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casadi.i
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casadi.i
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/*
* This file is part of CasADi.
*
* CasADi -- A symbolic framework for dynamic optimization.
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
* KU Leuven. All rights reserved.
* Copyright (C) 2011-2014 Greg Horn
*
* CasADi is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* CasADi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with CasADi; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
%module(package="casadi",directors=1) casadi
#ifdef CASADI_WITH_COPYSIGN_UNDEF
%{
#ifdef copysign
#undef copysign
#endif
%}
#endif // CASADI_WITH_COPYSIGN_UNDEF
// Include all public CasADi C++
%{
#include <casadi/casadi.hpp>
#include <casadi/core/casadi_interrupt.hpp>
%}
// casadi_int type
%include <casadi/core/casadi_types.hpp>
/// Data structure in the target language holding data
#ifdef SWIGPYTHON
#define GUESTOBJECT PyObject
#elif defined(SWIGMATLAB)
#define GUESTOBJECT mxArray
#else
#define GUESTOBJECT void
#endif
// Define printing routine
#ifdef SWIGPYTHON
%{
namespace casadi {
// Redirect printout
static void pythonlogger(const char* s, std::streamsize num, bool error) {
int n = num;
while (n>0) {
if (error) {
PySys_WriteStderr("%.*s", std::min(n, 1000), s);
} else {
PySys_WriteStdout("%.*s", std::min(n, 1000), s);
}
n -= 1000;
s += 1000;
}
}
static bool pythoncheckinterrupted() {
if (!casadi::InterruptHandler::is_main_thread()) return false;
return PyErr_CheckSignals();
}
void handle_director_exception() {
std::string msg = "Exception in SWIG director ";
SWIG_PYTHON_THREAD_BEGIN_BLOCK;
if (PyErr_ExceptionMatches(PyExc_KeyboardInterrupt)) {
PyErr_Clear();
SWIG_PYTHON_THREAD_END_BLOCK;
throw casadi::KeyboardInterruptException();
}
PyObject *ptype, *pvalue, *ptraceback;
PyErr_Fetch(&ptype, &pvalue, &ptraceback);
PyObject* msg_py = PyObject_Str(pvalue);
char *msg_char = SWIG_Python_str_AsChar(msg_py);
msg = msg_char;
SWIG_Python_str_DelForPy3(msg_char);
Py_DECREF(msg_py);
PyErr_Restore(ptype, pvalue, ptraceback);
PyErr_Print();
SWIG_PYTHON_THREAD_END_BLOCK;
casadi_error(msg.c_str());
}
}
%}
%init %{
// Set logger functions
casadi::Logger::writeFun = casadi::pythonlogger;
// @jgillis: please document
casadi::InterruptHandler::checkInterrupted = casadi::pythoncheckinterrupted;
casadi::InterruptHandler::is_main_thread();
%}
#elif defined(SWIGMATLAB)
%{
namespace casadi {
// Redirect printout to mexPrintf
static void mexlogger(const char* s, std::streamsize num, bool error) {
if (!casadi::InterruptHandler::is_main_thread()) {
casadi::Logger::writeDefault(s, num, error);
return;
}
mexPrintf("%.*s", static_cast<int>(num), s);
}
#ifdef HAVE_OCTAVE
// Flush the command window buffer (needed in gui mode)
static void mexflush(bool error) {
}
// Never for Octave
static bool mexcheckinterrupted() {
return false;
}
void mexclearinterrupted() {
}
#else
// Undocumented matlab feature
extern "C" bool utIsInterruptPending(void);
extern "C" void utSetInterruptPending(bool);
static bool mexcheckinterrupted() {
if (!casadi::InterruptHandler::is_main_thread()) return false;
return utIsInterruptPending();
}
void mexclearinterrupted() {
utSetInterruptPending(false);
}
// Flush the command window buffer (needed in gui mode)
