi_int n);
+
+#ifndef SWIG
+    /// Get a const pointer to the node
+    MXNode* get() const;
+#endif // SWIG
+
+    ///@{
+    /// Get a submatrix, single argument
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Slice& rr) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Matrix<casadi_int>& rr) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Sparsity& sp) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const MX& rr) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const casadi_int rr) const {
+      get(m, ind1, Matrix<casadi_int>(rr));
+    }
+    ///@}
+
+    /// Get a submatrix, two arguments
+    ///@{
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Slice& rr, const Slice& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Slice& rr, const Matrix<casadi_int>& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Slice& rr, casadi_int cc) const {
+      get(m, ind1, rr, Matrix<casadi_int>(cc));
+    }
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Matrix<casadi_int>& rr, const Slice& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, casadi_int rr, const Slice& cc) const {
+      get(m, ind1, Matrix<casadi_int>(rr), cc);
+    }
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Matrix<casadi_int>& rr,
+                                            const Matrix<casadi_int>& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, casadi_int rr,
+                                            casadi_int cc) const {
+      get(m, ind1, Matrix<casadi_int>(rr), Matrix<casadi_int>(cc));
+    }
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const MX& rr, const Slice& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const Slice& rr, const MX& cc) const;
+    void get(MX& SWIG_OUTPUT(m), bool ind1, const MX& rr, const MX& cc) const;
+    ///@}
+
+    ///@{
+    /// Set a submatrix, single argument
+    void set(const MX& m, bool ind1, const Slice& rr);
+    void set(const MX& m, bool ind1, const Matrix<casadi_int>& rr);
+    void set(const MX& m, bool ind1, const Sparsity& sp);
+    ///@}
+
+    ///@{
+    /// Set a submatrix, two arguments
+    void set(const MX& m, bool ind1, const Slice& rr, const Slice& cc);
+    void set(const MX& m, bool ind1, const Slice& rr, const Matrix<casadi_int>& cc);
+    void set(const MX& m, bool ind1, const Matrix<casadi_int>& rr, const Slice& cc);
+    void set(const MX& m, bool ind1, const Matrix<casadi_int>& rr, const Matrix<casadi_int>& cc);
+    ///@}
+
+    ///@{
+    /// Get a set of nonzeros
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const Slice& kk) const;
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const Matrix<casadi_int>& kk) const;
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const MX& kk) const;
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, casadi_int kk) const {
+      get_nz(m, ind1, Matrix<casadi_int>(kk));
+    }
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const MX& inner, const Slice& outer) const;
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const Slice& inner, const MX& outer) const;
+    void get_nz(MX& SWIG_OUTPUT(m), bool ind1, const MX& inner, const MX& outer) const;
+    ///@}
+
+    ///@{
+    /// Set a set of nonzeros
+    void set_nz(const MX& m, bool ind1, const Slice& kk);
+    void set_nz(const MX& m, bool ind1, const Matrix<casadi_int>& kk);
+    void set_nz(const MX& m, bool ind1, const MX& kk);
+    void set_nz(const MX& m, bool ind1, casadi_int kk) { set_nz(m, ind1, Matrix<casadi_int>(kk)); }
+    ///@}
+
+    ///@{
+    /** \brief Computes an einstein dense tensor contraction
+
+        Computes the product:
+        C_c = A_a + B_b
+          where a b c are index/einstein notation in an encoded form
+
+        For example, an matrix-matrix product may be written as:
+        C_ij = A_ik B_kj
+
+        The encoded form uses strictly negative numbers to indicate labels.
