1 /*
2  *    This file is part of CasADi.
3  *
4  *    CasADi -- A symbolic framework for dynamic optimization.
5  *    Copyright (C) 2010-2014 Joel Andersson, Joris Gillis, Moritz Diehl,
6  *                            K.U. Leuven. All rights reserved.
7  *    Copyright (C) 2011-2014 Greg Horn
8  *
9  *    CasADi is free software; you can redistribute it and/or
10  *    modify it under the terms of the GNU Lesser General Public
11  *    License as published by the Free Software Foundation; either
12  *    version 3 of the License, or (at your option) any later version.
13  *
14  *    CasADi is distributed in the hope that it will be useful,
15  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
16  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
17  *    Lesser General Public License for more details.
18  *
19  *    You should have received a copy of the GNU Lesser General Public
20  *    License along with CasADi; if not, write to the Free Software
21  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
22  *
23  */
24 
25 
26 #ifndef CASADI_LINSOL_LDL_HPP
27 #define CASADI_LINSOL_LDL_HPP
28 
29 /** \defgroup plugin_Linsol_ldl
30   * Linear solver using sparse direct LDL factorization
31 */
32 
33 /** \pluginsection{Linsol,ldl} */
34 
35 /// \cond INTERNAL
36 #include "casadi/core/linsol_internal.hpp"
37 #include <casadi/solvers/casadi_linsol_ldl_export.h>
38 
39 namespace casadi {
40   struct CASADI_LINSOL_LDL_EXPORT LinsolLdlMemory : public LinsolMemory {
41     std::vector<double> l, d, w;
42   };
43 
44   /** \brief \pluginbrief{LinsolInternal,ldl}
45    * @copydoc LinsolInternal_doc
46    * @copydoc plugin_LinsolInternal_ldl
47    */
48   class CASADI_LINSOL_LDL_EXPORT LinsolLdl : public LinsolInternal {
49   public:
50 
51     // Create a linear solver given a sparsity pattern and a number of right hand sides
52     LinsolLdl(const std::string& name, const Sparsity& sp);
53 
54     /** \brief  Create a new LinsolInternal */
creator(const std::string & name,const Sparsity & sp)55     static LinsolInternal* creator(const std::string& name, const Sparsity& sp) {
56       return new LinsolLdl(name, sp);
57     }
58 
59     // Destructor
60     ~LinsolLdl() override;
61 
62     ///@{
63     /** \brief Options */
64     static const Options options_;
get_options() const65     const Options& get_options() const override { return options_;}
66     ///@}
67 
68     // Initialize the solver
69     void init(const Dict& opts) override;
70 
71     /** \brief Create memory block */
alloc_mem() const72     void* alloc_mem() const override { return new LinsolLdlMemory();}
73 
74     /** \brief Initalize memory block */
75     int init_mem(void* mem) const override;
76 
77     /** \brief Free memory block */
free_mem(void * mem) const78     void free_mem(void *mem) const override { delete static_cast<LinsolLdlMemory*>(mem);}
79 
80     // Symbolic factorization
81     int sfact(void* mem, const double* A) const override;
82 
83     // Factorize the linear system
84     int nfact(void* mem, const double* A) const override;
85 
86     // Solve the linear system
87     int solve(void* mem, const double* A, double* x, casadi_int nrhs, bool tr) const override;
88 
89     /// Generate C code
90     void generate(CodeGenerator& g, const std::string& A, const std::string& x,
91                   casadi_int nrhs, bool tr) const override;
92 
93     /// Number of negative eigenvalues
94     casadi_int neig(void* mem, const double* A) const override;
95 
96     /// Matrix rank
97     casadi_int rank(void* mem, const double* A) const override;
98 
99     /// A documentation string
100     static const std::string meta_doc;
101 
102     // Get name of the plugin
plugin_name() const103     const char* plugin_name() const override { return "ldl";}
104 
105     // Get name of the class
class_name() const106     std::string class_name() const override { return "LinsolLdl";}
107 
108     // Symbolic factorization
109     std::vector<casadi_int> p_;
110     Sparsity sp_Lt_;
111 
112     ///@{
113     // Options
114     bool incomplete_, amd_;
115     ///@}
116 
117     /** \brief Serialize an object without type information */
118     void serialize_body(SerializingStream &s) const override;
119 
120     /** \brief Deserialize with type disambiguation */
deserialize(DeserializingStream & s)121     static ProtoFunction* deserialize(DeserializingStream& s) { return new LinsolLdl(s); }
122 
123   protected:
124     /** \brief Deserializing constructor */
125     explicit LinsolLdl(DeserializingStream& s);
126   };
127 
128 } // namespace casadi
129 
130 /// \endcond
131 
132 #endif // CASADI_LINSOL_LDL_HPP
133