casadi 3.6.7__cp313-none-manylinux2014_i686.whl

casadi/tools/structure.py

@@ -0,0 +1,1446 @@
+#
+#     This file is part of CasADi.
+#
+#     CasADi -- A symbolic framework for dynamic optimization.
+#     Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
+#                             KU Leuven. All rights reserved.
+#     Copyright (C) 2011-2014 Greg Horn
+#
+#     CasADi is free software; you can redistribute it and/or
+#     modify it under the terms of the GNU Lesser General Public
+#     License as published by the Free Software Foundation; either
+#     version 3 of the License, or (at your option) any later version.
+#
+#     CasADi is distributed in the hope that it will be useful,
+#     but WITHOUT ANY WARRANTY; without even the implied warranty of
+#     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+#     Lesser General Public License for more details.
+#
+#     You should have received a copy of the GNU Lesser General Public
+#     License along with CasADi; if not, write to the Free Software
+#     Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+#
+#
+from casadi import *
+
+
+import numpy as np
+import operator
+import sys
+import copy
+
+import __builtin__
+
+def is_integer(a):
+  return isinstance(a,int) or isinstance(a,np.integer)
+
+def is_string(a):
+  return isinstance(a,str) or isinstance(a,unicode)
+
+def isIterable(a):
+  return isinstance(a,list) or isinstance(a,tuple)
+
+# StructIndex :tuple/list of strings
+# canonicalIndex : tuple/list of string or numbers
+# powerIndex: tuple/list of string, numbers, lists, slices, dicts
+
+# flatIndex
+
+# Primitive helpers
+def lpack(L): return [[x] for x in L]
+
+def combine(*args):
+  if len(args)==0:
+    return [[]]
+  else:
+    return [a + b for a in args[0] for b in combine(*args[1:])]
+
+def listindices(dims,nest=False):
+  if len(dims)==0:
+    if nest:
+      return [[[]]]
+    else:
+      return [[]]
+  else:
+    tail = listindices(dims[1:])
+    if nest:
+      return [combine([[i]],tail) for i in range(dims[0])]
+    else:
+      return combine(lpack(range(dims[0])),tail)
+
+def intersperseIt(*args):
+  iterators = map(iter,args)
+  active = [True]*len(args)
+  i = 0
+  while any(active):
+    try:
+      yield iterators[i].next()
+    except:
+      active[i] = False
+    i = (i + 1) % len(args)
+
+def intersperse(*args):
+   return list(intersperseIt(*args))
+
+def canonicalIndexAncestors(ind):
+  if len(ind)==0: return []
+  return [ind] + canonicalIndexAncestors(ind[:-(map(is_string,ind[::-1]).index(True)+1)])
+
+def canonical(ind,s):
+  if ind < 0:
+    return ind + s
+  else:
+    return ind
+
+def vec(e):
+  if any(isinstance(i,list) for i in e):
+    return sum(map(vec,e),[])
+  else:
+    return e
+
+def correct_vector_indexing(x, i):
+  return casadi.reshape(x[i], i.shape)
+
+# Decoraters
+
+def properGetitem(f):
+  """
+    This decorator modifies a __getitem__/__setitem__ method such that it will always receive a tuple
+  """
+  def proper(self,mbt,*args):
+    if not isinstance(mbt,tuple):
+      mbt = (mbt,)
+    return f(self,mbt,*args)
+  return proper
+
+# Enhanced standard classes
+class SafeDict(dict):
+  def __getitem__(self,k):
+    if k not in self:
+      raise Exception("Unknown keyword '%s'. Available entries: %s" % (k,str(self.keys())))
+    return dict.__getitem__(self,k)
+
+# Placeholder classes and instances
+class Repeater:
+  def __init__(self,e): self.e = e
+
+def repeated(e):
+  """
+    From the arguemnt, constructs something that acts like a 'list' with the argument repeated the 'correct' number of times
+
+    s = struct_symSX([entry("x",repeat=6)])
+    s["x"] = repeated(12)
+
+  """
+  return Repeater(e)
+
+class NestedDictLiteral:
+  """
+    NestedDictLiteral will cause all dictionaries to become explicit recursively
+  """
+
+nesteddict = NestedDictLiteral()
+
+# Casadi-independent Structure framework
+
+def payloadUnpack(payload,i):
+  if is_string(i):
+    raise Exception("Got string %s where number expected."% i)
+  if isIterable(payload):
+    if i>=len(payload):
+      raise Exception("Rhs out of range. Got list index %s but rhs list is only of length %s." % (i,len(payload)))
+    return payload[i]
+  elif isinstance(payload,Repeater):
+    return payload.e
+  else:
+    return payload
+
+class StructEntry:
+  def __init__(self,name,struct=None,data=None,dims=[]):
+    self.name = name
+    self.dims = dims
+    self.struct = struct
+
+  def __str__(self,compact=False):
+     s=''
+     if len(self.dims)>=1:
+       s+= "repeated(%s): " % str(self.dims)
+     if self.isPrimitive():
+       s+=self.primitiveString()
+     else:
+       s+=self.struct.__str__(compact=True)
+     return s
+
+  __repr__ = __str__
+
+  def primitiveString(self):
+    return "*"
+
+  def isPrimitive(self):
+    return self.struct is None
+
+  def traverseCanonicalIndex(self,nest=False,limit=1000):
+    children = [[]] if (self.struct is None or limit==0) else self.struct.traverseCanonicalIndex(limit=limit-1)
+    li = listindices(self.dims,nest)
+    n = [[self.name]]
+    if nest:
+      return [combine(n,i,children) for i in li]
+    else:
+      return combine(n,li,children)
+
+  def getStructEntryByStructIndex(self,structIndex):
+    return self.struct.getStructEntryByStructIndex(structIndex)
+
+  def traverseByPowerIndex(self,powerIndex,dims=None,canonicalIndex=(),dispatcher=None,payload=None):
+    try:
+      if dims is None: dims = self.dims
+      # At the end of powerIndex, pending : are added automatically if dims is not exhausted
+      if len(powerIndex)==0:
+        if len(dims)>0:
+          return self.traverseByPowerIndex(
+                   [slice(None) for i in dims],
+                   dims=dims,
+                   canonicalIndex=canonicalIndex,
+                   dispatcher=dispatcher,
+                   payload=payload
+                 )
+        else:
+          return dispatcher(payload,canonicalIndex,entry=self)
+
+      if len(dims)==0:
+        if self.isPrimitive(): # Pass on remainder of powerIndex to dispatcher
+          return dispatcher(payload,canonicalIndex,extraIndex=tuple(powerIndex),entry=self)
+        else:
+          return self.struct.traverseByPowerIndex(
+                   powerIndex,
+                   canonicalIndex=canonicalIndex,
+                   dispatcher=dispatcher,
+                   payload=payload
+                 )
+      else:
+        p = powerIndex[0]
+        s = dims[0]
+        if isinstance(p,slice): # Expand slice
+          p = range(*p.indices(s))
+        if is_integer(p):
+          return self.traverseByPowerIndex(
+                   powerIndex[1:],
+                   dims=dims[1:],
+                   canonicalIndex=canonicalIndex+(canonical(p,s),),
+                   dispatcher=dispatcher,
+                   payload=payload
+                 )
+        elif isinstance(p,list):
+          return [
+                    self.traverseByPowerIndex(
+                      powerIndex[1:],
+                      dims=dims[1:],
+                      canonicalIndex=canonicalIndex+(canonical(i,s),),
+                      dispatcher=dispatcher,
+                      payload = payloadUnpack(payload,i)
+                    )
+                 for i in p]
+        elif isinstance(p,dict):
+          raise Exception("powerIndex entry {} cannot be used in list context.")