static void mexflush(bool error) {
if (!casadi::InterruptHandler::is_main_thread()) {
casadi::Logger::flushDefault(error);
return;
}
if (!mexcheckinterrupted()) {
if (mexEvalString("drawnow('update');pause(0.0001);")) {
utSetInterruptPending(true);
}
}
}
#endif
}
%}
%init %{
// Get full path
mxArray *fullpath, *fullpath_cmd = mxCreateString("fullpath");
mexCallMATLAB(1, &fullpath, 1, &fullpath_cmd, "mfilename");
mxDestroyArray(fullpath_cmd);
std::string path = mxArrayToString(fullpath);
mxDestroyArray(fullpath);
// Get file separator
mxArray *filesep;
mexCallMATLAB(1, &filesep, 0, 0, "filesep");
std::string sep = mxArrayToString(filesep);
mxDestroyArray(filesep);
// Truncate at separator
path = path.substr(0, path.rfind(sep));
// Octave-on-Windows seems to pick up superfluous +casadi
// Make sure we exclude it
if (path.rfind(sep)!=std::string::npos && path.substr(path.rfind(sep)+1)=="+casadi")
path = path.substr(0, path.rfind(sep));
// Set library path
casadi::GlobalOptions::setCasadiPath(path);
casadi::GlobalOptions::setCasadiIncludePath(path+sep+"include");
// Matlab is index-one based
casadi::GlobalOptions::start_index = 1;
// @jgillis: please document
mxArray *warning_rhs[] = {mxCreateString("error"),
mxCreateString("SWIG:OverloadError")};
mexCallMATLAB(0, 0, 2, warning_rhs, "warning");
mxDestroyArray(warning_rhs[0]);
mxDestroyArray(warning_rhs[1]);
// Set logger functions
casadi::Logger::writeFun = casadi::mexlogger;
casadi::Logger::flush = casadi::mexflush;
// @jgillis: please document
casadi::InterruptHandler::checkInterrupted = casadi::mexcheckinterrupted;
casadi::InterruptHandler::clearInterrupted = casadi::mexclearinterrupted;
casadi::InterruptHandler::is_main_thread();
%}
#endif
// Turn off the warnings that certain methods are effectively ignored, this seams to be a false warning,
// for example vertcat(SXVector), vertcat(DMVector) and vertcat(MXVector) appears to work fine
#pragma SWIG nowarn=509,303,302
#define CASADI_EXPORT
// Incude cmath early on, see #622
%begin %{
#include <cmath>
#ifdef _XOPEN_SOURCE
#undef _XOPEN_SOURCE
#endif
#ifdef _POSIX_C_SOURCE
#undef _POSIX_C_SOURCE
#endif
%}
%ignore *::operator->;
%rename(str) get_str;
%begin %{
#define SWIG_PYTHON_OUTPUT_TUPLE
%}
#ifdef SWIGPYTHON
%pythoncode %{
import contextlib
class _copyableObject(object):
def __copy__(self):
return self.__class__(self)
def __deepcopy__(self,dummy=None):
return self.__class__(self)
_object = object = _copyableObject
_swig_repr_default = _swig_repr
def _swig_repr(self):
if hasattr(self,'repr'):
return self.repr()
else:
return _swig_repr_default(self)
def DM_from_array(m, check_only=True):
import numpy as np
if isinstance(m, np.ndarray):
if len(m.shape)>2:
return False
try:
m = m.astype(float,casting="same_kind",copy=False)
except:
return False
if check_only:
return True
else:
shape = m.shape + (1, 1)
nrow, ncol = shape[0], shape[1]
return (nrow,ncol,m.flat)
return False
def IM_from_array(m, check_only=True):
import numpy as np
if isinstance(m, np.ndarray):
if len(m.shape)>2:
return False
try:
m = m.astype(int,casting="same_kind",copy=False)
except:
return False
if check_only:
return True
else:
shape = m.shape + (1, 1)
nrow, ncol = shape[0], shape[1]
return (nrow,ncol,m.flat)
return False
def SX_from_array(m, check_only=True):
import numpy as np
if isinstance(m, np.ndarray):
if len(m.shape)>2:
return False
