{-# OPTIONS_GHC -Wall -fno-cse -fno-warn-orphans #-}
module Casadi.SX
( SX
, ssym, ssymV, ssymM, sgradient, sjacobian, shessian
, ssparsify
) where
import System.IO.Unsafe ( unsafePerformIO )
import Linear.Conjugate ( Conjugate(..) )
import Casadi.Core.Classes.SX
import qualified Casadi.Core.Tools as C
import Casadi.Overloading ( Fmod(..), ArcTan2(..), SymOrd(..), Erf(..) )
import Casadi.CMatrix ( CMatrix(..) )
import Casadi.DMatrix ()
import Casadi.Viewable ( Viewable(..) )
instance Show SX where
show x = unsafePerformIO (sx_getDescription x)
{-# NOINLINE show #-}
instance Eq SX where
x == y = unsafePerformIO (C.casadi_isEqual__0 x y)
{-# NOINLINE (==) #-}
instance Conjugate SX where
conjugate = id
instance Viewable SX where
vvertcat = vertcat
vvertsplit = vertsplit
vsize1 = size1
vsize2 = size2
vrecoverDimension _ dim = zeros dim
ssym :: String -> IO SX
ssym = sx_sym__6
ssymV :: String -> Int -> IO SX
ssymV = sx_sym__7
ssymM :: String -> Int -> Int -> IO SX
ssymM = sx_sym__8
-- | @jacobian exp x@ is the jacobian of exp w.r.t. x
sgradient :: SX -> SX -> SX
sgradient x y = unsafePerformIO (C.casadi_gradient__0 x y)
{-# NOINLINE sgradient #-}
-- | @jacobian exp x@ is the jacobian of exp w.r.t. x
sjacobian :: SX -> SX -> SX
sjacobian x y = unsafePerformIO (C.casadi_jacobian__0 x y)
{-# NOINLINE sjacobian #-}
-- | @hessian exp x@ is the hessian of exp w.r.t. x
shessian :: SX -> SX -> SX -> SX
shessian x y z = unsafePerformIO (C.casadi_hessian__0 x y z)
{-# NOINLINE shessian #-}
ssparsify :: SX -> SX
ssparsify x = unsafePerformIO (C.casadi_sparsify__0 x)
{-# NOINLINE ssparsify #-}
instance CMatrix SX where
blocksplit x ix iy = unsafePerformIO (C.casadi_blocksplit__3 x ix iy)
{-# NOINLINE blocksplit #-}
blockcat x = unsafePerformIO (C.casadi_blockcat__1 x)
{-# NOINLINE blockcat #-}
veccat x = unsafePerformIO (C.casadi_veccat__0 x)
{-# NOINLINE veccat #-}
-- vertsplit = vertslice
vertsplit x ks = unsafePerformIO (C.casadi_vertsplit__2 x ks)
{-# NOINLINE vertsplit #-}
vertcat x = unsafePerformIO (C.casadi_vertcat__0 x)
{-# NOINLINE vertcat #-}
-- horzsplit = horzslice
horzsplit x ks = unsafePerformIO (C.casadi_horzsplit__2 x ks)
{-# NOINLINE horzsplit #-}
horzcat x = unsafePerformIO (C.casadi_horzcat__0 x)
{-# NOINLINE horzcat #-}
size1 x = unsafePerformIO (sx_size1 x)
{-# NOINLINE size1 #-}
size2 x = unsafePerformIO (sx_size2 x)
{-# NOINLINE size2 #-}
numel x = unsafePerformIO (sx_numel__1 x)
{-# NOINLINE numel #-}
mm x y = unsafePerformIO (C.casadi_mul__1 x y)
{-# NOINLINE mm #-}
innerProd x y = unsafePerformIO (C.casadi_inner_prod__0 x y)
{-# NOINLINE innerProd #-}
sumCols x = unsafePerformIO (C.casadi_sumCols__0 x)
{-# NOINLINE sumCols #-}
sumRows x = unsafePerformIO (C.casadi_sumRows__0 x)
{-# NOINLINE sumRows #-}
trans x = unsafePerformIO (sx_T x)
{-# NOINLINE trans #-}
diag x = unsafePerformIO (C.casadi_diag__0 x)
{-# NOINLINE diag #-}
eye n = unsafePerformIO (sx_eye n)
{-# NOINLINE eye #-}
ones (r,c) = unsafePerformIO (sx_ones__4 r c)
{-# NOINLINE ones #-}
zeros (r,c) = unsafePerformIO (sx_zeros__4 r c)
{-# NOINLINE zeros #-}
zerosSp sp = unsafePerformIO (sx_zeros__1 sp)
{-# NOINLINE zerosSp #-}
solve x y s m = unsafePerformIO (C.casadi_solve__1 x y s m)
{-# NOINLINE solve #-}
solve' x y = unsafePerformIO (C.casadi_solve__2 x y)
{-# NOINLINE solve' #-}
indexed m spx spy = unsafePerformIO $ do
ret <- allocEmpty :: IO SX
sx_get__3 m ret False spx spy
return ret
{-# NOINLINE indexed #-}
