casadi 3.7.2__cp314-none-win_amd64.whl

casadi/include/casadi/core/sparsity.hpp

@@ -0,0 +1,1507 @@
+/*
+ *    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
+ *    Copyright (C) 2005-2013 Timothy A. Davis
+ *
+ *    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_HPP
+#define CASADI_SPARSITY_HPP
+
+#include "shared_object.hpp"
+#include "printable.hpp"
+#include "casadi_common.hpp"
+#include "sparsity_interface.hpp"
+#include "generic_type.hpp"
+#include <vector>
+#include <list>
+#include <limits>
+#include <unordered_map>
+#ifdef CASADI_WITH_THREAD
+#ifdef CASADI_WITH_THREAD_MINGW
+#include <mingw.mutex.h>
+#else // CASADI_WITH_THREAD_MINGW
+#include <mutex>
+#endif // CASADI_WITH_THREAD_MINGW
+#endif //CASADI_WITH_THREAD
+
+namespace casadi {
+  // Forward declaration
+  class SparsityInternal;
+  class SerializingStream;
+  class DeserializingStream;
+
+  #ifndef SWIG
+    /** \brief Compact representation of a sparsity pattern
+
+        \identifier{b8} */
+    struct CASADI_EXPORT SparsityStruct {
+      casadi_int nrow;
+      casadi_int ncol;
+      const casadi_int* colind;
+      const casadi_int* row;
+    };
+  #endif // SWIG
+
+  /** \brief General sparsity class
+   *
+   * The storage format is a compressed column storage (CCS) format.\n
+   *
+   In this format, the structural non-zero elements are stored in column-major order, starting from
+   the upper left corner of the matrix and ending in the lower right corner.
+
+   In addition to the dimension (size1(), size2()), (i.e. the number of rows and the number of
+   columns respectively), there are also two vectors of integers:
+
+   1. "colind" [length size2()+1], which contains the index to the first non-zero element on or
+   after the corresponding column. All the non-zero elements of a particular column i are thus
+   the elements with index el that fulfills: colind[i] <= el < colind[i+1].
+
+   2. "row" [same length as the number of non-zero elements, nnz()] The rows for each of the
+   structural non-zeros.
+
+   Note that with this format, it is cheap to loop over all the non-zero elements of a particular
+   column, at constant time per element, but expensive to jump to access a location (i, j).
+
+   If the matrix is dense, i.e. length(row) == size1()*size2(), the format reduces to standard dense
+   column major format, which allows access to an arbitrary element in constant time.
+
+   Since the object is reference counted (it inherits from SharedObject), several matrices are
+   allowed to share the same sparsity pattern.
+
+   The implementations of methods marked as such in this class has been taken from the
+   CSparse package and modified to fit CasADi data structures and separation of
+   sparsity pattern calculation and numerical evaluation.
+   These functions are Copyright(c) Timothy A. Davis, 2006-2009
+   and licensed as a derivative work under the GNU LGPL
+
+   * \see Matrix
+   *
+   * \author Joel Andersson
+   * \date 2010-2015
+
+      \identifier{b9} */
+  class CASADI_EXPORT Sparsity
+    : public SharedObject,
+      public SWIG_IF_ELSE(SparsityInterfaceCommon, SparsityInterface<Sparsity>),
+      public SWIG_IF_ELSE(PrintableCommon, Printable<Sparsity>) {
+  public:
+
+    /// Default constructor
+    explicit Sparsity(casadi_int dummy=0);
+
+    /** \brief Pattern with all structural zeros
+
+        \identifier{ba} */
+    Sparsity(casadi_int nrow, casadi_int ncol);
+
+    /// Construct from sparsity pattern vectors given in compressed column storage format
+    Sparsity(casadi_int nrow, casadi_int ncol,
+             const std::vector<casadi_int>& colind, const std::vector<casadi_int>& row,
+             bool order_rows=false);
+
+    /** \brief Create a sparse matrix with all structural zeros
+
+        \identifier{bb} */
+    explicit Sparsity(const std::pair<casadi_int, casadi_int>& rc);
+
+#ifndef SWIG
+    /// Construct from sparsity pattern vectors given in compressed column storage format
+    Sparsity(casadi_int nrow, casadi_int ncol, const casadi_int* colind, const casadi_int* row,
+            bool order_rows=false);
+
+    /** \brief  Create from node
+
+        \identifier{bc} */
+    static Sparsity create(SparsityInternal *node);
+
+    /// Base class
+    typedef SparsityInterface<Sparsity> B;
+
+    /// Expose base class functions
+    using B::horzsplit;
+    using B::diagsplit;
+    using B::vertsplit;
+    using B::mtimes;
+
+    SparsityInternal* get() const;
+#endif
+
+    /** \brief Create a scalar sparsity pattern *
+
+        \identifier{bd} */
+    ///@{
+    static Sparsity scalar(bool dense_scalar=true)
+    { return dense_scalar ? dense(1, 1) : Sparsity(1, 1); }
+    ///@}
+
+    /** \brief Create a dense rectangular sparsity pattern *
+
+        \identifier{be} */
+    ///@{
+    static Sparsity dense(casadi_int nrow, casadi_int ncol=1);
+    static Sparsity dense(const std::pair<casadi_int, casadi_int> &rc) {
+      return dense(rc.first, rc.second);
+    }
+    ///@}
+
+    /** \brief Create the sparsity pattern for a unit vector of length n and a nonzero on
+
+     * position el *
+
+        \identifier{bf} */
+    ///@{
+    static Sparsity unit(casadi_int n, casadi_int el);
+    ///@}
+
+    /** \brief Create a upper triangular square sparsity pattern *
+
+        \identifier{bg} */
+    static Sparsity upper(casadi_int n);
+
+    /** \brief Create a lower triangular square sparsity pattern *
+
+        \identifier{bh} */
+    static Sparsity lower(casadi_int n);
+
+    /** \brief Create diagonal sparsity pattern *
+
+        \identifier{bi} */
+    ///@{
+    static Sparsity diag(casadi_int nrow) { return diag(nrow, nrow);}
+    static Sparsity diag(casadi_int nrow, casadi_int ncol);
+    static Sparsity diag(const std::pair<casadi_int, casadi_int> &rc) {
+      return diag(rc.first, rc.second);
+    }
+    ///@}
+
+    /** \brief Create a single band in a square sparsity pattern
+     *
+     * band(n, 0) is equivalent to diag(n) \n
+     * band(n, -1) has a band below the diagonal \n
+     * \param p indicate
+     *
+        \identifier{bj} */
+    static Sparsity band(casadi_int n, casadi_int p);
+
+    /** \brief Create banded square sparsity pattern
+     *
+     * banded(n, 0) is equivalent to diag(n) \n
+     * banded(n, 1) is tri-diagonal matrix \n
+     *
+        \identifier{bk} */
+    static Sparsity banded(casadi_int n, casadi_int p);
+
+    /** \brief Construct a block sparsity pattern from (row, col) vectors
+
+        \identifier{bl} */
+    static Sparsity rowcol(const std::vector<casadi_int>& row,
+                           const std::vector<casadi_int>& col,
+                           casadi_int nrow, casadi_int ncol);
+
+    ///@{
+    /** \brief Create a sparsity pattern given the nonzeros in sparse triplet form *
+
+        \identifier{bm} */
+    static Sparsity triplet(casadi_int nrow, casadi_int ncol,
+                            const std::vector<casadi_int>& row, const std::vector<casadi_int>& col,
+                            std::vector<casadi_int>& SWIG_OUTPUT(mapping), bool invert_mapping);
+    static Sparsity triplet(casadi_int nrow, casadi_int ncol, const std::vector<casadi_int>& row,
+                            const std::vector<casadi_int>& col);
+    ///@}
+
+    /** \brief Create a sparsity from nonzeros
+    *
+    * Inverse of `find()`
+
+        \identifier{23g} */
+    static Sparsity nonzeros(casadi_int nrow, casadi_int ncol, const std::vector<casadi_int>& nz,
+                              bool ind1=SWIG_IND1);
+
+    /** Create from a single vector containing the pattern in compressed column storage format:
+     * The format:
+     * The first two entries are the number of rows (nrow) and columns (ncol)
+     * The next ncol+1 entries are the column offsets (colind).
