ticket #41: new signature for evaluate(*,*). Note: not backward compa…

…tible for multiple derivative directions
casadi · Mar 20, 2011 · ac01e4b · ac01e4b
1 parent 16d8259
commit ac01e4b
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Showing 40 changed files with 51 additions and 52 deletions.
diff --git a/casadi/fx/c_function_internal.cpp b/casadi/fx/c_function_internal.cpp
@@ -46,7 +46,7 @@ void CFunctionInternal::setUserData(void* user_data){
   user_data_ = user_data;
 }
 
-void CFunctionInternal::evaluate_new(int nfdir, int nadir){
+void CFunctionInternal::evaluate(int nfdir, int nadir){
   casadi_assert_message(evaluate_!=0, "CFunctionInternal::evaluate: pointer is null");
   evaluate_(ref_,nfdir,nadir,user_data_);  
 }

diff --git a/casadi/fx/c_function_internal.hpp b/casadi/fx/c_function_internal.hpp
@@ -48,7 +48,7 @@ class CFunctionInternal : public FXInternal{
     void setUserData(void* user_data);
 
     /** \brief  Evaluate */
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     /** \brief  Initialize */
     virtual void init();

diff --git a/casadi/fx/external_function_internal.cpp b/casadi/fx/external_function_internal.cpp
@@ -101,7 +101,7 @@ ExternalFunctionInternal::~ExternalFunctionInternal(){
 #endif // WITH_JIT 
 }
 
-void ExternalFunctionInternal::evaluate_new(int nfdir, int nadir){
+void ExternalFunctionInternal::evaluate(int nfdir, int nadir){
 #ifdef WITH_JIT 
   int flag = evaluate_(&input_array_[0],&output_array_[0]);
   if(flag) throw CasadiException("ExternalFunctionInternal: \"evaluate\" failed");

diff --git a/casadi/fx/external_function_internal.hpp b/casadi/fx/external_function_internal.hpp
@@ -42,7 +42,7 @@ class ExternalFunctionInternal : public FXInternal{
     virtual ~ExternalFunctionInternal();
 
     /** \brief  Evaluate */
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     /** \brief  Initialize */
     virtual void init();

diff --git a/casadi/fx/fx.cpp b/casadi/fx/fx.cpp
@@ -106,20 +106,20 @@ MX FX::operator()(const vector<MX> &x, int ind) const{
 }
 #endif // USE_FUNCTORS
 
-void FX::evaluate_new(int nfdir, int nadir){
+void FX::evaluate(int nfdir, int nadir){
   casadi_assert(isInit());
   casadi_assert(nfdir<=(*this)->nfdir_);
   casadi_assert(nadir<=(*this)->nadir_);
-  (*this)->evaluate_new(nfdir,nadir);
+  (*this)->evaluate(nfdir,nadir);
 }
 
-void FX::evaluate(int fsens_order, int asens_order){
-  evaluate_new(fsens_order * (*this)->nfdir_, 
-               asens_order * (*this)->nadir_);
+void FX::evaluate_old(int fsens_order, int asens_order){
+  evaluate(fsens_order * (*this)->nfdir_, 
+           asens_order * (*this)->nadir_);
 }
 
 void FX::solve(){
-  evaluate_new(0,0);
+  evaluate(0,0);
 }
 
 int FX::getNumInputs() const{

diff --git a/casadi/fx/fx.hpp b/casadi/fx/fx.hpp
@@ -107,10 +107,10 @@ class FX : public OptionsFunctionality{
   void setNumOutputs(int num_out);
 
   /** \brief  Evaluate (old style) */
-  void evaluate(int fsens_order=0, int asens_order=0);
+  void evaluate_old(int fsens_order=0, int asens_order=0);
 
-  /** \brief  Evaluate (new style) */
-  void evaluate_new(int nfdir=0, int nadir=0);
+  /** \brief  Evaluate */
+  void evaluate(int nfdir=0, int nadir=0);
 
   /// the same as evaluate(0,0)
   void solve();

diff --git a/casadi/fx/fx_internal.hpp b/casadi/fx/fx_internal.hpp
@@ -45,7 +45,7 @@ class FXInternal : public OptionsFunctionalityNode{
   virtual ~FXInternal() = 0;
 