+        elif isinstance(p,set):
+          raise Exception("""powerIndex entry {"foo","bar"} cannot be used in list context.""")
+        elif isinstance(p,NestedDictLiteral):
+          return [
+                    self.traverseByPowerIndex(
+                      [p],
+                      dims=dims[1:],
+                      canonicalIndex=canonicalIndex+(canonical(i,s),),
+                      dispatcher=dispatcher,
+                      payload = payloadUnpack(payload,i)
+                    )
+                 for i in range(s)]
+        elif callable(p):
+          r = p(self.traverseByPowerIndex(
+                powerIndex[1:],
+                dims=dims,
+                canonicalIndex=canonicalIndex,
+                dispatcher=dispatcher.callableInner(),
+                payload=payload
+              ))
+          return dispatcher.callableOuter(payload,canonicalIndex,extraIndex=None,entry=None,inner=r)
+        else:
+          raise Exception("I don't know what to do with this: %s" % str(p))
+    except Exception as e:
+      exc_class, exc, tb = sys.exc_info()
+      new_exc = Exception("Error occured in entry context with powerIndex %s, at canonicalIndex %s:\n%s" % (str(powerIndex),str(canonicalIndex),str(e)))
+      raise new_exc.__class__, new_exc, tb
+
+class Structure(object):
+  def __init__(self,entries,order=None):
+    self.entries = entries
+
+    self.order = [e.name for e in self.entries] if order is None else order
+    self.keyslist = sum([ list(i) if isinstance(i,tuple) else list([i]) for i in self.order],[])
+
+    self.dict = SafeDict([(e.name,e) for e in self.entries])
+
+    for e in self.order:
+      if is_string(e):
+        if e not in self.dict:
+          raise Exception("Order '%s' is invalid." % e)
+      elif isinstance(e,tuple):
+        for ee in e:
+          if ee not in self.dict:
+            raise Exception("Order '%s' is invalid." % ee)
+
+  def keys(self):
+    return self.keyslist
+
+  def __str__(self,compact=False):
+     s=''
+     if compact:
+       s+= "{" + ",".join(k + ": " +  v.__str__(compact=True) for k,v in self.dict.items()) + "}"
+     else:
+       s+= "Structure holding %d entries.\n" % len(self.dict)
+       s+="  Order: %s\n" % str(self.order)
+       for k,v in self.dict.items():
+          s+= "  " + k + " = " +  v.__str__(compact=True) + "\n"
+     return s
+
+  __repr__ = __str__
+
+  def traverseCanonicalIndex(self,limit=1000):
+    ret = []
+    for d in self.order:
+      if isinstance(d,tuple):
+        for v in intersperse(*[self.dict[de].traverseCanonicalIndex(True,limit=limit-1) for de in d]):
+          ret += v
+      else:
+        ret += self.dict[d].traverseCanonicalIndex(limit=limit-1)
+    return ret
+
+  def getStructEntryByStructIndex(self,structIndex):
+    e = self.dict[structIndex[0]]
+    if len(structIndex)>1:
+      return e.getStructEntryByStructIndex(structIndex[1:])
+    else:
+      return e
+
+  def getStructEntryByCanonicalIndex(self,indices):
+    return self.getStructEntryByStructIndex(filter(lambda x: is_string(x),indices))
+
+  def getStruct(self,name):
+    if name not in self.struct.dict:
+      raise Exception("Cannot find entry with key '%s'. Candidates: " % (str(name),str(name.keys())))
+    ret = self.struct.dict[name].struct
+    if ret is None:
+      raise Exception("Entry '%s' has no structure." % (name))
+    else:
+      return ret
+
+  def traverseByPowerIndex(self,powerIndex,canonicalIndex=(),dispatcher=None,payload=None):
+      try:
+        if len(powerIndex)==0: return dispatcher(payload,canonicalIndex)
+        p = powerIndex[0]
+        if is_string(p):
+          return self.dict[p].traverseByPowerIndex(
+            powerIndex[1:],
+            canonicalIndex=canonicalIndex+(p,),
+            dispatcher=dispatcher,
+            payload=payload
+          )
+        elif isinstance(p,slice):
+          raise Exception("slice not allowed here, did you mean '...' ?")