+       Note that the last element, colind[ncol], gives the number of nonzeros
+     * The last colind[ncol] entries are the row indices
+     **/
+    ///@{
+    static Sparsity compressed(const std::vector<casadi_int>& v, bool order_rows=false);
+#ifndef SWIG
+    static Sparsity compressed(const casadi_int* v, bool order_rows=false);
+#endif // SWIG
+    ///@}
+
+    /** \brief Construct a permutation matrix P from a permutation vector p
+     * 
+     * Right multiplication of P with a vector leads to the same results as indexing that vector with p
+     * 
+     * P @ v = v[p]
+     * 
+     * The inverse of a permutation matrix is equal to its transpose (property of orthonormality)
+     *
+
+        \identifier{244} */
+    static Sparsity permutation(const std::vector<casadi_int>& p, bool invert=false);
+
+    /** \brief Construct permutation vector from permutation matrix
+
+        \identifier{245} */
+    const std::vector<casadi_int> permutation_vector(bool invert=false) const;
+
+    /** Get the diagonal of the matrix/create a diagonal matrix
+        (mapping will contain the nonzero mapping)
+        When the input is square, the diagonal elements are returned.
+        If the input is vector-like, a diagonal matrix is constructed with it.
+    */
+    Sparsity get_diag(std::vector<casadi_int>& SWIG_OUTPUT(mapping)) const;
+
+    /// Compress a sparsity pattern
+    std::vector<casadi_int> compress(bool canonical=true) const;
+
+#ifndef SWIG
+    /// Access a member function or object
+    const SparsityInternal* operator->() const;
+
+    /// Reference to internal structure
+    const SparsityInternal& operator*() const;
+#endif // SWIG
+    /// \name Check if two sparsity patterns are identical
+    /// @{
+    bool is_equal(const Sparsity& y) const;
+    bool is_equal(casadi_int nrow, casadi_int ncol, const std::vector<casadi_int>& colind,
+                 const std::vector<casadi_int>& row) const;
+#ifndef SWIG
+    bool is_equal(casadi_int nrow, casadi_int ncol,
+                  const casadi_int* colind, const casadi_int* row) const;
+#endif // SWIG
+
+    bool operator==(const Sparsity& y) const { return is_equal(y);}
+    /// @}
+
+    /// Check if two sparsity patterns are difference
+    bool operator!=(const Sparsity& y) const {return !is_equal(y);}
+
+    /// Check if pattern is horizontal repeat of another
+    bool is_stacked(const Sparsity& y, casadi_int n) const;
+
+#ifndef SWIG
+    /** \brief Implicit or explicit type conversion to C representation
+
+        In the C runtime, sparsity patterns are represented as a "const casadi_int*".
+        This enables using the C runtime functions using a natural syntax.
+
+        \identifier{bn} */
+    operator const casadi_int*() const;
+
+    /** \brief Implicit or explicit type conversion to compact representation
+
+        \identifier{bo} */
+    operator const std::vector<casadi_int>&() const;
+
+    /** \brief Implicit or explicit type conversion to C representation
+
+        \identifier{bp} */
+    operator SparsityStruct() const;
+#endif // SWIG
+
+    /// \name Size and element counting
+    /// @{
+
+    /// Get the number of rows
+    casadi_int size1() const;
+
+    /// Get the number of rows, Octave-style syntax
+    casadi_int rows() const {return size1();}
+
+    /// Get the number of columns
+    casadi_int size2() const;
+
+    /// Get the number of columns, Octave-style syntax
+    casadi_int columns() const {return size2();}
+
+    /** \brief The total number of elements, including structural zeros, i.e. size2()*size1()
+
+      * Beware of overflow
+      * \see nnz()
+
+        \identifier{bq} */
+    casadi_int numel() const;
+
+    /** \brief The percentage of nonzero
+
+     * Equivalent to (100.0 * nnz())/numel(), but avoids overflow
+
+        \identifier{br} */
+    double density() const;
+
+    /** \brief Check if the sparsity is empty
+     *
+     * A sparsity is considered empty if one of the dimensions is zero
+     * (or optionally both dimensions)
+
+        \identifier{bs} */
+    bool is_empty(bool both=false) const;
+
+    /** \brief Get the number of (structural) non-zeros
+
+      * \see numel()
+
+        \identifier{bt} */
+    casadi_int nnz() const;
+
+    /** \brief Number of non-zeros in the upper triangular half,
+
+     * i.e. the number of elements (i, j) with j>=i
+
+        \identifier{bu} */
+    casadi_int nnz_upper(bool strictly=false) const;
+
+    /** \brief Number of non-zeros in the lower triangular half,
+
+     * i.e. the number of elements (i, j) with j<=i
+
+        \identifier{bv} */
+    casadi_int nnz_lower(bool strictly=false) const;
+
+    /** \brief Number of non-zeros on the diagonal, i.e. the number of elements (i, j) with j==i
+
+        \identifier{bw} */
+    casadi_int nnz_diag() const;
+
+    /** \brief Upper half-bandwidth
+
+        \identifier{bx} */
+    casadi_int bw_upper() const;
+
+    /** \brief Lower half-bandwidth
+
+        \identifier{by} */
+    casadi_int bw_lower() const;
+
+    /** \brief  Get the shape
+
+        \identifier{bz} */
+    std::pair<casadi_int, casadi_int> size() const;
+
+    /** \brief  Get the size along a particular dimensions
+
+        \identifier{c0} */
+    casadi_int size(casadi_int axis) const;
+    /// @}
+
+    /** Obtain information about sparsity */
+    Dict info() const;
+
+    /** Export sparsity pattern to file
+    *
+    * Supported formats:
+    *   - .mtx   Matrix Market
+    */
+    void to_file(const std::string& filename, const std::string& format_hint="") const;
+
+    static Sparsity from_file(const std::string& filename, const std::string& format_hint="");
+
+#ifndef SWIG
+    /** \brief Serialize
+
+        \identifier{c1} */
+    void serialize(std::ostream &stream) const;
+#endif
+
+    /** \brief Serialize
+
+        \identifier{c2} */
+    std::string serialize() const;
+
+    /** \brief Build Sparsity from serialization
+
+        \identifier{c3} */
+    static Sparsity deserialize(std::istream& stream);
+
+    /** \brief Build Sparsity from serialization
+
+        \identifier{c4} */
+    static Sparsity deserialize(const std::string& s);
+
+    /** \brief Serialize an object
+
+        \identifier{c5} */
+    void serialize(SerializingStream& s) const;
+
+    /** \brief Deserialize
+
+        \identifier{c6} */
+    static Sparsity deserialize(DeserializingStream& s);
+
+#ifndef SWIG
+    /** \brief Get a reference to row-vector,
+
+     * containing rows for all non-zero elements (see class description)
+
+        \identifier{c7} */
+    const casadi_int* row() const;
