Last active
April 25, 2024 19:47
-
-
Save jgillis/dc2b07b6ff48614a8035676761cfac6a to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| /* This file was automatically generated by CasADi 3.6.5+. | |
| * It consists of: | |
| * 1) content generated by CasADi runtime: not copyrighted | |
| * 2) template code copied from CasADi source: permissively licensed (MIT-0) | |
| * 3) user code: owned by the user | |
| * | |
| */ | |
| #ifdef __cplusplus | |
| extern "C" { | |
| #endif | |
| /* How to prefix internal symbols */ | |
| #ifdef CASADI_CODEGEN_PREFIX | |
| #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) | |
| #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID | |
| #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) | |
| #else | |
| #define CASADI_PREFIX(ID) F_ ## ID | |
| #endif | |
| #include <math.h> | |
| #include <stdio.h> | |
| #include <string.h> | |
| #include <coin-or/IpStdCInterface.h> | |
| #ifndef casadi_real | |
| #define casadi_real double | |
| #endif | |
| #ifndef casadi_int | |
| #define casadi_int long long int | |
| #endif | |
| #ifndef CASADI_MAX_NUM_THREADS | |
| #define CASADI_MAX_NUM_THREADS 1 | |
| #endif | |
| /* Add prefix to internal symbols */ | |
| #define casadi_clear CASADI_PREFIX(clear) | |
| #define casadi_copy CASADI_PREFIX(copy) | |
| #define casadi_densify CASADI_PREFIX(densify) | |
| #define casadi_dot CASADI_PREFIX(dot) | |
| #define casadi_f0 CASADI_PREFIX(f0) | |
| #define casadi_f1 CASADI_PREFIX(f1) | |
| #define casadi_f10 CASADI_PREFIX(f10) | |
| #define casadi_f11 CASADI_PREFIX(f11) | |
| #define casadi_f12 CASADI_PREFIX(f12) | |
| #define casadi_f13 CASADI_PREFIX(f13) | |
| #define casadi_f14 CASADI_PREFIX(f14) | |
| #define casadi_f15 CASADI_PREFIX(f15) | |
| #define casadi_f16 CASADI_PREFIX(f16) | |
| #define casadi_f17 CASADI_PREFIX(f17) | |
| #define casadi_f18 CASADI_PREFIX(f18) | |
| #define casadi_f19 CASADI_PREFIX(f19) | |
| #define casadi_f1_alloc_mem CASADI_PREFIX(f1_alloc_mem) | |
| #define casadi_f1_init_mem CASADI_PREFIX(f1_init_mem) | |
| #define casadi_f1_mem CASADI_PREFIX(f1_mem) | |
| #define casadi_f1_mem_counter CASADI_PREFIX(f1_mem_counter) | |
| #define casadi_f1_unused_stack CASADI_PREFIX(f1_unused_stack) | |
| #define casadi_f1_unused_stack_counter CASADI_PREFIX(f1_unused_stack_counter) | |
| #define casadi_f2 CASADI_PREFIX(f2) | |
| #define casadi_f20 CASADI_PREFIX(f20) | |
| #define casadi_f21 CASADI_PREFIX(f21) | |
| #define casadi_f3 CASADI_PREFIX(f3) | |
| #define casadi_f4 CASADI_PREFIX(f4) | |
| #define casadi_f5 CASADI_PREFIX(f5) | |
| #define casadi_f6 CASADI_PREFIX(f6) | |
| #define casadi_f7 CASADI_PREFIX(f7) | |
| #define casadi_f8 CASADI_PREFIX(f8) | |
| #define casadi_f9 CASADI_PREFIX(f9) | |
| #define casadi_fabs CASADI_PREFIX(fabs) | |
| #define casadi_fill CASADI_PREFIX(fill) | |
| #define casadi_fmax CASADI_PREFIX(fmax) | |
| #define casadi_ipopt_data CASADI_PREFIX(ipopt_data) | |
| #define casadi_ipopt_free_mem CASADI_PREFIX(ipopt_free_mem) | |
| #define casadi_ipopt_hess_l_empty CASADI_PREFIX(ipopt_hess_l_empty) | |
| #define casadi_ipopt_init CASADI_PREFIX(ipopt_init) | |
| #define casadi_ipopt_init_mem CASADI_PREFIX(ipopt_init_mem) | |
| #define casadi_ipopt_presolve CASADI_PREFIX(ipopt_presolve) | |
| #define casadi_ipopt_setup CASADI_PREFIX(ipopt_setup) | |
| #define casadi_ipopt_solve CASADI_PREFIX(ipopt_solve) | |
| #define casadi_ipopt_sparsity CASADI_PREFIX(ipopt_sparsity) | |
| #define casadi_ipopt_work CASADI_PREFIX(ipopt_work) | |
| #define casadi_nlp_f0 CASADI_PREFIX(nlp_f0) | |
| #define casadi_nlp_g0 CASADI_PREFIX(nlp_g0) | |
| #define casadi_nlp_grad_f0 CASADI_PREFIX(nlp_grad_f0) | |
| #define casadi_nlp_hess_l0 CASADI_PREFIX(nlp_hess_l0) | |
| #define casadi_nlp_jac_g0 CASADI_PREFIX(nlp_jac_g0) | |
| #define casadi_nlpsol_data CASADI_PREFIX(nlpsol_data) | |
| #define casadi_nlpsol_detect_bounds_after CASADI_PREFIX(nlpsol_detect_bounds_after) | |
| #define casadi_nlpsol_detect_bounds_before CASADI_PREFIX(nlpsol_detect_bounds_before) | |
| #define casadi_nlpsol_detect_bounds_data CASADI_PREFIX(nlpsol_detect_bounds_data) | |
| #define casadi_nlpsol_detect_bounds_prob CASADI_PREFIX(nlpsol_detect_bounds_prob) | |
| #define casadi_nlpsol_init CASADI_PREFIX(nlpsol_init) | |
| #define casadi_nlpsol_prob CASADI_PREFIX(nlpsol_prob) | |
| #define casadi_nlpsol_work CASADI_PREFIX(nlpsol_work) | |
| #define casadi_oracle_data CASADI_PREFIX(oracle_data) | |
| #define casadi_oracle_init CASADI_PREFIX(oracle_init) | |
| #define casadi_s0 CASADI_PREFIX(s0) | |
| #define casadi_s1 CASADI_PREFIX(s1) | |
| #define casadi_s10 CASADI_PREFIX(s10) | |
| #define casadi_s11 CASADI_PREFIX(s11) | |
| #define casadi_s12 CASADI_PREFIX(s12) | |
| #define casadi_s13 CASADI_PREFIX(s13) | |
| #define casadi_s14 CASADI_PREFIX(s14) | |
| #define casadi_s2 CASADI_PREFIX(s2) | |
| #define casadi_s3 CASADI_PREFIX(s3) | |
| #define casadi_s4 CASADI_PREFIX(s4) | |
| #define casadi_s5 CASADI_PREFIX(s5) | |
| #define casadi_s6 CASADI_PREFIX(s6) | |
| #define casadi_s7 CASADI_PREFIX(s7) | |
| #define casadi_s8 CASADI_PREFIX(s8) | |
| #define casadi_s9 CASADI_PREFIX(s9) | |
| #define casadi_scal CASADI_PREFIX(scal) | |
| #define casadi_sq CASADI_PREFIX(sq) | |
| #define casadi_trans CASADI_PREFIX(trans) | |
| /* Symbol visibility in DLLs */ | |
| #ifndef CASADI_SYMBOL_EXPORT | |
| #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) | |
| #if defined(STATIC_LINKED) | |
| #define CASADI_SYMBOL_EXPORT | |
| #else | |
| #define CASADI_SYMBOL_EXPORT __declspec(dllexport) | |
| #endif | |
| #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) | |
| #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) | |
| #else | |
| #define CASADI_SYMBOL_EXPORT | |
| #endif | |
| #endif | |
| void casadi_fill(casadi_real* x, casadi_int n, casadi_real alpha) { | |
| casadi_int i; | |
| if (x) { | |
| for (i=0; i<n; ++i) *x++ = alpha; | |
| } | |
| } | |
| casadi_real casadi_fabs(casadi_real x) { | |
| /* Pre-c99 compatibility */ | |
| #if __STDC_VERSION__ < 199901L | |
| return x>0 ? x : -x; | |
| #else | |
| return fabs(x); | |
| #endif | |
| } | |
| void casadi_copy(const casadi_real* x, casadi_int n, casadi_real* y) { | |
| casadi_int i; | |
| if (y) { | |
| if (x) { | |
| for (i=0; i<n; ++i) *y++ = *x++; | |
| } else { | |
| for (i=0; i<n; ++i) *y++ = 0.; | |
| } | |
| } | |
| } | |
| casadi_real casadi_sq(casadi_real x) { return x*x;} | |
| casadi_real casadi_dot(casadi_int n, const casadi_real* x, const casadi_real* y) { | |
| casadi_int i; | |
| casadi_real r = 0; | |
| for (i=0; i<n; ++i) r += *x++ * *y++; | |
| return r; | |
| } | |
| void casadi_clear(casadi_real* x, casadi_int n) { | |
| casadi_int i; | |
| if (x) { | |
| for (i=0; i<n; ++i) *x++ = 0; | |
| } | |
| } | |
| struct casadi_oracle_data { | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| void* m; | |
| }; | |
| void casadi_oracle_init(struct casadi_oracle_data* d, const casadi_real*** arg, casadi_real*** res, | |
| casadi_int** iw, casadi_real** w) { | |
| d->arg = *arg; | |
| d->res = *res; | |
| d->iw = *iw; | |
| d->w = *w; | |
| } | |
| struct casadi_nlpsol_detect_bounds_prob { | |
| casadi_int sz_arg; | |
| casadi_int sz_res; | |
| casadi_int sz_iw; | |
| casadi_int sz_w; | |
| casadi_int ng; | |
| casadi_int nb; | |
| const casadi_int *target_x; | |
| const casadi_int *target_g; | |
| const char *is_simple; | |
| int (*callback)(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* callback_data); | |
| void* callback_data; | |
| }; | |
| struct casadi_nlpsol_prob { | |
| casadi_int nx, ng, np; | |
| struct casadi_nlpsol_detect_bounds_prob detect_bounds; | |
| }; | |
| struct casadi_nlpsol_detect_bounds_data { | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| casadi_real* a; | |
| casadi_real* b; | |
| casadi_int* target_l; | |
| casadi_int* target_u; | |
| casadi_real* lam_xl; | |
| casadi_real* lam_xu; | |
| }; | |
| struct casadi_nlpsol_data { | |
| const struct casadi_nlpsol_prob* prob; | |
| struct casadi_oracle_data* oracle; | |
| casadi_real *lbz, *ubz; | |
| casadi_real *z; | |
| casadi_real *lam; | |
| casadi_real objective; | |
| const casadi_real *p, *lbx, *ubx, *lbg, *ubg, *x0, *lam_x0, *lam_g0; | |
| casadi_real *f, *x, *g, *lam_x, *lam_g, *lam_p; | |
| struct casadi_nlpsol_detect_bounds_data detect_bounds; | |
| }; | |
| void casadi_nlpsol_work(const struct casadi_nlpsol_prob* p, casadi_int* sz_arg, casadi_int* sz_res, | |
| casadi_int* sz_iw, casadi_int* sz_w) { | |
| *sz_arg = *sz_res = 0; | |
| *sz_w = *sz_iw = 0; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| if (p->detect_bounds.ng) { | |
| *sz_arg += p->detect_bounds.sz_arg; | |
| *sz_res += p->detect_bounds.sz_res; | |
| *sz_iw += p->detect_bounds.sz_iw; | |
| *sz_w += p->detect_bounds.sz_w; | |
| *sz_w += p->detect_bounds.nb; | |
| *sz_w += p->detect_bounds.nb; | |
| *sz_iw += p->nx; | |
| *sz_iw += p->nx; | |
| *sz_w += p->nx; | |
| *sz_w += p->nx; | |
| } | |
| } | |
| void casadi_nlpsol_init(struct casadi_nlpsol_data* d, const casadi_real*** arg, casadi_real*** res, | |
| casadi_int** iw, casadi_real** w) { | |
| casadi_int nx, ng; | |
| const struct casadi_nlpsol_prob* p = d->prob; | |
| nx = p->nx; | |
| ng = p->ng; | |
| d->z = *w; *w += nx + ng; | |
| d->lbz = *w; *w += nx + ng; | |
| d->ubz = *w; *w += nx + ng; | |
| d->lam = *w; *w += nx + ng; | |
| if (p->detect_bounds.ng) { | |
| d->detect_bounds.arg = *arg; *arg += p->detect_bounds.sz_arg; | |
| d->detect_bounds.res = *res; *res += p->detect_bounds.sz_res; | |
| d->detect_bounds.iw = *iw; *iw += p->detect_bounds.sz_iw; | |
| d->detect_bounds.w = *w; *w += p->detect_bounds.sz_w; | |
| d->detect_bounds.a = *w; *w += p->detect_bounds.nb; | |
| d->detect_bounds.b = *w; *w += p->detect_bounds.nb; | |
| d->detect_bounds.target_l = *iw; *iw += p->nx; | |
| d->detect_bounds.target_u = *iw; *iw += p->nx; | |
| d->detect_bounds.lam_xl = *w; *w += nx; | |
| d->detect_bounds.lam_xu = *w; *w += nx; | |
| } | |
| } | |
| int casadi_detect_bounds_before(struct casadi_nlpsol_data* d_nlp) { | |
| const struct casadi_nlpsol_prob* p_nlp = d_nlp->prob; | |
| struct casadi_nlpsol_detect_bounds_data* d_bounds = &d_nlp->detect_bounds; | |
| const struct casadi_nlpsol_detect_bounds_prob* p_bounds = &p_nlp->detect_bounds; | |
| casadi_int nx = p_nlp->nx; | |
| d_bounds->arg[0] = d_nlp->p; | |
| d_bounds->res[0] = d_bounds->a; | |
| d_bounds->res[1] = d_bounds->b; | |
| p_bounds->callback(d_bounds->arg, d_bounds->res, | |
| d_bounds->iw, d_bounds->w, p_bounds->callback_data); | |
| for (casadi_int i=0;i<p_bounds->nb;++i) { | |
| if (d_bounds->a[i]==0) { | |
| casadi_int k = p_bounds->target_g[i]; | |
| if (d_nlp->lbg[k]>d_bounds->b[i]) return 1; | |
| if (d_nlp->ubg[k]<d_bounds->b[i]) return 1; | |
| } | |
| } | |
| casadi_real* lbz = d_nlp->lbz+nx; | |
| casadi_real* ubz = d_nlp->ubz+nx; | |
| casadi_real* lam = d_nlp->lam+nx; | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_bounds->lam_xl[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]<0)*d_nlp->lam_x0[i] : 0.; | |
| d_bounds->lam_xu[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]>0)*d_nlp->lam_x0[i] : 0.; | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_bounds->target_l[i] = i; | |
| d_bounds->target_u[i] = i; | |
| } | |
| casadi_int k=0; | |
| for (casadi_int i=0;i<p_bounds->ng;++i) { | |
| if (p_bounds->is_simple[i]) { | |
| casadi_real lb = (d_nlp->lbg[i]-d_bounds->b[k])/casadi_fabs(d_bounds->a[k]); | |
| casadi_real ub = (d_nlp->ubg[i]-d_bounds->b[k])/casadi_fabs(d_bounds->a[k]); | |
| casadi_int j = p_bounds->target_x[k]; | |
| if (lb==d_nlp->lbz[j]) { | |
| if (d_nlp->lam_g0) d_bounds->lam_xl[j] += (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i]; | |
| } else if (lb>d_nlp->lbz[j]) { | |
| d_nlp->lbz[j] = lb; | |
| d_bounds->target_l[j] = nx+i; | |
| if (d_nlp->lam_g0) d_bounds->lam_xl[j] = (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i]; | |
| } | |
| if (ub==d_nlp->ubz[j]) { | |
| if (d_nlp->lam_g0) d_bounds->lam_xu[j] += (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i]; | |
| } else if (ub<d_nlp->ubz[j]) { | |
| d_nlp->ubz[j] = ub; | |
| d_bounds->target_u[j] = nx+i; | |
| if (d_nlp->lam_g0) d_bounds->lam_xu[j] = (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i]; | |
| } | |
| k++; | |
| } else { | |
| *lbz++ = d_nlp->lbg[i]; | |
| *ubz++ = d_nlp->ubg[i]; | |
| if (d_nlp->lam_g0) *lam++ = d_nlp->lam_g0[i]; | |
| } | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_nlp->lam[i] = d_bounds->lam_xl[i]+d_bounds->lam_xu[i]; | |
| } | |
| return 0; | |
| } | |
| int casadi_detect_bounds_after(struct casadi_nlpsol_data* d_nlp) { | |
| const struct casadi_nlpsol_prob* p_nlp = d_nlp->prob; | |
| struct casadi_nlpsol_detect_bounds_data* d_bounds = &d_nlp->detect_bounds; | |
| const struct casadi_nlpsol_detect_bounds_prob* p_bounds = &p_nlp->detect_bounds; | |
| casadi_int nx = p_nlp->nx; | |
| casadi_fill(d_nlp->lam_x, nx, 0.); | |
| casadi_fill(d_nlp->lam_g, p_bounds->ng, 0.); | |
| casadi_int k = 0; | |
| casadi_int k_normal = 0; | |
| for (casadi_int i=0;i<p_bounds->ng;++i) { | |
| if (p_bounds->is_simple[i]) { | |
| casadi_int j = p_bounds->target_x[k]; | |
| if (d_nlp->g) d_nlp->g[i] = d_bounds->a[k]*d_nlp->z[j]+d_bounds->b[k]; | |
| k++; | |
| } else { | |
| if (d_nlp->g) d_nlp->g[i] = d_nlp->z[nx+k_normal]; | |
| if (d_nlp->lam_g) d_nlp->lam_g[i] = d_nlp->lam[nx+k_normal]; | |
| k_normal++; | |
| } | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| if (d_bounds->target_l[i]<nx) { | |
| if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]<0)*d_nlp->lam[i]; | |
| } else { | |
| if (d_nlp->lam_g) | |
| d_nlp->lam_g[d_bounds->target_l[i]-nx] += (d_nlp->lam[i]<0)*d_nlp->lam[i]; | |
| } | |
| if (d_bounds->target_u[i]<nx) { | |
| if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]>0)*d_nlp->lam[i]; | |
| } else { | |
| if (d_nlp->lam_g) | |
| d_nlp->lam_g[d_bounds->target_u[i]-nx] += (d_nlp->lam[i]>0)*d_nlp->lam[i]; | |
| } | |
| } | |
| return 0; | |
| } | |
| casadi_real casadi_fmax(casadi_real x, casadi_real y) { | |
| /* Pre-c99 compatibility */ | |
| #if __STDC_VERSION__ < 199901L | |
| return x>y ? x : y; | |
| #else | |
| return fmax(x, y); | |
| #endif | |
| } | |
| #define CASADI_CAST(x,y) ((x) y) | |
| void casadi_densify(const casadi_real* x, const casadi_int* sp_x, casadi_real* y, casadi_int tr) { | |
| casadi_int nrow_x, ncol_x, i, el; | |
| const casadi_int *colind_x, *row_x; | |
| if (!y) return; | |
| nrow_x = sp_x[0]; ncol_x = sp_x[1]; | |
| colind_x = sp_x+2; row_x = sp_x+ncol_x+3; | |
| casadi_clear(y, nrow_x*ncol_x); | |
| if (!x) return; | |
| if (tr) { | |
| for (i=0; i<ncol_x; ++i) { | |
| for (el=colind_x[i]; el!=colind_x[i+1]; ++el) { | |
| y[i + row_x[el]*ncol_x] = CASADI_CAST(casadi_real, *x++); | |
| } | |
| } | |
| } else { | |
| for (i=0; i<ncol_x; ++i) { | |
| for (el=colind_x[i]; el!=colind_x[i+1]; ++el) { | |
| y[row_x[el]] = CASADI_CAST(casadi_real, *x++); | |
| } | |
| y += nrow_x; | |
| } | |
| } | |
| } | |
| void casadi_trans(const casadi_real* x, const casadi_int* sp_x, casadi_real* y, | |
| const casadi_int* sp_y, casadi_int* tmp) { | |
| casadi_int ncol_x, nnz_x, ncol_y, k; | |
| const casadi_int* row_x, *colind_y; | |
| ncol_x = sp_x[1]; | |
| nnz_x = sp_x[2 + ncol_x]; | |
| row_x = sp_x + 2 + ncol_x+1; | |
| ncol_y = sp_y[1]; | |
| colind_y = sp_y+2; | |
| for (k=0; k<ncol_y; ++k) tmp[k] = colind_y[k]; | |
| for (k=0; k<nnz_x; ++k) { | |
| y[tmp[row_x[k]]++] = x[k]; | |
| } | |
| } | |
| struct casadi_ipopt_prob { | |
| const struct casadi_nlpsol_prob* nlp; | |
| const casadi_int *sp_h, *sp_a; | |
| casadi_int nnz_h, nnz_a; | |
| Eval_F_CB eval_f; | |
| Eval_G_CB eval_g; | |
| Eval_Grad_F_CB eval_grad_f; | |
| Eval_Jac_G_CB eval_jac_g; | |
| Eval_H_CB eval_h; | |
| }; | |
| void casadi_ipopt_setup(struct casadi_ipopt_prob* p) { | |
| if (p->sp_h) { | |
| p->nnz_h = p->sp_h[2+p->sp_h[1]]; | |
| } else { | |
| p->nnz_h = 0; | |
| } | |
| p->nnz_a = p->sp_a[2+p->sp_a[1]]; | |
| } | |
| struct casadi_ipopt_data { | |
| const struct casadi_ipopt_prob* prob; | |
| struct casadi_nlpsol_data* nlp; | |
| IpoptProblem ipopt; | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| casadi_real *z_L, *z_U; | |
| enum ApplicationReturnStatus status; | |
| int unified_return_status; | |
| int success; | |
| }; | |
| int ipopt_init_mem(struct casadi_ipopt_data* d) { | |
| return 0; | |
| } | |
| void ipopt_free_mem(struct casadi_ipopt_data* d) { | |
| } | |
| void casadi_ipopt_work(const struct casadi_ipopt_prob* p, casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w) { | |
| casadi_nlpsol_work(p->nlp, sz_arg, sz_res, sz_iw, sz_w); | |
| *sz_w += p->nlp->nx; | |
| *sz_w += p->nlp->nx; | |
| } | |
| void casadi_ipopt_init(struct casadi_ipopt_data* d, const casadi_real*** arg, casadi_real*** res, casadi_int** iw, casadi_real** w) { | |
| const struct casadi_ipopt_prob* p = d->prob; | |
| const struct casadi_nlpsol_prob* p_nlp = p->nlp; | |
| d->z_L = *w; *w += p_nlp->nx; | |
| d->z_U = *w; *w += p_nlp->nx; | |
| d->arg = *arg; | |
| d->res = *res; | |
| d->iw = *iw; | |
| d->w = *w; | |
| } | |
| void casadi_ipopt_presolve(struct casadi_ipopt_data* d) { | |
| const struct casadi_ipopt_prob* p = d->prob; | |
| const struct casadi_nlpsol_prob* p_nlp = p->nlp; | |
| const struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| d->ipopt = CreateIpoptProblem( | |
| p_nlp->nx, (double *) d_nlp->lbz, (double *) d_nlp->ubz, | |
| p_nlp->ng, (double *) d_nlp->lbz+p_nlp->nx, | |
| (double *) d_nlp->ubz+p_nlp->nx, | |
| p->nnz_a, p->nnz_h, 0, | |
| p->eval_f, p->eval_g, p->eval_grad_f, | |
| p->eval_jac_g, p->eval_h); | |
| } | |
| void casadi_ipopt_solve(struct casadi_ipopt_data* d) { | |
| const struct casadi_ipopt_prob* p = d->prob; | |
| const struct casadi_nlpsol_prob* p_nlp = p->nlp; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| d->unified_return_status = 1; | |
| for (casadi_int i=0; i<p_nlp->nx; ++i) { | |
| d->z_L[i] = casadi_fmax(0., -d_nlp->lam[i]); | |
| d->z_U[i] = casadi_fmax(0., d_nlp->lam[i]); | |
| } | |
| d->status = IpoptSolve(d->ipopt, d_nlp->z, d_nlp->z + p_nlp->nx, &d_nlp->objective, d_nlp->lam+p_nlp->nx, d->z_L, d->z_U, d); | |
| for (casadi_int i=0; i<p_nlp->nx; ++i) { | |
| d_nlp->lam[i] = d->z_U[i]-d->z_L[i]; | |
| } | |
| FreeIpoptProblem(d->ipopt); | |
| if (d->status==Solve_Succeeded || | |
| d->status==Solved_To_Acceptable_Level || | |
| d->status==Feasible_Point_Found) { | |
| d->unified_return_status = 0; | |
| } else if (d->status==Maximum_Iterations_Exceeded) { | |
| d->unified_return_status = 2; | |
| } | |
| #if (IPOPT_VERSION_MAJOR > 3) || (IPOPT_VERSION_MAJOR == 3 && IPOPT_VERSION_MINOR >= 14) | |
| if (d->status==Maximum_WallTime_Exceeded) d->unified_return_status = 2; | |
| #endif | |
| d->success = (d->unified_return_status == 0); | |
| } | |
| void casadi_ipopt_sparsity(const casadi_int* sp, ipindex *iRow, ipindex *jCol) { | |
| casadi_int ncol = sp[1]; | |
| const casadi_int* colind = sp+2; | |
| const casadi_int* row = colind+ncol+1; | |
| for (casadi_int cc=0; cc<ncol; ++cc) { | |
| for (casadi_int el=colind[cc]; el<colind[cc+1]; ++el) { | |
| *iRow++ = row[el]; | |
| *jCol++ = cc; | |
| } | |
| } | |
| } | |
| bool casadi_ipopt_hess_l_empty(ipindex n, ipnumber *x, bool new_x, ipnumber obj_factor, ipindex m, ipnumber *lambda, bool new_lambda, ipindex nele_hess, ipindex *iRow, ipindex *jCol, ipnumber *values, UserDataPtr user_data) { | |
| return false; | |
| } | |
| void casadi_scal(casadi_int n, casadi_real alpha, casadi_real* x) { | |
| casadi_int i; | |
| if (!x) return; | |
| for (i=0; i<n; ++i) *x++ *= alpha; | |
| } | |
| static int casadi_f1_mem_counter = 0; | |
| static int casadi_f1_unused_stack_counter = -1; | |
| static int casadi_f1_unused_stack[CASADI_MAX_NUM_THREADS]; | |
| static struct casadi_ipopt_data casadi_f1_mem[CASADI_MAX_NUM_THREADS]; | |
| #ifndef casadi_inf | |
| #define casadi_inf INFINITY | |
| #endif | |
| #ifndef CASADI_PRINTF | |
| #define CASADI_PRINTF printf | |
| #ifndef CASADI_SNPRINTF | |
| #define CASADI_SNPRINTF snprintf | |
| #endif | |
| #endif | |
| static const casadi_int casadi_s0[35] = {32, 1, 0, 31, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30}; | |
| static const casadi_int casadi_s1[8] = {2, 3, 0, 1, 2, 2, 0, 1}; | |
| static const casadi_int casadi_s2[7] = {1, 3, 0, 0, 0, 1, 0}; | |
| static const casadi_int casadi_s3[8] = {2, 3, 0, 0, 1, 2, 0, 1}; | |
| static const casadi_int casadi_s4[7] = {1, 3, 0, 1, 1, 1, 0}; | |
| static const casadi_int casadi_s5[30] = {0, 4, 8, 13, 17, 20, 23, 27, 30, 33, 37, 40, 43, 47, 50, 53, 57, 60, 63, 67, 70, 73, 77, 80, 83, 87, 90, 93, 97, 100}; | |
| static const casadi_int casadi_s6[22] = {1, 5, 9, 14, 21, 25, 29, 34, 41, 45, 49, 54, 61, 65, 69, 74, 81, 85, 89, 94, 98, 101}; | |
| static const casadi_int casadi_s7[15] = {2, 6, 10, 18, 22, 26, 38, 42, 46, 58, 62, 66, 78, 82, 86}; | |
| static const casadi_int casadi_s8[20] = {3, 11, 15, 19, 24, 31, 35, 39, 44, 51, 55, 59, 64, 71, 75, 79, 84, 91, 95, 99}; | |
| static const casadi_int casadi_s9[15] = {7, 12, 16, 28, 32, 36, 48, 52, 56, 68, 72, 76, 88, 92, 96}; | |
| static const casadi_int casadi_s10[137] = {42, 32, 0, 3, 6, 9, 13, 16, 19, 23, 26, 29, 33, 36, 39, 43, 46, 49, 53, 56, 59, 63, 66, 69, 73, 76, 79, 83, 86, 89, 93, 96, 99, 101, 102, 0, 1, 2, 0, 1, 3, 0, 1, 4, 0, 5, 6, 7, 1, 5, 6, 5, 6, 8, 5, 9, 10, 11, 6, 9, 10, 9, 10, 12, 9, 13, 14, 15, 10, 13, 14, 13, 14, 16, 13, 17, 18, 19, 14, 17, 18, 17, 18, 20, 17, 21, 22, 23, 18, 21, 22, 21, 22, 24, 21, 25, 26, 27, 22, 25, 26, 25, 26, 28, 25, 29, 30, 31, 26, 29, 30, 29, 30, 32, 29, 33, 34, 35, 30, 33, 34, 33, 34, 36, 33, 37, 38, 39, 34, 37, 38, 37, 38, 40, 37, 41, 38}; | |
| static const casadi_int casadi_s11[147] = {32, 42, 0, 4, 8, 9, 10, 11, 15, 19, 20, 21, 25, 29, 30, 31, 35, 39, 40, 41, 45, 49, 50, 51, 55, 59, 60, 61, 65, 69, 70, 71, 75, 79, 80, 81, 85, 89, 90, 91, 95, 99, 100, 101, 102, 0, 1, 2, 3, 0, 1, 2, 4, 0, 1, 2, 3, 4, 5, 6, 3, 4, 5, 7, 3, 5, 6, 7, 8, 9, 6, 7, 8, 10, 6, 8, 9, 10, 11, 12, 9, 10, 11, 13, 9, 11, 12, 13, 14, 15, 12, 13, 14, 16, 12, 14, 15, 16, 17, 18, 15, 16, 17, 19, 15, 17, 18, 19, 20, 21, 18, 19, 20, 22, 18, 20, 21, 22, 23, 24, 21, 22, 23, 25, 21, 23, 24, 25, 26, 27, 24, 25, 26, 28, 24, 26, 27, 28, 29, 30, 27, 28, 29, 31, 27, 29, 30}; | |
| static const casadi_int casadi_s12[66] = {32, 32, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 31, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30}; | |
| static const casadi_int casadi_s13[5] = {1, 1, 0, 1, 0}; | |
| static const casadi_int casadi_s14[25] = {1, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; | |
| /* ode:(x[2],u,z[0],p,t[1x1,0nz])->(ode[2],alg[0],quad[0]) */ | |
| static int casadi_f5(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0, w1, w2; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @1 = input[0][1] */ | |
| w1 = arg[0] ? arg[0][1] : 0; | |
| /* #2: @1 = (@0-@1) */ | |
| w1 = (w0-w1); | |
| /* #3: @2 = input[1][0] */ | |
| w2 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #5: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #7: output[0][0] = @1 */ | |
| if (res[0]) res[0][0] = w1; | |
| /* #8: output[0][1] = @0 */ | |
| if (res[0]) res[0][1] = w0; | |
| return 0; | |
| } | |
| /* F:(x0[2],u,t0,DT,DT_control,p,z0[0])->(xf[2],poly_coeff[2x5],qf[0],poly_coeff_q[0x4],zf[0],poly_coeff_z[]) */ | |
| static int casadi_f4(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+7, *cr, *cs; | |
| casadi_real *w0=w+3, w1, w2, w3, w5, *w7=w+9, w8, *w9=w+12, *w10=w+14, *w11=w+16, *w12=w+18, *w13=w+20; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[3][0] */ | |
| w1 = arg[3] ? arg[3][0] : 0; | |
| /* #2: @2 = 6 */ | |
| w2 = 6.; | |
| /* #3: @2 = (@1/@2) */ | |
| w2 = (w1/w2); | |
| /* #4: @3 = input[1][0] */ | |
| w3 = arg[1] ? arg[1][0] : 0; | |
| /* #5: @4 = 0x1 */ | |
| /* #6: @5 = input[5][0] */ | |
| w5 = arg[5] ? arg[5][0] : 0; | |
| /* #7: @6 = 00 */ | |
| /* #8: {@7, NULL, NULL} = ode(@0, @3, @4, @5, @6) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w7; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #9: @8 = 2 */ | |
| w8 = 2.; | |
| /* #10: @8 = (@1/@8) */ | |
| w8 = (w1/w8); | |
| /* #11: @9 = (@8*@7) */ | |
| for (i=0, rr=w9, cs=w7; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #12: @9 = (@0+@9) */ | |
| for (i=0, rr=w9, cr=w0, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #13: @4 = 0x1 */ | |
| /* #14: @6 = 00 */ | |
| /* #15: {@10, NULL, NULL} = ode(@9, @3, @4, @5, @6) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #16: @9 = (2.*@10) */ | |
| for (i=0, rr=w9, cs=w10; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #17: @9 = (@7+@9) */ | |
| for (i=0, rr=w9, cr=w7, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #18: @8 = 2 */ | |
| w8 = 2.; | |
| /* #19: @8 = (@1/@8) */ | |
| w8 = (w1/w8); | |
| /* #20: @11 = (@8*@10) */ | |
| for (i=0, rr=w11, cs=w10; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #21: @11 = (@0+@11) */ | |
| for (i=0, rr=w11, cr=w0, cs=w11; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @4 = 0x1 */ | |
| /* #23: @6 = 00 */ | |
| /* #24: {@12, NULL, NULL} = ode(@11, @3, @4, @5, @6) */ | |
| arg1[0]=w11; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w12; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @11 = (2.*@12) */ | |
| for (i=0, rr=w11, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #26: @9 = (@9+@11) */ | |
| for (i=0, rr=w9, cs=w11; i<2; ++i) (*rr++) += (*cs++); | |
| /* #27: @11 = (@1*@12) */ | |
| for (i=0, rr=w11, cs=w12; i<2; ++i) (*rr++) = (w1*(*cs++)); | |
| /* #28: @11 = (@0+@11) */ | |
| for (i=0, rr=w11, cr=w0, cs=w11; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #29: @4 = 0x1 */ | |
| /* #30: @6 = 00 */ | |
| /* #31: {@13, NULL, NULL} = ode(@11, @3, @4, @5, @6) */ | |
| arg1[0]=w11; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w13; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #32: @9 = (@9+@13) */ | |
| for (i=0, rr=w9, cs=w13; i<2; ++i) (*rr++) += (*cs++); | |
| /* #33: @9 = (@2*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #34: @9 = (@0+@9) */ | |
| for (i=0, rr=w9, cr=w0, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #35: output[0][0] = @9 */ | |
| casadi_copy(w9, 2, res[0]); | |
| /* #36: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #37: output[1][1] = @7 */ | |
| if (res[1]) casadi_copy(w7, 2, res[1]+2); | |
| /* #38: @2 = 2 */ | |
| w2 = 2.; | |
| /* #39: @2 = (@2/@1) */ | |
| w2 /= w1; | |
| /* #40: @0 = (@10-@7) */ | |
| for (i=0, rr=w0, cr=w10, cs=w7; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #41: @0 = (@2*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #42: @2 = 2 */ | |
| w2 = 2.; | |
| /* #43: @0 = (@0/@2) */ | |
| for (i=0, rr=w0; i<2; ++i) (*rr++) /= w2; | |
| /* #44: output[1][2] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+4); | |
| /* #45: @2 = 4 */ | |
| w2 = 4.; | |
| /* #46: @3 = sq(@1) */ | |
| w3 = casadi_sq( w1 ); | |
| /* #47: @2 = (@2/@3) */ | |
| w2 /= w3; | |
| /* #48: @10 = (@12-@10) */ | |
| for (i=0, rr=w10, cr=w12, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #49: @10 = (@2*@10) */ | |
| for (i=0, rr=w10, cs=w10; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #50: @2 = 6 */ | |
| w2 = 6.; | |
| /* #51: @10 = (@10/@2) */ | |
| for (i=0, rr=w10; i<2; ++i) (*rr++) /= w2; | |
| /* #52: output[1][3] = @10 */ | |
| if (res[1]) casadi_copy(w10, 2, res[1]+6); | |
| /* #53: @2 = 4 */ | |
| w2 = 4.; | |
| /* #54: @12 = (2.*@12) */ | |
| for (i=0, rr=w12, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #55: @13 = (@13-@12) */ | |
| for (i=0, rr=w13, cs=w12; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #56: @13 = (@13+@7) */ | |
| for (i=0, rr=w13, cs=w7; i<2; ++i) (*rr++) += (*cs++); | |
| /* #57: @13 = (@2*@13) */ | |
| for (i=0, rr=w13, cs=w13; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #58: @2 = 3 */ | |
| w2 = 3.; | |
| /* #59: @1 = pow(@1,@2) */ | |
| w1 = pow(w1,w2); | |
| /* #60: @13 = (@13/@1) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) /= w1; | |
| /* #61: @1 = 24 */ | |
| w1 = 24.; | |
| /* #62: @13 = (@13/@1) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) /= w1; | |
| /* #63: output[1][4] = @13 */ | |
| if (res[1]) casadi_copy(w13, 2, res[1]+8); | |
| return 0; | |
| } | |
| /* F:(x0[2],u,T,t0,p,z0[0])->(xf[2],Xi[2x2],poly_coeff[2x5],qf[0],Qi[0],poly_coeff_q[0x4],zf[0],Zi[0],poly_coeff_z[]) */ | |
| static int casadi_f3(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real **res1=res+9; | |
| const casadi_real **arg1=arg+6; | |
| casadi_real *w0=w+22, w1, w2, w3, w4, *w6=w+28, *w7=w+30; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[1][0] */ | |
| w1 = arg[1] ? arg[1][0] : 0; | |
| /* #2: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #3: @3 = input[2][0] */ | |
| w3 = arg[2] ? arg[2][0] : 0; | |
| /* #4: @4 = input[4][0] */ | |
| w4 = arg[4] ? arg[4][0] : 0; | |
| /* #5: @5 = 0x1 */ | |
| /* #6: {@6, @7, NULL, NULL, NULL, NULL} = F(@0, @1, @2, @3, @3, @4, @5) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w3); | |
| arg1[4]=(&w3); | |
| arg1[5]=(&w4); | |
| arg1[6]=0; | |
| res1[0]=w6; | |
| res1[1]=w7; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f4(arg1, res1, iw, w, 0)) return 1; | |
| /* #7: output[0][0] = @6 */ | |
| casadi_copy(w6, 2, res[0]); | |
| /* #8: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #9: output[1][1] = @6 */ | |
| if (res[1]) casadi_copy(w6, 2, res[1]+2); | |
| /* #10: output[2][0] = @7 */ | |
| casadi_copy(w7, 10, res[2]); | |
| return 0; | |
| } | |
| /* adj1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],adj_ode[2],adj_alg[0],adj_quad[0])->(adj_x[2],adj_u,adj_z[0],adj_p,adj_t[1x1,0nz]) */ | |
| static int casadi_f8(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@2+@1) */ | |
| w2 += w1; | |
| /* #3: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #4: @2 = (-@1) */ | |
| w2 = (- w1 ); | |
| /* #5: output[0][1] = @2 */ | |
| if (res[0]) res[0][1] = w2; | |
| /* #6: output[1][0] = @1 */ | |
| if (res[1]) res[1][0] = w1; | |
| /* #7: output[3][0] = @1 */ | |
| if (res[3]) res[3][0] = w1; | |
| return 0; | |
| } | |
| /* adj1_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],adj_xf[2],adj_poly_coeff[2x5],adj_qf[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_poly_coeff_z[])->(adj_x0[2],adj_u,adj_t0[1x1,0nz],adj_DT,adj_DT_control[1x1,0nz],adj_p,adj_z0[0]) */ | |
| static int casadi_f7(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+7, *rr; | |
| const casadi_real **arg1=arg+19, *cr, *cs; | |
| casadi_real *w0=w+4, *w1=w+14, *w2=w+16, *w3=w+18, *w4=w+20, *w5=w+22, *w6=w+24, *w7=w+26, w8, w9, w10, w11, w13, *w15=w+33, *w16=w+35, *w19=w+37, *w20=w+39, *w23=w+41, *w24=w+43, w30, w31, w32, *w33=w+48, w34, *w35=w+51, *w36=w+53, *w39=w+55, w40, w41, w42, w43, *w44=w+61, *w45=w+63, w46, w47, w48, w49; | |
| /* #0: @0 = input[14][0] */ | |
| casadi_copy(arg[14], 10, w0); | |
| /* #1: {@1, @2, @3, @4, @5} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| casadi_copy(w0+4, 2, w3); | |
| casadi_copy(w0+6, 2, w4); | |
| casadi_copy(w0+8, 2, w5); | |
| /* #2: @6 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w6); | |
| /* #3: @1 = (@1+@6) */ | |
| for (i=0, rr=w1, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #4: @7 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w7); | |
| /* #5: @8 = input[3][0] */ | |
| w8 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @9 = 2 */ | |
| w9 = 2.; | |
| /* #7: @9 = (@8/@9) */ | |
| w9 = (w8/w9); | |
| /* #8: @10 = 2 */ | |
| w10 = 2.; | |
| /* #9: @10 = (@8/@10) */ | |
| w10 = (w8/w10); | |
| /* #10: @11 = input[1][0] */ | |
| w11 = arg[1] ? arg[1][0] : 0; | |
| /* #11: @12 = 0x1 */ | |
| /* #12: @13 = input[5][0] */ | |
| w13 = arg[5] ? arg[5][0] : 0; | |
| /* #13: @14 = 00 */ | |
| /* #14: {@15, NULL, NULL} = ode(@7, @11, @12, @13, @14) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w15; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @16 = (@10*@15) */ | |
| for (i=0, rr=w16, cs=w15; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #16: @16 = (@7+@16) */ | |
| for (i=0, rr=w16, cr=w7, cs=w16; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 00 */ | |
| /* #19: {@19, NULL, NULL} = ode(@16, @11, @17, @13, @18) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w19; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #20: @20 = (@9*@19) */ | |
| for (i=0, rr=w20, cs=w19; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #21: @20 = (@7+@20) */ | |
| for (i=0, rr=w20, cr=w7, cs=w20; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @21 = 0x1 */ | |
| /* #23: @22 = 00 */ | |
| /* #24: {@23, NULL, NULL} = ode(@20, @11, @21, @13, @22) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w23; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @24 = (@8*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #26: @24 = (@7+@24) */ | |
| for (i=0, rr=w24, cr=w7, cs=w24; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #27: @25 = 0x1 */ | |
| /* #28: @26 = 00 */ | |
| /* #29: @27 = zeros(2x1,0nz) */ | |
| /* #30: @28 = 0x1 */ | |
| /* #31: @29 = 0x1 */ | |
| /* #32: @30 = 4 */ | |
| w30 = 4.; | |
| /* #33: @31 = 0.0416667 */ | |
| w31 = 4.1666666666666664e-02; | |
| /* #34: @5 = (@31*@5) */ | |
| for (i=0, rr=w5, cs=w5; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #35: @31 = 3 */ | |
| w31 = 3.; | |
| /* #36: @32 = pow(@8,@31) */ | |
| w32 = pow(w8,w31); | |
| /* #37: @33 = (@5/@32) */ | |
| for (i=0, rr=w33, cr=w5; i<2; ++i) (*rr++) = ((*cr++)/w32); | |
| /* #38: @33 = (@30*@33) */ | |
| for (i=0, rr=w33, cs=w33; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #39: @34 = 6 */ | |
| w34 = 6.; | |
| /* #40: @34 = (@8/@34) */ | |
| w34 = (w8/w34); | |
| /* #41: @35 = (@34*@6) */ | |
| for (i=0, rr=w35, cs=w6; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #42: @36 = (@33+@35) */ | |
| for (i=0, rr=w36, cr=w33, cs=w35; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #43: @37 = 0x1 */ | |
| /* #44: @38 = 0x1 */ | |
| /* #45: {@39, @34, NULL, @40, NULL} = adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @36, @37, @38) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w36; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w39; | |
| res1[1]=(&w34); | |
| res1[2]=0; | |
| res1[3]=(&w40); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #46: @1 = (@1+@39) */ | |
| for (i=0, rr=w1, cs=w39; i<2; ++i) (*rr++) += (*cs++); | |
| /* #47: @27 = zeros(2x1,0nz) */ | |
| /* #48: @28 = 0x1 */ | |
| /* #49: @29 = 0x1 */ | |
| /* #50: @36 = (-@33) */ | |
| for (i=0, rr=w36, cs=w33; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #51: @36 = (2.*@36) */ | |
| for (i=0, rr=w36, cs=w36; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #52: @41 = 4 */ | |
| w41 = 4.; | |
| /* #53: @42 = sq(@8) */ | |
| w42 = casadi_sq( w8 ); | |
| /* #54: @41 = (@41/@42) */ | |
| w41 /= w42; | |
| /* #55: @43 = 0.166667 */ | |
| w43 = 1.6666666666666666e-01; | |
| /* #56: @4 = (@43*@4) */ | |
| for (i=0, rr=w4, cs=w4; i<2; ++i) (*rr++) = (w43*(*cs++)); | |
| /* #57: @44 = (@41*@4) */ | |
| for (i=0, rr=w44, cs=w4; i<2; ++i) (*rr++) = (w41*(*cs++)); | |
| /* #58: @36 = (@36+@44) */ | |
| for (i=0, rr=w36, cs=w44; i<2; ++i) (*rr++) += (*cs++); | |
| /* #59: @45 = (@8*@39) */ | |
| for (i=0, rr=w45, cs=w39; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #60: @36 = (@36+@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #61: @45 = (2.*@35) */ | |
| for (i=0, rr=w45, cs=w35; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #62: @36 = (@36+@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #63: @37 = 0x1 */ | |
| /* #64: @38 = 0x1 */ | |
| /* #65: {@45, @43, NULL, @46, NULL} = adj1_ode(@20, @11, @21, @13, @22, @27, @28, @29, @36, @37, @38) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w36; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w45; | |
| res1[1]=(&w43); | |
| res1[2]=0; | |
| res1[3]=(&w46); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #66: @1 = (@1+@45) */ | |
| for (i=0, rr=w1, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #67: @21 = zeros(2x1,0nz) */ | |
| /* #68: @22 = 0x1 */ | |
| /* #69: @27 = 0x1 */ | |
| /* #70: @47 = 2 */ | |
| w47 = 2.; | |
| /* #71: @47 = (@47/@8) */ | |
| w47 /= w8; | |
| /* #72: @48 = 0.5 */ | |
| w48 = 5.0000000000000000e-01; | |
| /* #73: @3 = (@48*@3) */ | |
| for (i=0, rr=w3, cs=w3; i<2; ++i) (*rr++) = (w48*(*cs++)); | |
| /* #74: @20 = (@47*@3) */ | |
| for (i=0, rr=w20, cs=w3; i<2; ++i) (*rr++) = (w47*(*cs++)); | |
| /* #75: @44 = (@20-@44) */ | |
| for (i=0, rr=w44, cr=w20, cs=w44; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #76: @36 = (@9*@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #77: @44 = (@44+@36) */ | |
| for (i=0, rr=w44, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #78: @36 = (2.*@35) */ | |
| for (i=0, rr=w36, cs=w35; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #79: @44 = (@44+@36) */ | |
| for (i=0, rr=w44, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #80: @28 = 0x1 */ | |
| /* #81: @29 = 0x1 */ | |
| /* #82: {@36, @9, NULL, @48, NULL} = adj1_ode(@16, @11, @17, @13, @18, @21, @22, @27, @44, @28, @29) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w44; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w36; | |
| res1[1]=(&w9); | |
| res1[2]=0; | |
| res1[3]=(&w48); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #83: @1 = (@1+@36) */ | |
| for (i=0, rr=w1, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #84: @17 = zeros(2x1,0nz) */ | |
| /* #85: @18 = 0x1 */ | |
| /* #86: @21 = 0x1 */ | |
| /* #87: @33 = (@33-@20) */ | |
| for (i=0, rr=w33, cs=w20; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #88: @33 = (@33+@2) */ | |
| for (i=0, rr=w33, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #89: @33 = (@33+@35) */ | |
| for (i=0, rr=w33, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #90: @35 = (@10*@36) */ | |
| for (i=0, rr=w35, cs=w36; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #91: @33 = (@33+@35) */ | |
| for (i=0, rr=w33, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #92: @22 = 0x1 */ | |
| /* #93: @27 = 0x1 */ | |
| /* #94: {@35, @10, NULL, @49, NULL} = adj1_ode(@7, @11, @12, @13, @14, @17, @18, @21, @33, @22, @27) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w33; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w35; | |
| res1[1]=(&w10); | |
| res1[2]=0; | |
| res1[3]=(&w49); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #95: @1 = (@1+@35) */ | |
| for (i=0, rr=w1, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #96: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #97: @34 = (@34+@43) */ | |
| w34 += w43; | |
| /* #98: @34 = (@34+@9) */ | |
| w34 += w9; | |
| /* #99: @34 = (@34+@10) */ | |
| w34 += w10; | |
| /* #100: output[1][0] = @34 */ | |
| if (res[1]) res[1][0] = w34; | |
| /* #101: @34 = sq(@8) */ | |
| w34 = casadi_sq( w8 ); | |
| /* #102: @31 = (@31*@34) */ | |
| w31 *= w34; | |
| /* #103: {@1, NULL, NULL} = ode(@24, @11, @25, @13, @26) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w1; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #104: @24 = (2.*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #105: @24 = (@1-@24) */ | |
| for (i=0, rr=w24, cr=w1, cs=w24; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #106: @24 = (@24+@15) */ | |
| for (i=0, rr=w24, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #107: @24 = (@30*@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #108: @24 = (@24/@32) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w32; | |
| /* #109: @24 = (@24/@32) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w32; | |
| /* #110: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #111: @32 = dot(@24, @5) */ | |
| w32 = casadi_dot(2, w24, w5); | |
| /* #112: @31 = (@31*@32) */ | |
| w31 *= w32; | |
| /* #113: @32 = (2.*@8) */ | |
| w32 = (2.* w8 ); | |
| /* #114: @41 = (@41/@42) */ | |
| w41 /= w42; | |
| /* #115: @24 = (@23-@19) */ | |
| for (i=0, rr=w24, cr=w23, cs=w19; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #116: @42 = dot(@24, @4) */ | |
| w42 = casadi_dot(2, w24, w4); | |
| /* #117: @41 = (@41*@42) */ | |
| w41 *= w42; | |
| /* #118: @32 = (@32*@41) */ | |
| w32 *= w41; | |
| /* #119: @31 = (@31-@32) */ | |
| w31 -= w32; | |
| /* #120: @47 = (@47/@8) */ | |
| w47 /= w8; | |
| /* #121: @24 = (@19-@15) */ | |
| for (i=0, rr=w24, cr=w19, cs=w15; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #122: @8 = dot(@24, @3) */ | |
| w8 = casadi_dot(2, w24, w3); | |
| /* #123: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #124: @31 = (@31-@47) */ | |
| w31 -= w47; | |
| /* #125: @47 = dot(@23, @39) */ | |
| w47 = casadi_dot(2, w23, w39); | |
| /* #126: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #127: @47 = 0.5 */ | |
| w47 = 5.0000000000000000e-01; | |
| /* #128: @8 = dot(@19, @45) */ | |
| w8 = casadi_dot(2, w19, w45); | |
| /* #129: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #130: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #131: @47 = 0.5 */ | |
| w47 = 5.0000000000000000e-01; | |
| /* #132: @8 = dot(@15, @36) */ | |
| w8 = casadi_dot(2, w15, w36); | |
| /* #133: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #134: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #135: @47 = 0.166667 */ | |
| w47 = 1.6666666666666666e-01; | |
| /* #136: @19 = (2.*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #137: @15 = (@15+@19) */ | |
| for (i=0, rr=w15, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #138: @23 = (2.*@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #139: @15 = (@15+@23) */ | |
| for (i=0, rr=w15, cs=w23; i<2; ++i) (*rr++) += (*cs++); | |
| /* #140: @15 = (@15+@1) */ | |
| for (i=0, rr=w15, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #141: @8 = dot(@15, @6) */ | |
| w8 = casadi_dot(2, w15, w6); | |
| /* #142: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #143: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #144: output[3][0] = @31 */ | |
| if (res[3]) res[3][0] = w31; | |
| /* #145: @40 = (@40+@46) */ | |
| w40 += w46; | |
| /* #146: @40 = (@40+@48) */ | |
| w40 += w48; | |
| /* #147: @40 = (@40+@49) */ | |
| w40 += w49; | |
| /* #148: output[5][0] = @40 */ | |
| if (res[5]) res[5][0] = w40; | |
| return 0; | |
| } | |
| /* adj1_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],adj_xf[2],adj_Xi[2x2],adj_poly_coeff[2x5],adj_qf[0],adj_Qi[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_Zi[0],adj_poly_coeff_z[])->(adj_x0[2],adj_u,adj_T,adj_t0[1x1,0nz],adj_p,adj_z0[0]) */ | |
| static int casadi_f6(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+24, *cs; | |
| casadi_real *w0=w+69, *w1=w+73, *w2=w+75, *w3=w+77, w4, w5, w6, w7, *w15=w+83, *w16=w+85, w20, w21, w22; | |
| /* #0: @0 = input[16][0] */ | |
| casadi_copy(arg[16], 4, w0); | |
| /* #1: {@1, @2} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| /* #2: @3 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w3); | |
| /* #3: @4 = input[1][0] */ | |
| w4 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @5 = input[3][0] */ | |
| w5 = arg[3] ? arg[3][0] : 0; | |
| /* #5: @6 = input[2][0] */ | |
| w6 = arg[2] ? arg[2][0] : 0; | |
| /* #6: @7 = input[4][0] */ | |
| w7 = arg[4] ? arg[4][0] : 0; | |
| /* #7: @8 = 0x1 */ | |
| /* #8: @9 = zeros(2x1,0nz) */ | |
| /* #9: @10 = zeros(2x5,0nz) */ | |
| /* #10: @11 = 0x1 */ | |
| /* #11: @12 = 0x4 */ | |
| /* #12: @13 = 0x1 */ | |
| /* #13: @14 = 0x0 */ | |
| /* #14: @15 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w15); | |
| /* #15: @2 = (@2+@15) */ | |
| for (i=0, rr=w2, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #16: @16 = input[17][0] */ | |
| casadi_copy(arg[17], 10, w16); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 0x4 */ | |
| /* #19: @19 = 0x1 */ | |
| /* #20: {@15, @20, NULL, @21, NULL, @22, NULL} = adj1_F(@3, @4, @5, @6, @6, @7, @8, @9, @10, @11, @12, @13, @14, @2, @16, @17, @18, @19, @14) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w4); | |
| arg1[2]=(&w5); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w6); | |
| arg1[5]=(&w7); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w2; | |
| arg1[14]=w16; | |
| arg1[15]=0; | |
| arg1[16]=0; | |
| arg1[17]=0; | |
| arg1[18]=0; | |
| res1[0]=w15; | |
| res1[1]=(&w20); | |
| res1[2]=0; | |
| res1[3]=(&w21); | |
| res1[4]=0; | |
| res1[5]=(&w22); | |
| res1[6]=0; | |
| if (casadi_f7(arg1, res1, iw, w, 0)) return 1; | |
| /* #21: @1 = (@1+@15) */ | |
| for (i=0, rr=w1, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #22: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #23: output[1][0] = @20 */ | |
| if (res[1]) res[1][0] = w20; | |
| /* #24: output[2][0] = @21 */ | |
| if (res[2]) res[2][0] = w21; | |
| /* #25: output[4][0] = @22 */ | |
| if (res[4]) res[4][0] = w22; | |
| return 0; | |
| } | |
| /* nlp_grad:(x[32],p,lam_f,lam_g[42])->(f,g[42],grad_gamma_x[32],grad_gamma_p) */ | |
| static int casadi_f2(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+4, *rr; | |
| const casadi_real **arg1=arg+4, *cr, *cs; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, w31, w32, *w33=w+131, *w34=w+133, w35, *w37=w+136, w38, w39, *w41=w+140, w42, w43, *w45=w+144, w46, w47, *w49=w+148, w50, w51, *w53=w+152, w54, w55, *w57=w+156, w58, w59, *w61=w+160, w62, w63, *w65=w+164, w66, w67, *w69=w+168, w70, w71, *w73=w+172, *w74=w+174, w75, w76, w77, w78, w79, *w80=w+221, w81, w82, *w83=w+225, w84, w85, *w86=w+229, w87, w88, *w89=w+233, w90, w91, *w92=w+237, w93, w94, *w95=w+241, w96, w97, *w98=w+245, w99, w100, *w101=w+249, w102, w103, w104, *w114=w+254, *w115=w+256, *w116=w+260, *w122=w+270, w123, w124, w125; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @1 = sq(@0) */ | |
| w1 = casadi_sq( w0 ); | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = sq(@2) */ | |
| w3 = casadi_sq( w2 ); | |
| /* #4: @1 = (@1+@3) */ | |
| w1 += w3; | |
| /* #5: @3 = input[0][2] */ | |
| w3 = arg[0] ? arg[0][2] : 0; | |
| /* #6: @4 = sq(@3) */ | |
| w4 = casadi_sq( w3 ); | |
| /* #7: @1 = (@1+@4) */ | |
| w1 += w4; | |
| /* #8: @4 = input[0][3] */ | |
| w4 = arg[0] ? arg[0][3] : 0; | |
| /* #9: @5 = sq(@4) */ | |
| w5 = casadi_sq( w4 ); | |
| /* #10: @6 = input[0][4] */ | |
| w6 = arg[0] ? arg[0][4] : 0; | |
| /* #11: @7 = sq(@6) */ | |
| w7 = casadi_sq( w6 ); | |
| /* #12: @5 = (@5+@7) */ | |
| w5 += w7; | |
| /* #13: @7 = input[0][5] */ | |
| w7 = arg[0] ? arg[0][5] : 0; | |
| /* #14: @8 = sq(@7) */ | |
| w8 = casadi_sq( w7 ); | |
| /* #15: @5 = (@5+@8) */ | |
| w5 += w8; | |
| /* #16: @1 = (@1+@5) */ | |
| w1 += w5; | |
| /* #17: @5 = input[0][6] */ | |
| w5 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @8 = sq(@5) */ | |
| w8 = casadi_sq( w5 ); | |
| /* #19: @9 = input[0][7] */ | |
| w9 = arg[0] ? arg[0][7] : 0; | |
| /* #20: @10 = sq(@9) */ | |
| w10 = casadi_sq( w9 ); | |
| /* #21: @8 = (@8+@10) */ | |
| w8 += w10; | |
| /* #22: @10 = input[0][8] */ | |
| w10 = arg[0] ? arg[0][8] : 0; | |
| /* #23: @11 = sq(@10) */ | |
| w11 = casadi_sq( w10 ); | |
| /* #24: @8 = (@8+@11) */ | |
| w8 += w11; | |
| /* #25: @1 = (@1+@8) */ | |
| w1 += w8; | |
| /* #26: @8 = input[0][9] */ | |
| w8 = arg[0] ? arg[0][9] : 0; | |
| /* #27: @11 = sq(@8) */ | |
| w11 = casadi_sq( w8 ); | |
| /* #28: @12 = input[0][10] */ | |
| w12 = arg[0] ? arg[0][10] : 0; | |
| /* #29: @13 = sq(@12) */ | |
| w13 = casadi_sq( w12 ); | |
| /* #30: @11 = (@11+@13) */ | |
| w11 += w13; | |
| /* #31: @13 = input[0][11] */ | |
| w13 = arg[0] ? arg[0][11] : 0; | |
| /* #32: @14 = sq(@13) */ | |
| w14 = casadi_sq( w13 ); | |
| /* #33: @11 = (@11+@14) */ | |
| w11 += w14; | |
| /* #34: @1 = (@1+@11) */ | |
| w1 += w11; | |
| /* #35: @11 = input[0][12] */ | |
| w11 = arg[0] ? arg[0][12] : 0; | |
| /* #36: @14 = sq(@11) */ | |
| w14 = casadi_sq( w11 ); | |
| /* #37: @15 = input[0][13] */ | |
| w15 = arg[0] ? arg[0][13] : 0; | |
| /* #38: @16 = sq(@15) */ | |
| w16 = casadi_sq( w15 ); | |
| /* #39: @14 = (@14+@16) */ | |
| w14 += w16; | |
| /* #40: @16 = input[0][14] */ | |
| w16 = arg[0] ? arg[0][14] : 0; | |
| /* #41: @17 = sq(@16) */ | |
| w17 = casadi_sq( w16 ); | |
| /* #42: @14 = (@14+@17) */ | |
| w14 += w17; | |
| /* #43: @1 = (@1+@14) */ | |
| w1 += w14; | |
| /* #44: @14 = input[0][15] */ | |
| w14 = arg[0] ? arg[0][15] : 0; | |
| /* #45: @17 = sq(@14) */ | |
| w17 = casadi_sq( w14 ); | |
| /* #46: @18 = input[0][16] */ | |
| w18 = arg[0] ? arg[0][16] : 0; | |
| /* #47: @19 = sq(@18) */ | |
| w19 = casadi_sq( w18 ); | |
| /* #48: @17 = (@17+@19) */ | |
| w17 += w19; | |
| /* #49: @19 = input[0][17] */ | |
| w19 = arg[0] ? arg[0][17] : 0; | |
| /* #50: @20 = sq(@19) */ | |
| w20 = casadi_sq( w19 ); | |
| /* #51: @17 = (@17+@20) */ | |
| w17 += w20; | |
| /* #52: @1 = (@1+@17) */ | |
| w1 += w17; | |
| /* #53: @17 = input[0][18] */ | |
| w17 = arg[0] ? arg[0][18] : 0; | |
| /* #54: @20 = sq(@17) */ | |
| w20 = casadi_sq( w17 ); | |
| /* #55: @21 = input[0][19] */ | |
| w21 = arg[0] ? arg[0][19] : 0; | |
| /* #56: @22 = sq(@21) */ | |
| w22 = casadi_sq( w21 ); | |
| /* #57: @20 = (@20+@22) */ | |
| w20 += w22; | |
| /* #58: @22 = input[0][20] */ | |
| w22 = arg[0] ? arg[0][20] : 0; | |
| /* #59: @23 = sq(@22) */ | |
| w23 = casadi_sq( w22 ); | |
| /* #60: @20 = (@20+@23) */ | |
| w20 += w23; | |
| /* #61: @1 = (@1+@20) */ | |
| w1 += w20; | |
| /* #62: @20 = input[0][21] */ | |
| w20 = arg[0] ? arg[0][21] : 0; | |
| /* #63: @23 = sq(@20) */ | |
| w23 = casadi_sq( w20 ); | |
| /* #64: @24 = input[0][22] */ | |
| w24 = arg[0] ? arg[0][22] : 0; | |
| /* #65: @25 = sq(@24) */ | |
| w25 = casadi_sq( w24 ); | |
| /* #66: @23 = (@23+@25) */ | |
| w23 += w25; | |
| /* #67: @25 = input[0][23] */ | |
| w25 = arg[0] ? arg[0][23] : 0; | |
| /* #68: @26 = sq(@25) */ | |
| w26 = casadi_sq( w25 ); | |
| /* #69: @23 = (@23+@26) */ | |
| w23 += w26; | |
| /* #70: @1 = (@1+@23) */ | |
| w1 += w23; | |
| /* #71: @23 = input[0][24] */ | |
| w23 = arg[0] ? arg[0][24] : 0; | |
| /* #72: @26 = sq(@23) */ | |
| w26 = casadi_sq( w23 ); | |
| /* #73: @27 = input[0][25] */ | |
| w27 = arg[0] ? arg[0][25] : 0; | |
| /* #74: @28 = sq(@27) */ | |
| w28 = casadi_sq( w27 ); | |
| /* #75: @26 = (@26+@28) */ | |
| w26 += w28; | |
| /* #76: @28 = input[0][26] */ | |
| w28 = arg[0] ? arg[0][26] : 0; | |
| /* #77: @29 = sq(@28) */ | |
| w29 = casadi_sq( w28 ); | |
| /* #78: @26 = (@26+@29) */ | |
| w26 += w29; | |
| /* #79: @1 = (@1+@26) */ | |
| w1 += w26; | |
| /* #80: @26 = input[0][27] */ | |
| w26 = arg[0] ? arg[0][27] : 0; | |
| /* #81: @29 = sq(@26) */ | |
| w29 = casadi_sq( w26 ); | |
| /* #82: @30 = input[0][28] */ | |
| w30 = arg[0] ? arg[0][28] : 0; | |
| /* #83: @31 = sq(@30) */ | |
| w31 = casadi_sq( w30 ); | |
| /* #84: @29 = (@29+@31) */ | |
| w29 += w31; | |
| /* #85: @31 = input[0][29] */ | |
| w31 = arg[0] ? arg[0][29] : 0; | |
| /* #86: @32 = sq(@31) */ | |
| w32 = casadi_sq( w31 ); | |
| /* #87: @29 = (@29+@32) */ | |
| w29 += w32; | |
| /* #88: @1 = (@1+@29) */ | |
| w1 += w29; | |
| /* #89: @29 = input[0][30] */ | |
| w29 = arg[0] ? arg[0][30] : 0; | |
| /* #90: @32 = sq(@29) */ | |
| w32 = casadi_sq( w29 ); | |
| /* #91: @1 = (@1+@32) */ | |
| w1 += w32; | |
| /* #92: output[0][0] = @1 */ | |
| if (res[0]) res[0][0] = w1; | |
| /* #93: @33 = vertcat(@4, @6) */ | |
| rr=w33; | |
| *rr++ = w4; | |
| *rr++ = w6; | |
| /* #94: @34 = vertcat(@0, @2) */ | |
| rr=w34; | |
| *rr++ = w0; | |
| *rr++ = w2; | |
| /* #95: @1 = 1 */ | |
| w1 = 1.; | |
| /* #96: @32 = 0 */ | |
| w32 = 0.; | |
| /* #97: @35 = input[1][0] */ | |
| w35 = arg[1] ? arg[1][0] : 0; | |
| /* #98: @36 = 0x1 */ | |
| /* #99: {@37, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@34, @3, @1, @32, @35, @36) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w37; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #100: @37 = (@33-@37) */ | |
| for (i=0, rr=w37, cr=w33, cs=w37; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #101: output[1][0] = @37 */ | |
| casadi_copy(w37, 2, res[1]); | |
| /* #102: output[1][1] = @0 */ | |
| if (res[1]) res[1][2] = w0; | |
| /* #103: output[1][2] = @2 */ | |
| if (res[1]) res[1][3] = w2; | |
| /* #104: output[1][3] = @3 */ | |
| if (res[1]) res[1][4] = w3; | |
| /* #105: @37 = vertcat(@5, @9) */ | |
| rr=w37; | |
| *rr++ = w5; | |
| *rr++ = w9; | |
| /* #106: @38 = 1 */ | |
| w38 = 1.; | |
| /* #107: @39 = 1 */ | |
| w39 = 1.; | |
| /* #108: @40 = 0x1 */ | |
| /* #109: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@33, @7, @38, @39, @35, @40) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #110: @41 = (@37-@41) */ | |
| for (i=0, rr=w41, cr=w37, cs=w41; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #111: output[1][4] = @41 */ | |
| if (res[1]) casadi_copy(w41, 2, res[1]+5); | |
| /* #112: output[1][5] = @4 */ | |
| if (res[1]) res[1][7] = w4; | |
| /* #113: output[1][6] = @7 */ | |
| if (res[1]) res[1][8] = w7; | |
| /* #114: @41 = vertcat(@8, @12) */ | |
| rr=w41; | |
| *rr++ = w8; | |
| *rr++ = w12; | |
| /* #115: @42 = 1 */ | |
| w42 = 1.; | |
| /* #116: @43 = 2 */ | |
| w43 = 2.; | |
| /* #117: @44 = 0x1 */ | |
| /* #118: {@45, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@37, @10, @42, @43, @35, @44) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w45; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #119: @45 = (@41-@45) */ | |
| for (i=0, rr=w45, cr=w41, cs=w45; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #120: output[1][7] = @45 */ | |
| if (res[1]) casadi_copy(w45, 2, res[1]+9); | |
| /* #121: output[1][8] = @5 */ | |
| if (res[1]) res[1][11] = w5; | |
| /* #122: output[1][9] = @10 */ | |
| if (res[1]) res[1][12] = w10; | |
| /* #123: @45 = vertcat(@11, @15) */ | |
| rr=w45; | |
| *rr++ = w11; | |
| *rr++ = w15; | |
| /* #124: @46 = 1 */ | |
| w46 = 1.; | |
| /* #125: @47 = 3 */ | |
| w47 = 3.; | |
| /* #126: @48 = 0x1 */ | |
| /* #127: {@49, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@41, @13, @46, @47, @35, @48) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w49; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #128: @49 = (@45-@49) */ | |
| for (i=0, rr=w49, cr=w45, cs=w49; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #129: output[1][10] = @49 */ | |
| if (res[1]) casadi_copy(w49, 2, res[1]+13); | |
| /* #130: output[1][11] = @8 */ | |
| if (res[1]) res[1][15] = w8; | |
| /* #131: output[1][12] = @13 */ | |
| if (res[1]) res[1][16] = w13; | |
| /* #132: @49 = vertcat(@14, @18) */ | |
| rr=w49; | |
| *rr++ = w14; | |
| *rr++ = w18; | |
| /* #133: @50 = 1 */ | |
| w50 = 1.; | |
| /* #134: @51 = 4 */ | |
| w51 = 4.; | |
| /* #135: @52 = 0x1 */ | |
| /* #136: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@45, @16, @50, @51, @35, @52) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #137: @53 = (@49-@53) */ | |
| for (i=0, rr=w53, cr=w49, cs=w53; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #138: output[1][13] = @53 */ | |
| if (res[1]) casadi_copy(w53, 2, res[1]+17); | |
| /* #139: output[1][14] = @11 */ | |
| if (res[1]) res[1][19] = w11; | |
| /* #140: output[1][15] = @16 */ | |
| if (res[1]) res[1][20] = w16; | |
| /* #141: @53 = vertcat(@17, @21) */ | |
| rr=w53; | |
| *rr++ = w17; | |
| *rr++ = w21; | |
| /* #142: @54 = 1 */ | |
| w54 = 1.; | |
| /* #143: @55 = 5 */ | |
| w55 = 5.; | |
| /* #144: @56 = 0x1 */ | |
| /* #145: {@57, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@49, @19, @54, @55, @35, @56) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w57; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #146: @57 = (@53-@57) */ | |
| for (i=0, rr=w57, cr=w53, cs=w57; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #147: output[1][16] = @57 */ | |
| if (res[1]) casadi_copy(w57, 2, res[1]+21); | |
| /* #148: output[1][17] = @14 */ | |
| if (res[1]) res[1][23] = w14; | |
| /* #149: output[1][18] = @19 */ | |
| if (res[1]) res[1][24] = w19; | |
| /* #150: @57 = vertcat(@20, @24) */ | |
| rr=w57; | |
| *rr++ = w20; | |
| *rr++ = w24; | |
| /* #151: @58 = 1 */ | |
| w58 = 1.; | |
| /* #152: @59 = 6 */ | |
| w59 = 6.; | |
| /* #153: @60 = 0x1 */ | |
| /* #154: {@61, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@53, @22, @58, @59, @35, @60) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w61; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #155: @61 = (@57-@61) */ | |
| for (i=0, rr=w61, cr=w57, cs=w61; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #156: output[1][19] = @61 */ | |
| if (res[1]) casadi_copy(w61, 2, res[1]+25); | |
| /* #157: output[1][20] = @17 */ | |
| if (res[1]) res[1][27] = w17; | |
| /* #158: output[1][21] = @22 */ | |
| if (res[1]) res[1][28] = w22; | |
| /* #159: @61 = vertcat(@23, @27) */ | |
| rr=w61; | |
| *rr++ = w23; | |
| *rr++ = w27; | |
| /* #160: @62 = 1 */ | |
| w62 = 1.; | |
| /* #161: @63 = 7 */ | |
| w63 = 7.; | |
| /* #162: @64 = 0x1 */ | |
| /* #163: {@65, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@57, @25, @62, @63, @35, @64) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w65; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #164: @65 = (@61-@65) */ | |
| for (i=0, rr=w65, cr=w61, cs=w65; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #165: output[1][22] = @65 */ | |
| if (res[1]) casadi_copy(w65, 2, res[1]+29); | |
| /* #166: output[1][23] = @20 */ | |
| if (res[1]) res[1][31] = w20; | |
| /* #167: output[1][24] = @25 */ | |
| if (res[1]) res[1][32] = w25; | |
| /* #168: @65 = vertcat(@26, @30) */ | |
| rr=w65; | |
| *rr++ = w26; | |
| *rr++ = w30; | |
| /* #169: @66 = 1 */ | |
| w66 = 1.; | |
| /* #170: @67 = 8 */ | |
| w67 = 8.; | |
| /* #171: @68 = 0x1 */ | |
| /* #172: {@69, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@61, @28, @66, @67, @35, @68) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w69; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #173: @69 = (@65-@69) */ | |
| for (i=0, rr=w69, cr=w65, cs=w69; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #174: output[1][25] = @69 */ | |
| if (res[1]) casadi_copy(w69, 2, res[1]+33); | |
| /* #175: output[1][26] = @23 */ | |
| if (res[1]) res[1][35] = w23; | |
| /* #176: output[1][27] = @28 */ | |
| if (res[1]) res[1][36] = w28; | |
| /* #177: @70 = input[0][31] */ | |
| w70 = arg[0] ? arg[0][31] : 0; | |
| /* #178: @69 = vertcat(@29, @70) */ | |
| rr=w69; | |
| *rr++ = w29; | |
| *rr++ = w70; | |
| /* #179: @70 = 1 */ | |
| w70 = 1.; | |
| /* #180: @71 = 9 */ | |
| w71 = 9.; | |
| /* #181: @72 = 0x1 */ | |
| /* #182: {@73, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@65, @31, @70, @71, @35, @72) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w73; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #183: @69 = (@69-@73) */ | |
| for (i=0, rr=w69, cs=w73; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #184: output[1][28] = @69 */ | |
| if (res[1]) casadi_copy(w69, 2, res[1]+37); | |
| /* #185: output[1][29] = @26 */ | |
| if (res[1]) res[1][39] = w26; | |
| /* #186: output[1][30] = @31 */ | |
| if (res[1]) res[1][40] = w31; | |
| /* #187: output[1][31] = @29 */ | |
| if (res[1]) res[1][41] = w29; | |
| /* #188: @74 = input[3][0] */ | |
| casadi_copy(arg[3], 42, w74); | |
| /* #189: {@69, @75, @76, @77, @73, @78, @79, @80, @81, @82, @83, @84, @85, @86, @87, @88, @89, @90, @91, @92, @93, @94, @95, @96, @97, @98, @99, @100, @101, @102, @103, @104} = vertsplit(@74) */ | |
| casadi_copy(w74, 2, w69); | |
| w75 = w74[2]; | |
| w76 = w74[3]; | |
| w77 = w74[4]; | |
| casadi_copy(w74+5, 2, w73); | |
| w78 = w74[7]; | |
| w79 = w74[8]; | |
| casadi_copy(w74+9, 2, w80); | |
| w81 = w74[11]; | |
| w82 = w74[12]; | |
| casadi_copy(w74+13, 2, w83); | |
| w84 = w74[15]; | |
| w85 = w74[16]; | |
| casadi_copy(w74+17, 2, w86); | |
| w87 = w74[19]; | |
| w88 = w74[20]; | |
| casadi_copy(w74+21, 2, w89); | |
| w90 = w74[23]; | |
| w91 = w74[24]; | |
| casadi_copy(w74+25, 2, w92); | |
| w93 = w74[27]; | |
| w94 = w74[28]; | |
| casadi_copy(w74+29, 2, w95); | |
| w96 = w74[31]; | |
| w97 = w74[32]; | |
| casadi_copy(w74+33, 2, w98); | |
| w99 = w74[35]; | |
| w100 = w74[36]; | |
| casadi_copy(w74+37, 2, w101); | |
| w102 = w74[39]; | |
| w103 = w74[40]; | |
| w104 = w74[41]; | |
| /* #190: @105 = zeros(2x1,0nz) */ | |
| /* #191: @106 = zeros(2x2,0nz) */ | |
| /* #192: @107 = zeros(2x5,0nz) */ | |
| /* #193: @108 = 0x1 */ | |
| /* #194: @109 = 0x1 */ | |
| /* #195: @110 = 0x4 */ | |
| /* #196: @111 = 0x1 */ | |
| /* #197: @112 = 0x1 */ | |
| /* #198: @113 = 0x0 */ | |
| /* #199: @114 = (-@69) */ | |
| for (i=0, rr=w114, cs=w69; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #200: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #201: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #202: @117 = 0x1 */ | |
| /* #203: @118 = 0x1 */ | |
| /* #204: @119 = 0x4 */ | |
| /* #205: @120 = 0x1 */ | |
| /* #206: @121 = 0x1 */ | |
| /* #207: {@122, @123, NULL, NULL, NULL, NULL} = adj1_F(@34, @3, @1, @32, @35, @36, @105, @106, @107, @108, @109, @110, @111, @112, @113, @114, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w114; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w122; | |
| res1[1]=(&w123); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #208: {@124, @125} = vertsplit(@122) */ | |
| w124 = w122[0]; | |
| w125 = w122[1]; | |
| /* #209: @75 = (@75+@124) */ | |
| w75 += w124; | |
| /* #210: @0 = (2.*@0) */ | |
| w0 = (2.* w0 ); | |
| /* #211: @124 = input[2][0] */ | |
| w124 = arg[2] ? arg[2][0] : 0; | |
| /* #212: @0 = (@0*@124) */ | |
| w0 *= w124; | |
| /* #213: @75 = (@75+@0) */ | |
| w75 += w0; | |
| /* #214: output[2][0] = @75 */ | |
| if (res[2]) res[2][0] = w75; | |
| /* #215: @76 = (@76+@125) */ | |
| w76 += w125; | |
| /* #216: @2 = (2.*@2) */ | |
| w2 = (2.* w2 ); | |
| /* #217: @2 = (@2*@124) */ | |
| w2 *= w124; | |
| /* #218: @76 = (@76+@2) */ | |
| w76 += w2; | |
| /* #219: output[2][1] = @76 */ | |
| if (res[2]) res[2][1] = w76; | |
| /* #220: @77 = (@77+@123) */ | |
| w77 += w123; | |
| /* #221: @123 = (2.*@3) */ | |
| w123 = (2.* w3 ); | |
| /* #222: @123 = (@123*@124) */ | |
| w123 *= w124; | |
| /* #223: @77 = (@77+@123) */ | |
| w77 += w123; | |
| /* #224: output[2][2] = @77 */ | |
| if (res[2]) res[2][2] = w77; | |
| /* #225: @105 = zeros(2x1,0nz) */ | |
| /* #226: @106 = zeros(2x2,0nz) */ | |
| /* #227: @107 = zeros(2x5,0nz) */ | |
| /* #228: @108 = 0x1 */ | |
| /* #229: @109 = 0x1 */ | |
| /* #230: @110 = 0x4 */ | |
| /* #231: @111 = 0x1 */ | |
| /* #232: @112 = 0x1 */ | |
| /* #233: @122 = (-@73) */ | |
| for (i=0, rr=w122, cs=w73; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #234: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #235: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #236: @117 = 0x1 */ | |
| /* #237: @118 = 0x1 */ | |
| /* #238: @119 = 0x4 */ | |
| /* #239: @120 = 0x1 */ | |
| /* #240: @121 = 0x1 */ | |
| /* #241: {@114, @77, NULL, NULL, NULL, NULL} = adj1_F(@33, @7, @38, @39, @35, @40, @105, @106, @107, @108, @109, @110, @111, @112, @113, @122, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w122; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w114; | |
| res1[1]=(&w77); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #242: @114 = (@114+@69) */ | |
| for (i=0, rr=w114, cs=w69; i<2; ++i) (*rr++) += (*cs++); | |
| /* #243: {@123, @76} = vertsplit(@114) */ | |
| w123 = w114[0]; | |
| w76 = w114[1]; | |
| /* #244: @78 = (@78+@123) */ | |
| w78 += w123; | |
| /* #245: @4 = (2.*@4) */ | |
| w4 = (2.* w4 ); | |
| /* #246: @4 = (@4*@124) */ | |
| w4 *= w124; | |
| /* #247: @78 = (@78+@4) */ | |
| w78 += w4; | |
| /* #248: output[2][3] = @78 */ | |
| if (res[2]) res[2][3] = w78; | |
| /* #249: @6 = (2.*@6) */ | |
| w6 = (2.* w6 ); | |
| /* #250: @6 = (@6*@124) */ | |
| w6 *= w124; | |
| /* #251: @76 = (@76+@6) */ | |
| w76 += w6; | |
| /* #252: output[2][4] = @76 */ | |
| if (res[2]) res[2][4] = w76; | |
| /* #253: @79 = (@79+@77) */ | |
| w79 += w77; | |
| /* #254: @77 = (2.*@7) */ | |
| w77 = (2.* w7 ); | |
| /* #255: @77 = (@77*@124) */ | |
| w77 *= w124; | |
| /* #256: @79 = (@79+@77) */ | |
| w79 += w77; | |
| /* #257: output[2][5] = @79 */ | |
| if (res[2]) res[2][5] = w79; | |
| /* #258: @105 = zeros(2x1,0nz) */ | |
| /* #259: @106 = zeros(2x2,0nz) */ | |
| /* #260: @107 = zeros(2x5,0nz) */ | |
| /* #261: @108 = 0x1 */ | |
| /* #262: @109 = 0x1 */ | |
| /* #263: @110 = 0x4 */ | |
| /* #264: @111 = 0x1 */ | |
| /* #265: @112 = 0x1 */ | |
| /* #266: @114 = (-@80) */ | |
| for (i=0, rr=w114, cs=w80; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #267: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #268: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #269: @117 = 0x1 */ | |
| /* #270: @118 = 0x1 */ | |
| /* #271: @119 = 0x4 */ | |
| /* #272: @120 = 0x1 */ | |
| /* #273: @121 = 0x1 */ | |
| /* #274: {@69, @79, NULL, NULL, NULL, NULL} = adj1_F(@37, @10, @42, @43, @35, @44, @105, @106, @107, @108, @109, @110, @111, @112, @113, @114, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w114; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w69; | |
| res1[1]=(&w79); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #275: @69 = (@69+@73) */ | |
| for (i=0, rr=w69, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #276: {@77, @76} = vertsplit(@69) */ | |
| w77 = w69[0]; | |
| w76 = w69[1]; | |
| /* #277: @81 = (@81+@77) */ | |
| w81 += w77; | |
| /* #278: @5 = (2.*@5) */ | |
| w5 = (2.* w5 ); | |
| /* #279: @5 = (@5*@124) */ | |
| w5 *= w124; | |
| /* #280: @81 = (@81+@5) */ | |
| w81 += w5; | |
| /* #281: output[2][6] = @81 */ | |
| if (res[2]) res[2][6] = w81; | |
| /* #282: @9 = (2.*@9) */ | |
| w9 = (2.* w9 ); | |
| /* #283: @9 = (@9*@124) */ | |
| w9 *= w124; | |
| /* #284: @76 = (@76+@9) */ | |
| w76 += w9; | |
| /* #285: output[2][7] = @76 */ | |
| if (res[2]) res[2][7] = w76; | |
| /* #286: @82 = (@82+@79) */ | |
| w82 += w79; | |
| /* #287: @79 = (2.*@10) */ | |
| w79 = (2.* w10 ); | |
| /* #288: @79 = (@79*@124) */ | |
| w79 *= w124; | |
| /* #289: @82 = (@82+@79) */ | |
| w82 += w79; | |
| /* #290: output[2][8] = @82 */ | |
| if (res[2]) res[2][8] = w82; | |
| /* #291: @105 = zeros(2x1,0nz) */ | |
| /* #292: @106 = zeros(2x2,0nz) */ | |
| /* #293: @107 = zeros(2x5,0nz) */ | |
| /* #294: @108 = 0x1 */ | |
| /* #295: @109 = 0x1 */ | |
| /* #296: @110 = 0x4 */ | |
| /* #297: @111 = 0x1 */ | |
| /* #298: @112 = 0x1 */ | |
| /* #299: @69 = (-@83) */ | |
| for (i=0, rr=w69, cs=w83; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #300: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #301: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #302: @117 = 0x1 */ | |
| /* #303: @118 = 0x1 */ | |
| /* #304: @119 = 0x4 */ | |
| /* #305: @120 = 0x1 */ | |
| /* #306: @121 = 0x1 */ | |
| /* #307: {@73, @82, NULL, NULL, NULL, NULL} = adj1_F(@41, @13, @46, @47, @35, @48, @105, @106, @107, @108, @109, @110, @111, @112, @113, @69, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w69; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w73; | |
| res1[1]=(&w82); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #308: @73 = (@73+@80) */ | |
| for (i=0, rr=w73, cs=w80; i<2; ++i) (*rr++) += (*cs++); | |
| /* #309: {@79, @76} = vertsplit(@73) */ | |
| w79 = w73[0]; | |
| w76 = w73[1]; | |
| /* #310: @84 = (@84+@79) */ | |