if m.dtype!=object: return None
shape = m.shape + (1, 1)
nrow, ncol = shape[0], shape[1]
return (nrow,ncol,m.flat)
return False
def DM_from_csc(m, check_only=True):
if hasattr(m,"tocsc"):
m = m.tocsc()
if m.__class__.__name__ == "csc_matrix":
if len(m.shape)!=2: return False
if check_only: return True
return m.shape + (m.indptr.flat,m.indices.flat,m.data.flat)
return False
%}
#endif // WITH_SWIGPYTHON
// These are the following styles
// error
// overview
// group
%feature("autodoc", "1");
%feature("customdoc", "1");
%feature("customdoc:arg:self", "self");
#if defined(SWIGMATLAB) || defined(SWIGOCTAVE)
#define MNAME "$NAME"
%feature("customdoc:proto:constructor", "new_obj = $NAME($in)");
%feature("customdoc:proto:single_out", "$out = $NAME($in)");
%feature("customdoc:proto:normal", "[$out] = $NAME($in)");
%feature("customdoc:main", " $NAME $brief\n\n$overview\n$main");
#else
#define MNAME "$name"
%feature("customdoc:proto:constructor", "$name($in)");
%feature("customdoc:proto:single_out", "$name($in) -> $out");
%feature("customdoc:proto:normal", "$name($in) -> ($out)");
%feature("customdoc:main", " $brief\n\n::\n\n$overview\n$main");
#endif
%feature("customdoc:arg:normal:style_error", "$type");
%feature("customdoc:arg:only:style_error", "$type");
%feature("customdoc:arg:separator:style_error", ",");
%feature("customdoc:proto:void:style_error", MNAME "($in)");
%feature("customdoc:proto:single_out:style_error", MNAME "($in)");
%feature("customdoc:proto:normal:style_error", MNAME "($in)");
%feature("customdoc:proto:constructor:style_error", MNAME "($in)");
%feature("customdoc:arg:normal", "$type $name");
%feature("customdoc:arg:only", "$type $name");
%feature("customdoc:arg:only:out", "$type");
%feature("customdoc:arg:no_name", "out$ip");
%feature("customdoc:arg:separator", ", ");
%feature("customdoc:proto:void", MNAME "($in)");
%feature("customdoc:proto:single_out:style_group", MNAME "($in)");
%feature("customdoc:proto:normal:style_group", MNAME "($in)");
%feature("customdoc:proto:constructor:style_group", MNAME "($in)");
%feature("customdoc:protoline", " $proto");
%feature("customdoc:protoline:style_overview", " $proto");
%feature("customdoc:protoline:nobrief:style_overview", " $proto");
%feature("customdoc:protoline:style_group", " $proto");
%feature("customdoc:group", "\n.......\n\n::\n\n$group\n$main\n\n.............\n\n");
// append works for strings
%naturalvar;
// Make data members read-only
%immutable;
// Make sure that a copy constructor is created
%copyctor;
#ifndef SWIGXML
%feature("compactdefaultargs","1");
//%feature("compactdefaultargs","0") casadi::taylor; // taylor function has a default argument for which the namespace is not recognised by SWIG
%feature("compactdefaultargs","0") casadi::Function::generateCode; // buggy
#endif //SWIGXML
// STL
#ifdef SWIGXML
namespace std {
template<class T> class vector {};
template<class A, class B> class pair {};
template<class A, class B> class map {};
}
#else // SWIGXML
%include "stl.i"
#endif // SWIGXML
%include "doc.i"
// Note: Only from 3.0.0 onwards,
// DirectorException inherits from std::exception
#if SWIG_VERSION >= 0x030000
// Exceptions handling
%include "exception.i"
%exception {
try {
$action
} catch(const std::exception& e) {
SWIG_exception(SWIG_RuntimeError, e.what());
}
}
// Python sometimes takes an approach to not check, but just try.