+
+    /** \brief Get a reference to the colindex of all column element (see class description)
+
+        \identifier{c8} */
+    const casadi_int* colind() const;
+#endif
+
+    /** \brief Get the row for each non-zero entry
+
+        Together with the column-vector, this vector gives the sparsity of the matrix in
+        sparse triplet format, and together with the colind vector, one obtains the sparsity
+        in column compressed format.
+
+        \identifier{c9} */
+    std::vector<casadi_int> get_row() const;
+
+    /** \brief Get the column index for each column
+
+        Together with the row-vector, one obtains the sparsity pattern in the
+        column compressed format.
+
+        \identifier{ca} */
+    std::vector<casadi_int> get_colind() const;
+
+    /** \brief  Get a reference to the colindex of column cc (see class description)
+
+        \identifier{cb} */
+    casadi_int colind(casadi_int cc) const;
+
+    /** \brief Get the row of a non-zero element
+
+        \identifier{cc} */
+    casadi_int row(casadi_int el) const;
+
+    /** \brief Get the column for each non-zero entry
+
+        Together with the row-vector, this vector gives the sparsity of the matrix in
+        sparse triplet format, i.e. the column and row for each non-zero elements
+
+        \identifier{cd} */
+    std::vector<casadi_int> get_col() const;
+
+    /// Resize
+    void resize(casadi_int nrow, casadi_int ncol);
+
+    /** \brief Get the index of a non-zero element
+
+        Add the element if it does not exist and copy object if it's not unique
+
+        \identifier{ce} */
+    casadi_int add_nz(casadi_int rr, casadi_int cc);
+
+    /** \brief Get the index of an existing non-zero element
+
+        return -1 if the element does not exist
+
+        \identifier{cf} */
+    casadi_int get_nz(casadi_int rr, casadi_int cc) const;
+
+    /// Returns true if the pattern has a non-zero at location rr, cc
+    bool has_nz(casadi_int rr, casadi_int cc) const;
+
+    /** \brief Get a set of non-zero element
+
+        return -1 if the element does not exist
+
+        \identifier{cg} */
+    std::vector<casadi_int> get_nz(const std::vector<casadi_int>& rr,
+                                    const std::vector<casadi_int>& cc) const;
+
+    /** \brief Get the nonzero index for a set of elements
+
+        The index vector is used both for input and outputs and must be sorted by increasing
+        nonzero index, i.e. column-wise.
+        Elements not found in the sparsity pattern are set to -1.
+
+        \identifier{ch} */
+    void get_nz(std::vector<casadi_int>& SWIG_INOUT(indices)) const;
+
+    /// Get nonzeros in lower triangular part
+    std::vector<casadi_int> get_lower() const;
+
+    /// Get nonzeros in upper triangular part
+    std::vector<casadi_int> get_upper() const;
+
+    /// Get the sparsity in compressed column storage (CCS) format
+    void get_ccs(std::vector<casadi_int>& SWIG_OUTPUT(colind),
+                std::vector<casadi_int>& SWIG_OUTPUT(row)) const;
+
+    /// Get the sparsity in compressed row storage (CRS) format
+    void get_crs(std::vector<casadi_int>& SWIG_OUTPUT(rowind),
+                std::vector<casadi_int>& SWIG_OUTPUT(col)) const;
+
+    /// Get the sparsity in sparse triplet format
+    void get_triplet(std::vector<casadi_int>& SWIG_OUTPUT(row),
+                    std::vector<casadi_int>& SWIG_OUTPUT(col)) const;
+
+    /** \brief Get a submatrix
+     *
+     * Returns the sparsity of the submatrix, with a mapping such that
+     *   submatrix[k] = originalmatrix[mapping[k]]
+
+        \identifier{ci} */
+    Sparsity sub(const std::vector<casadi_int>& rr,
+                 const std::vector<casadi_int>& cc,
+                 std::vector<casadi_int>& SWIG_OUTPUT(mapping), bool ind1=false) const;
+
+    /** \brief Get a set of elements
+     *
+     * Returns the sparsity of the corresponding elements, with a mapping such that
+     *   submatrix[k] = originalmatrix[mapping[k]]
+
+        \identifier{cj} */
+    Sparsity sub(const std::vector<casadi_int>& rr, const Sparsity& sp,
+                 std::vector<casadi_int>& SWIG_OUTPUT(mapping), bool ind1=false) const;
+
+    /// Transpose the matrix
+    Sparsity T() const;
+
+    /** \brief Transpose the matrix and get the reordering of the non-zero entries
+    *
+    *  \param[out] mapping the non-zeros of the original matrix
+    *              for each non-zero of the new matrix
+
+        \identifier{ck} */
+    Sparsity transpose(std::vector<casadi_int>& SWIG_OUTPUT(mapping),
+                        bool invert_mapping=false) const;
+
+    /// Check if the sparsity is the transpose of another
+    bool is_transpose(const Sparsity& y) const;
+
+    /// Check if the sparsity is a reshape of another
+    bool is_reshape(const Sparsity& y) const;
+
+    /// @{
+    /** \brief Combine two sparsity patterns
+
+        Returns the new sparsity pattern as well as a mapping with the same length as
+        the number of non-zero elements
+        The mapping matrix contains the arguments for each nonzero, the first bit indicates
+        if the first argument is nonzero,
+        the second bit indicates if the second argument is nonzero (note that none of,
+        one of or both of the arguments can be nonzero)
+
+        \identifier{cl} */
+#ifndef SWIG
+    Sparsity combine(const Sparsity& y, bool f0x_is_zero, bool function0_is_zero,
+                            std::vector<unsigned char>& mapping) const;
+#endif // SWIG
+    Sparsity combine(const Sparsity& y, bool f0x_is_zero, bool function0_is_zero) const;
+    /// @}
+
+    /// @{
+    /** \brief Union of two sparsity patterns
+
+        \identifier{cm} */
+#ifndef SWIG
+    Sparsity unite(const Sparsity& y, std::vector<unsigned char>& mapping) const;
+#endif // SWIG
+    Sparsity unite(const Sparsity& y) const;
+    Sparsity operator+(const Sparsity& b) const;
+    /// @}
+
+    /// @{
+    /** \brief Intersection of two sparsity patterns
+
+        Returns the new sparsity pattern as well as a mapping with the same length as the
+        number of non-zero elements
+        The value is 1 if the non-zero comes from the first (i.e. this) object, 2 if it is from
+        the second and 3 (i.e. 1 | 2) if from both
+
+        \identifier{cn} */
+#ifndef SWIG
+    Sparsity intersect(const Sparsity& y,
+                       std::vector<unsigned char>& mapping) const;
+#endif // SWIG
+    Sparsity intersect(const Sparsity& y) const;
+    Sparsity operator*(const Sparsity& b) const;
+    /// @}
+
+    /// Is subset?
