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/*
* MIT No Attribution
*
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this
* software and associated documentation files (the "Software"), to deal in the Software
* without restriction, including without limitation the rights to use, copy, modify,
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#include <casadi/casadi.hpp>
using namespace casadi;
/**
* How to use Callback
* Joel Andersson
*/
class MyCallback : public Callback {
public:
// Constructor
MyCallback(double d) : d(d) {
construct("f");
}
// Destructor
~MyCallback() override { std::cout << "MyCallback is destroyed here." << std::endl; };
// Initialize the object
void init() override {
std::cout << "initializing object" << std::endl;
}
// Number of inputs and outputs
casadi_int get_n_in() override { return 1;}
casadi_int get_n_out() override { return 1;}
// Evaluate numerically
std::vector<DM> eval(const std::vector<DM>& arg) const override {
DM x = arg.at(0);
DM f = sin(d*x);
return {f};
}
private:
// Data members
double d;
};
int main() {
// Create a callback
MyCallback cb(0.5);
// Create a function object
Function f = cb;
std::vector<DM> arg = {2};
std::vector<DM> res = f(arg);
std::cout << res << std::endl;
// Single reference
std::cout << "Let's overwrite f here." << std::endl;
f = Function();
std::cout << "Done." << std::endl;
// Function reference
f = cb;
Function g = f;
f = Function();
std::cout << "Let's overwrite g here." << std::endl;
g = Function();
std::cout << "Done." << std::endl;
// Embedding in a graph
f = cb;
MX x = MX::sym("x");
g = Function("g",{x},{f(x)});
f = Function();
std::cout << "Let's overwrite g here." << std::endl;
g = Function();
std::cout << "Done." << std::endl;
return 0;
}
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