| w84 += w79; | |
| /* #311: @8 = (2.*@8) */ | |
| w8 = (2.* w8 ); | |
| /* #312: @8 = (@8*@124) */ | |
| w8 *= w124; | |
| /* #313: @84 = (@84+@8) */ | |
| w84 += w8; | |
| /* #314: output[2][9] = @84 */ | |
| if (res[2]) res[2][9] = w84; | |
| /* #315: @12 = (2.*@12) */ | |
| w12 = (2.* w12 ); | |
| /* #316: @12 = (@12*@124) */ | |
| w12 *= w124; | |
| /* #317: @76 = (@76+@12) */ | |
| w76 += w12; | |
| /* #318: output[2][10] = @76 */ | |
| if (res[2]) res[2][10] = w76; | |
| /* #319: @85 = (@85+@82) */ | |
| w85 += w82; | |
| /* #320: @82 = (2.*@13) */ | |
| w82 = (2.* w13 ); | |
| /* #321: @82 = (@82*@124) */ | |
| w82 *= w124; | |
| /* #322: @85 = (@85+@82) */ | |
| w85 += w82; | |
| /* #323: output[2][11] = @85 */ | |
| if (res[2]) res[2][11] = w85; | |
| /* #324: @105 = zeros(2x1,0nz) */ | |
| /* #325: @106 = zeros(2x2,0nz) */ | |
| /* #326: @107 = zeros(2x5,0nz) */ | |
| /* #327: @108 = 0x1 */ | |
| /* #328: @109 = 0x1 */ | |
| /* #329: @110 = 0x4 */ | |
| /* #330: @111 = 0x1 */ | |
| /* #331: @112 = 0x1 */ | |
| /* #332: @73 = (-@86) */ | |
| for (i=0, rr=w73, cs=w86; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #333: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #334: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #335: @117 = 0x1 */ | |
| /* #336: @118 = 0x1 */ | |
| /* #337: @119 = 0x4 */ | |
| /* #338: @120 = 0x1 */ | |
| /* #339: @121 = 0x1 */ | |
| /* #340: {@80, @85, NULL, NULL, NULL, NULL} = adj1_F(@45, @16, @50, @51, @35, @52, @105, @106, @107, @108, @109, @110, @111, @112, @113, @73, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w73; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w80; | |
| res1[1]=(&w85); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #341: @80 = (@80+@83) */ | |
| for (i=0, rr=w80, cs=w83; i<2; ++i) (*rr++) += (*cs++); | |
| /* #342: {@82, @76} = vertsplit(@80) */ | |
| w82 = w80[0]; | |
| w76 = w80[1]; | |
| /* #343: @87 = (@87+@82) */ | |
| w87 += w82; | |
| /* #344: @11 = (2.*@11) */ | |
| w11 = (2.* w11 ); | |
| /* #345: @11 = (@11*@124) */ | |
| w11 *= w124; | |
| /* #346: @87 = (@87+@11) */ | |
| w87 += w11; | |
| /* #347: output[2][12] = @87 */ | |
| if (res[2]) res[2][12] = w87; | |
| /* #348: @15 = (2.*@15) */ | |
| w15 = (2.* w15 ); | |
| /* #349: @15 = (@15*@124) */ | |
| w15 *= w124; | |
| /* #350: @76 = (@76+@15) */ | |
| w76 += w15; | |
| /* #351: output[2][13] = @76 */ | |
| if (res[2]) res[2][13] = w76; | |
| /* #352: @88 = (@88+@85) */ | |
| w88 += w85; | |
| /* #353: @85 = (2.*@16) */ | |
| w85 = (2.* w16 ); | |
| /* #354: @85 = (@85*@124) */ | |
| w85 *= w124; | |
| /* #355: @88 = (@88+@85) */ | |
| w88 += w85; | |
| /* #356: output[2][14] = @88 */ | |
| if (res[2]) res[2][14] = w88; | |
| /* #357: @105 = zeros(2x1,0nz) */ | |
| /* #358: @106 = zeros(2x2,0nz) */ | |
| /* #359: @107 = zeros(2x5,0nz) */ | |
| /* #360: @108 = 0x1 */ | |
| /* #361: @109 = 0x1 */ | |
| /* #362: @110 = 0x4 */ | |
| /* #363: @111 = 0x1 */ | |
| /* #364: @112 = 0x1 */ | |
| /* #365: @80 = (-@89) */ | |
| for (i=0, rr=w80, cs=w89; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #366: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #367: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #368: @117 = 0x1 */ | |
| /* #369: @118 = 0x1 */ | |
| /* #370: @119 = 0x4 */ | |
| /* #371: @120 = 0x1 */ | |
| /* #372: @121 = 0x1 */ | |
| /* #373: {@83, @88, NULL, NULL, NULL, NULL} = adj1_F(@49, @19, @54, @55, @35, @56, @105, @106, @107, @108, @109, @110, @111, @112, @113, @80, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w80; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w83; | |
| res1[1]=(&w88); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #374: @83 = (@83+@86) */ | |
| for (i=0, rr=w83, cs=w86; i<2; ++i) (*rr++) += (*cs++); | |
| /* #375: {@85, @76} = vertsplit(@83) */ | |
| w85 = w83[0]; | |
| w76 = w83[1]; | |
| /* #376: @90 = (@90+@85) */ | |
| w90 += w85; | |
| /* #377: @14 = (2.*@14) */ | |
| w14 = (2.* w14 ); | |
| /* #378: @14 = (@14*@124) */ | |
| w14 *= w124; | |
| /* #379: @90 = (@90+@14) */ | |
| w90 += w14; | |
| /* #380: output[2][15] = @90 */ | |
| if (res[2]) res[2][15] = w90; | |
| /* #381: @18 = (2.*@18) */ | |
| w18 = (2.* w18 ); | |
| /* #382: @18 = (@18*@124) */ | |
| w18 *= w124; | |
| /* #383: @76 = (@76+@18) */ | |
| w76 += w18; | |
| /* #384: output[2][16] = @76 */ | |
| if (res[2]) res[2][16] = w76; | |
| /* #385: @91 = (@91+@88) */ | |
| w91 += w88; | |
| /* #386: @88 = (2.*@19) */ | |
| w88 = (2.* w19 ); | |
| /* #387: @88 = (@88*@124) */ | |
| w88 *= w124; | |
| /* #388: @91 = (@91+@88) */ | |
| w91 += w88; | |
| /* #389: output[2][17] = @91 */ | |
| if (res[2]) res[2][17] = w91; | |
| /* #390: @105 = zeros(2x1,0nz) */ | |
| /* #391: @106 = zeros(2x2,0nz) */ | |
| /* #392: @107 = zeros(2x5,0nz) */ | |
| /* #393: @108 = 0x1 */ | |
| /* #394: @109 = 0x1 */ | |
| /* #395: @110 = 0x4 */ | |
| /* #396: @111 = 0x1 */ | |
| /* #397: @112 = 0x1 */ | |
| /* #398: @83 = (-@92) */ | |
| for (i=0, rr=w83, cs=w92; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #399: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #400: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #401: @117 = 0x1 */ | |
| /* #402: @118 = 0x1 */ | |
| /* #403: @119 = 0x4 */ | |
| /* #404: @120 = 0x1 */ | |
| /* #405: @121 = 0x1 */ | |
| /* #406: {@86, @91, NULL, NULL, NULL, NULL} = adj1_F(@53, @22, @58, @59, @35, @60, @105, @106, @107, @108, @109, @110, @111, @112, @113, @83, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w83; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w86; | |
| res1[1]=(&w91); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #407: @86 = (@86+@89) */ | |
| for (i=0, rr=w86, cs=w89; i<2; ++i) (*rr++) += (*cs++); | |
| /* #408: {@88, @76} = vertsplit(@86) */ | |
| w88 = w86[0]; | |
| w76 = w86[1]; | |
| /* #409: @93 = (@93+@88) */ | |
| w93 += w88; | |
| /* #410: @17 = (2.*@17) */ | |
| w17 = (2.* w17 ); | |
| /* #411: @17 = (@17*@124) */ | |
| w17 *= w124; | |
| /* #412: @93 = (@93+@17) */ | |
| w93 += w17; | |
| /* #413: output[2][18] = @93 */ | |
| if (res[2]) res[2][18] = w93; | |
| /* #414: @21 = (2.*@21) */ | |
| w21 = (2.* w21 ); | |
| /* #415: @21 = (@21*@124) */ | |
| w21 *= w124; | |
| /* #416: @76 = (@76+@21) */ | |
| w76 += w21; | |
| /* #417: output[2][19] = @76 */ | |
| if (res[2]) res[2][19] = w76; | |
| /* #418: @94 = (@94+@91) */ | |
| w94 += w91; | |
| /* #419: @91 = (2.*@22) */ | |
| w91 = (2.* w22 ); | |
| /* #420: @91 = (@91*@124) */ | |
| w91 *= w124; | |
| /* #421: @94 = (@94+@91) */ | |
| w94 += w91; | |
| /* #422: output[2][20] = @94 */ | |
| if (res[2]) res[2][20] = w94; | |
| /* #423: @105 = zeros(2x1,0nz) */ | |
| /* #424: @106 = zeros(2x2,0nz) */ | |
| /* #425: @107 = zeros(2x5,0nz) */ | |
| /* #426: @108 = 0x1 */ | |
| /* #427: @109 = 0x1 */ | |
| /* #428: @110 = 0x4 */ | |
| /* #429: @111 = 0x1 */ | |
| /* #430: @112 = 0x1 */ | |
| /* #431: @86 = (-@95) */ | |
| for (i=0, rr=w86, cs=w95; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #432: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #433: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #434: @117 = 0x1 */ | |
| /* #435: @118 = 0x1 */ | |
| /* #436: @119 = 0x4 */ | |
| /* #437: @120 = 0x1 */ | |
| /* #438: @121 = 0x1 */ | |
| /* #439: {@89, @94, NULL, NULL, NULL, NULL} = adj1_F(@57, @25, @62, @63, @35, @64, @105, @106, @107, @108, @109, @110, @111, @112, @113, @86, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w86; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w89; | |
| res1[1]=(&w94); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #440: @89 = (@89+@92) */ | |
| for (i=0, rr=w89, cs=w92; i<2; ++i) (*rr++) += (*cs++); | |
| /* #441: {@91, @76} = vertsplit(@89) */ | |
| w91 = w89[0]; | |
| w76 = w89[1]; | |
| /* #442: @96 = (@96+@91) */ | |
| w96 += w91; | |
| /* #443: @20 = (2.*@20) */ | |
| w20 = (2.* w20 ); | |
| /* #444: @20 = (@20*@124) */ | |
| w20 *= w124; | |
| /* #445: @96 = (@96+@20) */ | |
| w96 += w20; | |
| /* #446: output[2][21] = @96 */ | |
| if (res[2]) res[2][21] = w96; | |
| /* #447: @24 = (2.*@24) */ | |
| w24 = (2.* w24 ); | |
| /* #448: @24 = (@24*@124) */ | |
| w24 *= w124; | |
| /* #449: @76 = (@76+@24) */ | |
| w76 += w24; | |
| /* #450: output[2][22] = @76 */ | |
| if (res[2]) res[2][22] = w76; | |
| /* #451: @97 = (@97+@94) */ | |
| w97 += w94; | |
| /* #452: @94 = (2.*@25) */ | |
| w94 = (2.* w25 ); | |
| /* #453: @94 = (@94*@124) */ | |
| w94 *= w124; | |
| /* #454: @97 = (@97+@94) */ | |
| w97 += w94; | |
| /* #455: output[2][23] = @97 */ | |
| if (res[2]) res[2][23] = w97; | |
| /* #456: @105 = zeros(2x1,0nz) */ | |
| /* #457: @106 = zeros(2x2,0nz) */ | |
| /* #458: @107 = zeros(2x5,0nz) */ | |
| /* #459: @108 = 0x1 */ | |
| /* #460: @109 = 0x1 */ | |
| /* #461: @110 = 0x4 */ | |
| /* #462: @111 = 0x1 */ | |
| /* #463: @112 = 0x1 */ | |
| /* #464: @89 = (-@98) */ | |
| for (i=0, rr=w89, cs=w98; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #465: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #466: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #467: @117 = 0x1 */ | |
| /* #468: @118 = 0x1 */ | |
| /* #469: @119 = 0x4 */ | |
| /* #470: @120 = 0x1 */ | |
| /* #471: @121 = 0x1 */ | |
| /* #472: {@92, @97, NULL, NULL, NULL, NULL} = adj1_F(@61, @28, @66, @67, @35, @68, @105, @106, @107, @108, @109, @110, @111, @112, @113, @89, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w89; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w92; | |
| res1[1]=(&w97); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #473: @92 = (@92+@95) */ | |
| for (i=0, rr=w92, cs=w95; i<2; ++i) (*rr++) += (*cs++); | |
| /* #474: {@94, @76} = vertsplit(@92) */ | |
| w94 = w92[0]; | |
| w76 = w92[1]; | |
| /* #475: @99 = (@99+@94) */ | |
| w99 += w94; | |
| /* #476: @23 = (2.*@23) */ | |
| w23 = (2.* w23 ); | |
| /* #477: @23 = (@23*@124) */ | |
| w23 *= w124; | |
| /* #478: @99 = (@99+@23) */ | |
| w99 += w23; | |
| /* #479: output[2][24] = @99 */ | |
| if (res[2]) res[2][24] = w99; | |
| /* #480: @27 = (2.*@27) */ | |
| w27 = (2.* w27 ); | |
| /* #481: @27 = (@27*@124) */ | |
| w27 *= w124; | |
| /* #482: @76 = (@76+@27) */ | |
| w76 += w27; | |
| /* #483: output[2][25] = @76 */ | |
| if (res[2]) res[2][25] = w76; | |
| /* #484: @100 = (@100+@97) */ | |
| w100 += w97; | |
| /* #485: @97 = (2.*@28) */ | |
| w97 = (2.* w28 ); | |
| /* #486: @97 = (@97*@124) */ | |
| w97 *= w124; | |
| /* #487: @100 = (@100+@97) */ | |
| w100 += w97; | |
| /* #488: output[2][26] = @100 */ | |
| if (res[2]) res[2][26] = w100; | |
| /* #489: @105 = zeros(2x1,0nz) */ | |
| /* #490: @106 = zeros(2x2,0nz) */ | |
| /* #491: @107 = zeros(2x5,0nz) */ | |
| /* #492: @108 = 0x1 */ | |
| /* #493: @109 = 0x1 */ | |
| /* #494: @110 = 0x4 */ | |
| /* #495: @111 = 0x1 */ | |
| /* #496: @112 = 0x1 */ | |
| /* #497: @92 = (-@101) */ | |
| for (i=0, rr=w92, cs=w101; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #498: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #499: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #500: @117 = 0x1 */ | |
| /* #501: @118 = 0x1 */ | |
| /* #502: @119 = 0x4 */ | |
| /* #503: @120 = 0x1 */ | |
| /* #504: @121 = 0x1 */ | |
| /* #505: {@95, @100, NULL, NULL, NULL, NULL} = adj1_F(@65, @31, @70, @71, @35, @72, @105, @106, @107, @108, @109, @110, @111, @112, @113, @92, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w92; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w95; | |
| res1[1]=(&w100); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #506: @95 = (@95+@98) */ | |
| for (i=0, rr=w95, cs=w98; i<2; ++i) (*rr++) += (*cs++); | |
| /* #507: {@97, @76} = vertsplit(@95) */ | |
| w97 = w95[0]; | |
| w76 = w95[1]; | |
| /* #508: @102 = (@102+@97) */ | |
| w102 += w97; | |
| /* #509: @26 = (2.*@26) */ | |
| w26 = (2.* w26 ); | |
| /* #510: @26 = (@26*@124) */ | |
| w26 *= w124; | |
| /* #511: @102 = (@102+@26) */ | |
| w102 += w26; | |
| /* #512: output[2][27] = @102 */ | |
| if (res[2]) res[2][27] = w102; | |
| /* #513: @30 = (2.*@30) */ | |
| w30 = (2.* w30 ); | |
| /* #514: @30 = (@30*@124) */ | |
| w30 *= w124; | |
| /* #515: @76 = (@76+@30) */ | |
| w76 += w30; | |
| /* #516: output[2][28] = @76 */ | |
| if (res[2]) res[2][28] = w76; | |
| /* #517: @103 = (@103+@100) */ | |
| w103 += w100; | |
| /* #518: @100 = (2.*@31) */ | |
| w100 = (2.* w31 ); | |
| /* #519: @100 = (@100*@124) */ | |
| w100 *= w124; | |
| /* #520: @103 = (@103+@100) */ | |
| w103 += w100; | |
| /* #521: output[2][29] = @103 */ | |
| if (res[2]) res[2][29] = w103; | |
| /* #522: {@103, @100} = vertsplit(@101) */ | |
| w103 = w101[0]; | |
| w100 = w101[1]; | |
| /* #523: @104 = (@104+@103) */ | |
| w104 += w103; | |
| /* #524: @29 = (2.*@29) */ | |
| w29 = (2.* w29 ); | |
| /* #525: @29 = (@29*@124) */ | |
| w29 *= w124; | |
| /* #526: @104 = (@104+@29) */ | |
| w104 += w29; | |
| /* #527: output[2][30] = @104 */ | |
| if (res[2]) res[2][30] = w104; | |
| /* #528: output[2][31] = @100 */ | |
| if (res[2]) res[2][31] = w100; | |
| /* #529: @105 = zeros(2x1,0nz) */ | |
| /* #530: @106 = zeros(2x2,0nz) */ | |
| /* #531: @107 = zeros(2x5,0nz) */ | |
| /* #532: @108 = 0x1 */ | |
| /* #533: @109 = 0x1 */ | |
| /* #534: @110 = 0x4 */ | |
| /* #535: @111 = 0x1 */ | |
| /* #536: @112 = 0x1 */ | |
| /* #537: {@101, NULL, NULL, NULL, @95, NULL, NULL, @98, NULL, NULL, @92, NULL, NULL, @89, NULL, NULL, @86, NULL, NULL, @83, NULL, NULL, @80, NULL, NULL, @73, NULL, NULL, @69, NULL, NULL, NULL} = vertsplit(@74) */ | |
| casadi_copy(w74, 2, w101); | |
| casadi_copy(w74+5, 2, w95); | |
| casadi_copy(w74+9, 2, w98); | |
| casadi_copy(w74+13, 2, w92); | |
| casadi_copy(w74+17, 2, w89); | |
| casadi_copy(w74+21, 2, w86); | |
| casadi_copy(w74+25, 2, w83); | |
| casadi_copy(w74+29, 2, w80); | |
| casadi_copy(w74+33, 2, w73); | |
| casadi_copy(w74+37, 2, w69); | |
| /* #538: @69 = (-@69) */ | |
| for (i=0, rr=w69, cs=w69; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #539: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #540: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #541: @117 = 0x1 */ | |
| /* #542: @118 = 0x1 */ | |
| /* #543: @119 = 0x4 */ | |
| /* #544: @120 = 0x1 */ | |
| /* #545: @121 = 0x1 */ | |
| /* #546: {NULL, NULL, NULL, NULL, @100, NULL} = adj1_F(@65, @31, @70, @71, @35, @72, @105, @106, @107, @108, @109, @110, @111, @112, @113, @69, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w69; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w100); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #547: @72 = zeros(2x1,0nz) */ | |
| /* #548: @105 = zeros(2x2,0nz) */ | |
| /* #549: @106 = zeros(2x5,0nz) */ | |
| /* #550: @107 = 0x1 */ | |
| /* #551: @108 = 0x1 */ | |
| /* #552: @109 = 0x4 */ | |
| /* #553: @110 = 0x1 */ | |
| /* #554: @111 = 0x1 */ | |
| /* #555: @73 = (-@73) */ | |
| for (i=0, rr=w73, cs=w73; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #556: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #557: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #558: @112 = 0x1 */ | |
| /* #559: @117 = 0x1 */ | |
| /* #560: @118 = 0x4 */ | |
| /* #561: @119 = 0x1 */ | |
| /* #562: @120 = 0x1 */ | |
| /* #563: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@61, @28, @66, @67, @35, @68, @72, @105, @106, @107, @108, @109, @110, @111, @113, @73, @115, @116, @112, @117, @118, @119, @120, @113) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w73; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #564: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #565: @68 = zeros(2x1,0nz) */ | |
| /* #566: @72 = zeros(2x2,0nz) */ | |
| /* #567: @105 = zeros(2x5,0nz) */ | |
| /* #568: @106 = 0x1 */ | |
| /* #569: @107 = 0x1 */ | |
| /* #570: @108 = 0x4 */ | |
| /* #571: @109 = 0x1 */ | |
| /* #572: @110 = 0x1 */ | |
| /* #573: @80 = (-@80) */ | |
| for (i=0, rr=w80, cs=w80; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #574: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #575: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #576: @111 = 0x1 */ | |
| /* #577: @112 = 0x1 */ | |
| /* #578: @117 = 0x4 */ | |
| /* #579: @118 = 0x1 */ | |
| /* #580: @119 = 0x1 */ | |
| /* #581: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@57, @25, @62, @63, @35, @64, @68, @72, @105, @106, @107, @108, @109, @110, @113, @80, @115, @116, @111, @112, @117, @118, @119, @113) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w80; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #582: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #583: @64 = zeros(2x1,0nz) */ | |
| /* #584: @68 = zeros(2x2,0nz) */ | |
| /* #585: @72 = zeros(2x5,0nz) */ | |
| /* #586: @105 = 0x1 */ | |
| /* #587: @106 = 0x1 */ | |
| /* #588: @107 = 0x4 */ | |
| /* #589: @108 = 0x1 */ | |
| /* #590: @109 = 0x1 */ | |
| /* #591: @83 = (-@83) */ | |
| for (i=0, rr=w83, cs=w83; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #592: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #593: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #594: @110 = 0x1 */ | |
| /* #595: @111 = 0x1 */ | |
| /* #596: @112 = 0x4 */ | |
| /* #597: @117 = 0x1 */ | |
| /* #598: @118 = 0x1 */ | |
| /* #599: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@53, @22, @58, @59, @35, @60, @64, @68, @72, @105, @106, @107, @108, @109, @113, @83, @115, @116, @110, @111, @112, @117, @118, @113) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w83; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #600: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #601: @60 = zeros(2x1,0nz) */ | |
| /* #602: @64 = zeros(2x2,0nz) */ | |
| /* #603: @68 = zeros(2x5,0nz) */ | |
| /* #604: @72 = 0x1 */ | |
| /* #605: @105 = 0x1 */ | |
| /* #606: @106 = 0x4 */ | |
| /* #607: @107 = 0x1 */ | |
| /* #608: @108 = 0x1 */ | |
| /* #609: @86 = (-@86) */ | |
| for (i=0, rr=w86, cs=w86; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #610: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #611: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #612: @109 = 0x1 */ | |
| /* #613: @110 = 0x1 */ | |
| /* #614: @111 = 0x4 */ | |
| /* #615: @112 = 0x1 */ | |
| /* #616: @117 = 0x1 */ | |
| /* #617: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@49, @19, @54, @55, @35, @56, @60, @64, @68, @72, @105, @106, @107, @108, @113, @86, @115, @116, @109, @110, @111, @112, @117, @113) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w86; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #618: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #619: @56 = zeros(2x1,0nz) */ | |
| /* #620: @60 = zeros(2x2,0nz) */ | |
| /* #621: @64 = zeros(2x5,0nz) */ | |
| /* #622: @68 = 0x1 */ | |
| /* #623: @72 = 0x1 */ | |
| /* #624: @105 = 0x4 */ | |
| /* #625: @106 = 0x1 */ | |
| /* #626: @107 = 0x1 */ | |
| /* #627: @89 = (-@89) */ | |
| for (i=0, rr=w89, cs=w89; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #628: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #629: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #630: @108 = 0x1 */ | |
| /* #631: @109 = 0x1 */ | |
| /* #632: @110 = 0x4 */ | |
| /* #633: @111 = 0x1 */ | |
| /* #634: @112 = 0x1 */ | |
| /* #635: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@45, @16, @50, @51, @35, @52, @56, @60, @64, @68, @72, @105, @106, @107, @113, @89, @115, @116, @108, @109, @110, @111, @112, @113) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w89; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #636: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #637: @52 = zeros(2x1,0nz) */ | |
| /* #638: @56 = zeros(2x2,0nz) */ | |
| /* #639: @60 = zeros(2x5,0nz) */ | |
| /* #640: @64 = 0x1 */ | |
| /* #641: @68 = 0x1 */ | |
| /* #642: @72 = 0x4 */ | |
| /* #643: @105 = 0x1 */ | |
| /* #644: @106 = 0x1 */ | |
| /* #645: @92 = (-@92) */ | |
| for (i=0, rr=w92, cs=w92; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #646: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #647: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #648: @107 = 0x1 */ | |
| /* #649: @108 = 0x1 */ | |
| /* #650: @109 = 0x4 */ | |
| /* #651: @110 = 0x1 */ | |
| /* #652: @111 = 0x1 */ | |
| /* #653: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@41, @13, @46, @47, @35, @48, @52, @56, @60, @64, @68, @72, @105, @106, @113, @92, @115, @116, @107, @108, @109, @110, @111, @113) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w92; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #654: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #655: @48 = zeros(2x1,0nz) */ | |
| /* #656: @52 = zeros(2x2,0nz) */ | |
| /* #657: @56 = zeros(2x5,0nz) */ | |
| /* #658: @60 = 0x1 */ | |
| /* #659: @64 = 0x1 */ | |
| /* #660: @68 = 0x4 */ | |
| /* #661: @72 = 0x1 */ | |
| /* #662: @105 = 0x1 */ | |
| /* #663: @98 = (-@98) */ | |
| for (i=0, rr=w98, cs=w98; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #664: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #665: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #666: @106 = 0x1 */ | |
| /* #667: @107 = 0x1 */ | |
| /* #668: @108 = 0x4 */ | |
| /* #669: @109 = 0x1 */ | |
| /* #670: @110 = 0x1 */ | |
| /* #671: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@37, @10, @42, @43, @35, @44, @48, @52, @56, @60, @64, @68, @72, @105, @113, @98, @115, @116, @106, @107, @108, @109, @110, @113) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w98; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #672: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #673: @44 = zeros(2x1,0nz) */ | |
| /* #674: @48 = zeros(2x2,0nz) */ | |
| /* #675: @52 = zeros(2x5,0nz) */ | |
| /* #676: @56 = 0x1 */ | |
| /* #677: @60 = 0x1 */ | |
| /* #678: @64 = 0x4 */ | |
| /* #679: @68 = 0x1 */ | |
| /* #680: @72 = 0x1 */ | |
| /* #681: @95 = (-@95) */ | |
| for (i=0, rr=w95, cs=w95; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #682: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #683: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #684: @105 = 0x1 */ | |
| /* #685: @106 = 0x1 */ | |
| /* #686: @107 = 0x4 */ | |
| /* #687: @108 = 0x1 */ | |
| /* #688: @109 = 0x1 */ | |
| /* #689: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@33, @7, @38, @39, @35, @40, @44, @48, @52, @56, @60, @64, @68, @72, @113, @95, @115, @116, @105, @106, @107, @108, @109, @113) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w95; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #690: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #691: @40 = zeros(2x1,0nz) */ | |
| /* #692: @44 = zeros(2x2,0nz) */ | |
| /* #693: @48 = zeros(2x5,0nz) */ | |
| /* #694: @52 = 0x1 */ | |
| /* #695: @56 = 0x1 */ | |
| /* #696: @60 = 0x4 */ | |
| /* #697: @64 = 0x1 */ | |
| /* #698: @68 = 0x1 */ | |
| /* #699: @101 = (-@101) */ | |
| for (i=0, rr=w101, cs=w101; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #700: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #701: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #702: @72 = 0x1 */ | |
| /* #703: @105 = 0x1 */ | |
| /* #704: @106 = 0x4 */ | |
| /* #705: @107 = 0x1 */ | |
| /* #706: @108 = 0x1 */ | |
| /* #707: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@34, @3, @1, @32, @35, @36, @40, @44, @48, @52, @56, @60, @64, @68, @113, @101, @115, @116, @72, @105, @106, @107, @108, @113) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w101; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #708: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #709: output[3][0] = @100 */ | |
| if (res[3]) res[3][0] = w100; | |
| return 0; | |
| } | |
| /* nlp_f:(x[32],p)->(f) */ | |
| static int casadi_f9(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0, w1, w2; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @0 = sq(@0) */ | |
| w0 = casadi_sq( w0 ); | |
| /* #2: @1 = input[0][1] */ | |
| w1 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #4: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #5: @1 = input[0][2] */ | |
| w1 = arg[0] ? arg[0][2] : 0; | |
| /* #6: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #7: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #8: @1 = input[0][3] */ | |
| w1 = arg[0] ? arg[0][3] : 0; | |
| /* #9: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #10: @2 = input[0][4] */ | |
| w2 = arg[0] ? arg[0][4] : 0; | |
| /* #11: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #12: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #13: @2 = input[0][5] */ | |
| w2 = arg[0] ? arg[0][5] : 0; | |
| /* #14: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #15: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #16: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #17: @1 = input[0][6] */ | |
| w1 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #19: @2 = input[0][7] */ | |
| w2 = arg[0] ? arg[0][7] : 0; | |
| /* #20: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #21: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #22: @2 = input[0][8] */ | |
| w2 = arg[0] ? arg[0][8] : 0; | |
| /* #23: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #24: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #25: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #26: @1 = input[0][9] */ | |
| w1 = arg[0] ? arg[0][9] : 0; | |
| /* #27: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #28: @2 = input[0][10] */ | |
| w2 = arg[0] ? arg[0][10] : 0; | |
| /* #29: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #30: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #31: @2 = input[0][11] */ | |
| w2 = arg[0] ? arg[0][11] : 0; | |
| /* #32: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #33: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #34: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #35: @1 = input[0][12] */ | |
| w1 = arg[0] ? arg[0][12] : 0; | |
| /* #36: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #37: @2 = input[0][13] */ | |
| w2 = arg[0] ? arg[0][13] : 0; | |
| /* #38: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #39: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #40: @2 = input[0][14] */ | |
| w2 = arg[0] ? arg[0][14] : 0; | |
| /* #41: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #42: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #43: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #44: @1 = input[0][15] */ | |
| w1 = arg[0] ? arg[0][15] : 0; | |
| /* #45: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #46: @2 = input[0][16] */ | |
| w2 = arg[0] ? arg[0][16] : 0; | |
| /* #47: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #48: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #49: @2 = input[0][17] */ | |
| w2 = arg[0] ? arg[0][17] : 0; | |
| /* #50: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #51: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #52: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #53: @1 = input[0][18] */ | |
| w1 = arg[0] ? arg[0][18] : 0; | |
| /* #54: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #55: @2 = input[0][19] */ | |
| w2 = arg[0] ? arg[0][19] : 0; | |
| /* #56: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #57: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #58: @2 = input[0][20] */ | |
| w2 = arg[0] ? arg[0][20] : 0; | |
| /* #59: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #60: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #61: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #62: @1 = input[0][21] */ | |
| w1 = arg[0] ? arg[0][21] : 0; | |
| /* #63: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #64: @2 = input[0][22] */ | |
| w2 = arg[0] ? arg[0][22] : 0; | |
| /* #65: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #66: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #67: @2 = input[0][23] */ | |
| w2 = arg[0] ? arg[0][23] : 0; | |
| /* #68: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #69: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #70: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #71: @1 = input[0][24] */ | |
| w1 = arg[0] ? arg[0][24] : 0; | |
| /* #72: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #73: @2 = input[0][25] */ | |
| w2 = arg[0] ? arg[0][25] : 0; | |
| /* #74: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #75: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #76: @2 = input[0][26] */ | |
| w2 = arg[0] ? arg[0][26] : 0; | |
| /* #77: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #78: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #79: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #80: @1 = input[0][27] */ | |
| w1 = arg[0] ? arg[0][27] : 0; | |
| /* #81: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #82: @2 = input[0][28] */ | |
| w2 = arg[0] ? arg[0][28] : 0; | |
| /* #83: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #84: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #85: @2 = input[0][29] */ | |
| w2 = arg[0] ? arg[0][29] : 0; | |
| /* #86: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #87: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #88: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #89: @1 = input[0][30] */ | |
| w1 = arg[0] ? arg[0][30] : 0; | |
| /* #90: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #91: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #92: output[0][0] = @0 */ | |
| if (res[0]) res[0][0] = w0; | |
| return 0; | |
| } | |
| /* nlp_grad_f:(x[32],p)->(f,grad_f_x[32]) */ | |
| static int casadi_f10(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *rr; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, w31, w32, *w34=w+33, *w35=w+64; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @1 = sq(@0) */ | |
| w1 = casadi_sq( w0 ); | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = sq(@2) */ | |
| w3 = casadi_sq( w2 ); | |
| /* #4: @1 = (@1+@3) */ | |
| w1 += w3; | |
| /* #5: @3 = input[0][2] */ | |
| w3 = arg[0] ? arg[0][2] : 0; | |
| /* #6: @4 = sq(@3) */ | |
| w4 = casadi_sq( w3 ); | |
| /* #7: @1 = (@1+@4) */ | |
| w1 += w4; | |
| /* #8: @4 = input[0][3] */ | |
| w4 = arg[0] ? arg[0][3] : 0; | |
| /* #9: @5 = sq(@4) */ | |
| w5 = casadi_sq( w4 ); | |
| /* #10: @6 = input[0][4] */ | |
| w6 = arg[0] ? arg[0][4] : 0; | |
| /* #11: @7 = sq(@6) */ | |
| w7 = casadi_sq( w6 ); | |
| /* #12: @5 = (@5+@7) */ | |
| w5 += w7; | |
| /* #13: @7 = input[0][5] */ | |
| w7 = arg[0] ? arg[0][5] : 0; | |
| /* #14: @8 = sq(@7) */ | |
| w8 = casadi_sq( w7 ); | |
| /* #15: @5 = (@5+@8) */ | |
| w5 += w8; | |
| /* #16: @1 = (@1+@5) */ | |
| w1 += w5; | |
| /* #17: @5 = input[0][6] */ | |
| w5 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @8 = sq(@5) */ | |
| w8 = casadi_sq( w5 ); | |
| /* #19: @9 = input[0][7] */ | |
| w9 = arg[0] ? arg[0][7] : 0; | |
| /* #20: @10 = sq(@9) */ | |
| w10 = casadi_sq( w9 ); | |
| /* #21: @8 = (@8+@10) */ | |
| w8 += w10; | |
| /* #22: @10 = input[0][8] */ | |
| w10 = arg[0] ? arg[0][8] : 0; | |
| /* #23: @11 = sq(@10) */ | |
| w11 = casadi_sq( w10 ); | |
| /* #24: @8 = (@8+@11) */ | |
| w8 += w11; | |
| /* #25: @1 = (@1+@8) */ | |
| w1 += w8; | |
| /* #26: @8 = input[0][9] */ | |
| w8 = arg[0] ? arg[0][9] : 0; | |
| /* #27: @11 = sq(@8) */ | |
| w11 = casadi_sq( w8 ); | |
| /* #28: @12 = input[0][10] */ | |
| w12 = arg[0] ? arg[0][10] : 0; | |
| /* #29: @13 = sq(@12) */ | |
| w13 = casadi_sq( w12 ); | |
| /* #30: @11 = (@11+@13) */ | |
| w11 += w13; | |
| /* #31: @13 = input[0][11] */ | |
| w13 = arg[0] ? arg[0][11] : 0; | |
| /* #32: @14 = sq(@13) */ | |
| w14 = casadi_sq( w13 ); | |
| /* #33: @11 = (@11+@14) */ | |
| w11 += w14; | |
| /* #34: @1 = (@1+@11) */ | |
| w1 += w11; | |
| /* #35: @11 = input[0][12] */ | |
| w11 = arg[0] ? arg[0][12] : 0; | |
| /* #36: @14 = sq(@11) */ | |
| w14 = casadi_sq( w11 ); | |
| /* #37: @15 = input[0][13] */ | |
| w15 = arg[0] ? arg[0][13] : 0; | |
| /* #38: @16 = sq(@15) */ | |
| w16 = casadi_sq( w15 ); | |
| /* #39: @14 = (@14+@16) */ | |
| w14 += w16; | |
| /* #40: @16 = input[0][14] */ | |
| w16 = arg[0] ? arg[0][14] : 0; | |
| /* #41: @17 = sq(@16) */ | |
| w17 = casadi_sq( w16 ); | |
| /* #42: @14 = (@14+@17) */ | |
| w14 += w17; | |
| /* #43: @1 = (@1+@14) */ | |
| w1 += w14; | |
| /* #44: @14 = input[0][15] */ | |
| w14 = arg[0] ? arg[0][15] : 0; | |
| /* #45: @17 = sq(@14) */ | |
| w17 = casadi_sq( w14 ); | |
| /* #46: @18 = input[0][16] */ | |
| w18 = arg[0] ? arg[0][16] : 0; | |
| /* #47: @19 = sq(@18) */ | |
| w19 = casadi_sq( w18 ); | |
| /* #48: @17 = (@17+@19) */ | |
| w17 += w19; | |
| /* #49: @19 = input[0][17] */ | |
| w19 = arg[0] ? arg[0][17] : 0; | |
| /* #50: @20 = sq(@19) */ | |
| w20 = casadi_sq( w19 ); | |
| /* #51: @17 = (@17+@20) */ | |
| w17 += w20; | |
| /* #52: @1 = (@1+@17) */ | |
| w1 += w17; | |
| /* #53: @17 = input[0][18] */ | |
| w17 = arg[0] ? arg[0][18] : 0; | |
| /* #54: @20 = sq(@17) */ | |
| w20 = casadi_sq( w17 ); | |
| /* #55: @21 = input[0][19] */ | |
| w21 = arg[0] ? arg[0][19] : 0; | |
| /* #56: @22 = sq(@21) */ | |
| w22 = casadi_sq( w21 ); | |
| /* #57: @20 = (@20+@22) */ | |
| w20 += w22; | |
| /* #58: @22 = input[0][20] */ | |
| w22 = arg[0] ? arg[0][20] : 0; | |
| /* #59: @23 = sq(@22) */ | |
| w23 = casadi_sq( w22 ); | |
| /* #60: @20 = (@20+@23) */ | |
| w20 += w23; | |
| /* #61: @1 = (@1+@20) */ | |
| w1 += w20; | |
| /* #62: @20 = input[0][21] */ | |
| w20 = arg[0] ? arg[0][21] : 0; | |
| /* #63: @23 = sq(@20) */ | |
| w23 = casadi_sq( w20 ); | |
| /* #64: @24 = input[0][22] */ | |
| w24 = arg[0] ? arg[0][22] : 0; | |
| /* #65: @25 = sq(@24) */ | |
| w25 = casadi_sq( w24 ); | |
| /* #66: @23 = (@23+@25) */ | |
| w23 += w25; | |
| /* #67: @25 = input[0][23] */ | |
| w25 = arg[0] ? arg[0][23] : 0; | |
| /* #68: @26 = sq(@25) */ | |
| w26 = casadi_sq( w25 ); | |
| /* #69: @23 = (@23+@26) */ | |
| w23 += w26; | |
| /* #70: @1 = (@1+@23) */ | |
| w1 += w23; | |
| /* #71: @23 = input[0][24] */ | |
| w23 = arg[0] ? arg[0][24] : 0; | |
| /* #72: @26 = sq(@23) */ | |
| w26 = casadi_sq( w23 ); | |
| /* #73: @27 = input[0][25] */ | |
| w27 = arg[0] ? arg[0][25] : 0; | |
| /* #74: @28 = sq(@27) */ | |
| w28 = casadi_sq( w27 ); | |
| /* #75: @26 = (@26+@28) */ | |
| w26 += w28; | |
| /* #76: @28 = input[0][26] */ | |
| w28 = arg[0] ? arg[0][26] : 0; | |
| /* #77: @29 = sq(@28) */ | |
| w29 = casadi_sq( w28 ); | |
| /* #78: @26 = (@26+@29) */ | |
| w26 += w29; | |
| /* #79: @1 = (@1+@26) */ | |
| w1 += w26; | |
| /* #80: @26 = input[0][27] */ | |
| w26 = arg[0] ? arg[0][27] : 0; | |
| /* #81: @29 = sq(@26) */ | |
| w29 = casadi_sq( w26 ); | |
| /* #82: @30 = input[0][28] */ | |
| w30 = arg[0] ? arg[0][28] : 0; | |
| /* #83: @31 = sq(@30) */ | |
| w31 = casadi_sq( w30 ); | |
| /* #84: @29 = (@29+@31) */ | |
| w29 += w31; | |
| /* #85: @31 = input[0][29] */ | |
| w31 = arg[0] ? arg[0][29] : 0; | |
| /* #86: @32 = sq(@31) */ | |
| w32 = casadi_sq( w31 ); | |
| /* #87: @29 = (@29+@32) */ | |
| w29 += w32; | |
| /* #88: @1 = (@1+@29) */ | |
| w1 += w29; | |
| /* #89: @29 = input[0][30] */ | |
| w29 = arg[0] ? arg[0][30] : 0; | |
| /* #90: @32 = sq(@29) */ | |
| w32 = casadi_sq( w29 ); | |
| /* #91: @1 = (@1+@32) */ | |
| w1 += w32; | |
| /* #92: output[0][0] = @1 */ | |
| if (res[0]) res[0][0] = w1; | |
| /* #93: @0 = (2.*@0) */ | |
| w0 = (2.* w0 ); | |
| /* #94: @2 = (2.*@2) */ | |
| w2 = (2.* w2 ); | |
| /* #95: @3 = (2.*@3) */ | |
| w3 = (2.* w3 ); | |
| /* #96: @4 = (2.*@4) */ | |
| w4 = (2.* w4 ); | |
| /* #97: @6 = (2.*@6) */ | |
| w6 = (2.* w6 ); | |
| /* #98: @7 = (2.*@7) */ | |
| w7 = (2.* w7 ); | |
| /* #99: @5 = (2.*@5) */ | |
| w5 = (2.* w5 ); | |
| /* #100: @9 = (2.*@9) */ | |
| w9 = (2.* w9 ); | |
| /* #101: @10 = (2.*@10) */ | |
| w10 = (2.* w10 ); | |
| /* #102: @8 = (2.*@8) */ | |
| w8 = (2.* w8 ); | |
| /* #103: @12 = (2.*@12) */ | |
| w12 = (2.* w12 ); | |
| /* #104: @13 = (2.*@13) */ | |
| w13 = (2.* w13 ); | |
| /* #105: @11 = (2.*@11) */ | |
| w11 = (2.* w11 ); | |
| /* #106: @15 = (2.*@15) */ | |
| w15 = (2.* w15 ); | |
| /* #107: @16 = (2.*@16) */ | |
| w16 = (2.* w16 ); | |
| /* #108: @14 = (2.*@14) */ | |
| w14 = (2.* w14 ); | |
| /* #109: @18 = (2.*@18) */ | |
| w18 = (2.* w18 ); | |
| /* #110: @19 = (2.*@19) */ | |
| w19 = (2.* w19 ); | |
| /* #111: @17 = (2.*@17) */ | |
| w17 = (2.* w17 ); | |
| /* #112: @21 = (2.*@21) */ | |
| w21 = (2.* w21 ); | |
| /* #113: @22 = (2.*@22) */ | |
| w22 = (2.* w22 ); | |
| /* #114: @20 = (2.*@20) */ | |
| w20 = (2.* w20 ); | |
| /* #115: @24 = (2.*@24) */ | |
| w24 = (2.* w24 ); | |
| /* #116: @25 = (2.*@25) */ | |
| w25 = (2.* w25 ); | |
| /* #117: @23 = (2.*@23) */ | |
| w23 = (2.* w23 ); | |
| /* #118: @27 = (2.*@27) */ | |
| w27 = (2.* w27 ); | |
| /* #119: @28 = (2.*@28) */ | |
| w28 = (2.* w28 ); | |
| /* #120: @26 = (2.*@26) */ | |
| w26 = (2.* w26 ); | |
| /* #121: @30 = (2.*@30) */ | |
| w30 = (2.* w30 ); | |
| /* #122: @31 = (2.*@31) */ | |
| w31 = (2.* w31 ); | |
| /* #123: @29 = (2.*@29) */ | |
| w29 = (2.* w29 ); | |
| /* #124: @33 = 00 */ | |
| /* #125: @34 = vertcat(@0, @2, @3, @4, @6, @7, @5, @9, @10, @8, @12, @13, @11, @15, @16, @14, @18, @19, @17, @21, @22, @20, @24, @25, @23, @27, @28, @26, @30, @31, @29, @33) */ | |
| rr=w34; | |
| *rr++ = w0; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| *rr++ = w4; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| *rr++ = w5; | |
| *rr++ = w9; | |
| *rr++ = w10; | |
| *rr++ = w8; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| *rr++ = w11; | |
| *rr++ = w15; | |
| *rr++ = w16; | |
| *rr++ = w14; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| *rr++ = w17; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| *rr++ = w20; | |
| *rr++ = w24; | |
| *rr++ = w25; | |
| *rr++ = w23; | |
| *rr++ = w27; | |
| *rr++ = w28; | |
| *rr++ = w26; | |
| *rr++ = w30; | |
| *rr++ = w31; | |
| *rr++ = w29; | |
| /* #126: @35 = dense(@34) */ | |
| casadi_densify(w34, casadi_s0, w35, 0); | |
| /* #127: output[1][0] = @35 */ | |
| casadi_copy(w35, 32, res[1]); | |
| return 0; | |
| } | |
| /* nlp_g:(x[32],p)->(g[42]) */ | |
| static int casadi_f11(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr; | |
| const casadi_real **arg1=arg+2, *cr, *cs; | |
| casadi_real w0, w1, *w2=w+42, w3, *w4=w+45, w5, w6, w7, w8, *w10=w+51; | |
| /* #0: @0 = input[0][3] */ | |
| w0 = arg[0] ? arg[0][3] : 0; | |
| /* #1: @1 = input[0][4] */ | |
| w1 = arg[0] ? arg[0][4] : 0; | |
| /* #2: @2 = vertcat(@0, @1) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| /* #3: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #4: @3 = input[0][1] */ | |
| w3 = arg[0] ? arg[0][1] : 0; | |
| /* #5: @4 = vertcat(@1, @3) */ | |
| rr=w4; | |
| *rr++ = w1; | |
| *rr++ = w3; | |
| /* #6: @5 = input[0][2] */ | |
| w5 = arg[0] ? arg[0][2] : 0; | |
| /* #7: @6 = 1 */ | |
| w6 = 1.; | |
| /* #8: @7 = 0 */ | |
| w7 = 0.; | |
| /* #9: @8 = input[1][0] */ | |
| w8 = arg[1] ? arg[1][0] : 0; | |
| /* #10: @9 = 0x1 */ | |
| /* #11: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @6, @7, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w6); | |
| arg1[3]=(&w7); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #12: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #13: output[0][0] = @10 */ | |
| casadi_copy(w10, 2, res[0]); | |
| /* #14: output[0][1] = @1 */ | |
| if (res[0]) res[0][2] = w1; | |
| /* #15: output[0][2] = @3 */ | |
| if (res[0]) res[0][3] = w3; | |
| /* #16: output[0][3] = @5 */ | |
| if (res[0]) res[0][4] = w5; | |
| /* #17: @5 = input[0][6] */ | |
| w5 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @3 = input[0][7] */ | |
| w3 = arg[0] ? arg[0][7] : 0; | |
| /* #19: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #20: @3 = input[0][5] */ | |
| w3 = arg[0] ? arg[0][5] : 0; | |
| /* #21: @1 = 1 */ | |
| w1 = 1.; | |
| /* #22: @6 = 1 */ | |
| w6 = 1.; | |
| /* #23: @9 = 0x1 */ | |
| /* #24: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #26: output[0][4] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+5); | |
| /* #27: output[0][5] = @0 */ | |
| if (res[0]) res[0][7] = w0; | |
| /* #28: output[0][6] = @3 */ | |
| if (res[0]) res[0][8] = w3; | |
| /* #29: @3 = input[0][9] */ | |
| w3 = arg[0] ? arg[0][9] : 0; | |
| /* #30: @0 = input[0][10] */ | |
| w0 = arg[0] ? arg[0][10] : 0; | |
| /* #31: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #32: @0 = input[0][8] */ | |
| w0 = arg[0] ? arg[0][8] : 0; | |
| /* #33: @1 = 1 */ | |
| w1 = 1.; | |
| /* #34: @6 = 2 */ | |
| w6 = 2.; | |
| /* #35: @9 = 0x1 */ | |
| /* #36: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #37: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #38: output[0][7] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+9); | |
| /* #39: output[0][8] = @5 */ | |
| if (res[0]) res[0][11] = w5; | |
| /* #40: output[0][9] = @0 */ | |
| if (res[0]) res[0][12] = w0; | |
| /* #41: @0 = input[0][12] */ | |
| w0 = arg[0] ? arg[0][12] : 0; | |
| /* #42: @5 = input[0][13] */ | |
| w5 = arg[0] ? arg[0][13] : 0; | |
| /* #43: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #44: @5 = input[0][11] */ | |
| w5 = arg[0] ? arg[0][11] : 0; | |
| /* #45: @1 = 1 */ | |
| w1 = 1.; | |
| /* #46: @6 = 3 */ | |
| w6 = 3.; | |
| /* #47: @9 = 0x1 */ | |
| /* #48: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #49: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #50: output[0][10] = @10 */ | |
| if (res[0]) casadi_copy(w10, 2, res[0]+13); | |
| /* #51: output[0][11] = @3 */ | |
| if (res[0]) res[0][15] = w3; | |
| /* #52: output[0][12] = @5 */ | |
| if (res[0]) res[0][16] = w5; | |
| /* #53: @5 = input[0][15] */ | |
| w5 = arg[0] ? arg[0][15] : 0; | |
| /* #54: @3 = input[0][16] */ | |
| w3 = arg[0] ? arg[0][16] : 0; | |
| /* #55: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #56: @3 = input[0][14] */ | |
| w3 = arg[0] ? arg[0][14] : 0; | |
| /* #57: @1 = 1 */ | |
| w1 = 1.; | |
| /* #58: @6 = 4 */ | |
| w6 = 4.; | |
| /* #59: @9 = 0x1 */ | |
| /* #60: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #61: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #62: output[0][13] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+17); | |
| /* #63: output[0][14] = @0 */ | |
| if (res[0]) res[0][19] = w0; | |
| /* #64: output[0][15] = @3 */ | |
| if (res[0]) res[0][20] = w3; | |
| /* #65: @3 = input[0][18] */ | |
| w3 = arg[0] ? arg[0][18] : 0; | |
| /* #66: @0 = input[0][19] */ | |
| w0 = arg[0] ? arg[0][19] : 0; | |
| /* #67: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #68: @0 = input[0][17] */ | |
| w0 = arg[0] ? arg[0][17] : 0; | |
| /* #69: @1 = 1 */ | |
| w1 = 1.; | |
| /* #70: @6 = 5 */ | |
| w6 = 5.; | |
| /* #71: @9 = 0x1 */ | |
| /* #72: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #73: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #74: output[0][16] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+21); | |
| /* #75: output[0][17] = @5 */ | |
| if (res[0]) res[0][23] = w5; | |
| /* #76: output[0][18] = @0 */ | |
| if (res[0]) res[0][24] = w0; | |
| /* #77: @0 = input[0][21] */ | |
| w0 = arg[0] ? arg[0][21] : 0; | |
| /* #78: @5 = input[0][22] */ | |
| w5 = arg[0] ? arg[0][22] : 0; | |
| /* #79: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #80: @5 = input[0][20] */ | |
| w5 = arg[0] ? arg[0][20] : 0; | |
| /* #81: @1 = 1 */ | |
| w1 = 1.; | |
| /* #82: @6 = 6 */ | |
| w6 = 6.; | |
| /* #83: @9 = 0x1 */ | |
| /* #84: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #85: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #86: output[0][19] = @10 */ | |
| if (res[0]) casadi_copy(w10, 2, res[0]+25); | |
| /* #87: output[0][20] = @3 */ | |
| if (res[0]) res[0][27] = w3; | |
| /* #88: output[0][21] = @5 */ | |
| if (res[0]) res[0][28] = w5; | |
| /* #89: @5 = input[0][24] */ | |
| w5 = arg[0] ? arg[0][24] : 0; | |
| /* #90: @3 = input[0][25] */ | |
| w3 = arg[0] ? arg[0][25] : 0; | |
| /* #91: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #92: @3 = input[0][23] */ | |
| w3 = arg[0] ? arg[0][23] : 0; | |
| /* #93: @1 = 1 */ | |
| w1 = 1.; | |
| /* #94: @6 = 7 */ | |
| w6 = 7.; | |
| /* #95: @9 = 0x1 */ | |
| /* #96: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #97: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #98: output[0][22] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+29); | |
| /* #99: output[0][23] = @0 */ | |
| if (res[0]) res[0][31] = w0; | |
| /* #100: output[0][24] = @3 */ | |
| if (res[0]) res[0][32] = w3; | |
| /* #101: @3 = input[0][27] */ | |
| w3 = arg[0] ? arg[0][27] : 0; | |
| /* #102: @0 = input[0][28] */ | |
| w0 = arg[0] ? arg[0][28] : 0; | |
| /* #103: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #104: @0 = input[0][26] */ | |
| w0 = arg[0] ? arg[0][26] : 0; | |
| /* #105: @1 = 1 */ | |
| w1 = 1.; | |
| /* #106: @6 = 8 */ | |
| w6 = 8.; | |
| /* #107: @9 = 0x1 */ | |
| /* #108: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #109: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #110: output[0][25] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+33); | |
| /* #111: output[0][26] = @5 */ | |
| if (res[0]) res[0][35] = w5; | |
| /* #112: output[0][27] = @0 */ | |
| if (res[0]) res[0][36] = w0; | |
| /* #113: @0 = input[0][30] */ | |
| w0 = arg[0] ? arg[0][30] : 0; | |
| /* #114: @5 = input[0][31] */ | |
| w5 = arg[0] ? arg[0][31] : 0; | |
| /* #115: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #116: @5 = input[0][29] */ | |
| w5 = arg[0] ? arg[0][29] : 0; | |
| /* #117: @1 = 1 */ | |
| w1 = 1.; | |
| /* #118: @6 = 9 */ | |
| w6 = 9.; | |
| /* #119: @9 = 0x1 */ | |
| /* #120: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #121: @2 = (@2-@10) */ | |
| for (i=0, rr=w2, cs=w10; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #122: output[0][28] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+37); | |
| /* #123: output[0][29] = @3 */ | |
| if (res[0]) res[0][39] = w3; | |
| /* #124: output[0][30] = @5 */ | |
| if (res[0]) res[0][40] = w5; | |
| /* #125: output[0][31] = @0 */ | |
| if (res[0]) res[0][41] = w0; | |
| return 0; | |
| } | |
| /* fwd3_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],fwd_x[2x3],fwd_u[1x3],fwd_z[0x3],fwd_p[1x3],fwd_t[1x3,0nz])->(fwd_ode[2x3],fwd_alg[0x3],fwd_quad[0x3]) */ | |
| static int casadi_f15(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2, w3; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #3: @3 = input[9][0] */ | |
| w3 = arg[9] ? arg[9][0] : 0; | |
| /* #4: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #5: @3 = input[11][0] */ | |
| w3 = arg[11] ? arg[11][0] : 0; | |
| /* #6: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #7: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #8: output[0][1] = @1 */ | |
| if (res[0]) res[0][1] = w1; | |
| /* #9: @0 = input[8][1] */ | |
| casadi_copy(arg[8] ? arg[8]+2 : 0, 2, w0); | |
| /* #10: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #11: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #12: @3 = input[9][1] */ | |
| w3 = arg[9] ? arg[9][1] : 0; | |
| /* #13: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #14: @3 = input[11][1] */ | |
| w3 = arg[11] ? arg[11][1] : 0; | |
| /* #15: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #16: output[0][2] = @2 */ | |
| if (res[0]) res[0][2] = w2; | |
| /* #17: output[0][3] = @1 */ | |
| if (res[0]) res[0][3] = w1; | |
| /* #18: @0 = input[8][2] */ | |
| casadi_copy(arg[8] ? arg[8]+4 : 0, 2, w0); | |
| /* #19: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #20: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #21: @3 = input[9][2] */ | |
| w3 = arg[9] ? arg[9][2] : 0; | |
| /* #22: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #23: @3 = input[11][2] */ | |
| w3 = arg[11] ? arg[11][2] : 0; | |
| /* #24: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #25: output[0][4] = @2 */ | |
| if (res[0]) res[0][4] = w2; | |
| /* #26: output[0][5] = @1 */ | |
| if (res[0]) res[0][5] = w1; | |
| return 0; | |
| } | |
| /* fwd3_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],fwd_x0[2x3],fwd_u[1x3],fwd_t0[1x3],fwd_DT[1x3],fwd_DT_control[1x3],fwd_p[1x3],fwd_z0[0x3])->(fwd_xf[2x3],fwd_poly_coeff[2x15],fwd_qf[0x3],fwd_poly_coeff_q[0x12],fwd_zf[0x3],fwd_poly_coeff_z[]) */ | |
| static int casadi_f14(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+20, *cr, *cs; | |
| casadi_real *w0=w+5, *w1=w+7, w2, w4, *w6=w+11, w7, w8, *w9=w+15, *w12=w+17, *w13=w+19, w14, *w15=w+22, *w18=w+24, *w19=w+26, *w22=w+28, w23, w24, w25, *w26=w+33, *w30=w+35, *w31=w+37, *w32=w+39, w33, w34, w35, *w36=w+48, w38, w39, w40, *w41=w+54, *w43=w+57, *w44=w+63, *w45=w+65, w46, w47, *w48=w+69, *w49=w+71, w50, *w51=w+74, *w52=w+76, *w53=w+78, *w54=w+80, *w55=w+82, *w56=w+84, *w57=w+86; | |
| /* #0: @0 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w0); | |
| /* #1: @1 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w1); | |
| /* #2: @2 = input[1][0] */ | |
| w2 = arg[1] ? arg[1][0] : 0; | |
| /* #3: @3 = 0x1 */ | |
| /* #4: @4 = input[5][0] */ | |
| w4 = arg[5] ? arg[5][0] : 0; | |
| /* #5: @5 = 00 */ | |
| /* #6: {@6, NULL, NULL} = ode(@1, @2, @3, @4, @5) */ | |
| arg1[0]=w1; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w6; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #7: @7 = input[3][0] */ | |
| w7 = arg[3] ? arg[3][0] : 0; | |
| /* #8: @8 = 2 */ | |
| w8 = 2.; | |
| /* #9: @8 = (@7/@8) */ | |
| w8 = (w7/w8); | |
| /* #10: @9 = (@8*@6) */ | |
| for (i=0, rr=w9, cs=w6; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #11: @9 = (@1+@9) */ | |
| for (i=0, rr=w9, cr=w1, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #12: @10 = 0x1 */ | |
| /* #13: @11 = 00 */ | |
| /* #14: {@12, NULL, NULL} = ode(@9, @2, @10, @4, @11) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w12; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @13 = (2.*@12) */ | |
| for (i=0, rr=w13, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #16: @13 = (@6+@13) */ | |
| for (i=0, rr=w13, cr=w6, cs=w13; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @14 = 2 */ | |
| w14 = 2.; | |
| /* #18: @14 = (@7/@14) */ | |
| w14 = (w7/w14); | |
| /* #19: @15 = (@14*@12) */ | |
| for (i=0, rr=w15, cs=w12; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #20: @15 = (@1+@15) */ | |
| for (i=0, rr=w15, cr=w1, cs=w15; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #21: @16 = 0x1 */ | |
| /* #22: @17 = 00 */ | |
| /* #23: {@18, NULL, NULL} = ode(@15, @2, @16, @4, @17) */ | |
| arg1[0]=w15; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w18; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #24: @19 = (2.*@18) */ | |
| for (i=0, rr=w19, cs=w18; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #25: @13 = (@13+@19) */ | |
| for (i=0, rr=w13, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #26: @19 = (@7*@18) */ | |
| for (i=0, rr=w19, cs=w18; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #27: @19 = (@1+@19) */ | |
| for (i=0, rr=w19, cr=w1, cs=w19; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #28: @20 = 0x1 */ | |
| /* #29: @21 = 00 */ | |
| /* #30: {@22, NULL, NULL} = ode(@19, @2, @20, @4, @21) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w22; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #31: @13 = (@13+@22) */ | |
| for (i=0, rr=w13, cs=w22; i<2; ++i) (*rr++) += (*cs++); | |
| /* #32: @23 = 0.166667 */ | |
| w23 = 1.6666666666666666e-01; | |
| /* #33: @24 = input[16][0] */ | |
| w24 = arg[16] ? arg[16][0] : 0; | |
| /* #34: @25 = (@23*@24) */ | |
| w25 = (w23*w24); | |
| /* #35: @26 = (@13*@25) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w25); | |
| /* #36: @25 = 6 */ | |
| w25 = 6.; | |
| /* #37: @25 = (@7/@25) */ | |
| w25 = (w7/w25); | |
| /* #38: @27 = zeros(2x1,0nz) */ | |
| /* #39: @28 = 0x1 */ | |
| /* #40: @29 = 0x1 */ | |
| /* #41: @30 = input[13][1] */ | |
| casadi_copy(arg[13] ? arg[13]+2 : 0, 2, w30); | |
| /* #42: @31 = input[13][2] */ | |
| casadi_copy(arg[13] ? arg[13]+4 : 0, 2, w31); | |
| /* #43: @32 = horzcat(@0, @30, @31) */ | |
| rr=w32; | |
| for (i=0, cs=w0; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w30; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w31; i<2; ++i) *rr++ = *cs++; | |
| /* #44: @33 = input[14][0] */ | |
| w33 = arg[14] ? arg[14][0] : 0; | |
| /* #45: @34 = input[14][1] */ | |
| w34 = arg[14] ? arg[14][1] : 0; | |
| /* #46: @35 = input[14][2] */ | |
| w35 = arg[14] ? arg[14][2] : 0; | |
| /* #47: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #48: @37 = 0x3 */ | |
| /* #49: @38 = input[18][0] */ | |
| w38 = arg[18] ? arg[18][0] : 0; | |
| /* #50: @39 = input[18][1] */ | |
| w39 = arg[18] ? arg[18][1] : 0; | |
| /* #51: @40 = input[18][2] */ | |
| w40 = arg[18] ? arg[18][2] : 0; | |
| /* #52: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #53: @42 = zeros(1x3,0nz) */ | |
| /* #54: {@43, NULL, NULL} = fwd3_ode(@1, @2, @3, @4, @5, @27, @28, @29, @32, @36, @37, @41, @42) */ | |
| arg1[0]=w1; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w32; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #55: {@1, @44, @45} = horzsplit(@43) */ | |
| casadi_copy(w43, 2, w1); | |
| casadi_copy(w43+2, 2, w44); | |
| casadi_copy(w43+4, 2, w45); | |
| /* #56: @3 = zeros(2x1,0nz) */ | |
| /* #57: @5 = 0x1 */ | |
| /* #58: @27 = 0x1 */ | |
| /* #59: @46 = 0.5 */ | |
| w46 = 5.0000000000000000e-01; | |
| /* #60: @47 = (@46*@24) */ | |
| w47 = (w46*w24); | |
| /* #61: @48 = (@6*@47) */ | |
| for (i=0, rr=w48, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #62: @49 = (@8*@1) */ | |
| for (i=0, rr=w49, cs=w1; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #63: @48 = (@48+@49) */ | |
| for (i=0, rr=w48, cs=w49; i<2; ++i) (*rr++) += (*cs++); | |
| /* #64: @48 = (@0+@48) */ | |
| for (i=0, rr=w48, cr=w0, cs=w48; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #65: @47 = input[16][1] */ | |
| w47 = arg[16] ? arg[16][1] : 0; | |
| /* #66: @50 = (@46*@47) */ | |
| w50 = (w46*w47); | |
| /* #67: @49 = (@6*@50) */ | |
| for (i=0, rr=w49, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w50); | |
| /* #68: @51 = (@8*@44) */ | |
| for (i=0, rr=w51, cs=w44; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #69: @49 = (@49+@51) */ | |
| for (i=0, rr=w49, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #70: @49 = (@30+@49) */ | |
| for (i=0, rr=w49, cr=w30, cs=w49; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #71: @50 = input[16][2] */ | |
| w50 = arg[16] ? arg[16][2] : 0; | |
| /* #72: @46 = (@46*@50) */ | |
| w46 *= w50; | |
| /* #73: @51 = (@6*@46) */ | |
| for (i=0, rr=w51, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #74: @52 = (@8*@45) */ | |
| for (i=0, rr=w52, cs=w45; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #75: @51 = (@51+@52) */ | |
| for (i=0, rr=w51, cs=w52; i<2; ++i) (*rr++) += (*cs++); | |
| /* #76: @51 = (@31+@51) */ | |
| for (i=0, rr=w51, cr=w31, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #77: @43 = horzcat(@48, @49, @51) */ | |
| rr=w43; | |
| for (i=0, cs=w48; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w49; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w51; i<2; ++i) *rr++ = *cs++; | |
| /* #78: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #79: @28 = 0x3 */ | |
| /* #80: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #81: @29 = zeros(1x3,0nz) */ | |
| /* #82: {@32, NULL, NULL} = fwd3_ode(@9, @2, @10, @4, @11, @3, @5, @27, @43, @36, @28, @41, @29) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w32; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #83: {@9, @48, @49} = horzsplit(@32) */ | |
| casadi_copy(w32, 2, w9); | |
| casadi_copy(w32+2, 2, w48); | |
| casadi_copy(w32+4, 2, w49); | |
| /* #84: @51 = (2.*@9) */ | |
| for (i=0, rr=w51, cs=w9; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #85: @51 = (@1+@51) */ | |
| for (i=0, rr=w51, cr=w1, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #86: @10 = zeros(2x1,0nz) */ | |
| /* #87: @11 = 0x1 */ | |
| /* #88: @3 = 0x1 */ | |
| /* #89: @8 = 0.5 */ | |
| w8 = 5.0000000000000000e-01; | |
| /* #90: @46 = (@8*@24) */ | |
| w46 = (w8*w24); | |
| /* #91: @52 = (@12*@46) */ | |
| for (i=0, rr=w52, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #92: @53 = (@14*@9) */ | |
| for (i=0, rr=w53, cs=w9; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #93: @52 = (@52+@53) */ | |
| for (i=0, rr=w52, cs=w53; i<2; ++i) (*rr++) += (*cs++); | |
| /* #94: @52 = (@0+@52) */ | |
| for (i=0, rr=w52, cr=w0, cs=w52; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #95: @46 = (@8*@47) */ | |
| w46 = (w8*w47); | |
| /* #96: @53 = (@12*@46) */ | |
| for (i=0, rr=w53, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #97: @54 = (@14*@48) */ | |
| for (i=0, rr=w54, cs=w48; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #98: @53 = (@53+@54) */ | |
| for (i=0, rr=w53, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #99: @53 = (@30+@53) */ | |
| for (i=0, rr=w53, cr=w30, cs=w53; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #100: @8 = (@8*@50) */ | |
| w8 *= w50; | |
| /* #101: @54 = (@12*@8) */ | |
| for (i=0, rr=w54, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w8); | |
| /* #102: @55 = (@14*@49) */ | |
| for (i=0, rr=w55, cs=w49; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #103: @54 = (@54+@55) */ | |
| for (i=0, rr=w54, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #104: @54 = (@31+@54) */ | |
| for (i=0, rr=w54, cr=w31, cs=w54; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #105: @32 = horzcat(@52, @53, @54) */ | |
| rr=w32; | |
| for (i=0, cs=w52; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w53; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| /* #106: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #107: @5 = 0x3 */ | |
| /* #108: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #109: @27 = zeros(1x3,0nz) */ | |
| /* #110: {@43, NULL, NULL} = fwd3_ode(@15, @2, @16, @4, @17, @10, @11, @3, @32, @36, @5, @41, @27) */ | |
| arg1[0]=w15; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w32; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #111: {@15, @52, @53} = horzsplit(@43) */ | |
| casadi_copy(w43, 2, w15); | |
| casadi_copy(w43+2, 2, w52); | |
| casadi_copy(w43+4, 2, w53); | |
| /* #112: @54 = (2.*@15) */ | |
| for (i=0, rr=w54, cs=w15; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #113: @51 = (@51+@54) */ | |
| for (i=0, rr=w51, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #114: @16 = zeros(2x1,0nz) */ | |
| /* #115: @17 = 0x1 */ | |
| /* #116: @10 = 0x1 */ | |
| /* #117: @54 = (@18*@24) */ | |
| for (i=0, rr=w54, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #118: @55 = (@7*@15) */ | |
| for (i=0, rr=w55, cs=w15; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #119: @54 = (@54+@55) */ | |
| for (i=0, rr=w54, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #120: @54 = (@0+@54) */ | |
| for (i=0, rr=w54, cr=w0, cs=w54; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #121: @55 = (@18*@47) */ | |
| for (i=0, rr=w55, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #122: @56 = (@7*@52) */ | |
| for (i=0, rr=w56, cs=w52; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #123: @55 = (@55+@56) */ | |
| for (i=0, rr=w55, cs=w56; i<2; ++i) (*rr++) += (*cs++); | |
| /* #124: @55 = (@30+@55) */ | |
| for (i=0, rr=w55, cr=w30, cs=w55; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #125: @56 = (@18*@50) */ | |
| for (i=0, rr=w56, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w50); | |
| /* #126: @57 = (@7*@53) */ | |
| for (i=0, rr=w57, cs=w53; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #127: @56 = (@56+@57) */ | |
| for (i=0, rr=w56, cs=w57; i<2; ++i) (*rr++) += (*cs++); | |
| /* #128: @56 = (@31+@56) */ | |
| for (i=0, rr=w56, cr=w31, cs=w56; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #129: @43 = horzcat(@54, @55, @56) */ | |
| rr=w43; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w55; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w56; i<2; ++i) *rr++ = *cs++; | |
| /* #130: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #131: @11 = 0x3 */ | |
| /* #132: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #133: @3 = zeros(1x3,0nz) */ | |
| /* #134: {@32, NULL, NULL} = fwd3_ode(@19, @2, @20, @4, @21, @16, @17, @10, @43, @36, @11, @41, @3) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w32; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #135: {@19, @54, @55} = horzsplit(@32) */ | |
| casadi_copy(w32, 2, w19); | |
| casadi_copy(w32+2, 2, w54); | |
| casadi_copy(w32+4, 2, w55); | |
| /* #136: @51 = (@51+@19) */ | |
| for (i=0, rr=w51, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #137: @51 = (@25*@51) */ | |
| for (i=0, rr=w51, cs=w51; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #138: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #139: @26 = (@0+@26) */ | |
| for (i=0, rr=w26, cr=w0, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #140: output[0][0] = @26 */ | |
| casadi_copy(w26, 2, res[0]); | |
| /* #141: @2 = (@23*@47) */ | |
| w2 = (w23*w47); | |
| /* #142: @26 = (@13*@2) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w2); | |
| /* #143: @51 = (2.*@48) */ | |
| for (i=0, rr=w51, cs=w48; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #144: @51 = (@44+@51) */ | |
| for (i=0, rr=w51, cr=w44, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #145: @56 = (2.*@52) */ | |
| for (i=0, rr=w56, cs=w52; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #146: @51 = (@51+@56) */ | |
| for (i=0, rr=w51, cs=w56; i<2; ++i) (*rr++) += (*cs++); | |
| /* #147: @51 = (@51+@54) */ | |
| for (i=0, rr=w51, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #148: @51 = (@25*@51) */ | |
| for (i=0, rr=w51, cs=w51; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #149: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #150: @26 = (@30+@26) */ | |
| for (i=0, rr=w26, cr=w30, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #151: output[0][1] = @26 */ | |
| if (res[0]) casadi_copy(w26, 2, res[0]+2); | |
| /* #152: @23 = (@23*@50) */ | |
| w23 *= w50; | |
| /* #153: @13 = (@13*@23) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) *= w23; | |
| /* #154: @26 = (2.*@49) */ | |
| for (i=0, rr=w26, cs=w49; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #155: @26 = (@45+@26) */ | |
| for (i=0, rr=w26, cr=w45, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #156: @51 = (2.*@53) */ | |
| for (i=0, rr=w51, cs=w53; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #157: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #158: @26 = (@26+@55) */ | |
| for (i=0, rr=w26, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #159: @26 = (@25*@26) */ | |
| for (i=0, rr=w26, cs=w26; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #160: @13 = (@13+@26) */ | |
| for (i=0, rr=w13, cs=w26; i<2; ++i) (*rr++) += (*cs++); | |
| /* #161: @13 = (@31+@13) */ | |
| for (i=0, rr=w13, cr=w31, cs=w13; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #162: output[0][2] = @13 */ | |
| if (res[0]) casadi_copy(w13, 2, res[0]+4); | |
| /* #163: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #164: output[1][1] = @1 */ | |
| if (res[1]) casadi_copy(w1, 2, res[1]+2); | |
| /* #165: @25 = 0.5 */ | |
| w25 = 5.0000000000000000e-01; | |
| /* #166: @23 = 2 */ | |
| w23 = 2.; | |
| /* #167: @23 = (@23/@7) */ | |
| w23 /= w7; | |
| /* #168: @0 = (@9-@1) */ | |
| for (i=0, rr=w0, cr=w9, cs=w1; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #169: @0 = (@23*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #170: @13 = (@12-@6) */ | |
| for (i=0, rr=w13, cr=w12, cs=w6; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #171: @2 = (@23/@7) */ | |
| w2 = (w23/w7); | |
| /* #172: @4 = (@2*@24) */ | |
| w4 = (w2*w24); | |
| /* #173: @26 = (@13*@4) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w4); | |
| /* #174: @0 = (@0-@26) */ | |
| for (i=0, rr=w0, cs=w26; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #175: @0 = (@25*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #176: output[1][2] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+4); | |
| /* #177: @4 = 0.166667 */ | |
| w4 = 1.6666666666666666e-01; | |
| /* #178: @38 = 4 */ | |
| w38 = 4.; | |
| /* #179: @39 = sq(@7) */ | |
| w39 = casadi_sq( w7 ); | |
| /* #180: @38 = (@38/@39) */ | |
| w38 /= w39; | |
| /* #181: @9 = (@15-@9) */ | |
| for (i=0, rr=w9, cr=w15, cs=w9; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #182: @9 = (@38*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #183: @12 = (@18-@12) */ | |
| for (i=0, rr=w12, cr=w18, cs=w12; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #184: @39 = (@38/@39) */ | |
| w39 = (w38/w39); | |
| /* #185: @40 = (2.*@7) */ | |
| w40 = (2.* w7 ); | |
| /* #186: @33 = (@40*@24) */ | |
| w33 = (w40*w24); | |
| /* #187: @33 = (@39*@33) */ | |
| w33 = (w39*w33); | |
| /* #188: @0 = (@12*@33) */ | |
| for (i=0, rr=w0, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w33); | |
| /* #189: @9 = (@9-@0) */ | |
| for (i=0, rr=w9, cs=w0; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #190: @9 = (@4*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #191: output[1][3] = @9 */ | |
| if (res[1]) casadi_copy(w9, 2, res[1]+6); | |
| /* #192: @33 = 0.0416667 */ | |
| w33 = 4.1666666666666664e-02; | |
| /* #193: @34 = 4 */ | |
| w34 = 4.; | |
| /* #194: @15 = (2.*@15) */ | |
| for (i=0, rr=w15, cs=w15; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #195: @19 = (@19-@15) */ | |
| for (i=0, rr=w19, cs=w15; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #196: @19 = (@19+@1) */ | |
| for (i=0, rr=w19, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #197: @19 = (@34*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #198: @35 = 3 */ | |
| w35 = 3.; | |
| /* #199: @14 = pow(@7,@35) */ | |
| w14 = pow(w7,w35); | |
| /* #200: @19 = (@19/@14) */ | |
| for (i=0, rr=w19; i<2; ++i) (*rr++) /= w14; | |
| /* #201: @18 = (2.*@18) */ | |
| for (i=0, rr=w18, cs=w18; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #202: @22 = (@22-@18) */ | |
| for (i=0, rr=w22, cs=w18; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #203: @22 = (@22+@6) */ | |
| for (i=0, rr=w22, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #204: @22 = (@34*@22) */ | |
| for (i=0, rr=w22, cs=w22; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #205: @22 = (@22/@14) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) /= w14; | |
| /* #206: @22 = (@22/@14) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) /= w14; | |
| /* #207: @7 = sq(@7) */ | |
| w7 = casadi_sq( w7 ); | |
| /* #208: @35 = (@35*@7) */ | |
| w35 *= w7; | |
| /* #209: @24 = (@35*@24) */ | |
| w24 = (w35*w24); | |
| /* #210: @6 = (@22*@24) */ | |
| for (i=0, rr=w6, cr=w22; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #211: @19 = (@19-@6) */ | |
| for (i=0, rr=w19, cs=w6; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #212: @19 = (@33*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #213: output[1][4] = @19 */ | |
| if (res[1]) casadi_copy(w19, 2, res[1]+8); | |
| /* #214: output[1][5] = @30 */ | |
| if (res[1]) casadi_copy(w30, 2, res[1]+10); | |
| /* #215: output[1][6] = @44 */ | |
| if (res[1]) casadi_copy(w44, 2, res[1]+12); | |
| /* #216: @30 = (@48-@44) */ | |
| for (i=0, rr=w30, cr=w48, cs=w44; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #217: @30 = (@23*@30) */ | |
| for (i=0, rr=w30, cs=w30; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #218: @24 = (@2*@47) */ | |
| w24 = (w2*w47); | |
| /* #219: @19 = (@13*@24) */ | |