+    bool is_subset(const Sparsity& rhs) const;
+
+    /** \brief Propagates subset according to sparsity cast
+     * 
+     * Assumption: 'this' is a subset of X.
+     * 
+     * Example:
+     * 
+     * X = [ * . . .; . * . .; . . * .; . . . *]
+     * Y = [* *; . . ; * *]
+     * x = [ * . . .; . . . .; . . * .; . . . *]
+     * returns [* *; . . ; . *]
+     *
+
+        \identifier{246} */
+    Sparsity sparsity_cast_mod(const Sparsity& X, const Sparsity& Y) const;
+
+    /// Take the inverse of a sparsity pattern; flip zeros and non-zeros
+    Sparsity pattern_inverse() const;
+
+#ifndef SWIG
+    /** \brief Propagate sparsity using 0-1 logic through a matrix product,
+
+     * no memory allocation: <tt>z = mul(x, y)</tt> with work vector
+     * Forward mode.
+
+        \identifier{co} */
+    static void mul_sparsityF(const bvec_t* x, const Sparsity& x_sp,
+                              const bvec_t* y, const Sparsity& y_sp,
+                              bvec_t* z, const Sparsity& z_sp,
+                              bvec_t* w);
+
+    /** \brief Propagate sparsity using 0-1 logic through a matrix product,
+
+     * no memory allocation: <tt>z = mul(x, y)</tt> with work vector
+     * Reverse mode.
+
+        \identifier{cp} */
+    static void mul_sparsityR(bvec_t* x, const Sparsity& x_sp,
+                              bvec_t* y, const Sparsity& y_sp,
+                              bvec_t* z, const Sparsity& z_sp,
+                              bvec_t* w);
+
+    /// \cond INTERNAL
+    /// @{
+    /** \brief Accessed by SparsityInterface
+
+        \identifier{cq} */
+    static Sparsity horzcat(const std::vector<Sparsity> & sp);
+    static Sparsity vertcat(const std::vector<Sparsity> & sp);
+    static Sparsity blockcat(const std::vector< std::vector< Sparsity > > &v);
+    static Sparsity diagcat(const std::vector< Sparsity > &v);
+    static std::vector<Sparsity>
+      horzsplit(const Sparsity& x, const std::vector<casadi_int>& offset);
+    static std::vector<Sparsity>
+      vertsplit(const Sparsity& x, const std::vector<casadi_int>& offset);
+    static std::vector<Sparsity>
+      diagsplit(const Sparsity& x,
+                const std::vector<casadi_int>& offset1,
+                const std::vector<casadi_int>& offset2);
+    static Sparsity mtimes(const Sparsity& x, const Sparsity& y);
+    static Sparsity mac(const Sparsity& x, const Sparsity& y, const Sparsity& z) { return z;}
+    static Sparsity reshape(const Sparsity& x, casadi_int nrow, casadi_int ncol);
+    static Sparsity reshape(const Sparsity& x, const Sparsity& sp);
+    static Sparsity sparsity_cast(const Sparsity& x, const Sparsity& sp);
+    static casadi_int sprank(const Sparsity& x);
+    static casadi_int norm_0_mul(const Sparsity& x, const Sparsity& A);
+    static Sparsity kron(const Sparsity& a, const Sparsity& b);
+    static Sparsity triu(const Sparsity& x, bool includeDiagonal=true);
+    static Sparsity tril(const Sparsity& x, bool includeDiagonal=true);
+
+    static Sparsity sum2(const Sparsity &x);
+    static Sparsity sum1(const Sparsity &x);
+#endif //SWIG
+
+    /** \brief Enlarge matrix
+
+        Make the matrix larger by inserting empty rows and columns, keeping the existing non-zeros
+
+        For the matrices A to B
+        A(m, n)
+        length(jj)=m , length(ii)=n
+        B(nrow, ncol)
+
+        A=enlarge(m, n, ii, jj) makes sure that
+
+        B[jj, ii] == A
+
+        \identifier{cr} */
+    void enlarge(casadi_int nrow, casadi_int ncol,
+                  const std::vector<casadi_int>& rr,
+                  const std::vector<casadi_int>& cc, bool ind1=false);
+
+    /** \brief Enlarge the matrix along the first dimension (i.e. insert rows)
+
+        \identifier{cs} */
+    void enlargeRows(casadi_int nrow, const std::vector<casadi_int>& rr, bool ind1=false);
+
+    /** \brief Enlarge the matrix along the second dimension (i.e. insert columns)
+
+        \identifier{ct} */
+    void enlargeColumns(casadi_int ncol, const std::vector<casadi_int>& cc, bool ind1=false);
+
+    /** \brief Make a patten dense
+
+        \identifier{cu} */
+    Sparsity makeDense(std::vector<casadi_int>& SWIG_OUTPUT(mapping)) const;
+
+    /** \brief Erase rows and/or columns of a matrix
+
+        \identifier{cv} */
+    std::vector<casadi_int> erase(const std::vector<casadi_int>& rr,
+                                  const std::vector<casadi_int>& cc, bool ind1=false);
+
+    /** \brief Erase elements of a matrix
+
+        \identifier{cw} */
+    std::vector<casadi_int> erase(const std::vector<casadi_int>& rr, bool ind1=false);
+
+    /// Append another sparsity patten vertically (NOTE: only efficient if vector)
+    void append(const Sparsity& sp);
+
+    /// Append another sparsity patten horizontally
+    void appendColumns(const Sparsity& sp);
+
+    /// Is scalar?
