{-# OPTIONS_GHC -Wall -fno-cse -fno-warn-orphans #-}
module Casadi.DM
( DM
, dsparsify
, dnonzeros
) where
import qualified Data.Vector as V
import System.IO.Unsafe ( unsafePerformIO )
import Linear.Conjugate ( Conjugate(..) )
import qualified Data.Serialize as S
import qualified Data.Binary as B
import Data.Vector.Binary () -- instances
import Casadi.Core.Classes.DM
import Casadi.Core.Classes.Sparsity ( Sparsity )
import qualified Casadi.Core.Tools as C
import Casadi.Overloading ( Fmod(..), ArcTan2(..), SymOrd(..), Erf(..) )
import Casadi.CMatrix ( CMatrix(..) )
import Casadi.Viewable ( Viewable(..) )
getWith :: Monad m => m Sparsity -> m (V.Vector Double) -> m DM
getWith get getVector = do
sp <- get
data' <- getVector
return (fromSparseData sp data')
putWith :: Monad m => (Sparsity -> m ()) -> (V.Vector Double -> m ()) -> DM -> m ()
putWith put putVector x = do
put (sparsity x)
putVector (dnonzeros x)
-- Data.Vector.Cereal looks deprecated, it's not in master anymore
instance S.Serialize DM where
put = putWith S.put (S.put . V.toList)
get = getWith S.get (fmap V.fromList S.get)
instance B.Binary DM where
put = putWith B.put B.put
get = getWith B.get B.get
instance Conjugate DM where
conjugate = id
instance Viewable DM where
vvertcat = vertcat
vvertsplit = vertsplit
vsize1 = size1
vsize2 = size2
vrecoverDimension _ dim = zeros dim
fromSparseData :: Sparsity -> V.Vector Double -> DM
fromSparseData s d = unsafePerformIO (dm__6 s (fromDVector d))
{-# NOINLINE fromSparseData #-}
dsparsify :: DM -> DM
dsparsify x = unsafePerformIO (C.casadi_sparsify__2 x)
{-# NOINLINE dsparsify #-}
dnonzeros :: DM -> V.Vector Double
dnonzeros x = unsafePerformIO (dm_get_nonzeros x)
{-# NOINLINE dnonzeros #-}
instance Show DM where
show x = unsafePerformIO (dm_getDescription x)
{-# NOINLINE show #-}
instance Eq DM where
x == y = unsafePerformIO (C.casadi_is_equal__4 x y)
{-# NOINLINE (==) #-}
instance CMatrix DM where
blocksplit x ix iy = unsafePerformIO (C.casadi_blocksplit__7 x ix iy)
{-# NOINLINE blocksplit #-}
blockcat x = unsafePerformIO (C.casadi_blockcat__3 x)
{-# NOINLINE blockcat #-}
veccat x = unsafePerformIO (C.casadi_veccat__1 x)
{-# NOINLINE veccat #-}
---- vertsplit = vertslice
vertsplit x ks = unsafePerformIO (C.casadi_vertsplit__5 x ks)
{-# NOINLINE vertsplit #-}
vertcat x = unsafePerformIO (C.casadi_vertcat__1 x)
{-# NOINLINE vertcat #-}
-- horzsplit = horzslice
horzsplit x ks = unsafePerformIO (C.casadi_horzsplit__5 x ks)
{-# NOINLINE horzsplit #-}
horzcat x = unsafePerformIO (C.casadi_horzcat__1 x)
{-# NOINLINE horzcat #-}
size1 x = unsafePerformIO (dm_size1 x)
{-# NOINLINE size1 #-}
size2 x = unsafePerformIO (dm_size2 x)
{-# NOINLINE size2 #-}
numel x = unsafePerformIO (dm_numel__1 x)
{-# NOINLINE numel #-}
mm x y = unsafePerformIO (C.casadi_mtimes__3 x y)
{-# NOINLINE mm #-}
dot x y = unsafePerformIO (C.casadi_dot__1 x y)
{-# NOINLINE dot #-}
sum1 x = unsafePerformIO (C.casadi_sum1__1 x)
{-# NOINLINE sum1 #-}
sum2 x = unsafePerformIO (C.casadi_sum2__1 x)
{-# NOINLINE sum2 #-}
trans x = unsafePerformIO (dm_T x)
{-# NOINLINE trans #-}
diag x = unsafePerformIO (C.casadi_diag__1 x)
{-# NOINLINE diag #-}
eye n = unsafePerformIO (dm_eye n)
{-# NOINLINE eye #-}
ones (r,c) = unsafePerformIO (dm_ones__4 r c)
{-# NOINLINE ones #-}
zeros (r,c) = unsafePerformIO (dm_zeros__4 r c)
{-# NOINLINE zeros #-}
zerosSp sp = unsafePerformIO (dm_zeros__1 sp)
{-# NOINLINE zerosSp #-}
solve x y s m = unsafePerformIO (C.casadi_solve__4 x y s m)
{-# NOINLINE solve #-}
solve' x y = unsafePerformIO (C.casadi_solve__5 x y)
{-# NOINLINE solve' #-}
indexed m spx spy = unsafePerformIO (dm_get__3 m False spx spy)
{-# NOINLINE indexed #-}
sparsity x = unsafePerformIO (dm_get_sparsity x)
{-# NOINLINE sparsity #-}
getNZ m sp = unsafePerformIO (dm_get_nz__1 m False sp)
{-# NOINLINE getNZ #-}
setNZ m y s = dm_set_nz__1 m y False s
triu x = unsafePerformIO (C.casadi_triu__2 x)
