casadi-bindings-2.2.0.3: src/Casadi/MX.hs

{-# OPTIONS_GHC -Wall -fno-cse -fno-warn-orphans #-}

module Casadi.MX
       ( MX, sym, symV, symM, mm, innerProd, trans, diag
       , gradient, jacobian -- , hessian
       , solve
       , expand
       , triu, tril
       , triu2symm, tril2symm
       , dense --, sparse
       , d2m
       , size, size1, size2, numel
       , crs, vertcat, horzcat, veccat, vertsplit, horzsplit
       , eye, ones, zeros, zerosSp
       , indexed
       , getNZ, setNZ
       , copy
       ) where

import Data.Vector ( Vector )
import qualified Data.Vector as V
import System.IO.Unsafe ( unsafePerformIO )
import Linear.Conjugate ( Conjugate(..) )

import Casadi.Core.Classes.MX
import Casadi.Core.Classes.DMatrix ( DMatrix )
import Casadi.Core.Classes.Sparsity ( Sparsity )
import Casadi.Core.Classes.Slice ( Slice )
import qualified Casadi.Core.Tools as C

import Casadi.Overloading ( Fmod(..), ArcTan2(..), SymOrd(..), Erf(..) )
import Casadi.SharedObject ( castSharedObject )

instance Conjugate MX where
  conjugate = id

instance Eq MX where
  x == y = unsafePerformIO (mx_zz_isEqual__0 x y)
  {-# NOINLINE (==) #-}

instance Show MX where
  show x = show (castSharedObject x)
  {-# NOINLINE show #-}

sym :: String -> IO MX
sym x = fmap castMX (mx_sym__5 x)

symV :: String -> Int -> IO MX
symV x y = fmap castMX (mx_sym__6 x y)

symM :: String -> Int -> Int -> IO MX
symM x y z = fmap castMX (mx_sym__7 x y z)

-- | @jacobian exp x@ is the jacobian of exp w.r.t. x
gradient :: MX -> MX -> MX
gradient x y = unsafePerformIO (C.gradient__0 x y)
{-# NOINLINE gradient #-}

-- | @jacobian exp x@ is the jacobian of exp w.r.t. x
jacobian :: MX -> MX -> MX
jacobian x y = unsafePerformIO (C.jacobian__0 x y)
{-# NOINLINE jacobian #-}

expand :: Vector MX -> Vector MX
expand x = unsafePerformIO (C.matrix_expand__0 x)
{-# NOINLINE expand #-}

solve :: MX -> MX -> MX
solve a b = unsafePerformIO (C.solve__0 a b)
{-# NOINLINE solve #-}

---- | @hessian exp x@ is the jacobian of exp w.r.t. x
--hessian :: MX -> MX -> MX
--hessian x y = unsafePerformIO (C.hessian x y)
--{-# NOINLINE hessian #-}

d2m :: DMatrix -> MX
d2m x = unsafePerformIO (mx__0 x)
{-# NOINLINE d2m #-}

-- | matrix matrix product
mm :: MX -> MX -> MX
mm x y = unsafePerformIO (mx_zz_mtimes__1 x y)
{-# NOINLINE mm #-}

-- | sumAll(x*y), x and y same dimension
innerProd :: MX -> MX -> MX
innerProd x y = unsafePerformIO (mx_zz_inner_prod x y)
{-# NOINLINE innerProd #-}

-- | transpose
trans :: MX -> MX
trans x = unsafePerformIO (mx_T x)
{-# NOINLINE trans #-}

dense :: MX -> MX
dense x = unsafePerformIO (mx_zz_dense x)
{-# NOINLINE dense #-}

--sparsify :: MX -> MX
--sparsify x = unsafePerformIO (mx_zz_sparsify__0 x)
--{-# NOINLINE sparsify #-}

triu :: MX -> MX
triu x = unsafePerformIO (mx_zz_triu__0 x)
{-# NOINLINE triu #-}

tril :: MX -> MX
tril x = unsafePerformIO (mx_zz_tril__0 x)
{-# NOINLINE tril #-}

triu2symm :: MX -> MX
triu2symm x = unsafePerformIO (mx_zz_triu2symm x)
{-# NOINLINE triu2symm #-}

tril2symm :: MX -> MX
tril2symm x = unsafePerformIO (mx_zz_tril2symm x)
{-# NOINLINE tril2symm #-}

diag :: MX -> MX
diag x = unsafePerformIO (mx_zz_diag x)
{-# NOINLINE diag #-}

crs :: MX -> Sparsity
crs x = unsafePerformIO (mx_sparsityRef__0 x)
{-# NOINLINE crs #-}

