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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 SX function can be accessed and its operations can be transversed.
"""
from casadi import *
import numpy
# Create a function
a = SX.sym('a')
b = SX.sym('b',2)
f = Function("f", [a,b], [2*a + b], ['a', 'b'], ['r'])
# Input values of the same dimensions as the above
input_val = [numpy.array([2.0]),\
numpy.array([3.0,4.0])]
# Output values to be calculated of the same dimensions as the above
output_val = [numpy.zeros(2)]
# Work vector
work = numpy.zeros(f.sz_w())
# For debugging
instr = f.instructions_sx()
# Loop over the algorithm
for k in range(f.n_instructions()):
# Get the atomic operation
op = f.instruction_id(k)
o = f.instruction_output(k)
i = f.instruction_input(k)
if(op==OP_CONST):
work[o[0]] = f.instruction_constant(k)
print('work[', o[0], '] = ', f.instruction_constant(k))
else:
if op==OP_INPUT:
work[o[0]] = input_val[i[0]][i[1]]
print('work[', o[0], '] = input[', i[0], '][', i[1], ']', ' ---> ' , work[o[0]])
elif op==OP_OUTPUT:
output_val[o[0]][o[1]] = work[i[0]]
print('output[', o[0], '][', o[1], '] = work[', i[0], ']',' ---> ', output_val[o[0]][o[1]])
elif op==OP_ADD:
work[o[0]] = work[i[0]] + work[i[1]]
print('work[', o[0], '] = work[', i[0], '] + work[', i[1], ']',' ---> ', work[o[0]])
elif op==OP_MUL:
work[o[0]] = work[i[0]] * work[i[1]]
print('work[', o[0], '] = work[', i[0], '] * work[', i[1], ']',' ---> ', work[o[0]])
else:
disp_in = ["work[" + str(a) + "]" for a in i]
debug_str = print_operator(instr[k],disp_in)
raise Exception('Unknown operation: ' + str(op) + ' -- ' + debug_str)
print('------')
print('Evaluated ' + str(f))
print('Expected: ', f.call(input_val))
print('Got: ', output_val)
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