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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.
%
%
% -*- coding: utf-8 -*-
% Demonstration on how the algorithm of an MX function can be accessed and its operations can be transversed.
import casadi.*
% Create a function
a = MX.sym('a');
b = MX.sym('b',2);
c = MX.sym('c',2,2);
f = Function('f', {a,b,c}, {3*(c*b)*a + b}, {'a', 'b', 'c'}, {'r'});
% Input values of the same dimensions as the above
input_val = {[2.0],
[3.0;4.0],
[5.0,1.0; 8.0,4.0]};
% Output values to be calculated of the same dimensions as the above
output_val = {zeros(2, 1)};
% Work vector
work = cell(1, f.sz_w());
% Loop over the algorithm
for k=0:f.n_instructions()-1
% Get the atomic operation
op = f.instruction_id(k);
o = f.instruction_output(k)+1;
i = f.instruction_input(k)+1;
if op==OP_CONST
v = f.instruction_MX(k).to_DM();
assert(v.is_dense())
v = full(v);
work{o(1)} = v;
disp(['work{' num2str(o(1)) '} = ' mat2str(v)])
elseif op==OP_INPUT
work{o(1)} = input_val{i(1)};
disp(['work{' num2str(o(1)) '} = input{' num2str(i(1)) '}; ---> ' mat2str(input_val{i(1)})]);
elseif op==OP_OUTPUT
output_val{o(1)} = work{i(1)};
disp(['output{' num2str(o(1)) '} = work{' num2str(i(1)) '}; ---> ' mat2str(output_val{o(1)})]);
else
if op==OP_ADD
work{o(1)} = work{i(1)} + work{i(2)};
disp(['work{' num2str(o(1)) '} = work{' num2str(i(1)) '} + work{' num2str(i(2)) '}; ---> ' mat2str(work{o(1)})]);
elseif op==OP_MUL
work{o(1)} = work{i(1)} * work{i(2)};
disp(['work{' num2str(o(1)) '} = work{' num2str(i(1)) '} * work{' num2str(i(2)) '}; ---> ' mat2str(work{o(1)})]);
elseif op==OP_MTIMES
work{o(1)} = work{i(2)}*work{i(3)}+work{i(1)};
disp(['work{' num2str(o(1)) '} = work{' num2str(i(2)) '} * work{' num2str(i(3)) '} + work{' num2str(i(1)) '}; ---> ' mat2str(work{o(1)})])
else
disp_in = {};
for a=i
disp_in{end+1} = ['work{' num2str(a) '}'];
end
debug_str = print_operator(f.instruction_MX(k),disp_in);
error(['Unknown operation: ' num2str(op) ' -- ' debug_str]);
end
end
end
disp('------')
disp(['Evaluated ' str(f)])
disp('Expected: ')
celldisp(f.call(input_val))
disp('Got: ')
celldisp(output_val)
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