+        elif isinstance(p,type(Ellipsis)):
+          """
+             Why ellipsis? Because it's all or nothing
+          """
+          return [
+                     self.dict[k].traverseByPowerIndex(
+                       powerIndex[1:],
+                       canonicalIndex=canonicalIndex+(k,),
+                       dispatcher=dispatcher,
+                       payload=payloadUnpack(payload,i)
+                     )
+                  for i,k in enumerate(self.keys())]
+        elif isinstance(p,dict) or isinstance(p,NestedDictLiteral):
+          if isinstance(payload,dict):
+            return dict([
+                    ( k,
+                      self.dict[k].traverseByPowerIndex(
+                        powerIndex[1:] if isinstance(p,dict) else [p],
+                        canonicalIndex=canonicalIndex+(k,),
+                        dispatcher=dispatcher,
+                        payload=v
+                      )
+                    ) for k,v in payload.iteritems()
+                   ])
+          else:
+            return dict([
+                    ( k,
+                      v.traverseByPowerIndex(
+                        powerIndex[1:] if isinstance(p,dict) else [p],
+                        canonicalIndex=canonicalIndex+(k,),
+                        dispatcher=dispatcher,
+                        payload=payload
+                      )
+                    ) for k,v in self.dict.iteritems()
+                   ])
+        elif isinstance(p,set):
+          if isinstance(payload,dict):
+            return dict([
+                    ( k,
+                      self.dict[k].traverseByPowerIndex(
+                        powerIndex[1:],
+                        canonicalIndex=canonicalIndex+(k,),
+                        dispatcher=dispatcher,
+                        payload=v
+                      )
+                    ) for k,v in payload.iteritems() if k in p
+                   ])
+          else:
+            return dict([
+                    ( k,
+                      self.dict[k].traverseByPowerIndex(
+                        powerIndex[1:],
+                        canonicalIndex=canonicalIndex+(k,),
+                        dispatcher=dispatcher,
+                        payload=payload
+                      )
+                    ) for k in p
+                   ])
+        elif isinstance(p,list):
+          return [
+                     self.traverseByPowerIndex(
+                       powerIndex[1:],
+                       canonicalIndex=canonicalIndex+(s,),
+                       dispatcher=dispatcher,
+                       payload=payloadUnpack(payload,i)
+                     )
+                 for i,s in enumerate(p)]
+        elif callable(p):
+          r = p(self.traverseByPowerIndex(
+                powerIndex[1:],
+                canonicalIndex=canonicalIndex,
+                dispatcher=dispatcher.callableInner(),
+                payload=payload
+              ))
+          return dispatcher.callableOuter(payload,canonicalIndex,extraIndex=None,entry=None,inner=r)
+        else:
+          raise Exception("I don't know what to do with this: %s" % str(p))
+      except Exception as e:
+        exc_class, exc, tb = sys.exc_info()
+        new_exc = Exception("Error occured in struct context with powerIndex %s, at canonicalIndex %s:\n%s" % (str(powerIndex),str(canonicalIndex),str(e)))
+        raise new_exc.__class__, new_exc, tb
+
+# Casadi-dependent Structure framework
+
+class Dispatcher:
+  def __init__(self,**args):
+    for k,v in args.items():
+      setattr(self,k,v)
+
+  def callableInner(self):
+    return self
+
+  def callableOuter(self,payload,canonicalIndex,extraIndex=None,entry=None,inner=None):
+    return inner
+
+
+#Mixins
+class CasadiStructureDerivable:
+
+  def argtype(self,arg):
+    mtype = None
+    if isinstance(arg,DM):
+      a = arg
+      mtype = DM
+    elif not isinstance(arg,MX) and not isinstance(arg,SX):
+      try:
+        a = DM(arg)
+        mtype = DM
+      except:
+        pass
+
+    if mtype is None:
+      if isinstance(arg,MX):
+        a = arg
+        mtype = MX
+      else:
+        try:
+          a = MX(arg)
+          mtype = MX
+        except:
+          pass
+
+    if mtype is None:
+      if isinstance(arg,SX):
+        a = arg
+        mtype = SX
+      else:
+        try:
+          a = SX(arg)
+          mtype = SX
+        except:
+          raise Exception("Call to Structure has weird argument: expecting DM-like or MX-like or SXMatrix-like")
+
+    return (a,mtype)
+
+  def __call__(self,arg=0):
+    (a,mtype) = self.argtype(arg)
+
+    if isinstance(a,DM):
+      if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
+        a = DM.ones(self.size,1)*a
+      return DMStruct(self,data=a)
+
+    if isinstance(a,MX):
+      return MXStruct(self,data=a)
+
+    if isinstance(a,SX):
+      return SXStruct(self,data=a)
+
+  def repeated(self,arg=0):
+    (a,mtype) = self.argtype(arg)
+
+    if not(a.shape[0] == self.size):
+       raise Exception("Expecting %d x n DM. Got %s" % (self.size,a.dim()))
+    s = struct([entry("t",struct=self,repeat=a.shape[1])])
+
+    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
+      if isinstance(a,t):
+        numbers = c(s,data=DataReferenceRepeated(a,a.shape[1]))
+
+    p = numbers.prefix["t"]
+    p.castmaster = True
+    return p
+
+  def squared(self,arg=0):
+    (a,mtype) = self.argtype(arg)
+
+    if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
+       a = DM.ones(self.size,self.size)*a
+    if not(a.shape[1] == a.shape[0] and a.shape[0]==self.size):
+       raise Exception("Expecting square DM of size %s. Got %s" % (self.size,a.dim()))
+    s = struct([entry("t",shapestruct=(self,self))])
+    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
+      if isinstance(a,t):
+        numbers = c(s,data=DataReferenceSquared(a,a.shape[0]))
+    p = numbers.prefix["t"]
+    p.castmaster = True
+    return p
+
+  def product(self,otherstruct,arg=0):
+    (a,mtype) = self.argtype(arg)
+
+    if a.shape[0] == 1 and a.shape[1] == 1 and self.size!=1:
+       a = DM.ones(self.size,otherstruct.size)*a
+    if not(a.shape[1]==otherstruct.size and a.shape[0]==self.size):
+       raise Exception("Expecting DM of shape (%s,%s). Got %s" % (self.size,otherstruct.size,a.dim()))
+    s = struct([entry("t",shapestruct=(self,otherstruct))])
+    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
+      if isinstance(a,t):
+        numbers = c(s,data=DataReferenceProduct(a,a.shape[0],a.shape[1]))
+    p = numbers.prefix["t"]
+    p.castmaster = True
+    return p
+
+  def squared_repeated(self,arg=0):
+    (a,mtype) = self.argtype(arg)
+
+    if not(a.shape[0]==self.size and a.shape[1] % self.size == 0):
+       raise Exception("Expecting square (%d) DM by N. Got %s" % (self.size,a.dim()))
+    s = struct([entry("t",shapestruct=(self,self),repeat=a.shape[1] / self.size)])
+
+    for (t,c) in [(DM,DMStruct), (MX, MXStruct), (SX, SXStruct)]:
+      if isinstance(a,t):