+        For the above example, we would have:
+        a {-1, -3} b {-3, -2} c {-1 -2}
+
+        \identifier{r5} */
+    static MX einstein(const MX& A, const MX& B, const MX& C,
+      const std::vector<casadi_int>& dim_a, const std::vector<casadi_int>& dim_b,
+      const std::vector<casadi_int>& dim_c,
+      const std::vector<casadi_int>& a, const std::vector<casadi_int>& b,
+      const std::vector<casadi_int>& c);
+
+    static MX einstein(const MX& A, const MX& B,
+      const std::vector<casadi_int>& dim_a, const std::vector<casadi_int>& dim_b,
+      const std::vector<casadi_int>& dim_c,
+      const std::vector<casadi_int>& a, const std::vector<casadi_int>& b,
+      const std::vector<casadi_int>& c);
+    ///@}
+
+#ifndef SWIG
+    /// \cond CLUTTER
+    ///@{
+    /// Functions called by friend functions defined for GenericExpression
+    static bool is_equal(const MX& x, const MX& y, casadi_int depth=0);
+    static MX mmin(const MX &x);
+    static MX mmax(const MX &x);
+    ///@}
+
+    ///@{
+    /// Functions called by friend functions defined for SparsityInterface
+    static MX horzcat(const std::vector<MX>& x);
+    static MX diagcat(const std::vector<MX>& x);
+    static MX vertcat(const std::vector<MX>& x);
+    static std::vector<MX> horzsplit(const MX& x, const std::vector<casadi_int>& offset);
+    static std::vector<MX> diagsplit(const MX& x, const std::vector<casadi_int>& offset1,
+                                     const std::vector<casadi_int>& offset2);
+    static std::vector<MX> vertsplit(const MX& x, const std::vector<casadi_int>& offset);
+    static MX blockcat(const std::vector< std::vector<MX > > &v);
+    static MX mtimes(const MX& x, const MX& y);
+    static MX mac(const MX& x, const MX& y, const MX& z);
+    static MX reshape(const MX& x, casadi_int nrow, casadi_int ncol);
+    static MX reshape(const MX& x, const Sparsity& sp);
+    static MX sparsity_cast(const MX& x, const Sparsity& sp);
+    static MX kron(const MX& x, const MX& b);
+    static MX repmat(const MX& x, casadi_int n, casadi_int m=1);
+    ///@}
+
+    ///@{
+    /// Functions called by friend functions defined for GenericMatrix
+    static MX jacobian(const MX& f, const MX& x, const Dict& opts = Dict());
+    static MX hessian(const MX& f, const MX& x, const Dict& opts = Dict());
+    static MX hessian(const MX& f, const MX& x, MX& g, const Dict& opts = Dict());
+    static std::vector<std::vector<MX> >
+    forward(const std::vector<MX> &ex,
+            const std::vector<MX> &arg,
+            const std::vector<std::vector<MX> > &v,
+            const Dict& opts = Dict());
+    static std::vector<std::vector<MX> >
+    reverse(const std::vector<MX> &ex,
+            const std::vector<MX> &arg,
+            const std::vector<std::vector<MX> > &v,
+            const Dict& opts = Dict());
+    static std::vector<bool> which_depends(const MX &expr, const MX &var,
+        casadi_int order=1, bool tr=false);
+    static Sparsity jacobian_sparsity(const MX& f, const MX& x);
+    static MX substitute(const MX& ex, const MX& v, const MX& vdef);
+    static std::vector<MX> substitute(const std::vector<MX> &ex,
+                                         const std::vector<MX> &v,
+                                         const std::vector<MX> &vdef);
+    static void substitute_inplace(const std::vector<MX>& v,
+                                  std::vector<MX>& vdef,
+                                  std::vector<MX>& ex, bool reverse);
+    static MX solve(const MX& a, const MX& b);
+    static MX solve(const MX& a, const MX& b, const std::string& lsolver,
+                    const Dict& dict = Dict());
+    static MX inv_minor(const MX& A);
+    static MX inv_node(const MX& A);
+    static MX inv(const MX& A, const std::string& lsolver="qr", const Dict& dict = Dict());
+    static MX pinv(const MX& A, const std::string& lsolver="qr",
+               const Dict& dict = Dict());