+    bool is_scalar(bool scalar_and_dense=false) const;
+
+    /// Is dense?
+    bool is_dense() const;
+
+    /** \brief  Check if the pattern is a row vector (i.e. size1()==1)
+
+        \identifier{cx} */
+    bool is_row() const;
+
+    /** \brief  Check if the pattern is a column vector (i.e. size2()==1)
+
+        \identifier{cy} */
+    bool is_column() const;
+
+    /** \brief  Check if the pattern is a row or column vector
+
+        \identifier{cz} */
+    bool is_vector() const;
+
+    /** \brief Is diagonal?
+
+        \identifier{247} */
+    bool is_diag() const;
+
+    /** \brief Is square?
+
+        \identifier{248} */
+    bool is_square() const;
+
+    /** \brief Is symmetric?
+
+        \identifier{249} */
+    bool is_symmetric() const;
+
+    /** \brief Is upper triangular?
+
+        \identifier{24a} */
+    bool is_triu(bool strictly = false) const;
+
+    /** \brief Is lower triangular?
+
+        \identifier{24b} */
+    bool is_tril(bool strictly = false) const;
+
+    /** \brief Check whether the sparsity-pattern indicates structural singularity
+
+        \identifier{24c} */
+    bool is_singular() const;
+
+    /** \brief Is this a permutation matrix?
+     * 
+     * A Matrix P is permutation matrix if right multiplication with a dense vector v leads to 
+     * a vector with the same elements, but permuted.
+     * 
+     * Implies square
+     * 
+     * Equivalent to is_orthonormal(false)
+
+        \identifier{24d} */
+    bool is_permutation() const;
+
+    /** \brief Is this a selection matrix?
+     * 
+     * A Matrix S is selection matrix if right multiplication with a dense vector leads to 
+     * a vector with a subset of the elements of the original vector
+     * 
+     * \param[in] allow_empty Allow the resultant vector to have structural zeros
+     * 
+     * Equivalent to is_orthonormal_rows(allow_empty)
+
+        \identifier{24e} */
+    bool is_selection(bool allow_empty=false) const;
+
+    /** \brief Are both rows and columns orthonormal ?
+     * 
+     * \param[in] allow_empty Disregard empty rows and columns in the analysis
+
+        \identifier{24f} */
+    bool is_orthonormal(bool allow_empty=false) const;
+
+    /** \brief Are the rows of the pattern orthonormal ?
+     * 
+     * \param[in] allow_empty Disregard empty rows in the analysis
+
+        \identifier{24g} */
+    bool is_orthonormal_rows(bool allow_empty=false) const;
+
+    /** \brief Are the columns of the pattern orthonormal ?
+     * 
+     * \param[in] allow_empty Disregard empty columns in the analysis
+
+        \identifier{24h} */
+    bool is_orthonormal_columns(bool allow_empty=false) const;
+
+    /** \brief Do the rows appear sequentially on each column
+    *
+    * \param[in] strictly if true, then do not allow multiple entries
+
+        \identifier{d0} */
+    bool rowsSequential(bool strictly=true) const;
+
+    /** \brief Remove duplicate entries
+    *
+    * The same indices will be removed from the \a mapping vector,
+    * which must have the same length as the number of nonzeros
+
+        \identifier{d1} */
+    void removeDuplicates(std::vector<casadi_int>& SWIG_INOUT(mapping));
+
+#ifndef SWIG
+    typedef std::unordered_multimap<std::size_t, WeakRef> CachingMap;
+
+    /// Cached sparsity patterns
+    static CachingMap& getCache();
+
+#ifdef CASADI_WITH_THREADSAFE_SYMBOLICS
+    // Safe access to CachingMap
+    static std::mutex cachingmap_mtx;
+#endif //CASADI_WITH_THREADSAFE_SYMBOLICS
+
+    /// (Dense) scalar
+    static const Sparsity& getScalar();
+
+    /// (Sparse) scalar
+    static const Sparsity& getScalarSparse();
+
+    /// Empty zero-by-zero
+    static const Sparsity& getEmpty();
+
+#endif //SWIG
+
+    /** \brief Calculate the elimination tree
+
+        See Direct Methods for Sparse Linear Systems by Davis (2006).
+        If the parameter ata is false, the algorithm is equivalent to MATLAB's etree(A), except that
+        the indices are zero-based. If ata is true, the algorithm is equivalent to MATLAB's
+        etree(A, 'col').
+
+        The implementation is a modified version of cs_etree in CSparse
+        Copyright(c) Timothy A. Davis, 2006-2009
+        Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d2} */
+    std::vector<casadi_int> etree(bool ata=false) const;
+
+    /** \brief Symbolic LDL factorization
+
+        Returns the sparsity pattern of L^T
+
+        The implementation is a modified version of LDL
+        Copyright(c) Timothy A. Davis, 2005-2013
+        Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d3} */
+    Sparsity ldl(std::vector<casadi_int>& SWIG_OUTPUT(p), bool amd=true) const;
+
+    /** \brief Symbolic QR factorization
+
+        Returns the sparsity pattern of V (compact representation of Q) and R
+        as well as vectors needed for the numerical factorization and solution.
+        The implementation is a modified version of CSparse
+        Copyright(c) Timothy A. Davis, 2006-2009
+        Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d4} */
+    void qr_sparse(Sparsity& SWIG_OUTPUT(V), Sparsity& SWIG_OUTPUT(R),
+                   std::vector<casadi_int>& SWIG_OUTPUT(prinv),
+                   std::vector<casadi_int>& SWIG_OUTPUT(pc), bool amd=true) const;
+
+    /** \brief Depth-first search on the adjacency graph of the sparsity
+
+        See Direct Methods for Sparse Linear Systems by Davis (2006).
+
+        \identifier{d5} */
+    casadi_int dfs(casadi_int j, casadi_int top, std::vector<casadi_int>& SWIG_INOUT(xi),
+            std::vector<casadi_int>& SWIG_INOUT(pstack),
+            const std::vector<casadi_int>& pinv, std::vector<bool>& SWIG_INOUT(marked)) const;
+
+    /** \brief Find the strongly connected components of the bigraph defined by the sparsity pattern
+
+        of a square matrix
+
+        See Direct Methods for Sparse Linear Systems by Davis (2006).