// It expects a python error to be thrown.
%exception __int__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_RuntimeError, e.what());
}
}
#ifdef WITH_PYTHON3
// See https://github.com/casadi/casadi/issues/701
// Recent numpys will only catch TypeError or ValueError in printing logic
%exception __bool__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_TypeError, e.what());
}
}
#else
%exception __nonzero__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_TypeError, e.what());
}
}
#endif
#else
// Exceptions handling
%include "exception.i"
%exception {
try {
$action
} catch(const std::exception& e) {
SWIG_exception(SWIG_RuntimeError, e.what());
} catch (const Swig::DirectorException& e) {
SWIG_exception(SWIG_TypeError, e.getMessage());
}
}
// Python sometimes takes an approach to not check, but just try.
// It expects a python error to be thrown.
%exception __int__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_RuntimeError, e.what());
} catch (const Swig::DirectorException& e) {
SWIG_exception(SWIG_TypeError, e.getMessage());
}
}
#ifdef WITH_PYTHON3
// See https://github.com/casadi/casadi/issues/701
// Recent numpys will only catch TypeError or ValueError in printing logic
%exception __bool__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_TypeError, e.what());
} catch (const Swig::DirectorException& e) {
SWIG_exception(SWIG_TypeError, e.getMessage());
}
}
#else
%exception __nonzero__ {
try {
$action
} catch (const std::exception& e) {
SWIG_exception(SWIG_TypeError, e.what());
}
catch (const Swig::DirectorException& e) {
SWIG_exception(SWIG_TypeError, e.getMessage());
}
}
#endif
#endif
#ifdef SWIGPYTHON
%feature("director:except") {
if ($error != NULL) casadi::handle_director_exception();
}
#endif //SWIGPYTHON
#ifdef SWIGPYTHON
%{
#define SWIG_FILE_WITH_INIT
%}
#endif // SWIGPYTHON
%{
#define SWIG_Error_return(code, msg) { std::cerr << "Error occured in CasADi SWIG interface code:" << std::endl << " "<< msg << std::endl;SWIG_Error(code, msg); return 0; }
%}
#ifndef SWIGXML
// Can be overloaded by specifying before importing casadi.i
%fragment("casadi_extra_decl", "header") {}
%fragment("casadi_decl", "header",fragment="casadi_extra_decl") {
namespace casadi {
/* Check if Null or None */
bool is_null(GUESTOBJECT *p);
/* Typemaps from CasADi types to types in the interfaced language:
*
* to_ptr: Converts a pointer in interfaced language to C++:
* Input: GUESTOBJECT pointer p
* Output: Pointer to pointer: At input, pointer to pointer to temporary
* The routine will either:
* - Do nothing, if 0
* - Change the pointer
* - Change the temporary object
* Returns true upon success, else false
*
* from_ptr: Converts result from CasADi to interfaced language
*/
// Basic types
bool to_ptr(GUESTOBJECT *p, bool** m);
GUESTOBJECT* from_ptr(const bool *a);
bool to_ptr(GUESTOBJECT *p, casadi_int** m);
GUESTOBJECT* from_ptr(const casadi_int *a);
bool to_ptr(GUESTOBJECT *p, double** m);
GUESTOBJECT* from_ptr(const double *a);