+        numbers = c(s,data=DataReferenceSquaredRepeated(a,self.size,a.shape[1] / self.size))
+
+    p = numbers.prefix["t"]
+    p.castmaster = True
+    return p
+
+class GetterDispatcher(Dispatcher):
+  def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
+    type = None if entry is None else entry.type
+    if canonicalIndex in self.struct.map:
+
+      if canonicalIndex in self.priority_object_map and (extraIndex is None or len(extraIndex)==0):
+        r = self.priority_object_map[canonicalIndex]
+        if type is None:
+          return r
+        elif type=="symm":
+          return triu2symm(r)
+        else:
+          raise Exception("Cannot handle type '%s'." % entry.type)
+
+      i = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
+
+      try:
+        if type is None:
+          return correct_vector_indexing(self.master, i)
+        elif type=="symm":
+          return triu2symm(self.master[i])
+        else:
+          raise Exception("Cannot handle type '%s'." % entry.type)
+      except Exception as e:
+        exc_class, exc, tb = sys.exc_info()
+        new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n%s" % (str(canonicalIndex),str(e)))
+        raise new_exc.__class__, new_exc, tb
+    else:
+      raise Exception("Canonical index %s does not exist." % str(canonicalIndex))
+
+class SetterDispatcher(Dispatcher):
+  def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
+    payload_ = self.mtype(payload)
+    type = None if entry is None else entry.type
+    if canonicalIndex in self.struct.map:
+      i = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
+      try:
+        if type is None:
+          self.master[i] = payload_
+        elif type=="symm":
+          iflip = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry,flip=True)
+          if payload_.is_scalar():
+            self.master[i] = payload_
+            self.master[iflip] = payload_
+          else:
+            oi = performExtraIndex(DM.ones(entry.originalsparsity),extraIndex=extraIndex,entry=entry)
+            if oi.sparsity()!=payload_.sparsity():
+              raise Exception("Payload sparsity " + payload_.dim() +  " does not match lhs sparisty " + oi.dim() + "." )
+            self.master[iflip] = payload_.T[iflip.sparsity()]
+            self.master[i] = payload_[i.sparsity()]
+        else:
+          raise Exception("Cannot handle type '%s'." % entry.type)
+      except NotImplementedError as e:
+        raise CompatibilityException("Error in canonicalIndex slicing for %s: Incompatible types in a[i]=b with a %s (%s) and b %s (%s) and i %s (%s). Error: %s" % (str(canonicalIndex),str(self.master),str(__builtin__.type(self.master)),str(payload),str(__builtin__.type(payload)),str(i),str(__builtin__.type(i)),str(e)))
+      except Exception as e:
+        exc_class, exc, tb = sys.exc_info()
+        new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n%s" % (str(canonicalIndex),str(e)))
+        raise new_exc.__class__, new_exc, tb
+    else:
+      raise Exception("Canonical index %s does not exist." % str(canonicalIndex))
+
+  def callableInner(self):
+    return CasadiStructure.IMDispatcher(struct=self.struct)
+
+  def callableOuter(self,payload,canonicalIndex,extraIndex=None,entry=None,inner=None):
+    try:
+      self.master[inner] = payload
+    except NotImplementedError:
+      raise CompatibilityException("Error in canonicalIndex slicing for %s: Incompatible types in a[i]=b with a %s and b %s." % (str(canonicalIndex),str(self.master),str(payload)))
+    except Exception as e:
+      exc_class, exc, tb = sys.exc_info()
+      new_exc = Exception("Error in powerIndex slicing for canonicalIndex %s:\n %s" % (str(canonicalIndex),str(e)))
+      raise new_exc.__class__, new_exc, tb
+
+class MasterGettable:
+  @properGetitem
+  def __getitem__(self,powerIndex):
+    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=GetterDispatcher(struct=self.struct,master=self.master,priority_object_map=self.priority_object_map))
+
+class MasterSettable:
+  @properGetitem
+  def __setitem__(self,powerIndex,value):
+    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=
+    SetterDispatcher(struct=self.struct,master=self.master,mtype=self.mtype),payload=value)
+
+def delegation(extraIndex,entry,i):
+  if is_string(extraIndex) or (isinstance(extraIndex,list) and len(extraIndex)>0 and all([is_string(e) for e in extraIndex])):
+    extraIndex = FlatIndexDelegater(extraIndex)
+  if isinstance(extraIndex,Delegater):
+    if entry is None: raise Exception("Cannot use delayed index without supplied entry.")
+    if entry.shapestruct is None: raise Exception("Cannot use delayed index without supplied shapestruct.")
+    if not(isinstance(entry.shapestruct[i],Structure)) : raise Exception("Cannot use delayed index with a integer shapestruct argument.")
+    return extraIndex(entry.shapestruct[i])
+  else:
+    return extraIndex
+
+def performExtraIndex(i,extraIndex=None,entry=None,flip=False):
+  if extraIndex is None or len(extraIndex)==0:
+    return i
+  if callable(extraIndex[0]) and not isinstance(extraIndex[0],Delegater):
+    return extraIndex[0](performExtraIndex(i,extraIndex=extraIndex[1:],entry=entry,flip=flip))
+  if not(isinstance(extraIndex[0],NestedDictLiteral)):
+    if len(extraIndex)>2 or len(extraIndex)==0:
+      raise Exception("Powerindex exhausted. Remaining %s is interpreted as extraIndex, but length must be 1 or 2." % str(extraIndex))
+    try:
+      if len(extraIndex)==1:
+        a = extraIndex[0]
+        a = delegation(a,entry,0)
+        return i.__getitem__(a)
+      else:
+        a,b = extraIndex
+        a = delegation(a,entry,0)
+        b = delegation(b,entry,1)
+        return i.__getitem__((b,a) if flip else (a,b))
+    except NotImplementedError:
+       raise Exception("Powerindex exhausted. Passing on %s to %s, but it doesn't know what to do with it" % (str(extraIndex),str(type(i))))
+  else:
+    return i
+
+
+class Prefixer:
+  def __init__(self,struct,prefix,castmaster=False):
+    self.struct = struct
+    self.prefix = prefix
+    self.castmaster = castmaster
+
+    methods = [ "__DM__", "__SX__","__MX__"]
+    for m in methods:
+      if hasattr(self.struct,m):
+        setattr(self,m,self.cast)
+
+  def __setstate__(self,state):
+    self.__init__(state["struct"],state["prefix"],state["castmaster"])
+
+  def __getstate__(self):
+    return {"struct": self.struct, "prefix": self.prefix,"castmaster": self.castmaster}
+
+  def __getattr__(self,name):
+    # When attributes are not found, delegate to self()
+    # This allows for e.g. sin(x) and x+1 to work
+    if isinstance(self.struct.master,DataReference):
+      t = self.struct.master.a
+    else:
+      t = self.struct.master
+    if not(isinstance(t,list) or isinstance(t,dict) or isinstance(t,tuple)):
+      return getattr(t,name)
+
+  def cast(self):
+    if self.castmaster:
+      if isinstance(self.struct.master,DataReference):
+        return self.struct.master.a
+      else:
+        return self.struct.master