| for (i=0, rr=w19, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #220: @30 = (@30-@19) */ | |
| for (i=0, rr=w30, cs=w19; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #221: @30 = (@25*@30) */ | |
| for (i=0, rr=w30, cs=w30; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #222: output[1][7] = @30 */ | |
| if (res[1]) casadi_copy(w30, 2, res[1]+14); | |
| /* #223: @48 = (@52-@48) */ | |
| for (i=0, rr=w48, cr=w52, cs=w48; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #224: @48 = (@38*@48) */ | |
| for (i=0, rr=w48, cs=w48; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #225: @24 = (@40*@47) */ | |
| w24 = (w40*w47); | |
| /* #226: @24 = (@39*@24) */ | |
| w24 = (w39*w24); | |
| /* #227: @30 = (@12*@24) */ | |
| for (i=0, rr=w30, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #228: @48 = (@48-@30) */ | |
| for (i=0, rr=w48, cs=w30; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #229: @48 = (@4*@48) */ | |
| for (i=0, rr=w48, cs=w48; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #230: output[1][8] = @48 */ | |
| if (res[1]) casadi_copy(w48, 2, res[1]+16); | |
| /* #231: @52 = (2.*@52) */ | |
| for (i=0, rr=w52, cs=w52; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #232: @54 = (@54-@52) */ | |
| for (i=0, rr=w54, cs=w52; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #233: @54 = (@54+@44) */ | |
| for (i=0, rr=w54, cs=w44; i<2; ++i) (*rr++) += (*cs++); | |
| /* #234: @54 = (@34*@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #235: @54 = (@54/@14) */ | |
| for (i=0, rr=w54; i<2; ++i) (*rr++) /= w14; | |
| /* #236: @47 = (@35*@47) */ | |
| w47 = (w35*w47); | |
| /* #237: @44 = (@22*@47) */ | |
| for (i=0, rr=w44, cr=w22; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #238: @54 = (@54-@44) */ | |
| for (i=0, rr=w54, cs=w44; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #239: @54 = (@33*@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #240: output[1][9] = @54 */ | |
| if (res[1]) casadi_copy(w54, 2, res[1]+18); | |
| /* #241: output[1][10] = @31 */ | |
| if (res[1]) casadi_copy(w31, 2, res[1]+20); | |
| /* #242: output[1][11] = @45 */ | |
| if (res[1]) casadi_copy(w45, 2, res[1]+22); | |
| /* #243: @31 = (@49-@45) */ | |
| for (i=0, rr=w31, cr=w49, cs=w45; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #244: @31 = (@23*@31) */ | |
| for (i=0, rr=w31, cs=w31; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #245: @2 = (@2*@50) */ | |
| w2 *= w50; | |
| /* #246: @13 = (@13*@2) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) *= w2; | |
| /* #247: @31 = (@31-@13) */ | |
| for (i=0, rr=w31, cs=w13; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #248: @31 = (@25*@31) */ | |
| for (i=0, rr=w31, cs=w31; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #249: output[1][12] = @31 */ | |
| if (res[1]) casadi_copy(w31, 2, res[1]+24); | |
| /* #250: @49 = (@53-@49) */ | |
| for (i=0, rr=w49, cr=w53, cs=w49; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #251: @49 = (@38*@49) */ | |
| for (i=0, rr=w49, cs=w49; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #252: @40 = (@40*@50) */ | |
| w40 *= w50; | |
| /* #253: @39 = (@39*@40) */ | |
| w39 *= w40; | |
| /* #254: @12 = (@12*@39) */ | |
| for (i=0, rr=w12; i<2; ++i) (*rr++) *= w39; | |
| /* #255: @49 = (@49-@12) */ | |
| for (i=0, rr=w49, cs=w12; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #256: @49 = (@4*@49) */ | |
| for (i=0, rr=w49, cs=w49; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #257: output[1][13] = @49 */ | |
| if (res[1]) casadi_copy(w49, 2, res[1]+26); | |
| /* #258: @53 = (2.*@53) */ | |
| for (i=0, rr=w53, cs=w53; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #259: @55 = (@55-@53) */ | |
| for (i=0, rr=w55, cs=w53; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #260: @55 = (@55+@45) */ | |
| for (i=0, rr=w55, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #261: @55 = (@34*@55) */ | |
| for (i=0, rr=w55, cs=w55; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #262: @55 = (@55/@14) */ | |
| for (i=0, rr=w55; i<2; ++i) (*rr++) /= w14; | |
| /* #263: @35 = (@35*@50) */ | |
| w35 *= w50; | |
| /* #264: @22 = (@22*@35) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) *= w35; | |
| /* #265: @55 = (@55-@22) */ | |
| for (i=0, rr=w55, cs=w22; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #266: @55 = (@33*@55) */ | |
| for (i=0, rr=w55, cs=w55; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #267: output[1][14] = @55 */ | |
| if (res[1]) casadi_copy(w55, 2, res[1]+28); | |
| return 0; | |
| } | |
| /* fwd3_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],fwd_x0[2x3],fwd_u[1x3],fwd_T[1x3],fwd_t0[1x3],fwd_p[1x3],fwd_z0[0x3])->(fwd_xf[2x3],fwd_Xi[2x6],fwd_poly_coeff[2x15],fwd_qf[0x3],fwd_Qi[0x3],fwd_poly_coeff_q[0x12],fwd_zf[0x3],fwd_Zi[0x3],fwd_poly_coeff_z[]) */ | |
| static int casadi_f13(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+9, *rr; | |
| const casadi_real **arg1=arg+21, *cs; | |
| casadi_real *w0=w+88, w1, w2, w3, w4, *w12=w+94, *w13=w+96, *w14=w+98, *w15=w+100, w16, w17, w18, *w19=w+109, *w20=w+112, *w21=w+115, *w22=w+118, *w23=w+121, *w25=w+124, *w26=w+130, *w27=w+160; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[1][0] */ | |
| w1 = arg[1] ? arg[1][0] : 0; | |
| /* #2: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #3: @3 = input[2][0] */ | |
| w3 = arg[2] ? arg[2][0] : 0; | |
| /* #4: @4 = input[4][0] */ | |
| w4 = arg[4] ? arg[4][0] : 0; | |
| /* #5: @5 = 0x1 */ | |
| /* #6: @6 = zeros(2x1,0nz) */ | |
| /* #7: @7 = zeros(2x5,0nz) */ | |
| /* #8: @8 = 0x1 */ | |
| /* #9: @9 = 0x4 */ | |
| /* #10: @10 = 0x1 */ | |
| /* #11: @11 = 0x0 */ | |
| /* #12: @12 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w12); | |
| /* #13: @13 = input[15][1] */ | |
| casadi_copy(arg[15] ? arg[15]+2 : 0, 2, w13); | |
| /* #14: @14 = input[15][2] */ | |
| casadi_copy(arg[15] ? arg[15]+4 : 0, 2, w14); | |
| /* #15: @15 = horzcat(@12, @13, @14) */ | |
| rr=w15; | |
| for (i=0, cs=w12; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w13; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w14; i<2; ++i) *rr++ = *cs++; | |
| /* #16: @16 = input[16][0] */ | |
| w16 = arg[16] ? arg[16][0] : 0; | |
| /* #17: @17 = input[16][1] */ | |
| w17 = arg[16] ? arg[16][1] : 0; | |
| /* #18: @18 = input[16][2] */ | |
| w18 = arg[16] ? arg[16][2] : 0; | |
| /* #19: @19 = horzcat(@16, @17, @18) */ | |
| rr=w19; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #20: @16 = input[18][0] */ | |
| w16 = arg[18] ? arg[18][0] : 0; | |
| /* #21: @17 = input[18][1] */ | |
| w17 = arg[18] ? arg[18][1] : 0; | |
| /* #22: @18 = input[18][2] */ | |
| w18 = arg[18] ? arg[18][2] : 0; | |
| /* #23: @20 = horzcat(@16, @17, @18) */ | |
| rr=w20; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #24: @16 = input[17][0] */ | |
| w16 = arg[17] ? arg[17][0] : 0; | |
| /* #25: @17 = input[17][1] */ | |
| w17 = arg[17] ? arg[17][1] : 0; | |
| /* #26: @18 = input[17][2] */ | |
| w18 = arg[17] ? arg[17][2] : 0; | |
| /* #27: @21 = horzcat(@16, @17, @18) */ | |
| rr=w21; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #28: @22 = horzcat(@16, @17, @18) */ | |
| rr=w22; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #29: @16 = input[19][0] */ | |
| w16 = arg[19] ? arg[19][0] : 0; | |
| /* #30: @17 = input[19][1] */ | |
| w17 = arg[19] ? arg[19][1] : 0; | |
| /* #31: @18 = input[19][2] */ | |
| w18 = arg[19] ? arg[19][2] : 0; | |
| /* #32: @23 = horzcat(@16, @17, @18) */ | |
| rr=w23; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #33: @24 = 0x3 */ | |
| /* #34: {@25, @26, NULL, NULL, NULL, NULL} = fwd3_F(@0, @1, @2, @3, @3, @4, @5, @6, @7, @8, @9, @10, @11, @15, @19, @20, @21, @22, @23, @24) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w3); | |
| arg1[4]=(&w3); | |
| arg1[5]=(&w4); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w15; | |
| arg1[14]=w19; | |
| arg1[15]=w20; | |
| arg1[16]=w21; | |
| arg1[17]=w22; | |
| arg1[18]=w23; | |
| arg1[19]=0; | |
| res1[0]=w25; | |
| res1[1]=w26; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f14(arg1, res1, iw, w, 0)) return 1; | |
| /* #35: output[0][0] = @25 */ | |
| casadi_copy(w25, 6, res[0]); | |
| /* #36: output[1][0] = @12 */ | |
| casadi_copy(w12, 2, res[1]); | |
| /* #37: {@12, @0, @27} = horzsplit(@25) */ | |
| casadi_copy(w25, 2, w12); | |
| casadi_copy(w25+2, 2, w0); | |
| casadi_copy(w25+4, 2, w27); | |
| /* #38: output[1][1] = @12 */ | |
| if (res[1]) casadi_copy(w12, 2, res[1]+2); | |
| /* #39: output[1][2] = @13 */ | |
| if (res[1]) casadi_copy(w13, 2, res[1]+4); | |
| /* #40: output[1][3] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+6); | |
| /* #41: output[1][4] = @14 */ | |
| if (res[1]) casadi_copy(w14, 2, res[1]+8); | |
| /* #42: output[1][5] = @27 */ | |
| if (res[1]) casadi_copy(w27, 2, res[1]+10); | |
| /* #43: output[2][0] = @26 */ | |
| casadi_copy(w26, 30, res[2]); | |
| return 0; | |
| } | |
| /* nlp_jac_g:(x[32],p)->(g[42],jac_g_x[42x32,102nz]) */ | |
| static int casadi_f12(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+2, *rr, *ss; | |
| const casadi_int *cii; | |
| const casadi_real **arg1=arg+2, *cr, *cs; | |
| casadi_real w0, w1, *w2=w+164, w3, *w4=w+167, w5, w6, w7, w8, *w10=w+173, w11, w12, *w14=w+177, w15, w16, w17, *w19=w+182, w20, w21, w22, *w24=w+187, w25, w26, w27, *w29=w+192, w30, w31, w32, *w34=w+197, w35, w36, w37, *w39=w+202, w40, w41, w42, *w44=w+207, w45, w46, w47, *w49=w+212, w50, w51, w52, *w54=w+217, *w55=w+219, *w65=w+321, w66, w67, w68, w69, w70, w71, w72, w73, w75, *w77=w+340, w78, w79, w80, w81, w82, w83, w84, w85, *w87=w+355, *w89=w+361, w90, w91, w92, w93, *w94=w+370, *w95=w+373, *w96=w+376, *w97=w+379, *w99=w+382, w100, w101, w103, w104, w105, w106, w107, w108, *w109=w+396, *w112=w+398, *w115=w+400, *w118=w+402, *w121=w+404, *w124=w+406, *w127=w+408, *w130=w+410, *w133=w+412, *w136=w+414, *w139=w+416, *w142=w+418, *w145=w+420, *w148=w+422, *w151=w+424, *w154=w+426, *w157=w+428, *w160=w+430, *w161=w+432, *w162=w+462, *w163=w+492, *w164=w+514, *w165=w+536, *w166=w+551, *w167=w+566, *w168=w+586, *w169=w+606; | |
| /* #0: @0 = input[0][3] */ | |
| w0 = arg[0] ? arg[0][3] : 0; | |
| /* #1: @1 = input[0][4] */ | |
| w1 = arg[0] ? arg[0][4] : 0; | |
| /* #2: @2 = vertcat(@0, @1) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| /* #3: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #4: @3 = input[0][1] */ | |
| w3 = arg[0] ? arg[0][1] : 0; | |
| /* #5: @4 = vertcat(@1, @3) */ | |
| rr=w4; | |
| *rr++ = w1; | |
| *rr++ = w3; | |
| /* #6: @5 = input[0][2] */ | |
| w5 = arg[0] ? arg[0][2] : 0; | |
| /* #7: @6 = 1 */ | |
| w6 = 1.; | |
| /* #8: @7 = 0 */ | |
| w7 = 0.; | |
| /* #9: @8 = input[1][0] */ | |
| w8 = arg[1] ? arg[1][0] : 0; | |
| /* #10: @9 = 0x1 */ | |
| /* #11: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @6, @7, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w6); | |
| arg1[3]=(&w7); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #12: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #13: output[0][0] = @10 */ | |
| casadi_copy(w10, 2, res[0]); | |
| /* #14: output[0][1] = @1 */ | |
| if (res[0]) res[0][2] = w1; | |
| /* #15: output[0][2] = @3 */ | |
| if (res[0]) res[0][3] = w3; | |
| /* #16: output[0][3] = @5 */ | |
| if (res[0]) res[0][4] = w5; | |
| /* #17: @3 = input[0][6] */ | |
| w3 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @1 = input[0][7] */ | |
| w1 = arg[0] ? arg[0][7] : 0; | |
| /* #19: @10 = vertcat(@3, @1) */ | |
| rr=w10; | |
| *rr++ = w3; | |
| *rr++ = w1; | |
| /* #20: @1 = input[0][5] */ | |
| w1 = arg[0] ? arg[0][5] : 0; | |
| /* #21: @11 = 1 */ | |
| w11 = 1.; | |
| /* #22: @12 = 1 */ | |
| w12 = 1.; | |
| /* #23: @13 = 0x1 */ | |
| /* #24: {@14, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @1, @11, @12, @8, @13) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w11); | |
| arg1[3]=(&w12); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w14; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @14 = (@10-@14) */ | |
| for (i=0, rr=w14, cr=w10, cs=w14; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #26: output[0][4] = @14 */ | |
| if (res[0]) casadi_copy(w14, 2, res[0]+5); | |
| /* #27: output[0][5] = @0 */ | |
| if (res[0]) res[0][7] = w0; | |
| /* #28: output[0][6] = @1 */ | |
| if (res[0]) res[0][8] = w1; | |
| /* #29: @0 = input[0][9] */ | |
| w0 = arg[0] ? arg[0][9] : 0; | |
| /* #30: @15 = input[0][10] */ | |
| w15 = arg[0] ? arg[0][10] : 0; | |
| /* #31: @14 = vertcat(@0, @15) */ | |
| rr=w14; | |
| *rr++ = w0; | |
| *rr++ = w15; | |
| /* #32: @15 = input[0][8] */ | |
| w15 = arg[0] ? arg[0][8] : 0; | |
| /* #33: @16 = 1 */ | |
| w16 = 1.; | |
| /* #34: @17 = 2 */ | |
| w17 = 2.; | |
| /* #35: @18 = 0x1 */ | |
| /* #36: {@19, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @15, @16, @17, @8, @18) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w15); | |
| arg1[2]=(&w16); | |
| arg1[3]=(&w17); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w19; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #37: @19 = (@14-@19) */ | |
| for (i=0, rr=w19, cr=w14, cs=w19; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #38: output[0][7] = @19 */ | |
| if (res[0]) casadi_copy(w19, 2, res[0]+9); | |
| /* #39: output[0][8] = @3 */ | |
| if (res[0]) res[0][11] = w3; | |
| /* #40: output[0][9] = @15 */ | |
| if (res[0]) res[0][12] = w15; | |
| /* #41: @3 = input[0][12] */ | |
| w3 = arg[0] ? arg[0][12] : 0; | |
| /* #42: @20 = input[0][13] */ | |
| w20 = arg[0] ? arg[0][13] : 0; | |
| /* #43: @19 = vertcat(@3, @20) */ | |
| rr=w19; | |
| *rr++ = w3; | |
| *rr++ = w20; | |
| /* #44: @20 = input[0][11] */ | |
| w20 = arg[0] ? arg[0][11] : 0; | |
| /* #45: @21 = 1 */ | |
| w21 = 1.; | |
| /* #46: @22 = 3 */ | |
| w22 = 3.; | |
| /* #47: @23 = 0x1 */ | |
| /* #48: {@24, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@14, @20, @21, @22, @8, @23) */ | |
| arg1[0]=w14; | |
| arg1[1]=(&w20); | |
| arg1[2]=(&w21); | |
| arg1[3]=(&w22); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w24; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #49: @24 = (@19-@24) */ | |
| for (i=0, rr=w24, cr=w19, cs=w24; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #50: output[0][10] = @24 */ | |
| if (res[0]) casadi_copy(w24, 2, res[0]+13); | |
| /* #51: output[0][11] = @0 */ | |
| if (res[0]) res[0][15] = w0; | |
| /* #52: output[0][12] = @20 */ | |
| if (res[0]) res[0][16] = w20; | |
| /* #53: @0 = input[0][15] */ | |
| w0 = arg[0] ? arg[0][15] : 0; | |
| /* #54: @25 = input[0][16] */ | |
| w25 = arg[0] ? arg[0][16] : 0; | |
| /* #55: @24 = vertcat(@0, @25) */ | |
| rr=w24; | |
| *rr++ = w0; | |
| *rr++ = w25; | |
| /* #56: @25 = input[0][14] */ | |
| w25 = arg[0] ? arg[0][14] : 0; | |
| /* #57: @26 = 1 */ | |
| w26 = 1.; | |
| /* #58: @27 = 4 */ | |
| w27 = 4.; | |
| /* #59: @28 = 0x1 */ | |
| /* #60: {@29, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@19, @25, @26, @27, @8, @28) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w26); | |
| arg1[3]=(&w27); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w29; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #61: @29 = (@24-@29) */ | |
| for (i=0, rr=w29, cr=w24, cs=w29; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #62: output[0][13] = @29 */ | |
| if (res[0]) casadi_copy(w29, 2, res[0]+17); | |
| /* #63: output[0][14] = @3 */ | |
| if (res[0]) res[0][19] = w3; | |
| /* #64: output[0][15] = @25 */ | |
| if (res[0]) res[0][20] = w25; | |
| /* #65: @3 = input[0][18] */ | |
| w3 = arg[0] ? arg[0][18] : 0; | |
| /* #66: @30 = input[0][19] */ | |
| w30 = arg[0] ? arg[0][19] : 0; | |
| /* #67: @29 = vertcat(@3, @30) */ | |
| rr=w29; | |
| *rr++ = w3; | |
| *rr++ = w30; | |
| /* #68: @30 = input[0][17] */ | |
| w30 = arg[0] ? arg[0][17] : 0; | |
| /* #69: @31 = 1 */ | |
| w31 = 1.; | |
| /* #70: @32 = 5 */ | |
| w32 = 5.; | |
| /* #71: @33 = 0x1 */ | |
| /* #72: {@34, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@24, @30, @31, @32, @8, @33) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w30); | |
| arg1[2]=(&w31); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w34; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #73: @34 = (@29-@34) */ | |
| for (i=0, rr=w34, cr=w29, cs=w34; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #74: output[0][16] = @34 */ | |
| if (res[0]) casadi_copy(w34, 2, res[0]+21); | |
| /* #75: output[0][17] = @0 */ | |
| if (res[0]) res[0][23] = w0; | |
| /* #76: output[0][18] = @30 */ | |
| if (res[0]) res[0][24] = w30; | |
| /* #77: @0 = input[0][21] */ | |
| w0 = arg[0] ? arg[0][21] : 0; | |
| /* #78: @35 = input[0][22] */ | |
| w35 = arg[0] ? arg[0][22] : 0; | |
| /* #79: @34 = vertcat(@0, @35) */ | |
| rr=w34; | |
| *rr++ = w0; | |
| *rr++ = w35; | |
| /* #80: @35 = input[0][20] */ | |
| w35 = arg[0] ? arg[0][20] : 0; | |
| /* #81: @36 = 1 */ | |
| w36 = 1.; | |
| /* #82: @37 = 6 */ | |
| w37 = 6.; | |
| /* #83: @38 = 0x1 */ | |
| /* #84: {@39, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@29, @35, @36, @37, @8, @38) */ | |
| arg1[0]=w29; | |
| arg1[1]=(&w35); | |
| arg1[2]=(&w36); | |
| arg1[3]=(&w37); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w39; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #85: @39 = (@34-@39) */ | |
| for (i=0, rr=w39, cr=w34, cs=w39; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #86: output[0][19] = @39 */ | |
| if (res[0]) casadi_copy(w39, 2, res[0]+25); | |
| /* #87: output[0][20] = @3 */ | |
| if (res[0]) res[0][27] = w3; | |
| /* #88: output[0][21] = @35 */ | |
| if (res[0]) res[0][28] = w35; | |
| /* #89: @3 = input[0][24] */ | |
| w3 = arg[0] ? arg[0][24] : 0; | |
| /* #90: @40 = input[0][25] */ | |
| w40 = arg[0] ? arg[0][25] : 0; | |
| /* #91: @39 = vertcat(@3, @40) */ | |
| rr=w39; | |
| *rr++ = w3; | |
| *rr++ = w40; | |
| /* #92: @40 = input[0][23] */ | |
| w40 = arg[0] ? arg[0][23] : 0; | |
| /* #93: @41 = 1 */ | |
| w41 = 1.; | |
| /* #94: @42 = 7 */ | |
| w42 = 7.; | |
| /* #95: @43 = 0x1 */ | |
| /* #96: {@44, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@34, @40, @41, @42, @8, @43) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w40); | |
| arg1[2]=(&w41); | |
| arg1[3]=(&w42); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w44; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #97: @44 = (@39-@44) */ | |
| for (i=0, rr=w44, cr=w39, cs=w44; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #98: output[0][22] = @44 */ | |
| if (res[0]) casadi_copy(w44, 2, res[0]+29); | |
| /* #99: output[0][23] = @0 */ | |
| if (res[0]) res[0][31] = w0; | |
| /* #100: output[0][24] = @40 */ | |
| if (res[0]) res[0][32] = w40; | |
| /* #101: @0 = input[0][27] */ | |
| w0 = arg[0] ? arg[0][27] : 0; | |
| /* #102: @45 = input[0][28] */ | |
| w45 = arg[0] ? arg[0][28] : 0; | |
| /* #103: @44 = vertcat(@0, @45) */ | |
| rr=w44; | |
| *rr++ = w0; | |
| *rr++ = w45; | |
| /* #104: @45 = input[0][26] */ | |
| w45 = arg[0] ? arg[0][26] : 0; | |
| /* #105: @46 = 1 */ | |
| w46 = 1.; | |
| /* #106: @47 = 8 */ | |
| w47 = 8.; | |
| /* #107: @48 = 0x1 */ | |
| /* #108: {@49, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@39, @45, @46, @47, @8, @48) */ | |
| arg1[0]=w39; | |
| arg1[1]=(&w45); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w49; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #109: @49 = (@44-@49) */ | |
| for (i=0, rr=w49, cr=w44, cs=w49; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #110: output[0][25] = @49 */ | |
| if (res[0]) casadi_copy(w49, 2, res[0]+33); | |
| /* #111: output[0][26] = @3 */ | |
| if (res[0]) res[0][35] = w3; | |
| /* #112: output[0][27] = @45 */ | |
| if (res[0]) res[0][36] = w45; | |
| /* #113: @3 = input[0][30] */ | |
| w3 = arg[0] ? arg[0][30] : 0; | |
| /* #114: @50 = input[0][31] */ | |
| w50 = arg[0] ? arg[0][31] : 0; | |
| /* #115: @49 = vertcat(@3, @50) */ | |
| rr=w49; | |
| *rr++ = w3; | |
| *rr++ = w50; | |
| /* #116: @50 = input[0][29] */ | |
| w50 = arg[0] ? arg[0][29] : 0; | |
| /* #117: @51 = 1 */ | |
| w51 = 1.; | |
| /* #118: @52 = 9 */ | |
| w52 = 9.; | |
| /* #119: @53 = 0x1 */ | |
| /* #120: {@54, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@44, @50, @51, @52, @8, @53) */ | |
| arg1[0]=w44; | |
| arg1[1]=(&w50); | |
| arg1[2]=(&w51); | |
| arg1[3]=(&w52); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w54; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #121: @49 = (@49-@54) */ | |
| for (i=0, rr=w49, cs=w54; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #122: output[0][28] = @49 */ | |
| if (res[0]) casadi_copy(w49, 2, res[0]+37); | |
| /* #123: output[0][29] = @0 */ | |
| if (res[0]) res[0][39] = w0; | |
| /* #124: output[0][30] = @50 */ | |
| if (res[0]) res[0][40] = w50; | |
| /* #125: output[0][31] = @3 */ | |
| if (res[0]) res[0][41] = w3; | |
| /* #126: @55 = zeros(32x42,102nz) */ | |
| casadi_clear(w55, 102); | |
| /* #127: @56 = zeros(2x1,0nz) */ | |
| /* #128: @57 = zeros(2x2,0nz) */ | |
| /* #129: @58 = zeros(2x5,0nz) */ | |
| /* #130: @59 = 0x1 */ | |
| /* #131: @60 = 0x1 */ | |
| /* #132: @61 = 0x4 */ | |
| /* #133: @62 = 0x1 */ | |
| /* #134: @63 = 0x1 */ | |
| /* #135: @64 = 0x0 */ | |
| /* #136: @65 = ones(32x1,10nz) */ | |
| casadi_fill(w65, 10, 1.); | |
| /* #137: {@3, NULL, NULL, NULL, NULL, @0, NULL, NULL, @66, NULL, NULL, @67, NULL, NULL, @68, NULL, NULL, @69, NULL, NULL, @70, NULL, NULL, @71, NULL, NULL, @72, NULL, NULL, @73, NULL, NULL} = vertsplit(@65) */ | |
| w3 = w65[0]; | |
| w0 = w65[1]; | |
| w66 = w65[2]; | |
| w67 = w65[3]; | |
| w68 = w65[4]; | |
| w69 = w65[5]; | |
| w70 = w65[6]; | |
| w71 = w65[7]; | |
| w72 = w65[8]; | |
| w73 = w65[9]; | |
| /* #138: @74 = 00 */ | |
| /* #139: @75 = vertcat(@3, @74) */ | |
| rr=(&w75); | |
| *rr++ = w3; | |
| /* #140: @76 = 00 */ | |
| /* #141: @77 = ones(32x1,7nz) */ | |
| casadi_fill(w77, 7, 1.); | |
| /* #142: {NULL, @78, NULL, NULL, NULL, NULL, @79, NULL, NULL, NULL, NULL, NULL, @80, NULL, NULL, NULL, NULL, NULL, @81, NULL, NULL, NULL, NULL, NULL, @82, NULL, NULL, NULL, NULL, NULL, @83, @84} = vertsplit(@77) */ | |
| w78 = w77[0]; | |
| w79 = w77[1]; | |
| w80 = w77[2]; | |
| w81 = w77[3]; | |
| w82 = w77[4]; | |
| w83 = w77[5]; | |
| w84 = w77[6]; | |
| /* #143: @85 = vertcat(@76, @78) */ | |
| rr=(&w85); | |
| *rr++ = w78; | |
| /* #144: @86 = zeros(2x1,0nz) */ | |
| /* #145: @49 = horzcat(@75, @85, @86) */ | |
| rr=w49; | |
| *rr++ = w75; | |
| *rr++ = w85; | |
| /* #146: @87 = dense(@49) */ | |
| casadi_densify(w49, casadi_s1, w87, 0); | |
| /* #147: @86 = 00 */ | |
| /* #148: @88 = 00 */ | |
| /* #149: @89 = ones(32x1,5nz) */ | |
| casadi_fill(w89, 5, 1.); | |
| /* #150: {NULL, NULL, @75, NULL, NULL, NULL, NULL, @85, NULL, NULL, NULL, NULL, NULL, @90, NULL, NULL, NULL, NULL, NULL, @91, NULL, NULL, NULL, NULL, NULL, @92, NULL, NULL, NULL, NULL, NULL, NULL} = vertsplit(@89) */ | |
| w75 = w89[0]; | |
| w85 = w89[1]; | |
| w90 = w89[2]; | |
| w91 = w89[3]; | |
| w92 = w89[4]; | |
| /* #151: @93 = horzcat(@86, @88, @75) */ | |
| rr=(&w93); | |
| *rr++ = w75; | |
| /* #152: @94 = dense(@93) */ | |
| casadi_densify((&w93), casadi_s2, w94, 0); | |
| /* #153: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #154: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #155: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #156: @98 = 0x3 */ | |
| /* #157: {@99, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@4, @5, @6, @7, @8, @9, @56, @57, @58, @59, @60, @61, @62, @63, @64, @87, @94, @95, @96, @97, @98) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w6); | |
| arg1[3]=(&w7); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w87; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w99; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #158: {@4, @49, @54} = horzsplit(@99) */ | |
| casadi_copy(w99, 2, w4); | |
| casadi_copy(w99+2, 2, w49); | |
| casadi_copy(w99+4, 2, w54); | |
| /* #159: @4 = (-@4) */ | |
| for (i=0, rr=w4, cs=w4; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #160: @9 = zeros(2x1,0nz) */ | |
| /* #161: @56 = zeros(2x2,0nz) */ | |
| /* #162: @57 = zeros(2x5,0nz) */ | |
| /* #163: @58 = 0x1 */ | |
| /* #164: @59 = 0x1 */ | |
| /* #165: @60 = 0x4 */ | |
| /* #166: @61 = 0x1 */ | |
| /* #167: @62 = 0x1 */ | |
| /* #168: @63 = zeros(2x1,0nz) */ | |
| /* #169: @89 = ones(32x1,5nz) */ | |
| casadi_fill(w89, 5, 1.); | |
| /* #170: {NULL, NULL, NULL, @5, NULL, NULL, NULL, NULL, NULL, @6, NULL, NULL, NULL, NULL, NULL, @7, NULL, NULL, NULL, NULL, NULL, @93, NULL, NULL, NULL, NULL, NULL, @100, NULL, NULL, NULL, NULL} = vertsplit(@89) */ | |
| w5 = w89[0]; | |
| w6 = w89[1]; | |
| w7 = w89[2]; | |
| w93 = w89[3]; | |
| w100 = w89[4]; | |
| /* #171: @98 = 00 */ | |
| /* #172: @101 = vertcat(@5, @98) */ | |
| rr=(&w101); | |
| *rr++ = w5; | |
| /* #173: @102 = 00 */ | |
| /* #174: @89 = ones(32x1,5nz) */ | |
| casadi_fill(w89, 5, 1.); | |
| /* #175: {NULL, NULL, NULL, NULL, @103, NULL, NULL, NULL, NULL, NULL, @104, NULL, NULL, NULL, NULL, NULL, @105, NULL, NULL, NULL, NULL, NULL, @106, NULL, NULL, NULL, NULL, NULL, @107, NULL, NULL, NULL} = vertsplit(@89) */ | |
| w103 = w89[0]; | |
| w104 = w89[1]; | |
| w105 = w89[2]; | |
| w106 = w89[3]; | |
| w107 = w89[4]; | |
| /* #176: @108 = vertcat(@102, @103) */ | |
| rr=(&w108); | |
| *rr++ = w103; | |
| /* #177: @109 = horzcat(@63, @101, @108) */ | |
| rr=w109; | |
| *rr++ = w101; | |
| *rr++ = w108; | |
| /* #178: @99 = dense(@109) */ | |
| casadi_densify(w109, casadi_s3, w99, 0); | |
| /* #179: @63 = 00 */ | |
| /* #180: @110 = 00 */ | |
| /* #181: @101 = horzcat(@0, @63, @110) */ | |
| rr=(&w101); | |
| *rr++ = w0; | |
| /* #182: @94 = dense(@101) */ | |
| casadi_densify((&w101), casadi_s4, w94, 0); | |
| /* #183: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #184: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #185: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #186: @111 = 0x3 */ | |
| /* #187: {@87, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@2, @1, @11, @12, @8, @13, @9, @56, @57, @58, @59, @60, @61, @62, @64, @99, @94, @95, @96, @97, @111) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w11); | |
| arg1[3]=(&w12); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w99; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w87; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #188: {@2, @109, @112} = horzsplit(@87) */ | |
| casadi_copy(w87, 2, w2); | |
| casadi_copy(w87+2, 2, w109); | |
| casadi_copy(w87+4, 2, w112); | |
| /* #189: @2 = (-@2) */ | |
| for (i=0, rr=w2, cs=w2; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #190: @13 = 00 */ | |
| /* #191: @9 = zeros(2x1,0nz) */ | |
| /* #192: @56 = zeros(2x2,0nz) */ | |
| /* #193: @57 = zeros(2x5,0nz) */ | |
| /* #194: @58 = 0x1 */ | |
| /* #195: @59 = 0x1 */ | |
| /* #196: @60 = 0x4 */ | |
| /* #197: @61 = 0x1 */ | |
| /* #198: @62 = 0x1 */ | |
| /* #199: @111 = zeros(2x1,0nz) */ | |
| /* #200: @113 = 00 */ | |
| /* #201: @1 = vertcat(@79, @113) */ | |
| rr=(&w1); | |
| *rr++ = w79; | |
| /* #202: @114 = 00 */ | |
| /* #203: @11 = vertcat(@114, @85) */ | |
| rr=(&w11); | |
| *rr++ = w85; | |
| /* #204: @115 = horzcat(@111, @1, @11) */ | |
| rr=w115; | |
| *rr++ = w1; | |
| *rr++ = w11; | |
| /* #205: @87 = dense(@115) */ | |
| casadi_densify(w115, casadi_s3, w87, 0); | |
| /* #206: @111 = 00 */ | |
| /* #207: @116 = 00 */ | |
| /* #208: @1 = horzcat(@66, @111, @116) */ | |
| rr=(&w1); | |
| *rr++ = w66; | |
| /* #209: @94 = dense(@1) */ | |
| casadi_densify((&w1), casadi_s4, w94, 0); | |
| /* #210: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #211: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #212: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #213: @117 = 0x3 */ | |
| /* #214: {@99, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@10, @15, @16, @17, @8, @18, @9, @56, @57, @58, @59, @60, @61, @62, @64, @87, @94, @95, @96, @97, @117) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w15); | |
| arg1[2]=(&w16); | |
| arg1[3]=(&w17); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w87; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w99; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #215: {@10, @115, @118} = horzsplit(@99) */ | |
| casadi_copy(w99, 2, w10); | |
| casadi_copy(w99+2, 2, w115); | |
| casadi_copy(w99+4, 2, w118); | |
| /* #216: @10 = (-@10) */ | |
| for (i=0, rr=w10, cs=w10; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #217: @18 = 00 */ | |
| /* #218: @9 = zeros(2x1,0nz) */ | |
| /* #219: @56 = zeros(2x2,0nz) */ | |
| /* #220: @57 = zeros(2x5,0nz) */ | |
| /* #221: @58 = 0x1 */ | |
| /* #222: @59 = 0x1 */ | |
| /* #223: @60 = 0x4 */ | |
| /* #224: @61 = 0x1 */ | |
| /* #225: @62 = 0x1 */ | |
| /* #226: @117 = zeros(2x1,0nz) */ | |
| /* #227: @119 = 00 */ | |
| /* #228: @15 = vertcat(@6, @119) */ | |
| rr=(&w15); | |
| *rr++ = w6; | |
| /* #229: @120 = 00 */ | |
| /* #230: @16 = vertcat(@120, @104) */ | |
| rr=(&w16); | |
| *rr++ = w104; | |
| /* #231: @121 = horzcat(@117, @15, @16) */ | |
| rr=w121; | |
| *rr++ = w15; | |
| *rr++ = w16; | |
| /* #232: @99 = dense(@121) */ | |
| casadi_densify(w121, casadi_s3, w99, 0); | |
| /* #233: @117 = 00 */ | |
| /* #234: @122 = 00 */ | |
| /* #235: @15 = horzcat(@67, @117, @122) */ | |
| rr=(&w15); | |
| *rr++ = w67; | |
| /* #236: @94 = dense(@15) */ | |
| casadi_densify((&w15), casadi_s4, w94, 0); | |
| /* #237: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #238: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #239: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #240: @123 = 0x3 */ | |
| /* #241: {@87, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@14, @20, @21, @22, @8, @23, @9, @56, @57, @58, @59, @60, @61, @62, @64, @99, @94, @95, @96, @97, @123) */ | |
| arg1[0]=w14; | |
| arg1[1]=(&w20); | |
| arg1[2]=(&w21); | |
| arg1[3]=(&w22); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w99; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w87; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #242: {@14, @121, @124} = horzsplit(@87) */ | |
| casadi_copy(w87, 2, w14); | |
| casadi_copy(w87+2, 2, w121); | |
| casadi_copy(w87+4, 2, w124); | |
| /* #243: @14 = (-@14) */ | |
| for (i=0, rr=w14, cs=w14; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #244: @23 = 00 */ | |
| /* #245: @9 = zeros(2x1,0nz) */ | |
| /* #246: @56 = zeros(2x2,0nz) */ | |
| /* #247: @57 = zeros(2x5,0nz) */ | |
| /* #248: @58 = 0x1 */ | |
| /* #249: @59 = 0x1 */ | |
| /* #250: @60 = 0x4 */ | |
| /* #251: @61 = 0x1 */ | |
| /* #252: @62 = 0x1 */ | |
| /* #253: @123 = zeros(2x1,0nz) */ | |
| /* #254: @125 = 00 */ | |
| /* #255: @20 = vertcat(@80, @125) */ | |
| rr=(&w20); | |
| *rr++ = w80; | |
| /* #256: @126 = 00 */ | |
| /* #257: @21 = vertcat(@126, @90) */ | |
| rr=(&w21); | |
| *rr++ = w90; | |
| /* #258: @127 = horzcat(@123, @20, @21) */ | |
| rr=w127; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| /* #259: @87 = dense(@127) */ | |
| casadi_densify(w127, casadi_s3, w87, 0); | |
| /* #260: @123 = 00 */ | |
| /* #261: @128 = 00 */ | |
| /* #262: @20 = horzcat(@68, @123, @128) */ | |
| rr=(&w20); | |
| *rr++ = w68; | |
| /* #263: @94 = dense(@20) */ | |
| casadi_densify((&w20), casadi_s4, w94, 0); | |
| /* #264: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #265: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #266: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #267: @129 = 0x3 */ | |
| /* #268: {@99, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@19, @25, @26, @27, @8, @28, @9, @56, @57, @58, @59, @60, @61, @62, @64, @87, @94, @95, @96, @97, @129) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w26); | |
| arg1[3]=(&w27); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w87; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w99; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #269: {@19, @127, @130} = horzsplit(@99) */ | |
| casadi_copy(w99, 2, w19); | |
| casadi_copy(w99+2, 2, w127); | |
| casadi_copy(w99+4, 2, w130); | |
| /* #270: @19 = (-@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #271: @28 = 00 */ | |
| /* #272: @9 = zeros(2x1,0nz) */ | |
| /* #273: @56 = zeros(2x2,0nz) */ | |
| /* #274: @57 = zeros(2x5,0nz) */ | |
| /* #275: @58 = 0x1 */ | |
| /* #276: @59 = 0x1 */ | |
| /* #277: @60 = 0x4 */ | |
| /* #278: @61 = 0x1 */ | |
| /* #279: @62 = 0x1 */ | |
| /* #280: @129 = zeros(2x1,0nz) */ | |
| /* #281: @131 = 00 */ | |
| /* #282: @25 = vertcat(@7, @131) */ | |
| rr=(&w25); | |
| *rr++ = w7; | |
| /* #283: @132 = 00 */ | |
| /* #284: @26 = vertcat(@132, @105) */ | |
| rr=(&w26); | |
| *rr++ = w105; | |
| /* #285: @133 = horzcat(@129, @25, @26) */ | |
| rr=w133; | |
| *rr++ = w25; | |
| *rr++ = w26; | |
| /* #286: @99 = dense(@133) */ | |
| casadi_densify(w133, casadi_s3, w99, 0); | |
| /* #287: @129 = 00 */ | |
| /* #288: @134 = 00 */ | |
| /* #289: @25 = horzcat(@69, @129, @134) */ | |
| rr=(&w25); | |
| *rr++ = w69; | |
| /* #290: @94 = dense(@25) */ | |
| casadi_densify((&w25), casadi_s4, w94, 0); | |
| /* #291: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #292: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #293: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #294: @135 = 0x3 */ | |
| /* #295: {@87, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@24, @30, @31, @32, @8, @33, @9, @56, @57, @58, @59, @60, @61, @62, @64, @99, @94, @95, @96, @97, @135) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w30); | |
| arg1[2]=(&w31); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w99; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w87; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #296: {@24, @133, @136} = horzsplit(@87) */ | |
| casadi_copy(w87, 2, w24); | |
| casadi_copy(w87+2, 2, w133); | |
| casadi_copy(w87+4, 2, w136); | |
| /* #297: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #298: @33 = 00 */ | |
| /* #299: @9 = zeros(2x1,0nz) */ | |
| /* #300: @56 = zeros(2x2,0nz) */ | |
| /* #301: @57 = zeros(2x5,0nz) */ | |
| /* #302: @58 = 0x1 */ | |
| /* #303: @59 = 0x1 */ | |
| /* #304: @60 = 0x4 */ | |
| /* #305: @61 = 0x1 */ | |
| /* #306: @62 = 0x1 */ | |
| /* #307: @135 = zeros(2x1,0nz) */ | |
| /* #308: @137 = 00 */ | |
| /* #309: @30 = vertcat(@81, @137) */ | |
| rr=(&w30); | |
| *rr++ = w81; | |
| /* #310: @138 = 00 */ | |
| /* #311: @31 = vertcat(@138, @91) */ | |
| rr=(&w31); | |
| *rr++ = w91; | |
| /* #312: @139 = horzcat(@135, @30, @31) */ | |
| rr=w139; | |
| *rr++ = w30; | |
| *rr++ = w31; | |
| /* #313: @87 = dense(@139) */ | |
| casadi_densify(w139, casadi_s3, w87, 0); | |
| /* #314: @135 = 00 */ | |
| /* #315: @140 = 00 */ | |
| /* #316: @30 = horzcat(@70, @135, @140) */ | |
| rr=(&w30); | |
| *rr++ = w70; | |
| /* #317: @94 = dense(@30) */ | |
| casadi_densify((&w30), casadi_s4, w94, 0); | |
| /* #318: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #319: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #320: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #321: @141 = 0x3 */ | |
| /* #322: {@99, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@29, @35, @36, @37, @8, @38, @9, @56, @57, @58, @59, @60, @61, @62, @64, @87, @94, @95, @96, @97, @141) */ | |
| arg1[0]=w29; | |
| arg1[1]=(&w35); | |
| arg1[2]=(&w36); | |
| arg1[3]=(&w37); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w87; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w99; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #323: {@29, @139, @142} = horzsplit(@99) */ | |
| casadi_copy(w99, 2, w29); | |
| casadi_copy(w99+2, 2, w139); | |
| casadi_copy(w99+4, 2, w142); | |
| /* #324: @29 = (-@29) */ | |
| for (i=0, rr=w29, cs=w29; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #325: @38 = 00 */ | |
| /* #326: @9 = zeros(2x1,0nz) */ | |
| /* #327: @56 = zeros(2x2,0nz) */ | |
| /* #328: @57 = zeros(2x5,0nz) */ | |
| /* #329: @58 = 0x1 */ | |
| /* #330: @59 = 0x1 */ | |
| /* #331: @60 = 0x4 */ | |
| /* #332: @61 = 0x1 */ | |
| /* #333: @62 = 0x1 */ | |
| /* #334: @141 = zeros(2x1,0nz) */ | |
| /* #335: @143 = 00 */ | |
| /* #336: @35 = vertcat(@93, @143) */ | |
| rr=(&w35); | |
| *rr++ = w93; | |
| /* #337: @144 = 00 */ | |
| /* #338: @36 = vertcat(@144, @106) */ | |
| rr=(&w36); | |
| *rr++ = w106; | |
| /* #339: @145 = horzcat(@141, @35, @36) */ | |
| rr=w145; | |
| *rr++ = w35; | |
| *rr++ = w36; | |
| /* #340: @99 = dense(@145) */ | |
| casadi_densify(w145, casadi_s3, w99, 0); | |
| /* #341: @141 = 00 */ | |
| /* #342: @146 = 00 */ | |
| /* #343: @35 = horzcat(@71, @141, @146) */ | |
| rr=(&w35); | |
| *rr++ = w71; | |
| /* #344: @94 = dense(@35) */ | |
| casadi_densify((&w35), casadi_s4, w94, 0); | |
| /* #345: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #346: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #347: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #348: @147 = 0x3 */ | |
| /* #349: {@87, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@34, @40, @41, @42, @8, @43, @9, @56, @57, @58, @59, @60, @61, @62, @64, @99, @94, @95, @96, @97, @147) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w40); | |
| arg1[2]=(&w41); | |
| arg1[3]=(&w42); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w99; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w87; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #350: {@34, @145, @148} = horzsplit(@87) */ | |
| casadi_copy(w87, 2, w34); | |
| casadi_copy(w87+2, 2, w145); | |
| casadi_copy(w87+4, 2, w148); | |
| /* #351: @34 = (-@34) */ | |
| for (i=0, rr=w34, cs=w34; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #352: @43 = 00 */ | |
| /* #353: @9 = zeros(2x1,0nz) */ | |
| /* #354: @56 = zeros(2x2,0nz) */ | |
| /* #355: @57 = zeros(2x5,0nz) */ | |
| /* #356: @58 = 0x1 */ | |
| /* #357: @59 = 0x1 */ | |
| /* #358: @60 = 0x4 */ | |
| /* #359: @61 = 0x1 */ | |
| /* #360: @62 = 0x1 */ | |
| /* #361: @147 = zeros(2x1,0nz) */ | |
| /* #362: @149 = 00 */ | |
| /* #363: @40 = vertcat(@82, @149) */ | |
| rr=(&w40); | |
| *rr++ = w82; | |
| /* #364: @150 = 00 */ | |
| /* #365: @41 = vertcat(@150, @92) */ | |
| rr=(&w41); | |
| *rr++ = w92; | |
| /* #366: @151 = horzcat(@147, @40, @41) */ | |
| rr=w151; | |
| *rr++ = w40; | |
| *rr++ = w41; | |
| /* #367: @87 = dense(@151) */ | |
| casadi_densify(w151, casadi_s3, w87, 0); | |
| /* #368: @147 = 00 */ | |
| /* #369: @152 = 00 */ | |
| /* #370: @40 = horzcat(@72, @147, @152) */ | |
| rr=(&w40); | |
| *rr++ = w72; | |
| /* #371: @94 = dense(@40) */ | |
| casadi_densify((&w40), casadi_s4, w94, 0); | |
| /* #372: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #373: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #374: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #375: @153 = 0x3 */ | |
| /* #376: {@99, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@39, @45, @46, @47, @8, @48, @9, @56, @57, @58, @59, @60, @61, @62, @64, @87, @94, @95, @96, @97, @153) */ | |
| arg1[0]=w39; | |
| arg1[1]=(&w45); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w87; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w99; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #377: {@39, @151, @154} = horzsplit(@99) */ | |
| casadi_copy(w99, 2, w39); | |
| casadi_copy(w99+2, 2, w151); | |
| casadi_copy(w99+4, 2, w154); | |
| /* #378: @39 = (-@39) */ | |
| for (i=0, rr=w39, cs=w39; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #379: @48 = 00 */ | |
| /* #380: @9 = zeros(2x1,0nz) */ | |
| /* #381: @56 = zeros(2x2,0nz) */ | |
| /* #382: @57 = zeros(2x5,0nz) */ | |
| /* #383: @58 = 0x1 */ | |
| /* #384: @59 = 0x1 */ | |
| /* #385: @60 = 0x4 */ | |
| /* #386: @61 = 0x1 */ | |
| /* #387: @62 = 0x1 */ | |
| /* #388: @153 = zeros(2x1,0nz) */ | |
| /* #389: @155 = 00 */ | |
| /* #390: @45 = vertcat(@100, @155) */ | |
| rr=(&w45); | |
| *rr++ = w100; | |
| /* #391: @156 = 00 */ | |
| /* #392: @46 = vertcat(@156, @107) */ | |
| rr=(&w46); | |
| *rr++ = w107; | |
| /* #393: @157 = horzcat(@153, @45, @46) */ | |
| rr=w157; | |
| *rr++ = w45; | |
| *rr++ = w46; | |
| /* #394: @99 = dense(@157) */ | |
| casadi_densify(w157, casadi_s3, w99, 0); | |
| /* #395: @153 = 00 */ | |
| /* #396: @158 = 00 */ | |
| /* #397: @45 = horzcat(@73, @153, @158) */ | |
| rr=(&w45); | |
| *rr++ = w73; | |
| /* #398: @94 = dense(@45) */ | |
| casadi_densify((&w45), casadi_s4, w94, 0); | |
| /* #399: @95 = zeros(1x3) */ | |
| casadi_clear(w95, 3); | |
| /* #400: @96 = zeros(1x3) */ | |
| casadi_clear(w96, 3); | |
| /* #401: @97 = zeros(1x3) */ | |
| casadi_clear(w97, 3); | |
| /* #402: @159 = 0x3 */ | |
| /* #403: {@87, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@44, @50, @51, @52, @8, @53, @9, @56, @57, @58, @59, @60, @61, @62, @64, @99, @94, @95, @96, @97, @159) */ | |
| arg1[0]=w44; | |
| arg1[1]=(&w50); | |
| arg1[2]=(&w51); | |
| arg1[3]=(&w52); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w99; | |
| arg1[16]=w94; | |
| arg1[17]=w95; | |
| arg1[18]=w96; | |
| arg1[19]=w97; | |
| arg1[20]=0; | |
| res1[0]=w87; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #404: {@44, @157, @160} = horzsplit(@87) */ | |
| casadi_copy(w87, 2, w44); | |
| casadi_copy(w87+2, 2, w157); | |
| casadi_copy(w87+4, 2, w160); | |
| /* #405: @44 = (-@44) */ | |
| for (i=0, rr=w44, cs=w44; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #406: @53 = 00 */ | |
| /* #407: @9 = 00 */ | |
| /* #408: @161 = vertcat(@4, @3, @74, @86, @2, @13, @0, @10, @18, @66, @14, @23, @67, @19, @28, @68, @24, @33, @69, @29, @38, @70, @34, @43, @71, @39, @48, @72, @44, @53, @73, @9) */ | |
| rr=w161; | |
| for (i=0, cs=w4; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w3; | |
| for (i=0, cs=w2; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w0; | |
| for (i=0, cs=w10; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w66; | |
| for (i=0, cs=w14; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w67; | |
| for (i=0, cs=w19; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w68; | |
| for (i=0, cs=w24; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w69; | |
| for (i=0, cs=w29; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w70; | |
| for (i=0, cs=w34; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w71; | |
| for (i=0, cs=w39; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w72; | |
| for (i=0, cs=w44; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w73; | |
| /* #409: @162 = @161[:30] */ | |
| for (rr=w162, ss=w161+0; ss!=w161+30; ss+=1) *rr++ = *ss; | |
| /* #410: (@55[0, 4, 8, 13, 17, 20, 23, 27, 30, 33, 37, 40, 43, 47, 50, 53, 57, 60, 63, 67, 70, 73, 77, 80, 83, 87, 90, 93, 97, 100] = @162) */ | |
| for (cii=casadi_s5, rr=w55, ss=w162; cii!=casadi_s5+30; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #411: @49 = (-@49) */ | |
| for (i=0, rr=w49, cs=w49; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #412: @74 = 00 */ | |
| /* #413: @86 = 00 */ | |
| /* #414: @115 = (-@115) */ | |
| for (i=0, rr=w115, cs=w115; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #415: @13 = 00 */ | |
| /* #416: @18 = 00 */ | |
| /* #417: @127 = (-@127) */ | |
| for (i=0, rr=w127, cs=w127; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #418: @23 = 00 */ | |
| /* #419: @28 = 00 */ | |
| /* #420: @139 = (-@139) */ | |
| for (i=0, rr=w139, cs=w139; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #421: @33 = 00 */ | |
| /* #422: @38 = 00 */ | |
| /* #423: @151 = (-@151) */ | |
| for (i=0, rr=w151, cs=w151; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #424: @43 = 00 */ | |
| /* #425: @48 = 00 */ | |
| /* #426: @163 = vertcat(@49, @76, @78, @88, @79, @113, @74, @86, @115, @79, @111, @80, @125, @13, @18, @127, @80, @123, @81, @137, @23, @28, @139, @81, @135, @82, @149, @33, @38, @151, @82, @147, @83, @84, @43, @48, @83) */ | |
| rr=w163; | |
| for (i=0, cs=w49; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w78; | |
| *rr++ = w79; | |
| for (i=0, cs=w115; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w79; | |
| *rr++ = w80; | |
| for (i=0, cs=w127; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w80; | |
| *rr++ = w81; | |
| for (i=0, cs=w139; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w81; | |
| *rr++ = w82; | |
| for (i=0, cs=w151; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w82; | |
| *rr++ = w83; | |
| *rr++ = w84; | |
| *rr++ = w83; | |
| /* #427: @164 = @163[:22] */ | |
| for (rr=w164, ss=w163+0; ss!=w163+22; ss+=1) *rr++ = *ss; | |
| /* #428: (@55[1, 5, 9, 14, 21, 25, 29, 34, 41, 45, 49, 54, 61, 65, 69, 74, 81, 85, 89, 94, 98, 101] = @164) */ | |
| for (cii=casadi_s6, rr=w55, ss=w164; cii!=casadi_s6+22; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #429: @54 = (-@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #430: @76 = 00 */ | |
| /* #431: @88 = 00 */ | |
| /* #432: @113 = 00 */ | |
| /* #433: @74 = 00 */ | |
| /* #434: @118 = (-@118) */ | |
| for (i=0, rr=w118, cs=w118; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #435: @86 = 00 */ | |
| /* #436: @111 = 00 */ | |
| /* #437: @130 = (-@130) */ | |
| for (i=0, rr=w130, cs=w130; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #438: @125 = 00 */ | |
| /* #439: @13 = 00 */ | |
| /* #440: @142 = (-@142) */ | |
| for (i=0, rr=w142, cs=w142; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #441: @18 = 00 */ | |
| /* #442: @123 = 00 */ | |
| /* #443: @154 = (-@154) */ | |
| for (i=0, rr=w154, cs=w154; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #444: @137 = zeros(2x1,0nz) */ | |
| /* #445: @23 = 00 */ | |
| /* #446: @28 = 00 */ | |
| /* #447: @135 = 00 */ | |
| /* #448: @165 = vertcat(@54, @76, @88, @75, @114, @85, @113, @74, @118, @114, @116, @126, @90, @86, @111, @130, @126, @128, @138, @91, @125, @13, @142, @138, @140, @150, @92, @18, @123, @154, @150, @152, @137, @23, @28, @135) */ | |
| rr=w165; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w75; | |
| *rr++ = w85; | |
| for (i=0, cs=w118; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w90; | |
| for (i=0, cs=w130; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w91; | |
| for (i=0, cs=w142; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w92; | |
| for (i=0, cs=w154; i<2; ++i) *rr++ = *cs++; | |
| /* #449: @166 = @165[:15] */ | |
| for (rr=w166, ss=w165+0; ss!=w165+15; ss+=1) *rr++ = *ss; | |
| /* #450: (@55[2, 6, 10, 18, 22, 26, 38, 42, 46, 58, 62, 66, 78, 82, 86] = @166) */ | |
| for (cii=casadi_s7, rr=w55, ss=w166; cii!=casadi_s7+15; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #451: @76 = 00 */ | |
| /* #452: @88 = 00 */ | |
| /* #453: @114 = 00 */ | |
| /* #454: @109 = (-@109) */ | |
| for (i=0, rr=w109, cs=w109; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #455: @113 = 00 */ | |
| /* #456: @74 = 00 */ | |
| /* #457: @121 = (-@121) */ | |
| for (i=0, rr=w121, cs=w121; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #458: @116 = 00 */ | |
| /* #459: @126 = 00 */ | |
| /* #460: @133 = (-@133) */ | |
| for (i=0, rr=w133, cs=w133; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #461: @86 = 00 */ | |
| /* #462: @111 = 00 */ | |
| /* #463: @145 = (-@145) */ | |
| for (i=0, rr=w145, cs=w145; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #464: @128 = 00 */ | |
| /* #465: @138 = 00 */ | |
| /* #466: @157 = (-@157) */ | |
| for (i=0, rr=w157, cs=w157; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #467: @125 = 00 */ | |
| /* #468: @167 = vertcat(@5, @98, @76, @88, @114, @109, @5, @63, @6, @119, @113, @74, @121, @6, @117, @7, @131, @116, @126, @133, @7, @129, @93, @143, @86, @111, @145, @93, @141, @100, @155, @128, @138, @157, @100, @153, @125) */ | |
| rr=w167; | |
| *rr++ = w5; | |
| for (i=0, cs=w109; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w5; | |
| *rr++ = w6; | |
| for (i=0, cs=w121; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| for (i=0, cs=w133; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w7; | |
| *rr++ = w93; | |
| for (i=0, cs=w145; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w93; | |
| *rr++ = w100; | |
| for (i=0, cs=w157; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w100; | |
| /* #469: @168 = @167[:20] */ | |
| for (rr=w168, ss=w167+0; ss!=w167+20; ss+=1) *rr++ = *ss; | |
| /* #470: (@55[3, 11, 15, 19, 24, 31, 35, 39, 44, 51, 55, 59, 64, 71, 75, 79, 84, 91, 95, 99] = @168) */ | |
| for (cii=casadi_s8, rr=w55, ss=w168; cii!=casadi_s8+20; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #471: @98 = 00 */ | |
| /* #472: @76 = 00 */ | |
| /* #473: @88 = 00 */ | |
| /* #474: @112 = (-@112) */ | |
| for (i=0, rr=w112, cs=w112; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #475: @114 = 00 */ | |
| /* #476: @63 = 00 */ | |
| /* #477: @124 = (-@124) */ | |
| for (i=0, rr=w124, cs=w124; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #478: @119 = 00 */ | |
| /* #479: @113 = 00 */ | |
| /* #480: @136 = (-@136) */ | |
| for (i=0, rr=w136, cs=w136; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #481: @74 = 00 */ | |
| /* #482: @117 = 00 */ | |
| /* #483: @148 = (-@148) */ | |
| for (i=0, rr=w148, cs=w148; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #484: @131 = 00 */ | |
| /* #485: @116 = 00 */ | |
| /* #486: @160 = (-@160) */ | |
| for (i=0, rr=w160, cs=w160; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #487: @126 = 00 */ | |
| /* #488: @166 = vertcat(@102, @103, @98, @76, @88, @112, @102, @110, @120, @104, @114, @63, @124, @120, @122, @132, @105, @119, @113, @136, @132, @134, @144, @106, @74, @117, @148, @144, @146, @156, @107, @131, @116, @160, @156, @158, @126) */ | |
| rr=w166; | |
| *rr++ = w103; | |
| for (i=0, cs=w112; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w104; | |
| for (i=0, cs=w124; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w105; | |
| for (i=0, cs=w136; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w106; | |
| for (i=0, cs=w148; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w107; | |
| for (i=0, cs=w160; i<2; ++i) *rr++ = *cs++; | |
| /* #489: @165 = @166[:15] */ | |
| for (rr=w165, ss=w166+0; ss!=w166+15; ss+=1) *rr++ = *ss; | |
| /* #490: (@55[7, 12, 16, 28, 32, 36, 48, 52, 56, 68, 72, 76, 88, 92, 96] = @165) */ | |
| for (cii=casadi_s9, rr=w55, ss=w165; cii!=casadi_s9+15; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #491: @169 = @55' */ | |
| casadi_trans(w55,casadi_s11, w169, casadi_s10, iw); | |
| /* #492: output[1][0] = @169 */ | |
| casadi_copy(w169, 102, res[1]); | |
| return 0; | |
| } | |
| /* fwd1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],fwd_x[2],fwd_u,fwd_z[0],fwd_p,fwd_t[1x1,0nz])->(fwd_ode[2],fwd_alg[0],fwd_quad[0]) */ | |
| static int casadi_f19(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2, w3; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #3: @3 = input[9][0] */ | |
| w3 = arg[9] ? arg[9][0] : 0; | |
| /* #4: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #5: @3 = input[11][0] */ | |
| w3 = arg[11] ? arg[11][0] : 0; | |
| /* #6: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #7: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #8: output[0][1] = @1 */ | |
| if (res[0]) res[0][1] = w1; | |
| return 0; | |
| } | |
| /* fwd1_adj1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],adj_ode[2],adj_alg[0],adj_quad[0],out_adj_x[2x1,0nz],out_adj_u[1x1,0nz],out_adj_z[0],out_adj_p[1x1,0nz],out_adj_t[1x1,0nz],fwd_x[2],fwd_u,fwd_z[0],fwd_p,fwd_t[1x1,0nz],fwd_out_ode[2x1,0nz],fwd_out_alg[0],fwd_out_quad[0],fwd_adj_ode[2],fwd_adj_alg[0],fwd_adj_quad[0])->(fwd_adj_x[2],fwd_adj_u,fwd_adj_z[0],fwd_adj_p,fwd_adj_t[1x1,0nz]) */ | |
| static int casadi_f20(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2; | |
| /* #0: @0 = input[24][0] */ | |
| casadi_copy(arg[24], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@2+@1) */ | |
| w2 += w1; | |
| /* #3: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #4: @2 = (-@1) */ | |
| w2 = (- w1 ); | |
| /* #5: output[0][1] = @2 */ | |
| if (res[0]) res[0][1] = w2; | |
| /* #6: output[1][0] = @1 */ | |
| if (res[1]) res[1][0] = w1; | |
| /* #7: output[3][0] = @1 */ | |
| if (res[3]) res[3][0] = w1; | |
| return 0; | |
| } | |
| /* fwd1_adj1_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],adj_xf[2],adj_poly_coeff[2x5],adj_qf[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_poly_coeff_z[],out_adj_x0[2x1,0nz],out_adj_u[1x1,0nz],out_adj_t0[1x1,0nz],out_adj_DT[1x1,0nz],out_adj_DT_control[1x1,0nz],out_adj_p[1x1,0nz],out_adj_z0[0],fwd_x0[2],fwd_u,fwd_t0,fwd_DT,fwd_DT_control,fwd_p,fwd_z0[0],fwd_out_xf[2x1,0nz],fwd_out_poly_coeff[2x5,0nz],fwd_out_qf[0],fwd_out_poly_coeff_q[0x4],fwd_out_zf[0],fwd_out_poly_coeff_z[],fwd_adj_xf[2],fwd_adj_poly_coeff[2x5],fwd_adj_qf[0],fwd_adj_poly_coeff_q[0x4],fwd_adj_zf[0],fwd_adj_poly_coeff_z[])->(fwd_adj_x0[2],fwd_adj_u,fwd_adj_t0[1x1,0nz],fwd_adj_DT,fwd_adj_DT_control[1x1,0nz],fwd_adj_p,fwd_adj_z0[0]) */ | |
| static int casadi_f18(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+7, *rr; | |
| const casadi_real **arg1=arg+45, *cr, *cs; | |
| casadi_real *w0=w+5, *w1=w+15, *w2=w+17, *w3=w+19, *w4=w+21, *w5=w+23, *w6=w+25, *w7=w+27, w8, w9, w10, w11, w13, *w15=w+34, *w16=w+36, *w19=w+38, *w20=w+40, *w23=w+42, *w24=w+44, w30, w31, *w32=w+48, *w33=w+50, *w34=w+52, *w35=w+54, w36, w37, *w38=w+58, *w39=w+60, w40, *w41=w+63, *w42=w+65, *w43=w+67, *w51=w+69, w52, *w53=w+72, w57, *w58=w+75, w62, *w63=w+78, w67, w69, *w71=w+82, *w72=w+84, *w73=w+86, *w74=w+88, w75, *w76=w+91, *w79=w+93, w80, w81, w82, *w83=w+98, *w84=w+100, *w85=w+102, w86, *w87=w+105, *w88=w+107, w89, w90, w91, w92; | |
| /* #0: @0 = input[40][0] */ | |
| casadi_copy(arg[40], 10, w0); | |
| /* #1: {@1, @2, @3, @4, @5} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| casadi_copy(w0+4, 2, w3); | |
| casadi_copy(w0+6, 2, w4); | |
| casadi_copy(w0+8, 2, w5); | |
| /* #2: @6 = input[39][0] */ | |
| casadi_copy(arg[39], 2, w6); | |
| /* #3: @1 = (@1+@6) */ | |
| for (i=0, rr=w1, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #4: @7 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w7); | |
| /* #5: @8 = input[3][0] */ | |
| w8 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @9 = 2 */ | |
| w9 = 2.; | |
| /* #7: @9 = (@8/@9) */ | |
| w9 = (w8/w9); | |
| /* #8: @10 = 2 */ | |
| w10 = 2.; | |
| /* #9: @10 = (@8/@10) */ | |
| w10 = (w8/w10); | |
| /* #10: @11 = input[1][0] */ | |
| w11 = arg[1] ? arg[1][0] : 0; | |
| /* #11: @12 = 0x1 */ | |
| /* #12: @13 = input[5][0] */ | |
| w13 = arg[5] ? arg[5][0] : 0; | |
| /* #13: @14 = 00 */ | |
| /* #14: {@15, NULL, NULL} = ode(@7, @11, @12, @13, @14) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w15; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @16 = (@10*@15) */ | |
| for (i=0, rr=w16, cs=w15; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #16: @16 = (@7+@16) */ | |
| for (i=0, rr=w16, cr=w7, cs=w16; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 00 */ | |
| /* #19: {@19, NULL, NULL} = ode(@16, @11, @17, @13, @18) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w19; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #20: @20 = (@9*@19) */ | |
| for (i=0, rr=w20, cs=w19; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #21: @20 = (@7+@20) */ | |
| for (i=0, rr=w20, cr=w7, cs=w20; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @21 = 0x1 */ | |
| /* #23: @22 = 00 */ | |
| /* #24: {@23, NULL, NULL} = ode(@20, @11, @21, @13, @22) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w23; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @24 = (@8*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #26: @24 = (@7+@24) */ | |
| for (i=0, rr=w24, cr=w7, cs=w24; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #27: @25 = 0x1 */ | |
| /* #28: @26 = 00 */ | |
| /* #29: @27 = zeros(2x1,0nz) */ | |
| /* #30: @28 = 0x1 */ | |
| /* #31: @29 = 0x1 */ | |
| /* #32: @30 = 4 */ | |
| w30 = 4.; | |
| /* #33: @31 = 0.0416667 */ | |
| w31 = 4.1666666666666664e-02; | |
| /* #34: @0 = input[14][0] */ | |
| casadi_copy(arg[14], 10, w0); | |
| /* #35: {NULL, @32, @33, @34, @35} = horzsplit(@0) */ | |
| casadi_copy(w0+2, 2, w32); | |
| casadi_copy(w0+4, 2, w33); | |
| casadi_copy(w0+6, 2, w34); | |
| casadi_copy(w0+8, 2, w35); | |
| /* #36: @35 = (@31*@35) */ | |
| for (i=0, rr=w35, cs=w35; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #37: @36 = 3 */ | |
| w36 = 3.; | |
| /* #38: @37 = pow(@8,@36) */ | |
| w37 = pow(w8,w36); | |
| /* #39: @38 = (@35/@37) */ | |
| for (i=0, rr=w38, cr=w35; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #40: @39 = (@30*@38) */ | |
| for (i=0, rr=w39, cs=w38; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #41: @40 = 6 */ | |
| w40 = 6.; | |
| /* #42: @40 = (@8/@40) */ | |
| w40 = (w8/w40); | |
| /* #43: @41 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w41); | |
| /* #44: @42 = (@40*@41) */ | |
| for (i=0, rr=w42, cs=w41; i<2; ++i) (*rr++) = (w40*(*cs++)); | |
| /* #45: @43 = (@39+@42) */ | |
| for (i=0, rr=w43, cr=w39, cs=w42; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #46: @44 = 0x1 */ | |
| /* #47: @45 = 0x1 */ | |
| /* #48: @46 = zeros(2x1,0nz) */ | |
| /* #49: @47 = 00 */ | |
| /* #50: @48 = 0x1 */ | |
| /* #51: @49 = 00 */ | |
| /* #52: @50 = 00 */ | |
| /* #53: @51 = input[26][0] */ | |
| casadi_copy(arg[26], 2, w51); | |
| /* #54: @52 = input[29][0] */ | |
| w52 = arg[29] ? arg[29][0] : 0; | |
| /* #55: @53 = (@23*@52) */ | |
| for (i=0, rr=w53, cr=w23; i<2; ++i) (*rr++) = ((*cr++)*w52); | |
| /* #56: @54 = zeros(2x1,0nz) */ | |
| /* #57: @55 = 0x1 */ | |
| /* #58: @56 = 0x1 */ | |
| /* #59: @57 = 0.5 */ | |
| w57 = 5.0000000000000000e-01; | |
| /* #60: @57 = (@57*@52) */ | |
| w57 *= w52; | |
| /* #61: @58 = (@19*@57) */ | |
| for (i=0, rr=w58, cr=w19; i<2; ++i) (*rr++) = ((*cr++)*w57); | |
| /* #62: @59 = zeros(2x1,0nz) */ | |
| /* #63: @60 = 0x1 */ | |
| /* #64: @61 = 0x1 */ | |
| /* #65: @62 = 0.5 */ | |
| w62 = 5.0000000000000000e-01; | |
| /* #66: @62 = (@62*@52) */ | |
| w62 *= w52; | |
| /* #67: @63 = (@15*@62) */ | |
| for (i=0, rr=w63, cr=w15; i<2; ++i) (*rr++) = ((*cr++)*w62); | |
| /* #68: @64 = zeros(2x1,0nz) */ | |
| /* #69: @65 = 0x1 */ | |
| /* #70: @66 = 0x1 */ | |
| /* #71: @67 = input[27][0] */ | |
| w67 = arg[27] ? arg[27][0] : 0; | |
| /* #72: @68 = 0x1 */ | |
| /* #73: @69 = input[31][0] */ | |
| w69 = arg[31] ? arg[31][0] : 0; | |
| /* #74: @70 = 00 */ | |
| /* #75: {@71, NULL, NULL} = fwd1_ode(@7, @11, @12, @13, @14, @64, @65, @66, @51, @67, @68, @69, @70) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w51; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w71; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #76: @72 = (@10*@71) */ | |
| for (i=0, rr=w72, cs=w71; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #77: @63 = (@63+@72) */ | |
| for (i=0, rr=w63, cs=w72; i<2; ++i) (*rr++) += (*cs++); | |
| /* #78: @63 = (@51+@63) */ | |
| for (i=0, rr=w63, cr=w51, cs=w63; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #79: @64 = 0x1 */ | |
| /* #80: @65 = 00 */ | |
| /* #81: {@72, NULL, NULL} = fwd1_ode(@16, @11, @17, @13, @18, @59, @60, @61, @63, @67, @64, @69, @65) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w63; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w72; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #82: @73 = (@9*@72) */ | |
| for (i=0, rr=w73, cs=w72; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #83: @58 = (@58+@73) */ | |
| for (i=0, rr=w58, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #84: @58 = (@51+@58) */ | |
| for (i=0, rr=w58, cr=w51, cs=w58; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #85: @59 = 0x1 */ | |
| /* #86: @60 = 00 */ | |
| /* #87: {@73, NULL, NULL} = fwd1_ode(@20, @11, @21, @13, @22, @54, @55, @56, @58, @67, @59, @69, @60) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w58; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w73; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #88: @74 = (@8*@73) */ | |
| for (i=0, rr=w74, cs=w73; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #89: @53 = (@53+@74) */ | |
| for (i=0, rr=w53, cs=w74; i<2; ++i) (*rr++) += (*cs++); | |
| /* #90: @53 = (@51+@53) */ | |
| for (i=0, rr=w53, cr=w51, cs=w53; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #91: @54 = 0x1 */ | |
| /* #92: @55 = 00 */ | |
| /* #93: @56 = zeros(2x1,0nz) */ | |
| /* #94: @61 = 0x1 */ | |
| /* #95: @66 = 0x1 */ | |
| /* #96: @5 = (@31*@5) */ | |
| for (i=0, rr=w5, cs=w5; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #97: @74 = (@5/@37) */ | |
| for (i=0, rr=w74, cr=w5; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #98: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #99: @31 = sq(@8) */ | |
| w31 = casadi_sq( w8 ); | |
| /* #100: @31 = (@36*@31) */ | |
| w31 = (w36*w31); | |
| /* #101: @31 = (@31*@52) */ | |
| w31 *= w52; | |
| /* #102: @38 = (@38*@31) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) *= w31; | |
| /* #103: @74 = (@74-@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #104: @74 = (@30*@74) */ | |
| for (i=0, rr=w74, cs=w74; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #105: @75 = 0.166667 */ | |
| w75 = 1.6666666666666666e-01; | |
| /* #106: @75 = (@75*@52) */ | |
| w75 *= w52; | |
| /* #107: @38 = (@41*@75) */ | |
| for (i=0, rr=w38, cr=w41; i<2; ++i) (*rr++) = ((*cr++)*w75); | |
| /* #108: @76 = (@40*@6) */ | |
| for (i=0, rr=w76, cs=w6; i<2; ++i) (*rr++) = (w40*(*cs++)); | |
| /* #109: @38 = (@38+@76) */ | |
| for (i=0, rr=w38, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #110: @76 = (@74+@38) */ | |
| for (i=0, rr=w76, cr=w74, cs=w38; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #111: @77 = 0x1 */ | |
| /* #112: @78 = 0x1 */ | |
| /* #113: {@79, @40, NULL, @75, NULL} = fwd1_adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @43, @44, @45, @46, @47, @48, @49, @50, @53, @67, @54, @69, @55, @56, @61, @66, @76, @77, @78) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w53; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w76; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w79; | |
| res1[1]=(&w40); | |
| res1[2]=0; | |
| res1[3]=(&w75); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #114: @1 = (@1+@79) */ | |
| for (i=0, rr=w1, cs=w79; i<2; ++i) (*rr++) += (*cs++); | |
| /* #115: @46 = zeros(2x1,0nz) */ | |
| /* #116: @47 = 0x1 */ | |
| /* #117: @48 = 0x1 */ | |
| /* #118: @76 = (-@39) */ | |
| for (i=0, rr=w76, cs=w39; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #119: @76 = (2.*@76) */ | |
| for (i=0, rr=w76, cs=w76; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #120: @80 = 4 */ | |
| w80 = 4.; | |
| /* #121: @81 = sq(@8) */ | |
| w81 = casadi_sq( w8 ); | |
| /* #122: @80 = (@80/@81) */ | |
| w80 /= w81; | |
| /* #123: @82 = 0.166667 */ | |
| w82 = 1.6666666666666666e-01; | |
| /* #124: @34 = (@82*@34) */ | |
| for (i=0, rr=w34, cs=w34; i<2; ++i) (*rr++) = (w82*(*cs++)); | |
| /* #125: @83 = (@80*@34) */ | |
| for (i=0, rr=w83, cs=w34; i<2; ++i) (*rr++) = (w80*(*cs++)); | |
| /* #126: @76 = (@76+@83) */ | |
| for (i=0, rr=w76, cs=w83; i<2; ++i) (*rr++) += (*cs++); | |
| /* #127: {@84, NULL, NULL, NULL, NULL} = adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @43, @44, @45) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w84; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #128: @43 = (@8*@84) */ | |
| for (i=0, rr=w43, cs=w84; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #129: @76 = (@76+@43) */ | |
| for (i=0, rr=w76, cs=w43; i<2; ++i) (*rr++) += (*cs++); | |
| /* #130: @43 = (2.*@42) */ | |
| for (i=0, rr=w43, cs=w42; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #131: @76 = (@76+@43) */ | |
| for (i=0, rr=w76, cs=w43; i<2; ++i) (*rr++) += (*cs++); | |
| /* #132: @27 = 0x1 */ | |
| /* #133: @28 = 0x1 */ | |
| /* #134: @29 = zeros(2x1,0nz) */ | |
| /* #135: @44 = 00 */ | |
| /* #136: @45 = 0x1 */ | |
| /* #137: @49 = 00 */ | |
| /* #138: @50 = 00 */ | |
| /* #139: @56 = zeros(2x1,0nz) */ | |
| /* #140: @61 = 0x1 */ | |
| /* #141: @66 = 0x1 */ | |
| /* #142: @43 = (-@74) */ | |
| for (i=0, rr=w43, cs=w74; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #143: @43 = (2.*@43) */ | |
| for (i=0, rr=w43, cs=w43; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #144: @4 = (@82*@4) */ | |
| for (i=0, rr=w4, cs=w4; i<2; ++i) (*rr++) = (w82*(*cs++)); | |
| /* #145: @85 = (@80*@4) */ | |
| for (i=0, rr=w85, cs=w4; i<2; ++i) (*rr++) = (w80*(*cs++)); | |
| /* #146: @82 = (@80/@81) */ | |
| w82 = (w80/w81); | |
| /* #147: @86 = (2.*@8) */ | |
| w86 = (2.* w8 ); | |
| /* #148: @86 = (@86*@52) */ | |
| w86 *= w52; | |
| /* #149: @82 = (@82*@86) */ | |
| w82 *= w86; | |
| /* #150: @87 = (@34*@82) */ | |
| for (i=0, rr=w87, cr=w34; i<2; ++i) (*rr++) = ((*cr++)*w82); | |
| /* #151: @85 = (@85-@87) */ | |
| for (i=0, rr=w85, cs=w87; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #152: @43 = (@43+@85) */ | |
| for (i=0, rr=w43, cs=w85; i<2; ++i) (*rr++) += (*cs++); | |
| /* #153: @87 = (@84*@52) */ | |
| for (i=0, rr=w87, cr=w84; i<2; ++i) (*rr++) = ((*cr++)*w52); | |
| /* #154: @88 = (@8*@79) */ | |
| for (i=0, rr=w88, cs=w79; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #155: @87 = (@87+@88) */ | |
| for (i=0, rr=w87, cs=w88; i<2; ++i) (*rr++) += (*cs++); | |
| /* #156: @43 = (@43+@87) */ | |
| for (i=0, rr=w43, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #157: @87 = (2.*@38) */ | |
| for (i=0, rr=w87, cs=w38; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #158: @43 = (@43+@87) */ | |
| for (i=0, rr=w43, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #159: @77 = 0x1 */ | |
| /* #160: @78 = 0x1 */ | |
| /* #161: {@87, @89, NULL, @90, NULL} = fwd1_adj1_ode(@20, @11, @21, @13, @22, @46, @47, @48, @76, @27, @28, @29, @44, @45, @49, @50, @58, @67, @59, @69, @60, @56, @61, @66, @43, @77, @78) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w76; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w58; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w43; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w87; | |
| res1[1]=(&w89); | |
| res1[2]=0; | |
| res1[3]=(&w90); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #162: @1 = (@1+@87) */ | |
| for (i=0, rr=w1, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #163: @29 = zeros(2x1,0nz) */ | |
| /* #164: @44 = 0x1 */ | |
| /* #165: @45 = 0x1 */ | |
| /* #166: @91 = 2 */ | |
| w91 = 2.; | |
| /* #167: @91 = (@91/@8) */ | |
| w91 /= w8; | |
| /* #168: @92 = 0.5 */ | |
| w92 = 5.0000000000000000e-01; | |
| /* #169: @33 = (@92*@33) */ | |
| for (i=0, rr=w33, cs=w33; i<2; ++i) (*rr++) = (w92*(*cs++)); | |
| /* #170: @58 = (@91*@33) */ | |
| for (i=0, rr=w58, cs=w33; i<2; ++i) (*rr++) = (w91*(*cs++)); | |
| /* #171: @83 = (@58-@83) */ | |
| for (i=0, rr=w83, cr=w58, cs=w83; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #172: {@43, NULL, NULL, NULL, NULL} = adj1_ode(@20, @11, @21, @13, @22, @46, @47, @48, @76, @27, @28) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w76; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #173: @20 = (@9*@43) */ | |
| for (i=0, rr=w20, cs=w43; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #174: @83 = (@83+@20) */ | |
| for (i=0, rr=w83, cs=w20; i<2; ++i) (*rr++) += (*cs++); | |
| /* #175: @20 = (2.*@42) */ | |
| for (i=0, rr=w20, cs=w42; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #176: @83 = (@83+@20) */ | |
| for (i=0, rr=w83, cs=w20; i<2; ++i) (*rr++) += (*cs++); | |
| /* #177: @21 = 0x1 */ | |
| /* #178: @22 = 0x1 */ | |