   /** \brief  Evaluate */
-  virtual void evaluate_new(int nfdir, int nadir) = 0;
+  virtual void evaluate(int nfdir, int nadir) = 0;
 
   /** Initialize and make the object ready for setting arguments and evaluation. This method is typically called after setting options but before evaluating. 
       If passed to another class (in the constructor), this class should invoke this function when initialized. */

diff --git a/casadi/fx/implicit_function_internal.hpp b/casadi/fx/implicit_function_internal.hpp
@@ -47,7 +47,7 @@ class ImplicitFunctionInternal : public FXInternal{
     virtual void init();
 
     /// Solve the system of equations
-    virtual void evaluate_new(int nfdir, int nadir) = 0;
+    virtual void evaluate(int nfdir, int nadir) = 0;
 
     /// Sparsity in CRS format
     FX f_;

diff --git a/casadi/fx/integrator_internal.cpp b/casadi/fx/integrator_internal.cpp
@@ -105,7 +105,7 @@ void IntegratorInternal::setDimensions(int nx, int np, int nz){
   output(INTEGRATOR_ZF) = DMatrix(nz_,1,0);
 }
 
-void IntegratorInternal::evaluate_new(int nfdir, int nadir){
+void IntegratorInternal::evaluate(int nfdir, int nadir){
   double t0 = input(INTEGRATOR_T0)[0];
   double tf = input(INTEGRATOR_TF)[0];
 

diff --git a/casadi/fx/integrator_internal.hpp b/casadi/fx/integrator_internal.hpp
@@ -65,7 +65,7 @@ class IntegratorInternal : public FXInternal{
   virtual void setStopTime(double tf) = 0;
 
   /** \brief  evaluate */
-  virtual void evaluate_new(int nfdir, int nadir);
+  virtual void evaluate(int nfdir, int nadir);
 
   /** \brief  Initialize */
   virtual void init();

diff --git a/casadi/fx/integrator_jacobian_internal.cpp b/casadi/fx/integrator_jacobian_internal.cpp
@@ -76,7 +76,7 @@ void IntegratorJacobianInternal::init(){
   FXInternal::init();
 }
 
-void IntegratorJacobianInternal::evaluate_new(int nfdir, int nadir){
+void IntegratorJacobianInternal::evaluate(int nfdir, int nadir){
 
   // Pass arguments to the integrator
   integrator_.setInput(input(INTEGRATOR_T0),INTEGRATOR_T0);

diff --git a/casadi/fx/integrator_jacobian_internal.hpp b/casadi/fx/integrator_jacobian_internal.hpp
@@ -41,7 +41,7 @@ class IntegratorJacobianInternal : public FXInternal{
   virtual IntegratorJacobianInternal* clone() const;
 
   /** \brief  evaluate */
-  virtual void evaluate_new(int nfdir, int nadir);
+  virtual void evaluate(int nfdir, int nadir);
 
   /** \brief  Initialize */
   virtual void init();

diff --git a/casadi/fx/jacobian_internal.cpp b/casadi/fx/jacobian_internal.cpp
@@ -94,7 +94,7 @@ void JacobianInternal::init(){
   }
 }
 
-void JacobianInternal::evaluate_new(int nfdir, int nadir){
+void JacobianInternal::evaluate(int nfdir, int nadir){
   // Pass the argument to the function
   for(int i=0; i<input_.size(); ++i)
     fcn_.setInput(input(i),i);
@@ -120,7 +120,7 @@ void JacobianInternal::evaluate_new(int nfdir, int nadir){
         }
 
       // Evaluate the AD forward algorithm
-      fcn_.evaluate(1,0);
+      fcn_.evaluate(nfdir_fcn_,0);
 
       // Get the output seeds
       for(int dir=0; dir<nfdir_fcn_ && ofs+dir<n_; ++dir){
@@ -143,7 +143,7 @@ void JacobianInternal::evaluate_new(int nfdir, int nadir){
         }
 