+    else:
+      return self()
+
+  def __str__(self):
+    return "prefix( " + str(self.prefix) + "," + self.struct.__str__(compact=True) + ")"
+
+  __repr__ = __str__
+
+  def __call__(self):
+    return self.struct.__getitem__(self.prefix)
+
+  @properGetitem
+  def __getitem__(self,powerIndex):
+    return self.struct.__getitem__(self.prefix + powerIndex)
+
+  @properGetitem
+  def __setitem__(self,powerIndex,data):
+    return self.struct.__setitem__(self.prefix + powerIndex,data)
+
+class PrefixConstructor:
+
+  def __str__(self):
+    return "prefixConstructor(" + self.struct.__str__(compact=True) + ")"
+
+  __repr__ = __str__
+
+  def __init__(self,struct,castmaster=False):
+    self.struct = struct
+    self.castmaster=castmaster
+
+  @properGetitem
+  def __getitem__(self,prefix):
+    return Prefixer(self.struct,prefix,castmaster=self.castmaster)
+
+class CasadiStructure(Structure,CasadiStructureDerivable):
+  """
+    size
+    map
+  """
+
+  def save(self,filename):
+    import pickle
+    pickle.dump(self,file(filename,"wb"),2)
+
+  class FlatIndexDispatcher(Dispatcher):
+    def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
+      if canonicalIndex in self.struct.map:
+        res = performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
+        if isinstance(res,DM):
+          assert res.is_dense()
+          return map(int,list(res.nonzeros()))
+        return list(res)
+      else:
+        raise Exception("Canonical index %s not found." % str(canonicalIndex))
+
+  class IMDispatcher(Dispatcher):
+    def __call__(self,payload,canonicalIndex,extraIndex=None,entry=None):
+      if canonicalIndex in self.struct.map:
+        return performExtraIndex(self.struct.map[canonicalIndex],extraIndex=extraIndex,entry=entry)
+      else:
+        raise Exception("Canonical index %s not found." % str(canonicalIndex))
+
+  def __setstate__(self,state):
+    self.__init__(*state["args"],**state["kwargs"])
+
+  def __getstate__(self):
+    return self.initializer
+
+  def __init__(self,*args,**kwargs):
+    self.initializer = {"args": args, "kwargs": kwargs}
+    Structure.__init__(self,*args,**kwargs)
+
+    self.map = {}
+    self.lookuptable = []
+
+    hmap = {}
+    k = 0 # Global index counter
+    for i in self.traverseCanonicalIndex():
+      e = self.getStructEntryByCanonicalIndex(i)
+      sp = Sparsity.dense(1,1) if e.sparsity is None else e.sparsity
+      m = DM(sp,range(k,k+sp.nnz()))
+      k += sp.nnz()
+      it = tuple(i)
+      self.map[it] = m
+      self.lookuptable+=[(it,kk,p) for kk,p in enumerate(zip(sp.get_col(),sp.row()))]
+      for a in canonicalIndexAncestors(it)[1:]:
+        if a in hmap:
+          hmap[a].append(m)
+        else:
+          hmap[a] = [m]
+    self.size = k
+    for k,v in hmap.iteritems():
+      hmap[k] = vertcat(*[i.nz[:] for i in v])
+
+    self.map.update(hmap)
+
+    class StructureGetter:
+      def __init__(self,struct):
+        self.struct = struct
+
+    class IMGetter(StructureGetter):
+      @properGetitem
+      def __getitem__(self,powerIndex):
+        return self.struct.traverseByPowerIndex(powerIndex,dispatcher=CasadiStructure.IMDispatcher(struct=self.struct))
+
+    class FlatIndexGetter(StructureGetter):
+      @properGetitem
+      def __getitem__(self,powerIndex):
+        return vec(self.struct.traverseByPowerIndex(powerIndex,dispatcher=CasadiStructure.FlatIndexDispatcher(struct=self.struct)))
+
+    self.i = IMGetter(self)
+    self.f = FlatIndexGetter(self)
+    self.struct = self
+
+  def __str__(self,compact=False):
+    return ("" if compact else "Structure with total size %d.\n" % self.size)+ Structure.__str__(self,compact=compact)
+
+  def getCanonicalIndex(self,i,extraMode=1):
+    """
+      Returns the canonicalIndex of the entry with a given flatIndex
+      extraMode influences wether nothing (0), [i] (1) or [i,j] (2) will be returned as extra index
+    """
+    if i<0 or i>=self.size:
+      raise Exception("Lookup index out of range. Got %d, but structure is of size %d" % (i,self.size))
+    can,k,p = self.lookuptable[i]
+    if extraMode==0:
+      return can
+    elif extraMode==1:
+      return can+(k,)
+    else:
+      return can+p
+
+  def canonicalIndices(self,extraMode=1):
+    return [self.getCanonicalIndex(i,extraMode=extraMode) for i in range(self.size)]
+
+  def getLabel(self,i,extraMode=1):
+    t = self.getCanonicalIndex(i,extraMode=extraMode)
+    return "["+ ",".join(map(str,t)) + "]"
+
+  def labels(self,extraMode=1):
+    return [self.getLabel(i,extraMode=extraMode) for i in range(self.size)]
+
+class Structured(object):
+  description = "Generic Structured object"
+
+  def __init__(self,structure):
+    self.struct = structure.struct
+    self.i = self.struct.i
+    self.f = self.struct.f
+    self.getStruct = self.struct.getStruct
+    self.prefix = PrefixConstructor(self)
+
+  @property
+  def size(self):
+    return self.struct.size
+
+  @property
+  def cat(self):
+    if isinstance(self.master,DataReference):
+      return self.master.a
+    else:
+      return self.master
+
+  def __str__(self,compact=False):
+    if compact is False:
+      return self.description + " with following structure:\n" + self.struct.__str__()
+    else:
+      return self.description + " (" + self.struct.__str__(compact=True) + ")"
+
+  def keys(self):
+    return self.struct.keys()
+
+class CasadiStructured(Structured,CasadiStructureDerivable):
+  description = "Generic Structured object"
+
+  def __setstate__(self,state):
+    cs = CasadiStructure.__new__(CasadiStructure)
+    cs.__setstate__({"args": state["args"],"kwargs": state["kwargs"]})
+    self.__init__(cs,order=state["order"])
+
+  def __getstate__(self):
+    d = copy.deepcopy(self.struct.__getstate__())
+    d["order"] = self.order
+    return d
+
+  def __init__(self,struct,order=None):
+    self.order = order
+    if hasattr(struct,"struct"):
+      Structured.__init__(self,struct.struct)
+      self.entries = []
+    else:
+      entrylist = EntryList(struct,order=order)
+      self.entries = entrylist.entries
+      Structured.__init__(self,CasadiStructure(self.entries, order=entrylist.order))
+
+    self.getCanonicalIndex = self.struct.getCanonicalIndex
+    self.canonicalIndices = self.struct.canonicalIndices
+    self.getLabel = self.struct.getLabel
+    self.labels = self.struct.labels
+    self.priority_object_map = {}
+
+  @property
+  def shape(self):
+    return (self.size,1)
+
+  def sparsity(self):
+    return Sparsity.dense(self.size,1)
+
+  def getCanonicalIndex(self,*args,**kwargs):
+    return self.struct.lookup(*args,**kwargs)
+
+class CompatibilityException(Exception):
+  pass
+
+class ssymStruct(CasadiStructured,MasterGettable):
+  description = "symbolic SX"
+  def __init__(self,struct,order=None):
+    CasadiStructured.__init__(self,struct,order=order)
+
+    if any(e.expr is not None for e in self.entries):
+      raise Exception("struct_symSX does not accept entries with an 'expr' argument, because such an element is not purely symbolic.")