| /* #179: @46 = zeros(2x1,0nz) */ | |
| /* #180: @47 = 00 */ | |
| /* #181: @48 = 0x1 */ | |
| /* #182: @27 = 00 */ | |
| /* #183: @28 = 00 */ | |
| /* #184: @49 = zeros(2x1,0nz) */ | |
| /* #185: @50 = 0x1 */ | |
| /* #186: @59 = 0x1 */ | |
| /* #187: @3 = (@92*@3) */ | |
| for (i=0, rr=w3, cs=w3; i<2; ++i) (*rr++) = (w92*(*cs++)); | |
| /* #188: @20 = (@91*@3) */ | |
| for (i=0, rr=w20, cs=w3; i<2; ++i) (*rr++) = (w91*(*cs++)); | |
| /* #189: @92 = (@91/@8) */ | |
| w92 = (w91/w8); | |
| /* #190: @92 = (@92*@52) */ | |
| w92 *= w52; | |
| /* #191: @76 = (@33*@92) */ | |
| for (i=0, rr=w76, cr=w33; i<2; ++i) (*rr++) = ((*cr++)*w92); | |
| /* #192: @20 = (@20-@76) */ | |
| for (i=0, rr=w20, cs=w76; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #193: @85 = (@20-@85) */ | |
| for (i=0, rr=w85, cr=w20, cs=w85; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #194: @76 = (@43*@57) */ | |
| for (i=0, rr=w76, cr=w43; i<2; ++i) (*rr++) = ((*cr++)*w57); | |
| /* #195: @88 = (@9*@87) */ | |
| for (i=0, rr=w88, cs=w87; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #196: @76 = (@76+@88) */ | |
| for (i=0, rr=w76, cs=w88; i<2; ++i) (*rr++) += (*cs++); | |
| /* #197: @85 = (@85+@76) */ | |
| for (i=0, rr=w85, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #198: @76 = (2.*@38) */ | |
| for (i=0, rr=w76, cs=w38; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #199: @85 = (@85+@76) */ | |
| for (i=0, rr=w85, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #200: @60 = 0x1 */ | |
| /* #201: @56 = 0x1 */ | |
| /* #202: {@76, @9, NULL, @57, NULL} = fwd1_adj1_ode(@16, @11, @17, @13, @18, @29, @44, @45, @83, @21, @22, @46, @47, @48, @27, @28, @63, @67, @64, @69, @65, @49, @50, @59, @85, @60, @56) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w83; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w63; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w85; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w76; | |
| res1[1]=(&w9); | |
| res1[2]=0; | |
| res1[3]=(&w57); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #203: @1 = (@1+@76) */ | |
| for (i=0, rr=w1, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #204: @46 = zeros(2x1,0nz) */ | |
| /* #205: @47 = 0x1 */ | |
| /* #206: @48 = 0x1 */ | |
| /* #207: @39 = (@39-@58) */ | |
| for (i=0, rr=w39, cs=w58; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #208: @39 = (@39+@32) */ | |
| for (i=0, rr=w39, cs=w32; i<2; ++i) (*rr++) += (*cs++); | |
| /* #209: @39 = (@39+@42) */ | |
| for (i=0, rr=w39, cs=w42; i<2; ++i) (*rr++) += (*cs++); | |
| /* #210: {@42, NULL, NULL, NULL, NULL} = adj1_ode(@16, @11, @17, @13, @18, @29, @44, @45, @83, @21, @22) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w83; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w42; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #211: @16 = (@10*@42) */ | |
| for (i=0, rr=w16, cs=w42; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #212: @39 = (@39+@16) */ | |
| for (i=0, rr=w39, cs=w16; i<2; ++i) (*rr++) += (*cs++); | |
| /* #213: @17 = 0x1 */ | |
| /* #214: @18 = 0x1 */ | |
| /* #215: @29 = zeros(2x1,0nz) */ | |
| /* #216: @44 = 00 */ | |
| /* #217: @45 = 0x1 */ | |
| /* #218: @21 = 00 */ | |
| /* #219: @22 = 00 */ | |
| /* #220: @27 = zeros(2x1,0nz) */ | |
| /* #221: @28 = 0x1 */ | |
| /* #222: @64 = 0x1 */ | |
| /* #223: @74 = (@74-@20) */ | |
| for (i=0, rr=w74, cs=w20; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #224: @74 = (@74+@2) */ | |
| for (i=0, rr=w74, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #225: @74 = (@74+@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #226: @38 = (@42*@62) */ | |
| for (i=0, rr=w38, cr=w42; i<2; ++i) (*rr++) = ((*cr++)*w62); | |
| /* #227: @2 = (@10*@76) */ | |
| for (i=0, rr=w2, cs=w76; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #228: @38 = (@38+@2) */ | |
| for (i=0, rr=w38, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #229: @74 = (@74+@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #230: @65 = 0x1 */ | |
| /* #231: @49 = 0x1 */ | |
| /* #232: {@38, @10, NULL, @62, NULL} = fwd1_adj1_ode(@7, @11, @12, @13, @14, @46, @47, @48, @39, @17, @18, @29, @44, @45, @21, @22, @51, @67, @68, @69, @70, @27, @28, @64, @74, @65, @49) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w39; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w51; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w74; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w38; | |
| res1[1]=(&w10); | |
| res1[2]=0; | |
| res1[3]=(&w62); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #233: @1 = (@1+@38) */ | |
| for (i=0, rr=w1, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #234: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #235: @40 = (@40+@89) */ | |
| w40 += w89; | |
| /* #236: @40 = (@40+@9) */ | |
| w40 += w9; | |
| /* #237: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #238: output[1][0] = @40 */ | |
| if (res[1]) res[1][0] = w40; | |
| /* #239: {@1, NULL, NULL} = ode(@24, @11, @25, @13, @26) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w1; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #240: @38 = (2.*@23) */ | |
| for (i=0, rr=w38, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #241: @38 = (@1-@38) */ | |
| for (i=0, rr=w38, cr=w1, cs=w38; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #242: @38 = (@38+@15) */ | |
| for (i=0, rr=w38, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #243: @38 = (@30*@38) */ | |
| for (i=0, rr=w38, cs=w38; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #244: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #245: @7 = (@38/@37) */ | |
| for (i=0, rr=w7, cr=w38; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #246: @39 = (-@7) */ | |
| for (i=0, rr=w39, cs=w7; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #247: @40 = dot(@39, @35) */ | |
| w40 = casadi_dot(2, w39, w35); | |
| /* #248: @10 = (2.*@8) */ | |
| w10 = (2.* w8 ); | |
| /* #249: @10 = (@10*@52) */ | |
| w10 *= w52; | |
| /* #250: @10 = (@36*@10) */ | |
| w10 = (w36*w10); | |
| /* #251: @40 = (@40*@10) */ | |
| w40 *= w10; | |
| /* #252: @10 = sq(@8) */ | |
| w10 = casadi_sq( w8 ); | |
| /* #253: @36 = (@36*@10) */ | |
| w36 *= w10; | |
| /* #254: @10 = dot(@39, @5) */ | |
| w10 = casadi_dot(2, w39, w5); | |
| /* #255: @12 = zeros(2x1,0nz) */ | |
| /* #256: @14 = 0x1 */ | |
| /* #257: @46 = 0x1 */ | |
| /* #258: {@39, NULL, NULL} = fwd1_ode(@24, @11, @25, @13, @26, @12, @14, @46, @53, @67, @54, @69, @55) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w53; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w39; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #259: @24 = (2.*@73) */ | |
| for (i=0, rr=w24, cs=w73; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #260: @24 = (@39-@24) */ | |
| for (i=0, rr=w24, cr=w39, cs=w24; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #261: @24 = (@24+@71) */ | |
| for (i=0, rr=w24, cs=w71; i<2; ++i) (*rr++) += (*cs++); | |
| /* #262: @24 = (@30*@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #263: @24 = (@24/@37) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w37; | |
| /* #264: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #265: @38 = (@38*@31) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) *= w31; | |
| /* #266: @24 = (@24-@38) */ | |
| for (i=0, rr=w24, cs=w38; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #267: @24 = (@24/@37) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w37; | |
| /* #268: @7 = (@7/@37) */ | |
| for (i=0, rr=w7; i<2; ++i) (*rr++) /= w37; | |
| /* #269: @7 = (@7*@31) */ | |
| for (i=0, rr=w7; i<2; ++i) (*rr++) *= w31; | |
| /* #270: @24 = (@24-@7) */ | |
| for (i=0, rr=w24, cs=w7; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #271: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #272: @31 = dot(@24, @35) */ | |
| w31 = casadi_dot(2, w24, w35); | |
| /* #273: @10 = (@10+@31) */ | |
| w10 += w31; | |
| /* #274: @36 = (@36*@10) */ | |
| w36 *= w10; | |
| /* #275: @40 = (@40+@36) */ | |
| w40 += w36; | |
| /* #276: @80 = (@80/@81) */ | |
| w80 /= w81; | |
| /* #277: @24 = (@23-@19) */ | |
| for (i=0, rr=w24, cr=w23, cs=w19; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #278: @36 = dot(@24, @34) */ | |
| w36 = casadi_dot(2, w24, w34); | |
| /* #279: @10 = (@80*@36) */ | |
| w10 = (w80*w36); | |
| /* #280: @31 = (2.*@52) */ | |
| w31 = (2.* w52 ); | |
| /* #281: @10 = (@10*@31) */ | |
| w10 *= w31; | |
| /* #282: @31 = (2.*@8) */ | |
| w31 = (2.* w8 ); | |
| /* #283: @37 = (@80/@81) */ | |
| w37 = (w80/w81); | |
| /* #284: @37 = (@37*@86) */ | |
| w37 *= w86; | |
| /* #285: @37 = (-@37) */ | |
| w37 = (- w37 ); | |
| /* #286: @82 = (@82/@81) */ | |
| w82 /= w81; | |
| /* #287: @37 = (@37-@82) */ | |
| w37 -= w82; | |
| /* #288: @36 = (@36*@37) */ | |
| w36 *= w37; | |
| /* #289: @37 = dot(@24, @4) */ | |
| w37 = casadi_dot(2, w24, w4); | |
| /* #290: @24 = (@73-@72) */ | |
| for (i=0, rr=w24, cr=w73, cs=w72; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #291: @82 = dot(@24, @34) */ | |
| w82 = casadi_dot(2, w24, w34); | |
| /* #292: @37 = (@37+@82) */ | |
| w37 += w82; | |
| /* #293: @80 = (@80*@37) */ | |
| w80 *= w37; | |
| /* #294: @36 = (@36+@80) */ | |
| w36 += w80; | |
| /* #295: @31 = (@31*@36) */ | |
| w31 *= w36; | |
| /* #296: @10 = (@10+@31) */ | |
| w10 += w31; | |
| /* #297: @40 = (@40-@10) */ | |
| w40 -= w10; | |
| /* #298: @24 = (@19-@15) */ | |
| for (i=0, rr=w24, cr=w19, cs=w15; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #299: @10 = dot(@24, @33) */ | |
| w10 = casadi_dot(2, w24, w33); | |
| /* #300: @91 = (@91/@8) */ | |
| w91 /= w8; | |
| /* #301: @31 = (@91/@8) */ | |
| w31 = (w91/w8); | |
| /* #302: @31 = (@31*@52) */ | |
| w31 *= w52; | |
| /* #303: @31 = (-@31) */ | |
| w31 = (- w31 ); | |
| /* #304: @92 = (@92/@8) */ | |
| w92 /= w8; | |
| /* #305: @31 = (@31-@92) */ | |
| w31 -= w92; | |
| /* #306: @10 = (@10*@31) */ | |
| w10 *= w31; | |
| /* #307: @31 = dot(@24, @3) */ | |
| w31 = casadi_dot(2, w24, w3); | |
| /* #308: @24 = (@72-@71) */ | |
| for (i=0, rr=w24, cr=w72, cs=w71; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #309: @92 = dot(@24, @33) */ | |
| w92 = casadi_dot(2, w24, w33); | |
| /* #310: @31 = (@31+@92) */ | |
| w31 += w92; | |
| /* #311: @91 = (@91*@31) */ | |
| w91 *= w31; | |
| /* #312: @10 = (@10+@91) */ | |
| w10 += w91; | |
| /* #313: @40 = (@40-@10) */ | |
| w40 -= w10; | |
| /* #314: @10 = dot(@23, @79) */ | |
| w10 = casadi_dot(2, w23, w79); | |
| /* #315: @91 = dot(@73, @84) */ | |
| w91 = casadi_dot(2, w73, w84); | |
| /* #316: @10 = (@10+@91) */ | |
| w10 += w91; | |
| /* #317: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #318: @10 = 0.5 */ | |
| w10 = 5.0000000000000000e-01; | |
| /* #319: @91 = dot(@19, @87) */ | |
| w91 = casadi_dot(2, w19, w87); | |
| /* #320: @31 = dot(@72, @43) */ | |
| w31 = casadi_dot(2, w72, w43); | |
| /* #321: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #322: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #323: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #324: @10 = 0.5 */ | |
| w10 = 5.0000000000000000e-01; | |
| /* #325: @91 = dot(@15, @76) */ | |
| w91 = casadi_dot(2, w15, w76); | |
| /* #326: @31 = dot(@71, @42) */ | |
| w31 = casadi_dot(2, w71, w42); | |
| /* #327: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #328: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #329: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #330: @10 = 0.166667 */ | |
| w10 = 1.6666666666666666e-01; | |
| /* #331: @19 = (2.*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #332: @15 = (@15+@19) */ | |
| for (i=0, rr=w15, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #333: @23 = (2.*@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #334: @15 = (@15+@23) */ | |
| for (i=0, rr=w15, cs=w23; i<2; ++i) (*rr++) += (*cs++); | |
| /* #335: @15 = (@15+@1) */ | |
| for (i=0, rr=w15, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #336: @91 = dot(@15, @6) */ | |
| w91 = casadi_dot(2, w15, w6); | |
| /* #337: @72 = (2.*@72) */ | |
| for (i=0, rr=w72, cs=w72; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #338: @71 = (@71+@72) */ | |
| for (i=0, rr=w71, cs=w72; i<2; ++i) (*rr++) += (*cs++); | |
| /* #339: @73 = (2.*@73) */ | |
| for (i=0, rr=w73, cs=w73; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #340: @71 = (@71+@73) */ | |
| for (i=0, rr=w71, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #341: @71 = (@71+@39) */ | |
| for (i=0, rr=w71, cs=w39; i<2; ++i) (*rr++) += (*cs++); | |
| /* #342: @31 = dot(@71, @41) */ | |
| w31 = casadi_dot(2, w71, w41); | |
| /* #343: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #344: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #345: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #346: output[3][0] = @40 */ | |
| if (res[3]) res[3][0] = w40; | |
| /* #347: @75 = (@75+@90) */ | |
| w75 += w90; | |
| /* #348: @75 = (@75+@57) */ | |
| w75 += w57; | |
| /* #349: @75 = (@75+@62) */ | |
| w75 += w62; | |
| /* #350: output[5][0] = @75 */ | |
| if (res[5]) res[5][0] = w75; | |
| return 0; | |
| } | |
| /* fwd1_adj1_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],adj_xf[2],adj_Xi[2x2],adj_poly_coeff[2x5],adj_qf[0],adj_Qi[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_Zi[0],adj_poly_coeff_z[],out_adj_x0[2x1,0nz],out_adj_u[1x1,0nz],out_adj_T[1x1,0nz],out_adj_t0[1x1,0nz],out_adj_p[1x1,0nz],out_adj_z0[0],fwd_x0[2],fwd_u,fwd_T,fwd_t0,fwd_p,fwd_z0[0],fwd_out_xf[2x1,0nz],fwd_out_Xi[2x2,0nz],fwd_out_poly_coeff[2x5,0nz],fwd_out_qf[0],fwd_out_Qi[0],fwd_out_poly_coeff_q[0x4],fwd_out_zf[0],fwd_out_Zi[0],fwd_out_poly_coeff_z[],fwd_adj_xf[2],fwd_adj_Xi[2x2],fwd_adj_poly_coeff[2x5],fwd_adj_qf[0],fwd_adj_Qi[0],fwd_adj_poly_coeff_q[0x4],fwd_adj_zf[0],fwd_adj_Zi[0],fwd_adj_poly_coeff_z[])->(fwd_adj_x0[2],fwd_adj_u,fwd_adj_T,fwd_adj_t0[1x1,0nz],fwd_adj_p,fwd_adj_z0[0]) */ | |
| static int casadi_f17(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+54, *cs; | |
| casadi_real *w0=w+113, *w1=w+117, *w2=w+119, *w3=w+121, w4, w5, w6, w7, *w15=w+127, *w16=w+129, *w17=w+131, w28, w29, w30, w31, *w38=w+145, *w39=w+147, w43, w44, w45; | |
| /* #0: @0 = input[46][0] */ | |
| casadi_copy(arg[46], 4, w0); | |
| /* #1: {@1, @2} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| /* #2: @3 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w3); | |
| /* #3: @4 = input[1][0] */ | |
| w4 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @5 = input[3][0] */ | |
| w5 = arg[3] ? arg[3][0] : 0; | |
| /* #5: @6 = input[2][0] */ | |
| w6 = arg[2] ? arg[2][0] : 0; | |
| /* #6: @7 = input[4][0] */ | |
| w7 = arg[4] ? arg[4][0] : 0; | |
| /* #7: @8 = 0x1 */ | |
| /* #8: @9 = zeros(2x1,0nz) */ | |
| /* #9: @10 = zeros(2x5,0nz) */ | |
| /* #10: @11 = 0x1 */ | |
| /* #11: @12 = 0x4 */ | |
| /* #12: @13 = 0x1 */ | |
| /* #13: @14 = 0x0 */ | |
| /* #14: @0 = input[16][0] */ | |
| casadi_copy(arg[16], 4, w0); | |
| /* #15: {NULL, @15} = horzsplit(@0) */ | |
| casadi_copy(w0+2, 2, w15); | |
| /* #16: @16 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w16); | |
| /* #17: @15 = (@15+@16) */ | |
| for (i=0, rr=w15, cs=w16; i<2; ++i) (*rr++) += (*cs++); | |
| /* #18: @17 = input[17][0] */ | |
| casadi_copy(arg[17], 10, w17); | |
| /* #19: @18 = 0x1 */ | |
| /* #20: @19 = 0x4 */ | |
| /* #21: @20 = 0x1 */ | |
| /* #22: @21 = zeros(2x1,0nz) */ | |
| /* #23: @22 = 00 */ | |
| /* #24: @23 = 00 */ | |
| /* #25: @24 = 00 */ | |
| /* #26: @25 = 00 */ | |
| /* #27: @26 = 00 */ | |
| /* #28: @27 = 0x1 */ | |
| /* #29: @16 = input[30][0] */ | |
| casadi_copy(arg[30], 2, w16); | |
| /* #30: @28 = input[31][0] */ | |
| w28 = arg[31] ? arg[31][0] : 0; | |
| /* #31: @29 = input[33][0] */ | |
| w29 = arg[33] ? arg[33][0] : 0; | |
| /* #32: @30 = input[32][0] */ | |
| w30 = arg[32] ? arg[32][0] : 0; | |
| /* #33: @31 = input[34][0] */ | |
| w31 = arg[34] ? arg[34][0] : 0; | |
| /* #34: @32 = 0x1 */ | |
| /* #35: @33 = zeros(2x1,0nz) */ | |
| /* #36: @34 = zeros(2x5,0nz) */ | |
| /* #37: @35 = 0x1 */ | |
| /* #38: @36 = 0x4 */ | |
| /* #39: @37 = 0x1 */ | |
| /* #40: @38 = input[45][0] */ | |
| casadi_copy(arg[45], 2, w38); | |
| /* #41: @2 = (@2+@38) */ | |
| for (i=0, rr=w2, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #42: @39 = input[47][0] */ | |
| casadi_copy(arg[47], 10, w39); | |
| /* #43: @40 = 0x1 */ | |
| /* #44: @41 = 0x4 */ | |
| /* #45: @42 = 0x1 */ | |
| /* #46: {@38, @43, NULL, @44, NULL, @45, NULL} = fwd1_adj1_F(@3, @4, @5, @6, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @17, @18, @19, @20, @14, @21, @22, @23, @24, @25, @26, @27, @16, @28, @29, @30, @30, @31, @32, @33, @34, @35, @36, @37, @14, @2, @39, @40, @41, @42, @14) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w4); | |
| arg1[2]=(&w5); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w6); | |
| arg1[5]=(&w7); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w15; | |
| arg1[14]=w17; | |
| arg1[15]=0; | |
| arg1[16]=0; | |
| arg1[17]=0; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=w16; | |
| arg1[27]=(&w28); | |
| arg1[28]=(&w29); | |
| arg1[29]=(&w30); | |
| arg1[30]=(&w30); | |
| arg1[31]=(&w31); | |
| arg1[32]=0; | |
| arg1[33]=0; | |
| arg1[34]=0; | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=w2; | |
| arg1[40]=w39; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| res1[0]=w38; | |
| res1[1]=(&w43); | |
| res1[2]=0; | |
| res1[3]=(&w44); | |
| res1[4]=0; | |
| res1[5]=(&w45); | |
| res1[6]=0; | |
| if (casadi_f18(arg1, res1, iw, w, 0)) return 1; | |
| /* #47: @1 = (@1+@38) */ | |
| for (i=0, rr=w1, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #48: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #49: output[1][0] = @43 */ | |
| if (res[1]) res[1][0] = w43; | |
| /* #50: output[2][0] = @44 */ | |
| if (res[2]) res[2][0] = w44; | |
| /* #51: output[4][0] = @45 */ | |
| if (res[4]) res[4][0] = w45; | |
| return 0; | |
| } | |
| /* nlp_hess_l:(x[32],p,lam_f,lam_g[42])->(triu_hess_gamma_x_x[32x32,31nz]) */ | |
| static int casadi_f16(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr, *ss; | |
| const casadi_real **arg1=arg+4, *cs; | |
| casadi_real *w0=w+160, w1, w2, *w3=w+193, w4, w5, *w16=w+197, *w17=w+239, *w18=w+241, *w19=w+243, *w20=w+245, *w21=w+247, *w22=w+249, *w23=w+251, *w24=w+253, *w25=w+255, *w26=w+257, *w27=w+259, *w28=w+263, *w40=w+273, w41, w42, w43, w44, w45, w46, w47, w48, w49, w50, w51, w52, w53, w54, w55, w56, w57, w58, w59, w60, w61, w62, w63, w64, w65, w66, w67, w68, w69, w70, w71, *w72=w+336, w73, w74, w75, *w85=w+341, *w86=w+343, *w87=w+347, *w93=w+357, w94, w95, *w96=w+361, *w97=w+392; | |
| /* #0: @0 = zeros(32x32,31nz) */ | |
| casadi_clear(w0, 31); | |
| /* #1: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = vertcat(@1, @2) */ | |
| rr=w3; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #4: @1 = input[0][2] */ | |
| w1 = arg[0] ? arg[0][2] : 0; | |
| /* #5: @2 = 1 */ | |
| w2 = 1.; | |
| /* #6: @4 = 0 */ | |
| w4 = 0.; | |
| /* #7: @5 = input[1][0] */ | |
| w5 = arg[1] ? arg[1][0] : 0; | |
| /* #8: @6 = 0x1 */ | |
| /* #9: @7 = zeros(2x1,0nz) */ | |
| /* #10: @8 = zeros(2x2,0nz) */ | |
| /* #11: @9 = zeros(2x5,0nz) */ | |
| /* #12: @10 = 0x1 */ | |
| /* #13: @11 = 0x1 */ | |
| /* #14: @12 = 0x4 */ | |
| /* #15: @13 = 0x1 */ | |
| /* #16: @14 = 0x1 */ | |
| /* #17: @15 = 0x0 */ | |
| /* #18: @16 = input[3][0] */ | |
| casadi_copy(arg[3], 42, w16); | |
| /* #19: {@17, NULL, NULL, NULL, @18, NULL, NULL, @19, NULL, NULL, @20, NULL, NULL, @21, NULL, NULL, @22, NULL, NULL, @23, NULL, NULL, @24, NULL, NULL, @25, NULL, NULL, @26, NULL, NULL, NULL} = vertsplit(@16) */ | |
| casadi_copy(w16, 2, w17); | |
| casadi_copy(w16+5, 2, w18); | |
| casadi_copy(w16+9, 2, w19); | |
| casadi_copy(w16+13, 2, w20); | |
| casadi_copy(w16+17, 2, w21); | |
| casadi_copy(w16+21, 2, w22); | |
| casadi_copy(w16+25, 2, w23); | |
| casadi_copy(w16+29, 2, w24); | |
| casadi_copy(w16+33, 2, w25); | |
| casadi_copy(w16+37, 2, w26); | |
| /* #20: @17 = (-@17) */ | |
| for (i=0, rr=w17, cs=w17; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #21: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #22: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #23: @29 = 0x1 */ | |
| /* #24: @30 = 0x1 */ | |
| /* #25: @31 = 0x4 */ | |
| /* #26: @32 = 0x1 */ | |
| /* #27: @33 = 0x1 */ | |
| /* #28: @34 = zeros(2x1,0nz) */ | |
| /* #29: @35 = 00 */ | |
| /* #30: @36 = 00 */ | |
| /* #31: @37 = 00 */ | |
| /* #32: @38 = 00 */ | |
| /* #33: @39 = 0x1 */ | |
| /* #34: @40 = ones(32x1) */ | |
| casadi_fill(w40, 32, 1.); | |
| /* #35: {@41, @42, @43, @44, @45, @46, @47, @48, @49, @50, @51, @52, @53, @54, @55, @56, @57, @58, @59, @60, @61, @62, @63, @64, @65, @66, @67, @68, @69, @70, @71, NULL} = vertsplit(@40) */ | |
| w41 = w40[0]; | |
| w42 = w40[1]; | |
| w43 = w40[2]; | |
| w44 = w40[3]; | |
| w45 = w40[4]; | |
| w46 = w40[5]; | |
| w47 = w40[6]; | |
| w48 = w40[7]; | |
| w49 = w40[8]; | |
| w50 = w40[9]; | |
| w51 = w40[10]; | |
| w52 = w40[11]; | |
| w53 = w40[12]; | |
| w54 = w40[13]; | |
| w55 = w40[14]; | |
| w56 = w40[15]; | |
| w57 = w40[16]; | |
| w58 = w40[17]; | |
| w59 = w40[18]; | |
| w60 = w40[19]; | |
| w61 = w40[20]; | |
| w62 = w40[21]; | |
| w63 = w40[22]; | |
| w64 = w40[23]; | |
| w65 = w40[24]; | |
| w66 = w40[25]; | |
| w67 = w40[26]; | |
| w68 = w40[27]; | |
| w69 = w40[28]; | |
| w70 = w40[29]; | |
| w71 = w40[30]; | |
| /* #36: @72 = vertcat(@41, @42) */ | |
| rr=w72; | |
| *rr++ = w41; | |
| *rr++ = w42; | |
| /* #37: @73 = 0 */ | |
| w73 = 0.; | |
| /* #38: @74 = 0 */ | |
| w74 = 0.; | |
| /* #39: @75 = 0 */ | |
| w75 = 0.; | |
| /* #40: @76 = 0x1 */ | |
| /* #41: @77 = zeros(2x1,0nz) */ | |
| /* #42: @78 = zeros(2x2,0nz) */ | |
| /* #43: @79 = zeros(2x5,0nz) */ | |
| /* #44: @80 = 0x1 */ | |
| /* #45: @81 = 0x1 */ | |
| /* #46: @82 = 0x4 */ | |
| /* #47: @83 = 0x1 */ | |
| /* #48: @84 = 0x1 */ | |
| /* #49: @85 = zeros(2x1) */ | |
| casadi_clear(w85, 2); | |
| /* #50: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #51: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #52: @88 = 0x1 */ | |
| /* #53: @89 = 0x1 */ | |
| /* #54: @90 = 0x4 */ | |
| /* #55: @91 = 0x1 */ | |
| /* #56: @92 = 0x1 */ | |
| /* #57: {@93, @94, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @1, @2, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @17, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @43, @73, @74, @75, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @85, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w17; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w43); | |
| arg1[32]=(&w73); | |
| arg1[33]=(&w74); | |
| arg1[34]=(&w75); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w85; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w94); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #58: {@1, @2} = vertsplit(@93) */ | |
| w1 = w93[0]; | |
| w2 = w93[1]; | |
| /* #59: @4 = input[2][0] */ | |
| w4 = arg[2] ? arg[2][0] : 0; | |
| /* #60: @41 = (2.*@41) */ | |
| w41 = (2.* w41 ); | |
| /* #61: @41 = (@4*@41) */ | |
| w41 = (w4*w41); | |
| /* #62: @1 = (@1+@41) */ | |
| w1 += w41; | |
| /* #63: @42 = (2.*@42) */ | |
| w42 = (2.* w42 ); | |
| /* #64: @42 = (@4*@42) */ | |
| w42 = (w4*w42); | |
| /* #65: @2 = (@2+@42) */ | |
| w2 += w42; | |
| /* #66: @43 = (2.*@43) */ | |
| w43 = (2.* w43 ); | |
| /* #67: @43 = (@4*@43) */ | |
| w43 = (w4*w43); | |
| /* #68: @94 = (@94+@43) */ | |
| w94 += w43; | |
| /* #69: @43 = input[0][3] */ | |
| w43 = arg[0] ? arg[0][3] : 0; | |
| /* #70: @42 = input[0][4] */ | |
| w42 = arg[0] ? arg[0][4] : 0; | |
| /* #71: @93 = vertcat(@43, @42) */ | |
| rr=w93; | |
| *rr++ = w43; | |
| *rr++ = w42; | |
| /* #72: @43 = input[0][5] */ | |
| w43 = arg[0] ? arg[0][5] : 0; | |
| /* #73: @42 = 1 */ | |
| w42 = 1.; | |
| /* #74: @41 = 1 */ | |
| w41 = 1.; | |
| /* #75: @6 = 0x1 */ | |
| /* #76: @7 = zeros(2x1,0nz) */ | |
| /* #77: @8 = zeros(2x2,0nz) */ | |
| /* #78: @9 = zeros(2x5,0nz) */ | |
| /* #79: @10 = 0x1 */ | |
| /* #80: @11 = 0x1 */ | |
| /* #81: @12 = 0x4 */ | |
| /* #82: @13 = 0x1 */ | |
| /* #83: @14 = 0x1 */ | |
| /* #84: @18 = (-@18) */ | |
| for (i=0, rr=w18, cs=w18; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #85: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #86: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #87: @29 = 0x1 */ | |
| /* #88: @30 = 0x1 */ | |
| /* #89: @31 = 0x4 */ | |
| /* #90: @32 = 0x1 */ | |
| /* #91: @33 = 0x1 */ | |
| /* #92: @34 = zeros(2x1,0nz) */ | |
| /* #93: @35 = 00 */ | |
| /* #94: @36 = 00 */ | |
| /* #95: @37 = 00 */ | |
| /* #96: @38 = 00 */ | |
| /* #97: @39 = 0x1 */ | |
| /* #98: @3 = vertcat(@44, @45) */ | |
| rr=w3; | |
| *rr++ = w44; | |
| *rr++ = w45; | |
| /* #99: @73 = 0 */ | |
| w73 = 0.; | |
| /* #100: @74 = 0 */ | |
| w74 = 0.; | |
| /* #101: @75 = 0 */ | |
| w75 = 0.; | |
| /* #102: @76 = 0x1 */ | |
| /* #103: @77 = zeros(2x1,0nz) */ | |
| /* #104: @78 = zeros(2x2,0nz) */ | |
| /* #105: @79 = zeros(2x5,0nz) */ | |
| /* #106: @80 = 0x1 */ | |
| /* #107: @81 = 0x1 */ | |
| /* #108: @82 = 0x4 */ | |
| /* #109: @83 = 0x1 */ | |
| /* #110: @84 = 0x1 */ | |
| /* #111: @17 = zeros(2x1) */ | |
| casadi_clear(w17, 2); | |
| /* #112: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #113: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #114: @88 = 0x1 */ | |
| /* #115: @89 = 0x1 */ | |
| /* #116: @90 = 0x4 */ | |
| /* #117: @91 = 0x1 */ | |
| /* #118: @92 = 0x1 */ | |
| /* #119: {@72, @95, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @43, @42, @41, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @18, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @46, @73, @74, @75, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @17, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w43); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w41); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w18; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w46); | |
| arg1[32]=(&w73); | |
| arg1[33]=(&w74); | |
| arg1[34]=(&w75); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w17; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w95); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #120: {@43, @42} = vertsplit(@72) */ | |
| w43 = w72[0]; | |
| w42 = w72[1]; | |
| /* #121: @44 = (2.*@44) */ | |
| w44 = (2.* w44 ); | |
| /* #122: @44 = (@4*@44) */ | |
| w44 = (w4*w44); | |
| /* #123: @43 = (@43+@44) */ | |
| w43 += w44; | |
| /* #124: @45 = (2.*@45) */ | |
| w45 = (2.* w45 ); | |
| /* #125: @45 = (@4*@45) */ | |
| w45 = (w4*w45); | |
| /* #126: @42 = (@42+@45) */ | |
| w42 += w45; | |
| /* #127: @46 = (2.*@46) */ | |
| w46 = (2.* w46 ); | |
| /* #128: @46 = (@4*@46) */ | |
| w46 = (w4*w46); | |
| /* #129: @95 = (@95+@46) */ | |
| w95 += w46; | |
| /* #130: @46 = input[0][6] */ | |
| w46 = arg[0] ? arg[0][6] : 0; | |
| /* #131: @45 = input[0][7] */ | |
| w45 = arg[0] ? arg[0][7] : 0; | |
| /* #132: @72 = vertcat(@46, @45) */ | |
| rr=w72; | |
| *rr++ = w46; | |
| *rr++ = w45; | |
| /* #133: @46 = input[0][8] */ | |
| w46 = arg[0] ? arg[0][8] : 0; | |
| /* #134: @45 = 1 */ | |
| w45 = 1.; | |
| /* #135: @44 = 2 */ | |
| w44 = 2.; | |
| /* #136: @6 = 0x1 */ | |
| /* #137: @7 = zeros(2x1,0nz) */ | |
| /* #138: @8 = zeros(2x2,0nz) */ | |
| /* #139: @9 = zeros(2x5,0nz) */ | |
| /* #140: @10 = 0x1 */ | |
| /* #141: @11 = 0x1 */ | |
| /* #142: @12 = 0x4 */ | |
| /* #143: @13 = 0x1 */ | |
| /* #144: @14 = 0x1 */ | |
| /* #145: @19 = (-@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #146: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #147: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #148: @29 = 0x1 */ | |
| /* #149: @30 = 0x1 */ | |
| /* #150: @31 = 0x4 */ | |
| /* #151: @32 = 0x1 */ | |
| /* #152: @33 = 0x1 */ | |
| /* #153: @34 = zeros(2x1,0nz) */ | |
| /* #154: @35 = 00 */ | |
| /* #155: @36 = 00 */ | |
| /* #156: @37 = 00 */ | |
| /* #157: @38 = 00 */ | |
| /* #158: @39 = 0x1 */ | |
| /* #159: @93 = vertcat(@47, @48) */ | |
| rr=w93; | |
| *rr++ = w47; | |
| *rr++ = w48; | |
| /* #160: @41 = 0 */ | |
| w41 = 0.; | |
| /* #161: @73 = 0 */ | |
| w73 = 0.; | |
| /* #162: @74 = 0 */ | |
| w74 = 0.; | |
| /* #163: @76 = 0x1 */ | |
| /* #164: @77 = zeros(2x1,0nz) */ | |
| /* #165: @78 = zeros(2x2,0nz) */ | |
| /* #166: @79 = zeros(2x5,0nz) */ | |
| /* #167: @80 = 0x1 */ | |
| /* #168: @81 = 0x1 */ | |
| /* #169: @82 = 0x4 */ | |
| /* #170: @83 = 0x1 */ | |
| /* #171: @84 = 0x1 */ | |
| /* #172: @18 = zeros(2x1) */ | |
| casadi_clear(w18, 2); | |
| /* #173: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #174: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #175: @88 = 0x1 */ | |
| /* #176: @89 = 0x1 */ | |
| /* #177: @90 = 0x4 */ | |
| /* #178: @91 = 0x1 */ | |
| /* #179: @92 = 0x1 */ | |
| /* #180: {@3, @75, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @46, @45, @44, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @19, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @49, @41, @73, @74, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @18, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w46); | |
| arg1[2]=(&w45); | |
| arg1[3]=(&w44); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w19; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w49); | |
| arg1[32]=(&w41); | |
| arg1[33]=(&w73); | |
| arg1[34]=(&w74); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w18; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w75); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #181: {@46, @45} = vertsplit(@3) */ | |
| w46 = w3[0]; | |
| w45 = w3[1]; | |
| /* #182: @47 = (2.*@47) */ | |
| w47 = (2.* w47 ); | |
| /* #183: @47 = (@4*@47) */ | |
| w47 = (w4*w47); | |
| /* #184: @46 = (@46+@47) */ | |
| w46 += w47; | |
| /* #185: @48 = (2.*@48) */ | |
| w48 = (2.* w48 ); | |
| /* #186: @48 = (@4*@48) */ | |
| w48 = (w4*w48); | |
| /* #187: @45 = (@45+@48) */ | |
| w45 += w48; | |
| /* #188: @49 = (2.*@49) */ | |
| w49 = (2.* w49 ); | |
| /* #189: @49 = (@4*@49) */ | |
| w49 = (w4*w49); | |
| /* #190: @75 = (@75+@49) */ | |
| w75 += w49; | |
| /* #191: @49 = input[0][9] */ | |
| w49 = arg[0] ? arg[0][9] : 0; | |
| /* #192: @48 = input[0][10] */ | |
| w48 = arg[0] ? arg[0][10] : 0; | |
| /* #193: @3 = vertcat(@49, @48) */ | |
| rr=w3; | |
| *rr++ = w49; | |
| *rr++ = w48; | |
| /* #194: @49 = input[0][11] */ | |
| w49 = arg[0] ? arg[0][11] : 0; | |
| /* #195: @48 = 1 */ | |
| w48 = 1.; | |
| /* #196: @47 = 3 */ | |
| w47 = 3.; | |
| /* #197: @6 = 0x1 */ | |
| /* #198: @7 = zeros(2x1,0nz) */ | |
| /* #199: @8 = zeros(2x2,0nz) */ | |
| /* #200: @9 = zeros(2x5,0nz) */ | |
| /* #201: @10 = 0x1 */ | |
| /* #202: @11 = 0x1 */ | |
| /* #203: @12 = 0x4 */ | |
| /* #204: @13 = 0x1 */ | |
| /* #205: @14 = 0x1 */ | |
| /* #206: @20 = (-@20) */ | |
| for (i=0, rr=w20, cs=w20; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #207: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #208: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #209: @29 = 0x1 */ | |
| /* #210: @30 = 0x1 */ | |
| /* #211: @31 = 0x4 */ | |
| /* #212: @32 = 0x1 */ | |
| /* #213: @33 = 0x1 */ | |
| /* #214: @34 = zeros(2x1,0nz) */ | |
| /* #215: @35 = 00 */ | |
| /* #216: @36 = 00 */ | |
| /* #217: @37 = 00 */ | |
| /* #218: @38 = 00 */ | |
| /* #219: @39 = 0x1 */ | |
| /* #220: @72 = vertcat(@50, @51) */ | |
| rr=w72; | |
| *rr++ = w50; | |
| *rr++ = w51; | |
| /* #221: @44 = 0 */ | |
| w44 = 0.; | |
| /* #222: @41 = 0 */ | |
| w41 = 0.; | |
| /* #223: @73 = 0 */ | |
| w73 = 0.; | |
| /* #224: @76 = 0x1 */ | |
| /* #225: @77 = zeros(2x1,0nz) */ | |
| /* #226: @78 = zeros(2x2,0nz) */ | |
| /* #227: @79 = zeros(2x5,0nz) */ | |
| /* #228: @80 = 0x1 */ | |
| /* #229: @81 = 0x1 */ | |
| /* #230: @82 = 0x4 */ | |
| /* #231: @83 = 0x1 */ | |
| /* #232: @84 = 0x1 */ | |
| /* #233: @19 = zeros(2x1) */ | |
| casadi_clear(w19, 2); | |
| /* #234: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #235: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #236: @88 = 0x1 */ | |
| /* #237: @89 = 0x1 */ | |
| /* #238: @90 = 0x4 */ | |
| /* #239: @91 = 0x1 */ | |
| /* #240: @92 = 0x1 */ | |
| /* #241: {@93, @74, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @49, @48, @47, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @20, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @52, @44, @41, @73, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @19, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w49); | |
| arg1[2]=(&w48); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w20; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w52); | |
| arg1[32]=(&w44); | |
| arg1[33]=(&w41); | |
| arg1[34]=(&w73); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w19; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w74); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #242: {@49, @48} = vertsplit(@93) */ | |
| w49 = w93[0]; | |
| w48 = w93[1]; | |
| /* #243: @50 = (2.*@50) */ | |
| w50 = (2.* w50 ); | |
| /* #244: @50 = (@4*@50) */ | |
| w50 = (w4*w50); | |
| /* #245: @49 = (@49+@50) */ | |
| w49 += w50; | |
| /* #246: @51 = (2.*@51) */ | |
| w51 = (2.* w51 ); | |
| /* #247: @51 = (@4*@51) */ | |
| w51 = (w4*w51); | |
| /* #248: @48 = (@48+@51) */ | |
| w48 += w51; | |
| /* #249: @52 = (2.*@52) */ | |
| w52 = (2.* w52 ); | |
| /* #250: @52 = (@4*@52) */ | |
| w52 = (w4*w52); | |
| /* #251: @74 = (@74+@52) */ | |
| w74 += w52; | |
| /* #252: @52 = input[0][12] */ | |
| w52 = arg[0] ? arg[0][12] : 0; | |
| /* #253: @51 = input[0][13] */ | |
| w51 = arg[0] ? arg[0][13] : 0; | |
| /* #254: @93 = vertcat(@52, @51) */ | |
| rr=w93; | |
| *rr++ = w52; | |
| *rr++ = w51; | |
| /* #255: @52 = input[0][14] */ | |
| w52 = arg[0] ? arg[0][14] : 0; | |
| /* #256: @51 = 1 */ | |
| w51 = 1.; | |
| /* #257: @50 = 4 */ | |
| w50 = 4.; | |
| /* #258: @6 = 0x1 */ | |
| /* #259: @7 = zeros(2x1,0nz) */ | |
| /* #260: @8 = zeros(2x2,0nz) */ | |
| /* #261: @9 = zeros(2x5,0nz) */ | |
| /* #262: @10 = 0x1 */ | |
| /* #263: @11 = 0x1 */ | |
| /* #264: @12 = 0x4 */ | |
| /* #265: @13 = 0x1 */ | |
| /* #266: @14 = 0x1 */ | |
| /* #267: @21 = (-@21) */ | |
| for (i=0, rr=w21, cs=w21; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #268: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #269: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #270: @29 = 0x1 */ | |
| /* #271: @30 = 0x1 */ | |
| /* #272: @31 = 0x4 */ | |
| /* #273: @32 = 0x1 */ | |
| /* #274: @33 = 0x1 */ | |
| /* #275: @34 = zeros(2x1,0nz) */ | |
| /* #276: @35 = 00 */ | |
| /* #277: @36 = 00 */ | |
| /* #278: @37 = 00 */ | |
| /* #279: @38 = 00 */ | |
| /* #280: @39 = 0x1 */ | |
| /* #281: @3 = vertcat(@53, @54) */ | |
| rr=w3; | |
| *rr++ = w53; | |
| *rr++ = w54; | |
| /* #282: @47 = 0 */ | |
| w47 = 0.; | |
| /* #283: @44 = 0 */ | |
| w44 = 0.; | |
| /* #284: @41 = 0 */ | |
| w41 = 0.; | |
| /* #285: @76 = 0x1 */ | |
| /* #286: @77 = zeros(2x1,0nz) */ | |
| /* #287: @78 = zeros(2x2,0nz) */ | |
| /* #288: @79 = zeros(2x5,0nz) */ | |
| /* #289: @80 = 0x1 */ | |
| /* #290: @81 = 0x1 */ | |
| /* #291: @82 = 0x4 */ | |
| /* #292: @83 = 0x1 */ | |
| /* #293: @84 = 0x1 */ | |
| /* #294: @20 = zeros(2x1) */ | |
| casadi_clear(w20, 2); | |
| /* #295: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #296: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #297: @88 = 0x1 */ | |
| /* #298: @89 = 0x1 */ | |
| /* #299: @90 = 0x4 */ | |
| /* #300: @91 = 0x1 */ | |
| /* #301: @92 = 0x1 */ | |
| /* #302: {@72, @73, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @52, @51, @50, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @21, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @55, @47, @44, @41, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @20, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w52); | |
| arg1[2]=(&w51); | |
| arg1[3]=(&w50); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w21; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w55); | |
| arg1[32]=(&w47); | |
| arg1[33]=(&w44); | |
| arg1[34]=(&w41); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w20; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w73); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #303: {@52, @51} = vertsplit(@72) */ | |
| w52 = w72[0]; | |
| w51 = w72[1]; | |
| /* #304: @53 = (2.*@53) */ | |
| w53 = (2.* w53 ); | |
| /* #305: @53 = (@4*@53) */ | |
| w53 = (w4*w53); | |
| /* #306: @52 = (@52+@53) */ | |
| w52 += w53; | |
| /* #307: @54 = (2.*@54) */ | |
| w54 = (2.* w54 ); | |
| /* #308: @54 = (@4*@54) */ | |
| w54 = (w4*w54); | |
| /* #309: @51 = (@51+@54) */ | |
| w51 += w54; | |
| /* #310: @55 = (2.*@55) */ | |
| w55 = (2.* w55 ); | |
| /* #311: @55 = (@4*@55) */ | |
| w55 = (w4*w55); | |
| /* #312: @73 = (@73+@55) */ | |
| w73 += w55; | |
| /* #313: @55 = input[0][15] */ | |
| w55 = arg[0] ? arg[0][15] : 0; | |
| /* #314: @54 = input[0][16] */ | |
| w54 = arg[0] ? arg[0][16] : 0; | |
| /* #315: @72 = vertcat(@55, @54) */ | |
| rr=w72; | |
| *rr++ = w55; | |
| *rr++ = w54; | |
| /* #316: @55 = input[0][17] */ | |
| w55 = arg[0] ? arg[0][17] : 0; | |
| /* #317: @54 = 1 */ | |
| w54 = 1.; | |
| /* #318: @53 = 5 */ | |
| w53 = 5.; | |
| /* #319: @6 = 0x1 */ | |
| /* #320: @7 = zeros(2x1,0nz) */ | |
| /* #321: @8 = zeros(2x2,0nz) */ | |
| /* #322: @9 = zeros(2x5,0nz) */ | |
| /* #323: @10 = 0x1 */ | |
| /* #324: @11 = 0x1 */ | |
| /* #325: @12 = 0x4 */ | |
| /* #326: @13 = 0x1 */ | |
| /* #327: @14 = 0x1 */ | |
| /* #328: @22 = (-@22) */ | |
| for (i=0, rr=w22, cs=w22; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #329: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #330: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #331: @29 = 0x1 */ | |
| /* #332: @30 = 0x1 */ | |
| /* #333: @31 = 0x4 */ | |
| /* #334: @32 = 0x1 */ | |
| /* #335: @33 = 0x1 */ | |
| /* #336: @34 = zeros(2x1,0nz) */ | |
| /* #337: @35 = 00 */ | |
| /* #338: @36 = 00 */ | |
| /* #339: @37 = 00 */ | |
| /* #340: @38 = 00 */ | |
| /* #341: @39 = 0x1 */ | |
| /* #342: @93 = vertcat(@56, @57) */ | |
| rr=w93; | |
| *rr++ = w56; | |
| *rr++ = w57; | |
| /* #343: @50 = 0 */ | |
| w50 = 0.; | |
| /* #344: @47 = 0 */ | |
| w47 = 0.; | |
| /* #345: @44 = 0 */ | |
| w44 = 0.; | |
| /* #346: @76 = 0x1 */ | |
| /* #347: @77 = zeros(2x1,0nz) */ | |
| /* #348: @78 = zeros(2x2,0nz) */ | |
| /* #349: @79 = zeros(2x5,0nz) */ | |
| /* #350: @80 = 0x1 */ | |
| /* #351: @81 = 0x1 */ | |
| /* #352: @82 = 0x4 */ | |
| /* #353: @83 = 0x1 */ | |
| /* #354: @84 = 0x1 */ | |
| /* #355: @21 = zeros(2x1) */ | |
| casadi_clear(w21, 2); | |
| /* #356: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #357: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #358: @88 = 0x1 */ | |
| /* #359: @89 = 0x1 */ | |
| /* #360: @90 = 0x4 */ | |
| /* #361: @91 = 0x1 */ | |
| /* #362: @92 = 0x1 */ | |
| /* #363: {@3, @41, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @55, @54, @53, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @22, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @58, @50, @47, @44, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @21, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w55); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w53); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w22; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w58); | |
| arg1[32]=(&w50); | |
| arg1[33]=(&w47); | |
| arg1[34]=(&w44); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w21; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w41); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #364: {@55, @54} = vertsplit(@3) */ | |
| w55 = w3[0]; | |
| w54 = w3[1]; | |
| /* #365: @56 = (2.*@56) */ | |
| w56 = (2.* w56 ); | |
| /* #366: @56 = (@4*@56) */ | |
| w56 = (w4*w56); | |
| /* #367: @55 = (@55+@56) */ | |
| w55 += w56; | |
| /* #368: @57 = (2.*@57) */ | |
| w57 = (2.* w57 ); | |
| /* #369: @57 = (@4*@57) */ | |
| w57 = (w4*w57); | |
| /* #370: @54 = (@54+@57) */ | |
| w54 += w57; | |
| /* #371: @58 = (2.*@58) */ | |
| w58 = (2.* w58 ); | |
| /* #372: @58 = (@4*@58) */ | |
| w58 = (w4*w58); | |
| /* #373: @41 = (@41+@58) */ | |
| w41 += w58; | |
| /* #374: @58 = input[0][18] */ | |
| w58 = arg[0] ? arg[0][18] : 0; | |
| /* #375: @57 = input[0][19] */ | |
| w57 = arg[0] ? arg[0][19] : 0; | |
| /* #376: @3 = vertcat(@58, @57) */ | |
| rr=w3; | |
| *rr++ = w58; | |
| *rr++ = w57; | |
| /* #377: @58 = input[0][20] */ | |
| w58 = arg[0] ? arg[0][20] : 0; | |
| /* #378: @57 = 1 */ | |
| w57 = 1.; | |
| /* #379: @56 = 6 */ | |
| w56 = 6.; | |
| /* #380: @6 = 0x1 */ | |
| /* #381: @7 = zeros(2x1,0nz) */ | |
| /* #382: @8 = zeros(2x2,0nz) */ | |
| /* #383: @9 = zeros(2x5,0nz) */ | |
| /* #384: @10 = 0x1 */ | |
| /* #385: @11 = 0x1 */ | |
| /* #386: @12 = 0x4 */ | |
| /* #387: @13 = 0x1 */ | |
| /* #388: @14 = 0x1 */ | |
| /* #389: @23 = (-@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #390: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #391: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #392: @29 = 0x1 */ | |
| /* #393: @30 = 0x1 */ | |
| /* #394: @31 = 0x4 */ | |
| /* #395: @32 = 0x1 */ | |
| /* #396: @33 = 0x1 */ | |
| /* #397: @34 = zeros(2x1,0nz) */ | |
| /* #398: @35 = 00 */ | |
| /* #399: @36 = 00 */ | |
| /* #400: @37 = 00 */ | |
| /* #401: @38 = 00 */ | |
| /* #402: @39 = 0x1 */ | |
| /* #403: @72 = vertcat(@59, @60) */ | |
| rr=w72; | |
| *rr++ = w59; | |
| *rr++ = w60; | |
| /* #404: @53 = 0 */ | |
| w53 = 0.; | |
| /* #405: @50 = 0 */ | |
| w50 = 0.; | |
| /* #406: @47 = 0 */ | |
| w47 = 0.; | |
| /* #407: @76 = 0x1 */ | |
| /* #408: @77 = zeros(2x1,0nz) */ | |
| /* #409: @78 = zeros(2x2,0nz) */ | |
| /* #410: @79 = zeros(2x5,0nz) */ | |
| /* #411: @80 = 0x1 */ | |
| /* #412: @81 = 0x1 */ | |
| /* #413: @82 = 0x4 */ | |
| /* #414: @83 = 0x1 */ | |
| /* #415: @84 = 0x1 */ | |
| /* #416: @22 = zeros(2x1) */ | |
| casadi_clear(w22, 2); | |
| /* #417: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #418: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #419: @88 = 0x1 */ | |
| /* #420: @89 = 0x1 */ | |
| /* #421: @90 = 0x4 */ | |
| /* #422: @91 = 0x1 */ | |
| /* #423: @92 = 0x1 */ | |
| /* #424: {@93, @44, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @58, @57, @56, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @23, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @61, @53, @50, @47, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @22, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w58); | |
| arg1[2]=(&w57); | |
| arg1[3]=(&w56); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w23; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w61); | |
| arg1[32]=(&w53); | |
| arg1[33]=(&w50); | |
| arg1[34]=(&w47); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w22; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w44); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #425: {@58, @57} = vertsplit(@93) */ | |
| w58 = w93[0]; | |
| w57 = w93[1]; | |
| /* #426: @59 = (2.*@59) */ | |
| w59 = (2.* w59 ); | |
| /* #427: @59 = (@4*@59) */ | |
| w59 = (w4*w59); | |
| /* #428: @58 = (@58+@59) */ | |
| w58 += w59; | |
| /* #429: @60 = (2.*@60) */ | |
| w60 = (2.* w60 ); | |
| /* #430: @60 = (@4*@60) */ | |
| w60 = (w4*w60); | |
| /* #431: @57 = (@57+@60) */ | |
| w57 += w60; | |
| /* #432: @61 = (2.*@61) */ | |
| w61 = (2.* w61 ); | |
| /* #433: @61 = (@4*@61) */ | |
| w61 = (w4*w61); | |
| /* #434: @44 = (@44+@61) */ | |
| w44 += w61; | |
| /* #435: @61 = input[0][21] */ | |
| w61 = arg[0] ? arg[0][21] : 0; | |
| /* #436: @60 = input[0][22] */ | |
| w60 = arg[0] ? arg[0][22] : 0; | |
| /* #437: @93 = vertcat(@61, @60) */ | |
| rr=w93; | |
| *rr++ = w61; | |
| *rr++ = w60; | |
| /* #438: @61 = input[0][23] */ | |
| w61 = arg[0] ? arg[0][23] : 0; | |
| /* #439: @60 = 1 */ | |
| w60 = 1.; | |
| /* #440: @59 = 7 */ | |
| w59 = 7.; | |
| /* #441: @6 = 0x1 */ | |
| /* #442: @7 = zeros(2x1,0nz) */ | |
| /* #443: @8 = zeros(2x2,0nz) */ | |
| /* #444: @9 = zeros(2x5,0nz) */ | |
| /* #445: @10 = 0x1 */ | |
| /* #446: @11 = 0x1 */ | |
| /* #447: @12 = 0x4 */ | |
| /* #448: @13 = 0x1 */ | |
| /* #449: @14 = 0x1 */ | |
| /* #450: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #451: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #452: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #453: @29 = 0x1 */ | |
| /* #454: @30 = 0x1 */ | |
| /* #455: @31 = 0x4 */ | |
| /* #456: @32 = 0x1 */ | |
| /* #457: @33 = 0x1 */ | |
| /* #458: @34 = zeros(2x1,0nz) */ | |
| /* #459: @35 = 00 */ | |
| /* #460: @36 = 00 */ | |
| /* #461: @37 = 00 */ | |
| /* #462: @38 = 00 */ | |
| /* #463: @39 = 0x1 */ | |
| /* #464: @3 = vertcat(@62, @63) */ | |
| rr=w3; | |
| *rr++ = w62; | |
| *rr++ = w63; | |
| /* #465: @56 = 0 */ | |
| w56 = 0.; | |
| /* #466: @53 = 0 */ | |
| w53 = 0.; | |
| /* #467: @50 = 0 */ | |
| w50 = 0.; | |
| /* #468: @76 = 0x1 */ | |
| /* #469: @77 = zeros(2x1,0nz) */ | |
| /* #470: @78 = zeros(2x2,0nz) */ | |
| /* #471: @79 = zeros(2x5,0nz) */ | |
| /* #472: @80 = 0x1 */ | |
| /* #473: @81 = 0x1 */ | |
| /* #474: @82 = 0x4 */ | |
| /* #475: @83 = 0x1 */ | |
| /* #476: @84 = 0x1 */ | |
| /* #477: @23 = zeros(2x1) */ | |
| casadi_clear(w23, 2); | |
| /* #478: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #479: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #480: @88 = 0x1 */ | |
| /* #481: @89 = 0x1 */ | |
| /* #482: @90 = 0x4 */ | |
| /* #483: @91 = 0x1 */ | |
| /* #484: @92 = 0x1 */ | |
| /* #485: {@72, @47, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @61, @60, @59, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @24, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @64, @56, @53, @50, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @23, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w61); | |
| arg1[2]=(&w60); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w24; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w64); | |
| arg1[32]=(&w56); | |
| arg1[33]=(&w53); | |
| arg1[34]=(&w50); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w23; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w47); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #486: {@61, @60} = vertsplit(@72) */ | |
| w61 = w72[0]; | |
| w60 = w72[1]; | |
| /* #487: @62 = (2.*@62) */ | |
| w62 = (2.* w62 ); | |
| /* #488: @62 = (@4*@62) */ | |
| w62 = (w4*w62); | |
| /* #489: @61 = (@61+@62) */ | |
| w61 += w62; | |
| /* #490: @63 = (2.*@63) */ | |
| w63 = (2.* w63 ); | |
| /* #491: @63 = (@4*@63) */ | |
| w63 = (w4*w63); | |
| /* #492: @60 = (@60+@63) */ | |
| w60 += w63; | |
| /* #493: @64 = (2.*@64) */ | |
| w64 = (2.* w64 ); | |
| /* #494: @64 = (@4*@64) */ | |
| w64 = (w4*w64); | |
| /* #495: @47 = (@47+@64) */ | |
| w47 += w64; | |
| /* #496: @64 = input[0][24] */ | |
| w64 = arg[0] ? arg[0][24] : 0; | |
| /* #497: @63 = input[0][25] */ | |
| w63 = arg[0] ? arg[0][25] : 0; | |
| /* #498: @72 = vertcat(@64, @63) */ | |
| rr=w72; | |
| *rr++ = w64; | |
| *rr++ = w63; | |
| /* #499: @64 = input[0][26] */ | |
| w64 = arg[0] ? arg[0][26] : 0; | |
| /* #500: @63 = 1 */ | |
| w63 = 1.; | |
| /* #501: @62 = 8 */ | |
| w62 = 8.; | |
| /* #502: @6 = 0x1 */ | |
| /* #503: @7 = zeros(2x1,0nz) */ | |
| /* #504: @8 = zeros(2x2,0nz) */ | |
| /* #505: @9 = zeros(2x5,0nz) */ | |
| /* #506: @10 = 0x1 */ | |
| /* #507: @11 = 0x1 */ | |
| /* #508: @12 = 0x4 */ | |
| /* #509: @13 = 0x1 */ | |
| /* #510: @14 = 0x1 */ | |
| /* #511: @25 = (-@25) */ | |
| for (i=0, rr=w25, cs=w25; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #512: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #513: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #514: @29 = 0x1 */ | |
| /* #515: @30 = 0x1 */ | |
| /* #516: @31 = 0x4 */ | |
| /* #517: @32 = 0x1 */ | |
| /* #518: @33 = 0x1 */ | |
| /* #519: @34 = zeros(2x1,0nz) */ | |
| /* #520: @35 = 00 */ | |
| /* #521: @36 = 00 */ | |
| /* #522: @37 = 00 */ | |
| /* #523: @38 = 00 */ | |
| /* #524: @39 = 0x1 */ | |
| /* #525: @93 = vertcat(@65, @66) */ | |
| rr=w93; | |
| *rr++ = w65; | |
| *rr++ = w66; | |
| /* #526: @59 = 0 */ | |
| w59 = 0.; | |
| /* #527: @56 = 0 */ | |
| w56 = 0.; | |
| /* #528: @53 = 0 */ | |
| w53 = 0.; | |
| /* #529: @76 = 0x1 */ | |
| /* #530: @77 = zeros(2x1,0nz) */ | |
| /* #531: @78 = zeros(2x2,0nz) */ | |
| /* #532: @79 = zeros(2x5,0nz) */ | |
| /* #533: @80 = 0x1 */ | |
| /* #534: @81 = 0x1 */ | |
| /* #535: @82 = 0x4 */ | |
| /* #536: @83 = 0x1 */ | |
| /* #537: @84 = 0x1 */ | |
| /* #538: @24 = zeros(2x1) */ | |
| casadi_clear(w24, 2); | |
| /* #539: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #540: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #541: @88 = 0x1 */ | |
| /* #542: @89 = 0x1 */ | |
| /* #543: @90 = 0x4 */ | |
| /* #544: @91 = 0x1 */ | |
| /* #545: @92 = 0x1 */ | |
| /* #546: {@3, @50, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @64, @63, @62, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @25, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @67, @59, @56, @53, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @24, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w64); | |
| arg1[2]=(&w63); | |
| arg1[3]=(&w62); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w25; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w67); | |
| arg1[32]=(&w59); | |
| arg1[33]=(&w56); | |
| arg1[34]=(&w53); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w24; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w50); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #547: {@64, @63} = vertsplit(@3) */ | |
| w64 = w3[0]; | |
| w63 = w3[1]; | |
| /* #548: @65 = (2.*@65) */ | |
| w65 = (2.* w65 ); | |
| /* #549: @65 = (@4*@65) */ | |
| w65 = (w4*w65); | |
| /* #550: @64 = (@64+@65) */ | |
| w64 += w65; | |
| /* #551: @66 = (2.*@66) */ | |
| w66 = (2.* w66 ); | |
| /* #552: @66 = (@4*@66) */ | |
| w66 = (w4*w66); | |
| /* #553: @63 = (@63+@66) */ | |
| w63 += w66; | |
| /* #554: @67 = (2.*@67) */ | |
| w67 = (2.* w67 ); | |
| /* #555: @67 = (@4*@67) */ | |
| w67 = (w4*w67); | |
| /* #556: @50 = (@50+@67) */ | |
| w50 += w67; | |
| /* #557: @67 = input[0][27] */ | |
| w67 = arg[0] ? arg[0][27] : 0; | |
| /* #558: @66 = input[0][28] */ | |
| w66 = arg[0] ? arg[0][28] : 0; | |
| /* #559: @3 = vertcat(@67, @66) */ | |
| rr=w3; | |
| *rr++ = w67; | |
| *rr++ = w66; | |
| /* #560: @67 = input[0][29] */ | |
| w67 = arg[0] ? arg[0][29] : 0; | |
| /* #561: @66 = 1 */ | |
| w66 = 1.; | |
| /* #562: @65 = 9 */ | |
| w65 = 9.; | |
| /* #563: @6 = 0x1 */ | |
| /* #564: @7 = zeros(2x1,0nz) */ | |
| /* #565: @8 = zeros(2x2,0nz) */ | |
| /* #566: @9 = zeros(2x5,0nz) */ | |
| /* #567: @10 = 0x1 */ | |
| /* #568: @11 = 0x1 */ | |
| /* #569: @12 = 0x4 */ | |
| /* #570: @13 = 0x1 */ | |
| /* #571: @14 = 0x1 */ | |
| /* #572: @26 = (-@26) */ | |
| for (i=0, rr=w26, cs=w26; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #573: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #574: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #575: @29 = 0x1 */ | |
| /* #576: @30 = 0x1 */ | |
| /* #577: @31 = 0x4 */ | |
| /* #578: @32 = 0x1 */ | |
| /* #579: @33 = 0x1 */ | |
| /* #580: @34 = zeros(2x1,0nz) */ | |
| /* #581: @35 = 00 */ | |
| /* #582: @36 = 00 */ | |
| /* #583: @37 = 00 */ | |
| /* #584: @38 = 00 */ | |
| /* #585: @39 = 0x1 */ | |
| /* #586: @72 = vertcat(@68, @69) */ | |
| rr=w72; | |
| *rr++ = w68; | |
| *rr++ = w69; | |
| /* #587: @62 = 0 */ | |
| w62 = 0.; | |
| /* #588: @59 = 0 */ | |
| w59 = 0.; | |
| /* #589: @56 = 0 */ | |
| w56 = 0.; | |
| /* #590: @76 = 0x1 */ | |
| /* #591: @77 = zeros(2x1,0nz) */ | |
| /* #592: @78 = zeros(2x2,0nz) */ | |
| /* #593: @79 = zeros(2x5,0nz) */ | |
| /* #594: @80 = 0x1 */ | |
| /* #595: @81 = 0x1 */ | |
| /* #596: @82 = 0x4 */ | |
| /* #597: @83 = 0x1 */ | |
| /* #598: @84 = 0x1 */ | |
| /* #599: @25 = zeros(2x1) */ | |
| casadi_clear(w25, 2); | |
| /* #600: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #601: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #602: @88 = 0x1 */ | |
| /* #603: @89 = 0x1 */ | |
| /* #604: @90 = 0x4 */ | |
| /* #605: @91 = 0x1 */ | |
| /* #606: @92 = 0x1 */ | |
| /* #607: {@93, @53, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @67, @66, @65, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @26, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @70, @62, @59, @56, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @25, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w67); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w65); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w26; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w70); | |
| arg1[32]=(&w62); | |
| arg1[33]=(&w59); | |
| arg1[34]=(&w56); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w25; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w53); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #608: {@67, @66} = vertsplit(@93) */ | |
| w67 = w93[0]; | |
| w66 = w93[1]; | |
| /* #609: @68 = (2.*@68) */ | |
| w68 = (2.* w68 ); | |
| /* #610: @68 = (@4*@68) */ | |
| w68 = (w4*w68); | |
| /* #611: @67 = (@67+@68) */ | |
| w67 += w68; | |
| /* #612: @69 = (2.*@69) */ | |
| w69 = (2.* w69 ); | |
| /* #613: @69 = (@4*@69) */ | |
| w69 = (w4*w69); | |
| /* #614: @66 = (@66+@69) */ | |
| w66 += w69; | |
| /* #615: @70 = (2.*@70) */ | |
| w70 = (2.* w70 ); | |
| /* #616: @70 = (@4*@70) */ | |
| w70 = (w4*w70); | |
| /* #617: @53 = (@53+@70) */ | |
| w53 += w70; | |
| /* #618: @71 = (2.*@71) */ | |
| w71 = (2.* w71 ); | |
| /* #619: @4 = (@4*@71) */ | |
| w4 *= w71; | |
| /* #620: @6 = 00 */ | |
| /* #621: @96 = vertcat(@1, @2, @94, @43, @42, @95, @46, @45, @75, @49, @48, @74, @52, @51, @73, @55, @54, @41, @58, @57, @44, @61, @60, @47, @64, @63, @50, @67, @66, @53, @4, @6) */ | |
| rr=w96; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w94; | |
| *rr++ = w43; | |
| *rr++ = w42; | |
| *rr++ = w95; | |
| *rr++ = w46; | |
| *rr++ = w45; | |
| *rr++ = w75; | |
| *rr++ = w49; | |
| *rr++ = w48; | |
| *rr++ = w74; | |
| *rr++ = w52; | |
| *rr++ = w51; | |
| *rr++ = w73; | |
| *rr++ = w55; | |
| *rr++ = w54; | |
| *rr++ = w41; | |
| *rr++ = w58; | |
| *rr++ = w57; | |
| *rr++ = w44; | |
| *rr++ = w61; | |
| *rr++ = w60; | |
| *rr++ = w47; | |
| *rr++ = w64; | |
| *rr++ = w63; | |
| *rr++ = w50; | |
| *rr++ = w67; | |
| *rr++ = w66; | |
| *rr++ = w53; | |
| *rr++ = w4; | |
| /* #622: @97 = @96[:31] */ | |
| for (rr=w97, ss=w96+0; ss!=w96+31; ss+=1) *rr++ = *ss; | |
| /* #623: (@0[:31] = @97) */ | |
| for (rr=w0+0, ss=w97; rr!=w0+31; rr+=1) *rr = *ss++; | |
| /* #624: @97 = @96[:31] */ | |
| for (rr=w97, ss=w96+0; ss!=w96+31; ss+=1) *rr++ = *ss; | |
| /* #625: (@0[:31] = @97) */ | |
| for (rr=w0+0, ss=w97; rr!=w0+31; rr+=1) *rr = *ss++; | |
| /* #626: @97 = @0' */ | |
| casadi_trans(w0,casadi_s12, w97, casadi_s12, iw); | |
| /* #627: output[0][0] = @97 */ | |
| casadi_copy(w97, 31, res[0]); | |
| return 0; | |
| } | |
| bool casadi_nlp_f0(ipindex n, ipnumber *x, bool new_x, ipnumber *obj_value, UserDataPtr user_data) { | |
| struct casadi_ipopt_data* d = (struct casadi_ipopt_data*) user_data; | |
| d->arg[0] = x; | |
| d->arg[1] = d->nlp->p; | |
| d->res[0] = obj_value; | |
| if (casadi_f9(d->arg, d->res, d->iw, d->w, 0)) return false; | |
| return true; | |
| } | |
| bool casadi_nlp_g0(ipindex n, ipnumber *x, bool new_x, ipindex m, ipnumber *g, UserDataPtr user_data) { | |
| struct casadi_ipopt_data* d = (struct casadi_ipopt_data*) user_data; | |
| d->arg[0] = x; | |
| d->arg[1] = d->nlp->p; | |
| d->res[0] = g; | |
| if (casadi_f11(d->arg, d->res, d->iw, d->w, 0)) return false; | |
| return true; | |
| } | |
| bool casadi_nlp_grad_f0(ipindex n, ipnumber *x, bool new_x, ipnumber *grad_f, UserDataPtr user_data) { | |
| struct casadi_ipopt_data* d = (struct casadi_ipopt_data*) user_data; | |
| d->arg[0] = x; | |
| d->arg[1] = d->nlp->p; | |
| d->res[0] = 0; | |
| d->res[1] = grad_f; | |
| if (casadi_f10(d->arg, d->res, d->iw, d->w, 0)) return false; | |
| return true; | |
| } | |
| bool casadi_nlp_jac_g0(ipindex n, ipnumber *x, bool new_x, ipindex m, ipindex nele_jac, ipindex *iRow, ipindex *jCol, ipnumber *values, UserDataPtr user_data) { | |
| struct casadi_ipopt_data* d = (struct casadi_ipopt_data*) user_data; | |
| if (values) { | |
| d->arg[0] = x; | |
| d->arg[1] = d->nlp->p; | |
| d->res[0] = 0; | |
| d->res[1] = values; | |
| if (casadi_f12(d->arg, d->res, d->iw, d->w, 0)) return false; | |
| } else { | |
| casadi_ipopt_sparsity(d->prob->sp_a, iRow, jCol); | |
| } | |
| return true; | |
| } | |
| bool casadi_nlp_hess_l0(ipindex n, ipnumber *x, bool new_x, ipnumber obj_factor,ipindex m, ipnumber *lambda, bool new_lambda, ipindex nele_hess, ipindex *iRow, ipindex *jCol, ipnumber *values, UserDataPtr user_data) { | |
| struct casadi_ipopt_data* d = (struct casadi_ipopt_data*) user_data; | |
| if (values) { | |
| d->arg[0] = x; | |
| d->arg[1] = d->nlp->p; | |
| d->arg[2] = &obj_factor; | |
| d->arg[3] = lambda; | |
| d->res[0] = values; | |
| if (casadi_f16(d->arg, d->res, d->iw, d->w, 0)) return false; | |
| return true; | |
| } else { | |
| casadi_ipopt_sparsity(d->prob->sp_h, iRow, jCol); | |
| } | |
| return true; | |
| } | |
| /* solver:(x0[32],p,lbx[32],ubx[32],lbg[42],ubg[42],lam_x0[32],lam_g0[42])->(x[32],f,g[42],lam_x[32],lam_g[42],lam_p) */ | |
| static int casadi_f1(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| const casadi_real one=1; | |
| struct casadi_ipopt_data* d=&casadi_f1_mem[mem]; | |
| struct casadi_ipopt_prob p; | |
| struct casadi_nlpsol_data d_nlp; | |
| struct casadi_nlpsol_prob p_nlp; | |
| struct casadi_oracle_data d_oracle; | |
| d_nlp.oracle = &d_oracle; | |
| d_nlp.p = arg[1]; | |
| d_nlp.lbx = arg[2]; | |
| d_nlp.ubx = arg[3]; | |
| d_nlp.lbg = arg[4]; | |
| d_nlp.ubg = arg[5]; | |
| d_nlp.x0 = arg[0]; | |
| d_nlp.lam_x0 = arg[6]; | |
| d_nlp.lam_g0 = arg[7]; | |
| d_nlp.x = res[0]; | |
| d_nlp.f = res[1]; | |
| d_nlp.g = res[2]; | |
| d_nlp.lam_x = res[3]; | |
| d_nlp.lam_g = res[4]; | |
| d_nlp.lam_p = res[5]; | |
| d_nlp.prob = &p_nlp; | |
| p_nlp.nx = 32; | |
| p_nlp.ng = 42; | |
| p_nlp.np = 1; | |
| p_nlp.detect_bounds.ng = 0; | |
| casadi_nlpsol_init(&d_nlp, &arg, &res, &iw, &w); | |
| if (d_nlp.x0) { | |
| casadi_copy(d_nlp.x0, 32, d_nlp.z); | |
| } else { | |
| casadi_clear(d_nlp.z, 32); | |
| } | |
| if (d_nlp.lbx) { | |
| casadi_copy(d_nlp.lbx, 32, d_nlp.lbz); | |
| } else { | |
| casadi_fill(d_nlp.lbz, 32, -casadi_inf); | |
| } | |
| if (d_nlp.ubx) { | |
| casadi_copy(d_nlp.ubx, 32, d_nlp.ubz); | |
| } else { | |
| casadi_fill(d_nlp.ubz, 32, casadi_inf); | |
| } | |
| if (d_nlp.lam_x0) { | |
| casadi_copy(d_nlp.lam_x0, 32, d_nlp.lam); | |
| } else { | |
| casadi_clear(d_nlp.lam, 32); | |
| } | |
| if (d_nlp.lbg) { | |
| casadi_copy(d_nlp.lbg, 42, d_nlp.lbz+32); | |
| } else { | |
| casadi_fill(d_nlp.lbz+32, 42, -casadi_inf); | |
| } | |
| if (d_nlp.ubg) { | |
| casadi_copy(d_nlp.ubg, 42, d_nlp.ubz+32); | |
| } else { | |
| casadi_fill(d_nlp.ubz+32, 42, casadi_inf); | |
| } | |
| if (d_nlp.lam_g0) { | |
| casadi_copy(d_nlp.lam_g0, 42, d_nlp.lam+32); | |
| } else { | |
| casadi_clear(d_nlp.lam+32, 42); | |
| } | |
| d->nlp = &d_nlp; | |
| d->prob = &p; | |
| p.nlp = &p_nlp; | |
| p.sp_a = casadi_s10; | |
| p.sp_h = casadi_s12; | |
| casadi_ipopt_setup(&p); | |
| p.eval_f = casadi_nlp_f0; | |
| p.eval_g = casadi_nlp_g0; | |
| p.eval_grad_f = casadi_nlp_grad_f0; | |
| p.eval_jac_g = casadi_nlp_jac_g0; | |
| p.eval_h = casadi_nlp_hess_l0; | |
| casadi_ipopt_init(d, &arg, &res, &iw, &w); | |
| casadi_ipopt_presolve(d); | |
| AddIpoptStrOption(d->ipopt, "linear_solver","mumps"); | |
| casadi_ipopt_solve(d); | |
| d->arg[0] = d_nlp.z; | |
| d->arg[1] = d_nlp.p; | |
| d->arg[2] = &one; | |
| d->arg[3] = d_nlp.lam+32; | |
| d->res[0] = 0; | |
| d->res[1] = 0; | |
| d->res[2] = 0; | |
| d->res[3] = d_nlp.lam_p; | |
| if (casadi_f2(d->arg, d->res, d->iw, d->w, 0)) return 1; | |
| casadi_scal(1, -1.0, d_nlp.lam_p); | |
| casadi_copy(d_nlp.z, 32, d_nlp.x); | |
| casadi_copy(d_nlp.z + 32, 42, d_nlp.g); | |
| casadi_copy(d_nlp.lam, 32, d_nlp.lam_x); | |
| casadi_copy(d_nlp.lam + 32, 42, d_nlp.lam_g); | |
| if (d_nlp.f) casadi_copy(&d_nlp.objective, 1, d_nlp.f); | |
| if (d_nlp.lam_p) casadi_copy(d_nlp.lam_p, 1, d_nlp.lam_p); | |
| return 0; | |
| return 0; | |
| } | |
| int casadi_f1_alloc_mem(void) { | |
| return casadi_f1_mem_counter++; | |
| } | |
| int casadi_f1_init_mem(int mem) { | |
| ipopt_init_mem(&casadi_f1_mem[mem]); | |
| return 0; | |
| } | |
| void casadi_f1_free_mem(int mem) { | |
| ipopt_free_mem(&casadi_f1_mem[mem]); | |
| } | |
| int casadi_f1_checkout(void) { | |
| int mid; | |
| if (casadi_f1_unused_stack_counter>=0) { | |
| return casadi_f1_unused_stack[casadi_f1_unused_stack_counter--]; | |
| } else { | |
| if (casadi_f1_mem_counter==CASADI_MAX_NUM_THREADS) return -1; | |
| mid = casadi_f1_alloc_mem(); | |
| if (mid<0) return -1; | |
| if(casadi_f1_init_mem(mid)) return -1; | |
| return mid; | |
| } | |
| } | |
| void casadi_f1_release(int mem) { | |
| casadi_f1_unused_stack[++casadi_f1_unused_stack_counter] = mem; | |
| } | |
| /* helper:(i0[32],i1,i2[42])->(o0[1x11]) */ | |
| static int casadi_f21(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: output[0][0] = @0 */ | |
| if (res[0]) res[0][0] = w0; | |
| /* #2: @0 = input[0][3] */ | |
| w0 = arg[0] ? arg[0][3] : 0; | |
| /* #3: output[0][1] = @0 */ | |
| if (res[0]) res[0][1] = w0; | |
| /* #4: @0 = input[0][6] */ | |
| w0 = arg[0] ? arg[0][6] : 0; | |
| /* #5: output[0][2] = @0 */ | |
| if (res[0]) res[0][2] = w0; | |
| /* #6: @0 = input[0][9] */ | |
| w0 = arg[0] ? arg[0][9] : 0; | |
| /* #7: output[0][3] = @0 */ | |
| if (res[0]) res[0][3] = w0; | |
| /* #8: @0 = input[0][12] */ | |
| w0 = arg[0] ? arg[0][12] : 0; | |
| /* #9: output[0][4] = @0 */ | |
| if (res[0]) res[0][4] = w0; | |
| /* #10: @0 = input[0][15] */ | |
| w0 = arg[0] ? arg[0][15] : 0; | |
| /* #11: output[0][5] = @0 */ | |
| if (res[0]) res[0][5] = w0; | |
| /* #12: @0 = input[0][18] */ | |
| w0 = arg[0] ? arg[0][18] : 0; | |
| /* #13: output[0][6] = @0 */ | |
| if (res[0]) res[0][6] = w0; | |
| /* #14: @0 = input[0][21] */ | |
| w0 = arg[0] ? arg[0][21] : 0; | |
| /* #15: output[0][7] = @0 */ | |
| if (res[0]) res[0][7] = w0; | |
| /* #16: @0 = input[0][24] */ | |
| w0 = arg[0] ? arg[0][24] : 0; | |
| /* #17: output[0][8] = @0 */ | |
| if (res[0]) res[0][8] = w0; | |
| /* #18: @0 = input[0][27] */ | |
| w0 = arg[0] ? arg[0][27] : 0; | |
| /* #19: output[0][9] = @0 */ | |
| if (res[0]) res[0][9] = w0; | |
| /* #20: @0 = input[0][30] */ | |
| w0 = arg[0] ? arg[0][30] : 0; | |
| /* #21: output[0][10] = @0 */ | |
| if (res[0]) res[0][10] = w0; | |
| return 0; | |
| } | |
| /* F:(i0)->(o0[1x11]) */ | |
| static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr; | |
| const casadi_real **arg1=arg+1, *cs; | |
| int flag, mid; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, w31, *w32=w+1243, *w33=w+1275, *w34=w+1307, *w35=w+1339, *w36=w+1341, *w37=w+1343, *w38=w+1345, *w39=w+1347, *w40=w+1349, *w41=w+1351, *w42=w+1353, *w43=w+1355, *w44=w+1357, *w45=w+1359, *w46=w+1401, *w47=w+1443, *w48=w+1475, *w49=w+1517, *w50=w+1549, *w51=w+1591; | |
| /* #0: @0 = 0 */ | |
| w0 = 0.; | |
| /* #1: @1 = 0.1 */ | |
| w1 = 1.0000000000000001e-01; | |
| /* #2: @2 = 1 */ | |
| w2 = 1.; | |
| /* #3: @3 = 0.02 */ | |
| w3 = 2.0000000000000000e-02; | |
| /* #4: @4 = 0.1 */ | |
| w4 = 1.0000000000000001e-01; | |
| /* #5: @5 = 1.11111 */ | |
| w5 = 1.1111111111111112e+00; | |
| /* #6: @6 = 0.04 */ | |
| w6 = 4.0000000000000001e-02; | |
| /* #7: @7 = 0.1 */ | |
| w7 = 1.0000000000000001e-01; | |
| /* #8: @8 = 1.22222 */ | |
| w8 = 1.2222222222222223e+00; | |
| /* #9: @9 = 0.06 */ | |
| w9 = 5.9999999999999998e-02; | |
| /* #10: @10 = 0.1 */ | |
| w10 = 1.0000000000000001e-01; | |
| /* #11: @11 = 1.33333 */ | |
| w11 = 1.3333333333333333e+00; | |
| /* #12: @12 = 0.08 */ | |
| w12 = 8.0000000000000002e-02; | |
| /* #13: @13 = 0.1 */ | |
| w13 = 1.0000000000000001e-01; | |
| /* #14: @14 = 1.44444 */ | |
| w14 = 1.4444444444444444e+00; | |
| /* #15: @15 = 0.1 */ | |
| w15 = 1.0000000000000001e-01; | |
| /* #16: @16 = 0.1 */ | |
| w16 = 1.0000000000000001e-01; | |
| /* #17: @17 = 1.55556 */ | |
| w17 = 1.5555555555555556e+00; | |
| /* #18: @18 = 0.12 */ | |
| w18 = 1.2000000000000000e-01; | |
| /* #19: @19 = 0.1 */ | |
| w19 = 1.0000000000000001e-01; | |
| /* #20: @20 = 1.66667 */ | |
| w20 = 1.6666666666666665e+00; | |
| /* #21: @21 = 0.14 */ | |
| w21 = 1.4000000000000001e-01; | |
| /* #22: @22 = 0.1 */ | |
| w22 = 1.0000000000000001e-01; | |
| /* #23: @23 = 1.77778 */ | |
| w23 = 1.7777777777777777e+00; | |
| /* #24: @24 = 0.16 */ | |
| w24 = 1.6000000000000000e-01; | |
| /* #25: @25 = 0.1 */ | |
| w25 = 1.0000000000000001e-01; | |
| /* #26: @26 = 1.88889 */ | |
| w26 = 1.8888888888888888e+00; | |
| /* #27: @27 = 0.18 */ | |
| w27 = 1.7999999999999999e-01; | |
| /* #28: @28 = 0.1 */ | |
| w28 = 1.0000000000000001e-01; | |
| /* #29: @29 = 2 */ | |
| w29 = 2.; | |
| /* #30: @30 = 0.2 */ | |
| w30 = 2.0000000000000001e-01; | |
| /* #31: @31 = 0.1 */ | |
| w31 = 1.0000000000000001e-01; | |
| /* #32: @32 = vertcat(@0, @1, @2, @3, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @16, @17, @18, @19, @20, @21, @22, @23, @24, @25, @26, @27, @28, @29, @30, @31) */ | |
| rr=w32; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| *rr++ = w23; | |
| *rr++ = w24; | |
| *rr++ = w25; | |
| *rr++ = w26; | |
| *rr++ = w27; | |
| *rr++ = w28; | |
| *rr++ = w29; | |
| *rr++ = w30; | |
| *rr++ = w31; | |
| /* #33: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #34: @33 = -inf(32x1) */ | |
| casadi_fill(w33, 32, -casadi_inf); | |
| /* #35: @34 = inf(32x1) */ | |
| casadi_fill(w34, 32, casadi_inf); | |
| /* #36: @35 = zeros(2x1) */ | |
| casadi_clear(w35, 2); | |
| /* #37: @1 = 0 */ | |
| w1 = 0.; | |
| /* #38: @2 = 1 */ | |
| w2 = 1.; | |
| /* #39: @3 = -1 */ | |
| w3 = -1.; | |
| /* #40: @36 = zeros(2x1) */ | |
| casadi_clear(w36, 2); | |
| /* #41: @4 = -0.25 */ | |
| w4 = -2.5000000000000000e-01; | |
| /* #42: @5 = -1 */ | |
| w5 = -1.; | |
| /* #43: @37 = zeros(2x1) */ | |
| casadi_clear(w37, 2); | |
| /* #44: @6 = -0.25 */ | |
| w6 = -2.5000000000000000e-01; | |
| /* #45: @7 = -1 */ | |
| w7 = -1.; | |
| /* #46: @38 = zeros(2x1) */ | |
| casadi_clear(w38, 2); | |
| /* #47: @8 = -0.25 */ | |
| w8 = -2.5000000000000000e-01; | |
| /* #48: @9 = -1 */ | |
| w9 = -1.; | |
| /* #49: @39 = zeros(2x1) */ | |
| casadi_clear(w39, 2); | |
| /* #50: @10 = -0.25 */ | |
| w10 = -2.5000000000000000e-01; | |
| /* #51: @11 = -1 */ | |
| w11 = -1.; | |
| /* #52: @40 = zeros(2x1) */ | |
| casadi_clear(w40, 2); | |
| /* #53: @12 = -0.25 */ | |
| w12 = -2.5000000000000000e-01; | |
| /* #54: @13 = -1 */ | |
| w13 = -1.; | |
| /* #55: @41 = zeros(2x1) */ | |
| casadi_clear(w41, 2); | |
| /* #56: @14 = -0.25 */ | |
| w14 = -2.5000000000000000e-01; | |
| /* #57: @15 = -1 */ | |
| w15 = -1.; | |
| /* #58: @42 = zeros(2x1) */ | |
| casadi_clear(w42, 2); | |
| /* #59: @16 = -0.25 */ | |
| w16 = -2.5000000000000000e-01; | |
| /* #60: @17 = -1 */ | |
| w17 = -1.; | |
| /* #61: @43 = zeros(2x1) */ | |
| casadi_clear(w43, 2); | |
| /* #62: @18 = -0.25 */ | |
| w18 = -2.5000000000000000e-01; | |
| /* #63: @19 = -1 */ | |
| w19 = -1.; | |
| /* #64: @44 = zeros(2x1) */ | |