       // Evaluate the AD forward algorithm
-      fcn_.evaluate(0,1);
+      fcn_.evaluate(0,nadir_fcn_);
 
       // Get the output seeds
       for(int dir=0; dir<nadir_fcn_ && ofs+dir<m_; ++dir){

diff --git a/casadi/fx/jacobian_internal.hpp b/casadi/fx/jacobian_internal.hpp
@@ -47,7 +47,7 @@ class JacobianInternal : public FXInternal{
     virtual ~JacobianInternal();
 
     /// Evaluate the jacobian
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     /// Initialize
     virtual void init();

diff --git a/casadi/fx/linear_solver_internal.cpp b/casadi/fx/linear_solver_internal.cpp
@@ -52,7 +52,7 @@ void LinearSolverInternal::init(){
 LinearSolverInternal::~LinearSolverInternal(){
 }
 
-void LinearSolverInternal::evaluate_new(int nfdir, int nadir){
+void LinearSolverInternal::evaluate(int nfdir, int nadir){
 /*  Factorization fact;
   if(called_once){
     // Check if any element has changed

diff --git a/casadi/fx/linear_solver_internal.hpp b/casadi/fx/linear_solver_internal.hpp
@@ -44,7 +44,7 @@ class LinearSolverInternal : public FXInternal{
     virtual void init();
 
     // Solve the system of equations
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     // Prepare the factorization
     virtual void prepare() = 0;

diff --git a/casadi/fx/mx_function_internal.cpp b/casadi/fx/mx_function_internal.cpp
@@ -203,7 +203,7 @@ void MXFunctionInternal::setLiftingFunction(LiftingFunction liftfun, void* user_
   liftfun_ud_ = user_data;
 }
 
-void MXFunctionInternal::evaluate_new(int nfdir, int nadir){
+void MXFunctionInternal::evaluate(int nfdir, int nadir){
   log("MXFunctionInternal::evaluate begin");
   casadi_assert(nfdir<=nfdir_);
   casadi_assert(nadir<=nadir_);

diff --git a/casadi/fx/mx_function_internal.hpp b/casadi/fx/mx_function_internal.hpp
@@ -59,7 +59,7 @@ class MXFunctionInternal : public XFunctionInternal{
     int findEl(const MX& mx) const;
 
     /** \brief  Evaluate the algorithm */
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     /** \brief  Print description */
     virtual void print(std::ostream &stream) const;

diff --git a/casadi/fx/parallelizer_internal.cpp b/casadi/fx/parallelizer_internal.cpp
@@ -83,7 +83,7 @@ void ParallelizerInternal::init(){
   save_corrected_input_ = getOption("save_corrected_input").toInt();
 }
 
-void ParallelizerInternal::evaluate_new(int nfdir, int nadir){
+void ParallelizerInternal::evaluate(int nfdir, int nadir){
   switch(mode_){
     case SERIAL:
     {
@@ -131,7 +131,7 @@ void ParallelizerInternal::evaluateTask(int task, int nfdir, int nadir){
   }
 
   // Evaluate
-  fcn.evaluate_new(nfdir, nadir);
+  fcn.evaluate(nfdir, nadir);
 
   // Get the results
   for(int j=outind_[task]; j<outind_[task+1]; ++j){

diff --git a/casadi/fx/parallelizer_internal.hpp b/casadi/fx/parallelizer_internal.hpp
@@ -45,7 +45,7 @@ class ParallelizerInternal : public FXInternal{
     virtual ~ParallelizerInternal();
 
     /// Evaluate the all the tasks
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     /// Evaluate a single task
     virtual void evaluateTask(int task, int nfdir, int nadir);

diff --git a/casadi/fx/simulator_internal.cpp b/casadi/fx/simulator_internal.cpp
@@ -55,7 +55,7 @@ void SimulatorInternal::init(){
   output_fcn_.init();
 }
 
-void SimulatorInternal::evaluate_new(int nfdir, int nadir){
+void SimulatorInternal::evaluate(int nfdir, int nadir){
 
