CasADiFunctionEvaluator< Conf, N_in, N_out > Class Template Reference

#include <alpaqa/casadi/CasADiFunctionWrapper.hpp>

Detailed Description

template<Config Conf, size_t N_in, size_t N_out>
class alpaqa::casadi_loader::CasADiFunctionEvaluator< Conf, N_in, N_out >

Class for evaluating CasADi functions, allocating the necessary workspace storage in advance for allocation-free evaluations.

Definition at line 21 of file CasADiFunctionWrapper.hpp.

Collaboration diagram for CasADiFunctionEvaluator< Conf, N_in, N_out >:

Public Types
using	casadi_dim = std::pair< casadi_int, casadi_int >

Public Member Functions
	CasADiFunctionEvaluator (casadi::Function &&f)
	CasADiFunctionEvaluator (casadi::Function &&f, const std::array< casadi_dim, N_in > &dim_in, const std::array< casadi_dim, N_out > &dim_out)
void	validate_dimensions (const std::array< casadi_dim, N_in > &dim_in={}, const std::array< casadi_dim, N_out > &dim_out={})
void	operator() (const double *const (&in)[N_in], double *const (&out)[N_out]) const

Static Public Member Functions
static void	validate_num_args (const casadi::Function &fun)
static void	validate_dimensions (const casadi::Function &fun, const std::array< casadi_dim, N_in > &dim_in={}, const std::array< casadi_dim, N_out > &dim_out={})

Public Attributes
casadi::Function	fun

Protected Member Functions
void	operator() (const double *const *in, double *const *out) const

Private Attributes
std::vector< casadi_int >	iwork
std::vector< double >	dwork
std::vector< const double * >	arg_work
std::vector< double * >	res_work

Member Typedef Documentation

casadi_dim

template<Config Conf, size_t N_in, size_t N_out>

using casadi_dim = std::pair<casadi_int, casadi_int>

Definition at line 26 of file CasADiFunctionWrapper.hpp.

Constructor & Destructor Documentation

CasADiFunctionEvaluator() [1/2]

template<Config Conf, size_t N_in, size_t N_out>

CasADiFunctionEvaluator ( casadi::Function &&  f )

inline

Exceptions

invalid_argument_dimensions

Definition at line 29 of file CasADiFunctionWrapper.hpp.

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CasADiFunctionEvaluator() [2/2]

template<Config Conf, size_t N_in, size_t N_out>

CasADiFunctionEvaluator ( casadi::Function &&  f, const std::array< casadi_dim, N_in > &  dim_in, const std::array< casadi_dim, N_out > &  dim_out  )

inline

Exceptions

invalid_argument_dimensions

Definition at line 36 of file CasADiFunctionWrapper.hpp.

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Member Function Documentation

validate_num_args()

template<Config Conf, size_t N_in, size_t N_out>

static void validate_num_args ( const casadi::Function &  fun )

inlinestatic

Exceptions

invalid_argument_dimensions

Definition at line 44 of file CasADiFunctionWrapper.hpp.

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validate_dimensions() [1/2]

template<Config Conf, size_t N_in, size_t N_out>

static void validate_dimensions ( const casadi::Function &  fun, const std::array< casadi_dim, N_in > &  dim_in = {}, const std::array< casadi_dim, N_out > &  dim_out = {}  )

inlinestatic

Exceptions

invalid_argument_dimensions

Definition at line 60 of file CasADiFunctionWrapper.hpp.

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validate_dimensions() [2/2]

template<Config Conf, size_t N_in, size_t N_out>

void validate_dimensions ( const std::array< casadi_dim, N_in > &  dim_in = {}, const std::array< casadi_dim, N_out > &  dim_out = {}  )

inline

Exceptions

invalid_argument_dimensions

Definition at line 93 of file CasADiFunctionWrapper.hpp.

operator()() [1/2]

template<Config Conf, size_t N_in, size_t N_out>

void operator() ( const double *const *  in, double *const *  out  ) const

inlineprotected

Definition at line 99 of file CasADiFunctionWrapper.hpp.

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operator()() [2/2]

template<Config Conf, size_t N_in, size_t N_out>

void operator() ( const double *const (&)  in[N_in], double *const (&)  out[N_out]  ) const

inline

Definition at line 106 of file CasADiFunctionWrapper.hpp.

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Member Data Documentation

fun

template<Config Conf, size_t N_in, size_t N_out>

casadi::Function fun

Definition at line 112 of file CasADiFunctionWrapper.hpp.

iwork

template<Config Conf, size_t N_in, size_t N_out>

std::vector<casadi_int> iwork

mutableprivate

Definition at line 115 of file CasADiFunctionWrapper.hpp.

dwork

template<Config Conf, size_t N_in, size_t N_out>

std::vector<double> dwork

mutableprivate

Definition at line 116 of file CasADiFunctionWrapper.hpp.

arg_work

template<Config Conf, size_t N_in, size_t N_out>

std::vector<const double *> arg_work

mutableprivate

Definition at line 117 of file CasADiFunctionWrapper.hpp.

res_work

template<Config Conf, size_t N_in, size_t N_out>

std::vector<double *> res_work

mutableprivate

Definition at line 118 of file CasADiFunctionWrapper.hpp.

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The documentation for this class was generated from the following file:

• src/interop/casadi/include/alpaqa/casadi/CasADiFunctionWrapper.hpp