+        Returns:
+        - Number of components
+        - Offset for each components (length: 1 + number of components)
+        - Indices for each components, component i has indices
+          index[offset[i]], ..., index[offset[i+1]]
+
+        In the case that the matrix is symmetric, the result has a particular interpretation:
+        Given a symmetric matrix A and
+        n = A.scc(p, r)
+
+        => A[p, p] will appear block-diagonal with n blocks and
+        with the indices of the block boundaries to be found in r.
+
+        The implementation is a modified version of cs_scc in CSparse
+        Copyright(c) Timothy A. Davis, 2006-2009
+        Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d6} */
+    casadi_int scc(std::vector<casadi_int>& SWIG_OUTPUT(index),
+            std::vector<casadi_int>& SWIG_OUTPUT(offset)) const;
+
+    /** \brief Calculate the block triangular form (BTF)
+
+        See Direct Methods for Sparse Linear Systems by Davis (2006).
+
+        The function computes the Dulmage-Mendelsohn decomposition, which allows you to reorder
+        the rows and columns of a matrix to bring it into block triangular form (BTF).
+
+        It will not consider the distance of off-diagonal elements to the diagonal:
+        there is no guarantee you will get a block-diagonal matrix if you supply a randomly
+        permuted block-diagonal matrix.
+
+        If your matrix is symmetrical, this method is of limited use; permutation can make it
+        non-symmetric.
+
+        \sa scc
+
+        The implementation is a modified version of cs_dmperm in CSparse
+        Copyright(c) Timothy A. Davis, 2006-2009
+        Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d7} */
+    casadi_int btf(std::vector<casadi_int>& SWIG_OUTPUT(rowperm),
+            std::vector<casadi_int>& SWIG_OUTPUT(colperm),
+            std::vector<casadi_int>& SWIG_OUTPUT(rowblock),
+            std::vector<casadi_int>& SWIG_OUTPUT(colblock),
+            std::vector<casadi_int>& SWIG_OUTPUT(coarse_rowblock),
+            std::vector<casadi_int>& SWIG_OUTPUT(coarse_colblock)) const;
+
+    /** \brief Approximate minimal degree preordering
+
+      Fill-reducing ordering applied to the sparsity pattern of a linear system
+      prior to factorization.
+      The system must be symmetric, for an unsymmetric matrix A, first form the square
+      of the pattern, A'*A.
+
+      The implementation is a modified version of cs_amd in CSparse
+      Copyright(c) Timothy A. Davis, 2006-2009
+      Licensed as a derivative work under the GNU LGPL
+
+        \identifier{d8} */
+    std::vector<casadi_int> amd() const;
+
+#ifndef SWIG
+    /** \brief Propagate sparsity through a linear solve
+
+        \identifier{d9} */
+    void spsolve(bvec_t* X, bvec_t* B, bool tr) const;
+#endif // SWIG
+
+    /** \brief Get the location of all non-zero elements as they would appear in a Dense matrix
+
+        A : DenseMatrix  4 x 3
+        B : SparseMatrix 4 x 3 , 5 structural non-zeros
+
+        k = A.find()
+        A[k] will contain the elements of A that are non-zero in B
+
+        Inverse of `nonzeros`.
+
+        \identifier{da} */
+    std::vector<casadi_int> find(bool ind1=SWIG_IND1) const;
+
+#ifndef SWIG
+    /// Get the location of all nonzero elements (inplace version)
+    void find(std::vector<casadi_int>& loc, bool ind1=false) const;
+#endif // SWIG
+
+    /** \brief Perform a unidirectional coloring: A greedy distance-2 coloring algorithm
+
+        (Algorithm 3.1 in A. H. GEBREMEDHIN, F. MANNE, A. POTHEN)
+
+        \identifier{db} */
+    Sparsity uni_coloring(const Sparsity& AT=Sparsity(),
+                          casadi_int cutoff = std::numeric_limits<casadi_int>::max()) const;
+
+    /** \brief Perform a star coloring of a symmetric matrix:
+
+        A greedy distance-2 coloring algorithm
+        Algorithm 4.1 in
+          What Color Is Your Jacobian? Graph Coloring for Computing Derivatives
+          A. H. GEBREMEDHIN, F. MANNE, A. POTHEN
+          SIAM Rev., 47(4), 629–705 (2006)
+
+        Ordering options: None (0), largest first (1)
+
+        \identifier{dc} */
+    Sparsity star_coloring(casadi_int ordering = 1,
+                            casadi_int cutoff = std::numeric_limits<casadi_int>::max()) const;
+
+    /** \brief Perform a star coloring of a symmetric matrix:
+
+        A new greedy distance-2 coloring algorithm
+        Algorithm 4.1 in
+          NEW ACYCLIC AND STAR COLORING ALGORITHMS WITH APPLICATION TO COMPUTING HESSIANS
+          A. H. GEBREMEDHIN, A. TARAFDAR, F. MANNE, A. POTHEN
+          SIAM J. SCI. COMPUT. Vol. 29, No. 3, pp. 1042–1072 (2007)
+
+        Ordering options: None (0), largest first (1)
+
+        \identifier{dd} */
+    Sparsity star_coloring2(casadi_int ordering = 1,
+                            casadi_int cutoff = std::numeric_limits<casadi_int>::max()) const;
+
+    /** \brief Order the columns by decreasing degree
+
+        \identifier{de} */
+    std::vector<casadi_int> largest_first() const;
+
+    /** \brief Permute rows and/or columns
+
+        Multiply the sparsity with a permutation matrix from the left and/or from the right
+        P * A * trans(P), A * trans(P) or A * trans(P) with P defined by an index vector
+        containing the row for each col. As an alternative, P can be transposed (inverted).