   // Pass the parameters and initial state
   integrator_.setInput(input(SIMULATOR_X0),INTEGRATOR_X0);
@@ -97,7 +97,7 @@ void SimulatorInternal::evaluate_new(int nfdir, int nadir){
       output_fcn_.setFwdSeed(fwdSeed(SIMULATOR_P),OUTPUT_P);
 
       // Evaluate output function
-      output_fcn_.evaluate(1,0);
+      output_fcn_.evaluate(nfdir,0);
 
       // Save the output of the function
       for(int i=0; i<output_.size(); ++i){

diff --git a/casadi/fx/simulator_internal.hpp b/casadi/fx/simulator_internal.hpp
@@ -45,7 +45,7 @@ class SimulatorInternal : public FXInternal{
   virtual void init();
 
   /** \brief  Integrate */
-  virtual void evaluate_new(int nfdir, int nadir);
+  virtual void evaluate(int nfdir, int nadir);
 
   Integrator integrator_;
   FX output_fcn_;

diff --git a/casadi/fx/sx_function_internal.cpp b/casadi/fx/sx_function_internal.cpp
@@ -265,7 +265,7 @@ SXFunctionInternal::~SXFunctionInternal(){
 }
 
 
-void SXFunctionInternal::evaluate_new(int nfdir, int nadir){
+void SXFunctionInternal::evaluate(int nfdir, int nadir){
 
   // Copy the function arguments to the work vector
   for(int ind=0; ind<getNumInputs(); ++ind){

diff --git a/casadi/fx/sx_function_internal.hpp b/casadi/fx/sx_function_internal.hpp
@@ -55,7 +55,7 @@ class SXFunctionInternal : public XFunctionInternal{
   virtual ~SXFunctionInternal();
 
 /** \brief  Evaluate the function with partial derivatives up to order ord */
-  virtual void evaluate_new(int nfdir, int nadir);
+  virtual void evaluate(int nfdir, int nadir);
 
 /** \brief  evaluate symbolically */
   void evaluateSX(const std::vector<Matrix<SX> >& input_s, std::vector<Matrix<SX> >& output_s);

diff --git a/casadi/mx/evaluation.cpp b/casadi/mx/evaluation.cpp
@@ -70,7 +70,7 @@ void Evaluation::evaluate(const VDptr& input, Dptr& output, const VVDptr& fwdSee
   }
 
   // Evaluate
-  fcn_.evaluate(nfwd>0, nadj>0);
+  fcn_.evaluate(nfwd, nadj);
 
   // Get the adjoint sensitivities
   for(int i=0; i<ndep(); ++i){

diff --git a/interfaces/acado/acado_integrator_backend.cpp b/interfaces/acado/acado_integrator_backend.cpp
@@ -170,7 +170,7 @@ ACADO::returnValue AcadoIntegratorBackend::evaluate( const Vector &x0  ,
     }
   }
 
-  integrator_.evaluate(with_sens,0);
+  integrator_.evaluate(mu+mp,0);
 
 
   Integrator::initializeOptions();

diff --git a/interfaces/acado/acado_internal.cpp b/interfaces/acado/acado_internal.cpp
@@ -228,7 +228,7 @@ void AcadoInternal::init(){
 
 }
 
-void AcadoInternal::evaluate_new(int nfdir, int nadir){ 
+void AcadoInternal::evaluate(int nfdir, int nadir){ 
   // Initial constraint function
   if(!rfcn_.f_.isNull()){
     const Matrix<double>& lbr = input(ACADO_LBR);

diff --git a/interfaces/acado/acado_internal.hpp b/interfaces/acado/acado_internal.hpp
@@ -63,7 +63,7 @@ class AcadoInternal : public FXInternal{
     virtual void init();
 
     /** \brief  Solve the problem */
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     // Dimensions
     int nt_, nxd_, nxa_, nu_, np_, nxdot_;

diff --git a/interfaces/ipopt/ipopt_internal.cpp b/interfaces/ipopt/ipopt_internal.cpp
@@ -304,7 +304,7 @@ void IpoptInternal::init(){
   }
 }
 
-void IpoptInternal::evaluate_new(int nfdir, int nadir){
+void IpoptInternal::evaluate(int nfdir, int nadir){
   casadi_assert(nfdir==0 && nadir==0);
 