bool to_ptr(GUESTOBJECT *p, std::string** m);
GUESTOBJECT* from_ptr(const std::string *a);
// std::vector
#ifdef SWIGMATLAB
bool to_ptr(GUESTOBJECT *p, std::vector<double> **m);
GUESTOBJECT* from_ptr(const std::vector<double> *a);
bool to_ptr(GUESTOBJECT *p, std::vector<casadi_int>** m);
GUESTOBJECT* from_ptr(const std::vector<casadi_int> *a);
bool to_ptr(GUESTOBJECT *p, const std::vector<bool> **m);
GUESTOBJECT* from_ptr(const std::vector<bool> *a);
bool to_ptr(GUESTOBJECT *p, std::vector<std::string>** m);
GUESTOBJECT* from_ptr(const std::vector<std::string> *a);
#endif // SWIGMATLAB
template<typename M> bool to_ptr(GUESTOBJECT *p, std::vector<M>** m);
template<typename M> bool to_ptr(GUESTOBJECT *p, std::vector< std::vector<M> >** m);
template<typename M> GUESTOBJECT* from_ptr(const std::vector<M> *a);
// std::pair
#ifdef SWIGMATLAB
bool to_ptr(GUESTOBJECT *p, std::pair<casadi_int, casadi_int>** m);
GUESTOBJECT* from_ptr(const std::pair<casadi_int, casadi_int>* a);
#endif // SWIGMATLAB
template<typename M1, typename M2> bool to_ptr(GUESTOBJECT *p, std::pair<M1, M2>** m);
template<typename M1, typename M2> GUESTOBJECT* from_ptr(const std::pair<M1, M2>* a);
// std::map
template<typename M> bool to_ptr(GUESTOBJECT *p, std::map<std::string, M>** m);
template<typename M> GUESTOBJECT* from_ptr(const std::map<std::string, M> *a);
// Slice
bool to_ptr(GUESTOBJECT *p, casadi::Slice** m);
GUESTOBJECT* from_ptr(const casadi::Slice *a);
// Sparsity
bool to_ptr(GUESTOBJECT *p, casadi::Sparsity** m);
GUESTOBJECT* from_ptr(const casadi::Sparsity *a);
// Matrix<>
bool to_ptr(GUESTOBJECT *p, casadi::DM** m);
GUESTOBJECT* from_ptr(const casadi::DM *a);
bool to_ptr(GUESTOBJECT *p, casadi::IM** m);
GUESTOBJECT* from_ptr(const casadi::IM *a);
bool to_ptr(GUESTOBJECT *p, casadi::SX** m);
GUESTOBJECT* from_ptr(const casadi::SX *a);
// MX
bool to_ptr(GUESTOBJECT *p, casadi::MX** m);
GUESTOBJECT* from_ptr(const casadi::MX *a);
// Function
bool to_ptr(GUESTOBJECT *p, casadi::Function** m);
GUESTOBJECT* from_ptr(const casadi::Function *a);
// SXElem
bool to_ptr(GUESTOBJECT *p, casadi::SXElem** m);
GUESTOBJECT* from_ptr(const casadi::SXElem *a);
// GenericType
bool to_ptr(GUESTOBJECT *p, casadi::GenericType** m);
GUESTOBJECT* from_ptr(const casadi::GenericType *a);
// Same as to_ptr, but with pointer instead of pointer to pointer
template<typename M> bool to_val(GUESTOBJECT *p, M* m);
// Check if conversion is possible
template<typename M> bool can_convert(GUESTOBJECT *p) { return to_ptr(p, static_cast<M**>(0));}
// Same as the above, but with reference instead of pointer
template<typename M> GUESTOBJECT* from_ref(const M& m) { return from_ptr(&m);}
// Specialization for std::vectors of booleans
GUESTOBJECT* from_ref(std::vector<bool>::const_reference m) {
bool tmp = m;
return from_ptr(&tmp);
}
// Same as the above, but with a temporary object
template<typename M> GUESTOBJECT* from_tmp(M m) { return from_ptr(&m);}
#ifdef SWIGMATLAB
// Get sparsity pattern