sparsity x = unsafePerformIO (sx_getSparsity x)
{-# NOINLINE sparsity #-}
getNZ m sp = unsafePerformIO $ do
ret <- allocEmpty :: IO SX
sx_getNZ__1 m ret False sp
return ret
{-# NOINLINE getNZ #-}
setNZ m y s = sx_setNZ__1 m y False s
triu x = unsafePerformIO (C.casadi_triu__0 x)
{-# NOINLINE triu #-}
tril x = unsafePerformIO (C.casadi_tril__0 x)
{-# NOINLINE tril #-}
triu2symm x = unsafePerformIO (C.casadi_triu2symm__0 x)
{-# NOINLINE triu2symm #-}
tril2symm x = unsafePerformIO (C.casadi_tril2symm__0 x)
{-# NOINLINE tril2symm #-}
copy m = sx__9 m
densify x = unsafePerformIO (C.casadi_densify__0 x)
{-# NOINLINE densify #-}
fromDMatrix x = unsafePerformIO (sx__1 x)
{-# NOINLINE fromDMatrix #-}
fromDVector x = fromDMatrix (fromDVector x)
{-# NOINLINE fromDVector #-}
fromDouble x = unsafePerformIO (sx__5 x)
{-# NOINLINE fromDouble #-}
allocEmpty = sx__10
reshape x s = unsafePerformIO (C.casadi_reshape__1 x s)
{-# NOINLINE reshape #-}
conditional x0 x1 x2 = unsafePerformIO (C.casadi_conditional__0 x0 x1 x2)
{-# NOINLINE conditional #-}
conditional' x0 x1 x2 x3 = unsafePerformIO (C.casadi_conditional__1 x0 x1 x2 x3)
{-# NOINLINE conditional' #-}
instance Num SX where
(+) x y = unsafePerformIO (C.casadi_plus__0 x y)
{-# NOINLINE (+) #-}
(-) x y = unsafePerformIO (C.casadi_minus__0 x y)
{-# NOINLINE (-) #-}
(*) x y = unsafePerformIO (C.casadi_times__0 x y)
{-# NOINLINE (*) #-}
fromInteger x = fromDouble (fromInteger x :: Double)
{-# NOINLINE fromInteger #-}
abs x = unsafePerformIO (C.casadi_abs__0 x)
{-# NOINLINE abs #-}
signum x = unsafePerformIO (C.casadi_sign__0 x)
{-# NOINLINE signum #-}
instance Fractional SX where
(/) x y = unsafePerformIO (C.casadi_rdivide__0 x y)
{-# NOINLINE (/) #-}
fromRational x = fromDouble (fromRational x :: Double)
{-# NOINLINE fromRational #-}
instance Floating SX where
pi = fromDouble (pi :: Double)
{-# NOINLINE pi #-}
(**) x y = unsafePerformIO (C.casadi_power__0 x y)
{-# NOINLINE (**) #-}
exp x = unsafePerformIO (C.casadi_exp__0 x)
{-# NOINLINE exp #-}
log x = unsafePerformIO (C.casadi_log__0 x)
{-# NOINLINE log #-}
sin x = unsafePerformIO (C.casadi_sin__0 x)
{-# NOINLINE sin #-}
cos x = unsafePerformIO (C.casadi_cos__0 x)
{-# NOINLINE cos #-}
tan x = unsafePerformIO (C.casadi_tan__0 x)
{-# NOINLINE tan #-}
asin x = unsafePerformIO (C.casadi_asin__0 x)
{-# NOINLINE asin #-}
atan x = unsafePerformIO (C.casadi_atan__0 x)
{-# NOINLINE atan #-}
acos x = unsafePerformIO (C.casadi_acos__0 x)
{-# NOINLINE acos #-}
sinh x = unsafePerformIO (C.casadi_sinh__0 x)
{-# NOINLINE sinh #-}
cosh x = unsafePerformIO (C.casadi_cosh__0 x)
{-# NOINLINE cosh #-}
tanh x = unsafePerformIO (C.casadi_tanh__0 x)
{-# NOINLINE tanh #-}
asinh x = unsafePerformIO (C.casadi_asinh__0 x)
{-# NOINLINE asinh #-}
atanh x = unsafePerformIO (C.casadi_atanh__0 x)
{-# NOINLINE atanh #-}
acosh x = unsafePerformIO (C.casadi_acosh__0 x)
{-# NOINLINE acosh #-}
instance Fmod SX where
fmod x y = unsafePerformIO (C.casadi_mod__0 x y)
{-# NOINLINE fmod #-}
instance ArcTan2 SX where
arctan2 x y = unsafePerformIO (C.casadi_atan2__0 x y)
{-# NOINLINE arctan2 #-}
instance SymOrd SX where
x `leq` y = unsafePerformIO (C.casadi_le__0 x y)
{-# NOINLINE leq #-}
x `geq` y = unsafePerformIO (C.casadi_ge__0 x y)
{-# NOINLINE geq #-}
x `eq` y = unsafePerformIO (C.casadi_eq__0 x y)
{-# NOINLINE eq #-}
instance Erf SX where
erf x = unsafePerformIO (C.casadi_erf__0 x)
{-# NOINLINE erf #-}
erfinv x = unsafePerformIO (C.casadi_erfinv__0 x)
{-# NOINLINE erfinv #-}