| casadi_clear(w44, 2); | |
| /* #65: @20 = -0.25 */ | |
| w20 = -2.5000000000000000e-01; | |
| /* #66: @21 = -1 */ | |
| w21 = -1.; | |
| /* #67: @22 = -0.25 */ | |
| w22 = -2.5000000000000000e-01; | |
| /* #68: @45 = vertcat(@35, @1, @2, @3, @36, @4, @5, @37, @6, @7, @38, @8, @9, @39, @10, @11, @40, @12, @13, @41, @14, @15, @42, @16, @17, @43, @18, @19, @44, @20, @21, @22) */ | |
| rr=w45; | |
| for (i=0, cs=w35; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| for (i=0, cs=w36; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| for (i=0, cs=w37; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| for (i=0, cs=w38; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| for (i=0, cs=w39; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| for (i=0, cs=w40; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| for (i=0, cs=w41; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| for (i=0, cs=w42; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| for (i=0, cs=w43; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| for (i=0, cs=w44; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| /* #69: @3 = 1 */ | |
| w3 = 1.; | |
| /* #70: @4 = inf */ | |
| w4 = casadi_inf; | |
| /* #71: @5 = 1 */ | |
| w5 = 1.; | |
| /* #72: @6 = inf */ | |
| w6 = casadi_inf; | |
| /* #73: @7 = 1 */ | |
| w7 = 1.; | |
| /* #74: @8 = inf */ | |
| w8 = casadi_inf; | |
| /* #75: @9 = 1 */ | |
| w9 = 1.; | |
| /* #76: @10 = inf */ | |
| w10 = casadi_inf; | |
| /* #77: @11 = 1 */ | |
| w11 = 1.; | |
| /* #78: @12 = inf */ | |
| w12 = casadi_inf; | |
| /* #79: @13 = 1 */ | |
| w13 = 1.; | |
| /* #80: @14 = inf */ | |
| w14 = casadi_inf; | |
| /* #81: @15 = 1 */ | |
| w15 = 1.; | |
| /* #82: @16 = inf */ | |
| w16 = casadi_inf; | |
| /* #83: @17 = 1 */ | |
| w17 = 1.; | |
| /* #84: @18 = inf */ | |
| w18 = casadi_inf; | |
| /* #85: @19 = 1 */ | |
| w19 = 1.; | |
| /* #86: @20 = inf */ | |
| w20 = casadi_inf; | |
| /* #87: @21 = 1 */ | |
| w21 = 1.; | |
| /* #88: @22 = inf */ | |
| w22 = casadi_inf; | |
| /* #89: @46 = vertcat(@35, @1, @2, @3, @36, @4, @5, @37, @6, @7, @38, @8, @9, @39, @10, @11, @40, @12, @13, @41, @14, @15, @42, @16, @17, @43, @18, @19, @44, @20, @21, @22) */ | |
| rr=w46; | |
| for (i=0, cs=w35; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| for (i=0, cs=w36; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| for (i=0, cs=w37; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| for (i=0, cs=w38; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| for (i=0, cs=w39; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| for (i=0, cs=w40; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| for (i=0, cs=w41; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| for (i=0, cs=w42; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| for (i=0, cs=w43; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| for (i=0, cs=w44; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| /* #90: @47 = zeros(32x1) */ | |
| casadi_clear(w47, 32); | |
| /* #91: @48 = zeros(42x1) */ | |
| casadi_clear(w48, 42); | |
| /* #92: {@49, NULL, NULL, NULL, @50, NULL} = solver(@32, @0, @33, @34, @45, @46, @47, @48) */ | |
| arg1[0]=w32; | |
| arg1[1]=(&w0); | |
| arg1[2]=w33; | |
| arg1[3]=w34; | |
| arg1[4]=w45; | |
| arg1[5]=w46; | |
| arg1[6]=w47; | |
| arg1[7]=w48; | |
| res1[0]=w49; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=w50; | |
| res1[5]=0; | |
| mid = casadi_f1_checkout(); | |
| if (mid<0) return 1; | |
| flag = casadi_f1(arg1, res1, iw, w, mid); | |
| casadi_f1_release(mid); | |
| if (flag) return 1; | |
| /* #93: @51 = helper(@49, @0, @50) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w0); | |
| arg1[2]=w50; | |
| res1[0]=w51; | |
| if (casadi_f21(arg1, res1, iw, w, 0)) return 1; | |
| /* #94: output[0][0] = @51 */ | |
| casadi_copy(w51, 11, res[0]); | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ | |
| return casadi_f0(arg, res, iw, w, mem); | |
| } | |
| CASADI_SYMBOL_EXPORT int F_alloc_mem(void) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F_init_mem(int mem) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT void F_free_mem(int mem) { | |
| } | |
| CASADI_SYMBOL_EXPORT int F_checkout(void) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT void F_release(int mem) { | |
| } | |
| CASADI_SYMBOL_EXPORT void F_incref(void) { | |
| } | |
| CASADI_SYMBOL_EXPORT void F_decref(void) { | |
| } | |
| CASADI_SYMBOL_EXPORT casadi_int F_n_in(void) { return 1;} | |
| CASADI_SYMBOL_EXPORT casadi_int F_n_out(void) { return 1;} | |
| CASADI_SYMBOL_EXPORT casadi_real F_default_in(casadi_int i) { | |
| switch (i) { | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const char* F_name_in(casadi_int i) { | |
| switch (i) { | |
| case 0: return "i0"; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const char* F_name_out(casadi_int i) { | |
| switch (i) { | |
| case 0: return "o0"; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const casadi_int* F_sparsity_in(casadi_int i) { | |
| switch (i) { | |
| case 0: return casadi_s13; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const casadi_int* F_sparsity_out(casadi_int i) { | |
| switch (i) { | |
| case 0: return casadi_s14; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT int F_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { | |
| if (sz_arg) *sz_arg = 141; | |
| if (sz_res) *sz_res = 43; | |
| if (sz_iw) *sz_iw = 33; | |
| if (sz_w) *sz_w = 1602; | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { | |
| if (sz_arg) *sz_arg = 141*sizeof(const casadi_real*); | |
| if (sz_res) *sz_res = 43*sizeof(casadi_real*); | |
| if (sz_iw) *sz_iw = 33*sizeof(casadi_int); | |
| if (sz_w) *sz_w = 1602*sizeof(casadi_real); | |
| return 0; | |
| } | |
| casadi_int main_F(casadi_int argc, char* argv[]) { | |
| casadi_int j; | |
| casadi_real* a; | |
| const casadi_real* r; | |
| casadi_int flag; | |
| casadi_int iw[33]; | |
| casadi_real w[1614]; | |
| const casadi_real* arg[141]; | |
| casadi_real* res[43]; | |
| arg[0] = w+0; | |
| res[0] = w+1; | |
| a = w; | |
| for (j=0; j<1; ++j) if (scanf("%lg", a++)<=0) return 2; | |
| flag = F(arg, res, iw, w+12, 0); | |
| if (flag) return flag; | |
| r = w+1; | |
| for (j=0; j<11; ++j) CASADI_PRINTF("%g ", *r++); | |
| CASADI_PRINTF("\n"); | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int main(int argc, char* argv[]) { | |
| if (argc<2) { | |
| /* name error */ | |
| } else if (strcmp(argv[1], "F")==0) { | |
| return main_F(argc-2, argv+2); | |
| } | |
| fprintf(stderr, "First input should be a command string. Possible values: 'F'\nNote: you may use function.generate_input to create a command string.\n"); | |
| return 1; | |
| } | |
| #ifdef __cplusplus | |
| } /* extern "C" */ | |
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| /* This file was automatically generated by CasADi 3.6.5+. | |
| * It consists of: | |
| * 1) content generated by CasADi runtime: not copyrighted | |
| * 2) template code copied from CasADi source: permissively licensed (MIT-0) | |
| * 3) user code: owned by the user | |
| * | |
| */ | |
| #ifdef __cplusplus | |
| extern "C" { | |
| #endif | |
| /* How to prefix internal symbols */ | |
| #ifdef CASADI_CODEGEN_PREFIX | |
| #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) | |
| #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID | |
| #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) | |
| #else | |
| #define CASADI_PREFIX(ID) F_ ## ID | |
| #endif | |
| #include <math.h> | |
| #include <stdio.h> | |
| #include <string.h> | |
| #include <ocp/OCPCInterface.h> | |
| #ifndef casadi_real | |
| #define casadi_real double | |
| #endif | |
| #ifndef casadi_int | |
| #define casadi_int long long int | |
| #endif | |
| #ifndef CASADI_MAX_NUM_THREADS | |
| #define CASADI_MAX_NUM_THREADS 1 | |
| #endif | |
| /* Add prefix to internal symbols */ | |
| #define casadi_call CASADI_PREFIX(call) | |
| #define casadi_clear CASADI_PREFIX(clear) | |
| #define casadi_copy CASADI_PREFIX(copy) | |
| #define casadi_densify CASADI_PREFIX(densify) | |
| #define casadi_dot CASADI_PREFIX(dot) | |
| #define casadi_f0 CASADI_PREFIX(f0) | |
| #define casadi_f1 CASADI_PREFIX(f1) | |
| #define casadi_f10 CASADI_PREFIX(f10) | |
| #define casadi_f11 CASADI_PREFIX(f11) | |
| #define casadi_f12 CASADI_PREFIX(f12) | |
| #define casadi_f13 CASADI_PREFIX(f13) | |
| #define casadi_f14 CASADI_PREFIX(f14) | |
| #define casadi_f15 CASADI_PREFIX(f15) | |
| #define casadi_f16 CASADI_PREFIX(f16) | |
| #define casadi_f17 CASADI_PREFIX(f17) | |
| #define casadi_f18 CASADI_PREFIX(f18) | |
| #define casadi_f19 CASADI_PREFIX(f19) | |
| #define casadi_f1_alloc_mem CASADI_PREFIX(f1_alloc_mem) | |
| #define casadi_f1_init_mem CASADI_PREFIX(f1_init_mem) | |
| #define casadi_f1_mem CASADI_PREFIX(f1_mem) | |
| #define casadi_f1_mem_counter CASADI_PREFIX(f1_mem_counter) | |
| #define casadi_f1_unused_stack CASADI_PREFIX(f1_unused_stack) | |
| #define casadi_f1_unused_stack_counter CASADI_PREFIX(f1_unused_stack_counter) | |
| #define casadi_f2 CASADI_PREFIX(f2) | |
| #define casadi_f20 CASADI_PREFIX(f20) | |
| #define casadi_f21 CASADI_PREFIX(f21) | |
| #define casadi_f3 CASADI_PREFIX(f3) | |
| #define casadi_f4 CASADI_PREFIX(f4) | |
| #define casadi_f5 CASADI_PREFIX(f5) | |
| #define casadi_f6 CASADI_PREFIX(f6) | |
| #define casadi_f7 CASADI_PREFIX(f7) | |
| #define casadi_f8 CASADI_PREFIX(f8) | |
| #define casadi_f9 CASADI_PREFIX(f9) | |
| #define casadi_fabs CASADI_PREFIX(fabs) | |
| #define casadi_fatrop_data CASADI_PREFIX(fatrop_data) | |
| #define casadi_fatrop_dense_transfer CASADI_PREFIX(fatrop_dense_transfer) | |
| #define casadi_fatrop_eval_BAbt CASADI_PREFIX(fatrop_eval_BAbt) | |
| #define casadi_fatrop_free_mem CASADI_PREFIX(fatrop_free_mem) | |
| #define casadi_fatrop_full_eval_constr_jac CASADI_PREFIX(fatrop_full_eval_constr_jac) | |
| #define casadi_fatrop_get_bounds CASADI_PREFIX(fatrop_get_bounds) | |
| #define casadi_fatrop_get_horizon_length CASADI_PREFIX(fatrop_get_horizon_length) | |
| #define casadi_fatrop_get_initial_uk CASADI_PREFIX(fatrop_get_initial_uk) | |
| #define casadi_fatrop_get_initial_xk CASADI_PREFIX(fatrop_get_initial_xk) | |
| #define casadi_fatrop_get_ng CASADI_PREFIX(fatrop_get_ng) | |
| #define casadi_fatrop_get_ng_ineq CASADI_PREFIX(fatrop_get_ng_ineq) | |
| #define casadi_fatrop_get_nu CASADI_PREFIX(fatrop_get_nu) | |
| #define casadi_fatrop_get_nx CASADI_PREFIX(fatrop_get_nx) | |
| #define casadi_fatrop_init CASADI_PREFIX(fatrop_init) | |
| #define casadi_fatrop_init_mem CASADI_PREFIX(fatrop_init_mem) | |
| #define casadi_fatrop_mproject CASADI_PREFIX(fatrop_mproject) | |
| #define casadi_fatrop_presolve CASADI_PREFIX(fatrop_presolve) | |
| #define casadi_fatrop_read_primal_data CASADI_PREFIX(fatrop_read_primal_data) | |
| #define casadi_fatrop_setup CASADI_PREFIX(fatrop_setup) | |
| #define casadi_fatrop_solve CASADI_PREFIX(fatrop_solve) | |
| #define casadi_fatrop_work CASADI_PREFIX(fatrop_work) | |
| #define casadi_fill CASADI_PREFIX(fill) | |
| #define casadi_nlpsol_data CASADI_PREFIX(nlpsol_data) | |
| #define casadi_nlpsol_detect_bounds_after CASADI_PREFIX(nlpsol_detect_bounds_after) | |
| #define casadi_nlpsol_detect_bounds_before CASADI_PREFIX(nlpsol_detect_bounds_before) | |
| #define casadi_nlpsol_detect_bounds_data CASADI_PREFIX(nlpsol_detect_bounds_data) | |
| #define casadi_nlpsol_detect_bounds_prob CASADI_PREFIX(nlpsol_detect_bounds_prob) | |
| #define casadi_nlpsol_init CASADI_PREFIX(nlpsol_init) | |
| #define casadi_nlpsol_prob CASADI_PREFIX(nlpsol_prob) | |
| #define casadi_nlpsol_work CASADI_PREFIX(nlpsol_work) | |
| #define casadi_ocp_block CASADI_PREFIX(ocp_block) | |
| #define casadi_oracle_callback CASADI_PREFIX(oracle_callback) | |
| #define casadi_oracle_data CASADI_PREFIX(oracle_data) | |
| #define casadi_oracle_init CASADI_PREFIX(oracle_init) | |
| #define casadi_project CASADI_PREFIX(project) | |
| #define casadi_ptr_ocp_block CASADI_PREFIX(ptr_ocp_block) | |
| #define casadi_s0 CASADI_PREFIX(s0) | |
| #define casadi_s1 CASADI_PREFIX(s1) | |
| #define casadi_s10 CASADI_PREFIX(s10) | |
| #define casadi_s11 CASADI_PREFIX(s11) | |
| #define casadi_s12 CASADI_PREFIX(s12) | |
| #define casadi_s13 CASADI_PREFIX(s13) | |
| #define casadi_s14 CASADI_PREFIX(s14) | |
| #define casadi_s15 CASADI_PREFIX(s15) | |
| #define casadi_s16 CASADI_PREFIX(s16) | |
| #define casadi_s17 CASADI_PREFIX(s17) | |
| #define casadi_s18 CASADI_PREFIX(s18) | |
| #define casadi_s19 CASADI_PREFIX(s19) | |
| #define casadi_s2 CASADI_PREFIX(s2) | |
| #define casadi_s20 CASADI_PREFIX(s20) | |
| #define casadi_s21 CASADI_PREFIX(s21) | |
| #define casadi_s22 CASADI_PREFIX(s22) | |
| #define casadi_s23 CASADI_PREFIX(s23) | |
| #define casadi_s24 CASADI_PREFIX(s24) | |
| #define casadi_s25 CASADI_PREFIX(s25) | |
| #define casadi_s3 CASADI_PREFIX(s3) | |
| #define casadi_s4 CASADI_PREFIX(s4) | |
| #define casadi_s5 CASADI_PREFIX(s5) | |
| #define casadi_s6 CASADI_PREFIX(s6) | |
| #define casadi_s7 CASADI_PREFIX(s7) | |
| #define casadi_s8 CASADI_PREFIX(s8) | |
| #define casadi_s9 CASADI_PREFIX(s9) | |
| #define casadi_scal CASADI_PREFIX(scal) | |
| #define casadi_sp_nnz CASADI_PREFIX(sp_nnz) | |
| #define casadi_sparsify CASADI_PREFIX(sparsify) | |
| #define casadi_sq CASADI_PREFIX(sq) | |
| #define casadi_trans CASADI_PREFIX(trans) | |
| #define casadi_unpack_ocp_blocks CASADI_PREFIX(unpack_ocp_blocks) | |
| /* Symbol visibility in DLLs */ | |
| #ifndef CASADI_SYMBOL_EXPORT | |
| #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) | |
| #if defined(STATIC_LINKED) | |
| #define CASADI_SYMBOL_EXPORT | |
| #else | |
| #define CASADI_SYMBOL_EXPORT __declspec(dllexport) | |
| #endif | |
| #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) | |
| #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) | |
| #else | |
| #define CASADI_SYMBOL_EXPORT | |
| #endif | |
| #endif | |
| void casadi_fill(casadi_real* x, casadi_int n, casadi_real alpha) { | |
| casadi_int i; | |
| if (x) { | |
| for (i=0; i<n; ++i) *x++ = alpha; | |
| } | |
| } | |
| casadi_real casadi_fabs(casadi_real x) { | |
| /* Pre-c99 compatibility */ | |
| #if __STDC_VERSION__ < 199901L | |
| return x>0 ? x : -x; | |
| #else | |
| return fabs(x); | |
| #endif | |
| } | |
| void casadi_copy(const casadi_real* x, casadi_int n, casadi_real* y) { | |
| casadi_int i; | |
| if (y) { | |
| if (x) { | |
| for (i=0; i<n; ++i) *y++ = *x++; | |
| } else { | |
| for (i=0; i<n; ++i) *y++ = 0.; | |
| } | |
| } | |
| } | |
| casadi_real casadi_sq(casadi_real x) { return x*x;} | |
| casadi_real casadi_dot(casadi_int n, const casadi_real* x, const casadi_real* y) { | |
| casadi_int i; | |
| casadi_real r = 0; | |
| for (i=0; i<n; ++i) r += *x++ * *y++; | |
| return r; | |
| } | |
| void casadi_clear(casadi_real* x, casadi_int n) { | |
| casadi_int i; | |
| if (x) { | |
| for (i=0; i<n; ++i) *x++ = 0; | |
| } | |
| } | |
| struct casadi_oracle_data { | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| void* m; | |
| }; | |
| void casadi_oracle_init(struct casadi_oracle_data* d, const casadi_real*** arg, casadi_real*** res, | |
| casadi_int** iw, casadi_real** w) { | |
| d->arg = *arg; | |
| d->res = *res; | |
| d->iw = *iw; | |
| d->w = *w; | |
| } | |
| struct casadi_nlpsol_detect_bounds_prob { | |
| casadi_int sz_arg; | |
| casadi_int sz_res; | |
| casadi_int sz_iw; | |
| casadi_int sz_w; | |
| casadi_int ng; | |
| casadi_int nb; | |
| const casadi_int *target_x; | |
| const casadi_int *target_g; | |
| const char *is_simple; | |
| int (*callback)(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* callback_data); | |
| void* callback_data; | |
| }; | |
| struct casadi_nlpsol_prob { | |
| casadi_int nx, ng, np; | |
| struct casadi_nlpsol_detect_bounds_prob detect_bounds; | |
| }; | |
| struct casadi_nlpsol_detect_bounds_data { | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| casadi_real* a; | |
| casadi_real* b; | |
| casadi_int* target_l; | |
| casadi_int* target_u; | |
| casadi_real* lam_xl; | |
| casadi_real* lam_xu; | |
| }; | |
| struct casadi_nlpsol_data { | |
| const struct casadi_nlpsol_prob* prob; | |
| struct casadi_oracle_data* oracle; | |
| casadi_real *lbz, *ubz; | |
| casadi_real *z; | |
| casadi_real *lam; | |
| casadi_real objective; | |
| const casadi_real *p, *lbx, *ubx, *lbg, *ubg, *x0, *lam_x0, *lam_g0; | |
| casadi_real *f, *x, *g, *lam_x, *lam_g, *lam_p; | |
| struct casadi_nlpsol_detect_bounds_data detect_bounds; | |
| }; | |
| void casadi_nlpsol_work(const struct casadi_nlpsol_prob* p, casadi_int* sz_arg, casadi_int* sz_res, | |
| casadi_int* sz_iw, casadi_int* sz_w) { | |
| *sz_arg = *sz_res = 0; | |
| *sz_w = *sz_iw = 0; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| *sz_w += p->nx + p->ng; | |
| if (p->detect_bounds.ng) { | |
| *sz_arg += p->detect_bounds.sz_arg; | |
| *sz_res += p->detect_bounds.sz_res; | |
| *sz_iw += p->detect_bounds.sz_iw; | |
| *sz_w += p->detect_bounds.sz_w; | |
| *sz_w += p->detect_bounds.nb; | |
| *sz_w += p->detect_bounds.nb; | |
| *sz_iw += p->nx; | |
| *sz_iw += p->nx; | |
| *sz_w += p->nx; | |
| *sz_w += p->nx; | |
| } | |
| } | |
| void casadi_nlpsol_init(struct casadi_nlpsol_data* d, const casadi_real*** arg, casadi_real*** res, | |
| casadi_int** iw, casadi_real** w) { | |
| casadi_int nx, ng; | |
| const struct casadi_nlpsol_prob* p = d->prob; | |
| nx = p->nx; | |
| ng = p->ng; | |
| d->z = *w; *w += nx + ng; | |
| d->lbz = *w; *w += nx + ng; | |
| d->ubz = *w; *w += nx + ng; | |
| d->lam = *w; *w += nx + ng; | |
| if (p->detect_bounds.ng) { | |
| d->detect_bounds.arg = *arg; *arg += p->detect_bounds.sz_arg; | |
| d->detect_bounds.res = *res; *res += p->detect_bounds.sz_res; | |
| d->detect_bounds.iw = *iw; *iw += p->detect_bounds.sz_iw; | |
| d->detect_bounds.w = *w; *w += p->detect_bounds.sz_w; | |
| d->detect_bounds.a = *w; *w += p->detect_bounds.nb; | |
| d->detect_bounds.b = *w; *w += p->detect_bounds.nb; | |
| d->detect_bounds.target_l = *iw; *iw += p->nx; | |
| d->detect_bounds.target_u = *iw; *iw += p->nx; | |
| d->detect_bounds.lam_xl = *w; *w += nx; | |
| d->detect_bounds.lam_xu = *w; *w += nx; | |
| } | |
| } | |
| int casadi_detect_bounds_before(struct casadi_nlpsol_data* d_nlp) { | |
| const struct casadi_nlpsol_prob* p_nlp = d_nlp->prob; | |
| struct casadi_nlpsol_detect_bounds_data* d_bounds = &d_nlp->detect_bounds; | |
| const struct casadi_nlpsol_detect_bounds_prob* p_bounds = &p_nlp->detect_bounds; | |
| casadi_int nx = p_nlp->nx; | |
| d_bounds->arg[0] = d_nlp->p; | |
| d_bounds->res[0] = d_bounds->a; | |
| d_bounds->res[1] = d_bounds->b; | |
| p_bounds->callback(d_bounds->arg, d_bounds->res, | |
| d_bounds->iw, d_bounds->w, p_bounds->callback_data); | |
| for (casadi_int i=0;i<p_bounds->nb;++i) { | |
| if (d_bounds->a[i]==0) { | |
| casadi_int k = p_bounds->target_g[i]; | |
| if (d_nlp->lbg[k]>d_bounds->b[i]) return 1; | |
| if (d_nlp->ubg[k]<d_bounds->b[i]) return 1; | |
| } | |
| } | |
| casadi_real* lbz = d_nlp->lbz+nx; | |
| casadi_real* ubz = d_nlp->ubz+nx; | |
| casadi_real* lam = d_nlp->lam+nx; | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_bounds->lam_xl[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]<0)*d_nlp->lam_x0[i] : 0.; | |
| d_bounds->lam_xu[i] = d_nlp->lam_x0 ? (d_nlp->lam_x0[i]>0)*d_nlp->lam_x0[i] : 0.; | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_bounds->target_l[i] = i; | |
| d_bounds->target_u[i] = i; | |
| } | |
| casadi_int k=0; | |
| for (casadi_int i=0;i<p_bounds->ng;++i) { | |
| if (p_bounds->is_simple[i]) { | |
| casadi_real lb = (d_nlp->lbg[i]-d_bounds->b[k])/casadi_fabs(d_bounds->a[k]); | |
| casadi_real ub = (d_nlp->ubg[i]-d_bounds->b[k])/casadi_fabs(d_bounds->a[k]); | |
| casadi_int j = p_bounds->target_x[k]; | |
| if (lb==d_nlp->lbz[j]) { | |
| if (d_nlp->lam_g0) d_bounds->lam_xl[j] += (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i]; | |
| } else if (lb>d_nlp->lbz[j]) { | |
| d_nlp->lbz[j] = lb; | |
| d_bounds->target_l[j] = nx+i; | |
| if (d_nlp->lam_g0) d_bounds->lam_xl[j] = (d_nlp->lam_g0[i]<0)*d_nlp->lam_g0[i]; | |
| } | |
| if (ub==d_nlp->ubz[j]) { | |
| if (d_nlp->lam_g0) d_bounds->lam_xu[j] += (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i]; | |
| } else if (ub<d_nlp->ubz[j]) { | |
| d_nlp->ubz[j] = ub; | |
| d_bounds->target_u[j] = nx+i; | |
| if (d_nlp->lam_g0) d_bounds->lam_xu[j] = (d_nlp->lam_g0[i]>0)*d_nlp->lam_g0[i]; | |
| } | |
| k++; | |
| } else { | |
| *lbz++ = d_nlp->lbg[i]; | |
| *ubz++ = d_nlp->ubg[i]; | |
| if (d_nlp->lam_g0) *lam++ = d_nlp->lam_g0[i]; | |
| } | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| d_nlp->lam[i] = d_bounds->lam_xl[i]+d_bounds->lam_xu[i]; | |
| } | |
| return 0; | |
| } | |
| int casadi_detect_bounds_after(struct casadi_nlpsol_data* d_nlp) { | |
| const struct casadi_nlpsol_prob* p_nlp = d_nlp->prob; | |
| struct casadi_nlpsol_detect_bounds_data* d_bounds = &d_nlp->detect_bounds; | |
| const struct casadi_nlpsol_detect_bounds_prob* p_bounds = &p_nlp->detect_bounds; | |
| casadi_int nx = p_nlp->nx; | |
| casadi_fill(d_nlp->lam_x, nx, 0.); | |
| casadi_fill(d_nlp->lam_g, p_bounds->ng, 0.); | |
| casadi_int k = 0; | |
| casadi_int k_normal = 0; | |
| for (casadi_int i=0;i<p_bounds->ng;++i) { | |
| if (p_bounds->is_simple[i]) { | |
| casadi_int j = p_bounds->target_x[k]; | |
| if (d_nlp->g) d_nlp->g[i] = d_bounds->a[k]*d_nlp->z[j]+d_bounds->b[k]; | |
| k++; | |
| } else { | |
| if (d_nlp->g) d_nlp->g[i] = d_nlp->z[nx+k_normal]; | |
| if (d_nlp->lam_g) d_nlp->lam_g[i] = d_nlp->lam[nx+k_normal]; | |
| k_normal++; | |
| } | |
| } | |
| for (casadi_int i=0;i<nx;++i) { | |
| if (d_bounds->target_l[i]<nx) { | |
| if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]<0)*d_nlp->lam[i]; | |
| } else { | |
| if (d_nlp->lam_g) | |
| d_nlp->lam_g[d_bounds->target_l[i]-nx] += (d_nlp->lam[i]<0)*d_nlp->lam[i]; | |
| } | |
| if (d_bounds->target_u[i]<nx) { | |
| if (d_nlp->lam_x) d_nlp->lam_x[i] += (d_nlp->lam[i]>0)*d_nlp->lam[i]; | |
| } else { | |
| if (d_nlp->lam_g) | |
| d_nlp->lam_g[d_bounds->target_u[i]-nx] += (d_nlp->lam[i]>0)*d_nlp->lam[i]; | |
| } | |
| } | |
| return 0; | |
| } | |
| casadi_int casadi_max(casadi_int x, casadi_int y) { | |
| return x>y ? x : y; | |
| } | |
| void casadi_project(const casadi_real* x, const casadi_int* sp_x, casadi_real* y, const casadi_int* sp_y, casadi_real* w) { | |
| casadi_int ncol_x, ncol_y, i, el; | |
| const casadi_int *colind_x, *row_x, *colind_y, *row_y; | |
| ncol_x = sp_x[1]; | |
| colind_x = sp_x+2; row_x = sp_x + 2 + ncol_x+1; | |
| ncol_y = sp_y[1]; | |
| colind_y = sp_y+2; row_y = sp_y + 2 + ncol_y+1; | |
| for (i=0; i<ncol_x; ++i) { | |
| for (el=colind_y[i]; el<colind_y[i+1]; ++el) w[row_y[el]] = 0; | |
| for (el=colind_x[i]; el<colind_x[i+1]; ++el) w[row_x[el]] = x[el]; | |
| for (el=colind_y[i]; el<colind_y[i+1]; ++el) y[el] = w[row_y[el]]; | |
| } | |
| } | |
| void casadi_scal(casadi_int n, casadi_real alpha, casadi_real* x) { | |
| casadi_int i; | |
| if (!x) return; | |
| for (i=0; i<n; ++i) *x++ *= alpha; | |
| } | |
| casadi_int casadi_sp_nnz(const casadi_int* sp) { | |
| return sp[2+sp[1]]; | |
| } | |
| struct casadi_oracle_callback { | |
| int (*eval)(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem); | |
| int (*checkout)(void); | |
| void (*release)(int); | |
| }; | |
| int casadi_oracle_call(const struct casadi_oracle_callback* cb, struct casadi_oracle_data* d) { | |
| int flag; | |
| int mem = 0; | |
| if (cb->checkout) mem = cb->checkout(); | |
| flag = cb->eval(d->arg, d->res, d->iw, d->w, mem); | |
| if (cb->release) cb->release(mem); | |
| return flag; | |
| } | |
| struct casadi_ocp_block { | |
| casadi_int offset_r; | |
| casadi_int offset_c; | |
| casadi_int rows; | |
| casadi_int cols; | |
| }; | |
| void casadi_unpack_ocp_blocks(casadi_int N, struct casadi_ocp_block* blocks, const casadi_int* packed) { | |
| casadi_int i; | |
| for (i=0;i<N;++i) { | |
| blocks[i].offset_r = *packed++; | |
| blocks[i].offset_c = *packed++; | |
| blocks[i].rows = *packed++; | |
| blocks[i].cols = *packed++; | |
| } | |
| } | |
| void casadi_ptr_ocp_block(casadi_int N, casadi_real** vs, casadi_real* v, const struct casadi_ocp_block* blocks, int eye) { | |
| casadi_int k, offset = 0; | |
| for(k=0;k<N;++k) { | |
| vs[k] = v+offset; | |
| if (eye) { | |
| offset += blocks[k].rows; | |
| } else { | |
| offset += blocks[k].rows*blocks[k].cols; | |
| } | |
| } | |
| } | |
| #define CASADI_CAST(x,y) ((x) y) | |
| void casadi_densify(const casadi_real* x, const casadi_int* sp_x, casadi_real* y, casadi_int tr) { | |
| casadi_int nrow_x, ncol_x, i, el; | |
| const casadi_int *colind_x, *row_x; | |
| if (!y) return; | |
| nrow_x = sp_x[0]; ncol_x = sp_x[1]; | |
| colind_x = sp_x+2; row_x = sp_x+ncol_x+3; | |
| casadi_clear(y, nrow_x*ncol_x); | |
| if (!x) return; | |
| if (tr) { | |
| for (i=0; i<ncol_x; ++i) { | |
| for (el=colind_x[i]; el!=colind_x[i+1]; ++el) { | |
| y[i + row_x[el]*ncol_x] = CASADI_CAST(casadi_real, *x++); | |
| } | |
| } | |
| } else { | |
| for (i=0; i<ncol_x; ++i) { | |
| for (el=colind_x[i]; el!=colind_x[i+1]; ++el) { | |
| y[row_x[el]] = CASADI_CAST(casadi_real, *x++); | |
| } | |
| y += nrow_x; | |
| } | |
| } | |
| } | |
| void casadi_sparsify(const casadi_real* x, casadi_real* y, const casadi_int* sp_y, casadi_int tr) { | |
| casadi_int nrow_y, ncol_y, i, el; | |
| const casadi_int *colind_y, *row_y; | |
| nrow_y = sp_y[0]; | |
| ncol_y = sp_y[1]; | |
| colind_y = sp_y+2; row_y = sp_y+ncol_y+3; | |
| if (tr) { | |
| for (i=0; i<ncol_y; ++i) { | |
| for (el=colind_y[i]; el!=colind_y[i+1]; ++el) { | |
| *y++ = CASADI_CAST(casadi_real, x[i + row_y[el]*ncol_y]); | |
| } | |
| } | |
| } else { | |
| for (i=0; i<ncol_y; ++i) { | |
| for (el=colind_y[i]; el!=colind_y[i+1]; ++el) { | |
| *y++ = CASADI_CAST(casadi_real, x[row_y[el]]); | |
| } | |
| x += nrow_y; | |
| } | |
| } | |
| } | |
| #ifndef casadi_inf | |
| #define casadi_inf INFINITY | |
| #endif | |
| void casadi_trans(const casadi_real* x, const casadi_int* sp_x, casadi_real* y, | |
| const casadi_int* sp_y, casadi_int* tmp) { | |
| casadi_int ncol_x, nnz_x, ncol_y, k; | |
| const casadi_int* row_x, *colind_y; | |
| ncol_x = sp_x[1]; | |
| nnz_x = sp_x[2 + ncol_x]; | |
| row_x = sp_x + 2 + ncol_x+1; | |
| ncol_y = sp_y[1]; | |
| colind_y = sp_y+2; | |
| for (k=0; k<ncol_y; ++k) tmp[k] = colind_y[k]; | |
| for (k=0; k<nnz_x; ++k) { | |
| y[tmp[row_x[k]]++] = x[k]; | |
| } | |
| } | |
| void casadi_fatrop_mproject(casadi_real factor, const casadi_real* x, const casadi_int* sp_x, | |
| casadi_real* y, const casadi_int* sp_y, casadi_real* w) { | |
| casadi_int ncol_y; | |
| const casadi_int* colind_y; | |
| ncol_y = sp_y[1]; | |
| colind_y = sp_y+2; | |
| casadi_project(x, sp_x, y, sp_y, w); | |
| casadi_scal(colind_y[ncol_y], factor, y); | |
| } | |
| void casadi_fatrop_dense_transfer(double factor, const casadi_real* x, | |
| const casadi_int* sp_x, casadi_real* y, | |
| const casadi_int* sp_y, casadi_real* w) { | |
| casadi_sparsify(x, w, sp_x, 0); | |
| casadi_int nrow_y = sp_y[0]; | |
| casadi_int ncol_y = sp_y[1]; | |
| const casadi_int *colind_y = sp_y+2, *row_y = sp_y + 2 + ncol_y+1; | |
| /* Loop over columns of y */ | |
| casadi_int i, el; | |
| for (i=0; i<ncol_y; ++i) { | |
| for (el=colind_y[i]; el<colind_y[i+1]; ++el) y[nrow_y*i + row_y[el]] += factor*(*w++); | |
| } | |
| } | |
| void casadi_fatrop_read_primal_data(const double* primal_data, casadi_real* x, const struct OCPStruct *s) { | |
| int k; | |
| for (k=0;k<s->K;++k) { | |
| casadi_copy(primal_data+s->ux_offs[k], s->nu[k], x+s->nx[k]+s->ux_offs[k]); | |
| casadi_copy(primal_data+s->ux_offs[k]+s->nu[k], s->nx[k], x+s->ux_offs[k]); | |
| } | |
| } | |
| struct casadi_fatrop_prob { | |
| const struct casadi_nlpsol_prob* nlp; | |
| const casadi_int *nx, *nu, *ng; | |
| const casadi_int *sp_h, *sp_a; | |
| casadi_int nnz_h, nnz_a; | |
| const casadi_int *ABsp; | |
| const casadi_int *AB_offsets; | |
| const casadi_int *CDsp; | |
| const casadi_int *CD_offsets; | |
| const casadi_int *RSQsp; | |
| const casadi_int *RSQ_offsets; | |
| casadi_int N; | |
| struct casadi_ocp_block *AB, *CD, *RSQ; | |
| struct casadi_oracle_callback nlp_jac_g; | |
| }; | |
| void casadi_fatrop_setup(struct casadi_fatrop_prob* p) { | |
| if (p->sp_h) { | |
| p->nnz_h = p->sp_h[2+p->sp_h[1]]; | |
| } else { | |
| p->nnz_h = 0; | |
| } | |
| p->nnz_a = p->sp_a[2+p->sp_a[1]]; | |
| } | |
| struct casadi_fatrop_data { | |
| const struct casadi_fatrop_prob* prob; | |
| struct casadi_nlpsol_data* nlp; | |
| casadi_real *AB, *CD, *RSQ; | |
| casadi_int *a_eq, *a_ineq, *a_eq_idx, *a_ineq_idx; | |
| casadi_int *x_eq, *x_ineq, *x_eq_idx, *x_ineq_idx; | |
| const casadi_real** arg; | |
| casadi_real** res; | |
| casadi_int* iw; | |
| casadi_real* w; | |
| int unified_return_status; | |
| int success; | |
| casadi_real *pv, *x, *a; | |
| struct blasfeo_dvec v, r; | |
| struct OcpInterface ocp_interface; | |
| }; | |
| int fatrop_init_mem(struct casadi_fatrop_data* d) { | |
| return 0; | |
| } | |
| void fatrop_free_mem(struct casadi_fatrop_data* d) { | |
| } | |
| fatrop_int casadi_fatrop_full_eval_constr_jac(const double* primal_data, const double* stageparams_p, const double* globalparams_p, | |
| struct blasfeo_dmat* BAbt_p, struct blasfeo_dmat* Ggt_p, struct blasfeo_dmat* Ggt_ineq_p, const struct OCPStruct* s, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| struct casadi_oracle_data* d_oracle = d_nlp->oracle; | |
| casadi_fatrop_read_primal_data(primal_data, d->x, s); | |
| d_oracle->arg[0] = d->x; | |
| d_oracle->arg[1] = d_nlp->p; | |
| d_oracle->res[0] = d->a; | |
| casadi_oracle_call(&d->prob->nlp_jac_g, d_oracle); | |
| for (int i=0;i<casadi_sp_nnz(p->sp_a);++i) { | |
| printf("%e\n", d->a[i]); | |
| } | |
| casadi_fatrop_mproject(-1.0, d->a, p->sp_a, d->AB, p->ABsp, d->pv); | |
| return 0; | |
| } | |
| fatrop_int casadi_fatrop_eval_BAbt(const double *states_kp1, const double *inputs_k, | |
| const double *states_k, const double *stage_params_k, | |
| const double *global_params, struct blasfeo_dmat *res, const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| blasfeo_pack_tran_dmat(p->nx[k+1], p->nx[k], d->AB+p->AB_offsets[k], p->nx[k+1], res, p->nu[k], 0); | |
| blasfeo_pack_tran_dmat(p->nx[k+1], p->nu[k], d->AB+p->AB_offsets[k]+p->nx[k]*p->nx[k+1], p->nx[k+1], res, 0, 0); | |
| blasfeo_pack_dmat(1, p->nx[k+1], (casadi_real*)(d_nlp->lbz+p->nlp->nx+p->AB[k].offset_r), 1, res, p->nx[k]+p->nu[k], 0); | |
| blasfeo_pack_dvec(p->nu[k], (casadi_real*)(inputs_k), 1, &d->v, 0); | |
| blasfeo_pack_dvec(p->nx[k], (casadi_real*)(states_k), 1, &d->v, p->nu[k]); | |
| BLASFEO_DVECEL(&d->v, p->nu[k]+p->nx[k]) = 1; | |
| blasfeo_dgemv_t(p->nx[k]+p->nu[k]+1, p->nx[k+1], 1.0, res, 0, 0, | |
| &d->v, 0, | |
| 0.0, &d->r, 0, | |
| &d->r, 0); | |
| if (states_kp1) { | |
| for (int i=0;i<p->nx[k+1];++i) { | |
| d->r.pa[i] -= states_kp1[i]; | |
| } | |
| } | |
| blasfeo_drowin(p->nx[k+1], 1.0, &d->r, 0, res, p->nx[k]+p->nu[k], 0); | |
| return 0; | |
| } | |
| fatrop_int casadi_fatrop_get_nx(const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| printf("nx %lld\n", p->nx[k]); | |
| if (k==p->N+1) return p->nx[k-1]; | |
| return p->nx[k]; | |
| } | |
| fatrop_int casadi_fatrop_get_nu(const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| printf("u %lld\n", p->nu[k]); | |
| return p->nu[k]; | |
| } | |
| fatrop_int casadi_fatrop_get_ng(const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| int ret; | |
| fatrop_int n_a_eq = d->a_eq_idx[k+1]-d->a_eq_idx[k]; | |
| fatrop_int n_x_eq = d->x_eq_idx[k+1]-d->x_eq_idx[k]; | |
| ret = n_a_eq+n_x_eq; | |
| printf("d->a_eq_idx[k] %lld\n", d->a_eq_idx[k]); | |
| printf("d->a_eq_idx[k+1] %lld\n", d->a_eq_idx[k+1]); | |
| printf("d->x_eq_idx[k] %lld\n", d->x_eq_idx[k]); | |
| printf("d->x_eq_idx[k+1] %lld\n", d->x_eq_idx[k+1]); | |
| printf("get_ng %d\n", ret); | |
| return ret; | |
| } | |
| fatrop_int casadi_fatrop_get_horizon_length(void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| printf("horizon_length %lld\n", d->prob->N+1); | |
| return d->prob->N+1; | |
| } | |
| fatrop_int casadi_fatrop_get_ng_ineq(const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| fatrop_int n_a_ineq = d->a_ineq_idx[k+1]-d->a_ineq_idx[k]; | |
| fatrop_int n_x_ineq = d->x_ineq_idx[k+1]-d->x_ineq_idx[k]; | |
| printf("get_ng_ineq %d\n", n_a_ineq+n_x_ineq); | |
| return n_a_ineq+n_x_ineq; | |
| } | |
| fatrop_int casadi_fatrop_get_bounds(double *lower, double *upper, const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| casadi_int nx = p->nlp->nx; | |
| int i=0; | |
| int column = 0; | |
| for (i=d->a_ineq_idx[k];i<d->a_ineq_idx[k+1];++i) { | |
| lower[column] = d_nlp->lbz[nx+d->a_ineq[i]]; | |
| upper[column] = d_nlp->ubz[nx+d->a_ineq[i]]; | |
| column++; | |
| } | |
| for (i=d->x_ineq_idx[k];i<d->x_ineq_idx[k+1];++i) { | |
| lower[column] = d_nlp->lbz[d->x_ineq[i]]; | |
| upper[column] = d_nlp->ubz[d->x_ineq[i]]; | |
| column++; | |
| } | |
| return 0; | |
| } | |
| fatrop_int casadi_fatrop_get_initial_xk(double *xk, const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| printf("casadi_fatrop_get_initial_xk offset %lld %e\n",p->CD[k].offset_c,d_nlp->z[p->CD[k].offset_c]); | |
| casadi_copy(d_nlp->z+p->CD[k].offset_c, p->nx[k], xk); | |
| return 0; | |
| } | |
| fatrop_int casadi_fatrop_get_initial_uk(double *uk, const fatrop_int k, void* user_data) { | |
| struct casadi_fatrop_data* d = (struct casadi_fatrop_data*)(user_data); | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| casadi_copy(d_nlp->z+p->CD[k].offset_c+p->nx[k], p->nu[k], uk); | |
| return 0; | |
| } | |
| void casadi_fatrop_work(const struct casadi_fatrop_prob* p, casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w) { | |
| casadi_nlpsol_work(p->nlp, sz_arg, sz_res, sz_iw, sz_w); | |
| *sz_w = casadi_max(*sz_w, 2*(p->nlp->nx+p->nlp->ng)); | |
| *sz_w = casadi_max(*sz_w, p->nlp->nx); | |
| *sz_w += casadi_sp_nnz(p->ABsp); | |
| *sz_w += casadi_sp_nnz(p->CDsp); | |
| *sz_w += casadi_sp_nnz(p->RSQsp); | |
| *sz_w += casadi_sp_nnz(p->sp_a); | |
| *sz_w += blasfeo_memsize_dvec(p->nlp->nx)+64; | |
| *sz_w += blasfeo_memsize_dvec(p->nlp->nx)+64; | |
| *sz_iw += p->N+2; | |
| *sz_iw += p->N+2; | |
| *sz_iw += p->N+2; | |
| *sz_iw += p->N+2; | |
| *sz_iw += p->nlp->ng; | |
| *sz_iw += p->nlp->ng; | |
| *sz_iw += p->nlp->nx; | |
| *sz_iw += p->nlp->nx; | |
| } | |
| void casadi_fatrop_init(struct casadi_fatrop_data* d, const casadi_real*** arg, casadi_real*** res, casadi_int** iw, casadi_real** w) { | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| struct casadi_oracle_data* d_oracle = d->nlp->oracle; | |
| d->AB = *w; *w += casadi_sp_nnz(p->ABsp); | |
| d->CD = *w; *w += casadi_sp_nnz(p->CDsp); | |
| d->RSQ = *w; *w += casadi_sp_nnz(p->RSQsp); | |
| d->a = *w; *w += casadi_sp_nnz(p->sp_a); | |
| blasfeo_create_dvec(p->nlp->nx, &d->v, (void*) (((unsigned long long) (*w)+63)/64*64)); | |
| *w += blasfeo_memsize_dvec(p->nlp->nx)+64; | |
| blasfeo_create_dvec(p->nlp->nx, &d->r, (void*) (((unsigned long long) (*w)+63)/64*64)); | |
| *w += blasfeo_memsize_dvec(p->nlp->nx)+64; | |
| d->a_eq_idx = *iw; *iw += p->N+2; | |
| d->a_ineq_idx = *iw; *iw += p->N+2; | |
| d->x_eq_idx = *iw; *iw += p->N+2; | |
| d->x_ineq_idx = *iw; *iw += p->N+2; | |
| d->a_eq = *iw; *iw += p->nlp->ng; | |
| d->a_ineq = *iw; *iw += p->nlp->ng; | |
| d->x_eq = *iw; *iw += p->nlp->nx; | |
| d->x_ineq = *iw; *iw += p->nlp->nx; | |
| d->pv = *w; | |
| d->x = *w; | |
| casadi_oracle_init(d_oracle, arg, res, iw, w); | |
| } | |
| void casadi_fatrop_presolve(struct casadi_fatrop_data* d) { | |
| struct OcpInterface* ocp_interface = &d->ocp_interface; | |
| ocp_interface->get_nx = casadi_fatrop_get_nx; | |
| ocp_interface->get_nu = casadi_fatrop_get_nu; | |
| ocp_interface->get_ng = casadi_fatrop_get_ng; | |
| ocp_interface->get_n_stage_params = 0; | |
| ocp_interface->get_n_global_params = 0; | |
| ocp_interface->get_default_stage_params = 0; | |
| ocp_interface->get_default_global_params = 0; | |
| ocp_interface->get_ng_ineq = casadi_fatrop_get_ng_ineq; | |
| ocp_interface->get_horizon_length = casadi_fatrop_get_horizon_length; | |
| ocp_interface->get_bounds = casadi_fatrop_get_bounds; | |
| ocp_interface->get_initial_xk = casadi_fatrop_get_initial_xk; | |
| ocp_interface->get_initial_uk = casadi_fatrop_get_initial_uk; | |
| ocp_interface->full_eval_constr_jac = casadi_fatrop_full_eval_constr_jac; | |
| ocp_interface->eval_BAbt = casadi_fatrop_eval_BAbt; | |
| } | |
| void casadi_fatrop_solve(struct casadi_fatrop_data* d) { | |
| casadi_int k, i, start, stop, nx; | |
| const struct casadi_fatrop_prob* p = d->prob; | |
| const struct casadi_nlpsol_prob* p_nlp = p->nlp; | |
| struct casadi_nlpsol_data* d_nlp = d->nlp; | |
| nx = p_nlp->nx; | |
| d->a_eq_idx[0] = 0; | |
| d->a_ineq_idx[0] = 0; | |
| d->x_eq_idx[0] = 0; | |
| d->x_ineq_idx[0] = 0; | |
| for (k=0;k<p->N+1;++k) { | |
| printf("k=%lld\n", k); | |
| d->a_eq_idx[k+1] = d->a_eq_idx[k]; | |
| d->a_ineq_idx[k+1] = d->a_ineq_idx[k]; | |
| start = p->CD[k].offset_r; | |
| stop = p->CD[k].offset_r+p->CD[k].rows; | |
| printf("start %lld\n", start); | |
| printf("stop %lld\n", stop); | |
| for (i=start;i<stop;++i) { | |
| if (d_nlp->lbz[nx+i]==d_nlp->ubz[nx+i]) { | |
| d->a_eq[d->a_eq_idx[k+1]++] = i; | |
| } else { | |
| if (d_nlp->lbz[nx+i]==-casadi_inf && d_nlp->ubz[nx+i]==casadi_inf) continue; | |
| d->a_ineq[d->a_ineq_idx[k+1]++] = i; | |
| } | |
| printf("a_eq_idx %lld\n", d->a_eq_idx[k]); | |
| printf("a_ineq_idx %lld\n", d->a_ineq_idx[k]); | |
| } | |
| d->x_eq_idx[k+1] = d->x_eq_idx[k]; | |
| d->x_ineq_idx[k+1] = d->x_ineq_idx[k]; | |
| printf("x_eq_idx %lld\n", d->x_eq_idx[k]); | |
| printf("x_ineq_idx %lld\n", d->x_ineq_idx[k]); | |
| start = p->CD[k].offset_c; | |
| stop = p->CD[k].offset_c+p->CD[k].cols; | |
| printf("start %lld\n", start); | |
| printf("stop %lld\n", stop); | |
| for (i=start;i<stop;++i) { | |
| if (d_nlp->lbz[i]==d_nlp->ubz[i]) { | |
| d->x_eq[d->x_eq_idx[k+1]++] = i; | |
| } else { | |
| if (d_nlp->lbz[i]==-casadi_inf && d_nlp->ubz[i]==casadi_inf) continue; | |
| d->x_ineq[d->x_ineq_idx[k+1]++] = i; | |
| } | |
| } | |
| } | |
| d->ocp_interface.user_data = d; | |
| OcpSolver* s = fatrop_create_ocp_solver(&d->ocp_interface); | |
| fatrop_set_option_bool(s, "accept_every_trial_step", 0); | |
| fatrop_solve(s); | |
| /*d->unified_return_status = 1; | |
| for (casadi_int i=0; i<p_nlp->nx; ++i) { | |
| d->z_L[i] = casadi_fmax(0., -d_nlp->lam[i]); | |
| d->z_U[i] = casadi_fmax(0., d_nlp->lam[i]); | |
| } | |
| d->status = IpoptSolve(d->fatrop, d_nlp->z, d_nlp->z + p_nlp->nx, &d_nlp->objective, d_nlp->lam+p_nlp->nx, d->z_L, d->z_U, d); | |
| for (casadi_int i=0; i<p_nlp->nx; ++i) { | |
| d_nlp->lam[i] = d->z_U[i]-d->z_L[i]; | |
| } | |
| FreeIpoptProblem(d->fatrop); | |
| if (d->status==Solve_Succeeded || | |
| d->status==Solved_To_Acceptable_Level || | |
| d->status==Feasible_Point_Found) { | |
| d->unified_return_status = 0; | |
| } else if (d->status==Maximum_Iterations_Exceeded) { | |
| d->unified_return_status = 2; | |
| } | |
| #if (IPOPT_VERSION_MAJOR > 3) || (IPOPT_VERSION_MAJOR == 3 && IPOPT_VERSION_MINOR >= 14) | |
| if (d->status==Maximum_WallTime_Exceeded) d->unified_return_status = 2; | |
| #endif | |
| d->success = (d->unified_return_status == 0);*/ | |
| } | |
| static int casadi_f1_mem_counter = 0; | |
| static int casadi_f1_unused_stack_counter = -1; | |
| static int casadi_f1_unused_stack[CASADI_MAX_NUM_THREADS]; | |
| static struct casadi_fatrop_data casadi_f1_mem[CASADI_MAX_NUM_THREADS]; | |
| #ifndef CASADI_PRINTF | |
| #define CASADI_PRINTF printf | |
| #ifndef CASADI_SNPRINTF | |
| #define CASADI_SNPRINTF snprintf | |
| #endif | |
| #endif | |
| static const casadi_int casadi_s0[35] = {32, 1, 0, 31, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30}; | |
| static const casadi_int casadi_s1[8] = {2, 3, 0, 1, 2, 2, 0, 1}; | |
| static const casadi_int casadi_s2[7] = {1, 3, 0, 0, 0, 1, 0}; | |
| static const casadi_int casadi_s3[8] = {2, 3, 0, 0, 1, 2, 0, 1}; | |
| static const casadi_int casadi_s4[7] = {1, 3, 0, 1, 1, 1, 0}; | |
| static const casadi_int casadi_s5[30] = {0, 4, 8, 13, 17, 20, 23, 27, 30, 33, 37, 40, 43, 47, 50, 53, 57, 60, 63, 67, 70, 73, 77, 80, 83, 87, 90, 93, 97, 100}; | |
| static const casadi_int casadi_s6[22] = {1, 5, 9, 14, 21, 25, 29, 34, 41, 45, 49, 54, 61, 65, 69, 74, 81, 85, 89, 94, 98, 101}; | |
| static const casadi_int casadi_s7[15] = {2, 6, 10, 18, 22, 26, 38, 42, 46, 58, 62, 66, 78, 82, 86}; | |
| static const casadi_int casadi_s8[20] = {3, 11, 15, 19, 24, 31, 35, 39, 44, 51, 55, 59, 64, 71, 75, 79, 84, 91, 95, 99}; | |
| static const casadi_int casadi_s9[15] = {7, 12, 16, 28, 32, 36, 48, 52, 56, 68, 72, 76, 88, 92, 96}; | |
| static const casadi_int casadi_s10[137] = {42, 32, 0, 3, 6, 9, 13, 16, 19, 23, 26, 29, 33, 36, 39, 43, 46, 49, 53, 56, 59, 63, 66, 69, 73, 76, 79, 83, 86, 89, 93, 96, 99, 101, 102, 0, 1, 2, 0, 1, 3, 0, 1, 4, 0, 5, 6, 7, 1, 5, 6, 5, 6, 8, 5, 9, 10, 11, 6, 9, 10, 9, 10, 12, 9, 13, 14, 15, 10, 13, 14, 13, 14, 16, 13, 17, 18, 19, 14, 17, 18, 17, 18, 20, 17, 21, 22, 23, 18, 21, 22, 21, 22, 24, 21, 25, 26, 27, 22, 25, 26, 25, 26, 28, 25, 29, 30, 31, 26, 29, 30, 29, 30, 32, 29, 33, 34, 35, 30, 33, 34, 33, 34, 36, 33, 37, 38, 39, 34, 37, 38, 37, 38, 40, 37, 41, 38}; | |
| static const casadi_int casadi_s11[147] = {32, 42, 0, 4, 8, 9, 10, 11, 15, 19, 20, 21, 25, 29, 30, 31, 35, 39, 40, 41, 45, 49, 50, 51, 55, 59, 60, 61, 65, 69, 70, 71, 75, 79, 80, 81, 85, 89, 90, 91, 95, 99, 100, 101, 102, 0, 1, 2, 3, 0, 1, 2, 4, 0, 1, 2, 3, 4, 5, 6, 3, 4, 5, 7, 3, 5, 6, 7, 8, 9, 6, 7, 8, 10, 6, 8, 9, 10, 11, 12, 9, 10, 11, 13, 9, 11, 12, 13, 14, 15, 12, 13, 14, 16, 12, 14, 15, 16, 17, 18, 15, 16, 17, 19, 15, 17, 18, 19, 20, 21, 18, 19, 20, 22, 18, 20, 21, 22, 23, 24, 21, 22, 23, 25, 21, 23, 24, 25, 26, 27, 24, 25, 26, 28, 24, 26, 27, 28, 29, 30, 27, 28, 29, 31, 27, 29, 30}; | |
| static const casadi_int casadi_s12[66] = {32, 32, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 31, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30}; | |
| static const casadi_int casadi_s13[11] = {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2}; | |
| static const casadi_int casadi_s14[11] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0}; | |
| static const casadi_int casadi_s15[95] = {42, 32, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 60, 60, 0, 1, 0, 1, 0, 1, 5, 6, 5, 6, 5, 6, 9, 10, 9, 10, 9, 10, 13, 14, 13, 14, 13, 14, 17, 18, 17, 18, 17, 18, 21, 22, 21, 22, 21, 22, 25, 26, 25, 26, 25, 26, 29, 30, 29, 30, 29, 30, 33, 34, 33, 34, 33, 34, 37, 38, 37, 38, 37, 38}; | |
| static const casadi_int casadi_s16[11] = {0, 6, 12, 18, 24, 30, 36, 42, 48, 54, 60}; | |
| static const casadi_int casadi_s17[100] = {42, 32, 0, 3, 6, 9, 11, 13, 15, 17, 19, 21, 23, 25, 27, 29, 31, 33, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 64, 65, 2, 3, 4, 2, 3, 4, 2, 3, 4, 7, 8, 7, 8, 7, 8, 11, 12, 11, 12, 11, 12, 15, 16, 15, 16, 15, 16, 19, 20, 19, 20, 19, 20, 23, 24, 23, 24, 23, 24, 27, 28, 27, 28, 27, 28, 31, 32, 31, 32, 31, 32, 35, 36, 35, 36, 35, 36, 39, 40, 39, 40, 39, 40, 41, 41}; | |
| static const casadi_int casadi_s18[12] = {0, 9, 15, 21, 27, 33, 39, 45, 51, 57, 63, 65}; | |
| static const casadi_int casadi_s19[129] = {32, 32, 0, 3, 6, 9, 12, 15, 18, 21, 24, 27, 30, 33, 36, 39, 42, 45, 48, 51, 54, 57, 60, 63, 66, 69, 72, 75, 78, 81, 84, 87, 90, 92, 94, 0, 1, 2, 0, 1, 2, 0, 1, 2, 3, 4, 5, 3, 4, 5, 3, 4, 5, 6, 7, 8, 6, 7, 8, 6, 7, 8, 9, 10, 11, 9, 10, 11, 9, 10, 11, 12, 13, 14, 12, 13, 14, 12, 13, 14, 15, 16, 17, 15, 16, 17, 15, 16, 17, 18, 19, 20, 18, 19, 20, 18, 19, 20, 21, 22, 23, 21, 22, 23, 21, 22, 23, 24, 25, 26, 24, 25, 26, 24, 25, 26, 27, 28, 29, 27, 28, 29, 27, 28, 29, 30, 31, 30, 31}; | |
| static const casadi_int casadi_s20[12] = {0, 9, 18, 27, 36, 45, 54, 63, 72, 81, 90, 94}; | |
| static const casadi_int casadi_s21[40] = {0, 0, 2, 3, 5, 3, 2, 3, 9, 6, 2, 3, 13, 9, 2, 3, 17, 12, 2, 3, 21, 15, 2, 3, 25, 18, 2, 3, 29, 21, 2, 3, 33, 24, 2, 3, 37, 27, 2, 3}; | |
| static const casadi_int casadi_s22[44] = {2, 0, 3, 3, 7, 3, 2, 3, 11, 6, 2, 3, 15, 9, 2, 3, 19, 12, 2, 3, 23, 15, 2, 3, 27, 18, 2, 3, 31, 21, 2, 3, 35, 24, 2, 3, 39, 27, 2, 3, 41, 30, 1, 2}; | |
| static const casadi_int casadi_s23[44] = {0, 0, 3, 3, 3, 3, 3, 3, 6, 6, 3, 3, 9, 9, 3, 3, 12, 12, 3, 3, 15, 15, 3, 3, 18, 18, 3, 3, 21, 21, 3, 3, 24, 24, 3, 3, 27, 27, 3, 3, 30, 30, 2, 2}; | |
| static const casadi_int casadi_s24[5] = {1, 1, 0, 1, 0}; | |
| static const casadi_int casadi_s25[25] = {1, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; | |
| /* ode:(x[2],u,z[0],p,t[1x1,0nz])->(ode[2],alg[0],quad[0]) */ | |
| static int casadi_f5(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0, w1, w2; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @1 = input[0][1] */ | |
| w1 = arg[0] ? arg[0][1] : 0; | |
| /* #2: @1 = (@0-@1) */ | |
| w1 = (w0-w1); | |
| /* #3: @2 = input[1][0] */ | |
| w2 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #5: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #7: output[0][0] = @1 */ | |
| if (res[0]) res[0][0] = w1; | |
| /* #8: output[0][1] = @0 */ | |
| if (res[0]) res[0][1] = w0; | |
| return 0; | |
| } | |
| /* F:(x0[2],u,t0,DT,DT_control,p,z0[0])->(xf[2],poly_coeff[2x5],qf[0],poly_coeff_q[0x4],zf[0],poly_coeff_z[]) */ | |
| static int casadi_f4(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+7, *cr, *cs; | |
| casadi_real *w0=w+3, w1, w2, w3, w5, *w7=w+9, w8, *w9=w+12, *w10=w+14, *w11=w+16, *w12=w+18, *w13=w+20; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[3][0] */ | |
| w1 = arg[3] ? arg[3][0] : 0; | |
| /* #2: @2 = 6 */ | |
| w2 = 6.; | |
| /* #3: @2 = (@1/@2) */ | |
| w2 = (w1/w2); | |
| /* #4: @3 = input[1][0] */ | |
| w3 = arg[1] ? arg[1][0] : 0; | |
| /* #5: @4 = 0x1 */ | |
| /* #6: @5 = input[5][0] */ | |
| w5 = arg[5] ? arg[5][0] : 0; | |
| /* #7: @6 = 00 */ | |
| /* #8: {@7, NULL, NULL} = ode(@0, @3, @4, @5, @6) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w7; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #9: @8 = 2 */ | |
| w8 = 2.; | |
| /* #10: @8 = (@1/@8) */ | |
| w8 = (w1/w8); | |
| /* #11: @9 = (@8*@7) */ | |
| for (i=0, rr=w9, cs=w7; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #12: @9 = (@0+@9) */ | |
| for (i=0, rr=w9, cr=w0, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #13: @4 = 0x1 */ | |
| /* #14: @6 = 00 */ | |
| /* #15: {@10, NULL, NULL} = ode(@9, @3, @4, @5, @6) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #16: @9 = (2.*@10) */ | |
| for (i=0, rr=w9, cs=w10; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #17: @9 = (@7+@9) */ | |
| for (i=0, rr=w9, cr=w7, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #18: @8 = 2 */ | |
| w8 = 2.; | |
| /* #19: @8 = (@1/@8) */ | |
| w8 = (w1/w8); | |
| /* #20: @11 = (@8*@10) */ | |
| for (i=0, rr=w11, cs=w10; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #21: @11 = (@0+@11) */ | |
| for (i=0, rr=w11, cr=w0, cs=w11; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @4 = 0x1 */ | |
| /* #23: @6 = 00 */ | |
| /* #24: {@12, NULL, NULL} = ode(@11, @3, @4, @5, @6) */ | |
| arg1[0]=w11; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w12; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @11 = (2.*@12) */ | |
| for (i=0, rr=w11, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #26: @9 = (@9+@11) */ | |
| for (i=0, rr=w9, cs=w11; i<2; ++i) (*rr++) += (*cs++); | |
| /* #27: @11 = (@1*@12) */ | |
| for (i=0, rr=w11, cs=w12; i<2; ++i) (*rr++) = (w1*(*cs++)); | |
| /* #28: @11 = (@0+@11) */ | |
| for (i=0, rr=w11, cr=w0, cs=w11; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #29: @4 = 0x1 */ | |
| /* #30: @6 = 00 */ | |
| /* #31: {@13, NULL, NULL} = ode(@11, @3, @4, @5, @6) */ | |
| arg1[0]=w11; | |
| arg1[1]=(&w3); | |
| arg1[2]=0; | |
| arg1[3]=(&w5); | |
| arg1[4]=0; | |
| res1[0]=w13; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #32: @9 = (@9+@13) */ | |
| for (i=0, rr=w9, cs=w13; i<2; ++i) (*rr++) += (*cs++); | |
| /* #33: @9 = (@2*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #34: @9 = (@0+@9) */ | |
| for (i=0, rr=w9, cr=w0, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #35: output[0][0] = @9 */ | |
| casadi_copy(w9, 2, res[0]); | |
| /* #36: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #37: output[1][1] = @7 */ | |
| if (res[1]) casadi_copy(w7, 2, res[1]+2); | |
| /* #38: @2 = 2 */ | |
| w2 = 2.; | |
| /* #39: @2 = (@2/@1) */ | |
| w2 /= w1; | |
| /* #40: @0 = (@10-@7) */ | |
| for (i=0, rr=w0, cr=w10, cs=w7; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #41: @0 = (@2*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #42: @2 = 2 */ | |
| w2 = 2.; | |
| /* #43: @0 = (@0/@2) */ | |
| for (i=0, rr=w0; i<2; ++i) (*rr++) /= w2; | |
| /* #44: output[1][2] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+4); | |
| /* #45: @2 = 4 */ | |
| w2 = 4.; | |
| /* #46: @3 = sq(@1) */ | |
| w3 = casadi_sq( w1 ); | |
| /* #47: @2 = (@2/@3) */ | |
| w2 /= w3; | |
| /* #48: @10 = (@12-@10) */ | |
| for (i=0, rr=w10, cr=w12, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #49: @10 = (@2*@10) */ | |
| for (i=0, rr=w10, cs=w10; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #50: @2 = 6 */ | |
| w2 = 6.; | |
| /* #51: @10 = (@10/@2) */ | |
| for (i=0, rr=w10; i<2; ++i) (*rr++) /= w2; | |
| /* #52: output[1][3] = @10 */ | |
| if (res[1]) casadi_copy(w10, 2, res[1]+6); | |
| /* #53: @2 = 4 */ | |
| w2 = 4.; | |
| /* #54: @12 = (2.*@12) */ | |
| for (i=0, rr=w12, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #55: @13 = (@13-@12) */ | |
| for (i=0, rr=w13, cs=w12; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #56: @13 = (@13+@7) */ | |
| for (i=0, rr=w13, cs=w7; i<2; ++i) (*rr++) += (*cs++); | |
| /* #57: @13 = (@2*@13) */ | |
| for (i=0, rr=w13, cs=w13; i<2; ++i) (*rr++) = (w2*(*cs++)); | |
| /* #58: @2 = 3 */ | |
| w2 = 3.; | |
| /* #59: @1 = pow(@1,@2) */ | |
| w1 = pow(w1,w2); | |
| /* #60: @13 = (@13/@1) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) /= w1; | |
| /* #61: @1 = 24 */ | |
| w1 = 24.; | |
| /* #62: @13 = (@13/@1) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) /= w1; | |
| /* #63: output[1][4] = @13 */ | |
| if (res[1]) casadi_copy(w13, 2, res[1]+8); | |
| return 0; | |
| } | |
| /* F:(x0[2],u,T,t0,p,z0[0])->(xf[2],Xi[2x2],poly_coeff[2x5],qf[0],Qi[0],poly_coeff_q[0x4],zf[0],Zi[0],poly_coeff_z[]) */ | |
| static int casadi_f3(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real **res1=res+9; | |
| const casadi_real **arg1=arg+6; | |
| casadi_real *w0=w+22, w1, w2, w3, w4, *w6=w+28, *w7=w+30; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[1][0] */ | |
| w1 = arg[1] ? arg[1][0] : 0; | |
| /* #2: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #3: @3 = input[2][0] */ | |
| w3 = arg[2] ? arg[2][0] : 0; | |
| /* #4: @4 = input[4][0] */ | |
| w4 = arg[4] ? arg[4][0] : 0; | |
| /* #5: @5 = 0x1 */ | |
| /* #6: {@6, @7, NULL, NULL, NULL, NULL} = F(@0, @1, @2, @3, @3, @4, @5) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w3); | |
| arg1[4]=(&w3); | |
| arg1[5]=(&w4); | |
| arg1[6]=0; | |
| res1[0]=w6; | |
| res1[1]=w7; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f4(arg1, res1, iw, w, 0)) return 1; | |
| /* #7: output[0][0] = @6 */ | |
| casadi_copy(w6, 2, res[0]); | |
| /* #8: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #9: output[1][1] = @6 */ | |
| if (res[1]) casadi_copy(w6, 2, res[1]+2); | |
| /* #10: output[2][0] = @7 */ | |
| casadi_copy(w7, 10, res[2]); | |
| return 0; | |
| } | |
| /* adj1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],adj_ode[2],adj_alg[0],adj_quad[0])->(adj_x[2],adj_u,adj_z[0],adj_p,adj_t[1x1,0nz]) */ | |
| static int casadi_f8(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@2+@1) */ | |
| w2 += w1; | |
| /* #3: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #4: @2 = (-@1) */ | |
| w2 = (- w1 ); | |
| /* #5: output[0][1] = @2 */ | |
| if (res[0]) res[0][1] = w2; | |
| /* #6: output[1][0] = @1 */ | |
| if (res[1]) res[1][0] = w1; | |
| /* #7: output[3][0] = @1 */ | |
| if (res[3]) res[3][0] = w1; | |
| return 0; | |
| } | |
| /* adj1_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],adj_xf[2],adj_poly_coeff[2x5],adj_qf[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_poly_coeff_z[])->(adj_x0[2],adj_u,adj_t0[1x1,0nz],adj_DT,adj_DT_control[1x1,0nz],adj_p,adj_z0[0]) */ | |
| static int casadi_f7(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+7, *rr; | |
| const casadi_real **arg1=arg+19, *cr, *cs; | |
| casadi_real *w0=w+4, *w1=w+14, *w2=w+16, *w3=w+18, *w4=w+20, *w5=w+22, *w6=w+24, *w7=w+26, w8, w9, w10, w11, w13, *w15=w+33, *w16=w+35, *w19=w+37, *w20=w+39, *w23=w+41, *w24=w+43, w30, w31, w32, *w33=w+48, w34, *w35=w+51, *w36=w+53, *w39=w+55, w40, w41, w42, w43, *w44=w+61, *w45=w+63, w46, w47, w48, w49; | |
| /* #0: @0 = input[14][0] */ | |
| casadi_copy(arg[14], 10, w0); | |
| /* #1: {@1, @2, @3, @4, @5} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| casadi_copy(w0+4, 2, w3); | |
| casadi_copy(w0+6, 2, w4); | |
| casadi_copy(w0+8, 2, w5); | |
| /* #2: @6 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w6); | |
| /* #3: @1 = (@1+@6) */ | |
| for (i=0, rr=w1, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #4: @7 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w7); | |
| /* #5: @8 = input[3][0] */ | |
| w8 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @9 = 2 */ | |
| w9 = 2.; | |
| /* #7: @9 = (@8/@9) */ | |
| w9 = (w8/w9); | |
| /* #8: @10 = 2 */ | |
| w10 = 2.; | |
| /* #9: @10 = (@8/@10) */ | |
| w10 = (w8/w10); | |
| /* #10: @11 = input[1][0] */ | |
| w11 = arg[1] ? arg[1][0] : 0; | |
| /* #11: @12 = 0x1 */ | |
| /* #12: @13 = input[5][0] */ | |
| w13 = arg[5] ? arg[5][0] : 0; | |
| /* #13: @14 = 00 */ | |
| /* #14: {@15, NULL, NULL} = ode(@7, @11, @12, @13, @14) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w15; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @16 = (@10*@15) */ | |
| for (i=0, rr=w16, cs=w15; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #16: @16 = (@7+@16) */ | |
| for (i=0, rr=w16, cr=w7, cs=w16; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 00 */ | |
| /* #19: {@19, NULL, NULL} = ode(@16, @11, @17, @13, @18) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w19; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #20: @20 = (@9*@19) */ | |
| for (i=0, rr=w20, cs=w19; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #21: @20 = (@7+@20) */ | |
| for (i=0, rr=w20, cr=w7, cs=w20; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @21 = 0x1 */ | |
| /* #23: @22 = 00 */ | |
| /* #24: {@23, NULL, NULL} = ode(@20, @11, @21, @13, @22) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w23; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @24 = (@8*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #26: @24 = (@7+@24) */ | |
| for (i=0, rr=w24, cr=w7, cs=w24; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #27: @25 = 0x1 */ | |
| /* #28: @26 = 00 */ | |
| /* #29: @27 = zeros(2x1,0nz) */ | |
| /* #30: @28 = 0x1 */ | |
| /* #31: @29 = 0x1 */ | |
| /* #32: @30 = 4 */ | |
| w30 = 4.; | |
| /* #33: @31 = 0.0416667 */ | |
| w31 = 4.1666666666666664e-02; | |
| /* #34: @5 = (@31*@5) */ | |
| for (i=0, rr=w5, cs=w5; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #35: @31 = 3 */ | |
| w31 = 3.; | |
| /* #36: @32 = pow(@8,@31) */ | |
| w32 = pow(w8,w31); | |
| /* #37: @33 = (@5/@32) */ | |
| for (i=0, rr=w33, cr=w5; i<2; ++i) (*rr++) = ((*cr++)/w32); | |
| /* #38: @33 = (@30*@33) */ | |
| for (i=0, rr=w33, cs=w33; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #39: @34 = 6 */ | |
| w34 = 6.; | |
| /* #40: @34 = (@8/@34) */ | |
| w34 = (w8/w34); | |
| /* #41: @35 = (@34*@6) */ | |
| for (i=0, rr=w35, cs=w6; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #42: @36 = (@33+@35) */ | |
| for (i=0, rr=w36, cr=w33, cs=w35; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #43: @37 = 0x1 */ | |
| /* #44: @38 = 0x1 */ | |
| /* #45: {@39, @34, NULL, @40, NULL} = adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @36, @37, @38) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w36; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w39; | |
| res1[1]=(&w34); | |
| res1[2]=0; | |
| res1[3]=(&w40); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #46: @1 = (@1+@39) */ | |
| for (i=0, rr=w1, cs=w39; i<2; ++i) (*rr++) += (*cs++); | |
| /* #47: @27 = zeros(2x1,0nz) */ | |
| /* #48: @28 = 0x1 */ | |
| /* #49: @29 = 0x1 */ | |
| /* #50: @36 = (-@33) */ | |
| for (i=0, rr=w36, cs=w33; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #51: @36 = (2.*@36) */ | |
| for (i=0, rr=w36, cs=w36; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #52: @41 = 4 */ | |
| w41 = 4.; | |
| /* #53: @42 = sq(@8) */ | |
| w42 = casadi_sq( w8 ); | |
| /* #54: @41 = (@41/@42) */ | |
| w41 /= w42; | |
| /* #55: @43 = 0.166667 */ | |
| w43 = 1.6666666666666666e-01; | |
| /* #56: @4 = (@43*@4) */ | |
| for (i=0, rr=w4, cs=w4; i<2; ++i) (*rr++) = (w43*(*cs++)); | |
| /* #57: @44 = (@41*@4) */ | |
| for (i=0, rr=w44, cs=w4; i<2; ++i) (*rr++) = (w41*(*cs++)); | |
| /* #58: @36 = (@36+@44) */ | |
| for (i=0, rr=w36, cs=w44; i<2; ++i) (*rr++) += (*cs++); | |
| /* #59: @45 = (@8*@39) */ | |
| for (i=0, rr=w45, cs=w39; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #60: @36 = (@36+@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #61: @45 = (2.*@35) */ | |
| for (i=0, rr=w45, cs=w35; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #62: @36 = (@36+@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #63: @37 = 0x1 */ | |
| /* #64: @38 = 0x1 */ | |
| /* #65: {@45, @43, NULL, @46, NULL} = adj1_ode(@20, @11, @21, @13, @22, @27, @28, @29, @36, @37, @38) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w36; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w45; | |
| res1[1]=(&w43); | |
| res1[2]=0; | |
| res1[3]=(&w46); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #66: @1 = (@1+@45) */ | |
| for (i=0, rr=w1, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #67: @21 = zeros(2x1,0nz) */ | |
| /* #68: @22 = 0x1 */ | |
| /* #69: @27 = 0x1 */ | |
| /* #70: @47 = 2 */ | |
| w47 = 2.; | |
| /* #71: @47 = (@47/@8) */ | |
| w47 /= w8; | |
| /* #72: @48 = 0.5 */ | |
| w48 = 5.0000000000000000e-01; | |
| /* #73: @3 = (@48*@3) */ | |
| for (i=0, rr=w3, cs=w3; i<2; ++i) (*rr++) = (w48*(*cs++)); | |
| /* #74: @20 = (@47*@3) */ | |
| for (i=0, rr=w20, cs=w3; i<2; ++i) (*rr++) = (w47*(*cs++)); | |
| /* #75: @44 = (@20-@44) */ | |
| for (i=0, rr=w44, cr=w20, cs=w44; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #76: @36 = (@9*@45) */ | |
| for (i=0, rr=w36, cs=w45; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #77: @44 = (@44+@36) */ | |
| for (i=0, rr=w44, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #78: @36 = (2.*@35) */ | |
| for (i=0, rr=w36, cs=w35; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #79: @44 = (@44+@36) */ | |
| for (i=0, rr=w44, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #80: @28 = 0x1 */ | |
| /* #81: @29 = 0x1 */ | |
| /* #82: {@36, @9, NULL, @48, NULL} = adj1_ode(@16, @11, @17, @13, @18, @21, @22, @27, @44, @28, @29) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w44; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w36; | |
| res1[1]=(&w9); | |
| res1[2]=0; | |
| res1[3]=(&w48); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #83: @1 = (@1+@36) */ | |
| for (i=0, rr=w1, cs=w36; i<2; ++i) (*rr++) += (*cs++); | |
| /* #84: @17 = zeros(2x1,0nz) */ | |
| /* #85: @18 = 0x1 */ | |
| /* #86: @21 = 0x1 */ | |
| /* #87: @33 = (@33-@20) */ | |
| for (i=0, rr=w33, cs=w20; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #88: @33 = (@33+@2) */ | |
| for (i=0, rr=w33, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #89: @33 = (@33+@35) */ | |
| for (i=0, rr=w33, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #90: @35 = (@10*@36) */ | |
| for (i=0, rr=w35, cs=w36; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #91: @33 = (@33+@35) */ | |
| for (i=0, rr=w33, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #92: @22 = 0x1 */ | |
| /* #93: @27 = 0x1 */ | |
| /* #94: {@35, @10, NULL, @49, NULL} = adj1_ode(@7, @11, @12, @13, @14, @17, @18, @21, @33, @22, @27) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w33; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w35; | |
| res1[1]=(&w10); | |
| res1[2]=0; | |
| res1[3]=(&w49); | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #95: @1 = (@1+@35) */ | |
| for (i=0, rr=w1, cs=w35; i<2; ++i) (*rr++) += (*cs++); | |
| /* #96: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #97: @34 = (@34+@43) */ | |
| w34 += w43; | |
| /* #98: @34 = (@34+@9) */ | |
| w34 += w9; | |
| /* #99: @34 = (@34+@10) */ | |
| w34 += w10; | |
| /* #100: output[1][0] = @34 */ | |
| if (res[1]) res[1][0] = w34; | |
| /* #101: @34 = sq(@8) */ | |
| w34 = casadi_sq( w8 ); | |
| /* #102: @31 = (@31*@34) */ | |
| w31 *= w34; | |
| /* #103: {@1, NULL, NULL} = ode(@24, @11, @25, @13, @26) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w1; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #104: @24 = (2.*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #105: @24 = (@1-@24) */ | |
| for (i=0, rr=w24, cr=w1, cs=w24; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #106: @24 = (@24+@15) */ | |
| for (i=0, rr=w24, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #107: @24 = (@30*@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #108: @24 = (@24/@32) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w32; | |
| /* #109: @24 = (@24/@32) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w32; | |
| /* #110: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #111: @32 = dot(@24, @5) */ | |
| w32 = casadi_dot(2, w24, w5); | |
| /* #112: @31 = (@31*@32) */ | |
| w31 *= w32; | |
| /* #113: @32 = (2.*@8) */ | |
| w32 = (2.* w8 ); | |
| /* #114: @41 = (@41/@42) */ | |
| w41 /= w42; | |
| /* #115: @24 = (@23-@19) */ | |
| for (i=0, rr=w24, cr=w23, cs=w19; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #116: @42 = dot(@24, @4) */ | |
| w42 = casadi_dot(2, w24, w4); | |
| /* #117: @41 = (@41*@42) */ | |
| w41 *= w42; | |
| /* #118: @32 = (@32*@41) */ | |
| w32 *= w41; | |
| /* #119: @31 = (@31-@32) */ | |
| w31 -= w32; | |
| /* #120: @47 = (@47/@8) */ | |
| w47 /= w8; | |
| /* #121: @24 = (@19-@15) */ | |
| for (i=0, rr=w24, cr=w19, cs=w15; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #122: @8 = dot(@24, @3) */ | |
| w8 = casadi_dot(2, w24, w3); | |
| /* #123: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #124: @31 = (@31-@47) */ | |
| w31 -= w47; | |
| /* #125: @47 = dot(@23, @39) */ | |
| w47 = casadi_dot(2, w23, w39); | |
| /* #126: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #127: @47 = 0.5 */ | |
| w47 = 5.0000000000000000e-01; | |
| /* #128: @8 = dot(@19, @45) */ | |
| w8 = casadi_dot(2, w19, w45); | |
| /* #129: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #130: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #131: @47 = 0.5 */ | |
| w47 = 5.0000000000000000e-01; | |
| /* #132: @8 = dot(@15, @36) */ | |
| w8 = casadi_dot(2, w15, w36); | |
| /* #133: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #134: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #135: @47 = 0.166667 */ | |
| w47 = 1.6666666666666666e-01; | |
| /* #136: @19 = (2.*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #137: @15 = (@15+@19) */ | |
| for (i=0, rr=w15, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #138: @23 = (2.*@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #139: @15 = (@15+@23) */ | |
| for (i=0, rr=w15, cs=w23; i<2; ++i) (*rr++) += (*cs++); | |
| /* #140: @15 = (@15+@1) */ | |
| for (i=0, rr=w15, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #141: @8 = dot(@15, @6) */ | |
| w8 = casadi_dot(2, w15, w6); | |
| /* #142: @47 = (@47*@8) */ | |
| w47 *= w8; | |
| /* #143: @31 = (@31+@47) */ | |
| w31 += w47; | |
| /* #144: output[3][0] = @31 */ | |
| if (res[3]) res[3][0] = w31; | |
| /* #145: @40 = (@40+@46) */ | |
| w40 += w46; | |
| /* #146: @40 = (@40+@48) */ | |
| w40 += w48; | |
| /* #147: @40 = (@40+@49) */ | |
| w40 += w49; | |
| /* #148: output[5][0] = @40 */ | |
| if (res[5]) res[5][0] = w40; | |
| return 0; | |
| } | |
| /* adj1_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],adj_xf[2],adj_Xi[2x2],adj_poly_coeff[2x5],adj_qf[0],adj_Qi[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_Zi[0],adj_poly_coeff_z[])->(adj_x0[2],adj_u,adj_T,adj_t0[1x1,0nz],adj_p,adj_z0[0]) */ | |
| static int casadi_f6(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+24, *cs; | |
| casadi_real *w0=w+69, *w1=w+73, *w2=w+75, *w3=w+77, w4, w5, w6, w7, *w15=w+83, *w16=w+85, w20, w21, w22; | |
| /* #0: @0 = input[16][0] */ | |
| casadi_copy(arg[16], 4, w0); | |
| /* #1: {@1, @2} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| /* #2: @3 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w3); | |
| /* #3: @4 = input[1][0] */ | |
| w4 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @5 = input[3][0] */ | |
| w5 = arg[3] ? arg[3][0] : 0; | |
| /* #5: @6 = input[2][0] */ | |
| w6 = arg[2] ? arg[2][0] : 0; | |
| /* #6: @7 = input[4][0] */ | |
| w7 = arg[4] ? arg[4][0] : 0; | |
| /* #7: @8 = 0x1 */ | |
| /* #8: @9 = zeros(2x1,0nz) */ | |
| /* #9: @10 = zeros(2x5,0nz) */ | |
| /* #10: @11 = 0x1 */ | |
| /* #11: @12 = 0x4 */ | |
| /* #12: @13 = 0x1 */ | |
| /* #13: @14 = 0x0 */ | |
| /* #14: @15 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w15); | |
| /* #15: @2 = (@2+@15) */ | |
| for (i=0, rr=w2, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #16: @16 = input[17][0] */ | |
| casadi_copy(arg[17], 10, w16); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 0x4 */ | |
| /* #19: @19 = 0x1 */ | |
| /* #20: {@15, @20, NULL, @21, NULL, @22, NULL} = adj1_F(@3, @4, @5, @6, @6, @7, @8, @9, @10, @11, @12, @13, @14, @2, @16, @17, @18, @19, @14) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w4); | |
| arg1[2]=(&w5); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w6); | |
| arg1[5]=(&w7); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w2; | |
| arg1[14]=w16; | |
| arg1[15]=0; | |
| arg1[16]=0; | |
| arg1[17]=0; | |
| arg1[18]=0; | |
| res1[0]=w15; | |
| res1[1]=(&w20); | |
| res1[2]=0; | |
| res1[3]=(&w21); | |
| res1[4]=0; | |
| res1[5]=(&w22); | |
| res1[6]=0; | |
| if (casadi_f7(arg1, res1, iw, w, 0)) return 1; | |
| /* #21: @1 = (@1+@15) */ | |
| for (i=0, rr=w1, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #22: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #23: output[1][0] = @20 */ | |
| if (res[1]) res[1][0] = w20; | |
| /* #24: output[2][0] = @21 */ | |
| if (res[2]) res[2][0] = w21; | |
| /* #25: output[4][0] = @22 */ | |
| if (res[4]) res[4][0] = w22; | |
| return 0; | |
| } | |
| /* nlp_grad:(x[32],p,lam_f,lam_g[42])->(f,g[42],grad_gamma_x[32],grad_gamma_p) */ | |
| static int casadi_f2(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+4, *rr; | |