Sparsity get_sparsity(const mxArray* p);
// Number of nonzeros
size_t getNNZ(const mxArray* p);
#endif // SWIGMATLAB
GUESTOBJECT* full(const DM& m, bool simplify=false) {
#ifdef SWIGPYTHON
PyObject *p = from_ptr(&m);
PyObject *method_name = PyString_FromString("toarray");
PyObject *cr = PyObject_CallMethodObjArgs(p, method_name, (simplify? Py_True: Py_False), 0);
Py_DECREF(method_name);
Py_DECREF(p);
if (cr) return cr;
return Py_None;
#elif defined(SWIGMATLAB)
mxArray *p = mxCreateDoubleMatrix(m.size1(), m.size2(), mxREAL);
double* d = static_cast<double*>(mxGetData(p));
casadi_densify(m.ptr(), m.sparsity(), d, false); // Column-major
return p;
#else
return 0;
#endif
}
// Convert to a sparse matrix
GUESTOBJECT* sparse(const DM& m) {
#ifdef SWIGPYTHON
PyObject *p = from_ptr(&m);
PyObject *cr = PyObject_CallMethod(p, (char*) "tocsc", 0);
Py_DECREF(p);
if (cr) return cr;
return Py_None;
#elif defined(SWIGMATLAB)
mxArray *p = mxCreateSparse(m.size1(), m.size2(), m.nnz(), mxREAL);
casadi::casadi_copy(m.ptr(), m.nnz(), static_cast<double*>(mxGetData(p)));
std::copy(m.colind(), m.colind()+m.size2()+1, mxGetJc(p));
std::copy(m.row(), m.row()+m.nnz(), mxGetIr(p));
return p;
#else
return 0;
#endif
}
GUESTOBJECT* full_or_sparse(const DM& m, bool simplify=false) {
if (m.is_dense()) {
return full(m, simplify);
} else {
GUESTOBJECT* p = sparse(m);
if (is_null(p)) return from_ptr(&m);
return p;
}
}
#ifdef SWIGPYTHON
PyObject* get_Python_helper(const std::string& name) {
%#if PY_VERSION_HEX < 0x03070000
PyObject* module = PyImport_AddModule("casadi");
%#else
PyObject* c_name = PyString_FromString("casadi");
PyObject* module = PyImport_GetModule(c_name);
Py_DECREF(c_name);
%#endif
if (!module) {
if (PyErr_Occurred()) {
PyErr_Clear();
}
}
PyObject* dict = PyModule_GetDict(module);
return PyDict_GetItemString(dict, (char*) name.c_str());
}
template<class T>
bool casadi_object_from_fun(GUESTOBJECT *p, T** m, const std::string& fun, const std::function<bool(PyObject*, T**)> & conv) {
PyObject* dm = get_Python_helper(fun);
if (!dm) return false;
PyObject *check_only = m? Py_False : Py_True;
PyObject *cr = PyObject_CallFunctionObjArgs(dm, p, check_only, NULL);
if (!cr) return false;
bool ret;
if (PyBool_Check(cr)) {
ret = PyObject_IsTrue(cr);
} else {
ret = conv(cr, m);
}
Py_DECREF(cr);
return ret;
}
bool SX_from_array_conv(GUESTOBJECT *p, casadi::SX** m) {
std::vector<SXElem> data;
if (!to_val(PyTuple_GetItem(p, 2), &data)) return false;
casadi_int nrow; to_val(PyTuple_GetItem(p, 0), &nrow);
casadi_int ncol; to_val(PyTuple_GetItem(p, 1), &ncol);
if (m) {
**m = casadi::SX::zeros(nrow, ncol);
casadi_densify(get_ptr(data), (**m).sparsity().T(), (**m).ptr(), true);
}
return true;
}
bool IM_from_array_conv(GUESTOBJECT *p, casadi::IM** m) {
if (!m) return true;
std::vector<casadi_int> data;
if (!to_val(PyTuple_GetItem(p, 2), &data)) return false;
casadi_int nrow; to_val(PyTuple_GetItem(p, 0), &nrow);
casadi_int ncol; to_val(PyTuple_GetItem(p, 1), &ncol);