+
+    s = []
+    for i in self.struct.traverseCanonicalIndex():
+      e = self.struct.getStructEntryByCanonicalIndex(i)
+      s.append(SX.sym("_".join(map(str,i)),e.sparsity.nnz()))
+
+    self.master = vertcat(*[i.nz[:] for i in s])
+
+    for e in self.entries:
+      if e.sym is not None:
+        self.master[self.i[e.name]] = e.sym
+
+  def __SX__(self):
+    return self.cat
+
+class VertsplitStructure:
+  def buildMap(self,struct=None,parentIndex = (),parent=None):
+    if struct is None:  struct = self.struct
+    if parent is None:  parent = self.master
+
+    if isinstance(parent,DataReference):
+      parent = parent.a
+
+    ks  = []
+    its = []
+    sps = []
+    es  = []
+    k = 0 # Global index counter
+    for i in struct.traverseCanonicalIndex(limit=1):
+      e = struct.getStructEntryByCanonicalIndex(i)
+      sp = None
+      if e.isPrimitive():
+        sp = Sparsity.dense(1,1) if e.sparsity is None else e.sparsity
+      else:
+        sp = Sparsity.dense(e.struct.size,1)
+      ks.append(k)
+      it = tuple(i)
+      es.append(e)
+      its.append(it)
+      sps.append(sp)
+      k += sp.nnz()
+    ks.append(parent.size1())
+
+    for it, k, sp,e in zip(its,vertsplit(parent,ks),sps,es):
+      if not(e.isPrimitive()):
+        self.buildMap(struct=e.struct,parentIndex = parentIndex + it,parent=k)
+      self.priority_object_map[parentIndex+it] = k if k.sparsity()==sp else MX(sp,k) #[IM(sp,range(sp.nnz()))]
+
+class msymStruct(CasadiStructured,MasterGettable,VertsplitStructure):
+  description = "MX.sym"
+  def __init__(self,struct,order=None):
+    CasadiStructured.__init__(self,struct,order=order)
+
+    if any(e.expr is not None for e in self.entries):
+      raise Exception("struct_symMX does not accept entries with an 'expr' argument, because such an element is not purely symbolic.")
+    if any(e.sym is not None for e in self.entries):
+      raise Exception("struct_symMX does not accept entries with an 'sym' argument.")
+
+    self.master = MX.sym("V",self.size,1)
+
+    self.buildMap()
+
+  def __MX__(self):
+    return self.cat
+
+
+
+
+class MatrixStruct(CasadiStructured,MasterGettable,MasterSettable):
+
+  @property
+  def description(self):
+    return "Mutable " + self.mtype.__name__
+
+  def __init__(self,struct,mtype,data=None,order=None):
+    CasadiStructured.__init__(self,struct,order=None)
+    if any(e.expr is None for e in self.entries):
+      raise Exception("struct_SX does only accept entries with an 'expr' argument.")
+
+    self.mtype = mtype
+    if isinstance(data,mtype) or isinstance(data,DataReference):
+      self.master = data
+    elif data is None:
+      self.master = mtype.nan(self.size,1)
+    else:
+      self.master = mtype(data)
+
+    if self.master.shape[0]!=self.size:
+      raise Exception("MatrixStruct: dimension error. Expecting %d-by-1, but got %s" % (self.size,self.master.dim()))
+    if self.master.shape[1]!=1 and self.master.shape[0]>0:
+      raise Exception("MatrixStruct: dimension error. Expecting %d-by-1, but got %s" % (self.size,self.master.dim()))
+
+    for e in self.entries:
+      self[e.name] = e.expr
+
+class DMStruct(MatrixStruct):
+
+  def save(self,filename):
+    import pickle
+    pickle.dump(self,file(filename,"wb"),2)
+
+  def __setstate__(self,state):
+    cs = CasadiStructure.__new__(CasadiStructure)
+    cs.__setstate__({"args": state["args"],"kwargs": state["kwargs"]})
+    self.__init__(cs,data=state["master"])
+
+  def __getstate__(self):
+    d = copy.deepcopy(self.struct.__getstate__())
+    d["master"] = self.master
+    return d
+
+  def __init__(self,struct,data=None):
+    MatrixStruct.__init__(self,struct,DM,data=data)
+
+  def __DM__(self):
+    return self.cat
+
+class SXStruct(MatrixStruct):
+  def __init__(self,struct,data=None):
+    MatrixStruct.__init__(self,struct,SX,data=data)
+
+  def __SX__(self):
+    return self.cat
+
+class MXStruct(MatrixStruct,VertsplitStructure):
+  def __init__(self,struct,data=None):
+    MatrixStruct.__init__(self,struct,MX,data=data)
+
+    self.buildMap()
+
+  def __MX__(self):
+    return self.cat
+
+class MXVeccatStruct(CasadiStructured,MasterGettable):
+  description = "Partially mutable MX"
+  def __init__(self,arg,order=None):
+    CasadiStructured.__init__(self,arg,order=order)
+    if any(e.expr is None for e in self.entries):
+      raise Exception("struct_MX does only accept entries with an 'expr' argument.")