+    static MX expm_const(const MX& A, const MX& t);
+    static MX expm(const MX& A);
+    static casadi_int n_nodes(const MX& x);
+    static std::string print_operator(const MX& x, const std::vector<std::string>& args);
+    static void extract(std::vector<MX>& ex, std::vector<MX>& v,
+      std::vector<MX>& vdef, const Dict& opts = Dict());
+    static void shared(std::vector<MX>& ex, std::vector<MX>& v,
+      std::vector<MX>& vdef, const std::string& v_prefix, const std::string& v_suffix);
+    static MX if_else(const MX& cond, const MX& if_true,
+                      const MX& if_false, bool short_circuit=false);
+    static MX conditional(const MX& ind, const std::vector<MX> &x, const MX& x_default,
+                          bool short_circuit=false);
+    static bool depends_on(const MX& x, const MX& arg);
+    static MX simplify(const MX& x);
+    static MX dot(const MX& x, const MX& y);
+    static MX mrdivide(const MX& a, const MX& b);
+    static MX mldivide(const MX& a, const MX& b);
+    static MX norm_2(const MX& x);
+    static MX norm_fro(const MX& x);
+    static MX norm_1(const MX& x);
+    static MX norm_inf(const MX& x);
+    static MX unite(const MX& A, const MX& B);
+    static MX trace(const MX& x);
+    static MX diag(const MX& x);
+    static MX sum2(const MX& x);
+    static MX sum1(const MX& x);
+    static MX polyval(const MX& p, const MX& x);
+    static MX det(const MX& x);
+    static std::vector<MX> symvar(const MX& x);
+    static MX nullspace(const MX& A);
+    static MX repsum(const MX& x, casadi_int n, casadi_int m=1);
+    static MX densify(const MX& x, const MX& val=0);
+    static MX _bilin(const MX& A, const MX& x, const MX& y);
+    static MX _rank1(const MX& A, const MX& alpha, const MX& x, const MX& y);
+    static MX project(const MX& x, const Sparsity& sp, bool intersect=false);
+    static MX cumsum(const MX &x, casadi_int axis=-1);
+    static MX _logsumexp(const MX& x);
+    static std::vector<MX> cse(const std::vector<MX>& e);
+    ///@}
+
+    ///@{
+    /// Functions called by friend functions defined for this class
+    static MX find(const MX& x);
+    static MX low(const MX& v, const MX& p, const Dict& options = Dict());
+    static MX graph_substitute(const MX& x, const std::vector<MX> &v,
+                               const std::vector<MX> &vdef);
+    static std::vector<MX> graph_substitute(const std::vector<MX> &ex,
+                                            const std::vector<MX> &expr,
+                                            const std::vector<MX> &exprs);
+    static MX matrix_expand(const MX& e, const std::vector<MX> &boundary,
+                            const Dict& options);
+    static std::vector<MX> matrix_expand(const std::vector<MX>& e,
+                                         const std::vector<MX>& boundary,
+                                         const Dict& options);
+    static MX lift(const MX& x, const MX& x_guess);
+    static DM evalf(const MX& m);
+    static MX bspline(const MX& x,
+            const DM& coeffs,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            casadi_int m,
+            const Dict& opts = Dict());
+    static MX bspline(const MX& x, const MX& coeffs,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            casadi_int m,
+            const Dict& opts = Dict());
+    static MX convexify(const MX& H, const Dict& opts = Dict());
+    static MX stop_diff(const MX& expr, casadi_int order);
+    static MX stop_diff(const MX& expr, const MX& var, casadi_int order);
+    static std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b);
+    ///@}
+    /// \endcond
+
+#endif // SWIG
+
+    static DM bspline_dual(const std::vector<double>& x,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            const Dict& opts = Dict());
+
+    /** \brief Low-level access to inlined linear interpolation
+     *
+     * Usually, you want to be using 'interpolant' instead.
+     *
+     * Accepts lookup_mode option.