**m = IM::zeros(nrow, ncol);
casadi_densify(get_ptr(data), (**m).sparsity().T(), (**m).ptr(), true);
return true;
}
bool DM_from_array_conv(GUESTOBJECT *p, casadi::DM** m) {
if (!m) return true;
std::vector<double> data;
if (!to_val(PyTuple_GetItem(p, 2), &data)) return false;
casadi_int nrow; to_val(PyTuple_GetItem(p, 0), &nrow);
casadi_int ncol; to_val(PyTuple_GetItem(p, 1), &ncol);
**m = DM::zeros(nrow, ncol);
casadi_densify(get_ptr(data), (**m).sparsity().T(), (**m).ptr(), true);
return true;
}
bool DM_from_csc_conv(GUESTOBJECT *p, casadi::DM** m) {
std::vector<double> data;
std::vector<casadi_int> colind, row;
if (!to_val(PyTuple_GetItem(p, 4), &data)) return false;
if (!to_val(PyTuple_GetItem(p, 3), &row)) return false;
if (!to_val(PyTuple_GetItem(p, 2), &colind)) return false;
casadi_int nrow; to_val(PyTuple_GetItem(p, 0), &nrow);
casadi_int ncol; to_val(PyTuple_GetItem(p, 1), &ncol);
**m = casadi::Matrix<double>(casadi::Sparsity(nrow,ncol,colind,row), data, false);
return true;
}
bool SX_from_array(GUESTOBJECT *p, casadi::SX** m) {
return casadi_object_from_fun<casadi::SX>(p, m, "SX_from_array", SX_from_array_conv);
}
bool IM_from_array(GUESTOBJECT *p, casadi::IM** m) {
return casadi_object_from_fun<casadi::IM>(p, m, "IM_from_array", IM_from_array_conv);
}
bool DM_from_array(GUESTOBJECT *p, casadi::DM** m) {
return casadi_object_from_fun<casadi::DM>(p, m, "DM_from_array", DM_from_array_conv);
}
bool DM_from_csc(GUESTOBJECT *p, casadi::DM** m) {
return casadi_object_from_fun<casadi::DM>(p, m, "DM_from_csc", DM_from_csc_conv);
}
bool is_scalar_np_array(GUESTOBJECT *p) {
if (PyObject_HasAttrString(p, "__array__")) {
PyObject *cr = PyObject_GetAttrString(p, (char*) "size");
if (cr) {
casadi_int size;
casadi_int res = to_val(cr, &size);
Py_DECREF(cr);
if (!res) return false;
return size==1;
} else {
PyErr_Clear();
return false;
}
}
return false;
}
#endif
} // namespace CasADi
}
%fragment("casadi_aux", "header", fragment="casadi_decl") {
namespace casadi {
template<typename M> bool to_val(GUESTOBJECT *p, M* m) {
// Copy the pointer
M *m2 = m;
bool ret = to_ptr(p, m ? &m2 : 0);
// If pointer changed, copy the object
if (m!=m2) *m=*m2;
return ret;
}
// Same as to_ptr, but with GenericType
template<typename M> bool to_generic(GUESTOBJECT *p, GenericType** m) {
if (m) {
// Temporary
M tmp, *tmp_ptr=&tmp;
bool ret = to_ptr(p, &tmp_ptr);
if (!ret) return ret;
**m = GenericType(*tmp_ptr);
return ret;
} else {
return to_ptr(p, static_cast<M**>(0));
}
}
// Check if casadi_int
template<typename T> struct is_int {
static inline bool check() {return false;}
};
template<> struct is_int<casadi_int> {
static inline bool check() {return true;}
};
bool is_null(GUESTOBJECT *p) {
#ifdef SWIGPYTHON
if (p == Py_None) return true;
#endif
#ifdef SWIGMATLAB
if (p == 0) return true;
#endif
return false;
}
#ifdef SWIGMATLAB
Sparsity get_sparsity(const mxArray* p) {
// Get sparsity pattern
size_t nrow = mxGetM(p);
size_t ncol = mxGetN(p);
