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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
#
# expand
# ======================
from casadi import *
import casadi as c
# We construct a simple MX expression
x = MX.sym("x",2,2)
y = MX.sym("y",2,1)
z = mtimes(x,y)
# Let's construct an MXfunction
f = Function("f", [x,y],[z])
# We expand the MX expression into an SX expression
fSX = f.expand('fSX')
print("Expanded expression = ", fSX.str(True))
# Limitations
# =============
# Not all MX graphs can be expanded.
# Here is an example of a situation where it will not work.
linear_solver = Linsol("linear_solver", "csparse", x.sparsity())
g = linear_solver.solve(x, y)
G = Function("G", [x,y], [g])
# This function cannot be expanded.
try:
G.expand('G_sx')
except Exception as e:
print(e)
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