+
+        \identifier{r6} */
+    static MX interpn_linear(const std::vector<MX>& x, const MX& v, const std::vector<MX>& xq,
+      const Dict& opts=Dict());
+
+    MX printme(const MX& b) const;
+
+#if !defined(SWIG) || defined(DOXYGEN)
+/**
+\addtogroup expression_tools
+@{
+*/
+    /** \brief Find first nonzero, returned as row index
+
+     * If failed, returns the number of rows
+
+        \identifier{r7} */
+    inline friend MX find(const MX& x) {
+      return MX::find(x);
+    }
+
+    /** \brief Find first nonzero
+
+     * If failed, returns the number of rows
+
+        \identifier{r8} */
+    inline friend MX low(const MX& v, const MX& p, const Dict& options=Dict()) {
+      return MX::low(v, p, options);
+    }
+
+    /** \brief Substitute single expression in graph
+
+     * Substitute variable v with expression vdef in an expression ex, preserving nodes
+
+        \identifier{r9} */
+    inline friend MX graph_substitute(const MX& ex, const std::vector<MX> &v,
+                                      const std::vector<MX> &vdef) {
+      return MX::graph_substitute(ex, v, vdef);
+    }
+
+    /** \brief Substitute multiple expressions in graph
+
+     * Substitute variable var with expression expr in
+     * multiple expressions, preserving nodes
+
+        \identifier{ra} */
+    inline friend std::vector<MX>
+      graph_substitute(const std::vector<MX> &ex,
+                       const std::vector<MX> &v,
+                       const std::vector<MX> &vdef) {
+      return MX::graph_substitute(ex, v, vdef);
+    }
+
+    /** \brief Expand MX graph to SXFunction call
+     *
+     *  Expand the given expression e, optionally
+     *  supplying expressions contained in it at which expansion should stop.
+     *
+        \identifier{rb} */
+    inline friend MX
+      matrix_expand(const MX& e, const std::vector<MX> &boundary = std::vector<MX>(),
+        const Dict& options = Dict()) {
+      return MX::matrix_expand(e, boundary, options);
+    }
+
+    /** \brief Expand MX graph to SXFunction call
+     *
+     *  Expand the given expression e, optionally
+     *  supplying expressions contained in it at which expansion should stop.
+     *
+        \identifier{rc} */
+    inline friend std::vector<MX>
+      matrix_expand(const std::vector<MX>& e,
+                    const std::vector<MX> &boundary = std::vector<MX>(),
+                    const Dict& options = Dict()) {
+      return MX::matrix_expand(e, boundary, options);
+    }
+
+
+    inline friend MX bspline(const MX& x,
+            const DM& coeffs,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            casadi_int m,
+            const Dict& opts = Dict()) {
+      return MX::bspline(x, coeffs, knots, degree, m, opts);
+    }
+
+    inline friend MX bspline(const MX& x, const MX& coeffs,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            casadi_int m,
+            const Dict& opts = Dict()) {
+      return MX::bspline(x, coeffs, knots, degree, m, opts);
+    }
+
+    inline friend DM bspline_dual(const std::vector<double>& x,
+            const std::vector< std::vector<double> >& knots,
+            const std::vector<casadi_int>& degree,
+            const Dict& opts = Dict()) {
+      return MX::bspline_dual(x, knots, degree, opts);
+    }
+
+    inline friend MX convexify(const MX& H,
+            const Dict& opts = Dict()) {
+      return MX::convexify(H, opts);
+    }
+
+    /** \brief Lift the expression
+
+     * Experimental feature
+     *
+        \identifier{rd} */
+    inline friend MX lift(const MX& x, const MX& x_guess) {
+      return MX::lift(x, x_guess);
+    }
+
+    /** \brief Inverse node
+     *
+        \identifier{re} */
+    inline friend MX inv_node(const MX& x) {
+      return MX::inv_node(x);
+    }
+
+    /** \brief Evaluates the expression numerically
+    *
+    * An error is raised when the expression contains symbols
+
+        \identifier{rf} */
+    inline friend DM evalf(const MX& expr) {
+      return MX::evalf(expr);
+    }
+