+
+    self.storage = []
+    self.mapping = {}
+    for k,i in enumerate(self.struct.traverseCanonicalIndex(limit=1)):
+      self.storage.append(None)
+      self.mapping[tuple(i)] = k
+
+    for e in self.entries:
+      self[e.name] = e.expr
+
+    self.dirty = True
+
+  def __setitem__(self,powerIndex,value):
+    if not isinstance(powerIndex,tuple):
+      powerIndex = (powerIndex,)
+
+    def inject(payload,canonicalIndex,extraIndex=None,entry=None):
+      if extraIndex is not None:
+        raise Exception("An MX veccat structure does not accept indexing on MX level for __setitem__.")
+      if not hasattr(self,"sparsity"):
+        raise Exception("An MX veccat structure __setitem__ accepts only objects that have sparsity.")
+
+      if canonicalIndex in self.mapping:
+        if self.struct.map[canonicalIndex].sparsity()!=payload.sparsity():
+          raise Exception("Error in powerIndex slicing %s for canonicalIndex %s: Shape mismatch. lhs is %s, rhs is %s." % (str(powerIndex),str(canonicalIndex),self.struct.map[canonicalIndex].sparsity().dim(),payload.sparsity().dim()))
+        self.storage[self.mapping[canonicalIndex]] = payload
+      else:
+        raise Exception("Not found: %s " % str(canonicalIndex))
+      self.dirty = True
+    return self.struct.traverseByPowerIndex(powerIndex,dispatcher=inject,payload=value)
+
+  def __MX__(self):
+    return self.cat
+
+  @property
+  def master(self):
+    if any(e is None for e in self.storage):
+      missing = filter(lambda k: self.storage[self.mapping[k]] is None,self.mapping.keys())
+
+      raise Exception("Problem in MX vecNZcat structure cat: missing expressions. The following entries are missing: %s" % str(missing))
+
+    if self.dirty:
+      self.master_cached = vertcat(*[casadi.vec(i.nz[:]) for i in self.storage])
+
+    return self.master_cached
+
+
+struct_symSX = ssymStruct
+struct_symMX = msymStruct
+struct_SX = SXStruct
+struct_MX_mutable = MXStruct
+struct_MX = MXVeccatStruct
+struct = CasadiStructured
+
+
+
+entry = StructEntry
+
+class CasadiStructEntry(StructEntry):
+  def __init__(self,*args,**kwargs):
+    if len(args)==0:
+      raise Exception("Missing name argument (first argument of Entry)")
+    else:
+      self.name = args[0]
+    self.dict = kwargs
+
+    if len(args)>1:
+      raise Exception("Don't know what to do with unnamed arguments %s" % str(args[1:]))
+
+
+
+    kw = kwargs.keys()
+    kws = ['repeat','shape','sym','expr','struct','shapestruct','type']
+    for k in kw:
+      if k not in kws:
+        raise Exception("Unknown keyword argument '%s'. Please use one of %s." % (k,str(kws)))
+
+
+
+    for kc, fk in [
+          ('shape',['struct']),
+          ('struct',['shape','shapestruct']),
+          ('shapestruct',['struct']), # You might have a sparse matrix with shapestruct
+          ('sym',['shape','repeat','expr']),
+          ('expr',['shape','repeat','sym'])
+        ]:
+        if kc in kwargs:
+          for fki in fk:
+            if fki in kwargs:
+              raise Exception("You supplied keyword argument '%s', but it cannot be combined with keyword argument '%s'." % (kc,fki))
+
+    #     repeat   argument
+    self.repeat = []
+
+    if 'repeat' in kwargs:
+      self.repeat = kwargs["repeat"] if isinstance(kwargs["repeat"],list) else [kwargs["repeat"]]
+
+    if not all(map(lambda x: is_integer(x),self.repeat)):
+      raise Exception("The 'repeat' argument, if present, must be a list of integers, but got %s" % str(self.repeat))
+
+
+    self.struct = None
+    #     struct   argument
+    if 'struct' in kwargs:
+      struct = kwargs["struct"]
+      if isinstance(struct,Structure):
+        self.struct = struct
+      elif isinstance(struct,Structured):
+        self.struct = struct.struct
+
+
+    self.sparsity = None
+    #     shape   argument
+    if 'shape' in kwargs:
+      shape = kwargs["shape"]
+      if is_integer(shape) :
+        self.sparsity = Sparsity.dense(shape,1)
+      elif isinstance(shape,list) or isinstance(shape,tuple):
+        if len(shape)==0 or len(shape)>2:
+          raise Exception("The 'shape' argument, if present, must be an integer, a tuple of 1 or 2 integers, a sparsity pattern.")
+        else:
+          self.sparsity = Sparsity.dense(*shape)
+      elif isinstance(shape,Sparsity):
+        self.sparsity = shape
+      else:
+        raise Exception("The 'shape' argument, if present, must be an integer, a tuple of 1 or 2 integers, or a sparsity pattern. Got %s " % str(shape))
+    else:
+      self.sparsity = Sparsity.dense(1,1)
+
+    self.shapestruct = None
+    #     shapestruct  argument
+    if 'shapestruct' in kwargs:
+      shapestruct = kwargs["shapestruct"]
+      if isinstance(shapestruct,Structured) or isinstance(shapestruct,Structure):
+        self.shapestruct = (shapestruct.struct,1)
+      elif isinstance(shapestruct,tuple):
+        if not(all([isinstance(e,Structured) or isinstance(e,Structure) or is_integer(e) for e in shapestruct])) or len(shapestruct)==0 or len(shapestruct)>2:
+          raise Exception("The 'shapestruct' argument, if present, must be a structure or a tuple of structures or numbers")
+        self.shapestruct = tuple([e if is_integer(e) else e.struct for e in shapestruct])
+      else:
+        raise Exception("The 'shapestruct' argument, if present, must be a structure or a tuple of at most structures")
+
+      if 'shape' not in kwargs:
+        self.sparsity = Sparsity.dense(*[e if is_integer(e) else e.size for e in self.shapestruct])
+
+    #     sym    argument
+    self.sym = None
+    if 'sym' in kwargs:
+      sym = kwargs["sym"]
+      if isinstance(sym,SX) and sym.is_valid_input():
+        self.sym = sym
+      elif isinstance(sym,Structured):
+        self.struct = sym.struct
+        self.sym = sym.cat
+      else:
+        raise Exception("The 'sym' argument must be a purely symbolic SX or a structured symbolic. Got %s instead." % str(self.sym))
+      self.sparsity = self.sym.sparsity()
+
+    #     expr    argument
+    self.expr = None
+    if 'expr' in kwargs:
+      self.expr = kwargs["expr"]
+
+      def getPrimitive(e,repeat=[]):
+        if isinstance(e,list):
+          if len(e)==0:
+            return None,repeat+[0]
+          else:
+            return getPrimitive(e[0],repeat=repeat+[len(e)])
+        else:
+          return e,repeat
+
+
+      p,r = getPrimitive(self.expr)
+
+      if p is None:
+        self.repeat = [0]
+        self.sparsity = Sparsity.dense(0,0)
+      else:
+        self.repeat = r
+
+        if hasattr(p,"sparsity"):
+          self.sparsity = p.sparsity()
+        else:
+          raise Exception("The 'expr' argument must be a matrix expression or nested list of matrix expressions. Got %s instead." % str(p))
+
+    self.type = None
+    #     class   argument
+    if 'type' in kwargs:
+      self.type= kwargs["type"]
+      allowedclass = ['symm']
+      if self.type not in allowedclass:
+        raise Exception("You supplied a type argument '%s' but it is not recognised. Use one of %s" % (str(self.type,str(allowedclass))))
+      if self.type=="symm":
+        if self.sparsity.size1() != self.sparsity.size2():
+          raise Exception("You supplied a type 'symm', but matrix is not square. Got " % self.sparsity.dim() + ".")