+
+        \identifier{df} */
+    Sparsity pmult(const std::vector<casadi_int>& p,
+                    bool permute_rows=true, bool permute_columns=true,
+                    bool invert_permutation=false) const;
+
+    /// Get the dimension as a string
+    std::string dim(bool with_nz=false) const;
+
+    /** \brief Dimension string as a postfix to a name
+
+      Rules:
+      1. Dense and scalar: ""
+      2. 0-by-0: "[]"
+      3. Dense column vector: "[5]"
+      4. Dense matrix: "[5x10]"
+      5. Otherwise: "[5x10,3nz]"
+
+        \identifier{dg} */
+    std::string postfix_dim() const;
+
+    /// Describe the nonzero location k as a string
+    std::string repr_el(casadi_int k) const;
+
+    /** \brief Print a textual representation of sparsity
+
+        \identifier{dh} */
+    void spy(std::ostream &stream=casadi::uout()) const;
+
+    /** \brief Generate a script for Matlab or Octave which visualizes
+
+     * the sparsity using the spy command
+
+        \identifier{di} */
+    void spy_matlab(const std::string& mfile) const;
+
+    /** \brief Export matrix in specific language
+     *
+     * lang: only 'matlab' supported for now
+     * \verbatim
+     * options:
+     *   inline: Indicates if you want everything on a single line (default: False)
+     *   name: Name of exported variable (default: 'sp')
+     *   as_matrix: Matlab does not have a sparsity object. (default: false)
+    *               With this option true, a numeric matrix will be constructed
+     * \endverbatim
+
+        \identifier{dj} */
+    void export_code(const std::string& lang, std::ostream &stream=casadi::uout(),
+       const Dict& options=Dict()) const;
+
+    /// Readable name of the public class
+    static std::string type_name() {return "Sparsity";}
+
+    // Hash the sparsity pattern
+    std::size_t hash() const;
+
+    /// Check if a particular cast is allowed
+    static bool test_cast(const SharedObjectInternal* ptr);
+
+    /** \brief Get KKT system sparsity
+
+     * [H + I1, J'; J, I2] where I1 and I2 are optional
+
+        \identifier{dk} */
+    static Sparsity kkt(const Sparsity& H, const Sparsity& J,
+                        bool with_x_diag=true, bool with_lam_g_diag=true);
+
+#ifndef SWIG
+    /** \brief Assign the nonzero entries of one sparsity pattern to the nonzero
+
+     * entries of another sparsity pattern
+
+        \identifier{dl} */
+    template<typename T>
+    void set(T* data, const T* val_data, const Sparsity& val_sp) const;
+
+    /** \brief Add the nonzero entries of one sparsity pattern to the nonzero entries
+
+     * of another sparsity pattern
+
+        \identifier{dm} */
+    template<typename T>
+    void add(T* data, const T* val_data, const Sparsity& val_sp) const;
+
+    /** \brief Bitwise or of the nonzero entries of one sparsity pattern and the nonzero
+
+     * entries of another sparsity pattern
+
+        \identifier{dn} */
+    template<typename T>
+    void bor(T* data, const T* val_data, const Sparsity& val_sp) const;
+
+    static std::string file_format(const std::string& filename,
+      const std::string& format_hint, const std::set<std::string>& file_formats);
+    static std::set<std::string> file_formats;
+  private:
+
+    /// Construct a sparsity pattern from vectors, reuse cached pattern if possible
+    void assign_cached(casadi_int nrow, casadi_int ncol, const std::vector<casadi_int>& colind,
+                      const std::vector<casadi_int>& row, bool order_rows=false);
+
+    /// Construct a sparsity pattern from vectors, reuse cached pattern if possible
+    void assign_cached(casadi_int nrow, casadi_int ncol,
+                        const casadi_int* colind, const casadi_int* row, bool order_rows=false);
+
+#endif //SWIG
+  };
+
+  /** \brief Hash value of an integer
+
+      \identifier{do} */
+  template<typename T>
+  inline size_t hash_value(T v) { return size_t(v);}
+
+  /** \brief Generate a hash value incrementally (function taken from boost)
+
+      \identifier{dp} */
+  template<typename T>
+  inline void hash_combine(std::size_t& seed, T v) {
+    seed ^= hash_value(v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+  }
+
+  /** \brief Generate a hash value incrementally, array
+
+      \identifier{dq} */
+  template<typename T>
+  inline void hash_combine(std::size_t& seed, const T* v, std::size_t sz) {
+    for (casadi_int i=0; i<sz; ++i) hash_combine(seed, v[i]);
+  }
+
+  /** \brief Generate a hash value incrementally (function taken from boost)
+
+      \identifier{dr} */
+  template<typename T>
+  inline void hash_combine(std::size_t& seed, const std::vector<T>& v) {
+    hash_combine(seed, get_ptr(v), v.size());
+  }
+
+  template<>
+  inline size_t hash_value(std::string v) {
+    size_t seed = 0;
+    hash_combine(seed, v.c_str(), v.size());
+    return seed;
+  }
+
+  /** \brief Hash a sparsity pattern
+
+      \identifier{ds} */
+  CASADI_EXPORT std::size_t hash_sparsity(casadi_int nrow, casadi_int ncol,
+                                          const std::vector<casadi_int>& colind,
+                                          const std::vector<casadi_int>& row);
+
+  CASADI_EXPORT std::size_t hash_sparsity(casadi_int nrow, casadi_int ncol,
+                                          const casadi_int* colind,
+                                          const casadi_int* row);
+
+#ifndef SWIG
+  // Template instantiations
+  template<typename DataType>
+  void Sparsity::set(DataType* data, const DataType* val_data, const Sparsity& val_sp) const {
+    // Get dimensions of this
+    const casadi_int sz = nnz();
+    const casadi_int sz1 = size1();
+    const casadi_int sz2 = size2();
+
+    // Get dimensions of assigning matrix
+    const casadi_int val_sz = val_sp.nnz();
+    const casadi_int val_sz1 = val_sp.size1();
+    const casadi_int val_sz2 = val_sp.size2();
+    const casadi_int val_nel = val_sz1*val_sz2;
+
+    // Check if sparsity matches
+    if (val_sp==*this) {
+      std::copy(val_data, val_data+sz, data);
+    } else if (this->is_empty()) {
+      // Quick return
+      return;
+    } else if (val_sp.is_empty()) {
+      // Quick return
+      return;
+    } else if (val_nel==1) { // if scalar
+      std::fill(data, data+sz, val_sz==0 ? DataType(0) : val_data[0]);
+    } else if (sz2==val_sz2 && sz1==val_sz1) {
+      // Matching dimensions
+      // Sparsity
+      const casadi_int* c = row();
+      const casadi_int* rind = colind();
+      const casadi_int* v_c = val_sp.row();
+      const casadi_int* v_rind = val_sp.colind();
+
+      // For all columns
+      for (casadi_int i=0; i<sz2; ++i) {
+
+        // Nonzero of the assigning matrix
+        casadi_int v_el = v_rind[i];
+