+    /** \brief Stop derivatives of an expression wrt to all its symbolic variables
+
+        \identifier{25l} */
+    inline friend MX stop_diff(const MX& expr, casadi_int order) {
+      return MX::stop_diff(expr, order);
+    }
+
+    /** \brief Stop first derivatives of an expression wrt to all its symbolic variables
+     * 
+     * \seealso stop_diff
+
+        \identifier{25m} */
+    inline friend MX no_grad(const MX& expr) {
+      return MX::stop_diff(expr, 1);
+    }
+
+    /** \brief Stop second derivatives of an expression wrt to all its symbolic variables
+     * 
+     * \seealso stop_diff
+
+        \identifier{25n} */
+    inline friend MX no_hess(const MX& expr) {
+      return MX::stop_diff(expr, 2);
+    }
+
+
+    /** \brief Stop derivatives of an expression wrt to a select set of symbolic variables
+
+        \identifier{25o} */
+    inline friend MX stop_diff(const MX& expr, const MX& var, casadi_int order) {
+      return MX::stop_diff(expr, var, order);
+    }
+
+    /** \bried Return all elements of a that do not occur in b, preserving order */
+    inline friend std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b) {
+      return MX::difference(a, b);
+    }
+
+/** @} */
+#endif // SWIG
+
+    /** \brief returns itself, but with an assertion attached
+    *
+    *  If y does not evaluate to 1, a runtime error is raised
+
+        \identifier{rg} */
+    MX attachAssert(const MX& y, const std::string& fail_message="") const;
+
+    /** \brief Monitor an expression
+
+    * Returns itself, but with the side effect of printing the nonzeros along with a comment
+
+        \identifier{rh} */
+    MX monitor(const std::string& comment) const;
+
+    /// Transpose the matrix
+    MX T() const;
+
+    /** \brief Get an IM representation of a GetNonzeros or SetNonzeros node
+
+        \identifier{ri} */
+    Matrix<casadi_int> mapping() const;
+
+    /** \brief Set or reset the depth to which equalities are being checked for simplifications
+
+        \identifier{rj} */
+    static void set_max_depth(casadi_int eq_depth=1);
+
+    /** \brief Get the depth to which equalities are being checked for simplifications
+
+        \identifier{rk} */
+    static casadi_int get_max_depth();
+
+    /// Check if a particular cast is allowed
+    static bool test_cast(const SharedObjectInternal* ptr);
+
+    /** \brief Get function inputs
+
+        \identifier{rl} */
+    static std::vector<MX> get_input(const Function& f);
+
+    /** \brief Get free variables
+
+        \identifier{rm} */
+    static std::vector<MX> get_free(const Function& f);
+
+    /// Readability typedef
+    typedef std::map<std::string, MX> MXDict;
+
+    /** \brief Evaluate the MX node with new symbolic dependencies
+
+        \identifier{rn} */
+    void eval_mx(const std::vector<MX>& arg, std::vector<MX>& SWIG_OUTPUT(res)) const;
+
+#ifndef SWIG
+    ///@{
+    /** \brief Called from MXFunction
+
+        \identifier{ro} */
+    void ad_forward(const std::vector<std::vector<MX> >& fseed,
+                    std::vector<std::vector<MX> >& fsens) const;
+    void ad_reverse(const std::vector<std::vector<MX> >& aseed,
+                    std::vector<std::vector<MX> >& asens) const;
+    ///@}
+
+    /// Construct constant matrix with a given sparsity and values
+    MX(const Sparsity& sp, double val, bool dummy);
+
+    // Create matrix symbolic primitive
+    static MX _sym(const std::string& name, const Sparsity& sp);
+
+  private:
+
+    /// Create an expression from a node: extra dummy arguments to avoid ambiguity for 0/NULL
+    MX(MXNode* node, bool dummy1, bool dummy2, bool dummy3, bool dummy4);
+
+    // Depth when checking equalities
+    static casadi_int eq_depth_;
+
+#endif // SWIG
+  };
+
+
+  ///@{
+  /// Readability typedefs
+  typedef std::vector<MX> MXVector;
+  typedef std::initializer_list<MX> MXIList;
+  typedef std::vector<MXVector> MXVectorVector;
+  typedef std::map<std::string, MX> MXDict;
+  ///@}
+
+} // namespace casadi
+
+#endif // CASADI_MX_HPP