   // Reset the counters

diff --git a/interfaces/ipopt/ipopt_internal.hpp b/interfaces/ipopt/ipopt_internal.hpp
@@ -41,7 +41,7 @@ friend class IpoptUserClass;
   virtual ~IpoptInternal();
 
 virtual void init();
-virtual void evaluate_new(int nfdir, int nadir);
+virtual void evaluate(int nfdir, int nadir);
 
 protected:
 

diff --git a/interfaces/liftopt/casadi_lifter.cpp b/interfaces/liftopt/casadi_lifter.cpp
@@ -34,7 +34,7 @@ long CasadiLifter::evalUserFcn ( liftopt::TLifterArgs<double>& args )
   MXFunction& F = interface_->fcn_;
   if(m_activeProblemFormulation ==  Problem_Residual ){
     F.setInput(args.u,LO_U);
-    F.evaluate(0,0);
+    F.evaluate();
     F.getOutput(args.objRes,LO_OBJRES);
     F.getOutput(args.eq,LO_EQ);
   }

diff --git a/interfaces/liftopt/liftopt_internal.cpp b/interfaces/liftopt/liftopt_internal.cpp
@@ -93,7 +93,7 @@ void LiftoptInternal::init(){
   fcn_.setLiftingFunction(CasadiLifter::liftfun, problem_);
 }
 
-void LiftoptInternal::evaluate_new(int nfdir, int nadir){
+void LiftoptInternal::evaluate(int nfdir, int nadir){
   // Evaluate
   opt_->setStartControls ( uInit_ );
   opt_->setStartEqMult( lambdaInit_ );

diff --git a/interfaces/liftopt/liftopt_internal.hpp b/interfaces/liftopt/liftopt_internal.hpp
@@ -42,7 +42,7 @@ class LiftoptInternal : public NLPSolverInternal{
     LiftoptInternal(const MXFunction& fcn);
     virtual ~LiftoptInternal();
     virtual void init();
-    virtual void evaluate_new(int nfdir, int nadir);
+    virtual void evaluate(int nfdir, int nadir);
 
     std::vector<double> nodeInit;
 

diff --git a/interfaces/sundials/cvodes_internal.cpp b/interfaces/sundials/cvodes_internal.cpp
@@ -774,7 +774,7 @@ void CVodesInternal::rhsS(int Ns, double t, N_Vector y, N_Vector ydot, N_Vector
      }
 
      // Evaluate the AD forward algorithm
-     f_.evaluate(1,0);
+     f_.evaluate(nfdir_f_,0);
 
      // Get the output seeds
      for(int dir=0; dir<nfdir_f_ && j+dir<nfdir_; ++dir){

diff --git a/interfaces/sundials/idas_internal.cpp b/interfaces/sundials/idas_internal.cpp
@@ -675,7 +675,7 @@ void IdasInternal::resS(int Ns, double t, const double* yz, const double* yp, co
      }
 
      // Evaluate the AD forward algorithm
-     f_.evaluate(1,0);
+     f_.evaluate(nfdir_f_,0);
 
      // Get the output seeds
      for(int dir=0; dir<nfdir_f_ && j+dir<nfdir_; ++dir){

diff --git a/interfaces/sundials/kinsol_internal.cpp b/interfaces/sundials/kinsol_internal.cpp
@@ -236,7 +236,7 @@ void KinsolInternal::init(){
   }
 }
 
-void KinsolInternal::evaluate_new(int nfdir, int nadir){
+void KinsolInternal::evaluate(int nfdir, int nadir){
   casadi_assert(nfdir<=nfdir_fcn_);
   casadi_assert(nadir<=nadir_fcn_);
 
@@ -290,7 +290,7 @@ void KinsolInternal::evaluate_new(int nfdir, int nadir){
   }
 
   // Evaluate
-  f_.evaluate(nfdir>0,nadir>0); // FIXME: when evaluate is updated
+  f_.evaluate(nfdir,nadir);
 
   // Solve for the forward sensitivities
   for(int dir=0; dir<nfdir; ++dir){