| const casadi_real **arg1=arg+4, *cr, *cs; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, w31, w32, *w33=w+131, *w34=w+133, w35, *w37=w+136, w38, w39, *w41=w+140, w42, w43, *w45=w+144, w46, w47, *w49=w+148, w50, w51, *w53=w+152, w54, w55, *w57=w+156, w58, w59, *w61=w+160, w62, w63, *w65=w+164, w66, w67, *w69=w+168, w70, w71, *w73=w+172, *w74=w+174, w75, w76, w77, w78, w79, *w80=w+221, w81, w82, *w83=w+225, w84, w85, *w86=w+229, w87, w88, *w89=w+233, w90, w91, *w92=w+237, w93, w94, *w95=w+241, w96, w97, *w98=w+245, w99, w100, *w101=w+249, w102, w103, w104, *w114=w+254, *w115=w+256, *w116=w+260, *w122=w+270, w123, w124, w125; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @1 = sq(@0) */ | |
| w1 = casadi_sq( w0 ); | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = sq(@2) */ | |
| w3 = casadi_sq( w2 ); | |
| /* #4: @1 = (@1+@3) */ | |
| w1 += w3; | |
| /* #5: @3 = input[0][2] */ | |
| w3 = arg[0] ? arg[0][2] : 0; | |
| /* #6: @4 = sq(@3) */ | |
| w4 = casadi_sq( w3 ); | |
| /* #7: @1 = (@1+@4) */ | |
| w1 += w4; | |
| /* #8: @4 = input[0][3] */ | |
| w4 = arg[0] ? arg[0][3] : 0; | |
| /* #9: @5 = sq(@4) */ | |
| w5 = casadi_sq( w4 ); | |
| /* #10: @6 = input[0][4] */ | |
| w6 = arg[0] ? arg[0][4] : 0; | |
| /* #11: @7 = sq(@6) */ | |
| w7 = casadi_sq( w6 ); | |
| /* #12: @5 = (@5+@7) */ | |
| w5 += w7; | |
| /* #13: @7 = input[0][5] */ | |
| w7 = arg[0] ? arg[0][5] : 0; | |
| /* #14: @8 = sq(@7) */ | |
| w8 = casadi_sq( w7 ); | |
| /* #15: @5 = (@5+@8) */ | |
| w5 += w8; | |
| /* #16: @1 = (@1+@5) */ | |
| w1 += w5; | |
| /* #17: @5 = input[0][6] */ | |
| w5 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @8 = sq(@5) */ | |
| w8 = casadi_sq( w5 ); | |
| /* #19: @9 = input[0][7] */ | |
| w9 = arg[0] ? arg[0][7] : 0; | |
| /* #20: @10 = sq(@9) */ | |
| w10 = casadi_sq( w9 ); | |
| /* #21: @8 = (@8+@10) */ | |
| w8 += w10; | |
| /* #22: @10 = input[0][8] */ | |
| w10 = arg[0] ? arg[0][8] : 0; | |
| /* #23: @11 = sq(@10) */ | |
| w11 = casadi_sq( w10 ); | |
| /* #24: @8 = (@8+@11) */ | |
| w8 += w11; | |
| /* #25: @1 = (@1+@8) */ | |
| w1 += w8; | |
| /* #26: @8 = input[0][9] */ | |
| w8 = arg[0] ? arg[0][9] : 0; | |
| /* #27: @11 = sq(@8) */ | |
| w11 = casadi_sq( w8 ); | |
| /* #28: @12 = input[0][10] */ | |
| w12 = arg[0] ? arg[0][10] : 0; | |
| /* #29: @13 = sq(@12) */ | |
| w13 = casadi_sq( w12 ); | |
| /* #30: @11 = (@11+@13) */ | |
| w11 += w13; | |
| /* #31: @13 = input[0][11] */ | |
| w13 = arg[0] ? arg[0][11] : 0; | |
| /* #32: @14 = sq(@13) */ | |
| w14 = casadi_sq( w13 ); | |
| /* #33: @11 = (@11+@14) */ | |
| w11 += w14; | |
| /* #34: @1 = (@1+@11) */ | |
| w1 += w11; | |
| /* #35: @11 = input[0][12] */ | |
| w11 = arg[0] ? arg[0][12] : 0; | |
| /* #36: @14 = sq(@11) */ | |
| w14 = casadi_sq( w11 ); | |
| /* #37: @15 = input[0][13] */ | |
| w15 = arg[0] ? arg[0][13] : 0; | |
| /* #38: @16 = sq(@15) */ | |
| w16 = casadi_sq( w15 ); | |
| /* #39: @14 = (@14+@16) */ | |
| w14 += w16; | |
| /* #40: @16 = input[0][14] */ | |
| w16 = arg[0] ? arg[0][14] : 0; | |
| /* #41: @17 = sq(@16) */ | |
| w17 = casadi_sq( w16 ); | |
| /* #42: @14 = (@14+@17) */ | |
| w14 += w17; | |
| /* #43: @1 = (@1+@14) */ | |
| w1 += w14; | |
| /* #44: @14 = input[0][15] */ | |
| w14 = arg[0] ? arg[0][15] : 0; | |
| /* #45: @17 = sq(@14) */ | |
| w17 = casadi_sq( w14 ); | |
| /* #46: @18 = input[0][16] */ | |
| w18 = arg[0] ? arg[0][16] : 0; | |
| /* #47: @19 = sq(@18) */ | |
| w19 = casadi_sq( w18 ); | |
| /* #48: @17 = (@17+@19) */ | |
| w17 += w19; | |
| /* #49: @19 = input[0][17] */ | |
| w19 = arg[0] ? arg[0][17] : 0; | |
| /* #50: @20 = sq(@19) */ | |
| w20 = casadi_sq( w19 ); | |
| /* #51: @17 = (@17+@20) */ | |
| w17 += w20; | |
| /* #52: @1 = (@1+@17) */ | |
| w1 += w17; | |
| /* #53: @17 = input[0][18] */ | |
| w17 = arg[0] ? arg[0][18] : 0; | |
| /* #54: @20 = sq(@17) */ | |
| w20 = casadi_sq( w17 ); | |
| /* #55: @21 = input[0][19] */ | |
| w21 = arg[0] ? arg[0][19] : 0; | |
| /* #56: @22 = sq(@21) */ | |
| w22 = casadi_sq( w21 ); | |
| /* #57: @20 = (@20+@22) */ | |
| w20 += w22; | |
| /* #58: @22 = input[0][20] */ | |
| w22 = arg[0] ? arg[0][20] : 0; | |
| /* #59: @23 = sq(@22) */ | |
| w23 = casadi_sq( w22 ); | |
| /* #60: @20 = (@20+@23) */ | |
| w20 += w23; | |
| /* #61: @1 = (@1+@20) */ | |
| w1 += w20; | |
| /* #62: @20 = input[0][21] */ | |
| w20 = arg[0] ? arg[0][21] : 0; | |
| /* #63: @23 = sq(@20) */ | |
| w23 = casadi_sq( w20 ); | |
| /* #64: @24 = input[0][22] */ | |
| w24 = arg[0] ? arg[0][22] : 0; | |
| /* #65: @25 = sq(@24) */ | |
| w25 = casadi_sq( w24 ); | |
| /* #66: @23 = (@23+@25) */ | |
| w23 += w25; | |
| /* #67: @25 = input[0][23] */ | |
| w25 = arg[0] ? arg[0][23] : 0; | |
| /* #68: @26 = sq(@25) */ | |
| w26 = casadi_sq( w25 ); | |
| /* #69: @23 = (@23+@26) */ | |
| w23 += w26; | |
| /* #70: @1 = (@1+@23) */ | |
| w1 += w23; | |
| /* #71: @23 = input[0][24] */ | |
| w23 = arg[0] ? arg[0][24] : 0; | |
| /* #72: @26 = sq(@23) */ | |
| w26 = casadi_sq( w23 ); | |
| /* #73: @27 = input[0][25] */ | |
| w27 = arg[0] ? arg[0][25] : 0; | |
| /* #74: @28 = sq(@27) */ | |
| w28 = casadi_sq( w27 ); | |
| /* #75: @26 = (@26+@28) */ | |
| w26 += w28; | |
| /* #76: @28 = input[0][26] */ | |
| w28 = arg[0] ? arg[0][26] : 0; | |
| /* #77: @29 = sq(@28) */ | |
| w29 = casadi_sq( w28 ); | |
| /* #78: @26 = (@26+@29) */ | |
| w26 += w29; | |
| /* #79: @1 = (@1+@26) */ | |
| w1 += w26; | |
| /* #80: @26 = input[0][27] */ | |
| w26 = arg[0] ? arg[0][27] : 0; | |
| /* #81: @29 = sq(@26) */ | |
| w29 = casadi_sq( w26 ); | |
| /* #82: @30 = input[0][28] */ | |
| w30 = arg[0] ? arg[0][28] : 0; | |
| /* #83: @31 = sq(@30) */ | |
| w31 = casadi_sq( w30 ); | |
| /* #84: @29 = (@29+@31) */ | |
| w29 += w31; | |
| /* #85: @31 = input[0][29] */ | |
| w31 = arg[0] ? arg[0][29] : 0; | |
| /* #86: @32 = sq(@31) */ | |
| w32 = casadi_sq( w31 ); | |
| /* #87: @29 = (@29+@32) */ | |
| w29 += w32; | |
| /* #88: @1 = (@1+@29) */ | |
| w1 += w29; | |
| /* #89: @29 = input[0][30] */ | |
| w29 = arg[0] ? arg[0][30] : 0; | |
| /* #90: @32 = sq(@29) */ | |
| w32 = casadi_sq( w29 ); | |
| /* #91: @1 = (@1+@32) */ | |
| w1 += w32; | |
| /* #92: output[0][0] = @1 */ | |
| if (res[0]) res[0][0] = w1; | |
| /* #93: @33 = vertcat(@4, @6) */ | |
| rr=w33; | |
| *rr++ = w4; | |
| *rr++ = w6; | |
| /* #94: @34 = vertcat(@0, @2) */ | |
| rr=w34; | |
| *rr++ = w0; | |
| *rr++ = w2; | |
| /* #95: @1 = 1 */ | |
| w1 = 1.; | |
| /* #96: @32 = 0 */ | |
| w32 = 0.; | |
| /* #97: @35 = input[1][0] */ | |
| w35 = arg[1] ? arg[1][0] : 0; | |
| /* #98: @36 = 0x1 */ | |
| /* #99: {@37, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@34, @3, @1, @32, @35, @36) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w37; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #100: @37 = (@33-@37) */ | |
| for (i=0, rr=w37, cr=w33, cs=w37; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #101: output[1][0] = @37 */ | |
| casadi_copy(w37, 2, res[1]); | |
| /* #102: output[1][1] = @0 */ | |
| if (res[1]) res[1][2] = w0; | |
| /* #103: output[1][2] = @2 */ | |
| if (res[1]) res[1][3] = w2; | |
| /* #104: output[1][3] = @3 */ | |
| if (res[1]) res[1][4] = w3; | |
| /* #105: @37 = vertcat(@5, @9) */ | |
| rr=w37; | |
| *rr++ = w5; | |
| *rr++ = w9; | |
| /* #106: @38 = 1 */ | |
| w38 = 1.; | |
| /* #107: @39 = 1 */ | |
| w39 = 1.; | |
| /* #108: @40 = 0x1 */ | |
| /* #109: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@33, @7, @38, @39, @35, @40) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #110: @41 = (@37-@41) */ | |
| for (i=0, rr=w41, cr=w37, cs=w41; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #111: output[1][4] = @41 */ | |
| if (res[1]) casadi_copy(w41, 2, res[1]+5); | |
| /* #112: output[1][5] = @4 */ | |
| if (res[1]) res[1][7] = w4; | |
| /* #113: output[1][6] = @7 */ | |
| if (res[1]) res[1][8] = w7; | |
| /* #114: @41 = vertcat(@8, @12) */ | |
| rr=w41; | |
| *rr++ = w8; | |
| *rr++ = w12; | |
| /* #115: @42 = 1 */ | |
| w42 = 1.; | |
| /* #116: @43 = 2 */ | |
| w43 = 2.; | |
| /* #117: @44 = 0x1 */ | |
| /* #118: {@45, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@37, @10, @42, @43, @35, @44) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w45; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #119: @45 = (@41-@45) */ | |
| for (i=0, rr=w45, cr=w41, cs=w45; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #120: output[1][7] = @45 */ | |
| if (res[1]) casadi_copy(w45, 2, res[1]+9); | |
| /* #121: output[1][8] = @5 */ | |
| if (res[1]) res[1][11] = w5; | |
| /* #122: output[1][9] = @10 */ | |
| if (res[1]) res[1][12] = w10; | |
| /* #123: @45 = vertcat(@11, @15) */ | |
| rr=w45; | |
| *rr++ = w11; | |
| *rr++ = w15; | |
| /* #124: @46 = 1 */ | |
| w46 = 1.; | |
| /* #125: @47 = 3 */ | |
| w47 = 3.; | |
| /* #126: @48 = 0x1 */ | |
| /* #127: {@49, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@41, @13, @46, @47, @35, @48) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w49; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #128: @49 = (@45-@49) */ | |
| for (i=0, rr=w49, cr=w45, cs=w49; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #129: output[1][10] = @49 */ | |
| if (res[1]) casadi_copy(w49, 2, res[1]+13); | |
| /* #130: output[1][11] = @8 */ | |
| if (res[1]) res[1][15] = w8; | |
| /* #131: output[1][12] = @13 */ | |
| if (res[1]) res[1][16] = w13; | |
| /* #132: @49 = vertcat(@14, @18) */ | |
| rr=w49; | |
| *rr++ = w14; | |
| *rr++ = w18; | |
| /* #133: @50 = 1 */ | |
| w50 = 1.; | |
| /* #134: @51 = 4 */ | |
| w51 = 4.; | |
| /* #135: @52 = 0x1 */ | |
| /* #136: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@45, @16, @50, @51, @35, @52) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #137: @53 = (@49-@53) */ | |
| for (i=0, rr=w53, cr=w49, cs=w53; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #138: output[1][13] = @53 */ | |
| if (res[1]) casadi_copy(w53, 2, res[1]+17); | |
| /* #139: output[1][14] = @11 */ | |
| if (res[1]) res[1][19] = w11; | |
| /* #140: output[1][15] = @16 */ | |
| if (res[1]) res[1][20] = w16; | |
| /* #141: @53 = vertcat(@17, @21) */ | |
| rr=w53; | |
| *rr++ = w17; | |
| *rr++ = w21; | |
| /* #142: @54 = 1 */ | |
| w54 = 1.; | |
| /* #143: @55 = 5 */ | |
| w55 = 5.; | |
| /* #144: @56 = 0x1 */ | |
| /* #145: {@57, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@49, @19, @54, @55, @35, @56) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w57; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #146: @57 = (@53-@57) */ | |
| for (i=0, rr=w57, cr=w53, cs=w57; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #147: output[1][16] = @57 */ | |
| if (res[1]) casadi_copy(w57, 2, res[1]+21); | |
| /* #148: output[1][17] = @14 */ | |
| if (res[1]) res[1][23] = w14; | |
| /* #149: output[1][18] = @19 */ | |
| if (res[1]) res[1][24] = w19; | |
| /* #150: @57 = vertcat(@20, @24) */ | |
| rr=w57; | |
| *rr++ = w20; | |
| *rr++ = w24; | |
| /* #151: @58 = 1 */ | |
| w58 = 1.; | |
| /* #152: @59 = 6 */ | |
| w59 = 6.; | |
| /* #153: @60 = 0x1 */ | |
| /* #154: {@61, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@53, @22, @58, @59, @35, @60) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w61; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #155: @61 = (@57-@61) */ | |
| for (i=0, rr=w61, cr=w57, cs=w61; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #156: output[1][19] = @61 */ | |
| if (res[1]) casadi_copy(w61, 2, res[1]+25); | |
| /* #157: output[1][20] = @17 */ | |
| if (res[1]) res[1][27] = w17; | |
| /* #158: output[1][21] = @22 */ | |
| if (res[1]) res[1][28] = w22; | |
| /* #159: @61 = vertcat(@23, @27) */ | |
| rr=w61; | |
| *rr++ = w23; | |
| *rr++ = w27; | |
| /* #160: @62 = 1 */ | |
| w62 = 1.; | |
| /* #161: @63 = 7 */ | |
| w63 = 7.; | |
| /* #162: @64 = 0x1 */ | |
| /* #163: {@65, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@57, @25, @62, @63, @35, @64) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w65; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #164: @65 = (@61-@65) */ | |
| for (i=0, rr=w65, cr=w61, cs=w65; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #165: output[1][22] = @65 */ | |
| if (res[1]) casadi_copy(w65, 2, res[1]+29); | |
| /* #166: output[1][23] = @20 */ | |
| if (res[1]) res[1][31] = w20; | |
| /* #167: output[1][24] = @25 */ | |
| if (res[1]) res[1][32] = w25; | |
| /* #168: @65 = vertcat(@26, @30) */ | |
| rr=w65; | |
| *rr++ = w26; | |
| *rr++ = w30; | |
| /* #169: @66 = 1 */ | |
| w66 = 1.; | |
| /* #170: @67 = 8 */ | |
| w67 = 8.; | |
| /* #171: @68 = 0x1 */ | |
| /* #172: {@69, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@61, @28, @66, @67, @35, @68) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w69; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #173: @69 = (@65-@69) */ | |
| for (i=0, rr=w69, cr=w65, cs=w69; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #174: output[1][25] = @69 */ | |
| if (res[1]) casadi_copy(w69, 2, res[1]+33); | |
| /* #175: output[1][26] = @23 */ | |
| if (res[1]) res[1][35] = w23; | |
| /* #176: output[1][27] = @28 */ | |
| if (res[1]) res[1][36] = w28; | |
| /* #177: @70 = input[0][31] */ | |
| w70 = arg[0] ? arg[0][31] : 0; | |
| /* #178: @69 = vertcat(@29, @70) */ | |
| rr=w69; | |
| *rr++ = w29; | |
| *rr++ = w70; | |
| /* #179: @70 = 1 */ | |
| w70 = 1.; | |
| /* #180: @71 = 9 */ | |
| w71 = 9.; | |
| /* #181: @72 = 0x1 */ | |
| /* #182: {@73, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@65, @31, @70, @71, @35, @72) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| res1[0]=w73; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #183: @69 = (@69-@73) */ | |
| for (i=0, rr=w69, cs=w73; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #184: output[1][28] = @69 */ | |
| if (res[1]) casadi_copy(w69, 2, res[1]+37); | |
| /* #185: output[1][29] = @26 */ | |
| if (res[1]) res[1][39] = w26; | |
| /* #186: output[1][30] = @31 */ | |
| if (res[1]) res[1][40] = w31; | |
| /* #187: output[1][31] = @29 */ | |
| if (res[1]) res[1][41] = w29; | |
| /* #188: @74 = input[3][0] */ | |
| casadi_copy(arg[3], 42, w74); | |
| /* #189: {@69, @75, @76, @77, @73, @78, @79, @80, @81, @82, @83, @84, @85, @86, @87, @88, @89, @90, @91, @92, @93, @94, @95, @96, @97, @98, @99, @100, @101, @102, @103, @104} = vertsplit(@74) */ | |
| casadi_copy(w74, 2, w69); | |
| w75 = w74[2]; | |
| w76 = w74[3]; | |
| w77 = w74[4]; | |
| casadi_copy(w74+5, 2, w73); | |
| w78 = w74[7]; | |
| w79 = w74[8]; | |
| casadi_copy(w74+9, 2, w80); | |
| w81 = w74[11]; | |
| w82 = w74[12]; | |
| casadi_copy(w74+13, 2, w83); | |
| w84 = w74[15]; | |
| w85 = w74[16]; | |
| casadi_copy(w74+17, 2, w86); | |
| w87 = w74[19]; | |
| w88 = w74[20]; | |
| casadi_copy(w74+21, 2, w89); | |
| w90 = w74[23]; | |
| w91 = w74[24]; | |
| casadi_copy(w74+25, 2, w92); | |
| w93 = w74[27]; | |
| w94 = w74[28]; | |
| casadi_copy(w74+29, 2, w95); | |
| w96 = w74[31]; | |
| w97 = w74[32]; | |
| casadi_copy(w74+33, 2, w98); | |
| w99 = w74[35]; | |
| w100 = w74[36]; | |
| casadi_copy(w74+37, 2, w101); | |
| w102 = w74[39]; | |
| w103 = w74[40]; | |
| w104 = w74[41]; | |
| /* #190: @105 = zeros(2x1,0nz) */ | |
| /* #191: @106 = zeros(2x2,0nz) */ | |
| /* #192: @107 = zeros(2x5,0nz) */ | |
| /* #193: @108 = 0x1 */ | |
| /* #194: @109 = 0x1 */ | |
| /* #195: @110 = 0x4 */ | |
| /* #196: @111 = 0x1 */ | |
| /* #197: @112 = 0x1 */ | |
| /* #198: @113 = 0x0 */ | |
| /* #199: @114 = (-@69) */ | |
| for (i=0, rr=w114, cs=w69; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #200: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #201: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #202: @117 = 0x1 */ | |
| /* #203: @118 = 0x1 */ | |
| /* #204: @119 = 0x4 */ | |
| /* #205: @120 = 0x1 */ | |
| /* #206: @121 = 0x1 */ | |
| /* #207: {@122, @123, NULL, NULL, NULL, NULL} = adj1_F(@34, @3, @1, @32, @35, @36, @105, @106, @107, @108, @109, @110, @111, @112, @113, @114, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w114; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w122; | |
| res1[1]=(&w123); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #208: {@124, @125} = vertsplit(@122) */ | |
| w124 = w122[0]; | |
| w125 = w122[1]; | |
| /* #209: @75 = (@75+@124) */ | |
| w75 += w124; | |
| /* #210: @0 = (2.*@0) */ | |
| w0 = (2.* w0 ); | |
| /* #211: @124 = input[2][0] */ | |
| w124 = arg[2] ? arg[2][0] : 0; | |
| /* #212: @0 = (@0*@124) */ | |
| w0 *= w124; | |
| /* #213: @75 = (@75+@0) */ | |
| w75 += w0; | |
| /* #214: output[2][0] = @75 */ | |
| if (res[2]) res[2][0] = w75; | |
| /* #215: @76 = (@76+@125) */ | |
| w76 += w125; | |
| /* #216: @2 = (2.*@2) */ | |
| w2 = (2.* w2 ); | |
| /* #217: @2 = (@2*@124) */ | |
| w2 *= w124; | |
| /* #218: @76 = (@76+@2) */ | |
| w76 += w2; | |
| /* #219: output[2][1] = @76 */ | |
| if (res[2]) res[2][1] = w76; | |
| /* #220: @77 = (@77+@123) */ | |
| w77 += w123; | |
| /* #221: @123 = (2.*@3) */ | |
| w123 = (2.* w3 ); | |
| /* #222: @123 = (@123*@124) */ | |
| w123 *= w124; | |
| /* #223: @77 = (@77+@123) */ | |
| w77 += w123; | |
| /* #224: output[2][2] = @77 */ | |
| if (res[2]) res[2][2] = w77; | |
| /* #225: @105 = zeros(2x1,0nz) */ | |
| /* #226: @106 = zeros(2x2,0nz) */ | |
| /* #227: @107 = zeros(2x5,0nz) */ | |
| /* #228: @108 = 0x1 */ | |
| /* #229: @109 = 0x1 */ | |
| /* #230: @110 = 0x4 */ | |
| /* #231: @111 = 0x1 */ | |
| /* #232: @112 = 0x1 */ | |
| /* #233: @122 = (-@73) */ | |
| for (i=0, rr=w122, cs=w73; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #234: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #235: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #236: @117 = 0x1 */ | |
| /* #237: @118 = 0x1 */ | |
| /* #238: @119 = 0x4 */ | |
| /* #239: @120 = 0x1 */ | |
| /* #240: @121 = 0x1 */ | |
| /* #241: {@114, @77, NULL, NULL, NULL, NULL} = adj1_F(@33, @7, @38, @39, @35, @40, @105, @106, @107, @108, @109, @110, @111, @112, @113, @122, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w122; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w114; | |
| res1[1]=(&w77); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #242: @114 = (@114+@69) */ | |
| for (i=0, rr=w114, cs=w69; i<2; ++i) (*rr++) += (*cs++); | |
| /* #243: {@123, @76} = vertsplit(@114) */ | |
| w123 = w114[0]; | |
| w76 = w114[1]; | |
| /* #244: @78 = (@78+@123) */ | |
| w78 += w123; | |
| /* #245: @4 = (2.*@4) */ | |
| w4 = (2.* w4 ); | |
| /* #246: @4 = (@4*@124) */ | |
| w4 *= w124; | |
| /* #247: @78 = (@78+@4) */ | |
| w78 += w4; | |
| /* #248: output[2][3] = @78 */ | |
| if (res[2]) res[2][3] = w78; | |
| /* #249: @6 = (2.*@6) */ | |
| w6 = (2.* w6 ); | |
| /* #250: @6 = (@6*@124) */ | |
| w6 *= w124; | |
| /* #251: @76 = (@76+@6) */ | |
| w76 += w6; | |
| /* #252: output[2][4] = @76 */ | |
| if (res[2]) res[2][4] = w76; | |
| /* #253: @79 = (@79+@77) */ | |
| w79 += w77; | |
| /* #254: @77 = (2.*@7) */ | |
| w77 = (2.* w7 ); | |
| /* #255: @77 = (@77*@124) */ | |
| w77 *= w124; | |
| /* #256: @79 = (@79+@77) */ | |
| w79 += w77; | |
| /* #257: output[2][5] = @79 */ | |
| if (res[2]) res[2][5] = w79; | |
| /* #258: @105 = zeros(2x1,0nz) */ | |
| /* #259: @106 = zeros(2x2,0nz) */ | |
| /* #260: @107 = zeros(2x5,0nz) */ | |
| /* #261: @108 = 0x1 */ | |
| /* #262: @109 = 0x1 */ | |
| /* #263: @110 = 0x4 */ | |
| /* #264: @111 = 0x1 */ | |
| /* #265: @112 = 0x1 */ | |
| /* #266: @114 = (-@80) */ | |
| for (i=0, rr=w114, cs=w80; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #267: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #268: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #269: @117 = 0x1 */ | |
| /* #270: @118 = 0x1 */ | |
| /* #271: @119 = 0x4 */ | |
| /* #272: @120 = 0x1 */ | |
| /* #273: @121 = 0x1 */ | |
| /* #274: {@69, @79, NULL, NULL, NULL, NULL} = adj1_F(@37, @10, @42, @43, @35, @44, @105, @106, @107, @108, @109, @110, @111, @112, @113, @114, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w114; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w69; | |
| res1[1]=(&w79); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #275: @69 = (@69+@73) */ | |
| for (i=0, rr=w69, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #276: {@77, @76} = vertsplit(@69) */ | |
| w77 = w69[0]; | |
| w76 = w69[1]; | |
| /* #277: @81 = (@81+@77) */ | |
| w81 += w77; | |
| /* #278: @5 = (2.*@5) */ | |
| w5 = (2.* w5 ); | |
| /* #279: @5 = (@5*@124) */ | |
| w5 *= w124; | |
| /* #280: @81 = (@81+@5) */ | |
| w81 += w5; | |
| /* #281: output[2][6] = @81 */ | |
| if (res[2]) res[2][6] = w81; | |
| /* #282: @9 = (2.*@9) */ | |
| w9 = (2.* w9 ); | |
| /* #283: @9 = (@9*@124) */ | |
| w9 *= w124; | |
| /* #284: @76 = (@76+@9) */ | |
| w76 += w9; | |
| /* #285: output[2][7] = @76 */ | |
| if (res[2]) res[2][7] = w76; | |
| /* #286: @82 = (@82+@79) */ | |
| w82 += w79; | |
| /* #287: @79 = (2.*@10) */ | |
| w79 = (2.* w10 ); | |
| /* #288: @79 = (@79*@124) */ | |
| w79 *= w124; | |
| /* #289: @82 = (@82+@79) */ | |
| w82 += w79; | |
| /* #290: output[2][8] = @82 */ | |
| if (res[2]) res[2][8] = w82; | |
| /* #291: @105 = zeros(2x1,0nz) */ | |
| /* #292: @106 = zeros(2x2,0nz) */ | |
| /* #293: @107 = zeros(2x5,0nz) */ | |
| /* #294: @108 = 0x1 */ | |
| /* #295: @109 = 0x1 */ | |
| /* #296: @110 = 0x4 */ | |
| /* #297: @111 = 0x1 */ | |
| /* #298: @112 = 0x1 */ | |
| /* #299: @69 = (-@83) */ | |
| for (i=0, rr=w69, cs=w83; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #300: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #301: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #302: @117 = 0x1 */ | |
| /* #303: @118 = 0x1 */ | |
| /* #304: @119 = 0x4 */ | |
| /* #305: @120 = 0x1 */ | |
| /* #306: @121 = 0x1 */ | |
| /* #307: {@73, @82, NULL, NULL, NULL, NULL} = adj1_F(@41, @13, @46, @47, @35, @48, @105, @106, @107, @108, @109, @110, @111, @112, @113, @69, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w69; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w73; | |
| res1[1]=(&w82); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #308: @73 = (@73+@80) */ | |
| for (i=0, rr=w73, cs=w80; i<2; ++i) (*rr++) += (*cs++); | |
| /* #309: {@79, @76} = vertsplit(@73) */ | |
| w79 = w73[0]; | |
| w76 = w73[1]; | |
| /* #310: @84 = (@84+@79) */ | |
| w84 += w79; | |
| /* #311: @8 = (2.*@8) */ | |
| w8 = (2.* w8 ); | |
| /* #312: @8 = (@8*@124) */ | |
| w8 *= w124; | |
| /* #313: @84 = (@84+@8) */ | |
| w84 += w8; | |
| /* #314: output[2][9] = @84 */ | |
| if (res[2]) res[2][9] = w84; | |
| /* #315: @12 = (2.*@12) */ | |
| w12 = (2.* w12 ); | |
| /* #316: @12 = (@12*@124) */ | |
| w12 *= w124; | |
| /* #317: @76 = (@76+@12) */ | |
| w76 += w12; | |
| /* #318: output[2][10] = @76 */ | |
| if (res[2]) res[2][10] = w76; | |
| /* #319: @85 = (@85+@82) */ | |
| w85 += w82; | |
| /* #320: @82 = (2.*@13) */ | |
| w82 = (2.* w13 ); | |
| /* #321: @82 = (@82*@124) */ | |
| w82 *= w124; | |
| /* #322: @85 = (@85+@82) */ | |
| w85 += w82; | |
| /* #323: output[2][11] = @85 */ | |
| if (res[2]) res[2][11] = w85; | |
| /* #324: @105 = zeros(2x1,0nz) */ | |
| /* #325: @106 = zeros(2x2,0nz) */ | |
| /* #326: @107 = zeros(2x5,0nz) */ | |
| /* #327: @108 = 0x1 */ | |
| /* #328: @109 = 0x1 */ | |
| /* #329: @110 = 0x4 */ | |
| /* #330: @111 = 0x1 */ | |
| /* #331: @112 = 0x1 */ | |
| /* #332: @73 = (-@86) */ | |
| for (i=0, rr=w73, cs=w86; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #333: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #334: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #335: @117 = 0x1 */ | |
| /* #336: @118 = 0x1 */ | |
| /* #337: @119 = 0x4 */ | |
| /* #338: @120 = 0x1 */ | |
| /* #339: @121 = 0x1 */ | |
| /* #340: {@80, @85, NULL, NULL, NULL, NULL} = adj1_F(@45, @16, @50, @51, @35, @52, @105, @106, @107, @108, @109, @110, @111, @112, @113, @73, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w73; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w80; | |
| res1[1]=(&w85); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #341: @80 = (@80+@83) */ | |
| for (i=0, rr=w80, cs=w83; i<2; ++i) (*rr++) += (*cs++); | |
| /* #342: {@82, @76} = vertsplit(@80) */ | |
| w82 = w80[0]; | |
| w76 = w80[1]; | |
| /* #343: @87 = (@87+@82) */ | |
| w87 += w82; | |
| /* #344: @11 = (2.*@11) */ | |
| w11 = (2.* w11 ); | |
| /* #345: @11 = (@11*@124) */ | |
| w11 *= w124; | |
| /* #346: @87 = (@87+@11) */ | |
| w87 += w11; | |
| /* #347: output[2][12] = @87 */ | |
| if (res[2]) res[2][12] = w87; | |
| /* #348: @15 = (2.*@15) */ | |
| w15 = (2.* w15 ); | |
| /* #349: @15 = (@15*@124) */ | |
| w15 *= w124; | |
| /* #350: @76 = (@76+@15) */ | |
| w76 += w15; | |
| /* #351: output[2][13] = @76 */ | |
| if (res[2]) res[2][13] = w76; | |
| /* #352: @88 = (@88+@85) */ | |
| w88 += w85; | |
| /* #353: @85 = (2.*@16) */ | |
| w85 = (2.* w16 ); | |
| /* #354: @85 = (@85*@124) */ | |
| w85 *= w124; | |
| /* #355: @88 = (@88+@85) */ | |
| w88 += w85; | |
| /* #356: output[2][14] = @88 */ | |
| if (res[2]) res[2][14] = w88; | |
| /* #357: @105 = zeros(2x1,0nz) */ | |
| /* #358: @106 = zeros(2x2,0nz) */ | |
| /* #359: @107 = zeros(2x5,0nz) */ | |
| /* #360: @108 = 0x1 */ | |
| /* #361: @109 = 0x1 */ | |
| /* #362: @110 = 0x4 */ | |
| /* #363: @111 = 0x1 */ | |
| /* #364: @112 = 0x1 */ | |
| /* #365: @80 = (-@89) */ | |
| for (i=0, rr=w80, cs=w89; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #366: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #367: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #368: @117 = 0x1 */ | |
| /* #369: @118 = 0x1 */ | |
| /* #370: @119 = 0x4 */ | |
| /* #371: @120 = 0x1 */ | |
| /* #372: @121 = 0x1 */ | |
| /* #373: {@83, @88, NULL, NULL, NULL, NULL} = adj1_F(@49, @19, @54, @55, @35, @56, @105, @106, @107, @108, @109, @110, @111, @112, @113, @80, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w80; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w83; | |
| res1[1]=(&w88); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #374: @83 = (@83+@86) */ | |
| for (i=0, rr=w83, cs=w86; i<2; ++i) (*rr++) += (*cs++); | |
| /* #375: {@85, @76} = vertsplit(@83) */ | |
| w85 = w83[0]; | |
| w76 = w83[1]; | |
| /* #376: @90 = (@90+@85) */ | |
| w90 += w85; | |
| /* #377: @14 = (2.*@14) */ | |
| w14 = (2.* w14 ); | |
| /* #378: @14 = (@14*@124) */ | |
| w14 *= w124; | |
| /* #379: @90 = (@90+@14) */ | |
| w90 += w14; | |
| /* #380: output[2][15] = @90 */ | |
| if (res[2]) res[2][15] = w90; | |
| /* #381: @18 = (2.*@18) */ | |
| w18 = (2.* w18 ); | |
| /* #382: @18 = (@18*@124) */ | |
| w18 *= w124; | |
| /* #383: @76 = (@76+@18) */ | |
| w76 += w18; | |
| /* #384: output[2][16] = @76 */ | |
| if (res[2]) res[2][16] = w76; | |
| /* #385: @91 = (@91+@88) */ | |
| w91 += w88; | |
| /* #386: @88 = (2.*@19) */ | |
| w88 = (2.* w19 ); | |
| /* #387: @88 = (@88*@124) */ | |
| w88 *= w124; | |
| /* #388: @91 = (@91+@88) */ | |
| w91 += w88; | |
| /* #389: output[2][17] = @91 */ | |
| if (res[2]) res[2][17] = w91; | |
| /* #390: @105 = zeros(2x1,0nz) */ | |
| /* #391: @106 = zeros(2x2,0nz) */ | |
| /* #392: @107 = zeros(2x5,0nz) */ | |
| /* #393: @108 = 0x1 */ | |
| /* #394: @109 = 0x1 */ | |
| /* #395: @110 = 0x4 */ | |
| /* #396: @111 = 0x1 */ | |
| /* #397: @112 = 0x1 */ | |
| /* #398: @83 = (-@92) */ | |
| for (i=0, rr=w83, cs=w92; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #399: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #400: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #401: @117 = 0x1 */ | |
| /* #402: @118 = 0x1 */ | |
| /* #403: @119 = 0x4 */ | |
| /* #404: @120 = 0x1 */ | |
| /* #405: @121 = 0x1 */ | |
| /* #406: {@86, @91, NULL, NULL, NULL, NULL} = adj1_F(@53, @22, @58, @59, @35, @60, @105, @106, @107, @108, @109, @110, @111, @112, @113, @83, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w83; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w86; | |
| res1[1]=(&w91); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #407: @86 = (@86+@89) */ | |
| for (i=0, rr=w86, cs=w89; i<2; ++i) (*rr++) += (*cs++); | |
| /* #408: {@88, @76} = vertsplit(@86) */ | |
| w88 = w86[0]; | |
| w76 = w86[1]; | |
| /* #409: @93 = (@93+@88) */ | |
| w93 += w88; | |
| /* #410: @17 = (2.*@17) */ | |
| w17 = (2.* w17 ); | |
| /* #411: @17 = (@17*@124) */ | |
| w17 *= w124; | |
| /* #412: @93 = (@93+@17) */ | |
| w93 += w17; | |
| /* #413: output[2][18] = @93 */ | |
| if (res[2]) res[2][18] = w93; | |
| /* #414: @21 = (2.*@21) */ | |
| w21 = (2.* w21 ); | |
| /* #415: @21 = (@21*@124) */ | |
| w21 *= w124; | |
| /* #416: @76 = (@76+@21) */ | |
| w76 += w21; | |
| /* #417: output[2][19] = @76 */ | |
| if (res[2]) res[2][19] = w76; | |
| /* #418: @94 = (@94+@91) */ | |
| w94 += w91; | |
| /* #419: @91 = (2.*@22) */ | |
| w91 = (2.* w22 ); | |
| /* #420: @91 = (@91*@124) */ | |
| w91 *= w124; | |
| /* #421: @94 = (@94+@91) */ | |
| w94 += w91; | |
| /* #422: output[2][20] = @94 */ | |
| if (res[2]) res[2][20] = w94; | |
| /* #423: @105 = zeros(2x1,0nz) */ | |
| /* #424: @106 = zeros(2x2,0nz) */ | |
| /* #425: @107 = zeros(2x5,0nz) */ | |
| /* #426: @108 = 0x1 */ | |
| /* #427: @109 = 0x1 */ | |
| /* #428: @110 = 0x4 */ | |
| /* #429: @111 = 0x1 */ | |
| /* #430: @112 = 0x1 */ | |
| /* #431: @86 = (-@95) */ | |
| for (i=0, rr=w86, cs=w95; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #432: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #433: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #434: @117 = 0x1 */ | |
| /* #435: @118 = 0x1 */ | |
| /* #436: @119 = 0x4 */ | |
| /* #437: @120 = 0x1 */ | |
| /* #438: @121 = 0x1 */ | |
| /* #439: {@89, @94, NULL, NULL, NULL, NULL} = adj1_F(@57, @25, @62, @63, @35, @64, @105, @106, @107, @108, @109, @110, @111, @112, @113, @86, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w86; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w89; | |
| res1[1]=(&w94); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #440: @89 = (@89+@92) */ | |
| for (i=0, rr=w89, cs=w92; i<2; ++i) (*rr++) += (*cs++); | |
| /* #441: {@91, @76} = vertsplit(@89) */ | |
| w91 = w89[0]; | |
| w76 = w89[1]; | |
| /* #442: @96 = (@96+@91) */ | |
| w96 += w91; | |
| /* #443: @20 = (2.*@20) */ | |
| w20 = (2.* w20 ); | |
| /* #444: @20 = (@20*@124) */ | |
| w20 *= w124; | |
| /* #445: @96 = (@96+@20) */ | |
| w96 += w20; | |
| /* #446: output[2][21] = @96 */ | |
| if (res[2]) res[2][21] = w96; | |
| /* #447: @24 = (2.*@24) */ | |
| w24 = (2.* w24 ); | |
| /* #448: @24 = (@24*@124) */ | |
| w24 *= w124; | |
| /* #449: @76 = (@76+@24) */ | |
| w76 += w24; | |
| /* #450: output[2][22] = @76 */ | |
| if (res[2]) res[2][22] = w76; | |
| /* #451: @97 = (@97+@94) */ | |
| w97 += w94; | |
| /* #452: @94 = (2.*@25) */ | |
| w94 = (2.* w25 ); | |
| /* #453: @94 = (@94*@124) */ | |
| w94 *= w124; | |
| /* #454: @97 = (@97+@94) */ | |
| w97 += w94; | |
| /* #455: output[2][23] = @97 */ | |
| if (res[2]) res[2][23] = w97; | |
| /* #456: @105 = zeros(2x1,0nz) */ | |
| /* #457: @106 = zeros(2x2,0nz) */ | |
| /* #458: @107 = zeros(2x5,0nz) */ | |
| /* #459: @108 = 0x1 */ | |
| /* #460: @109 = 0x1 */ | |
| /* #461: @110 = 0x4 */ | |
| /* #462: @111 = 0x1 */ | |
| /* #463: @112 = 0x1 */ | |
| /* #464: @89 = (-@98) */ | |
| for (i=0, rr=w89, cs=w98; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #465: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #466: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #467: @117 = 0x1 */ | |
| /* #468: @118 = 0x1 */ | |
| /* #469: @119 = 0x4 */ | |
| /* #470: @120 = 0x1 */ | |
| /* #471: @121 = 0x1 */ | |
| /* #472: {@92, @97, NULL, NULL, NULL, NULL} = adj1_F(@61, @28, @66, @67, @35, @68, @105, @106, @107, @108, @109, @110, @111, @112, @113, @89, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w89; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w92; | |
| res1[1]=(&w97); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #473: @92 = (@92+@95) */ | |
| for (i=0, rr=w92, cs=w95; i<2; ++i) (*rr++) += (*cs++); | |
| /* #474: {@94, @76} = vertsplit(@92) */ | |
| w94 = w92[0]; | |
| w76 = w92[1]; | |
| /* #475: @99 = (@99+@94) */ | |
| w99 += w94; | |
| /* #476: @23 = (2.*@23) */ | |
| w23 = (2.* w23 ); | |
| /* #477: @23 = (@23*@124) */ | |
| w23 *= w124; | |
| /* #478: @99 = (@99+@23) */ | |
| w99 += w23; | |
| /* #479: output[2][24] = @99 */ | |
| if (res[2]) res[2][24] = w99; | |
| /* #480: @27 = (2.*@27) */ | |
| w27 = (2.* w27 ); | |
| /* #481: @27 = (@27*@124) */ | |
| w27 *= w124; | |
| /* #482: @76 = (@76+@27) */ | |
| w76 += w27; | |
| /* #483: output[2][25] = @76 */ | |
| if (res[2]) res[2][25] = w76; | |
| /* #484: @100 = (@100+@97) */ | |
| w100 += w97; | |
| /* #485: @97 = (2.*@28) */ | |
| w97 = (2.* w28 ); | |
| /* #486: @97 = (@97*@124) */ | |
| w97 *= w124; | |
| /* #487: @100 = (@100+@97) */ | |
| w100 += w97; | |
| /* #488: output[2][26] = @100 */ | |
| if (res[2]) res[2][26] = w100; | |
| /* #489: @105 = zeros(2x1,0nz) */ | |
| /* #490: @106 = zeros(2x2,0nz) */ | |
| /* #491: @107 = zeros(2x5,0nz) */ | |
| /* #492: @108 = 0x1 */ | |
| /* #493: @109 = 0x1 */ | |
| /* #494: @110 = 0x4 */ | |
| /* #495: @111 = 0x1 */ | |
| /* #496: @112 = 0x1 */ | |
| /* #497: @92 = (-@101) */ | |
| for (i=0, rr=w92, cs=w101; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #498: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #499: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #500: @117 = 0x1 */ | |
| /* #501: @118 = 0x1 */ | |
| /* #502: @119 = 0x4 */ | |
| /* #503: @120 = 0x1 */ | |
| /* #504: @121 = 0x1 */ | |
| /* #505: {@95, @100, NULL, NULL, NULL, NULL} = adj1_F(@65, @31, @70, @71, @35, @72, @105, @106, @107, @108, @109, @110, @111, @112, @113, @92, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w92; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=w95; | |
| res1[1]=(&w100); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #506: @95 = (@95+@98) */ | |
| for (i=0, rr=w95, cs=w98; i<2; ++i) (*rr++) += (*cs++); | |
| /* #507: {@97, @76} = vertsplit(@95) */ | |
| w97 = w95[0]; | |
| w76 = w95[1]; | |
| /* #508: @102 = (@102+@97) */ | |
| w102 += w97; | |
| /* #509: @26 = (2.*@26) */ | |
| w26 = (2.* w26 ); | |
| /* #510: @26 = (@26*@124) */ | |
| w26 *= w124; | |
| /* #511: @102 = (@102+@26) */ | |
| w102 += w26; | |
| /* #512: output[2][27] = @102 */ | |
| if (res[2]) res[2][27] = w102; | |
| /* #513: @30 = (2.*@30) */ | |
| w30 = (2.* w30 ); | |
| /* #514: @30 = (@30*@124) */ | |
| w30 *= w124; | |
| /* #515: @76 = (@76+@30) */ | |
| w76 += w30; | |
| /* #516: output[2][28] = @76 */ | |
| if (res[2]) res[2][28] = w76; | |
| /* #517: @103 = (@103+@100) */ | |
| w103 += w100; | |
| /* #518: @100 = (2.*@31) */ | |
| w100 = (2.* w31 ); | |
| /* #519: @100 = (@100*@124) */ | |
| w100 *= w124; | |
| /* #520: @103 = (@103+@100) */ | |
| w103 += w100; | |
| /* #521: output[2][29] = @103 */ | |
| if (res[2]) res[2][29] = w103; | |
| /* #522: {@103, @100} = vertsplit(@101) */ | |
| w103 = w101[0]; | |
| w100 = w101[1]; | |
| /* #523: @104 = (@104+@103) */ | |
| w104 += w103; | |
| /* #524: @29 = (2.*@29) */ | |
| w29 = (2.* w29 ); | |
| /* #525: @29 = (@29*@124) */ | |
| w29 *= w124; | |
| /* #526: @104 = (@104+@29) */ | |
| w104 += w29; | |
| /* #527: output[2][30] = @104 */ | |
| if (res[2]) res[2][30] = w104; | |
| /* #528: output[2][31] = @100 */ | |
| if (res[2]) res[2][31] = w100; | |
| /* #529: @105 = zeros(2x1,0nz) */ | |
| /* #530: @106 = zeros(2x2,0nz) */ | |
| /* #531: @107 = zeros(2x5,0nz) */ | |
| /* #532: @108 = 0x1 */ | |
| /* #533: @109 = 0x1 */ | |
| /* #534: @110 = 0x4 */ | |
| /* #535: @111 = 0x1 */ | |
| /* #536: @112 = 0x1 */ | |
| /* #537: {@101, NULL, NULL, NULL, @95, NULL, NULL, @98, NULL, NULL, @92, NULL, NULL, @89, NULL, NULL, @86, NULL, NULL, @83, NULL, NULL, @80, NULL, NULL, @73, NULL, NULL, @69, NULL, NULL, NULL} = vertsplit(@74) */ | |
| casadi_copy(w74, 2, w101); | |
| casadi_copy(w74+5, 2, w95); | |
| casadi_copy(w74+9, 2, w98); | |
| casadi_copy(w74+13, 2, w92); | |
| casadi_copy(w74+17, 2, w89); | |
| casadi_copy(w74+21, 2, w86); | |
| casadi_copy(w74+25, 2, w83); | |
| casadi_copy(w74+29, 2, w80); | |
| casadi_copy(w74+33, 2, w73); | |
| casadi_copy(w74+37, 2, w69); | |
| /* #538: @69 = (-@69) */ | |
| for (i=0, rr=w69, cs=w69; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #539: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #540: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #541: @117 = 0x1 */ | |
| /* #542: @118 = 0x1 */ | |
| /* #543: @119 = 0x4 */ | |
| /* #544: @120 = 0x1 */ | |
| /* #545: @121 = 0x1 */ | |
| /* #546: {NULL, NULL, NULL, NULL, @100, NULL} = adj1_F(@65, @31, @70, @71, @35, @72, @105, @106, @107, @108, @109, @110, @111, @112, @113, @69, @115, @116, @117, @118, @119, @120, @121, @113) */ | |
| arg1[0]=w65; | |
| arg1[1]=(&w31); | |
| arg1[2]=(&w70); | |
| arg1[3]=(&w71); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w69; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w100); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #547: @72 = zeros(2x1,0nz) */ | |
| /* #548: @105 = zeros(2x2,0nz) */ | |
| /* #549: @106 = zeros(2x5,0nz) */ | |
| /* #550: @107 = 0x1 */ | |
| /* #551: @108 = 0x1 */ | |
| /* #552: @109 = 0x4 */ | |
| /* #553: @110 = 0x1 */ | |
| /* #554: @111 = 0x1 */ | |
| /* #555: @73 = (-@73) */ | |
| for (i=0, rr=w73, cs=w73; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #556: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #557: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #558: @112 = 0x1 */ | |
| /* #559: @117 = 0x1 */ | |
| /* #560: @118 = 0x4 */ | |
| /* #561: @119 = 0x1 */ | |
| /* #562: @120 = 0x1 */ | |
| /* #563: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@61, @28, @66, @67, @35, @68, @72, @105, @106, @107, @108, @109, @110, @111, @113, @73, @115, @116, @112, @117, @118, @119, @120, @113) */ | |
| arg1[0]=w61; | |
| arg1[1]=(&w28); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w67); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w73; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #564: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #565: @68 = zeros(2x1,0nz) */ | |
| /* #566: @72 = zeros(2x2,0nz) */ | |
| /* #567: @105 = zeros(2x5,0nz) */ | |
| /* #568: @106 = 0x1 */ | |
| /* #569: @107 = 0x1 */ | |
| /* #570: @108 = 0x4 */ | |
| /* #571: @109 = 0x1 */ | |
| /* #572: @110 = 0x1 */ | |
| /* #573: @80 = (-@80) */ | |
| for (i=0, rr=w80, cs=w80; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #574: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #575: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #576: @111 = 0x1 */ | |
| /* #577: @112 = 0x1 */ | |
| /* #578: @117 = 0x4 */ | |
| /* #579: @118 = 0x1 */ | |
| /* #580: @119 = 0x1 */ | |
| /* #581: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@57, @25, @62, @63, @35, @64, @68, @72, @105, @106, @107, @108, @109, @110, @113, @80, @115, @116, @111, @112, @117, @118, @119, @113) */ | |
| arg1[0]=w57; | |
| arg1[1]=(&w25); | |
| arg1[2]=(&w62); | |
| arg1[3]=(&w63); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w80; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #582: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #583: @64 = zeros(2x1,0nz) */ | |
| /* #584: @68 = zeros(2x2,0nz) */ | |
| /* #585: @72 = zeros(2x5,0nz) */ | |
| /* #586: @105 = 0x1 */ | |
| /* #587: @106 = 0x1 */ | |
| /* #588: @107 = 0x4 */ | |
| /* #589: @108 = 0x1 */ | |
| /* #590: @109 = 0x1 */ | |
| /* #591: @83 = (-@83) */ | |
| for (i=0, rr=w83, cs=w83; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #592: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #593: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #594: @110 = 0x1 */ | |
| /* #595: @111 = 0x1 */ | |
| /* #596: @112 = 0x4 */ | |
| /* #597: @117 = 0x1 */ | |
| /* #598: @118 = 0x1 */ | |
| /* #599: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@53, @22, @58, @59, @35, @60, @64, @68, @72, @105, @106, @107, @108, @109, @113, @83, @115, @116, @110, @111, @112, @117, @118, @113) */ | |
| arg1[0]=w53; | |
| arg1[1]=(&w22); | |
| arg1[2]=(&w58); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w83; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #600: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #601: @60 = zeros(2x1,0nz) */ | |
| /* #602: @64 = zeros(2x2,0nz) */ | |
| /* #603: @68 = zeros(2x5,0nz) */ | |
| /* #604: @72 = 0x1 */ | |
| /* #605: @105 = 0x1 */ | |
| /* #606: @106 = 0x4 */ | |
| /* #607: @107 = 0x1 */ | |
| /* #608: @108 = 0x1 */ | |
| /* #609: @86 = (-@86) */ | |
| for (i=0, rr=w86, cs=w86; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #610: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #611: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #612: @109 = 0x1 */ | |
| /* #613: @110 = 0x1 */ | |
| /* #614: @111 = 0x4 */ | |
| /* #615: @112 = 0x1 */ | |
| /* #616: @117 = 0x1 */ | |
| /* #617: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@49, @19, @54, @55, @35, @56, @60, @64, @68, @72, @105, @106, @107, @108, @113, @86, @115, @116, @109, @110, @111, @112, @117, @113) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w19); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w55); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w86; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #618: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #619: @56 = zeros(2x1,0nz) */ | |
| /* #620: @60 = zeros(2x2,0nz) */ | |
| /* #621: @64 = zeros(2x5,0nz) */ | |
| /* #622: @68 = 0x1 */ | |
| /* #623: @72 = 0x1 */ | |
| /* #624: @105 = 0x4 */ | |
| /* #625: @106 = 0x1 */ | |
| /* #626: @107 = 0x1 */ | |
| /* #627: @89 = (-@89) */ | |
| for (i=0, rr=w89, cs=w89; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #628: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #629: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #630: @108 = 0x1 */ | |
| /* #631: @109 = 0x1 */ | |
| /* #632: @110 = 0x4 */ | |
| /* #633: @111 = 0x1 */ | |
| /* #634: @112 = 0x1 */ | |
| /* #635: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@45, @16, @50, @51, @35, @52, @56, @60, @64, @68, @72, @105, @106, @107, @113, @89, @115, @116, @108, @109, @110, @111, @112, @113) */ | |
| arg1[0]=w45; | |
| arg1[1]=(&w16); | |
| arg1[2]=(&w50); | |
| arg1[3]=(&w51); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w89; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #636: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #637: @52 = zeros(2x1,0nz) */ | |
| /* #638: @56 = zeros(2x2,0nz) */ | |
| /* #639: @60 = zeros(2x5,0nz) */ | |
| /* #640: @64 = 0x1 */ | |
| /* #641: @68 = 0x1 */ | |
| /* #642: @72 = 0x4 */ | |
| /* #643: @105 = 0x1 */ | |
| /* #644: @106 = 0x1 */ | |
| /* #645: @92 = (-@92) */ | |
| for (i=0, rr=w92, cs=w92; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #646: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #647: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #648: @107 = 0x1 */ | |
| /* #649: @108 = 0x1 */ | |
| /* #650: @109 = 0x4 */ | |
| /* #651: @110 = 0x1 */ | |
| /* #652: @111 = 0x1 */ | |
| /* #653: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@41, @13, @46, @47, @35, @48, @52, @56, @60, @64, @68, @72, @105, @106, @113, @92, @115, @116, @107, @108, @109, @110, @111, @113) */ | |
| arg1[0]=w41; | |
| arg1[1]=(&w13); | |
| arg1[2]=(&w46); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w92; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #654: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #655: @48 = zeros(2x1,0nz) */ | |
| /* #656: @52 = zeros(2x2,0nz) */ | |
| /* #657: @56 = zeros(2x5,0nz) */ | |
| /* #658: @60 = 0x1 */ | |
| /* #659: @64 = 0x1 */ | |
| /* #660: @68 = 0x4 */ | |
| /* #661: @72 = 0x1 */ | |
| /* #662: @105 = 0x1 */ | |
| /* #663: @98 = (-@98) */ | |
| for (i=0, rr=w98, cs=w98; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #664: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #665: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #666: @106 = 0x1 */ | |
| /* #667: @107 = 0x1 */ | |
| /* #668: @108 = 0x4 */ | |
| /* #669: @109 = 0x1 */ | |
| /* #670: @110 = 0x1 */ | |
| /* #671: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@37, @10, @42, @43, @35, @44, @48, @52, @56, @60, @64, @68, @72, @105, @113, @98, @115, @116, @106, @107, @108, @109, @110, @113) */ | |
| arg1[0]=w37; | |
| arg1[1]=(&w10); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w43); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w98; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #672: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #673: @44 = zeros(2x1,0nz) */ | |
| /* #674: @48 = zeros(2x2,0nz) */ | |
| /* #675: @52 = zeros(2x5,0nz) */ | |
| /* #676: @56 = 0x1 */ | |
| /* #677: @60 = 0x1 */ | |
| /* #678: @64 = 0x4 */ | |
| /* #679: @68 = 0x1 */ | |
| /* #680: @72 = 0x1 */ | |
| /* #681: @95 = (-@95) */ | |
| for (i=0, rr=w95, cs=w95; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #682: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #683: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #684: @105 = 0x1 */ | |
| /* #685: @106 = 0x1 */ | |
| /* #686: @107 = 0x4 */ | |
| /* #687: @108 = 0x1 */ | |
| /* #688: @109 = 0x1 */ | |
| /* #689: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@33, @7, @38, @39, @35, @40, @44, @48, @52, @56, @60, @64, @68, @72, @113, @95, @115, @116, @105, @106, @107, @108, @109, @113) */ | |
| arg1[0]=w33; | |
| arg1[1]=(&w7); | |
| arg1[2]=(&w38); | |
| arg1[3]=(&w39); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w95; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #690: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #691: @40 = zeros(2x1,0nz) */ | |
| /* #692: @44 = zeros(2x2,0nz) */ | |
| /* #693: @48 = zeros(2x5,0nz) */ | |
| /* #694: @52 = 0x1 */ | |
| /* #695: @56 = 0x1 */ | |
| /* #696: @60 = 0x4 */ | |
| /* #697: @64 = 0x1 */ | |
| /* #698: @68 = 0x1 */ | |
| /* #699: @101 = (-@101) */ | |
| for (i=0, rr=w101, cs=w101; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #700: @115 = zeros(2x2) */ | |
| casadi_clear(w115, 4); | |
| /* #701: @116 = zeros(2x5) */ | |
| casadi_clear(w116, 10); | |
| /* #702: @72 = 0x1 */ | |
| /* #703: @105 = 0x1 */ | |
| /* #704: @106 = 0x4 */ | |
| /* #705: @107 = 0x1 */ | |
| /* #706: @108 = 0x1 */ | |
| /* #707: {NULL, NULL, NULL, NULL, @31, NULL} = adj1_F(@34, @3, @1, @32, @35, @36, @40, @44, @48, @52, @56, @60, @64, @68, @113, @101, @115, @116, @72, @105, @106, @107, @108, @113) */ | |
| arg1[0]=w34; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w32); | |
| arg1[4]=(&w35); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w101; | |
| arg1[16]=w115; | |
| arg1[17]=w116; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| res1[0]=0; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=(&w31); | |
| res1[5]=0; | |
| if (casadi_f6(arg1, res1, iw, w, 0)) return 1; | |
| /* #708: @100 = (@100+@31) */ | |
| w100 += w31; | |
| /* #709: output[3][0] = @100 */ | |
| if (res[3]) res[3][0] = w100; | |
| return 0; | |
| } | |
| /* nlp_f:(x[32],p)->(f) */ | |
| static int casadi_f9(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0, w1, w2; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @0 = sq(@0) */ | |
| w0 = casadi_sq( w0 ); | |
| /* #2: @1 = input[0][1] */ | |
| w1 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #4: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #5: @1 = input[0][2] */ | |
| w1 = arg[0] ? arg[0][2] : 0; | |
| /* #6: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #7: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #8: @1 = input[0][3] */ | |
| w1 = arg[0] ? arg[0][3] : 0; | |
| /* #9: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #10: @2 = input[0][4] */ | |
| w2 = arg[0] ? arg[0][4] : 0; | |
| /* #11: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #12: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #13: @2 = input[0][5] */ | |
| w2 = arg[0] ? arg[0][5] : 0; | |
| /* #14: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #15: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #16: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #17: @1 = input[0][6] */ | |
| w1 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #19: @2 = input[0][7] */ | |
| w2 = arg[0] ? arg[0][7] : 0; | |
| /* #20: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #21: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #22: @2 = input[0][8] */ | |
| w2 = arg[0] ? arg[0][8] : 0; | |
| /* #23: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #24: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #25: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #26: @1 = input[0][9] */ | |
| w1 = arg[0] ? arg[0][9] : 0; | |
| /* #27: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #28: @2 = input[0][10] */ | |
| w2 = arg[0] ? arg[0][10] : 0; | |
| /* #29: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #30: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #31: @2 = input[0][11] */ | |
| w2 = arg[0] ? arg[0][11] : 0; | |
| /* #32: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #33: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #34: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #35: @1 = input[0][12] */ | |
| w1 = arg[0] ? arg[0][12] : 0; | |
| /* #36: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #37: @2 = input[0][13] */ | |
| w2 = arg[0] ? arg[0][13] : 0; | |
| /* #38: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #39: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #40: @2 = input[0][14] */ | |
| w2 = arg[0] ? arg[0][14] : 0; | |
| /* #41: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #42: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #43: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #44: @1 = input[0][15] */ | |
| w1 = arg[0] ? arg[0][15] : 0; | |
| /* #45: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #46: @2 = input[0][16] */ | |
| w2 = arg[0] ? arg[0][16] : 0; | |
| /* #47: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #48: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #49: @2 = input[0][17] */ | |
| w2 = arg[0] ? arg[0][17] : 0; | |
| /* #50: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #51: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #52: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #53: @1 = input[0][18] */ | |
| w1 = arg[0] ? arg[0][18] : 0; | |
| /* #54: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #55: @2 = input[0][19] */ | |
| w2 = arg[0] ? arg[0][19] : 0; | |
| /* #56: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #57: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #58: @2 = input[0][20] */ | |
| w2 = arg[0] ? arg[0][20] : 0; | |
| /* #59: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #60: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #61: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #62: @1 = input[0][21] */ | |
| w1 = arg[0] ? arg[0][21] : 0; | |
| /* #63: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #64: @2 = input[0][22] */ | |
| w2 = arg[0] ? arg[0][22] : 0; | |
| /* #65: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #66: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #67: @2 = input[0][23] */ | |
| w2 = arg[0] ? arg[0][23] : 0; | |
| /* #68: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #69: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #70: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #71: @1 = input[0][24] */ | |
| w1 = arg[0] ? arg[0][24] : 0; | |
| /* #72: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #73: @2 = input[0][25] */ | |
| w2 = arg[0] ? arg[0][25] : 0; | |
| /* #74: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #75: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #76: @2 = input[0][26] */ | |
| w2 = arg[0] ? arg[0][26] : 0; | |
| /* #77: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #78: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #79: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #80: @1 = input[0][27] */ | |
| w1 = arg[0] ? arg[0][27] : 0; | |
| /* #81: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #82: @2 = input[0][28] */ | |
| w2 = arg[0] ? arg[0][28] : 0; | |
| /* #83: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #84: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #85: @2 = input[0][29] */ | |
| w2 = arg[0] ? arg[0][29] : 0; | |
| /* #86: @2 = sq(@2) */ | |
| w2 = casadi_sq( w2 ); | |
| /* #87: @1 = (@1+@2) */ | |
| w1 += w2; | |
| /* #88: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #89: @1 = input[0][30] */ | |
| w1 = arg[0] ? arg[0][30] : 0; | |
| /* #90: @1 = sq(@1) */ | |
| w1 = casadi_sq( w1 ); | |
| /* #91: @0 = (@0+@1) */ | |
| w0 += w1; | |
| /* #92: output[0][0] = @0 */ | |
| if (res[0]) res[0][0] = w0; | |
| return 0; | |
| } | |
| /* nlp_grad_f:(x[32],p)->(grad_f_x[32]) */ | |
| static int casadi_f10(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *rr; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, *w32=w+31, *w33=w+62; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: @0 = (2.*@0) */ | |
| w0 = (2.* w0 ); | |
| /* #2: @1 = input[0][1] */ | |
| w1 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @1 = (2.*@1) */ | |
| w1 = (2.* w1 ); | |
| /* #4: @2 = input[0][2] */ | |
| w2 = arg[0] ? arg[0][2] : 0; | |
| /* #5: @2 = (2.*@2) */ | |
| w2 = (2.* w2 ); | |
| /* #6: @3 = input[0][3] */ | |
| w3 = arg[0] ? arg[0][3] : 0; | |
| /* #7: @3 = (2.*@3) */ | |
| w3 = (2.* w3 ); | |
| /* #8: @4 = input[0][4] */ | |
| w4 = arg[0] ? arg[0][4] : 0; | |
| /* #9: @4 = (2.*@4) */ | |
| w4 = (2.* w4 ); | |
| /* #10: @5 = input[0][5] */ | |
| w5 = arg[0] ? arg[0][5] : 0; | |
| /* #11: @5 = (2.*@5) */ | |
| w5 = (2.* w5 ); | |
| /* #12: @6 = input[0][6] */ | |
| w6 = arg[0] ? arg[0][6] : 0; | |
| /* #13: @6 = (2.*@6) */ | |
| w6 = (2.* w6 ); | |
| /* #14: @7 = input[0][7] */ | |
| w7 = arg[0] ? arg[0][7] : 0; | |
| /* #15: @7 = (2.*@7) */ | |
| w7 = (2.* w7 ); | |
| /* #16: @8 = input[0][8] */ | |
| w8 = arg[0] ? arg[0][8] : 0; | |
| /* #17: @8 = (2.*@8) */ | |
| w8 = (2.* w8 ); | |
| /* #18: @9 = input[0][9] */ | |
| w9 = arg[0] ? arg[0][9] : 0; | |
| /* #19: @9 = (2.*@9) */ | |
| w9 = (2.* w9 ); | |
| /* #20: @10 = input[0][10] */ | |
| w10 = arg[0] ? arg[0][10] : 0; | |
| /* #21: @10 = (2.*@10) */ | |
| w10 = (2.* w10 ); | |
| /* #22: @11 = input[0][11] */ | |
| w11 = arg[0] ? arg[0][11] : 0; | |
| /* #23: @11 = (2.*@11) */ | |
| w11 = (2.* w11 ); | |
| /* #24: @12 = input[0][12] */ | |
| w12 = arg[0] ? arg[0][12] : 0; | |
| /* #25: @12 = (2.*@12) */ | |
| w12 = (2.* w12 ); | |
| /* #26: @13 = input[0][13] */ | |
| w13 = arg[0] ? arg[0][13] : 0; | |
| /* #27: @13 = (2.*@13) */ | |
| w13 = (2.* w13 ); | |
| /* #28: @14 = input[0][14] */ | |
| w14 = arg[0] ? arg[0][14] : 0; | |
| /* #29: @14 = (2.*@14) */ | |
| w14 = (2.* w14 ); | |
| /* #30: @15 = input[0][15] */ | |
| w15 = arg[0] ? arg[0][15] : 0; | |
| /* #31: @15 = (2.*@15) */ | |
| w15 = (2.* w15 ); | |
| /* #32: @16 = input[0][16] */ | |
| w16 = arg[0] ? arg[0][16] : 0; | |
| /* #33: @16 = (2.*@16) */ | |
| w16 = (2.* w16 ); | |
| /* #34: @17 = input[0][17] */ | |
| w17 = arg[0] ? arg[0][17] : 0; | |
| /* #35: @17 = (2.*@17) */ | |
| w17 = (2.* w17 ); | |
| /* #36: @18 = input[0][18] */ | |
| w18 = arg[0] ? arg[0][18] : 0; | |
| /* #37: @18 = (2.*@18) */ | |
| w18 = (2.* w18 ); | |
| /* #38: @19 = input[0][19] */ | |
| w19 = arg[0] ? arg[0][19] : 0; | |
| /* #39: @19 = (2.*@19) */ | |
| w19 = (2.* w19 ); | |
| /* #40: @20 = input[0][20] */ | |
| w20 = arg[0] ? arg[0][20] : 0; | |
| /* #41: @20 = (2.*@20) */ | |
| w20 = (2.* w20 ); | |
| /* #42: @21 = input[0][21] */ | |
| w21 = arg[0] ? arg[0][21] : 0; | |
| /* #43: @21 = (2.*@21) */ | |
| w21 = (2.* w21 ); | |
| /* #44: @22 = input[0][22] */ | |
| w22 = arg[0] ? arg[0][22] : 0; | |
| /* #45: @22 = (2.*@22) */ | |
| w22 = (2.* w22 ); | |
| /* #46: @23 = input[0][23] */ | |
| w23 = arg[0] ? arg[0][23] : 0; | |
| /* #47: @23 = (2.*@23) */ | |
| w23 = (2.* w23 ); | |
| /* #48: @24 = input[0][24] */ | |
| w24 = arg[0] ? arg[0][24] : 0; | |
| /* #49: @24 = (2.*@24) */ | |
| w24 = (2.* w24 ); | |
| /* #50: @25 = input[0][25] */ | |
| w25 = arg[0] ? arg[0][25] : 0; | |
| /* #51: @25 = (2.*@25) */ | |
| w25 = (2.* w25 ); | |
| /* #52: @26 = input[0][26] */ | |
| w26 = arg[0] ? arg[0][26] : 0; | |
| /* #53: @26 = (2.*@26) */ | |
| w26 = (2.* w26 ); | |
| /* #54: @27 = input[0][27] */ | |
| w27 = arg[0] ? arg[0][27] : 0; | |
| /* #55: @27 = (2.*@27) */ | |
| w27 = (2.* w27 ); | |
| /* #56: @28 = input[0][28] */ | |
| w28 = arg[0] ? arg[0][28] : 0; | |
| /* #57: @28 = (2.*@28) */ | |
| w28 = (2.* w28 ); | |
| /* #58: @29 = input[0][29] */ | |
| w29 = arg[0] ? arg[0][29] : 0; | |
| /* #59: @29 = (2.*@29) */ | |
| w29 = (2.* w29 ); | |
| /* #60: @30 = input[0][30] */ | |
| w30 = arg[0] ? arg[0][30] : 0; | |
| /* #61: @30 = (2.*@30) */ | |
| w30 = (2.* w30 ); | |
| /* #62: @31 = 00 */ | |
| /* #63: @32 = vertcat(@0, @1, @2, @3, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @16, @17, @18, @19, @20, @21, @22, @23, @24, @25, @26, @27, @28, @29, @30, @31) */ | |
| rr=w32; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| *rr++ = w23; | |
| *rr++ = w24; | |
| *rr++ = w25; | |
| *rr++ = w26; | |
| *rr++ = w27; | |
| *rr++ = w28; | |
| *rr++ = w29; | |
| *rr++ = w30; | |
| /* #64: @33 = dense(@32) */ | |
| casadi_densify(w32, casadi_s0, w33, 0); | |
| /* #65: output[0][0] = @33 */ | |
| casadi_copy(w33, 32, res[0]); | |
| return 0; | |
| } | |
| /* nlp_g:(x[32],p)->(g[42]) */ | |
| static int casadi_f11(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr; | |
| const casadi_real **arg1=arg+2, *cr, *cs; | |
| casadi_real w0, w1, *w2=w+42, w3, *w4=w+45, w5, w6, w7, w8, *w10=w+51; | |
| /* #0: @0 = input[0][3] */ | |
| w0 = arg[0] ? arg[0][3] : 0; | |
| /* #1: @1 = input[0][4] */ | |
| w1 = arg[0] ? arg[0][4] : 0; | |
| /* #2: @2 = vertcat(@0, @1) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| /* #3: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #4: @3 = input[0][1] */ | |
| w3 = arg[0] ? arg[0][1] : 0; | |
| /* #5: @4 = vertcat(@1, @3) */ | |
| rr=w4; | |
| *rr++ = w1; | |
| *rr++ = w3; | |
| /* #6: @5 = input[0][2] */ | |
| w5 = arg[0] ? arg[0][2] : 0; | |
| /* #7: @6 = 1 */ | |
| w6 = 1.; | |
| /* #8: @7 = 0 */ | |
| w7 = 0.; | |
| /* #9: @8 = input[1][0] */ | |
| w8 = arg[1] ? arg[1][0] : 0; | |
| /* #10: @9 = 0x1 */ | |
| /* #11: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @6, @7, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w6); | |
| arg1[3]=(&w7); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #12: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #13: output[0][0] = @10 */ | |
| casadi_copy(w10, 2, res[0]); | |
| /* #14: output[0][1] = @1 */ | |
| if (res[0]) res[0][2] = w1; | |
| /* #15: output[0][2] = @3 */ | |
| if (res[0]) res[0][3] = w3; | |
| /* #16: output[0][3] = @5 */ | |
| if (res[0]) res[0][4] = w5; | |
| /* #17: @5 = input[0][6] */ | |
| w5 = arg[0] ? arg[0][6] : 0; | |
| /* #18: @3 = input[0][7] */ | |
| w3 = arg[0] ? arg[0][7] : 0; | |
| /* #19: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #20: @3 = input[0][5] */ | |
| w3 = arg[0] ? arg[0][5] : 0; | |
| /* #21: @1 = 1 */ | |
| w1 = 1.; | |
| /* #22: @6 = 1 */ | |
| w6 = 1.; | |
| /* #23: @9 = 0x1 */ | |
| /* #24: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #26: output[0][4] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+5); | |
| /* #27: output[0][5] = @0 */ | |
| if (res[0]) res[0][7] = w0; | |
| /* #28: output[0][6] = @3 */ | |
| if (res[0]) res[0][8] = w3; | |
| /* #29: @3 = input[0][9] */ | |
| w3 = arg[0] ? arg[0][9] : 0; | |
| /* #30: @0 = input[0][10] */ | |
| w0 = arg[0] ? arg[0][10] : 0; | |
| /* #31: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #32: @0 = input[0][8] */ | |
| w0 = arg[0] ? arg[0][8] : 0; | |
| /* #33: @1 = 1 */ | |
| w1 = 1.; | |
| /* #34: @6 = 2 */ | |
| w6 = 2.; | |
| /* #35: @9 = 0x1 */ | |
| /* #36: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #37: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #38: output[0][7] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+9); | |
| /* #39: output[0][8] = @5 */ | |
| if (res[0]) res[0][11] = w5; | |
| /* #40: output[0][9] = @0 */ | |
| if (res[0]) res[0][12] = w0; | |
| /* #41: @0 = input[0][12] */ | |
| w0 = arg[0] ? arg[0][12] : 0; | |
| /* #42: @5 = input[0][13] */ | |
| w5 = arg[0] ? arg[0][13] : 0; | |
| /* #43: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #44: @5 = input[0][11] */ | |
| w5 = arg[0] ? arg[0][11] : 0; | |
| /* #45: @1 = 1 */ | |
| w1 = 1.; | |
| /* #46: @6 = 3 */ | |
| w6 = 3.; | |
| /* #47: @9 = 0x1 */ | |
| /* #48: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #49: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #50: output[0][10] = @10 */ | |
| if (res[0]) casadi_copy(w10, 2, res[0]+13); | |
| /* #51: output[0][11] = @3 */ | |
| if (res[0]) res[0][15] = w3; | |
| /* #52: output[0][12] = @5 */ | |
| if (res[0]) res[0][16] = w5; | |
| /* #53: @5 = input[0][15] */ | |
| w5 = arg[0] ? arg[0][15] : 0; | |
| /* #54: @3 = input[0][16] */ | |
| w3 = arg[0] ? arg[0][16] : 0; | |
| /* #55: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #56: @3 = input[0][14] */ | |
| w3 = arg[0] ? arg[0][14] : 0; | |
| /* #57: @1 = 1 */ | |
| w1 = 1.; | |
| /* #58: @6 = 4 */ | |
| w6 = 4.; | |
| /* #59: @9 = 0x1 */ | |
| /* #60: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #61: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #62: output[0][13] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+17); | |
| /* #63: output[0][14] = @0 */ | |
| if (res[0]) res[0][19] = w0; | |
| /* #64: output[0][15] = @3 */ | |
| if (res[0]) res[0][20] = w3; | |
| /* #65: @3 = input[0][18] */ | |
| w3 = arg[0] ? arg[0][18] : 0; | |
| /* #66: @0 = input[0][19] */ | |
| w0 = arg[0] ? arg[0][19] : 0; | |
| /* #67: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #68: @0 = input[0][17] */ | |
| w0 = arg[0] ? arg[0][17] : 0; | |
| /* #69: @1 = 1 */ | |
| w1 = 1.; | |
| /* #70: @6 = 5 */ | |
| w6 = 5.; | |
| /* #71: @9 = 0x1 */ | |
| /* #72: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #73: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #74: output[0][16] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+21); | |
| /* #75: output[0][17] = @5 */ | |
| if (res[0]) res[0][23] = w5; | |
| /* #76: output[0][18] = @0 */ | |
| if (res[0]) res[0][24] = w0; | |
| /* #77: @0 = input[0][21] */ | |
| w0 = arg[0] ? arg[0][21] : 0; | |
| /* #78: @5 = input[0][22] */ | |
| w5 = arg[0] ? arg[0][22] : 0; | |
| /* #79: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #80: @5 = input[0][20] */ | |
| w5 = arg[0] ? arg[0][20] : 0; | |
| /* #81: @1 = 1 */ | |
| w1 = 1.; | |
| /* #82: @6 = 6 */ | |
| w6 = 6.; | |
| /* #83: @9 = 0x1 */ | |
| /* #84: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #85: @10 = (@2-@10) */ | |
| for (i=0, rr=w10, cr=w2, cs=w10; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #86: output[0][19] = @10 */ | |
| if (res[0]) casadi_copy(w10, 2, res[0]+25); | |
| /* #87: output[0][20] = @3 */ | |
| if (res[0]) res[0][27] = w3; | |
| /* #88: output[0][21] = @5 */ | |
| if (res[0]) res[0][28] = w5; | |
| /* #89: @5 = input[0][24] */ | |
| w5 = arg[0] ? arg[0][24] : 0; | |
| /* #90: @3 = input[0][25] */ | |
| w3 = arg[0] ? arg[0][25] : 0; | |
| /* #91: @10 = vertcat(@5, @3) */ | |
| rr=w10; | |
| *rr++ = w5; | |
| *rr++ = w3; | |
| /* #92: @3 = input[0][23] */ | |
| w3 = arg[0] ? arg[0][23] : 0; | |
| /* #93: @1 = 1 */ | |
| w1 = 1.; | |
| /* #94: @6 = 7 */ | |
| w6 = 7.; | |
| /* #95: @9 = 0x1 */ | |
| /* #96: {@4, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@2, @3, @1, @6, @8, @9) */ | |
| arg1[0]=w2; | |
| arg1[1]=(&w3); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w4; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #97: @4 = (@10-@4) */ | |
| for (i=0, rr=w4, cr=w10, cs=w4; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #98: output[0][22] = @4 */ | |
| if (res[0]) casadi_copy(w4, 2, res[0]+29); | |
| /* #99: output[0][23] = @0 */ | |
| if (res[0]) res[0][31] = w0; | |
| /* #100: output[0][24] = @3 */ | |
| if (res[0]) res[0][32] = w3; | |
| /* #101: @3 = input[0][27] */ | |
| w3 = arg[0] ? arg[0][27] : 0; | |
| /* #102: @0 = input[0][28] */ | |
| w0 = arg[0] ? arg[0][28] : 0; | |
| /* #103: @4 = vertcat(@3, @0) */ | |
| rr=w4; | |
| *rr++ = w3; | |
| *rr++ = w0; | |
| /* #104: @0 = input[0][26] */ | |
| w0 = arg[0] ? arg[0][26] : 0; | |
| /* #105: @1 = 1 */ | |
| w1 = 1.; | |
| /* #106: @6 = 8 */ | |
| w6 = 8.; | |
| /* #107: @9 = 0x1 */ | |
| /* #108: {@2, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@10, @0, @1, @6, @8, @9) */ | |
| arg1[0]=w10; | |
| arg1[1]=(&w0); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w2; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #109: @2 = (@4-@2) */ | |
| for (i=0, rr=w2, cr=w4, cs=w2; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #110: output[0][25] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+33); | |
| /* #111: output[0][26] = @5 */ | |
| if (res[0]) res[0][35] = w5; | |
| /* #112: output[0][27] = @0 */ | |
| if (res[0]) res[0][36] = w0; | |
| /* #113: @0 = input[0][30] */ | |
| w0 = arg[0] ? arg[0][30] : 0; | |
| /* #114: @5 = input[0][31] */ | |
| w5 = arg[0] ? arg[0][31] : 0; | |
| /* #115: @2 = vertcat(@0, @5) */ | |
| rr=w2; | |
| *rr++ = w0; | |
| *rr++ = w5; | |
| /* #116: @5 = input[0][29] */ | |
| w5 = arg[0] ? arg[0][29] : 0; | |
| /* #117: @1 = 1 */ | |
| w1 = 1.; | |
| /* #118: @6 = 9 */ | |
| w6 = 9.; | |
| /* #119: @9 = 0x1 */ | |
| /* #120: {@10, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = F(@4, @5, @1, @6, @8, @9) */ | |
| arg1[0]=w4; | |
| arg1[1]=(&w5); | |
| arg1[2]=(&w1); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w8); | |
| arg1[5]=0; | |
| res1[0]=w10; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f3(arg1, res1, iw, w, 0)) return 1; | |
| /* #121: @2 = (@2-@10) */ | |
| for (i=0, rr=w2, cs=w10; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #122: output[0][28] = @2 */ | |
| if (res[0]) casadi_copy(w2, 2, res[0]+37); | |
| /* #123: output[0][29] = @3 */ | |
| if (res[0]) res[0][39] = w3; | |
| /* #124: output[0][30] = @5 */ | |
| if (res[0]) res[0][40] = w5; | |
| /* #125: output[0][31] = @0 */ | |
| if (res[0]) res[0][41] = w0; | |
| return 0; | |
| } | |
| /* fwd3_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],fwd_x[2x3],fwd_u[1x3],fwd_z[0x3],fwd_p[1x3],fwd_t[1x3,0nz])->(fwd_ode[2x3],fwd_alg[0x3],fwd_quad[0x3]) */ | |
| static int casadi_f15(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2, w3; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #3: @3 = input[9][0] */ | |
| w3 = arg[9] ? arg[9][0] : 0; | |
| /* #4: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #5: @3 = input[11][0] */ | |
| w3 = arg[11] ? arg[11][0] : 0; | |
| /* #6: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #7: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #8: output[0][1] = @1 */ | |
| if (res[0]) res[0][1] = w1; | |
| /* #9: @0 = input[8][1] */ | |
| casadi_copy(arg[8] ? arg[8]+2 : 0, 2, w0); | |
| /* #10: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #11: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #12: @3 = input[9][1] */ | |
| w3 = arg[9] ? arg[9][1] : 0; | |
| /* #13: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #14: @3 = input[11][1] */ | |
| w3 = arg[11] ? arg[11][1] : 0; | |
| /* #15: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #16: output[0][2] = @2 */ | |
| if (res[0]) res[0][2] = w2; | |
| /* #17: output[0][3] = @1 */ | |