+        // First nonzero of the following column
+        casadi_int v_el_end = v_rind[i+1];
+
+        // Next row of the assigning matrix
+        casadi_int v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+
+        // Assign all nonzeros
+        for (casadi_int el=rind[i]; el!=rind[i+1]; ++el) {
+
+          //  Get row
+          casadi_int j=c[el];
+
+          // Forward the assigning nonzero
+          while (v_j<j) {
+            v_el++;
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          }
+
+          // Assign nonzero
+          if (v_j==j) {
+            data[el] = val_data[v_el++];
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          } else {
+            data[el] = 0;
+          }
+        }
+      }
+    } else if (sz1==val_sz2 && sz2==val_sz1 && sz2 == 1) {
+      // Assign transposed (this is column)
+      const casadi_int* v_cind = val_sp.colind();
+      const casadi_int* r = row();
+      for (casadi_int el=0; el<sz; ++el) {
+        casadi_int rr=r[el];
+        data[el] = v_cind[rr]==v_cind[rr+1] ? 0 : val_data[v_cind[rr]];
+      }
+    } else if (sz1==val_sz2 && sz2==val_sz1 && sz1 == 1) {
+      // Assign transposed (this is row)
+      for (casadi_int el=0; el<sz; ++el) data[el] = 0;
+      const casadi_int* cind = colind();
+      const casadi_int* v_r = val_sp.row();
+      for (casadi_int el=0; el<val_sz; ++el) {
+        casadi_int rr=v_r[el];
+        if (cind[rr]!=cind[rr+1]) {
+          data[cind[rr]] = val_data[el];
+        }
+      }
+    } else {
+      // Make sure that dimension matches
+      casadi_error("Sparsity::set<DataType>: shape mismatch. lhs is "
+                   + dim() + ", while rhs is " + val_sp.dim() + ".");
+    }
+  }
+
+  template<typename DataType>
+  void Sparsity::add(DataType* data, const DataType* val_data, const Sparsity& val_sp) const {
+    // Get dimensions of this
+    const casadi_int sz = nnz();
+    const casadi_int sz1 = size1();
+    const casadi_int sz2 = size2();
+    const casadi_int nel = sz1*sz2;
+
+    // Get dimensions of assigning matrix
+    const casadi_int val_sz = val_sp.nnz();
+    const casadi_int val_sz1 = val_sp.size1();
+    const casadi_int val_sz2 = val_sp.size2();
+    const casadi_int val_nel = val_sz1*val_sz2;
+
+    // Check if sparsity matches
+    if (val_sp==*this) {
+      for (casadi_int k=0; k<sz; ++k) {
+        data[k] += val_data[k];
+      }
+    } else if (this->is_empty()) {
+      // Quick return
+      return;
+    } else if (val_sp.is_empty()) {
+      // Quick return
+      return;
+    }  else if (val_nel==1) { // if scalar
+      if (val_sz!=0) {
+        for (casadi_int k=0; k<sz; ++k) {
+          data[k] += val_data[0];
+        }
+      }
+    } else {
+      // Quick return if empty
+      if (nel==0 && val_nel==0) return;
+
+      // Make sure that dimension matches
+      casadi_assert(sz2==val_sz2 && sz1==val_sz1,
+                            "Sparsity::add<DataType>: shape mismatch. lhs is "
+                            + dim() + ", while rhs is " + val_sp.dim() + ".");
+
+      // Sparsity
+      const casadi_int* c = row();
+      const casadi_int* rind = colind();
+      const casadi_int* v_c = val_sp.row();
+      const casadi_int* v_rind = val_sp.colind();
+
+      // For all columns
+      for (casadi_int i=0; i<sz2; ++i) {
+
+        // Nonzero of the assigning matrix
+        casadi_int v_el = v_rind[i];
+
+        // First nonzero of the following column
+        casadi_int v_el_end = v_rind[i+1];
+
+        // Next row of the assigning matrix
+        casadi_int v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+
+        // Assign all nonzeros
+        for (casadi_int el=rind[i]; el!=rind[i+1]; ++el) {
+
+          //  Get row
+          casadi_int j=c[el];
+
+          // Forward the assigning nonzero
+          while (v_j<j) {
+            v_el++;
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          }
+
+          // Assign nonzero
+          if (v_j==j) {
+            data[el] += val_data[v_el++];
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          }
+        }
+      }
+    }
+  }
+
+  template<typename DataType>
+  void Sparsity::bor(DataType* data, const DataType* val_data, const Sparsity& val_sp) const {
+    // Get dimensions of this
+    const casadi_int sz = nnz();
+    const casadi_int sz1 = size1();
+    const casadi_int sz2 = size2();
+    const casadi_int nel = sz1*sz2;
+
+    // Get dimensions of assigning matrix
+    const casadi_int val_sz = val_sp.nnz();
+    const casadi_int val_sz1 = val_sp.size1();
+    const casadi_int val_sz2 = val_sp.size2();
+    const casadi_int val_nel = val_sz1*val_sz2;
+
+    // Check if sparsity matches
+    if (val_sp==*this) {
+      for (casadi_int k=0; k<sz; ++k) {
+        data[k] |= val_data[k];
+      }
+    } else if (this->is_empty()) {
+      // Quick return
+      return;
+    } else if (val_sp.is_empty()) {
+      // Quick return
+      return;
+    }  else if (val_nel==1) { // if scalar
+      if (val_sz!=0) {
+        for (casadi_int k=0; k<sz; ++k) {
+          data[k] |= val_data[0];
+        }
+      }
+    } else {
+      // Quick return if empty
+      if (nel==0 && val_nel==0) return;
+
+      // Make sure that dimension matches
+      casadi_assert(sz2==val_sz2 && sz1==val_sz1,
+                            "Sparsity::add<DataType>: shape mismatch. lhs is "
+                            + dim() + ", while rhs is " + val_sp.dim() + ".");
+
+      // Sparsity
+      const casadi_int* c = row();
+      const casadi_int* rind = colind();
+      const casadi_int* v_c = val_sp.row();
+      const casadi_int* v_rind = val_sp.colind();
+
+      // For all columns
+      for (casadi_int i=0; i<sz2; ++i) {
+
+        // Nonzero of the assigning matrix
+        casadi_int v_el = v_rind[i];
+
+        // First nonzero of the following column
+        casadi_int v_el_end = v_rind[i+1];
+
+        // Next row of the assigning matrix
+        casadi_int v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+
+        // Assign all nonzeros
+        for (casadi_int el=rind[i]; el!=rind[i+1]; ++el) {
+
+          //  Get row
+          casadi_int j=c[el];
+
+          // Forward the assigning nonzero
+          while (v_j<j) {
+            v_el++;
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          }
+
+          // Assign nonzero
+          if (v_j==j) {
+            data[el] |= val_data[v_el++];
+            v_j = v_el<v_el_end ? v_c[v_el] : sz1;
+          }
+        }
+      }
+    }
+  }
+
+#endif //SWIG
+
+  ///@{
+  /// Readability typedefs
+  typedef std::map<std::string, Sparsity> SpDict;
+  ///@}
+
+} // namespace casadi
+
+#endif // CASADI_SPARSITY_HPP