if (mxIsSparse(p)) {
// Sparse storage in MATLAB
mwIndex *Jc = mxGetJc(p);
mwIndex *Ir = mxGetIr(p);
// Store in vectors
std::vector<casadi_int> colind(ncol+1);
std::copy(Jc, Jc+colind.size(), colind.begin());
std::vector<casadi_int> row(colind.back());
std::copy(Ir, Ir+row.size(), row.begin());
// Create pattern and return
return Sparsity(nrow, ncol, colind, row);
} else {
return Sparsity::dense(nrow, ncol);
}
}
size_t getNNZ(const mxArray* p) {
// Dimensions
size_t nrow = mxGetM(p);
size_t ncol = mxGetN(p);
if (mxIsSparse(p)) {
// Sparse storage in MATLAB
mwIndex *Jc = mxGetJc(p);
return Jc[ncol];
} else {
return nrow*ncol;
}
}
#endif // SWIGMATLAB
} // namespace casadi
}
%fragment("casadi_bool", "header", fragment="casadi_aux", fragment=SWIG_AsVal_frag(bool)) {
namespace casadi {
bool to_ptr(GUESTOBJECT *p, bool** m) {
// Treat Null
if (is_null(p)) return false;
// Standard typemaps
if (SWIG_IsOK(SWIG_AsVal(bool)(p, m ? *m : 0))) return true;
#ifdef SWIGMATLAB
if (mxIsLogicalScalar(p)) {
if (m) **m = mxIsLogicalScalarTrue(p);
return true;
}
#endif
// No match
return false;
}
GUESTOBJECT * from_ptr(const bool *a) {
#ifdef SWIGPYTHON
return PyBool_FromLong(*a);
#elif defined(SWIGMATLAB)
return mxCreateLogicalScalar(*a);
#else
return 0;
#endif
}
} // namespace casadi
}
%fragment("casadi_int", "header", fragment="casadi_aux", fragment=SWIG_AsVal_frag(int), fragment=SWIG_AsVal_frag(long), fragment=SWIG_AsVal_frag(long long)) {
namespace casadi {
bool to_ptr(GUESTOBJECT *p, casadi_int** m) {
// Treat Null
if (is_null(p)) return false;
// long long
{
long long tmp;
if (SWIG_IsOK(SWIG_AsVal(long long)(p, &tmp))) {
if (m) **m = static_cast<casadi_int>(tmp);
return true;
}
}
#ifdef SWIGPYTHON
if (is_scalar_np_array(p)) {
PyObject *cr = PyObject_CallMethod(p, (char*) "item", 0);
if (cr) {
casadi_int res = to_ptr(cr, m);
Py_DECREF(cr);
if (!res) return false;
return true;
} else {
PyErr_Clear();
return false;
}
}
#endif // SWIGPYTHON
bool tmp;
if (to_val(p, m? &tmp : 0)) {
if (m) **m = tmp;
return true;
}
// No match
return false;
}
GUESTOBJECT * from_ptr(const casadi_int *a) {
#ifdef SWIGPYTHON
#ifdef WITH_PYTHON3
return PyLong_FromLongLong(*a);
#else
// For python on Windows
if (*a > PyInt_GetMax() || *a < -(PyInt_GetMax()-1)) return PyLong_FromLongLong(*a);
return PyInt_FromLong(*a);
#endif
#elif defined(SWIGMATLAB)
return mxCreateDoubleScalar(static_cast<double>(*a));
#else
return 0;
#endif
}
} // namespace casadi
}
%fragment("casadi_double", "header", fragment="casadi_aux", fragment=SWIG_AsVal_frag(double)) {
namespace casadi {
bool to_ptr(GUESTOBJECT *p, double** m) {
// Treat Null
if (is_null(p)) return false;
// Standard typemaps
if (SWIG_IsOK(SWIG_AsVal(double)(p, m ? *m : 0))) return true;
#ifdef SWIGPYTHON
if (is_scalar_np_array(p)) {
PyObject *cr = PyObject_CallMethod(p, (char*) "item", 0);
if (cr) {
casadi_int res = to_ptr(cr, m);
Py_DECREF(cr);
if (!res) return false;
return true;
} else {
PyErr_Clear();
return false;
}