{-# NOINLINE triu #-}
tril x = unsafePerformIO (C.casadi_tril__2 x)
{-# NOINLINE tril #-}
triu2symm x = unsafePerformIO (C.casadi_triu2symm__1 x)
{-# NOINLINE triu2symm #-}
tril2symm x = unsafePerformIO (C.casadi_tril2symm__1 x)
{-# NOINLINE tril2symm #-}
copy m = dm__9 m
densify x = unsafePerformIO (C.casadi_densify__1 x)
{-# NOINLINE densify #-}
fromDM = id
fromDVector x = unsafePerformIO (dm__4 (V.singleton x) >>= dm_T)
{-# NOINLINE fromDVector #-}
fromDouble x = unsafePerformIO (dm__5 x)
{-# NOINLINE fromDouble #-}
reshape x s = unsafePerformIO (C.casadi_reshape__4 x s)
{-# NOINLINE reshape #-}
conditional x0 x1 x2 = unsafePerformIO (C.casadi_conditional__2 x0 x1 x2)
{-# NOINLINE conditional #-}
conditional' x0 x1 x2 x3 = unsafePerformIO (C.casadi_conditional__3 x0 x1 x2 x3)
{-# NOINLINE conditional' #-}
inv x = unsafePerformIO (C.casadi_inv__1 x)
{-# NOINLINE inv #-}
pinv x = unsafePerformIO (C.casadi_pinv__5 x)
{-# NOINLINE pinv #-}
pinv' x n o = unsafePerformIO (C.casadi_pinv__4 x n o)
{-# NOINLINE pinv' #-}
cmax x y = unsafePerformIO (C.casadi_max__2 x y)
{-# NOINLINE cmax #-}
cmin x y = unsafePerformIO (C.casadi_min__2 x y)
{-# NOINLINE cmin #-}
cand x y = unsafePerformIO (C.casadi_and__2 x y)
{-# NOINLINE cand #-}
cor x y = unsafePerformIO (C.casadi_or__2 x y)
{-# NOINLINE cor #-}
repmat x (s1, s2) = unsafePerformIO (C.casadi_repmat__5 x s1 s2)
{-# NOINLINE repmat #-}
instance Num DM where
(+) x y = unsafePerformIO (C.casadi_plus__2 x y)
{-# NOINLINE (+) #-}
(-) x y = unsafePerformIO (C.casadi_minus__2 x y)
{-# NOINLINE (-) #-}
(*) x y = unsafePerformIO (C.casadi_times__2 x y)
{-# NOINLINE (*) #-}
fromInteger x = fromDouble (fromInteger x :: Double)
{-# NOINLINE fromInteger #-}
abs x = unsafePerformIO (C.casadi_abs__2 x)
{-# NOINLINE abs #-}
signum x = unsafePerformIO (C.casadi_sign__2 x)
{-# NOINLINE signum #-}
instance Fractional DM where
(/) x y = unsafePerformIO (C.casadi_rdivide__2 x y)
{-# NOINLINE (/) #-}
fromRational x = fromDouble (fromRational x :: Double)
{-# NOINLINE fromRational #-}
instance Floating DM where
pi = fromDouble (pi :: Double)
{-# NOINLINE pi #-}
(**) x y = unsafePerformIO (C.casadi_power__2 x y)
{-# NOINLINE (**) #-}
exp x = unsafePerformIO (C.casadi_exp__2 x)
{-# NOINLINE exp #-}
log x = unsafePerformIO (C.casadi_log__2 x)
{-# NOINLINE log #-}
sin x = unsafePerformIO (C.casadi_sin__2 x)
{-# NOINLINE sin #-}
cos x = unsafePerformIO (C.casadi_cos__2 x)
{-# NOINLINE cos #-}
tan x = unsafePerformIO (C.casadi_tan__2 x)
{-# NOINLINE tan #-}
asin x = unsafePerformIO (C.casadi_asin__2 x)
{-# NOINLINE asin #-}
atan x = unsafePerformIO (C.casadi_atan__2 x)
{-# NOINLINE atan #-}
acos x = unsafePerformIO (C.casadi_acos__2 x)
{-# NOINLINE acos #-}
sinh x = unsafePerformIO (C.casadi_sinh__2 x)
{-# NOINLINE sinh #-}
cosh x = unsafePerformIO (C.casadi_cosh__2 x)
{-# NOINLINE cosh #-}
tanh x = unsafePerformIO (C.casadi_tanh__2 x)
{-# NOINLINE tanh #-}
asinh x = unsafePerformIO (C.casadi_asinh__2 x)
{-# NOINLINE asinh #-}
atanh x = unsafePerformIO (C.casadi_atanh__2 x)
{-# NOINLINE atanh #-}
acosh x = unsafePerformIO (C.casadi_acosh__2 x)
{-# NOINLINE acosh #-}
instance Fmod DM where
fmod x y = unsafePerformIO (C.casadi_mod__2 x y)
{-# NOINLINE fmod #-}
instance ArcTan2 DM where
arctan2 x y = unsafePerformIO (C.casadi_atan2__2 x y)
{-# NOINLINE arctan2 #-}
instance SymOrd DM where
x `leq` y = unsafePerformIO (C.casadi_le__2 x y)
{-# NOINLINE leq #-}
x `lt` y = unsafePerformIO (C.casadi_lt__2 x y)
{-# NOINLINE lt #-}
x `geq` y = unsafePerformIO (C.casadi_ge__2 x y)
{-# NOINLINE geq #-}
x `gt` y = unsafePerformIO (C.casadi_gt__2 x y)
{-# NOINLINE gt #-}
x `eq` y = unsafePerformIO (C.casadi_eq__2 x y)
{-# NOINLINE eq #-}
instance Erf DM where
erf x = unsafePerformIO (C.casadi_erf__2 x)
{-# NOINLINE erf #-}
erfinv x = unsafePerformIO (C.casadi_erfinv__2 x)
{-# NOINLINE erfinv #-}