Issue #3682 Separating getting x,z,q from Integrator::advance

casadi/core/integrator.cpp

@@ -398,7 +398,10 @@ int Integrator::eval(const double** arg, double** res,
     // Advance solution
     if (verbose_) casadi_message("Integrating forward to output time " + str(m->k) + ": t_next = "
       + str(m->t_next) + ", t_stop = " + str(m->t_stop));
-    advance(m, x, z, q);
+    advance(m);
+    get_x(m, x);
+    get_z(m, z);
+    get_q(m, q);
     if (x) x += nx_;
     if (z) z += nz_;
     if (q) q += nq_;
@@ -1875,8 +1878,7 @@ int FixedStepIntegrator::init_mem(void* mem) const {
   return 0;
 }
 
-void FixedStepIntegrator::advance(IntegratorMemory* mem,
-    double* x, double* z, double* q) const {
+void FixedStepIntegrator::advance(IntegratorMemory* mem) const {
   auto m = static_cast<FixedStepMemory*>(mem);
 
   // State at previous step
@@ -1908,10 +1910,8 @@ void FixedStepIntegrator::advance(IntegratorMemory* mem,
     }
   }
 
-  // Return to user
-  casadi_copy(m->x, nx_, x);
-  casadi_copy(m->v + nv_ - nz_, nz_, z);
-  casadi_copy(m->q, nq_, q);
+  // Save algebraic variables
+  casadi_copy(m->v + nv_ - nz_, nz_, m->z);
 }
 
 void FixedStepIntegrator::retreat(IntegratorMemory* mem, const double* u,
@@ -2347,6 +2347,18 @@ void Integrator::set_u(IntegratorMemory* m, const double* u) const {
   casadi_copy(u, nu_, m->u);
 }
 
+void Integrator::get_q(IntegratorMemory* m, double* q) const {
+  casadi_copy(m->q, nq_, q);
+}
+
+void Integrator::get_x(IntegratorMemory* m, double* x) const {
+  casadi_copy(m->x, nx_, x);
+}
+
+void Integrator::get_z(IntegratorMemory* m, double* z) const {
+  casadi_copy(m->z, nz_, z);
+}
+
 void Integrator::reset(IntegratorMemory* m) const {
 }
 

casadi/core/integrator_impl.hpp

@@ -162,6 +162,15 @@ Integrator : public OracleFunction, public PluginInterface<Integrator> {
   // Set the controls
   void set_u(IntegratorMemory* m, const double* u) const;
 
+  // Get the quadrature states
+  void get_q(IntegratorMemory* m, double* q) const;
+
+  // Get the differential states
+  void get_x(IntegratorMemory* m, double* x) const;
+
+  // Get the algebraic variables
+  void get_z(IntegratorMemory* m, double* z) const;
+
   /** \brief Reset the forward problem
 
       \identifier{25a} */
@@ -178,7 +187,7 @@ Integrator : public OracleFunction, public PluginInterface<Integrator> {
   /** \brief  Advance solution in time
 
       \identifier{25c} */
-  virtual void advance(IntegratorMemory* mem, double* x, double* z, double* q) const = 0;
+  virtual void advance(IntegratorMemory* mem) const = 0;
 
   /** \brief Reset the backward problem
 
@@ -559,7 +568,7 @@ class CASADI_EXPORT FixedStepIntegrator : public Integrator {
   /** \brief  Advance solution in time
 
       \identifier{25j} */
-  void advance(IntegratorMemory* mem, double* x, double* z, double* q) const override;
+  void advance(IntegratorMemory* mem) const override;
 
   /// Reset the backward problem and take time to tf
   void resetB(IntegratorMemory* mem) const override;

casadi/interfaces/sundials/cvodes_interface.cpp

@@ -250,8 +250,7 @@ void CvodesInterface::reset(IntegratorMemory* mem) const {
   }
 }
 
-void CvodesInterface::advance(IntegratorMemory* mem,
-    double* x, double* z, double* q) const {
+void CvodesInterface::advance(IntegratorMemory* mem) const {
   auto m = to_mem(mem);
 
   // Do not integrate past change in input signals or past the end
@@ -278,8 +277,7 @@ void CvodesInterface::advance(IntegratorMemory* mem,
 
   // Set function outputs
   casadi_copy(NV_DATA_S(m->v_xz), nx_, m->x);
-  casadi_copy(m->x, nx_, x);
-  casadi_copy(NV_DATA_S(m->v_q), nq_, q);
+  casadi_copy(NV_DATA_S(m->v_q), nq_, m->q);
 
   // Get stats
   THROWING(CVodeGetIntegratorStats, m->mem, &m->nsteps, &m->nfevals, &m->nlinsetups,

casadi/interfaces/sundials/cvodes_interface.hpp

@@ -130,8 +130,7 @@ class CASADI_INTEGRATOR_CVODES_EXPORT CvodesInterface : public SundialsInterface
   void reset(IntegratorMemory* mem) const override;
 
   /** \brief  Advance solution in time */
-  void advance(IntegratorMemory* mem,
-    double* x, double* z, double* q) const override;
+  void advance(IntegratorMemory* mem) const override;
 
   /** \brief Introduce an impulse into the backwards integration at the current time */
   void impulseB(IntegratorMemory* mem,

casadi/interfaces/sundials/idas_interface.cpp

@@ -386,8 +386,7 @@ void IdasInterface::reset(IntegratorMemory* mem) const {
   if (nadj_ > 0) THROWING(IDAAdjReInit, m->mem);
 }
 
-void IdasInterface::advance(IntegratorMemory* mem,
-    double* x, double* z, double* q) const {
+void IdasInterface::advance(IntegratorMemory* mem) const {
   auto m = to_mem(mem);
 
   // Do not integrate past change in input signals or past the end
@@ -409,15 +408,12 @@ void IdasInterface::advance(IntegratorMemory* mem,
 
   // Set function outputs
   casadi_copy(NV_DATA_S(m->v_xz), nx_ + nz_, m->x);
-  casadi_copy(m->x, nx_, x);
-  casadi_copy(m->x + nx_, nz_, z);
-  casadi_copy(NV_DATA_S(m->v_q), nq_, q);
+  casadi_copy(NV_DATA_S(m->v_q), nq_, m->q);
 
   // Get stats
   THROWING(IDAGetIntegratorStats, m->mem, &m->nsteps, &m->nfevals, &m->nlinsetups,
     &m->netfails, &m->qlast, &m->qcur, &m->hinused, &m->hlast, &m->hcur, &m->tcur);
   THROWING(IDAGetNonlinSolvStats, m->mem, &m->nniters, &m->nncfails);
-
 }
 
 void IdasInterface::resetB(IntegratorMemory* mem) const {

casadi/interfaces/sundials/idas_interface.hpp

@@ -126,7 +126,7 @@ class CASADI_INTEGRATOR_IDAS_EXPORT IdasInterface : public SundialsInterface {
   void reset(IntegratorMemory* mem) const override;
 
   /** \brief  Advance solution in time */
-  void advance(IntegratorMemory* mem, double* x, double* z, double* q) const override;
+  void advance(IntegratorMemory* mem) const override;
 
   /** \brief  Reset the backward problem and take time to tf */
   void resetB(IntegratorMemory* mem) const override;