CasADiFunctionWrapper.hpp

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#pragma once
 
#include <casadi/core/function.hpp>
 
#include <panoc-alm/util/vec.hpp>
 
#include <cassert>
#include <vector>
 
 
template <size_t N_in, size_t N_out>
class CasADiFunctionEvaluator {
  public:
    CasADiFunctionEvaluator(casadi::Function &&f)
        : fun(std::move(f)), iwork(fun.sz_iw()), dwork(fun.sz_w()) {
        assert(N_in == fun.n_in());
        assert(N_out == fun.n_out());
    }
 
  protected:
    void operator()(const double *const *in, double *const *out) const {
        fun(const_cast<const double **>(in), const_cast<double **>(out),
            iwork.data(), dwork.data(), 0);
    }
 
  public:
    void operator()(const double *const (&in)[N_in],
                    double *const (&out)[N_out]) const {
        this->operator()(&in[0], &out[0]);
    }
 
  private:
    casadi::Function fun;
    mutable std::vector<casadi_int> iwork;
    mutable std::vector<double> dwork;
};
 
class CasADiFun_1Vi1So {
  public:
    CasADiFun_1Vi1So(casadi::Function &&f) : fun(std::move(f)) {}
 
    double operator()(pa::crvec x) const {
        double out;
        fun({x.data()}, {&out});
        return out;
    }
 
  private:
    CasADiFunctionEvaluator<1, 1> fun;
};
 
class CasADiFun_2Vi1So {
  public:
    CasADiFun_2Vi1So(casadi::Function &&f) : fun(std::move(f)) {}
 
    double operator()(pa::crvec x, pa::crvec p) const {
        double out;
        fun({x.data(), p.data()}, {&out});
        return out;
    }
 
  private:
    CasADiFunctionEvaluator<2, 1> fun;
};
 
class CasADiFun_1Vi1Vo {
  public:
    CasADiFun_1Vi1Vo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in, pa::rvec out) const {
        fun({in.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<1, 1> fun;
};
 
class CasADiFun_2Vi1Vo {
  public:
    CasADiFun_2Vi1Vo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in1, pa::crvec in2, pa::rvec out) const {
        fun({in1.data(), in2.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<2, 1> fun;
};
 
class CasADiFun_2Vi1Mo {
  public:
    CasADiFun_2Vi1Mo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in1, pa::crvec in2, pa::rmat out) const {
        fun({in1.data(), in2.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<2, 1> fun;
};
 
class CasADiFun_3Vi1Mo {
  public:
    CasADiFun_3Vi1Mo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in1, pa::crvec in2, pa::crvec in3,
                    pa::rmat out) const {
        fun({in1.data(), in2.data(), in3.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<3, 1> fun;
};
 
class CasADiFun_3Vi1Vo {
  public:
    CasADiFun_3Vi1Vo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in1, pa::crvec in2, pa::crvec in3,
                    pa::rvec out) const {
        fun({in1.data(), in2.data(), in3.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<3, 1> fun;
};
 
class CasADiFun_4Vi1Vo {
  public:
    CasADiFun_4Vi1Vo(casadi::Function &&f) : fun(std::move(f)) {}
 
    void operator()(pa::crvec in1, pa::crvec in2, pa::crvec in3, pa::crvec in4,
                    pa::rvec out) const {
        fun({in1.data(), in2.data(), in3.data(), in4.data()}, {out.data()});
    }
 
  private:
    CasADiFunctionEvaluator<4, 1> fun;
};