-- | from MXElement vector
size :: MX -> Int
size x = unsafePerformIO (mx_size__1 x)
{-# NOINLINE size #-}

size1 :: MX -> Int
size1 x = unsafePerformIO (mx_size1 x)
{-# NOINLINE size1 #-}

size2 :: MX -> Int
size2 x = unsafePerformIO (mx_size2 x)
{-# NOINLINE size2 #-}

numel :: MX -> Int
numel x = unsafePerformIO (mx_numel__1 x)
{-# NOINLINE numel #-}

vertcat :: V.Vector MX -> MX
vertcat x = unsafePerformIO (mx_zz_vertcat x)
{-# NOINLINE vertcat #-}

veccat :: V.Vector MX -> MX
veccat x = unsafePerformIO (mx_zz_veccat x)
{-# NOINLINE veccat #-}

vertsplit :: MX -> V.Vector Int -> V.Vector MX
vertsplit x ks = unsafePerformIO (mx_zz_vertsplit x ks)
{-# NOINLINE vertsplit #-}

horzsplit :: MX -> V.Vector Int -> V.Vector MX
horzsplit x ks = unsafePerformIO (mx_zz_horzsplit x ks)
{-# NOINLINE horzsplit #-}

horzcat :: V.Vector MX -> MX
horzcat x = unsafePerformIO (mx_zz_horzcat x)
{-# NOINLINE horzcat #-}

eye :: Int -> MX
eye n = unsafePerformIO (mx_eye n)
{-# NOINLINE eye #-}

ones :: (Int,Int) -> MX
ones (r,c) = unsafePerformIO (mx_ones__3 r c)
{-# NOINLINE ones #-}

zeros :: (Int,Int) -> MX
zeros (r,c) = unsafePerformIO (mx_zeros__3 r c)
{-# NOINLINE zeros #-}

zerosSp :: Sparsity -> MX
zerosSp sp = unsafePerformIO (mx_zeros__0 sp)
{-# NOINLINE zerosSp #-}

indexed :: MX -> Slice -> Slice -> MX
indexed m sx sy = unsafePerformIO (mx_getSub__3 m False sx sy)
{-# NOINLINE indexed #-}

getNZ :: MX -> Slice -> MX
getNZ m s = unsafePerformIO (mx_getNZ__1 m False s)
{-# NOINLINE getNZ #-}

setNZ :: MX -> MX -> Slice -> IO ()
setNZ m y s = mx_setNZ__1 m y False s

copy :: MX -> IO MX
copy m = mx__2 m

instance Num MX where
  (+) x y = unsafePerformIO (mx_zz_plus x y)
  {-# NOINLINE (+) #-}
  (-) x y = unsafePerformIO (mx_zz_minus x y)
  {-# NOINLINE (-) #-}
  (*) x y = unsafePerformIO (mx_zz_times x y)
  {-# NOINLINE (*) #-}
  fromInteger x = unsafePerformIO (mx__3 (fromInteger x :: Double))
  {-# NOINLINE fromInteger #-}
  abs x = unsafePerformIO (mx_zz_abs x)
  {-# NOINLINE abs #-}
  signum x = unsafePerformIO (mx_zz_sign x)
  {-# NOINLINE signum #-}

instance Fractional MX where
  (/) x y = unsafePerformIO (mx___truediv____0 x y)
  {-# NOINLINE (/) #-}
  fromRational x = unsafePerformIO (mx__3 (fromRational x :: Double))
  {-# NOINLINE fromRational #-}

instance Floating MX where
  pi = unsafePerformIO (mx__3 (pi :: Double))
  {-# NOINLINE pi #-}
  (**) x y = unsafePerformIO (mx_zz_power x y)
  {-# NOINLINE (**) #-}
  exp x   = unsafePerformIO (mx_zz_exp x)
  {-# NOINLINE exp #-}
  log x   = unsafePerformIO (mx_zz_log x)
  {-# NOINLINE log #-}
  sin x   = unsafePerformIO (mx_zz_sin x)
  {-# NOINLINE sin #-}
  cos x   = unsafePerformIO (mx_zz_cos x)
  {-# NOINLINE cos #-}
  tan x   = unsafePerformIO (mx_zz_tan x)
  {-# NOINLINE tan #-}
  asin x  = unsafePerformIO (mx_zz_asin x)
  {-# NOINLINE asin #-}
  atan x  = unsafePerformIO (mx_zz_atan x)
  {-# NOINLINE atan #-}
  acos x  = unsafePerformIO (mx_zz_acos x)
  {-# NOINLINE acos #-}
  sinh x  = unsafePerformIO (mx_zz_sinh x)
  {-# NOINLINE sinh #-}
  cosh x  = unsafePerformIO (mx_zz_cosh x)
  {-# NOINLINE cosh #-}
  tanh x  = unsafePerformIO (mx_zz_tanh x)
  {-# NOINLINE tanh #-}
  asinh x = unsafePerformIO (mx_zz_asinh x)
  {-# NOINLINE asinh #-}
  atanh x = unsafePerformIO (mx_zz_atanh x)
  {-# NOINLINE atanh #-}
  acosh x = unsafePerformIO (mx_zz_acosh x)
  {-# NOINLINE acosh #-}

instance Fmod MX where
  fmod x y = unsafePerformIO (mx_zz_mod x y)
  {-# NOINLINE fmod #-}

instance ArcTan2 MX where
  arctan2 x y = unsafePerformIO (mx_zz_atan2 x y)
  {-# NOINLINE arctan2 #-}

instance SymOrd MX where
  x `leq` y = unsafePerformIO (mx_zz_le x y)
  {-# NOINLINE leq #-}
  x `geq` y = unsafePerformIO (mx_zz_ge x y)
  {-# NOINLINE geq #-}
  x  `eq` y = unsafePerformIO (mx_zz_eq x y)
  {-# NOINLINE eq #-}

instance Erf MX where
  erf x = unsafePerformIO (mx_zz_erf x)
  {-# NOINLINE erf #-}
  erfinv x = unsafePerformIO (mx_zz_erfinv x)
  {-# NOINLINE erfinv #-}