+        self.originalsparsity = self.sparsity
+        self.sparsity = self.sparsity*Sparsity.upper(self.sparsity.size1())
+
+
+
+    StructEntry.__init__(self,self.name,struct=self.struct,dims=self.repeat,data=self.sparsity)
+
+  def primitiveString(self):
+    if self.type is None:
+      return self.sparsity.dim()
+    elif self.type=="symm":
+      return "symm(" +  self.sparsity.dim() + ")"
+
+  def __getstate__(self):
+    return dict((k,getattr(self,k)) for k in ["name", "struct", "sparsity","type","repeat","shapestruct","dims"])
+
+
+def entry(*args,**kwargs):
+  if len(args)==1 and isinstance(args[0],CasadiStructEntry):
+    return args[0]
+  return CasadiStructEntry(*args,**kwargs)
+
+class EntryList:
+  def __init__(self,arg,order = None):
+    self.entries = []
+    self.order = []
+
+    if not isinstance(arg,list):
+      raise Exception("Expecting list of entries, with possible tuples for grouping, but got %s" % str(arg))
+
+    for e in arg:
+      if isinstance(e,tuple):
+        entries = map(entry,e)
+        self.order.append(tuple(x.name for x in entries))
+        self.entries+=entries
+      else:
+        ee = entry(e)
+        self.order.append(ee.name)
+        self.entries.append(ee)
+
+    # Override order
+    if order is not None:
+      if any(isinstance(e,tuple) for e in self.order):
+        raise Exception("You supplied an order by using tuple syntax on entries %s, but you overwrite it with the 'order' keyword. Use one or the other, not both.")
+      self.order = order
+
+    self.names = map(lambda x : x.name,self.entries)
+    if len(self.names)!=len(set(self.names)):
+      duplicates = []
+      for i,e in enumerate(self.names):
+        if e in self.names[:i] or e in self.names[i+1:]:
+          duplicates.append(e)
+      raise Exception("Your list of entries contains duplicates: %s" % str(list(set(duplicates))))
+
+
+class Delegater:
+  def __init__(self,arg):
+    self.arg = arg
+
+  def __str__(self):
+    return "%s[%s]" % (self.__class__.__name__,str(self.arg))
+
+  __repr__ = __str__
+
+
+class IndexDelegater(Delegater):
+  def __call__(self,struct):
+    return struct.i.__getitem__(self.arg)
+
+class FlatIndexDelegater(Delegater):
+  def __call__(self,struct):
+    return struct.f.__getitem__(self.arg)
+
+
+class DelegaterConstructor:
+  """
+    Creates an object that delegates a slicing operation.
+
+    Example usage:
+      s = struct_symSX([])
+      x = struct_symSX(entry("x",Sparsity.diag(4)))
+      x["x",0,index[:]]
+
+  """
+  def __init__(self,delegater,prepend=()):
+    self.prepend = prepend
+    self.delegater = delegater
+
+  @properGetitem
+  def __getitem__(self,arg):
+    return self.delegater(self.prepend + arg)
+
+index  = DelegaterConstructor(IndexDelegater)
+indexf = DelegaterConstructor(FlatIndexDelegater)
+
+class DataReference:
+  @property
+  def shape(self):
+    return self.v.shape
+
+  def dim(self):
+    return self.v.dim()
+
+
+class DataReferenceRepeated(DataReference):
+  def __init__(self,a,n):
+    assert(a.is_dense())
+    self.a = a
+    self.n = n
+    self.v = a.reshape((n*a.size1(),1))
+
+  def __setitem__(self,a,b):
+    self.v.nz[a] = b
+    I = self.a.sparsity().find()
+    self.a.nz[I] = self.v.nz[I]
+
+  def __getitem__(self,a):
+    return self.v.nz[a]
+
+class DataReferenceSquared(DataReference):
+  def __init__(self,a,n):
+    assert(a.is_dense())
+    self.a = a
+    self.v = a
+    self.n = n
+
+  def __setitem__(self,a,b):
+    self.a.nz[a] = b
+
+  def __getitem__(self,a):
+    return self.a.nz[a]
+
+  @property
+  def shape(self):
+    return (self.n*self.n,1)
+
+class DataReferenceProduct(DataReference):
+  def __init__(self,a,n,m):
+    assert(a.is_dense())
+    self.a = a
+    self.v = a
+    self.n = n
+    self.m = m
+
+  def __setitem__(self,a,b):
+    self.a.nz[a] = b
+
+  def __getitem__(self,a):
+    return self.a.nz[a]
+
+  @property
+  def shape(self):
+    return (self.n*self.m,1)
+
+  def size1(self):
+    return self.n
+
+  def size2(self):
+    return self.m
+
+class DataReferenceSquaredRepeated(DataReference):
+  def __init__(self,a,n,N):
+    assert(a.is_dense())
+    self.a = a
+    self.n = n
+    self.N = N
+    self.v = a.reshape((n*n*N,1))
+
+  def __setitem__(self,a,b):
+    self.v.nz[a] = b
+    I = self.a.sparsity().find()
+    self.a.nz[I] = self.v.nz[I]
+
+  def __getitem__(self,a):
+    return self.v.nz[a]
+
+def struct_load(filename):
+    import pickle
+    return pickle.load(file(filename,"rb"))
+