| if (res[0]) res[0][3] = w1; | |
| /* #18: @0 = input[8][2] */ | |
| casadi_copy(arg[8] ? arg[8]+4 : 0, 2, w0); | |
| /* #19: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #20: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #21: @3 = input[9][2] */ | |
| w3 = arg[9] ? arg[9][2] : 0; | |
| /* #22: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #23: @3 = input[11][2] */ | |
| w3 = arg[11] ? arg[11][2] : 0; | |
| /* #24: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #25: output[0][4] = @2 */ | |
| if (res[0]) res[0][4] = w2; | |
| /* #26: output[0][5] = @1 */ | |
| if (res[0]) res[0][5] = w1; | |
| return 0; | |
| } | |
| /* fwd3_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],fwd_x0[2x3],fwd_u[1x3],fwd_t0[1x3],fwd_DT[1x3],fwd_DT_control[1x3],fwd_p[1x3],fwd_z0[0x3])->(fwd_xf[2x3],fwd_poly_coeff[2x15],fwd_qf[0x3],fwd_poly_coeff_q[0x12],fwd_zf[0x3],fwd_poly_coeff_z[]) */ | |
| static int casadi_f14(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+20, *cr, *cs; | |
| casadi_real *w0=w+5, *w1=w+7, w2, w4, *w6=w+11, w7, w8, *w9=w+15, *w12=w+17, *w13=w+19, w14, *w15=w+22, *w18=w+24, *w19=w+26, *w22=w+28, w23, w24, w25, *w26=w+33, *w30=w+35, *w31=w+37, *w32=w+39, w33, w34, w35, *w36=w+48, w38, w39, w40, *w41=w+54, *w43=w+57, *w44=w+63, *w45=w+65, w46, w47, *w48=w+69, *w49=w+71, w50, *w51=w+74, *w52=w+76, *w53=w+78, *w54=w+80, *w55=w+82, *w56=w+84, *w57=w+86; | |
| /* #0: @0 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w0); | |
| /* #1: @1 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w1); | |
| /* #2: @2 = input[1][0] */ | |
| w2 = arg[1] ? arg[1][0] : 0; | |
| /* #3: @3 = 0x1 */ | |
| /* #4: @4 = input[5][0] */ | |
| w4 = arg[5] ? arg[5][0] : 0; | |
| /* #5: @5 = 00 */ | |
| /* #6: {@6, NULL, NULL} = ode(@1, @2, @3, @4, @5) */ | |
| arg1[0]=w1; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w6; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #7: @7 = input[3][0] */ | |
| w7 = arg[3] ? arg[3][0] : 0; | |
| /* #8: @8 = 2 */ | |
| w8 = 2.; | |
| /* #9: @8 = (@7/@8) */ | |
| w8 = (w7/w8); | |
| /* #10: @9 = (@8*@6) */ | |
| for (i=0, rr=w9, cs=w6; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #11: @9 = (@1+@9) */ | |
| for (i=0, rr=w9, cr=w1, cs=w9; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #12: @10 = 0x1 */ | |
| /* #13: @11 = 00 */ | |
| /* #14: {@12, NULL, NULL} = ode(@9, @2, @10, @4, @11) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w12; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @13 = (2.*@12) */ | |
| for (i=0, rr=w13, cs=w12; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #16: @13 = (@6+@13) */ | |
| for (i=0, rr=w13, cr=w6, cs=w13; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @14 = 2 */ | |
| w14 = 2.; | |
| /* #18: @14 = (@7/@14) */ | |
| w14 = (w7/w14); | |
| /* #19: @15 = (@14*@12) */ | |
| for (i=0, rr=w15, cs=w12; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #20: @15 = (@1+@15) */ | |
| for (i=0, rr=w15, cr=w1, cs=w15; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #21: @16 = 0x1 */ | |
| /* #22: @17 = 00 */ | |
| /* #23: {@18, NULL, NULL} = ode(@15, @2, @16, @4, @17) */ | |
| arg1[0]=w15; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w18; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #24: @19 = (2.*@18) */ | |
| for (i=0, rr=w19, cs=w18; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #25: @13 = (@13+@19) */ | |
| for (i=0, rr=w13, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #26: @19 = (@7*@18) */ | |
| for (i=0, rr=w19, cs=w18; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #27: @19 = (@1+@19) */ | |
| for (i=0, rr=w19, cr=w1, cs=w19; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #28: @20 = 0x1 */ | |
| /* #29: @21 = 00 */ | |
| /* #30: {@22, NULL, NULL} = ode(@19, @2, @20, @4, @21) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| res1[0]=w22; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #31: @13 = (@13+@22) */ | |
| for (i=0, rr=w13, cs=w22; i<2; ++i) (*rr++) += (*cs++); | |
| /* #32: @23 = 0.166667 */ | |
| w23 = 1.6666666666666666e-01; | |
| /* #33: @24 = input[16][0] */ | |
| w24 = arg[16] ? arg[16][0] : 0; | |
| /* #34: @25 = (@23*@24) */ | |
| w25 = (w23*w24); | |
| /* #35: @26 = (@13*@25) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w25); | |
| /* #36: @25 = 6 */ | |
| w25 = 6.; | |
| /* #37: @25 = (@7/@25) */ | |
| w25 = (w7/w25); | |
| /* #38: @27 = zeros(2x1,0nz) */ | |
| /* #39: @28 = 0x1 */ | |
| /* #40: @29 = 0x1 */ | |
| /* #41: @30 = input[13][1] */ | |
| casadi_copy(arg[13] ? arg[13]+2 : 0, 2, w30); | |
| /* #42: @31 = input[13][2] */ | |
| casadi_copy(arg[13] ? arg[13]+4 : 0, 2, w31); | |
| /* #43: @32 = horzcat(@0, @30, @31) */ | |
| rr=w32; | |
| for (i=0, cs=w0; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w30; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w31; i<2; ++i) *rr++ = *cs++; | |
| /* #44: @33 = input[14][0] */ | |
| w33 = arg[14] ? arg[14][0] : 0; | |
| /* #45: @34 = input[14][1] */ | |
| w34 = arg[14] ? arg[14][1] : 0; | |
| /* #46: @35 = input[14][2] */ | |
| w35 = arg[14] ? arg[14][2] : 0; | |
| /* #47: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #48: @37 = 0x3 */ | |
| /* #49: @38 = input[18][0] */ | |
| w38 = arg[18] ? arg[18][0] : 0; | |
| /* #50: @39 = input[18][1] */ | |
| w39 = arg[18] ? arg[18][1] : 0; | |
| /* #51: @40 = input[18][2] */ | |
| w40 = arg[18] ? arg[18][2] : 0; | |
| /* #52: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #53: @42 = zeros(1x3,0nz) */ | |
| /* #54: {@43, NULL, NULL} = fwd3_ode(@1, @2, @3, @4, @5, @27, @28, @29, @32, @36, @37, @41, @42) */ | |
| arg1[0]=w1; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w32; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #55: {@1, @44, @45} = horzsplit(@43) */ | |
| casadi_copy(w43, 2, w1); | |
| casadi_copy(w43+2, 2, w44); | |
| casadi_copy(w43+4, 2, w45); | |
| /* #56: @3 = zeros(2x1,0nz) */ | |
| /* #57: @5 = 0x1 */ | |
| /* #58: @27 = 0x1 */ | |
| /* #59: @46 = 0.5 */ | |
| w46 = 5.0000000000000000e-01; | |
| /* #60: @47 = (@46*@24) */ | |
| w47 = (w46*w24); | |
| /* #61: @48 = (@6*@47) */ | |
| for (i=0, rr=w48, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #62: @49 = (@8*@1) */ | |
| for (i=0, rr=w49, cs=w1; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #63: @48 = (@48+@49) */ | |
| for (i=0, rr=w48, cs=w49; i<2; ++i) (*rr++) += (*cs++); | |
| /* #64: @48 = (@0+@48) */ | |
| for (i=0, rr=w48, cr=w0, cs=w48; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #65: @47 = input[16][1] */ | |
| w47 = arg[16] ? arg[16][1] : 0; | |
| /* #66: @50 = (@46*@47) */ | |
| w50 = (w46*w47); | |
| /* #67: @49 = (@6*@50) */ | |
| for (i=0, rr=w49, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w50); | |
| /* #68: @51 = (@8*@44) */ | |
| for (i=0, rr=w51, cs=w44; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #69: @49 = (@49+@51) */ | |
| for (i=0, rr=w49, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #70: @49 = (@30+@49) */ | |
| for (i=0, rr=w49, cr=w30, cs=w49; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #71: @50 = input[16][2] */ | |
| w50 = arg[16] ? arg[16][2] : 0; | |
| /* #72: @46 = (@46*@50) */ | |
| w46 *= w50; | |
| /* #73: @51 = (@6*@46) */ | |
| for (i=0, rr=w51, cr=w6; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #74: @52 = (@8*@45) */ | |
| for (i=0, rr=w52, cs=w45; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #75: @51 = (@51+@52) */ | |
| for (i=0, rr=w51, cs=w52; i<2; ++i) (*rr++) += (*cs++); | |
| /* #76: @51 = (@31+@51) */ | |
| for (i=0, rr=w51, cr=w31, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #77: @43 = horzcat(@48, @49, @51) */ | |
| rr=w43; | |
| for (i=0, cs=w48; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w49; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w51; i<2; ++i) *rr++ = *cs++; | |
| /* #78: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #79: @28 = 0x3 */ | |
| /* #80: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #81: @29 = zeros(1x3,0nz) */ | |
| /* #82: {@32, NULL, NULL} = fwd3_ode(@9, @2, @10, @4, @11, @3, @5, @27, @43, @36, @28, @41, @29) */ | |
| arg1[0]=w9; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w32; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #83: {@9, @48, @49} = horzsplit(@32) */ | |
| casadi_copy(w32, 2, w9); | |
| casadi_copy(w32+2, 2, w48); | |
| casadi_copy(w32+4, 2, w49); | |
| /* #84: @51 = (2.*@9) */ | |
| for (i=0, rr=w51, cs=w9; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #85: @51 = (@1+@51) */ | |
| for (i=0, rr=w51, cr=w1, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #86: @10 = zeros(2x1,0nz) */ | |
| /* #87: @11 = 0x1 */ | |
| /* #88: @3 = 0x1 */ | |
| /* #89: @8 = 0.5 */ | |
| w8 = 5.0000000000000000e-01; | |
| /* #90: @46 = (@8*@24) */ | |
| w46 = (w8*w24); | |
| /* #91: @52 = (@12*@46) */ | |
| for (i=0, rr=w52, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #92: @53 = (@14*@9) */ | |
| for (i=0, rr=w53, cs=w9; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #93: @52 = (@52+@53) */ | |
| for (i=0, rr=w52, cs=w53; i<2; ++i) (*rr++) += (*cs++); | |
| /* #94: @52 = (@0+@52) */ | |
| for (i=0, rr=w52, cr=w0, cs=w52; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #95: @46 = (@8*@47) */ | |
| w46 = (w8*w47); | |
| /* #96: @53 = (@12*@46) */ | |
| for (i=0, rr=w53, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w46); | |
| /* #97: @54 = (@14*@48) */ | |
| for (i=0, rr=w54, cs=w48; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #98: @53 = (@53+@54) */ | |
| for (i=0, rr=w53, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #99: @53 = (@30+@53) */ | |
| for (i=0, rr=w53, cr=w30, cs=w53; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #100: @8 = (@8*@50) */ | |
| w8 *= w50; | |
| /* #101: @54 = (@12*@8) */ | |
| for (i=0, rr=w54, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w8); | |
| /* #102: @55 = (@14*@49) */ | |
| for (i=0, rr=w55, cs=w49; i<2; ++i) (*rr++) = (w14*(*cs++)); | |
| /* #103: @54 = (@54+@55) */ | |
| for (i=0, rr=w54, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #104: @54 = (@31+@54) */ | |
| for (i=0, rr=w54, cr=w31, cs=w54; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #105: @32 = horzcat(@52, @53, @54) */ | |
| rr=w32; | |
| for (i=0, cs=w52; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w53; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| /* #106: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #107: @5 = 0x3 */ | |
| /* #108: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #109: @27 = zeros(1x3,0nz) */ | |
| /* #110: {@43, NULL, NULL} = fwd3_ode(@15, @2, @16, @4, @17, @10, @11, @3, @32, @36, @5, @41, @27) */ | |
| arg1[0]=w15; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w32; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #111: {@15, @52, @53} = horzsplit(@43) */ | |
| casadi_copy(w43, 2, w15); | |
| casadi_copy(w43+2, 2, w52); | |
| casadi_copy(w43+4, 2, w53); | |
| /* #112: @54 = (2.*@15) */ | |
| for (i=0, rr=w54, cs=w15; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #113: @51 = (@51+@54) */ | |
| for (i=0, rr=w51, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #114: @16 = zeros(2x1,0nz) */ | |
| /* #115: @17 = 0x1 */ | |
| /* #116: @10 = 0x1 */ | |
| /* #117: @54 = (@18*@24) */ | |
| for (i=0, rr=w54, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #118: @55 = (@7*@15) */ | |
| for (i=0, rr=w55, cs=w15; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #119: @54 = (@54+@55) */ | |
| for (i=0, rr=w54, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #120: @54 = (@0+@54) */ | |
| for (i=0, rr=w54, cr=w0, cs=w54; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #121: @55 = (@18*@47) */ | |
| for (i=0, rr=w55, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #122: @56 = (@7*@52) */ | |
| for (i=0, rr=w56, cs=w52; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #123: @55 = (@55+@56) */ | |
| for (i=0, rr=w55, cs=w56; i<2; ++i) (*rr++) += (*cs++); | |
| /* #124: @55 = (@30+@55) */ | |
| for (i=0, rr=w55, cr=w30, cs=w55; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #125: @56 = (@18*@50) */ | |
| for (i=0, rr=w56, cr=w18; i<2; ++i) (*rr++) = ((*cr++)*w50); | |
| /* #126: @57 = (@7*@53) */ | |
| for (i=0, rr=w57, cs=w53; i<2; ++i) (*rr++) = (w7*(*cs++)); | |
| /* #127: @56 = (@56+@57) */ | |
| for (i=0, rr=w56, cs=w57; i<2; ++i) (*rr++) += (*cs++); | |
| /* #128: @56 = (@31+@56) */ | |
| for (i=0, rr=w56, cr=w31, cs=w56; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #129: @43 = horzcat(@54, @55, @56) */ | |
| rr=w43; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w55; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w56; i<2; ++i) *rr++ = *cs++; | |
| /* #130: @36 = horzcat(@33, @34, @35) */ | |
| rr=w36; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| /* #131: @11 = 0x3 */ | |
| /* #132: @41 = horzcat(@38, @39, @40) */ | |
| rr=w41; | |
| *rr++ = w38; | |
| *rr++ = w39; | |
| *rr++ = w40; | |
| /* #133: @3 = zeros(1x3,0nz) */ | |
| /* #134: {@32, NULL, NULL} = fwd3_ode(@19, @2, @20, @4, @21, @16, @17, @10, @43, @36, @11, @41, @3) */ | |
| arg1[0]=w19; | |
| arg1[1]=(&w2); | |
| arg1[2]=0; | |
| arg1[3]=(&w4); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=w36; | |
| arg1[10]=0; | |
| arg1[11]=w41; | |
| arg1[12]=0; | |
| res1[0]=w32; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f15(arg1, res1, iw, w, 0)) return 1; | |
| /* #135: {@19, @54, @55} = horzsplit(@32) */ | |
| casadi_copy(w32, 2, w19); | |
| casadi_copy(w32+2, 2, w54); | |
| casadi_copy(w32+4, 2, w55); | |
| /* #136: @51 = (@51+@19) */ | |
| for (i=0, rr=w51, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #137: @51 = (@25*@51) */ | |
| for (i=0, rr=w51, cs=w51; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #138: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #139: @26 = (@0+@26) */ | |
| for (i=0, rr=w26, cr=w0, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #140: output[0][0] = @26 */ | |
| casadi_copy(w26, 2, res[0]); | |
| /* #141: @2 = (@23*@47) */ | |
| w2 = (w23*w47); | |
| /* #142: @26 = (@13*@2) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w2); | |
| /* #143: @51 = (2.*@48) */ | |
| for (i=0, rr=w51, cs=w48; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #144: @51 = (@44+@51) */ | |
| for (i=0, rr=w51, cr=w44, cs=w51; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #145: @56 = (2.*@52) */ | |
| for (i=0, rr=w56, cs=w52; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #146: @51 = (@51+@56) */ | |
| for (i=0, rr=w51, cs=w56; i<2; ++i) (*rr++) += (*cs++); | |
| /* #147: @51 = (@51+@54) */ | |
| for (i=0, rr=w51, cs=w54; i<2; ++i) (*rr++) += (*cs++); | |
| /* #148: @51 = (@25*@51) */ | |
| for (i=0, rr=w51, cs=w51; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #149: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #150: @26 = (@30+@26) */ | |
| for (i=0, rr=w26, cr=w30, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #151: output[0][1] = @26 */ | |
| if (res[0]) casadi_copy(w26, 2, res[0]+2); | |
| /* #152: @23 = (@23*@50) */ | |
| w23 *= w50; | |
| /* #153: @13 = (@13*@23) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) *= w23; | |
| /* #154: @26 = (2.*@49) */ | |
| for (i=0, rr=w26, cs=w49; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #155: @26 = (@45+@26) */ | |
| for (i=0, rr=w26, cr=w45, cs=w26; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #156: @51 = (2.*@53) */ | |
| for (i=0, rr=w51, cs=w53; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #157: @26 = (@26+@51) */ | |
| for (i=0, rr=w26, cs=w51; i<2; ++i) (*rr++) += (*cs++); | |
| /* #158: @26 = (@26+@55) */ | |
| for (i=0, rr=w26, cs=w55; i<2; ++i) (*rr++) += (*cs++); | |
| /* #159: @26 = (@25*@26) */ | |
| for (i=0, rr=w26, cs=w26; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #160: @13 = (@13+@26) */ | |
| for (i=0, rr=w13, cs=w26; i<2; ++i) (*rr++) += (*cs++); | |
| /* #161: @13 = (@31+@13) */ | |
| for (i=0, rr=w13, cr=w31, cs=w13; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #162: output[0][2] = @13 */ | |
| if (res[0]) casadi_copy(w13, 2, res[0]+4); | |
| /* #163: output[1][0] = @0 */ | |
| casadi_copy(w0, 2, res[1]); | |
| /* #164: output[1][1] = @1 */ | |
| if (res[1]) casadi_copy(w1, 2, res[1]+2); | |
| /* #165: @25 = 0.5 */ | |
| w25 = 5.0000000000000000e-01; | |
| /* #166: @23 = 2 */ | |
| w23 = 2.; | |
| /* #167: @23 = (@23/@7) */ | |
| w23 /= w7; | |
| /* #168: @0 = (@9-@1) */ | |
| for (i=0, rr=w0, cr=w9, cs=w1; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #169: @0 = (@23*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #170: @13 = (@12-@6) */ | |
| for (i=0, rr=w13, cr=w12, cs=w6; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #171: @2 = (@23/@7) */ | |
| w2 = (w23/w7); | |
| /* #172: @4 = (@2*@24) */ | |
| w4 = (w2*w24); | |
| /* #173: @26 = (@13*@4) */ | |
| for (i=0, rr=w26, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w4); | |
| /* #174: @0 = (@0-@26) */ | |
| for (i=0, rr=w0, cs=w26; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #175: @0 = (@25*@0) */ | |
| for (i=0, rr=w0, cs=w0; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #176: output[1][2] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+4); | |
| /* #177: @4 = 0.166667 */ | |
| w4 = 1.6666666666666666e-01; | |
| /* #178: @38 = 4 */ | |
| w38 = 4.; | |
| /* #179: @39 = sq(@7) */ | |
| w39 = casadi_sq( w7 ); | |
| /* #180: @38 = (@38/@39) */ | |
| w38 /= w39; | |
| /* #181: @9 = (@15-@9) */ | |
| for (i=0, rr=w9, cr=w15, cs=w9; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #182: @9 = (@38*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #183: @12 = (@18-@12) */ | |
| for (i=0, rr=w12, cr=w18, cs=w12; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #184: @39 = (@38/@39) */ | |
| w39 = (w38/w39); | |
| /* #185: @40 = (2.*@7) */ | |
| w40 = (2.* w7 ); | |
| /* #186: @33 = (@40*@24) */ | |
| w33 = (w40*w24); | |
| /* #187: @33 = (@39*@33) */ | |
| w33 = (w39*w33); | |
| /* #188: @0 = (@12*@33) */ | |
| for (i=0, rr=w0, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w33); | |
| /* #189: @9 = (@9-@0) */ | |
| for (i=0, rr=w9, cs=w0; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #190: @9 = (@4*@9) */ | |
| for (i=0, rr=w9, cs=w9; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #191: output[1][3] = @9 */ | |
| if (res[1]) casadi_copy(w9, 2, res[1]+6); | |
| /* #192: @33 = 0.0416667 */ | |
| w33 = 4.1666666666666664e-02; | |
| /* #193: @34 = 4 */ | |
| w34 = 4.; | |
| /* #194: @15 = (2.*@15) */ | |
| for (i=0, rr=w15, cs=w15; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #195: @19 = (@19-@15) */ | |
| for (i=0, rr=w19, cs=w15; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #196: @19 = (@19+@1) */ | |
| for (i=0, rr=w19, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #197: @19 = (@34*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #198: @35 = 3 */ | |
| w35 = 3.; | |
| /* #199: @14 = pow(@7,@35) */ | |
| w14 = pow(w7,w35); | |
| /* #200: @19 = (@19/@14) */ | |
| for (i=0, rr=w19; i<2; ++i) (*rr++) /= w14; | |
| /* #201: @18 = (2.*@18) */ | |
| for (i=0, rr=w18, cs=w18; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #202: @22 = (@22-@18) */ | |
| for (i=0, rr=w22, cs=w18; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #203: @22 = (@22+@6) */ | |
| for (i=0, rr=w22, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #204: @22 = (@34*@22) */ | |
| for (i=0, rr=w22, cs=w22; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #205: @22 = (@22/@14) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) /= w14; | |
| /* #206: @22 = (@22/@14) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) /= w14; | |
| /* #207: @7 = sq(@7) */ | |
| w7 = casadi_sq( w7 ); | |
| /* #208: @35 = (@35*@7) */ | |
| w35 *= w7; | |
| /* #209: @24 = (@35*@24) */ | |
| w24 = (w35*w24); | |
| /* #210: @6 = (@22*@24) */ | |
| for (i=0, rr=w6, cr=w22; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #211: @19 = (@19-@6) */ | |
| for (i=0, rr=w19, cs=w6; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #212: @19 = (@33*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #213: output[1][4] = @19 */ | |
| if (res[1]) casadi_copy(w19, 2, res[1]+8); | |
| /* #214: output[1][5] = @30 */ | |
| if (res[1]) casadi_copy(w30, 2, res[1]+10); | |
| /* #215: output[1][6] = @44 */ | |
| if (res[1]) casadi_copy(w44, 2, res[1]+12); | |
| /* #216: @30 = (@48-@44) */ | |
| for (i=0, rr=w30, cr=w48, cs=w44; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #217: @30 = (@23*@30) */ | |
| for (i=0, rr=w30, cs=w30; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #218: @24 = (@2*@47) */ | |
| w24 = (w2*w47); | |
| /* #219: @19 = (@13*@24) */ | |
| for (i=0, rr=w19, cr=w13; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #220: @30 = (@30-@19) */ | |
| for (i=0, rr=w30, cs=w19; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #221: @30 = (@25*@30) */ | |
| for (i=0, rr=w30, cs=w30; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #222: output[1][7] = @30 */ | |
| if (res[1]) casadi_copy(w30, 2, res[1]+14); | |
| /* #223: @48 = (@52-@48) */ | |
| for (i=0, rr=w48, cr=w52, cs=w48; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #224: @48 = (@38*@48) */ | |
| for (i=0, rr=w48, cs=w48; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #225: @24 = (@40*@47) */ | |
| w24 = (w40*w47); | |
| /* #226: @24 = (@39*@24) */ | |
| w24 = (w39*w24); | |
| /* #227: @30 = (@12*@24) */ | |
| for (i=0, rr=w30, cr=w12; i<2; ++i) (*rr++) = ((*cr++)*w24); | |
| /* #228: @48 = (@48-@30) */ | |
| for (i=0, rr=w48, cs=w30; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #229: @48 = (@4*@48) */ | |
| for (i=0, rr=w48, cs=w48; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #230: output[1][8] = @48 */ | |
| if (res[1]) casadi_copy(w48, 2, res[1]+16); | |
| /* #231: @52 = (2.*@52) */ | |
| for (i=0, rr=w52, cs=w52; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #232: @54 = (@54-@52) */ | |
| for (i=0, rr=w54, cs=w52; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #233: @54 = (@54+@44) */ | |
| for (i=0, rr=w54, cs=w44; i<2; ++i) (*rr++) += (*cs++); | |
| /* #234: @54 = (@34*@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #235: @54 = (@54/@14) */ | |
| for (i=0, rr=w54; i<2; ++i) (*rr++) /= w14; | |
| /* #236: @47 = (@35*@47) */ | |
| w47 = (w35*w47); | |
| /* #237: @44 = (@22*@47) */ | |
| for (i=0, rr=w44, cr=w22; i<2; ++i) (*rr++) = ((*cr++)*w47); | |
| /* #238: @54 = (@54-@44) */ | |
| for (i=0, rr=w54, cs=w44; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #239: @54 = (@33*@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #240: output[1][9] = @54 */ | |
| if (res[1]) casadi_copy(w54, 2, res[1]+18); | |
| /* #241: output[1][10] = @31 */ | |
| if (res[1]) casadi_copy(w31, 2, res[1]+20); | |
| /* #242: output[1][11] = @45 */ | |
| if (res[1]) casadi_copy(w45, 2, res[1]+22); | |
| /* #243: @31 = (@49-@45) */ | |
| for (i=0, rr=w31, cr=w49, cs=w45; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #244: @31 = (@23*@31) */ | |
| for (i=0, rr=w31, cs=w31; i<2; ++i) (*rr++) = (w23*(*cs++)); | |
| /* #245: @2 = (@2*@50) */ | |
| w2 *= w50; | |
| /* #246: @13 = (@13*@2) */ | |
| for (i=0, rr=w13; i<2; ++i) (*rr++) *= w2; | |
| /* #247: @31 = (@31-@13) */ | |
| for (i=0, rr=w31, cs=w13; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #248: @31 = (@25*@31) */ | |
| for (i=0, rr=w31, cs=w31; i<2; ++i) (*rr++) = (w25*(*cs++)); | |
| /* #249: output[1][12] = @31 */ | |
| if (res[1]) casadi_copy(w31, 2, res[1]+24); | |
| /* #250: @49 = (@53-@49) */ | |
| for (i=0, rr=w49, cr=w53, cs=w49; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #251: @49 = (@38*@49) */ | |
| for (i=0, rr=w49, cs=w49; i<2; ++i) (*rr++) = (w38*(*cs++)); | |
| /* #252: @40 = (@40*@50) */ | |
| w40 *= w50; | |
| /* #253: @39 = (@39*@40) */ | |
| w39 *= w40; | |
| /* #254: @12 = (@12*@39) */ | |
| for (i=0, rr=w12; i<2; ++i) (*rr++) *= w39; | |
| /* #255: @49 = (@49-@12) */ | |
| for (i=0, rr=w49, cs=w12; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #256: @49 = (@4*@49) */ | |
| for (i=0, rr=w49, cs=w49; i<2; ++i) (*rr++) = (w4*(*cs++)); | |
| /* #257: output[1][13] = @49 */ | |
| if (res[1]) casadi_copy(w49, 2, res[1]+26); | |
| /* #258: @53 = (2.*@53) */ | |
| for (i=0, rr=w53, cs=w53; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #259: @55 = (@55-@53) */ | |
| for (i=0, rr=w55, cs=w53; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #260: @55 = (@55+@45) */ | |
| for (i=0, rr=w55, cs=w45; i<2; ++i) (*rr++) += (*cs++); | |
| /* #261: @55 = (@34*@55) */ | |
| for (i=0, rr=w55, cs=w55; i<2; ++i) (*rr++) = (w34*(*cs++)); | |
| /* #262: @55 = (@55/@14) */ | |
| for (i=0, rr=w55; i<2; ++i) (*rr++) /= w14; | |
| /* #263: @35 = (@35*@50) */ | |
| w35 *= w50; | |
| /* #264: @22 = (@22*@35) */ | |
| for (i=0, rr=w22; i<2; ++i) (*rr++) *= w35; | |
| /* #265: @55 = (@55-@22) */ | |
| for (i=0, rr=w55, cs=w22; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #266: @55 = (@33*@55) */ | |
| for (i=0, rr=w55, cs=w55; i<2; ++i) (*rr++) = (w33*(*cs++)); | |
| /* #267: output[1][14] = @55 */ | |
| if (res[1]) casadi_copy(w55, 2, res[1]+28); | |
| return 0; | |
| } | |
| /* fwd3_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],fwd_x0[2x3],fwd_u[1x3],fwd_T[1x3],fwd_t0[1x3],fwd_p[1x3],fwd_z0[0x3])->(fwd_xf[2x3],fwd_Xi[2x6],fwd_poly_coeff[2x15],fwd_qf[0x3],fwd_Qi[0x3],fwd_poly_coeff_q[0x12],fwd_zf[0x3],fwd_Zi[0x3],fwd_poly_coeff_z[]) */ | |
| static int casadi_f13(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+9, *rr; | |
| const casadi_real **arg1=arg+21, *cs; | |
| casadi_real *w0=w+88, w1, w2, w3, w4, *w12=w+94, *w13=w+96, *w14=w+98, *w15=w+100, w16, w17, w18, *w19=w+109, *w20=w+112, *w21=w+115, *w22=w+118, *w23=w+121, *w25=w+124, *w26=w+130, *w27=w+160; | |
| /* #0: @0 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w0); | |
| /* #1: @1 = input[1][0] */ | |
| w1 = arg[1] ? arg[1][0] : 0; | |
| /* #2: @2 = input[3][0] */ | |
| w2 = arg[3] ? arg[3][0] : 0; | |
| /* #3: @3 = input[2][0] */ | |
| w3 = arg[2] ? arg[2][0] : 0; | |
| /* #4: @4 = input[4][0] */ | |
| w4 = arg[4] ? arg[4][0] : 0; | |
| /* #5: @5 = 0x1 */ | |
| /* #6: @6 = zeros(2x1,0nz) */ | |
| /* #7: @7 = zeros(2x5,0nz) */ | |
| /* #8: @8 = 0x1 */ | |
| /* #9: @9 = 0x4 */ | |
| /* #10: @10 = 0x1 */ | |
| /* #11: @11 = 0x0 */ | |
| /* #12: @12 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w12); | |
| /* #13: @13 = input[15][1] */ | |
| casadi_copy(arg[15] ? arg[15]+2 : 0, 2, w13); | |
| /* #14: @14 = input[15][2] */ | |
| casadi_copy(arg[15] ? arg[15]+4 : 0, 2, w14); | |
| /* #15: @15 = horzcat(@12, @13, @14) */ | |
| rr=w15; | |
| for (i=0, cs=w12; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w13; i<2; ++i) *rr++ = *cs++; | |
| for (i=0, cs=w14; i<2; ++i) *rr++ = *cs++; | |
| /* #16: @16 = input[16][0] */ | |
| w16 = arg[16] ? arg[16][0] : 0; | |
| /* #17: @17 = input[16][1] */ | |
| w17 = arg[16] ? arg[16][1] : 0; | |
| /* #18: @18 = input[16][2] */ | |
| w18 = arg[16] ? arg[16][2] : 0; | |
| /* #19: @19 = horzcat(@16, @17, @18) */ | |
| rr=w19; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #20: @16 = input[18][0] */ | |
| w16 = arg[18] ? arg[18][0] : 0; | |
| /* #21: @17 = input[18][1] */ | |
| w17 = arg[18] ? arg[18][1] : 0; | |
| /* #22: @18 = input[18][2] */ | |
| w18 = arg[18] ? arg[18][2] : 0; | |
| /* #23: @20 = horzcat(@16, @17, @18) */ | |
| rr=w20; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #24: @16 = input[17][0] */ | |
| w16 = arg[17] ? arg[17][0] : 0; | |
| /* #25: @17 = input[17][1] */ | |
| w17 = arg[17] ? arg[17][1] : 0; | |
| /* #26: @18 = input[17][2] */ | |
| w18 = arg[17] ? arg[17][2] : 0; | |
| /* #27: @21 = horzcat(@16, @17, @18) */ | |
| rr=w21; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #28: @22 = horzcat(@16, @17, @18) */ | |
| rr=w22; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #29: @16 = input[19][0] */ | |
| w16 = arg[19] ? arg[19][0] : 0; | |
| /* #30: @17 = input[19][1] */ | |
| w17 = arg[19] ? arg[19][1] : 0; | |
| /* #31: @18 = input[19][2] */ | |
| w18 = arg[19] ? arg[19][2] : 0; | |
| /* #32: @23 = horzcat(@16, @17, @18) */ | |
| rr=w23; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| /* #33: @24 = 0x3 */ | |
| /* #34: {@25, @26, NULL, NULL, NULL, NULL} = fwd3_F(@0, @1, @2, @3, @3, @4, @5, @6, @7, @8, @9, @10, @11, @15, @19, @20, @21, @22, @23, @24) */ | |
| arg1[0]=w0; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w3); | |
| arg1[4]=(&w3); | |
| arg1[5]=(&w4); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w15; | |
| arg1[14]=w19; | |
| arg1[15]=w20; | |
| arg1[16]=w21; | |
| arg1[17]=w22; | |
| arg1[18]=w23; | |
| arg1[19]=0; | |
| res1[0]=w25; | |
| res1[1]=w26; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f14(arg1, res1, iw, w, 0)) return 1; | |
| /* #35: output[0][0] = @25 */ | |
| casadi_copy(w25, 6, res[0]); | |
| /* #36: output[1][0] = @12 */ | |
| casadi_copy(w12, 2, res[1]); | |
| /* #37: {@12, @0, @27} = horzsplit(@25) */ | |
| casadi_copy(w25, 2, w12); | |
| casadi_copy(w25+2, 2, w0); | |
| casadi_copy(w25+4, 2, w27); | |
| /* #38: output[1][1] = @12 */ | |
| if (res[1]) casadi_copy(w12, 2, res[1]+2); | |
| /* #39: output[1][2] = @13 */ | |
| if (res[1]) casadi_copy(w13, 2, res[1]+4); | |
| /* #40: output[1][3] = @0 */ | |
| if (res[1]) casadi_copy(w0, 2, res[1]+6); | |
| /* #41: output[1][4] = @14 */ | |
| if (res[1]) casadi_copy(w14, 2, res[1]+8); | |
| /* #42: output[1][5] = @27 */ | |
| if (res[1]) casadi_copy(w27, 2, res[1]+10); | |
| /* #43: output[2][0] = @26 */ | |
| casadi_copy(w26, 30, res[2]); | |
| return 0; | |
| } | |
| /* nlp_jac_g:(x[32],p)->(jac_g_x[42x32,102nz]) */ | |
| static int casadi_f12(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr, *ss; | |
| const casadi_int *cii; | |
| const casadi_real **arg1=arg+2, *cs; | |
| casadi_real *w0=w+162, w1, w2, *w3=w+266, w4, w5, *w16=w+270, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w28, *w30=w+291, w31, w32, w33, w34, w35, w36, w37, w38, *w40=w+306, *w41=w+308, *w43=w+314, w44, w45, w46, w47, *w48=w+323, *w49=w+326, *w50=w+329, *w51=w+332, *w53=w+335, *w54=w+341, *w55=w+343, w56, w57, w58, w59, w61, w63, w64, w65, w66, w67, w68, *w69=w+356, *w72=w+358, *w73=w+360, *w77=w+362, *w80=w+364, *w81=w+366, *w85=w+368, *w88=w+370, *w89=w+372, *w93=w+374, *w96=w+376, *w97=w+378, *w101=w+380, *w104=w+382, *w105=w+384, *w109=w+386, *w112=w+388, *w113=w+390, *w117=w+392, *w120=w+394, *w121=w+396, *w125=w+398, *w128=w+400, *w129=w+402, *w133=w+404, *w136=w+406, *w137=w+408, *w138=w+438, *w139=w+468, *w140=w+490, *w141=w+512, *w142=w+527, *w143=w+542, *w144=w+562, *w145=w+582; | |
| /* #0: @0 = zeros(32x42,102nz) */ | |
| casadi_clear(w0, 102); | |
| /* #1: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = vertcat(@1, @2) */ | |
| rr=w3; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #4: @1 = input[0][2] */ | |
| w1 = arg[0] ? arg[0][2] : 0; | |
| /* #5: @2 = 1 */ | |
| w2 = 1.; | |
| /* #6: @4 = 0 */ | |
| w4 = 0.; | |
| /* #7: @5 = input[1][0] */ | |
| w5 = arg[1] ? arg[1][0] : 0; | |
| /* #8: @6 = 0x1 */ | |
| /* #9: @7 = zeros(2x1,0nz) */ | |
| /* #10: @8 = zeros(2x2,0nz) */ | |
| /* #11: @9 = zeros(2x5,0nz) */ | |
| /* #12: @10 = 0x1 */ | |
| /* #13: @11 = 0x1 */ | |
| /* #14: @12 = 0x4 */ | |
| /* #15: @13 = 0x1 */ | |
| /* #16: @14 = 0x1 */ | |
| /* #17: @15 = 0x0 */ | |
| /* #18: @16 = ones(32x1,10nz) */ | |
| casadi_fill(w16, 10, 1.); | |
| /* #19: {@17, NULL, NULL, NULL, NULL, @18, NULL, NULL, @19, NULL, NULL, @20, NULL, NULL, @21, NULL, NULL, @22, NULL, NULL, @23, NULL, NULL, @24, NULL, NULL, @25, NULL, NULL, @26, NULL, NULL} = vertsplit(@16) */ | |
| w17 = w16[0]; | |
| w18 = w16[1]; | |
| w19 = w16[2]; | |
| w20 = w16[3]; | |
| w21 = w16[4]; | |
| w22 = w16[5]; | |
| w23 = w16[6]; | |
| w24 = w16[7]; | |
| w25 = w16[8]; | |
| w26 = w16[9]; | |
| /* #20: @27 = 00 */ | |
| /* #21: @28 = vertcat(@17, @27) */ | |
| rr=(&w28); | |
| *rr++ = w17; | |
| /* #22: @29 = 00 */ | |
| /* #23: @30 = ones(32x1,7nz) */ | |
| casadi_fill(w30, 7, 1.); | |
| /* #24: {NULL, @31, NULL, NULL, NULL, NULL, @32, NULL, NULL, NULL, NULL, NULL, @33, NULL, NULL, NULL, NULL, NULL, @34, NULL, NULL, NULL, NULL, NULL, @35, NULL, NULL, NULL, NULL, NULL, @36, @37} = vertsplit(@30) */ | |
| w31 = w30[0]; | |
| w32 = w30[1]; | |
| w33 = w30[2]; | |
| w34 = w30[3]; | |
| w35 = w30[4]; | |
| w36 = w30[5]; | |
| w37 = w30[6]; | |
| /* #25: @38 = vertcat(@29, @31) */ | |
| rr=(&w38); | |
| *rr++ = w31; | |
| /* #26: @39 = zeros(2x1,0nz) */ | |
| /* #27: @40 = horzcat(@28, @38, @39) */ | |
| rr=w40; | |
| *rr++ = w28; | |
| *rr++ = w38; | |
| /* #28: @41 = dense(@40) */ | |
| casadi_densify(w40, casadi_s1, w41, 0); | |
| /* #29: @39 = 00 */ | |
| /* #30: @42 = 00 */ | |
| /* #31: @43 = ones(32x1,5nz) */ | |
| casadi_fill(w43, 5, 1.); | |
| /* #32: {NULL, NULL, @28, NULL, NULL, NULL, NULL, @38, NULL, NULL, NULL, NULL, NULL, @44, NULL, NULL, NULL, NULL, NULL, @45, NULL, NULL, NULL, NULL, NULL, @46, NULL, NULL, NULL, NULL, NULL, NULL} = vertsplit(@43) */ | |
| w28 = w43[0]; | |
| w38 = w43[1]; | |
| w44 = w43[2]; | |
| w45 = w43[3]; | |
| w46 = w43[4]; | |
| /* #33: @47 = horzcat(@39, @42, @28) */ | |
| rr=(&w47); | |
| *rr++ = w28; | |
| /* #34: @48 = dense(@47) */ | |
| casadi_densify((&w47), casadi_s2, w48, 0); | |
| /* #35: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #36: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #37: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #38: @52 = 0x3 */ | |
| /* #39: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@3, @1, @2, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @41, @48, @49, @50, @51, @52) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w41; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #40: {@3, @40, @54} = horzsplit(@53) */ | |
| casadi_copy(w53, 2, w3); | |
| casadi_copy(w53+2, 2, w40); | |
| casadi_copy(w53+4, 2, w54); | |
| /* #41: @3 = (-@3) */ | |
| for (i=0, rr=w3, cs=w3; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #42: @1 = input[0][3] */ | |
| w1 = arg[0] ? arg[0][3] : 0; | |
| /* #43: @2 = input[0][4] */ | |
| w2 = arg[0] ? arg[0][4] : 0; | |
| /* #44: @55 = vertcat(@1, @2) */ | |
| rr=w55; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #45: @1 = input[0][5] */ | |
| w1 = arg[0] ? arg[0][5] : 0; | |
| /* #46: @2 = 1 */ | |
| w2 = 1.; | |
| /* #47: @4 = 1 */ | |
| w4 = 1.; | |
| /* #48: @6 = 0x1 */ | |
| /* #49: @7 = zeros(2x1,0nz) */ | |
| /* #50: @8 = zeros(2x2,0nz) */ | |
| /* #51: @9 = zeros(2x5,0nz) */ | |
| /* #52: @10 = 0x1 */ | |
| /* #53: @11 = 0x1 */ | |
| /* #54: @12 = 0x4 */ | |
| /* #55: @13 = 0x1 */ | |
| /* #56: @14 = 0x1 */ | |
| /* #57: @52 = zeros(2x1,0nz) */ | |
| /* #58: @43 = ones(32x1,5nz) */ | |
| casadi_fill(w43, 5, 1.); | |
| /* #59: {NULL, NULL, NULL, @47, NULL, NULL, NULL, NULL, NULL, @56, NULL, NULL, NULL, NULL, NULL, @57, NULL, NULL, NULL, NULL, NULL, @58, NULL, NULL, NULL, NULL, NULL, @59, NULL, NULL, NULL, NULL} = vertsplit(@43) */ | |
| w47 = w43[0]; | |
| w56 = w43[1]; | |
| w57 = w43[2]; | |
| w58 = w43[3]; | |
| w59 = w43[4]; | |
| /* #60: @60 = 00 */ | |
| /* #61: @61 = vertcat(@47, @60) */ | |
| rr=(&w61); | |
| *rr++ = w47; | |
| /* #62: @62 = 00 */ | |
| /* #63: @43 = ones(32x1,5nz) */ | |
| casadi_fill(w43, 5, 1.); | |
| /* #64: {NULL, NULL, NULL, NULL, @63, NULL, NULL, NULL, NULL, NULL, @64, NULL, NULL, NULL, NULL, NULL, @65, NULL, NULL, NULL, NULL, NULL, @66, NULL, NULL, NULL, NULL, NULL, @67, NULL, NULL, NULL} = vertsplit(@43) */ | |
| w63 = w43[0]; | |
| w64 = w43[1]; | |
| w65 = w43[2]; | |
| w66 = w43[3]; | |
| w67 = w43[4]; | |
| /* #65: @68 = vertcat(@62, @63) */ | |
| rr=(&w68); | |
| *rr++ = w63; | |
| /* #66: @69 = horzcat(@52, @61, @68) */ | |
| rr=w69; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #67: @53 = dense(@69) */ | |
| casadi_densify(w69, casadi_s3, w53, 0); | |
| /* #68: @52 = 00 */ | |
| /* #69: @70 = 00 */ | |
| /* #70: @61 = horzcat(@18, @52, @70) */ | |
| rr=(&w61); | |
| *rr++ = w18; | |
| /* #71: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #72: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #73: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #74: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #75: @71 = 0x3 */ | |
| /* #76: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@55, @1, @2, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @53, @48, @49, @50, @51, @71) */ | |
| arg1[0]=w55; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w53; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #77: {@55, @69, @72} = horzsplit(@41) */ | |
| casadi_copy(w41, 2, w55); | |
| casadi_copy(w41+2, 2, w69); | |
| casadi_copy(w41+4, 2, w72); | |
| /* #78: @55 = (-@55) */ | |
| for (i=0, rr=w55, cs=w55; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #79: @6 = 00 */ | |
| /* #80: @1 = input[0][6] */ | |
| w1 = arg[0] ? arg[0][6] : 0; | |
| /* #81: @2 = input[0][7] */ | |
| w2 = arg[0] ? arg[0][7] : 0; | |
| /* #82: @73 = vertcat(@1, @2) */ | |
| rr=w73; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #83: @1 = input[0][8] */ | |
| w1 = arg[0] ? arg[0][8] : 0; | |
| /* #84: @2 = 1 */ | |
| w2 = 1.; | |
| /* #85: @4 = 2 */ | |
| w4 = 2.; | |
| /* #86: @7 = 0x1 */ | |
| /* #87: @8 = zeros(2x1,0nz) */ | |
| /* #88: @9 = zeros(2x2,0nz) */ | |
| /* #89: @10 = zeros(2x5,0nz) */ | |
| /* #90: @11 = 0x1 */ | |
| /* #91: @12 = 0x1 */ | |
| /* #92: @13 = 0x4 */ | |
| /* #93: @14 = 0x1 */ | |
| /* #94: @71 = 0x1 */ | |
| /* #95: @74 = zeros(2x1,0nz) */ | |
| /* #96: @75 = 00 */ | |
| /* #97: @61 = vertcat(@32, @75) */ | |
| rr=(&w61); | |
| *rr++ = w32; | |
| /* #98: @76 = 00 */ | |
| /* #99: @68 = vertcat(@76, @38) */ | |
| rr=(&w68); | |
| *rr++ = w38; | |
| /* #100: @77 = horzcat(@74, @61, @68) */ | |
| rr=w77; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #101: @41 = dense(@77) */ | |
| casadi_densify(w77, casadi_s3, w41, 0); | |
| /* #102: @74 = 00 */ | |
| /* #103: @78 = 00 */ | |
| /* #104: @61 = horzcat(@19, @74, @78) */ | |
| rr=(&w61); | |
| *rr++ = w19; | |
| /* #105: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #106: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #107: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #108: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #109: @79 = 0x3 */ | |
| /* #110: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@73, @1, @2, @4, @5, @7, @8, @9, @10, @11, @12, @13, @14, @71, @15, @41, @48, @49, @50, @51, @79) */ | |
| arg1[0]=w73; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w41; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #111: {@73, @77, @80} = horzsplit(@53) */ | |
| casadi_copy(w53, 2, w73); | |
| casadi_copy(w53+2, 2, w77); | |
| casadi_copy(w53+4, 2, w80); | |
| /* #112: @73 = (-@73) */ | |
| for (i=0, rr=w73, cs=w73; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #113: @7 = 00 */ | |
| /* #114: @1 = input[0][9] */ | |
| w1 = arg[0] ? arg[0][9] : 0; | |
| /* #115: @2 = input[0][10] */ | |
| w2 = arg[0] ? arg[0][10] : 0; | |
| /* #116: @81 = vertcat(@1, @2) */ | |
| rr=w81; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #117: @1 = input[0][11] */ | |
| w1 = arg[0] ? arg[0][11] : 0; | |
| /* #118: @2 = 1 */ | |
| w2 = 1.; | |
| /* #119: @4 = 3 */ | |
| w4 = 3.; | |
| /* #120: @8 = 0x1 */ | |
| /* #121: @9 = zeros(2x1,0nz) */ | |
| /* #122: @10 = zeros(2x2,0nz) */ | |
| /* #123: @11 = zeros(2x5,0nz) */ | |
| /* #124: @12 = 0x1 */ | |
| /* #125: @13 = 0x1 */ | |
| /* #126: @14 = 0x4 */ | |
| /* #127: @71 = 0x1 */ | |
| /* #128: @79 = 0x1 */ | |
| /* #129: @82 = zeros(2x1,0nz) */ | |
| /* #130: @83 = 00 */ | |
| /* #131: @61 = vertcat(@56, @83) */ | |
| rr=(&w61); | |
| *rr++ = w56; | |
| /* #132: @84 = 00 */ | |
| /* #133: @68 = vertcat(@84, @64) */ | |
| rr=(&w68); | |
| *rr++ = w64; | |
| /* #134: @85 = horzcat(@82, @61, @68) */ | |
| rr=w85; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #135: @53 = dense(@85) */ | |
| casadi_densify(w85, casadi_s3, w53, 0); | |
| /* #136: @82 = 00 */ | |
| /* #137: @86 = 00 */ | |
| /* #138: @61 = horzcat(@20, @82, @86) */ | |
| rr=(&w61); | |
| *rr++ = w20; | |
| /* #139: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #140: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #141: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #142: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #143: @87 = 0x3 */ | |
| /* #144: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@81, @1, @2, @4, @5, @8, @9, @10, @11, @12, @13, @14, @71, @79, @15, @53, @48, @49, @50, @51, @87) */ | |
| arg1[0]=w81; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w53; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #145: {@81, @85, @88} = horzsplit(@41) */ | |
| casadi_copy(w41, 2, w81); | |
| casadi_copy(w41+2, 2, w85); | |
| casadi_copy(w41+4, 2, w88); | |
| /* #146: @81 = (-@81) */ | |
| for (i=0, rr=w81, cs=w81; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #147: @8 = 00 */ | |
| /* #148: @1 = input[0][12] */ | |
| w1 = arg[0] ? arg[0][12] : 0; | |
| /* #149: @2 = input[0][13] */ | |
| w2 = arg[0] ? arg[0][13] : 0; | |
| /* #150: @89 = vertcat(@1, @2) */ | |
| rr=w89; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #151: @1 = input[0][14] */ | |
| w1 = arg[0] ? arg[0][14] : 0; | |
| /* #152: @2 = 1 */ | |
| w2 = 1.; | |
| /* #153: @4 = 4 */ | |
| w4 = 4.; | |
| /* #154: @9 = 0x1 */ | |
| /* #155: @10 = zeros(2x1,0nz) */ | |
| /* #156: @11 = zeros(2x2,0nz) */ | |
| /* #157: @12 = zeros(2x5,0nz) */ | |
| /* #158: @13 = 0x1 */ | |
| /* #159: @14 = 0x1 */ | |
| /* #160: @71 = 0x4 */ | |
| /* #161: @79 = 0x1 */ | |
| /* #162: @87 = 0x1 */ | |
| /* #163: @90 = zeros(2x1,0nz) */ | |
| /* #164: @91 = 00 */ | |
| /* #165: @61 = vertcat(@33, @91) */ | |
| rr=(&w61); | |
| *rr++ = w33; | |
| /* #166: @92 = 00 */ | |
| /* #167: @68 = vertcat(@92, @44) */ | |
| rr=(&w68); | |
| *rr++ = w44; | |
| /* #168: @93 = horzcat(@90, @61, @68) */ | |
| rr=w93; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #169: @41 = dense(@93) */ | |
| casadi_densify(w93, casadi_s3, w41, 0); | |
| /* #170: @90 = 00 */ | |
| /* #171: @94 = 00 */ | |
| /* #172: @61 = horzcat(@21, @90, @94) */ | |
| rr=(&w61); | |
| *rr++ = w21; | |
| /* #173: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #174: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #175: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #176: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #177: @95 = 0x3 */ | |
| /* #178: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@89, @1, @2, @4, @5, @9, @10, @11, @12, @13, @14, @71, @79, @87, @15, @41, @48, @49, @50, @51, @95) */ | |
| arg1[0]=w89; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w41; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #179: {@89, @93, @96} = horzsplit(@53) */ | |
| casadi_copy(w53, 2, w89); | |
| casadi_copy(w53+2, 2, w93); | |
| casadi_copy(w53+4, 2, w96); | |
| /* #180: @89 = (-@89) */ | |
| for (i=0, rr=w89, cs=w89; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #181: @9 = 00 */ | |
| /* #182: @1 = input[0][15] */ | |
| w1 = arg[0] ? arg[0][15] : 0; | |
| /* #183: @2 = input[0][16] */ | |
| w2 = arg[0] ? arg[0][16] : 0; | |
| /* #184: @97 = vertcat(@1, @2) */ | |
| rr=w97; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #185: @1 = input[0][17] */ | |
| w1 = arg[0] ? arg[0][17] : 0; | |
| /* #186: @2 = 1 */ | |
| w2 = 1.; | |
| /* #187: @4 = 5 */ | |
| w4 = 5.; | |
| /* #188: @10 = 0x1 */ | |
| /* #189: @11 = zeros(2x1,0nz) */ | |
| /* #190: @12 = zeros(2x2,0nz) */ | |
| /* #191: @13 = zeros(2x5,0nz) */ | |
| /* #192: @14 = 0x1 */ | |
| /* #193: @71 = 0x1 */ | |
| /* #194: @79 = 0x4 */ | |
| /* #195: @87 = 0x1 */ | |
| /* #196: @95 = 0x1 */ | |
| /* #197: @98 = zeros(2x1,0nz) */ | |
| /* #198: @99 = 00 */ | |
| /* #199: @61 = vertcat(@57, @99) */ | |
| rr=(&w61); | |
| *rr++ = w57; | |
| /* #200: @100 = 00 */ | |
| /* #201: @68 = vertcat(@100, @65) */ | |
| rr=(&w68); | |
| *rr++ = w65; | |
| /* #202: @101 = horzcat(@98, @61, @68) */ | |
| rr=w101; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #203: @53 = dense(@101) */ | |
| casadi_densify(w101, casadi_s3, w53, 0); | |
| /* #204: @98 = 00 */ | |
| /* #205: @102 = 00 */ | |
| /* #206: @61 = horzcat(@22, @98, @102) */ | |
| rr=(&w61); | |
| *rr++ = w22; | |
| /* #207: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #208: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #209: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #210: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #211: @103 = 0x3 */ | |
| /* #212: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@97, @1, @2, @4, @5, @10, @11, @12, @13, @14, @71, @79, @87, @95, @15, @53, @48, @49, @50, @51, @103) */ | |
| arg1[0]=w97; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w53; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #213: {@97, @101, @104} = horzsplit(@41) */ | |
| casadi_copy(w41, 2, w97); | |
| casadi_copy(w41+2, 2, w101); | |
| casadi_copy(w41+4, 2, w104); | |
| /* #214: @97 = (-@97) */ | |
| for (i=0, rr=w97, cs=w97; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #215: @10 = 00 */ | |
| /* #216: @1 = input[0][18] */ | |
| w1 = arg[0] ? arg[0][18] : 0; | |
| /* #217: @2 = input[0][19] */ | |
| w2 = arg[0] ? arg[0][19] : 0; | |
| /* #218: @105 = vertcat(@1, @2) */ | |
| rr=w105; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #219: @1 = input[0][20] */ | |
| w1 = arg[0] ? arg[0][20] : 0; | |
| /* #220: @2 = 1 */ | |
| w2 = 1.; | |
| /* #221: @4 = 6 */ | |
| w4 = 6.; | |
| /* #222: @11 = 0x1 */ | |
| /* #223: @12 = zeros(2x1,0nz) */ | |
| /* #224: @13 = zeros(2x2,0nz) */ | |
| /* #225: @14 = zeros(2x5,0nz) */ | |
| /* #226: @71 = 0x1 */ | |
| /* #227: @79 = 0x1 */ | |
| /* #228: @87 = 0x4 */ | |
| /* #229: @95 = 0x1 */ | |
| /* #230: @103 = 0x1 */ | |
| /* #231: @106 = zeros(2x1,0nz) */ | |
| /* #232: @107 = 00 */ | |
| /* #233: @61 = vertcat(@34, @107) */ | |
| rr=(&w61); | |
| *rr++ = w34; | |
| /* #234: @108 = 00 */ | |
| /* #235: @68 = vertcat(@108, @45) */ | |
| rr=(&w68); | |
| *rr++ = w45; | |
| /* #236: @109 = horzcat(@106, @61, @68) */ | |
| rr=w109; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #237: @41 = dense(@109) */ | |
| casadi_densify(w109, casadi_s3, w41, 0); | |
| /* #238: @106 = 00 */ | |
| /* #239: @110 = 00 */ | |
| /* #240: @61 = horzcat(@23, @106, @110) */ | |
| rr=(&w61); | |
| *rr++ = w23; | |
| /* #241: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #242: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #243: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #244: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #245: @111 = 0x3 */ | |
| /* #246: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@105, @1, @2, @4, @5, @11, @12, @13, @14, @71, @79, @87, @95, @103, @15, @41, @48, @49, @50, @51, @111) */ | |
| arg1[0]=w105; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w41; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #247: {@105, @109, @112} = horzsplit(@53) */ | |
| casadi_copy(w53, 2, w105); | |
| casadi_copy(w53+2, 2, w109); | |
| casadi_copy(w53+4, 2, w112); | |
| /* #248: @105 = (-@105) */ | |
| for (i=0, rr=w105, cs=w105; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #249: @11 = 00 */ | |
| /* #250: @1 = input[0][21] */ | |
| w1 = arg[0] ? arg[0][21] : 0; | |
| /* #251: @2 = input[0][22] */ | |
| w2 = arg[0] ? arg[0][22] : 0; | |
| /* #252: @113 = vertcat(@1, @2) */ | |
| rr=w113; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #253: @1 = input[0][23] */ | |
| w1 = arg[0] ? arg[0][23] : 0; | |
| /* #254: @2 = 1 */ | |
| w2 = 1.; | |
| /* #255: @4 = 7 */ | |
| w4 = 7.; | |
| /* #256: @12 = 0x1 */ | |
| /* #257: @13 = zeros(2x1,0nz) */ | |
| /* #258: @14 = zeros(2x2,0nz) */ | |
| /* #259: @71 = zeros(2x5,0nz) */ | |
| /* #260: @79 = 0x1 */ | |
| /* #261: @87 = 0x1 */ | |
| /* #262: @95 = 0x4 */ | |
| /* #263: @103 = 0x1 */ | |
| /* #264: @111 = 0x1 */ | |
| /* #265: @114 = zeros(2x1,0nz) */ | |
| /* #266: @115 = 00 */ | |
| /* #267: @61 = vertcat(@58, @115) */ | |
| rr=(&w61); | |
| *rr++ = w58; | |
| /* #268: @116 = 00 */ | |
| /* #269: @68 = vertcat(@116, @66) */ | |
| rr=(&w68); | |
| *rr++ = w66; | |
| /* #270: @117 = horzcat(@114, @61, @68) */ | |
| rr=w117; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #271: @53 = dense(@117) */ | |
| casadi_densify(w117, casadi_s3, w53, 0); | |
| /* #272: @114 = 00 */ | |
| /* #273: @118 = 00 */ | |
| /* #274: @61 = horzcat(@24, @114, @118) */ | |
| rr=(&w61); | |
| *rr++ = w24; | |
| /* #275: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #276: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #277: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #278: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #279: @119 = 0x3 */ | |
| /* #280: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@113, @1, @2, @4, @5, @12, @13, @14, @71, @79, @87, @95, @103, @111, @15, @53, @48, @49, @50, @51, @119) */ | |
| arg1[0]=w113; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w53; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #281: {@113, @117, @120} = horzsplit(@41) */ | |
| casadi_copy(w41, 2, w113); | |
| casadi_copy(w41+2, 2, w117); | |
| casadi_copy(w41+4, 2, w120); | |
| /* #282: @113 = (-@113) */ | |
| for (i=0, rr=w113, cs=w113; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #283: @12 = 00 */ | |
| /* #284: @1 = input[0][24] */ | |
| w1 = arg[0] ? arg[0][24] : 0; | |
| /* #285: @2 = input[0][25] */ | |
| w2 = arg[0] ? arg[0][25] : 0; | |
| /* #286: @121 = vertcat(@1, @2) */ | |
| rr=w121; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #287: @1 = input[0][26] */ | |
| w1 = arg[0] ? arg[0][26] : 0; | |
| /* #288: @2 = 1 */ | |
| w2 = 1.; | |
| /* #289: @4 = 8 */ | |
| w4 = 8.; | |
| /* #290: @13 = 0x1 */ | |
| /* #291: @14 = zeros(2x1,0nz) */ | |
| /* #292: @71 = zeros(2x2,0nz) */ | |
| /* #293: @79 = zeros(2x5,0nz) */ | |
| /* #294: @87 = 0x1 */ | |
| /* #295: @95 = 0x1 */ | |
| /* #296: @103 = 0x4 */ | |
| /* #297: @111 = 0x1 */ | |
| /* #298: @119 = 0x1 */ | |
| /* #299: @122 = zeros(2x1,0nz) */ | |
| /* #300: @123 = 00 */ | |
| /* #301: @61 = vertcat(@35, @123) */ | |
| rr=(&w61); | |
| *rr++ = w35; | |
| /* #302: @124 = 00 */ | |
| /* #303: @68 = vertcat(@124, @46) */ | |
| rr=(&w68); | |
| *rr++ = w46; | |
| /* #304: @125 = horzcat(@122, @61, @68) */ | |
| rr=w125; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #305: @41 = dense(@125) */ | |
| casadi_densify(w125, casadi_s3, w41, 0); | |
| /* #306: @122 = 00 */ | |
| /* #307: @126 = 00 */ | |
| /* #308: @61 = horzcat(@25, @122, @126) */ | |
| rr=(&w61); | |
| *rr++ = w25; | |
| /* #309: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #310: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #311: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #312: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #313: @127 = 0x3 */ | |
| /* #314: {@53, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@121, @1, @2, @4, @5, @13, @14, @71, @79, @87, @95, @103, @111, @119, @15, @41, @48, @49, @50, @51, @127) */ | |
| arg1[0]=w121; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w41; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w53; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #315: {@121, @125, @128} = horzsplit(@53) */ | |
| casadi_copy(w53, 2, w121); | |
| casadi_copy(w53+2, 2, w125); | |
| casadi_copy(w53+4, 2, w128); | |
| /* #316: @121 = (-@121) */ | |
| for (i=0, rr=w121, cs=w121; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #317: @13 = 00 */ | |
| /* #318: @1 = input[0][27] */ | |
| w1 = arg[0] ? arg[0][27] : 0; | |
| /* #319: @2 = input[0][28] */ | |
| w2 = arg[0] ? arg[0][28] : 0; | |
| /* #320: @129 = vertcat(@1, @2) */ | |
| rr=w129; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #321: @1 = input[0][29] */ | |
| w1 = arg[0] ? arg[0][29] : 0; | |
| /* #322: @2 = 1 */ | |
| w2 = 1.; | |
| /* #323: @4 = 9 */ | |
| w4 = 9.; | |
| /* #324: @14 = 0x1 */ | |
| /* #325: @71 = zeros(2x1,0nz) */ | |
| /* #326: @79 = zeros(2x2,0nz) */ | |
| /* #327: @87 = zeros(2x5,0nz) */ | |
| /* #328: @95 = 0x1 */ | |
| /* #329: @103 = 0x1 */ | |
| /* #330: @111 = 0x4 */ | |
| /* #331: @119 = 0x1 */ | |
| /* #332: @127 = 0x1 */ | |
| /* #333: @130 = zeros(2x1,0nz) */ | |
| /* #334: @131 = 00 */ | |
| /* #335: @61 = vertcat(@59, @131) */ | |
| rr=(&w61); | |
| *rr++ = w59; | |
| /* #336: @132 = 00 */ | |
| /* #337: @68 = vertcat(@132, @67) */ | |
| rr=(&w68); | |
| *rr++ = w67; | |
| /* #338: @133 = horzcat(@130, @61, @68) */ | |
| rr=w133; | |
| *rr++ = w61; | |
| *rr++ = w68; | |
| /* #339: @53 = dense(@133) */ | |
| casadi_densify(w133, casadi_s3, w53, 0); | |
| /* #340: @130 = 00 */ | |
| /* #341: @134 = 00 */ | |
| /* #342: @61 = horzcat(@26, @130, @134) */ | |
| rr=(&w61); | |
| *rr++ = w26; | |
| /* #343: @48 = dense(@61) */ | |
| casadi_densify((&w61), casadi_s4, w48, 0); | |
| /* #344: @49 = zeros(1x3) */ | |
| casadi_clear(w49, 3); | |
| /* #345: @50 = zeros(1x3) */ | |
| casadi_clear(w50, 3); | |
| /* #346: @51 = zeros(1x3) */ | |
| casadi_clear(w51, 3); | |
| /* #347: @135 = 0x3 */ | |
| /* #348: {@41, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} = fwd3_F(@129, @1, @2, @4, @5, @14, @71, @79, @87, @95, @103, @111, @119, @127, @15, @53, @48, @49, @50, @51, @135) */ | |
| arg1[0]=w129; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w53; | |
| arg1[16]=w48; | |
| arg1[17]=w49; | |
| arg1[18]=w50; | |
| arg1[19]=w51; | |
| arg1[20]=0; | |
| res1[0]=w41; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| res1[6]=0; | |
| res1[7]=0; | |
| res1[8]=0; | |
| if (casadi_f13(arg1, res1, iw, w, 0)) return 1; | |
| /* #349: {@129, @133, @136} = horzsplit(@41) */ | |
| casadi_copy(w41, 2, w129); | |
| casadi_copy(w41+2, 2, w133); | |
| casadi_copy(w41+4, 2, w136); | |
| /* #350: @129 = (-@129) */ | |
| for (i=0, rr=w129, cs=w129; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #351: @14 = 00 */ | |
| /* #352: @71 = 00 */ | |
| /* #353: @137 = vertcat(@3, @17, @27, @39, @55, @6, @18, @73, @7, @19, @81, @8, @20, @89, @9, @21, @97, @10, @22, @105, @11, @23, @113, @12, @24, @121, @13, @25, @129, @14, @26, @71) */ | |
| rr=w137; | |
| for (i=0, cs=w3; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w17; | |
| for (i=0, cs=w55; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w18; | |
| for (i=0, cs=w73; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w19; | |
| for (i=0, cs=w81; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w20; | |
| for (i=0, cs=w89; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w21; | |
| for (i=0, cs=w97; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w22; | |
| for (i=0, cs=w105; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w23; | |
| for (i=0, cs=w113; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w24; | |
| for (i=0, cs=w121; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w25; | |
| for (i=0, cs=w129; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w26; | |
| /* #354: @138 = @137[:30] */ | |
| for (rr=w138, ss=w137+0; ss!=w137+30; ss+=1) *rr++ = *ss; | |
| /* #355: (@0[0, 4, 8, 13, 17, 20, 23, 27, 30, 33, 37, 40, 43, 47, 50, 53, 57, 60, 63, 67, 70, 73, 77, 80, 83, 87, 90, 93, 97, 100] = @138) */ | |
| for (cii=casadi_s5, rr=w0, ss=w138; cii!=casadi_s5+30; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #356: @40 = (-@40) */ | |
| for (i=0, rr=w40, cs=w40; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #357: @27 = 00 */ | |
| /* #358: @39 = 00 */ | |
| /* #359: @77 = (-@77) */ | |
| for (i=0, rr=w77, cs=w77; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #360: @6 = 00 */ | |
| /* #361: @7 = 00 */ | |
| /* #362: @93 = (-@93) */ | |
| for (i=0, rr=w93, cs=w93; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #363: @8 = 00 */ | |
| /* #364: @9 = 00 */ | |
| /* #365: @109 = (-@109) */ | |
| for (i=0, rr=w109, cs=w109; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #366: @10 = 00 */ | |
| /* #367: @11 = 00 */ | |
| /* #368: @125 = (-@125) */ | |
| for (i=0, rr=w125, cs=w125; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #369: @12 = 00 */ | |
| /* #370: @13 = 00 */ | |
| /* #371: @139 = vertcat(@40, @29, @31, @42, @32, @75, @27, @39, @77, @32, @74, @33, @91, @6, @7, @93, @33, @90, @34, @107, @8, @9, @109, @34, @106, @35, @123, @10, @11, @125, @35, @122, @36, @37, @12, @13, @36) */ | |
| rr=w139; | |
| for (i=0, cs=w40; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w31; | |
| *rr++ = w32; | |
| for (i=0, cs=w77; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w32; | |
| *rr++ = w33; | |
| for (i=0, cs=w93; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w33; | |
| *rr++ = w34; | |
| for (i=0, cs=w109; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w34; | |
| *rr++ = w35; | |
| for (i=0, cs=w125; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w35; | |
| *rr++ = w36; | |
| *rr++ = w37; | |
| *rr++ = w36; | |
| /* #372: @140 = @139[:22] */ | |
| for (rr=w140, ss=w139+0; ss!=w139+22; ss+=1) *rr++ = *ss; | |
| /* #373: (@0[1, 5, 9, 14, 21, 25, 29, 34, 41, 45, 49, 54, 61, 65, 69, 74, 81, 85, 89, 94, 98, 101] = @140) */ | |
| for (cii=casadi_s6, rr=w0, ss=w140; cii!=casadi_s6+22; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #374: @54 = (-@54) */ | |
| for (i=0, rr=w54, cs=w54; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #375: @29 = 00 */ | |
| /* #376: @42 = 00 */ | |
| /* #377: @75 = 00 */ | |
| /* #378: @27 = 00 */ | |
| /* #379: @80 = (-@80) */ | |
| for (i=0, rr=w80, cs=w80; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #380: @39 = 00 */ | |
| /* #381: @74 = 00 */ | |
| /* #382: @96 = (-@96) */ | |
| for (i=0, rr=w96, cs=w96; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #383: @91 = 00 */ | |
| /* #384: @6 = 00 */ | |
| /* #385: @112 = (-@112) */ | |
| for (i=0, rr=w112, cs=w112; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #386: @7 = 00 */ | |
| /* #387: @90 = 00 */ | |
| /* #388: @128 = (-@128) */ | |
| for (i=0, rr=w128, cs=w128; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #389: @107 = zeros(2x1,0nz) */ | |
| /* #390: @8 = 00 */ | |
| /* #391: @9 = 00 */ | |
| /* #392: @106 = 00 */ | |
| /* #393: @141 = vertcat(@54, @29, @42, @28, @76, @38, @75, @27, @80, @76, @78, @92, @44, @39, @74, @96, @92, @94, @108, @45, @91, @6, @112, @108, @110, @124, @46, @7, @90, @128, @124, @126, @107, @8, @9, @106) */ | |
| rr=w141; | |
| for (i=0, cs=w54; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w28; | |
| *rr++ = w38; | |
| for (i=0, cs=w80; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w44; | |
| for (i=0, cs=w96; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w45; | |
| for (i=0, cs=w112; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w46; | |
| for (i=0, cs=w128; i<2; ++i) *rr++ = *cs++; | |
| /* #394: @142 = @141[:15] */ | |
| for (rr=w142, ss=w141+0; ss!=w141+15; ss+=1) *rr++ = *ss; | |
| /* #395: (@0[2, 6, 10, 18, 22, 26, 38, 42, 46, 58, 62, 66, 78, 82, 86] = @142) */ | |
| for (cii=casadi_s7, rr=w0, ss=w142; cii!=casadi_s7+15; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #396: @29 = 00 */ | |
| /* #397: @42 = 00 */ | |
| /* #398: @76 = 00 */ | |
| /* #399: @69 = (-@69) */ | |
| for (i=0, rr=w69, cs=w69; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #400: @75 = 00 */ | |
| /* #401: @27 = 00 */ | |
| /* #402: @85 = (-@85) */ | |
| for (i=0, rr=w85, cs=w85; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #403: @78 = 00 */ | |
| /* #404: @92 = 00 */ | |
| /* #405: @101 = (-@101) */ | |
| for (i=0, rr=w101, cs=w101; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #406: @39 = 00 */ | |
| /* #407: @74 = 00 */ | |
| /* #408: @117 = (-@117) */ | |
| for (i=0, rr=w117, cs=w117; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #409: @94 = 00 */ | |
| /* #410: @108 = 00 */ | |
| /* #411: @133 = (-@133) */ | |
| for (i=0, rr=w133, cs=w133; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #412: @91 = 00 */ | |
| /* #413: @143 = vertcat(@47, @60, @29, @42, @76, @69, @47, @52, @56, @83, @75, @27, @85, @56, @82, @57, @99, @78, @92, @101, @57, @98, @58, @115, @39, @74, @117, @58, @114, @59, @131, @94, @108, @133, @59, @130, @91) */ | |
| rr=w143; | |
| *rr++ = w47; | |
| for (i=0, cs=w69; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w47; | |
| *rr++ = w56; | |
| for (i=0, cs=w85; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w56; | |
| *rr++ = w57; | |
| for (i=0, cs=w101; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w57; | |
| *rr++ = w58; | |
| for (i=0, cs=w117; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w58; | |
| *rr++ = w59; | |
| for (i=0, cs=w133; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w59; | |
| /* #414: @144 = @143[:20] */ | |
| for (rr=w144, ss=w143+0; ss!=w143+20; ss+=1) *rr++ = *ss; | |
| /* #415: (@0[3, 11, 15, 19, 24, 31, 35, 39, 44, 51, 55, 59, 64, 71, 75, 79, 84, 91, 95, 99] = @144) */ | |
| for (cii=casadi_s8, rr=w0, ss=w144; cii!=casadi_s8+20; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #416: @60 = 00 */ | |
| /* #417: @29 = 00 */ | |
| /* #418: @42 = 00 */ | |
| /* #419: @72 = (-@72) */ | |
| for (i=0, rr=w72, cs=w72; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #420: @76 = 00 */ | |
| /* #421: @52 = 00 */ | |
| /* #422: @88 = (-@88) */ | |
| for (i=0, rr=w88, cs=w88; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #423: @83 = 00 */ | |
| /* #424: @75 = 00 */ | |
| /* #425: @104 = (-@104) */ | |
| for (i=0, rr=w104, cs=w104; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #426: @27 = 00 */ | |
| /* #427: @82 = 00 */ | |
| /* #428: @120 = (-@120) */ | |
| for (i=0, rr=w120, cs=w120; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #429: @99 = 00 */ | |
| /* #430: @78 = 00 */ | |
| /* #431: @136 = (-@136) */ | |
| for (i=0, rr=w136, cs=w136; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #432: @92 = 00 */ | |
| /* #433: @142 = vertcat(@62, @63, @60, @29, @42, @72, @62, @70, @84, @64, @76, @52, @88, @84, @86, @100, @65, @83, @75, @104, @100, @102, @116, @66, @27, @82, @120, @116, @118, @132, @67, @99, @78, @136, @132, @134, @92) */ | |
| rr=w142; | |
| *rr++ = w63; | |
| for (i=0, cs=w72; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w64; | |
| for (i=0, cs=w88; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w65; | |
| for (i=0, cs=w104; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w66; | |
| for (i=0, cs=w120; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w67; | |
| for (i=0, cs=w136; i<2; ++i) *rr++ = *cs++; | |
| /* #434: @141 = @142[:15] */ | |
| for (rr=w141, ss=w142+0; ss!=w142+15; ss+=1) *rr++ = *ss; | |
| /* #435: (@0[7, 12, 16, 28, 32, 36, 48, 52, 56, 68, 72, 76, 88, 92, 96] = @141) */ | |
| for (cii=casadi_s9, rr=w0, ss=w141; cii!=casadi_s9+15; ++cii, ++ss) rr[*cii] = *ss; | |
| /* #436: @145 = @0' */ | |
| casadi_trans(w0,casadi_s11, w145, casadi_s10, iw); | |
| /* #437: output[0][0] = @145 */ | |
| casadi_copy(w145, 102, res[0]); | |
| return 0; | |
| } | |
| /* fwd1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],fwd_x[2],fwd_u,fwd_z[0],fwd_p,fwd_t[1x1,0nz])->(fwd_ode[2],fwd_alg[0],fwd_quad[0]) */ | |
| static int casadi_f19(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2, w3; | |
| /* #0: @0 = input[8][0] */ | |
| casadi_copy(arg[8], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@1-@2) */ | |
| w2 = (w1-w2); | |
| /* #3: @3 = input[9][0] */ | |
| w3 = arg[9] ? arg[9][0] : 0; | |
| /* #4: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #5: @3 = input[11][0] */ | |
| w3 = arg[11] ? arg[11][0] : 0; | |
| /* #6: @2 = (@2+@3) */ | |
| w2 += w3; | |
| /* #7: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #8: output[0][1] = @1 */ | |
| if (res[0]) res[0][1] = w1; | |
| return 0; | |
| } | |
| /* fwd1_adj1_ode:(x[2],u,z[0],p,t[1x1,0nz],out_ode[2x1,0nz],out_alg[0],out_quad[0],adj_ode[2],adj_alg[0],adj_quad[0],out_adj_x[2x1,0nz],out_adj_u[1x1,0nz],out_adj_z[0],out_adj_p[1x1,0nz],out_adj_t[1x1,0nz],fwd_x[2],fwd_u,fwd_z[0],fwd_p,fwd_t[1x1,0nz],fwd_out_ode[2x1,0nz],fwd_out_alg[0],fwd_out_quad[0],fwd_adj_ode[2],fwd_adj_alg[0],fwd_adj_quad[0])->(fwd_adj_x[2],fwd_adj_u,fwd_adj_z[0],fwd_adj_p,fwd_adj_t[1x1,0nz]) */ | |
| static int casadi_f20(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real *w0=w+0, w1, w2; | |
| /* #0: @0 = input[24][0] */ | |
| casadi_copy(arg[24], 2, w0); | |
| /* #1: {@1, @2} = vertsplit(@0) */ | |
| w1 = w0[0]; | |
| w2 = w0[1]; | |
| /* #2: @2 = (@2+@1) */ | |
| w2 += w1; | |
| /* #3: output[0][0] = @2 */ | |
| if (res[0]) res[0][0] = w2; | |
| /* #4: @2 = (-@1) */ | |
| w2 = (- w1 ); | |
| /* #5: output[0][1] = @2 */ | |
| if (res[0]) res[0][1] = w2; | |
| /* #6: output[1][0] = @1 */ | |
| if (res[1]) res[1][0] = w1; | |
| /* #7: output[3][0] = @1 */ | |
| if (res[3]) res[3][0] = w1; | |
| return 0; | |
| } | |
| /* fwd1_adj1_F:(x0[2],u,t0,DT,DT_control,p,z0[0],out_xf[2x1,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_poly_coeff_q[0x4],out_zf[0],out_poly_coeff_z[],adj_xf[2],adj_poly_coeff[2x5],adj_qf[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_poly_coeff_z[],out_adj_x0[2x1,0nz],out_adj_u[1x1,0nz],out_adj_t0[1x1,0nz],out_adj_DT[1x1,0nz],out_adj_DT_control[1x1,0nz],out_adj_p[1x1,0nz],out_adj_z0[0],fwd_x0[2],fwd_u,fwd_t0,fwd_DT,fwd_DT_control,fwd_p,fwd_z0[0],fwd_out_xf[2x1,0nz],fwd_out_poly_coeff[2x5,0nz],fwd_out_qf[0],fwd_out_poly_coeff_q[0x4],fwd_out_zf[0],fwd_out_poly_coeff_z[],fwd_adj_xf[2],fwd_adj_poly_coeff[2x5],fwd_adj_qf[0],fwd_adj_poly_coeff_q[0x4],fwd_adj_zf[0],fwd_adj_poly_coeff_z[])->(fwd_adj_x0[2],fwd_adj_u,fwd_adj_t0[1x1,0nz],fwd_adj_DT,fwd_adj_DT_control[1x1,0nz],fwd_adj_p,fwd_adj_z0[0]) */ | |
| static int casadi_f18(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+7, *rr; | |
| const casadi_real **arg1=arg+45, *cr, *cs; | |
| casadi_real *w0=w+5, *w1=w+15, *w2=w+17, *w3=w+19, *w4=w+21, *w5=w+23, *w6=w+25, *w7=w+27, w8, w9, w10, w11, w13, *w15=w+34, *w16=w+36, *w19=w+38, *w20=w+40, *w23=w+42, *w24=w+44, w30, w31, *w32=w+48, *w33=w+50, *w34=w+52, *w35=w+54, w36, w37, *w38=w+58, *w39=w+60, w40, *w41=w+63, *w42=w+65, *w43=w+67, *w51=w+69, w52, *w53=w+72, w57, *w58=w+75, w62, *w63=w+78, w67, w69, *w71=w+82, *w72=w+84, *w73=w+86, *w74=w+88, w75, *w76=w+91, *w79=w+93, w80, w81, w82, *w83=w+98, *w84=w+100, *w85=w+102, w86, *w87=w+105, *w88=w+107, w89, w90, w91, w92; | |
| /* #0: @0 = input[40][0] */ | |
| casadi_copy(arg[40], 10, w0); | |
| /* #1: {@1, @2, @3, @4, @5} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| casadi_copy(w0+4, 2, w3); | |
| casadi_copy(w0+6, 2, w4); | |
| casadi_copy(w0+8, 2, w5); | |
| /* #2: @6 = input[39][0] */ | |
| casadi_copy(arg[39], 2, w6); | |
| /* #3: @1 = (@1+@6) */ | |
| for (i=0, rr=w1, cs=w6; i<2; ++i) (*rr++) += (*cs++); | |
| /* #4: @7 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w7); | |
| /* #5: @8 = input[3][0] */ | |
| w8 = arg[3] ? arg[3][0] : 0; | |
| /* #6: @9 = 2 */ | |
| w9 = 2.; | |
| /* #7: @9 = (@8/@9) */ | |
| w9 = (w8/w9); | |
| /* #8: @10 = 2 */ | |
| w10 = 2.; | |
| /* #9: @10 = (@8/@10) */ | |
| w10 = (w8/w10); | |
| /* #10: @11 = input[1][0] */ | |
| w11 = arg[1] ? arg[1][0] : 0; | |
| /* #11: @12 = 0x1 */ | |
| /* #12: @13 = input[5][0] */ | |
| w13 = arg[5] ? arg[5][0] : 0; | |
| /* #13: @14 = 00 */ | |
| /* #14: {@15, NULL, NULL} = ode(@7, @11, @12, @13, @14) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w15; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #15: @16 = (@10*@15) */ | |
| for (i=0, rr=w16, cs=w15; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #16: @16 = (@7+@16) */ | |
| for (i=0, rr=w16, cr=w7, cs=w16; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #17: @17 = 0x1 */ | |
| /* #18: @18 = 00 */ | |
| /* #19: {@19, NULL, NULL} = ode(@16, @11, @17, @13, @18) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w19; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #20: @20 = (@9*@19) */ | |
| for (i=0, rr=w20, cs=w19; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #21: @20 = (@7+@20) */ | |
| for (i=0, rr=w20, cr=w7, cs=w20; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #22: @21 = 0x1 */ | |
| /* #23: @22 = 00 */ | |
| /* #24: {@23, NULL, NULL} = ode(@20, @11, @21, @13, @22) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w23; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #25: @24 = (@8*@23) */ | |
| for (i=0, rr=w24, cs=w23; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #26: @24 = (@7+@24) */ | |
| for (i=0, rr=w24, cr=w7, cs=w24; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #27: @25 = 0x1 */ | |
| /* #28: @26 = 00 */ | |
| /* #29: @27 = zeros(2x1,0nz) */ | |
| /* #30: @28 = 0x1 */ | |
| /* #31: @29 = 0x1 */ | |
| /* #32: @30 = 4 */ | |
| w30 = 4.; | |
| /* #33: @31 = 0.0416667 */ | |
| w31 = 4.1666666666666664e-02; | |
| /* #34: @0 = input[14][0] */ | |
| casadi_copy(arg[14], 10, w0); | |
| /* #35: {NULL, @32, @33, @34, @35} = horzsplit(@0) */ | |
| casadi_copy(w0+2, 2, w32); | |
| casadi_copy(w0+4, 2, w33); | |
| casadi_copy(w0+6, 2, w34); | |
| casadi_copy(w0+8, 2, w35); | |
| /* #36: @35 = (@31*@35) */ | |
| for (i=0, rr=w35, cs=w35; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #37: @36 = 3 */ | |
| w36 = 3.; | |
| /* #38: @37 = pow(@8,@36) */ | |
| w37 = pow(w8,w36); | |
| /* #39: @38 = (@35/@37) */ | |
| for (i=0, rr=w38, cr=w35; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #40: @39 = (@30*@38) */ | |
| for (i=0, rr=w39, cs=w38; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #41: @40 = 6 */ | |
| w40 = 6.; | |
| /* #42: @40 = (@8/@40) */ | |
| w40 = (w8/w40); | |
| /* #43: @41 = input[13][0] */ | |
| casadi_copy(arg[13], 2, w41); | |
| /* #44: @42 = (@40*@41) */ | |
| for (i=0, rr=w42, cs=w41; i<2; ++i) (*rr++) = (w40*(*cs++)); | |
| /* #45: @43 = (@39+@42) */ | |
| for (i=0, rr=w43, cr=w39, cs=w42; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #46: @44 = 0x1 */ | |
| /* #47: @45 = 0x1 */ | |
| /* #48: @46 = zeros(2x1,0nz) */ | |
| /* #49: @47 = 00 */ | |
| /* #50: @48 = 0x1 */ | |
| /* #51: @49 = 00 */ | |
| /* #52: @50 = 00 */ | |
| /* #53: @51 = input[26][0] */ | |
| casadi_copy(arg[26], 2, w51); | |
| /* #54: @52 = input[29][0] */ | |
| w52 = arg[29] ? arg[29][0] : 0; | |
| /* #55: @53 = (@23*@52) */ | |
| for (i=0, rr=w53, cr=w23; i<2; ++i) (*rr++) = ((*cr++)*w52); | |
| /* #56: @54 = zeros(2x1,0nz) */ | |
| /* #57: @55 = 0x1 */ | |
| /* #58: @56 = 0x1 */ | |
| /* #59: @57 = 0.5 */ | |
| w57 = 5.0000000000000000e-01; | |
| /* #60: @57 = (@57*@52) */ | |
| w57 *= w52; | |
| /* #61: @58 = (@19*@57) */ | |
| for (i=0, rr=w58, cr=w19; i<2; ++i) (*rr++) = ((*cr++)*w57); | |
| /* #62: @59 = zeros(2x1,0nz) */ | |
| /* #63: @60 = 0x1 */ | |
| /* #64: @61 = 0x1 */ | |
| /* #65: @62 = 0.5 */ | |
| w62 = 5.0000000000000000e-01; | |
| /* #66: @62 = (@62*@52) */ | |
| w62 *= w52; | |
| /* #67: @63 = (@15*@62) */ | |
| for (i=0, rr=w63, cr=w15; i<2; ++i) (*rr++) = ((*cr++)*w62); | |
| /* #68: @64 = zeros(2x1,0nz) */ | |
| /* #69: @65 = 0x1 */ | |
| /* #70: @66 = 0x1 */ | |
| /* #71: @67 = input[27][0] */ | |
| w67 = arg[27] ? arg[27][0] : 0; | |
| /* #72: @68 = 0x1 */ | |
| /* #73: @69 = input[31][0] */ | |
| w69 = arg[31] ? arg[31][0] : 0; | |
| /* #74: @70 = 00 */ | |
| /* #75: {@71, NULL, NULL} = fwd1_ode(@7, @11, @12, @13, @14, @64, @65, @66, @51, @67, @68, @69, @70) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w51; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w71; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #76: @72 = (@10*@71) */ | |
| for (i=0, rr=w72, cs=w71; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #77: @63 = (@63+@72) */ | |
| for (i=0, rr=w63, cs=w72; i<2; ++i) (*rr++) += (*cs++); | |
| /* #78: @63 = (@51+@63) */ | |
| for (i=0, rr=w63, cr=w51, cs=w63; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #79: @64 = 0x1 */ | |
| /* #80: @65 = 00 */ | |
| /* #81: {@72, NULL, NULL} = fwd1_ode(@16, @11, @17, @13, @18, @59, @60, @61, @63, @67, @64, @69, @65) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w63; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w72; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #82: @73 = (@9*@72) */ | |
| for (i=0, rr=w73, cs=w72; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #83: @58 = (@58+@73) */ | |
| for (i=0, rr=w58, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #84: @58 = (@51+@58) */ | |
| for (i=0, rr=w58, cr=w51, cs=w58; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #85: @59 = 0x1 */ | |
| /* #86: @60 = 00 */ | |
| /* #87: {@73, NULL, NULL} = fwd1_ode(@20, @11, @21, @13, @22, @54, @55, @56, @58, @67, @59, @69, @60) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w58; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w73; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #88: @74 = (@8*@73) */ | |
| for (i=0, rr=w74, cs=w73; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #89: @53 = (@53+@74) */ | |
| for (i=0, rr=w53, cs=w74; i<2; ++i) (*rr++) += (*cs++); | |
| /* #90: @53 = (@51+@53) */ | |
| for (i=0, rr=w53, cr=w51, cs=w53; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #91: @54 = 0x1 */ | |
| /* #92: @55 = 00 */ | |
| /* #93: @56 = zeros(2x1,0nz) */ | |
| /* #94: @61 = 0x1 */ | |
| /* #95: @66 = 0x1 */ | |
| /* #96: @5 = (@31*@5) */ | |
| for (i=0, rr=w5, cs=w5; i<2; ++i) (*rr++) = (w31*(*cs++)); | |
| /* #97: @74 = (@5/@37) */ | |
| for (i=0, rr=w74, cr=w5; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #98: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #99: @31 = sq(@8) */ | |
| w31 = casadi_sq( w8 ); | |
| /* #100: @31 = (@36*@31) */ | |
| w31 = (w36*w31); | |
| /* #101: @31 = (@31*@52) */ | |
| w31 *= w52; | |
| /* #102: @38 = (@38*@31) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) *= w31; | |
| /* #103: @74 = (@74-@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #104: @74 = (@30*@74) */ | |
| for (i=0, rr=w74, cs=w74; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #105: @75 = 0.166667 */ | |
| w75 = 1.6666666666666666e-01; | |
| /* #106: @75 = (@75*@52) */ | |
| w75 *= w52; | |
| /* #107: @38 = (@41*@75) */ | |
| for (i=0, rr=w38, cr=w41; i<2; ++i) (*rr++) = ((*cr++)*w75); | |
| /* #108: @76 = (@40*@6) */ | |
| for (i=0, rr=w76, cs=w6; i<2; ++i) (*rr++) = (w40*(*cs++)); | |
| /* #109: @38 = (@38+@76) */ | |
| for (i=0, rr=w38, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #110: @76 = (@74+@38) */ | |
| for (i=0, rr=w76, cr=w74, cs=w38; i<2; ++i) (*rr++) = ((*cr++)+(*cs++)); | |
| /* #111: @77 = 0x1 */ | |
| /* #112: @78 = 0x1 */ | |
| /* #113: {@79, @40, NULL, @75, NULL} = fwd1_adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @43, @44, @45, @46, @47, @48, @49, @50, @53, @67, @54, @69, @55, @56, @61, @66, @76, @77, @78) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w53; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w76; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w79; | |
| res1[1]=(&w40); | |
| res1[2]=0; | |
| res1[3]=(&w75); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #114: @1 = (@1+@79) */ | |
| for (i=0, rr=w1, cs=w79; i<2; ++i) (*rr++) += (*cs++); | |
| /* #115: @46 = zeros(2x1,0nz) */ | |
| /* #116: @47 = 0x1 */ | |
| /* #117: @48 = 0x1 */ | |
| /* #118: @76 = (-@39) */ | |
| for (i=0, rr=w76, cs=w39; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #119: @76 = (2.*@76) */ | |
| for (i=0, rr=w76, cs=w76; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #120: @80 = 4 */ | |
| w80 = 4.; | |
| /* #121: @81 = sq(@8) */ | |
| w81 = casadi_sq( w8 ); | |
| /* #122: @80 = (@80/@81) */ | |
| w80 /= w81; | |
| /* #123: @82 = 0.166667 */ | |
| w82 = 1.6666666666666666e-01; | |
| /* #124: @34 = (@82*@34) */ | |
| for (i=0, rr=w34, cs=w34; i<2; ++i) (*rr++) = (w82*(*cs++)); | |
| /* #125: @83 = (@80*@34) */ | |
| for (i=0, rr=w83, cs=w34; i<2; ++i) (*rr++) = (w80*(*cs++)); | |
| /* #126: @76 = (@76+@83) */ | |
| for (i=0, rr=w76, cs=w83; i<2; ++i) (*rr++) += (*cs++); | |
| /* #127: {@84, NULL, NULL, NULL, NULL} = adj1_ode(@24, @11, @25, @13, @26, @27, @28, @29, @43, @44, @45) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w43; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w84; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #128: @43 = (@8*@84) */ | |
| for (i=0, rr=w43, cs=w84; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #129: @76 = (@76+@43) */ | |
| for (i=0, rr=w76, cs=w43; i<2; ++i) (*rr++) += (*cs++); | |
| /* #130: @43 = (2.*@42) */ | |
| for (i=0, rr=w43, cs=w42; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #131: @76 = (@76+@43) */ | |
| for (i=0, rr=w76, cs=w43; i<2; ++i) (*rr++) += (*cs++); | |
| /* #132: @27 = 0x1 */ | |
| /* #133: @28 = 0x1 */ | |
| /* #134: @29 = zeros(2x1,0nz) */ | |
| /* #135: @44 = 00 */ | |
| /* #136: @45 = 0x1 */ | |
| /* #137: @49 = 00 */ | |
| /* #138: @50 = 00 */ | |
| /* #139: @56 = zeros(2x1,0nz) */ | |
| /* #140: @61 = 0x1 */ | |
| /* #141: @66 = 0x1 */ | |
| /* #142: @43 = (-@74) */ | |
| for (i=0, rr=w43, cs=w74; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #143: @43 = (2.*@43) */ | |
| for (i=0, rr=w43, cs=w43; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #144: @4 = (@82*@4) */ | |
| for (i=0, rr=w4, cs=w4; i<2; ++i) (*rr++) = (w82*(*cs++)); | |
| /* #145: @85 = (@80*@4) */ | |
| for (i=0, rr=w85, cs=w4; i<2; ++i) (*rr++) = (w80*(*cs++)); | |
| /* #146: @82 = (@80/@81) */ | |
| w82 = (w80/w81); | |
| /* #147: @86 = (2.*@8) */ | |
| w86 = (2.* w8 ); | |
| /* #148: @86 = (@86*@52) */ | |
| w86 *= w52; | |
| /* #149: @82 = (@82*@86) */ | |
| w82 *= w86; | |
| /* #150: @87 = (@34*@82) */ | |
| for (i=0, rr=w87, cr=w34; i<2; ++i) (*rr++) = ((*cr++)*w82); | |
| /* #151: @85 = (@85-@87) */ | |
| for (i=0, rr=w85, cs=w87; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #152: @43 = (@43+@85) */ | |
| for (i=0, rr=w43, cs=w85; i<2; ++i) (*rr++) += (*cs++); | |
| /* #153: @87 = (@84*@52) */ | |
| for (i=0, rr=w87, cr=w84; i<2; ++i) (*rr++) = ((*cr++)*w52); | |
| /* #154: @88 = (@8*@79) */ | |
| for (i=0, rr=w88, cs=w79; i<2; ++i) (*rr++) = (w8*(*cs++)); | |
| /* #155: @87 = (@87+@88) */ | |
| for (i=0, rr=w87, cs=w88; i<2; ++i) (*rr++) += (*cs++); | |
| /* #156: @43 = (@43+@87) */ | |
| for (i=0, rr=w43, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #157: @87 = (2.*@38) */ | |
| for (i=0, rr=w87, cs=w38; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #158: @43 = (@43+@87) */ | |
| for (i=0, rr=w43, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #159: @77 = 0x1 */ | |
| /* #160: @78 = 0x1 */ | |
| /* #161: {@87, @89, NULL, @90, NULL} = fwd1_adj1_ode(@20, @11, @21, @13, @22, @46, @47, @48, @76, @27, @28, @29, @44, @45, @49, @50, @58, @67, @59, @69, @60, @56, @61, @66, @43, @77, @78) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w76; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w58; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w43; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w87; | |
| res1[1]=(&w89); | |
| res1[2]=0; | |
| res1[3]=(&w90); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #162: @1 = (@1+@87) */ | |
| for (i=0, rr=w1, cs=w87; i<2; ++i) (*rr++) += (*cs++); | |
| /* #163: @29 = zeros(2x1,0nz) */ | |
| /* #164: @44 = 0x1 */ | |
| /* #165: @45 = 0x1 */ | |
| /* #166: @91 = 2 */ | |
| w91 = 2.; | |
| /* #167: @91 = (@91/@8) */ | |
| w91 /= w8; | |
| /* #168: @92 = 0.5 */ | |
| w92 = 5.0000000000000000e-01; | |
| /* #169: @33 = (@92*@33) */ | |
| for (i=0, rr=w33, cs=w33; i<2; ++i) (*rr++) = (w92*(*cs++)); | |
| /* #170: @58 = (@91*@33) */ | |
| for (i=0, rr=w58, cs=w33; i<2; ++i) (*rr++) = (w91*(*cs++)); | |
| /* #171: @83 = (@58-@83) */ | |
| for (i=0, rr=w83, cr=w58, cs=w83; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #172: {@43, NULL, NULL, NULL, NULL} = adj1_ode(@20, @11, @21, @13, @22, @46, @47, @48, @76, @27, @28) */ | |
| arg1[0]=w20; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w76; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w43; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #173: @20 = (@9*@43) */ | |
| for (i=0, rr=w20, cs=w43; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #174: @83 = (@83+@20) */ | |
| for (i=0, rr=w83, cs=w20; i<2; ++i) (*rr++) += (*cs++); | |
| /* #175: @20 = (2.*@42) */ | |
| for (i=0, rr=w20, cs=w42; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #176: @83 = (@83+@20) */ | |
| for (i=0, rr=w83, cs=w20; i<2; ++i) (*rr++) += (*cs++); | |
| /* #177: @21 = 0x1 */ | |
| /* #178: @22 = 0x1 */ | |
| /* #179: @46 = zeros(2x1,0nz) */ | |
| /* #180: @47 = 00 */ | |
| /* #181: @48 = 0x1 */ | |
| /* #182: @27 = 00 */ | |
| /* #183: @28 = 00 */ | |
| /* #184: @49 = zeros(2x1,0nz) */ | |
| /* #185: @50 = 0x1 */ | |
| /* #186: @59 = 0x1 */ | |
| /* #187: @3 = (@92*@3) */ | |
| for (i=0, rr=w3, cs=w3; i<2; ++i) (*rr++) = (w92*(*cs++)); | |
| /* #188: @20 = (@91*@3) */ | |
| for (i=0, rr=w20, cs=w3; i<2; ++i) (*rr++) = (w91*(*cs++)); | |
| /* #189: @92 = (@91/@8) */ | |
| w92 = (w91/w8); | |
| /* #190: @92 = (@92*@52) */ | |
| w92 *= w52; | |
| /* #191: @76 = (@33*@92) */ | |
| for (i=0, rr=w76, cr=w33; i<2; ++i) (*rr++) = ((*cr++)*w92); | |
| /* #192: @20 = (@20-@76) */ | |
| for (i=0, rr=w20, cs=w76; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #193: @85 = (@20-@85) */ | |
| for (i=0, rr=w85, cr=w20, cs=w85; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #194: @76 = (@43*@57) */ | |
| for (i=0, rr=w76, cr=w43; i<2; ++i) (*rr++) = ((*cr++)*w57); | |
| /* #195: @88 = (@9*@87) */ | |
| for (i=0, rr=w88, cs=w87; i<2; ++i) (*rr++) = (w9*(*cs++)); | |
| /* #196: @76 = (@76+@88) */ | |
| for (i=0, rr=w76, cs=w88; i<2; ++i) (*rr++) += (*cs++); | |
| /* #197: @85 = (@85+@76) */ | |
| for (i=0, rr=w85, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #198: @76 = (2.*@38) */ | |
| for (i=0, rr=w76, cs=w38; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #199: @85 = (@85+@76) */ | |
| for (i=0, rr=w85, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #200: @60 = 0x1 */ | |
| /* #201: @56 = 0x1 */ | |
| /* #202: {@76, @9, NULL, @57, NULL} = fwd1_adj1_ode(@16, @11, @17, @13, @18, @29, @44, @45, @83, @21, @22, @46, @47, @48, @27, @28, @63, @67, @64, @69, @65, @49, @50, @59, @85, @60, @56) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w83; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w63; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w85; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w76; | |
| res1[1]=(&w9); | |
| res1[2]=0; | |
| res1[3]=(&w57); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #203: @1 = (@1+@76) */ | |
| for (i=0, rr=w1, cs=w76; i<2; ++i) (*rr++) += (*cs++); | |
| /* #204: @46 = zeros(2x1,0nz) */ | |
| /* #205: @47 = 0x1 */ | |
| /* #206: @48 = 0x1 */ | |
| /* #207: @39 = (@39-@58) */ | |
| for (i=0, rr=w39, cs=w58; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #208: @39 = (@39+@32) */ | |
| for (i=0, rr=w39, cs=w32; i<2; ++i) (*rr++) += (*cs++); | |
| /* #209: @39 = (@39+@42) */ | |
| for (i=0, rr=w39, cs=w42; i<2; ++i) (*rr++) += (*cs++); | |
| /* #210: {@42, NULL, NULL, NULL, NULL} = adj1_ode(@16, @11, @17, @13, @18, @29, @44, @45, @83, @21, @22) */ | |
| arg1[0]=w16; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w83; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| res1[0]=w42; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| if (casadi_f8(arg1, res1, iw, w, 0)) return 1; | |
| /* #211: @16 = (@10*@42) */ | |
| for (i=0, rr=w16, cs=w42; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #212: @39 = (@39+@16) */ | |
| for (i=0, rr=w39, cs=w16; i<2; ++i) (*rr++) += (*cs++); | |
| /* #213: @17 = 0x1 */ | |
| /* #214: @18 = 0x1 */ | |
| /* #215: @29 = zeros(2x1,0nz) */ | |
| /* #216: @44 = 00 */ | |
| /* #217: @45 = 0x1 */ | |
| /* #218: @21 = 00 */ | |
| /* #219: @22 = 00 */ | |
| /* #220: @27 = zeros(2x1,0nz) */ | |
| /* #221: @28 = 0x1 */ | |
| /* #222: @64 = 0x1 */ | |
| /* #223: @74 = (@74-@20) */ | |
| for (i=0, rr=w74, cs=w20; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #224: @74 = (@74+@2) */ | |
| for (i=0, rr=w74, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #225: @74 = (@74+@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #226: @38 = (@42*@62) */ | |
| for (i=0, rr=w38, cr=w42; i<2; ++i) (*rr++) = ((*cr++)*w62); | |
| /* #227: @2 = (@10*@76) */ | |
| for (i=0, rr=w2, cs=w76; i<2; ++i) (*rr++) = (w10*(*cs++)); | |
| /* #228: @38 = (@38+@2) */ | |
| for (i=0, rr=w38, cs=w2; i<2; ++i) (*rr++) += (*cs++); | |
| /* #229: @74 = (@74+@38) */ | |
| for (i=0, rr=w74, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #230: @65 = 0x1 */ | |
| /* #231: @49 = 0x1 */ | |
| /* #232: {@38, @10, NULL, @62, NULL} = fwd1_adj1_ode(@7, @11, @12, @13, @14, @46, @47, @48, @39, @17, @18, @29, @44, @45, @21, @22, @51, @67, @68, @69, @70, @27, @28, @64, @74, @65, @49) */ | |
| arg1[0]=w7; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w39; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=0; | |
| arg1[16]=w51; | |
| arg1[17]=(&w67); | |
| arg1[18]=0; | |
| arg1[19]=(&w69); | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=w74; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| res1[0]=w38; | |
| res1[1]=(&w10); | |
| res1[2]=0; | |
| res1[3]=(&w62); | |
| res1[4]=0; | |
| if (casadi_f20(arg1, res1, iw, w, 0)) return 1; | |
| /* #233: @1 = (@1+@38) */ | |
| for (i=0, rr=w1, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #234: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #235: @40 = (@40+@89) */ | |
| w40 += w89; | |
| /* #236: @40 = (@40+@9) */ | |
| w40 += w9; | |
| /* #237: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #238: output[1][0] = @40 */ | |
| if (res[1]) res[1][0] = w40; | |
| /* #239: {@1, NULL, NULL} = ode(@24, @11, @25, @13, @26) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| res1[0]=w1; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f5(arg1, res1, iw, w, 0)) return 1; | |
| /* #240: @38 = (2.*@23) */ | |
| for (i=0, rr=w38, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #241: @38 = (@1-@38) */ | |
| for (i=0, rr=w38, cr=w1, cs=w38; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #242: @38 = (@38+@15) */ | |
| for (i=0, rr=w38, cs=w15; i<2; ++i) (*rr++) += (*cs++); | |
| /* #243: @38 = (@30*@38) */ | |
| for (i=0, rr=w38, cs=w38; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #244: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #245: @7 = (@38/@37) */ | |
| for (i=0, rr=w7, cr=w38; i<2; ++i) (*rr++) = ((*cr++)/w37); | |
| /* #246: @39 = (-@7) */ | |
| for (i=0, rr=w39, cs=w7; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #247: @40 = dot(@39, @35) */ | |
| w40 = casadi_dot(2, w39, w35); | |
| /* #248: @10 = (2.*@8) */ | |
| w10 = (2.* w8 ); | |
| /* #249: @10 = (@10*@52) */ | |
| w10 *= w52; | |
| /* #250: @10 = (@36*@10) */ | |
| w10 = (w36*w10); | |
| /* #251: @40 = (@40*@10) */ | |
| w40 *= w10; | |
| /* #252: @10 = sq(@8) */ | |
| w10 = casadi_sq( w8 ); | |
| /* #253: @36 = (@36*@10) */ | |
| w36 *= w10; | |
| /* #254: @10 = dot(@39, @5) */ | |
| w10 = casadi_dot(2, w39, w5); | |
| /* #255: @12 = zeros(2x1,0nz) */ | |
| /* #256: @14 = 0x1 */ | |
| /* #257: @46 = 0x1 */ | |
| /* #258: {@39, NULL, NULL} = fwd1_ode(@24, @11, @25, @13, @26, @12, @14, @46, @53, @67, @54, @69, @55) */ | |
| arg1[0]=w24; | |
| arg1[1]=(&w11); | |
| arg1[2]=0; | |
| arg1[3]=(&w13); | |
| arg1[4]=0; | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=w53; | |
| arg1[9]=(&w67); | |
| arg1[10]=0; | |
| arg1[11]=(&w69); | |
| arg1[12]=0; | |
| res1[0]=w39; | |
| res1[1]=0; | |
| res1[2]=0; | |
| if (casadi_f19(arg1, res1, iw, w, 0)) return 1; | |
| /* #259: @24 = (2.*@73) */ | |
| for (i=0, rr=w24, cs=w73; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #260: @24 = (@39-@24) */ | |
| for (i=0, rr=w24, cr=w39, cs=w24; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #261: @24 = (@24+@71) */ | |
| for (i=0, rr=w24, cs=w71; i<2; ++i) (*rr++) += (*cs++); | |
| /* #262: @24 = (@30*@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) (*rr++) = (w30*(*cs++)); | |
| /* #263: @24 = (@24/@37) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w37; | |
| /* #264: @38 = (@38/@37) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) /= w37; | |
| /* #265: @38 = (@38*@31) */ | |
| for (i=0, rr=w38; i<2; ++i) (*rr++) *= w31; | |
| /* #266: @24 = (@24-@38) */ | |
| for (i=0, rr=w24, cs=w38; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #267: @24 = (@24/@37) */ | |
| for (i=0, rr=w24; i<2; ++i) (*rr++) /= w37; | |
| /* #268: @7 = (@7/@37) */ | |
| for (i=0, rr=w7; i<2; ++i) (*rr++) /= w37; | |
| /* #269: @7 = (@7*@31) */ | |
| for (i=0, rr=w7; i<2; ++i) (*rr++) *= w31; | |
| /* #270: @24 = (@24-@7) */ | |
| for (i=0, rr=w24, cs=w7; i<2; ++i) (*rr++) -= (*cs++); | |
| /* #271: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #272: @31 = dot(@24, @35) */ | |
| w31 = casadi_dot(2, w24, w35); | |
| /* #273: @10 = (@10+@31) */ | |
| w10 += w31; | |
| /* #274: @36 = (@36*@10) */ | |
| w36 *= w10; | |
| /* #275: @40 = (@40+@36) */ | |
| w40 += w36; | |
| /* #276: @80 = (@80/@81) */ | |
| w80 /= w81; | |
| /* #277: @24 = (@23-@19) */ | |
| for (i=0, rr=w24, cr=w23, cs=w19; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #278: @36 = dot(@24, @34) */ | |
| w36 = casadi_dot(2, w24, w34); | |
| /* #279: @10 = (@80*@36) */ | |
| w10 = (w80*w36); | |
| /* #280: @31 = (2.*@52) */ | |
| w31 = (2.* w52 ); | |
| /* #281: @10 = (@10*@31) */ | |
| w10 *= w31; | |
| /* #282: @31 = (2.*@8) */ | |
| w31 = (2.* w8 ); | |
| /* #283: @37 = (@80/@81) */ | |
| w37 = (w80/w81); | |
| /* #284: @37 = (@37*@86) */ | |
| w37 *= w86; | |
| /* #285: @37 = (-@37) */ | |
| w37 = (- w37 ); | |
| /* #286: @82 = (@82/@81) */ | |
| w82 /= w81; | |
| /* #287: @37 = (@37-@82) */ | |
| w37 -= w82; | |
| /* #288: @36 = (@36*@37) */ | |
| w36 *= w37; | |
| /* #289: @37 = dot(@24, @4) */ | |
| w37 = casadi_dot(2, w24, w4); | |
| /* #290: @24 = (@73-@72) */ | |
| for (i=0, rr=w24, cr=w73, cs=w72; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #291: @82 = dot(@24, @34) */ | |
| w82 = casadi_dot(2, w24, w34); | |
| /* #292: @37 = (@37+@82) */ | |
| w37 += w82; | |
| /* #293: @80 = (@80*@37) */ | |
| w80 *= w37; | |
| /* #294: @36 = (@36+@80) */ | |
| w36 += w80; | |
| /* #295: @31 = (@31*@36) */ | |
| w31 *= w36; | |
| /* #296: @10 = (@10+@31) */ | |
| w10 += w31; | |
| /* #297: @40 = (@40-@10) */ | |
| w40 -= w10; | |
| /* #298: @24 = (@19-@15) */ | |
| for (i=0, rr=w24, cr=w19, cs=w15; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #299: @10 = dot(@24, @33) */ | |
| w10 = casadi_dot(2, w24, w33); | |
| /* #300: @91 = (@91/@8) */ | |
| w91 /= w8; | |
| /* #301: @31 = (@91/@8) */ | |
| w31 = (w91/w8); | |
| /* #302: @31 = (@31*@52) */ | |
| w31 *= w52; | |
| /* #303: @31 = (-@31) */ | |
| w31 = (- w31 ); | |
| /* #304: @92 = (@92/@8) */ | |
| w92 /= w8; | |
| /* #305: @31 = (@31-@92) */ | |
| w31 -= w92; | |
| /* #306: @10 = (@10*@31) */ | |
| w10 *= w31; | |
| /* #307: @31 = dot(@24, @3) */ | |
| w31 = casadi_dot(2, w24, w3); | |
| /* #308: @24 = (@72-@71) */ | |
| for (i=0, rr=w24, cr=w72, cs=w71; i<2; ++i) (*rr++) = ((*cr++)-(*cs++)); | |
| /* #309: @92 = dot(@24, @33) */ | |
| w92 = casadi_dot(2, w24, w33); | |
| /* #310: @31 = (@31+@92) */ | |
| w31 += w92; | |
| /* #311: @91 = (@91*@31) */ | |
| w91 *= w31; | |
| /* #312: @10 = (@10+@91) */ | |
| w10 += w91; | |
| /* #313: @40 = (@40-@10) */ | |
| w40 -= w10; | |
| /* #314: @10 = dot(@23, @79) */ | |
| w10 = casadi_dot(2, w23, w79); | |
| /* #315: @91 = dot(@73, @84) */ | |
| w91 = casadi_dot(2, w73, w84); | |
| /* #316: @10 = (@10+@91) */ | |
| w10 += w91; | |
| /* #317: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #318: @10 = 0.5 */ | |
| w10 = 5.0000000000000000e-01; | |
| /* #319: @91 = dot(@19, @87) */ | |
| w91 = casadi_dot(2, w19, w87); | |
| /* #320: @31 = dot(@72, @43) */ | |
| w31 = casadi_dot(2, w72, w43); | |
| /* #321: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #322: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #323: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #324: @10 = 0.5 */ | |
| w10 = 5.0000000000000000e-01; | |
| /* #325: @91 = dot(@15, @76) */ | |
| w91 = casadi_dot(2, w15, w76); | |
| /* #326: @31 = dot(@71, @42) */ | |
| w31 = casadi_dot(2, w71, w42); | |
| /* #327: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #328: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #329: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #330: @10 = 0.166667 */ | |
| w10 = 1.6666666666666666e-01; | |
| /* #331: @19 = (2.*@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #332: @15 = (@15+@19) */ | |
| for (i=0, rr=w15, cs=w19; i<2; ++i) (*rr++) += (*cs++); | |
| /* #333: @23 = (2.*@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #334: @15 = (@15+@23) */ | |
| for (i=0, rr=w15, cs=w23; i<2; ++i) (*rr++) += (*cs++); | |
| /* #335: @15 = (@15+@1) */ | |
| for (i=0, rr=w15, cs=w1; i<2; ++i) (*rr++) += (*cs++); | |
| /* #336: @91 = dot(@15, @6) */ | |
| w91 = casadi_dot(2, w15, w6); | |
| /* #337: @72 = (2.*@72) */ | |
| for (i=0, rr=w72, cs=w72; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #338: @71 = (@71+@72) */ | |
| for (i=0, rr=w71, cs=w72; i<2; ++i) (*rr++) += (*cs++); | |
| /* #339: @73 = (2.*@73) */ | |
| for (i=0, rr=w73, cs=w73; i<2; ++i) *rr++ = (2.* *cs++ ); | |
| /* #340: @71 = (@71+@73) */ | |
| for (i=0, rr=w71, cs=w73; i<2; ++i) (*rr++) += (*cs++); | |
| /* #341: @71 = (@71+@39) */ | |
| for (i=0, rr=w71, cs=w39; i<2; ++i) (*rr++) += (*cs++); | |
| /* #342: @31 = dot(@71, @41) */ | |
| w31 = casadi_dot(2, w71, w41); | |
| /* #343: @91 = (@91+@31) */ | |
| w91 += w31; | |
| /* #344: @10 = (@10*@91) */ | |
| w10 *= w91; | |
| /* #345: @40 = (@40+@10) */ | |
| w40 += w10; | |
| /* #346: output[3][0] = @40 */ | |
| if (res[3]) res[3][0] = w40; | |
| /* #347: @75 = (@75+@90) */ | |
| w75 += w90; | |
| /* #348: @75 = (@75+@57) */ | |
| w75 += w57; | |
| /* #349: @75 = (@75+@62) */ | |
| w75 += w62; | |
| /* #350: output[5][0] = @75 */ | |
| if (res[5]) res[5][0] = w75; | |
| return 0; | |
| } | |
| /* fwd1_adj1_F:(x0[2],u,T,t0,p,z0[0],out_xf[2x1,0nz],out_Xi[2x2,0nz],out_poly_coeff[2x5,0nz],out_qf[0],out_Qi[0],out_poly_coeff_q[0x4],out_zf[0],out_Zi[0],out_poly_coeff_z[],adj_xf[2],adj_Xi[2x2],adj_poly_coeff[2x5],adj_qf[0],adj_Qi[0],adj_poly_coeff_q[0x4],adj_zf[0],adj_Zi[0],adj_poly_coeff_z[],out_adj_x0[2x1,0nz],out_adj_u[1x1,0nz],out_adj_T[1x1,0nz],out_adj_t0[1x1,0nz],out_adj_p[1x1,0nz],out_adj_z0[0],fwd_x0[2],fwd_u,fwd_T,fwd_t0,fwd_p,fwd_z0[0],fwd_out_xf[2x1,0nz],fwd_out_Xi[2x2,0nz],fwd_out_poly_coeff[2x5,0nz],fwd_out_qf[0],fwd_out_Qi[0],fwd_out_poly_coeff_q[0x4],fwd_out_zf[0],fwd_out_Zi[0],fwd_out_poly_coeff_z[],fwd_adj_xf[2],fwd_adj_Xi[2x2],fwd_adj_poly_coeff[2x5],fwd_adj_qf[0],fwd_adj_Qi[0],fwd_adj_poly_coeff_q[0x4],fwd_adj_zf[0],fwd_adj_Zi[0],fwd_adj_poly_coeff_z[])->(fwd_adj_x0[2],fwd_adj_u,fwd_adj_T,fwd_adj_t0[1x1,0nz],fwd_adj_p,fwd_adj_z0[0]) */ | |
| static int casadi_f17(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+6, *rr; | |
| const casadi_real **arg1=arg+54, *cs; | |
| casadi_real *w0=w+113, *w1=w+117, *w2=w+119, *w3=w+121, w4, w5, w6, w7, *w15=w+127, *w16=w+129, *w17=w+131, w28, w29, w30, w31, *w38=w+145, *w39=w+147, w43, w44, w45; | |
| /* #0: @0 = input[46][0] */ | |
| casadi_copy(arg[46], 4, w0); | |
| /* #1: {@1, @2} = horzsplit(@0) */ | |
| casadi_copy(w0, 2, w1); | |
| casadi_copy(w0+2, 2, w2); | |
| /* #2: @3 = input[0][0] */ | |
| casadi_copy(arg[0], 2, w3); | |
| /* #3: @4 = input[1][0] */ | |
| w4 = arg[1] ? arg[1][0] : 0; | |
| /* #4: @5 = input[3][0] */ | |
| w5 = arg[3] ? arg[3][0] : 0; | |
| /* #5: @6 = input[2][0] */ | |
| w6 = arg[2] ? arg[2][0] : 0; | |
| /* #6: @7 = input[4][0] */ | |
| w7 = arg[4] ? arg[4][0] : 0; | |
| /* #7: @8 = 0x1 */ | |
| /* #8: @9 = zeros(2x1,0nz) */ | |
| /* #9: @10 = zeros(2x5,0nz) */ | |
| /* #10: @11 = 0x1 */ | |
| /* #11: @12 = 0x4 */ | |
| /* #12: @13 = 0x1 */ | |
| /* #13: @14 = 0x0 */ | |
| /* #14: @0 = input[16][0] */ | |
| casadi_copy(arg[16], 4, w0); | |
| /* #15: {NULL, @15} = horzsplit(@0) */ | |
| casadi_copy(w0+2, 2, w15); | |
| /* #16: @16 = input[15][0] */ | |
| casadi_copy(arg[15], 2, w16); | |
| /* #17: @15 = (@15+@16) */ | |
| for (i=0, rr=w15, cs=w16; i<2; ++i) (*rr++) += (*cs++); | |
| /* #18: @17 = input[17][0] */ | |
| casadi_copy(arg[17], 10, w17); | |
| /* #19: @18 = 0x1 */ | |
| /* #20: @19 = 0x4 */ | |
| /* #21: @20 = 0x1 */ | |
| /* #22: @21 = zeros(2x1,0nz) */ | |
| /* #23: @22 = 00 */ | |
| /* #24: @23 = 00 */ | |
| /* #25: @24 = 00 */ | |
| /* #26: @25 = 00 */ | |
| /* #27: @26 = 00 */ | |
| /* #28: @27 = 0x1 */ | |
| /* #29: @16 = input[30][0] */ | |
| casadi_copy(arg[30], 2, w16); | |
| /* #30: @28 = input[31][0] */ | |
| w28 = arg[31] ? arg[31][0] : 0; | |
| /* #31: @29 = input[33][0] */ | |
| w29 = arg[33] ? arg[33][0] : 0; | |
| /* #32: @30 = input[32][0] */ | |
| w30 = arg[32] ? arg[32][0] : 0; | |
| /* #33: @31 = input[34][0] */ | |
| w31 = arg[34] ? arg[34][0] : 0; | |
| /* #34: @32 = 0x1 */ | |
| /* #35: @33 = zeros(2x1,0nz) */ | |
| /* #36: @34 = zeros(2x5,0nz) */ | |
| /* #37: @35 = 0x1 */ | |
| /* #38: @36 = 0x4 */ | |
| /* #39: @37 = 0x1 */ | |
| /* #40: @38 = input[45][0] */ | |
| casadi_copy(arg[45], 2, w38); | |
| /* #41: @2 = (@2+@38) */ | |
| for (i=0, rr=w2, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #42: @39 = input[47][0] */ | |
| casadi_copy(arg[47], 10, w39); | |
| /* #43: @40 = 0x1 */ | |
| /* #44: @41 = 0x4 */ | |
| /* #45: @42 = 0x1 */ | |
| /* #46: {@38, @43, NULL, @44, NULL, @45, NULL} = fwd1_adj1_F(@3, @4, @5, @6, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @17, @18, @19, @20, @14, @21, @22, @23, @24, @25, @26, @27, @16, @28, @29, @30, @30, @31, @32, @33, @34, @35, @36, @37, @14, @2, @39, @40, @41, @42, @14) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w4); | |
| arg1[2]=(&w5); | |
| arg1[3]=(&w6); | |
| arg1[4]=(&w6); | |
| arg1[5]=(&w7); | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=w15; | |
| arg1[14]=w17; | |
| arg1[15]=0; | |
| arg1[16]=0; | |
| arg1[17]=0; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=w16; | |
| arg1[27]=(&w28); | |
| arg1[28]=(&w29); | |
| arg1[29]=(&w30); | |
| arg1[30]=(&w30); | |
| arg1[31]=(&w31); | |
| arg1[32]=0; | |
| arg1[33]=0; | |
| arg1[34]=0; | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=w2; | |
| arg1[40]=w39; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| res1[0]=w38; | |
| res1[1]=(&w43); | |
| res1[2]=0; | |
| res1[3]=(&w44); | |
| res1[4]=0; | |
| res1[5]=(&w45); | |
| res1[6]=0; | |
| if (casadi_f18(arg1, res1, iw, w, 0)) return 1; | |
| /* #47: @1 = (@1+@38) */ | |
| for (i=0, rr=w1, cs=w38; i<2; ++i) (*rr++) += (*cs++); | |
| /* #48: output[0][0] = @1 */ | |
| casadi_copy(w1, 2, res[0]); | |
| /* #49: output[1][0] = @43 */ | |
| if (res[1]) res[1][0] = w43; | |
| /* #50: output[2][0] = @44 */ | |
| if (res[2]) res[2][0] = w44; | |
| /* #51: output[4][0] = @45 */ | |
| if (res[4]) res[4][0] = w45; | |
| return 0; | |
| } | |
| /* nlp_hess_l:(x[32],p,lam_f,lam_g[42])->(triu_hess_gamma_x_x[32x32,31nz]) */ | |
| static int casadi_f16(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr, *ss; | |
| const casadi_real **arg1=arg+4, *cs; | |
| casadi_real *w0=w+160, w1, w2, *w3=w+193, w4, w5, *w16=w+197, *w17=w+239, *w18=w+241, *w19=w+243, *w20=w+245, *w21=w+247, *w22=w+249, *w23=w+251, *w24=w+253, *w25=w+255, *w26=w+257, *w27=w+259, *w28=w+263, *w40=w+273, w41, w42, w43, w44, w45, w46, w47, w48, w49, w50, w51, w52, w53, w54, w55, w56, w57, w58, w59, w60, w61, w62, w63, w64, w65, w66, w67, w68, w69, w70, w71, *w72=w+336, w73, w74, w75, *w85=w+341, *w86=w+343, *w87=w+347, *w93=w+357, w94, w95, *w96=w+361, *w97=w+392; | |
| /* #0: @0 = zeros(32x32,31nz) */ | |
| casadi_clear(w0, 31); | |
| /* #1: @1 = input[0][0] */ | |
| w1 = arg[0] ? arg[0][0] : 0; | |
| /* #2: @2 = input[0][1] */ | |
| w2 = arg[0] ? arg[0][1] : 0; | |
| /* #3: @3 = vertcat(@1, @2) */ | |
| rr=w3; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| /* #4: @1 = input[0][2] */ | |
| w1 = arg[0] ? arg[0][2] : 0; | |
| /* #5: @2 = 1 */ | |
| w2 = 1.; | |
| /* #6: @4 = 0 */ | |
| w4 = 0.; | |
| /* #7: @5 = input[1][0] */ | |
| w5 = arg[1] ? arg[1][0] : 0; | |
| /* #8: @6 = 0x1 */ | |
| /* #9: @7 = zeros(2x1,0nz) */ | |
| /* #10: @8 = zeros(2x2,0nz) */ | |
| /* #11: @9 = zeros(2x5,0nz) */ | |
| /* #12: @10 = 0x1 */ | |
| /* #13: @11 = 0x1 */ | |
| /* #14: @12 = 0x4 */ | |
| /* #15: @13 = 0x1 */ | |
| /* #16: @14 = 0x1 */ | |
| /* #17: @15 = 0x0 */ | |
| /* #18: @16 = input[3][0] */ | |
| casadi_copy(arg[3], 42, w16); | |
| /* #19: {@17, NULL, NULL, NULL, @18, NULL, NULL, @19, NULL, NULL, @20, NULL, NULL, @21, NULL, NULL, @22, NULL, NULL, @23, NULL, NULL, @24, NULL, NULL, @25, NULL, NULL, @26, NULL, NULL, NULL} = vertsplit(@16) */ | |
| casadi_copy(w16, 2, w17); | |
| casadi_copy(w16+5, 2, w18); | |
| casadi_copy(w16+9, 2, w19); | |
| casadi_copy(w16+13, 2, w20); | |
| casadi_copy(w16+17, 2, w21); | |
| casadi_copy(w16+21, 2, w22); | |
| casadi_copy(w16+25, 2, w23); | |
| casadi_copy(w16+29, 2, w24); | |
| casadi_copy(w16+33, 2, w25); | |
| casadi_copy(w16+37, 2, w26); | |
| /* #20: @17 = (-@17) */ | |
| for (i=0, rr=w17, cs=w17; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #21: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #22: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #23: @29 = 0x1 */ | |
| /* #24: @30 = 0x1 */ | |
| /* #25: @31 = 0x4 */ | |
| /* #26: @32 = 0x1 */ | |
| /* #27: @33 = 0x1 */ | |
| /* #28: @34 = zeros(2x1,0nz) */ | |
| /* #29: @35 = 00 */ | |
| /* #30: @36 = 00 */ | |
| /* #31: @37 = 00 */ | |
| /* #32: @38 = 00 */ | |
| /* #33: @39 = 0x1 */ | |
| /* #34: @40 = ones(32x1) */ | |
| casadi_fill(w40, 32, 1.); | |
| /* #35: {@41, @42, @43, @44, @45, @46, @47, @48, @49, @50, @51, @52, @53, @54, @55, @56, @57, @58, @59, @60, @61, @62, @63, @64, @65, @66, @67, @68, @69, @70, @71, NULL} = vertsplit(@40) */ | |
| w41 = w40[0]; | |
| w42 = w40[1]; | |
| w43 = w40[2]; | |
| w44 = w40[3]; | |
| w45 = w40[4]; | |
| w46 = w40[5]; | |
| w47 = w40[6]; | |
| w48 = w40[7]; | |
| w49 = w40[8]; | |
| w50 = w40[9]; | |
| w51 = w40[10]; | |
| w52 = w40[11]; | |
| w53 = w40[12]; | |
| w54 = w40[13]; | |
| w55 = w40[14]; | |
| w56 = w40[15]; | |
| w57 = w40[16]; | |
| w58 = w40[17]; | |
| w59 = w40[18]; | |
| w60 = w40[19]; | |
| w61 = w40[20]; | |
| w62 = w40[21]; | |
| w63 = w40[22]; | |
| w64 = w40[23]; | |
| w65 = w40[24]; | |
| w66 = w40[25]; | |
| w67 = w40[26]; | |
| w68 = w40[27]; | |
| w69 = w40[28]; | |
| w70 = w40[29]; | |
| w71 = w40[30]; | |
| /* #36: @72 = vertcat(@41, @42) */ | |
| rr=w72; | |
| *rr++ = w41; | |
| *rr++ = w42; | |
| /* #37: @73 = 0 */ | |
| w73 = 0.; | |
| /* #38: @74 = 0 */ | |
| w74 = 0.; | |
| /* #39: @75 = 0 */ | |
| w75 = 0.; | |
| /* #40: @76 = 0x1 */ | |
| /* #41: @77 = zeros(2x1,0nz) */ | |
| /* #42: @78 = zeros(2x2,0nz) */ | |
| /* #43: @79 = zeros(2x5,0nz) */ | |
| /* #44: @80 = 0x1 */ | |
| /* #45: @81 = 0x1 */ | |
| /* #46: @82 = 0x4 */ | |
| /* #47: @83 = 0x1 */ | |
| /* #48: @84 = 0x1 */ | |
| /* #49: @85 = zeros(2x1) */ | |
| casadi_clear(w85, 2); | |
| /* #50: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #51: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #52: @88 = 0x1 */ | |
| /* #53: @89 = 0x1 */ | |
| /* #54: @90 = 0x4 */ | |
| /* #55: @91 = 0x1 */ | |
| /* #56: @92 = 0x1 */ | |
| /* #57: {@93, @94, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @1, @2, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @17, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @43, @73, @74, @75, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @85, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w1); | |
| arg1[2]=(&w2); | |
| arg1[3]=(&w4); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w17; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w43); | |
| arg1[32]=(&w73); | |
| arg1[33]=(&w74); | |
| arg1[34]=(&w75); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w85; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w94); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #58: {@1, @2} = vertsplit(@93) */ | |
| w1 = w93[0]; | |
| w2 = w93[1]; | |
| /* #59: @4 = input[2][0] */ | |
| w4 = arg[2] ? arg[2][0] : 0; | |
| /* #60: @41 = (2.*@41) */ | |
| w41 = (2.* w41 ); | |
| /* #61: @41 = (@4*@41) */ | |
| w41 = (w4*w41); | |
| /* #62: @1 = (@1+@41) */ | |
| w1 += w41; | |
| /* #63: @42 = (2.*@42) */ | |
| w42 = (2.* w42 ); | |
| /* #64: @42 = (@4*@42) */ | |
| w42 = (w4*w42); | |
| /* #65: @2 = (@2+@42) */ | |
| w2 += w42; | |
| /* #66: @43 = (2.*@43) */ | |
| w43 = (2.* w43 ); | |
| /* #67: @43 = (@4*@43) */ | |
| w43 = (w4*w43); | |
| /* #68: @94 = (@94+@43) */ | |
| w94 += w43; | |
| /* #69: @43 = input[0][3] */ | |
| w43 = arg[0] ? arg[0][3] : 0; | |
| /* #70: @42 = input[0][4] */ | |
| w42 = arg[0] ? arg[0][4] : 0; | |
| /* #71: @93 = vertcat(@43, @42) */ | |
| rr=w93; | |
| *rr++ = w43; | |
| *rr++ = w42; | |
| /* #72: @43 = input[0][5] */ | |
| w43 = arg[0] ? arg[0][5] : 0; | |
| /* #73: @42 = 1 */ | |
| w42 = 1.; | |
| /* #74: @41 = 1 */ | |
| w41 = 1.; | |
| /* #75: @6 = 0x1 */ | |
| /* #76: @7 = zeros(2x1,0nz) */ | |
| /* #77: @8 = zeros(2x2,0nz) */ | |
| /* #78: @9 = zeros(2x5,0nz) */ | |
| /* #79: @10 = 0x1 */ | |
| /* #80: @11 = 0x1 */ | |
| /* #81: @12 = 0x4 */ | |
| /* #82: @13 = 0x1 */ | |
| /* #83: @14 = 0x1 */ | |
| /* #84: @18 = (-@18) */ | |
| for (i=0, rr=w18, cs=w18; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #85: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #86: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #87: @29 = 0x1 */ | |
| /* #88: @30 = 0x1 */ | |
| /* #89: @31 = 0x4 */ | |
| /* #90: @32 = 0x1 */ | |
| /* #91: @33 = 0x1 */ | |
| /* #92: @34 = zeros(2x1,0nz) */ | |
| /* #93: @35 = 00 */ | |
| /* #94: @36 = 00 */ | |
| /* #95: @37 = 00 */ | |
| /* #96: @38 = 00 */ | |
| /* #97: @39 = 0x1 */ | |
| /* #98: @3 = vertcat(@44, @45) */ | |
| rr=w3; | |
| *rr++ = w44; | |
| *rr++ = w45; | |
| /* #99: @73 = 0 */ | |
| w73 = 0.; | |
| /* #100: @74 = 0 */ | |
| w74 = 0.; | |
| /* #101: @75 = 0 */ | |
| w75 = 0.; | |
| /* #102: @76 = 0x1 */ | |
| /* #103: @77 = zeros(2x1,0nz) */ | |
| /* #104: @78 = zeros(2x2,0nz) */ | |
| /* #105: @79 = zeros(2x5,0nz) */ | |
| /* #106: @80 = 0x1 */ | |
| /* #107: @81 = 0x1 */ | |
| /* #108: @82 = 0x4 */ | |
| /* #109: @83 = 0x1 */ | |
| /* #110: @84 = 0x1 */ | |
| /* #111: @17 = zeros(2x1) */ | |
| casadi_clear(w17, 2); | |
| /* #112: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #113: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #114: @88 = 0x1 */ | |
| /* #115: @89 = 0x1 */ | |
| /* #116: @90 = 0x4 */ | |
| /* #117: @91 = 0x1 */ | |
| /* #118: @92 = 0x1 */ | |
| /* #119: {@72, @95, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @43, @42, @41, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @18, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @46, @73, @74, @75, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @17, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w43); | |
| arg1[2]=(&w42); | |
| arg1[3]=(&w41); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w18; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w46); | |
| arg1[32]=(&w73); | |
| arg1[33]=(&w74); | |
| arg1[34]=(&w75); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w17; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w95); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #120: {@43, @42} = vertsplit(@72) */ | |
| w43 = w72[0]; | |
| w42 = w72[1]; | |
| /* #121: @44 = (2.*@44) */ | |
| w44 = (2.* w44 ); | |
| /* #122: @44 = (@4*@44) */ | |
| w44 = (w4*w44); | |
| /* #123: @43 = (@43+@44) */ | |
| w43 += w44; | |
| /* #124: @45 = (2.*@45) */ | |
| w45 = (2.* w45 ); | |
| /* #125: @45 = (@4*@45) */ | |
| w45 = (w4*w45); | |
| /* #126: @42 = (@42+@45) */ | |
| w42 += w45; | |
| /* #127: @46 = (2.*@46) */ | |
| w46 = (2.* w46 ); | |
| /* #128: @46 = (@4*@46) */ | |
| w46 = (w4*w46); | |
| /* #129: @95 = (@95+@46) */ | |
| w95 += w46; | |
| /* #130: @46 = input[0][6] */ | |
| w46 = arg[0] ? arg[0][6] : 0; | |
| /* #131: @45 = input[0][7] */ | |
| w45 = arg[0] ? arg[0][7] : 0; | |
| /* #132: @72 = vertcat(@46, @45) */ | |
| rr=w72; | |
| *rr++ = w46; | |
| *rr++ = w45; | |
| /* #133: @46 = input[0][8] */ | |
| w46 = arg[0] ? arg[0][8] : 0; | |
| /* #134: @45 = 1 */ | |
| w45 = 1.; | |
| /* #135: @44 = 2 */ | |
| w44 = 2.; | |
| /* #136: @6 = 0x1 */ | |
| /* #137: @7 = zeros(2x1,0nz) */ | |
| /* #138: @8 = zeros(2x2,0nz) */ | |
| /* #139: @9 = zeros(2x5,0nz) */ | |
| /* #140: @10 = 0x1 */ | |
| /* #141: @11 = 0x1 */ | |
| /* #142: @12 = 0x4 */ | |
| /* #143: @13 = 0x1 */ | |
| /* #144: @14 = 0x1 */ | |
| /* #145: @19 = (-@19) */ | |
| for (i=0, rr=w19, cs=w19; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #146: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #147: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #148: @29 = 0x1 */ | |
| /* #149: @30 = 0x1 */ | |
| /* #150: @31 = 0x4 */ | |
| /* #151: @32 = 0x1 */ | |
| /* #152: @33 = 0x1 */ | |
| /* #153: @34 = zeros(2x1,0nz) */ | |
| /* #154: @35 = 00 */ | |
| /* #155: @36 = 00 */ | |
| /* #156: @37 = 00 */ | |
| /* #157: @38 = 00 */ | |
| /* #158: @39 = 0x1 */ | |
| /* #159: @93 = vertcat(@47, @48) */ | |
| rr=w93; | |
| *rr++ = w47; | |
| *rr++ = w48; | |
| /* #160: @41 = 0 */ | |
| w41 = 0.; | |
| /* #161: @73 = 0 */ | |
| w73 = 0.; | |
| /* #162: @74 = 0 */ | |
| w74 = 0.; | |
| /* #163: @76 = 0x1 */ | |
| /* #164: @77 = zeros(2x1,0nz) */ | |
| /* #165: @78 = zeros(2x2,0nz) */ | |
| /* #166: @79 = zeros(2x5,0nz) */ | |
| /* #167: @80 = 0x1 */ | |
| /* #168: @81 = 0x1 */ | |
| /* #169: @82 = 0x4 */ | |
| /* #170: @83 = 0x1 */ | |
| /* #171: @84 = 0x1 */ | |
| /* #172: @18 = zeros(2x1) */ | |
| casadi_clear(w18, 2); | |
| /* #173: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #174: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #175: @88 = 0x1 */ | |
| /* #176: @89 = 0x1 */ | |
| /* #177: @90 = 0x4 */ | |
| /* #178: @91 = 0x1 */ | |
| /* #179: @92 = 0x1 */ | |
| /* #180: {@3, @75, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @46, @45, @44, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @19, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @49, @41, @73, @74, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @18, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w46); | |
| arg1[2]=(&w45); | |
| arg1[3]=(&w44); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w19; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w49); | |
| arg1[32]=(&w41); | |
| arg1[33]=(&w73); | |
| arg1[34]=(&w74); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w18; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w75); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #181: {@46, @45} = vertsplit(@3) */ | |
| w46 = w3[0]; | |
| w45 = w3[1]; | |
| /* #182: @47 = (2.*@47) */ | |
| w47 = (2.* w47 ); | |
| /* #183: @47 = (@4*@47) */ | |
| w47 = (w4*w47); | |
| /* #184: @46 = (@46+@47) */ | |
| w46 += w47; | |
| /* #185: @48 = (2.*@48) */ | |
| w48 = (2.* w48 ); | |
| /* #186: @48 = (@4*@48) */ | |
| w48 = (w4*w48); | |
| /* #187: @45 = (@45+@48) */ | |
| w45 += w48; | |
| /* #188: @49 = (2.*@49) */ | |
| w49 = (2.* w49 ); | |
| /* #189: @49 = (@4*@49) */ | |
| w49 = (w4*w49); | |
| /* #190: @75 = (@75+@49) */ | |
| w75 += w49; | |
| /* #191: @49 = input[0][9] */ | |
| w49 = arg[0] ? arg[0][9] : 0; | |
| /* #192: @48 = input[0][10] */ | |
| w48 = arg[0] ? arg[0][10] : 0; | |
| /* #193: @3 = vertcat(@49, @48) */ | |
| rr=w3; | |
| *rr++ = w49; | |
| *rr++ = w48; | |
| /* #194: @49 = input[0][11] */ | |
| w49 = arg[0] ? arg[0][11] : 0; | |
| /* #195: @48 = 1 */ | |
| w48 = 1.; | |
| /* #196: @47 = 3 */ | |
| w47 = 3.; | |
| /* #197: @6 = 0x1 */ | |
| /* #198: @7 = zeros(2x1,0nz) */ | |
| /* #199: @8 = zeros(2x2,0nz) */ | |
| /* #200: @9 = zeros(2x5,0nz) */ | |
| /* #201: @10 = 0x1 */ | |
| /* #202: @11 = 0x1 */ | |
| /* #203: @12 = 0x4 */ | |
| /* #204: @13 = 0x1 */ | |
| /* #205: @14 = 0x1 */ | |
| /* #206: @20 = (-@20) */ | |
| for (i=0, rr=w20, cs=w20; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #207: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #208: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #209: @29 = 0x1 */ | |
| /* #210: @30 = 0x1 */ | |
| /* #211: @31 = 0x4 */ | |
| /* #212: @32 = 0x1 */ | |
| /* #213: @33 = 0x1 */ | |
| /* #214: @34 = zeros(2x1,0nz) */ | |
| /* #215: @35 = 00 */ | |
| /* #216: @36 = 00 */ | |
| /* #217: @37 = 00 */ | |
| /* #218: @38 = 00 */ | |
| /* #219: @39 = 0x1 */ | |
| /* #220: @72 = vertcat(@50, @51) */ | |
| rr=w72; | |
| *rr++ = w50; | |
| *rr++ = w51; | |
| /* #221: @44 = 0 */ | |
| w44 = 0.; | |
| /* #222: @41 = 0 */ | |
| w41 = 0.; | |
| /* #223: @73 = 0 */ | |
| w73 = 0.; | |
| /* #224: @76 = 0x1 */ | |
| /* #225: @77 = zeros(2x1,0nz) */ | |
| /* #226: @78 = zeros(2x2,0nz) */ | |
| /* #227: @79 = zeros(2x5,0nz) */ | |
| /* #228: @80 = 0x1 */ | |
| /* #229: @81 = 0x1 */ | |
| /* #230: @82 = 0x4 */ | |
| /* #231: @83 = 0x1 */ | |
| /* #232: @84 = 0x1 */ | |
| /* #233: @19 = zeros(2x1) */ | |
| casadi_clear(w19, 2); | |
| /* #234: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #235: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #236: @88 = 0x1 */ | |
| /* #237: @89 = 0x1 */ | |
| /* #238: @90 = 0x4 */ | |
| /* #239: @91 = 0x1 */ | |
| /* #240: @92 = 0x1 */ | |
| /* #241: {@93, @74, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @49, @48, @47, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @20, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @52, @44, @41, @73, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @19, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w49); | |
| arg1[2]=(&w48); | |
| arg1[3]=(&w47); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w20; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w52); | |
| arg1[32]=(&w44); | |
| arg1[33]=(&w41); | |
| arg1[34]=(&w73); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w19; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w74); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #242: {@49, @48} = vertsplit(@93) */ | |
| w49 = w93[0]; | |
| w48 = w93[1]; | |
| /* #243: @50 = (2.*@50) */ | |
| w50 = (2.* w50 ); | |
| /* #244: @50 = (@4*@50) */ | |
| w50 = (w4*w50); | |
| /* #245: @49 = (@49+@50) */ | |
| w49 += w50; | |
| /* #246: @51 = (2.*@51) */ | |
| w51 = (2.* w51 ); | |
| /* #247: @51 = (@4*@51) */ | |
| w51 = (w4*w51); | |
| /* #248: @48 = (@48+@51) */ | |
| w48 += w51; | |
| /* #249: @52 = (2.*@52) */ | |
| w52 = (2.* w52 ); | |
| /* #250: @52 = (@4*@52) */ | |
| w52 = (w4*w52); | |
| /* #251: @74 = (@74+@52) */ | |
| w74 += w52; | |
| /* #252: @52 = input[0][12] */ | |
| w52 = arg[0] ? arg[0][12] : 0; | |
| /* #253: @51 = input[0][13] */ | |
| w51 = arg[0] ? arg[0][13] : 0; | |
| /* #254: @93 = vertcat(@52, @51) */ | |
| rr=w93; | |
| *rr++ = w52; | |
| *rr++ = w51; | |
| /* #255: @52 = input[0][14] */ | |
| w52 = arg[0] ? arg[0][14] : 0; | |
| /* #256: @51 = 1 */ | |
| w51 = 1.; | |
| /* #257: @50 = 4 */ | |
| w50 = 4.; | |
| /* #258: @6 = 0x1 */ | |
| /* #259: @7 = zeros(2x1,0nz) */ | |
| /* #260: @8 = zeros(2x2,0nz) */ | |
| /* #261: @9 = zeros(2x5,0nz) */ | |
| /* #262: @10 = 0x1 */ | |
| /* #263: @11 = 0x1 */ | |
| /* #264: @12 = 0x4 */ | |
| /* #265: @13 = 0x1 */ | |
| /* #266: @14 = 0x1 */ | |
| /* #267: @21 = (-@21) */ | |
| for (i=0, rr=w21, cs=w21; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #268: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #269: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #270: @29 = 0x1 */ | |
| /* #271: @30 = 0x1 */ | |
| /* #272: @31 = 0x4 */ | |
| /* #273: @32 = 0x1 */ | |
| /* #274: @33 = 0x1 */ | |
| /* #275: @34 = zeros(2x1,0nz) */ | |
| /* #276: @35 = 00 */ | |
| /* #277: @36 = 00 */ | |
| /* #278: @37 = 00 */ | |
| /* #279: @38 = 00 */ | |
| /* #280: @39 = 0x1 */ | |
| /* #281: @3 = vertcat(@53, @54) */ | |
| rr=w3; | |
| *rr++ = w53; | |
| *rr++ = w54; | |
| /* #282: @47 = 0 */ | |
| w47 = 0.; | |
| /* #283: @44 = 0 */ | |
| w44 = 0.; | |
| /* #284: @41 = 0 */ | |
| w41 = 0.; | |
| /* #285: @76 = 0x1 */ | |
| /* #286: @77 = zeros(2x1,0nz) */ | |
| /* #287: @78 = zeros(2x2,0nz) */ | |
| /* #288: @79 = zeros(2x5,0nz) */ | |
| /* #289: @80 = 0x1 */ | |
| /* #290: @81 = 0x1 */ | |
| /* #291: @82 = 0x4 */ | |
| /* #292: @83 = 0x1 */ | |
| /* #293: @84 = 0x1 */ | |
| /* #294: @20 = zeros(2x1) */ | |
| casadi_clear(w20, 2); | |
| /* #295: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #296: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #297: @88 = 0x1 */ | |
| /* #298: @89 = 0x1 */ | |
| /* #299: @90 = 0x4 */ | |
| /* #300: @91 = 0x1 */ | |
| /* #301: @92 = 0x1 */ | |
| /* #302: {@72, @73, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @52, @51, @50, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @21, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @55, @47, @44, @41, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @20, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w52); | |
| arg1[2]=(&w51); | |
| arg1[3]=(&w50); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w21; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w55); | |
| arg1[32]=(&w47); | |
| arg1[33]=(&w44); | |
| arg1[34]=(&w41); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w20; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w73); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #303: {@52, @51} = vertsplit(@72) */ | |
| w52 = w72[0]; | |
| w51 = w72[1]; | |
| /* #304: @53 = (2.*@53) */ | |
| w53 = (2.* w53 ); | |
| /* #305: @53 = (@4*@53) */ | |
| w53 = (w4*w53); | |
| /* #306: @52 = (@52+@53) */ | |
| w52 += w53; | |
| /* #307: @54 = (2.*@54) */ | |
| w54 = (2.* w54 ); | |
| /* #308: @54 = (@4*@54) */ | |
| w54 = (w4*w54); | |
| /* #309: @51 = (@51+@54) */ | |
| w51 += w54; | |
| /* #310: @55 = (2.*@55) */ | |
| w55 = (2.* w55 ); | |
| /* #311: @55 = (@4*@55) */ | |
| w55 = (w4*w55); | |
| /* #312: @73 = (@73+@55) */ | |
| w73 += w55; | |
| /* #313: @55 = input[0][15] */ | |
| w55 = arg[0] ? arg[0][15] : 0; | |
| /* #314: @54 = input[0][16] */ | |
| w54 = arg[0] ? arg[0][16] : 0; | |
| /* #315: @72 = vertcat(@55, @54) */ | |
| rr=w72; | |
| *rr++ = w55; | |
| *rr++ = w54; | |
| /* #316: @55 = input[0][17] */ | |
| w55 = arg[0] ? arg[0][17] : 0; | |
| /* #317: @54 = 1 */ | |
| w54 = 1.; | |
| /* #318: @53 = 5 */ | |
| w53 = 5.; | |
| /* #319: @6 = 0x1 */ | |
| /* #320: @7 = zeros(2x1,0nz) */ | |
| /* #321: @8 = zeros(2x2,0nz) */ | |
| /* #322: @9 = zeros(2x5,0nz) */ | |
| /* #323: @10 = 0x1 */ | |
| /* #324: @11 = 0x1 */ | |
| /* #325: @12 = 0x4 */ | |
| /* #326: @13 = 0x1 */ | |
| /* #327: @14 = 0x1 */ | |
| /* #328: @22 = (-@22) */ | |
| for (i=0, rr=w22, cs=w22; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #329: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #330: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #331: @29 = 0x1 */ | |
| /* #332: @30 = 0x1 */ | |
| /* #333: @31 = 0x4 */ | |
| /* #334: @32 = 0x1 */ | |
| /* #335: @33 = 0x1 */ | |
| /* #336: @34 = zeros(2x1,0nz) */ | |
| /* #337: @35 = 00 */ | |
| /* #338: @36 = 00 */ | |
| /* #339: @37 = 00 */ | |
| /* #340: @38 = 00 */ | |
| /* #341: @39 = 0x1 */ | |
| /* #342: @93 = vertcat(@56, @57) */ | |
| rr=w93; | |
| *rr++ = w56; | |
| *rr++ = w57; | |
| /* #343: @50 = 0 */ | |
| w50 = 0.; | |
| /* #344: @47 = 0 */ | |
| w47 = 0.; | |
| /* #345: @44 = 0 */ | |
| w44 = 0.; | |
| /* #346: @76 = 0x1 */ | |
| /* #347: @77 = zeros(2x1,0nz) */ | |
| /* #348: @78 = zeros(2x2,0nz) */ | |
| /* #349: @79 = zeros(2x5,0nz) */ | |
| /* #350: @80 = 0x1 */ | |
| /* #351: @81 = 0x1 */ | |
| /* #352: @82 = 0x4 */ | |
| /* #353: @83 = 0x1 */ | |
| /* #354: @84 = 0x1 */ | |
| /* #355: @21 = zeros(2x1) */ | |
| casadi_clear(w21, 2); | |
| /* #356: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #357: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #358: @88 = 0x1 */ | |
| /* #359: @89 = 0x1 */ | |
| /* #360: @90 = 0x4 */ | |
| /* #361: @91 = 0x1 */ | |
| /* #362: @92 = 0x1 */ | |
| /* #363: {@3, @41, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @55, @54, @53, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @22, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @58, @50, @47, @44, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @21, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w55); | |
| arg1[2]=(&w54); | |
| arg1[3]=(&w53); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w22; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w58); | |
| arg1[32]=(&w50); | |
| arg1[33]=(&w47); | |
| arg1[34]=(&w44); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w21; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w41); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #364: {@55, @54} = vertsplit(@3) */ | |
| w55 = w3[0]; | |
| w54 = w3[1]; | |
| /* #365: @56 = (2.*@56) */ | |
| w56 = (2.* w56 ); | |
| /* #366: @56 = (@4*@56) */ | |
| w56 = (w4*w56); | |
| /* #367: @55 = (@55+@56) */ | |
| w55 += w56; | |
| /* #368: @57 = (2.*@57) */ | |
| w57 = (2.* w57 ); | |
| /* #369: @57 = (@4*@57) */ | |
| w57 = (w4*w57); | |
| /* #370: @54 = (@54+@57) */ | |
| w54 += w57; | |
| /* #371: @58 = (2.*@58) */ | |
| w58 = (2.* w58 ); | |
| /* #372: @58 = (@4*@58) */ | |
| w58 = (w4*w58); | |
| /* #373: @41 = (@41+@58) */ | |
| w41 += w58; | |
| /* #374: @58 = input[0][18] */ | |
| w58 = arg[0] ? arg[0][18] : 0; | |
| /* #375: @57 = input[0][19] */ | |
| w57 = arg[0] ? arg[0][19] : 0; | |
| /* #376: @3 = vertcat(@58, @57) */ | |
| rr=w3; | |
| *rr++ = w58; | |
| *rr++ = w57; | |
| /* #377: @58 = input[0][20] */ | |
| w58 = arg[0] ? arg[0][20] : 0; | |
| /* #378: @57 = 1 */ | |
| w57 = 1.; | |
| /* #379: @56 = 6 */ | |
| w56 = 6.; | |
| /* #380: @6 = 0x1 */ | |
| /* #381: @7 = zeros(2x1,0nz) */ | |
| /* #382: @8 = zeros(2x2,0nz) */ | |
| /* #383: @9 = zeros(2x5,0nz) */ | |
| /* #384: @10 = 0x1 */ | |
| /* #385: @11 = 0x1 */ | |
| /* #386: @12 = 0x4 */ | |
| /* #387: @13 = 0x1 */ | |
| /* #388: @14 = 0x1 */ | |
| /* #389: @23 = (-@23) */ | |
| for (i=0, rr=w23, cs=w23; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #390: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #391: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #392: @29 = 0x1 */ | |
| /* #393: @30 = 0x1 */ | |
| /* #394: @31 = 0x4 */ | |
| /* #395: @32 = 0x1 */ | |
| /* #396: @33 = 0x1 */ | |
| /* #397: @34 = zeros(2x1,0nz) */ | |
| /* #398: @35 = 00 */ | |
| /* #399: @36 = 00 */ | |
| /* #400: @37 = 00 */ | |
| /* #401: @38 = 00 */ | |
| /* #402: @39 = 0x1 */ | |
| /* #403: @72 = vertcat(@59, @60) */ | |
| rr=w72; | |
| *rr++ = w59; | |
| *rr++ = w60; | |
| /* #404: @53 = 0 */ | |
| w53 = 0.; | |
| /* #405: @50 = 0 */ | |
| w50 = 0.; | |
| /* #406: @47 = 0 */ | |
| w47 = 0.; | |
| /* #407: @76 = 0x1 */ | |
| /* #408: @77 = zeros(2x1,0nz) */ | |
| /* #409: @78 = zeros(2x2,0nz) */ | |
| /* #410: @79 = zeros(2x5,0nz) */ | |
| /* #411: @80 = 0x1 */ | |
| /* #412: @81 = 0x1 */ | |
| /* #413: @82 = 0x4 */ | |
| /* #414: @83 = 0x1 */ | |
| /* #415: @84 = 0x1 */ | |
| /* #416: @22 = zeros(2x1) */ | |
| casadi_clear(w22, 2); | |
| /* #417: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #418: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #419: @88 = 0x1 */ | |
| /* #420: @89 = 0x1 */ | |
| /* #421: @90 = 0x4 */ | |
| /* #422: @91 = 0x1 */ | |
| /* #423: @92 = 0x1 */ | |
| /* #424: {@93, @44, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @58, @57, @56, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @23, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @61, @53, @50, @47, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @22, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w58); | |
| arg1[2]=(&w57); | |
| arg1[3]=(&w56); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w23; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w61); | |
| arg1[32]=(&w53); | |
| arg1[33]=(&w50); | |
| arg1[34]=(&w47); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w22; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w44); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #425: {@58, @57} = vertsplit(@93) */ | |
| w58 = w93[0]; | |
| w57 = w93[1]; | |
| /* #426: @59 = (2.*@59) */ | |
| w59 = (2.* w59 ); | |
| /* #427: @59 = (@4*@59) */ | |
| w59 = (w4*w59); | |
| /* #428: @58 = (@58+@59) */ | |
| w58 += w59; | |
| /* #429: @60 = (2.*@60) */ | |
| w60 = (2.* w60 ); | |
| /* #430: @60 = (@4*@60) */ | |
| w60 = (w4*w60); | |
| /* #431: @57 = (@57+@60) */ | |
| w57 += w60; | |
| /* #432: @61 = (2.*@61) */ | |
| w61 = (2.* w61 ); | |
| /* #433: @61 = (@4*@61) */ | |
| w61 = (w4*w61); | |
| /* #434: @44 = (@44+@61) */ | |
| w44 += w61; | |
| /* #435: @61 = input[0][21] */ | |
| w61 = arg[0] ? arg[0][21] : 0; | |
| /* #436: @60 = input[0][22] */ | |
| w60 = arg[0] ? arg[0][22] : 0; | |
| /* #437: @93 = vertcat(@61, @60) */ | |
| rr=w93; | |
| *rr++ = w61; | |
| *rr++ = w60; | |
| /* #438: @61 = input[0][23] */ | |
| w61 = arg[0] ? arg[0][23] : 0; | |
| /* #439: @60 = 1 */ | |
| w60 = 1.; | |
| /* #440: @59 = 7 */ | |
| w59 = 7.; | |
| /* #441: @6 = 0x1 */ | |
| /* #442: @7 = zeros(2x1,0nz) */ | |
| /* #443: @8 = zeros(2x2,0nz) */ | |
| /* #444: @9 = zeros(2x5,0nz) */ | |
| /* #445: @10 = 0x1 */ | |
| /* #446: @11 = 0x1 */ | |
| /* #447: @12 = 0x4 */ | |
| /* #448: @13 = 0x1 */ | |
| /* #449: @14 = 0x1 */ | |
| /* #450: @24 = (-@24) */ | |
| for (i=0, rr=w24, cs=w24; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #451: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #452: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #453: @29 = 0x1 */ | |
| /* #454: @30 = 0x1 */ | |
| /* #455: @31 = 0x4 */ | |
| /* #456: @32 = 0x1 */ | |
| /* #457: @33 = 0x1 */ | |
| /* #458: @34 = zeros(2x1,0nz) */ | |
| /* #459: @35 = 00 */ | |
| /* #460: @36 = 00 */ | |
| /* #461: @37 = 00 */ | |
| /* #462: @38 = 00 */ | |
| /* #463: @39 = 0x1 */ | |
| /* #464: @3 = vertcat(@62, @63) */ | |
| rr=w3; | |
| *rr++ = w62; | |
| *rr++ = w63; | |
| /* #465: @56 = 0 */ | |
| w56 = 0.; | |
| /* #466: @53 = 0 */ | |
| w53 = 0.; | |
| /* #467: @50 = 0 */ | |
| w50 = 0.; | |
| /* #468: @76 = 0x1 */ | |
| /* #469: @77 = zeros(2x1,0nz) */ | |
| /* #470: @78 = zeros(2x2,0nz) */ | |
| /* #471: @79 = zeros(2x5,0nz) */ | |
| /* #472: @80 = 0x1 */ | |
| /* #473: @81 = 0x1 */ | |
| /* #474: @82 = 0x4 */ | |
| /* #475: @83 = 0x1 */ | |
| /* #476: @84 = 0x1 */ | |
| /* #477: @23 = zeros(2x1) */ | |
| casadi_clear(w23, 2); | |
| /* #478: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #479: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #480: @88 = 0x1 */ | |
| /* #481: @89 = 0x1 */ | |
| /* #482: @90 = 0x4 */ | |
| /* #483: @91 = 0x1 */ | |
| /* #484: @92 = 0x1 */ | |
| /* #485: {@72, @47, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@93, @61, @60, @59, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @24, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @3, @64, @56, @53, @50, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @23, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w93; | |
| arg1[1]=(&w61); | |
| arg1[2]=(&w60); | |
| arg1[3]=(&w59); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w24; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w3; | |
| arg1[31]=(&w64); | |
| arg1[32]=(&w56); | |
| arg1[33]=(&w53); | |
| arg1[34]=(&w50); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w23; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w72; | |
| res1[1]=(&w47); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #486: {@61, @60} = vertsplit(@72) */ | |
| w61 = w72[0]; | |
| w60 = w72[1]; | |
| /* #487: @62 = (2.*@62) */ | |
| w62 = (2.* w62 ); | |
| /* #488: @62 = (@4*@62) */ | |
| w62 = (w4*w62); | |
| /* #489: @61 = (@61+@62) */ | |
| w61 += w62; | |
| /* #490: @63 = (2.*@63) */ | |
| w63 = (2.* w63 ); | |
| /* #491: @63 = (@4*@63) */ | |
| w63 = (w4*w63); | |
| /* #492: @60 = (@60+@63) */ | |
| w60 += w63; | |
| /* #493: @64 = (2.*@64) */ | |
| w64 = (2.* w64 ); | |
| /* #494: @64 = (@4*@64) */ | |
| w64 = (w4*w64); | |
| /* #495: @47 = (@47+@64) */ | |
| w47 += w64; | |
| /* #496: @64 = input[0][24] */ | |
| w64 = arg[0] ? arg[0][24] : 0; | |
| /* #497: @63 = input[0][25] */ | |
| w63 = arg[0] ? arg[0][25] : 0; | |
| /* #498: @72 = vertcat(@64, @63) */ | |
| rr=w72; | |
| *rr++ = w64; | |
| *rr++ = w63; | |
| /* #499: @64 = input[0][26] */ | |
| w64 = arg[0] ? arg[0][26] : 0; | |
| /* #500: @63 = 1 */ | |
| w63 = 1.; | |
| /* #501: @62 = 8 */ | |
| w62 = 8.; | |
| /* #502: @6 = 0x1 */ | |
| /* #503: @7 = zeros(2x1,0nz) */ | |
| /* #504: @8 = zeros(2x2,0nz) */ | |
| /* #505: @9 = zeros(2x5,0nz) */ | |
| /* #506: @10 = 0x1 */ | |
| /* #507: @11 = 0x1 */ | |
| /* #508: @12 = 0x4 */ | |
| /* #509: @13 = 0x1 */ | |
| /* #510: @14 = 0x1 */ | |
| /* #511: @25 = (-@25) */ | |
| for (i=0, rr=w25, cs=w25; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #512: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #513: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #514: @29 = 0x1 */ | |
| /* #515: @30 = 0x1 */ | |
| /* #516: @31 = 0x4 */ | |
| /* #517: @32 = 0x1 */ | |
| /* #518: @33 = 0x1 */ | |
| /* #519: @34 = zeros(2x1,0nz) */ | |
| /* #520: @35 = 00 */ | |
| /* #521: @36 = 00 */ | |
| /* #522: @37 = 00 */ | |
| /* #523: @38 = 00 */ | |
| /* #524: @39 = 0x1 */ | |
| /* #525: @93 = vertcat(@65, @66) */ | |
| rr=w93; | |
| *rr++ = w65; | |
| *rr++ = w66; | |
| /* #526: @59 = 0 */ | |
| w59 = 0.; | |
| /* #527: @56 = 0 */ | |
| w56 = 0.; | |
| /* #528: @53 = 0 */ | |
| w53 = 0.; | |
| /* #529: @76 = 0x1 */ | |
| /* #530: @77 = zeros(2x1,0nz) */ | |
| /* #531: @78 = zeros(2x2,0nz) */ | |
| /* #532: @79 = zeros(2x5,0nz) */ | |
| /* #533: @80 = 0x1 */ | |
| /* #534: @81 = 0x1 */ | |
| /* #535: @82 = 0x4 */ | |
| /* #536: @83 = 0x1 */ | |
| /* #537: @84 = 0x1 */ | |
| /* #538: @24 = zeros(2x1) */ | |
| casadi_clear(w24, 2); | |
| /* #539: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #540: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #541: @88 = 0x1 */ | |
| /* #542: @89 = 0x1 */ | |
| /* #543: @90 = 0x4 */ | |
| /* #544: @91 = 0x1 */ | |
| /* #545: @92 = 0x1 */ | |
| /* #546: {@3, @50, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@72, @64, @63, @62, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @25, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @93, @67, @59, @56, @53, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @24, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w72; | |
| arg1[1]=(&w64); | |
| arg1[2]=(&w63); | |
| arg1[3]=(&w62); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w25; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w93; | |
| arg1[31]=(&w67); | |
| arg1[32]=(&w59); | |
| arg1[33]=(&w56); | |
| arg1[34]=(&w53); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w24; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w3; | |
| res1[1]=(&w50); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #547: {@64, @63} = vertsplit(@3) */ | |
| w64 = w3[0]; | |
| w63 = w3[1]; | |
| /* #548: @65 = (2.*@65) */ | |
| w65 = (2.* w65 ); | |
| /* #549: @65 = (@4*@65) */ | |
| w65 = (w4*w65); | |
| /* #550: @64 = (@64+@65) */ | |
| w64 += w65; | |
| /* #551: @66 = (2.*@66) */ | |
| w66 = (2.* w66 ); | |
| /* #552: @66 = (@4*@66) */ | |
| w66 = (w4*w66); | |
| /* #553: @63 = (@63+@66) */ | |
| w63 += w66; | |
| /* #554: @67 = (2.*@67) */ | |
| w67 = (2.* w67 ); | |
| /* #555: @67 = (@4*@67) */ | |
| w67 = (w4*w67); | |
| /* #556: @50 = (@50+@67) */ | |
| w50 += w67; | |
| /* #557: @67 = input[0][27] */ | |
| w67 = arg[0] ? arg[0][27] : 0; | |
| /* #558: @66 = input[0][28] */ | |
| w66 = arg[0] ? arg[0][28] : 0; | |
| /* #559: @3 = vertcat(@67, @66) */ | |
| rr=w3; | |
| *rr++ = w67; | |
| *rr++ = w66; | |
| /* #560: @67 = input[0][29] */ | |
| w67 = arg[0] ? arg[0][29] : 0; | |
| /* #561: @66 = 1 */ | |
| w66 = 1.; | |
| /* #562: @65 = 9 */ | |
| w65 = 9.; | |
| /* #563: @6 = 0x1 */ | |
| /* #564: @7 = zeros(2x1,0nz) */ | |
| /* #565: @8 = zeros(2x2,0nz) */ | |
| /* #566: @9 = zeros(2x5,0nz) */ | |
| /* #567: @10 = 0x1 */ | |
| /* #568: @11 = 0x1 */ | |
| /* #569: @12 = 0x4 */ | |
| /* #570: @13 = 0x1 */ | |
| /* #571: @14 = 0x1 */ | |
| /* #572: @26 = (-@26) */ | |
| for (i=0, rr=w26, cs=w26; i<2; ++i) *rr++ = (- *cs++ ); | |
| /* #573: @27 = zeros(2x2) */ | |
| casadi_clear(w27, 4); | |
| /* #574: @28 = zeros(2x5) */ | |
| casadi_clear(w28, 10); | |
| /* #575: @29 = 0x1 */ | |
| /* #576: @30 = 0x1 */ | |
| /* #577: @31 = 0x4 */ | |
| /* #578: @32 = 0x1 */ | |
| /* #579: @33 = 0x1 */ | |
| /* #580: @34 = zeros(2x1,0nz) */ | |
| /* #581: @35 = 00 */ | |
| /* #582: @36 = 00 */ | |
| /* #583: @37 = 00 */ | |
| /* #584: @38 = 00 */ | |
| /* #585: @39 = 0x1 */ | |
| /* #586: @72 = vertcat(@68, @69) */ | |
| rr=w72; | |
| *rr++ = w68; | |
| *rr++ = w69; | |
| /* #587: @62 = 0 */ | |
| w62 = 0.; | |
| /* #588: @59 = 0 */ | |
| w59 = 0.; | |
| /* #589: @56 = 0 */ | |
| w56 = 0.; | |
| /* #590: @76 = 0x1 */ | |
| /* #591: @77 = zeros(2x1,0nz) */ | |
| /* #592: @78 = zeros(2x2,0nz) */ | |
| /* #593: @79 = zeros(2x5,0nz) */ | |
| /* #594: @80 = 0x1 */ | |
| /* #595: @81 = 0x1 */ | |
| /* #596: @82 = 0x4 */ | |
| /* #597: @83 = 0x1 */ | |
| /* #598: @84 = 0x1 */ | |
| /* #599: @25 = zeros(2x1) */ | |
| casadi_clear(w25, 2); | |
| /* #600: @86 = zeros(2x2) */ | |
| casadi_clear(w86, 4); | |
| /* #601: @87 = zeros(2x5) */ | |
| casadi_clear(w87, 10); | |
| /* #602: @88 = 0x1 */ | |
| /* #603: @89 = 0x1 */ | |
| /* #604: @90 = 0x4 */ | |
| /* #605: @91 = 0x1 */ | |
| /* #606: @92 = 0x1 */ | |
| /* #607: {@93, @53, NULL, NULL, NULL, NULL} = fwd1_adj1_F(@3, @67, @66, @65, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @26, @27, @28, @29, @30, @31, @32, @33, @15, @34, @35, @36, @37, @38, @39, @72, @70, @62, @59, @56, @76, @77, @78, @79, @80, @81, @82, @83, @84, @15, @25, @86, @87, @88, @89, @90, @91, @92, @15) */ | |
| arg1[0]=w3; | |
| arg1[1]=(&w67); | |
| arg1[2]=(&w66); | |
| arg1[3]=(&w65); | |
| arg1[4]=(&w5); | |
| arg1[5]=0; | |
| arg1[6]=0; | |
| arg1[7]=0; | |
| arg1[8]=0; | |
| arg1[9]=0; | |
| arg1[10]=0; | |
| arg1[11]=0; | |
| arg1[12]=0; | |
| arg1[13]=0; | |
| arg1[14]=0; | |
| arg1[15]=w26; | |
| arg1[16]=w27; | |
| arg1[17]=w28; | |
| arg1[18]=0; | |
| arg1[19]=0; | |
| arg1[20]=0; | |
| arg1[21]=0; | |
| arg1[22]=0; | |
| arg1[23]=0; | |
| arg1[24]=0; | |
| arg1[25]=0; | |
| arg1[26]=0; | |
| arg1[27]=0; | |
| arg1[28]=0; | |
| arg1[29]=0; | |
| arg1[30]=w72; | |
| arg1[31]=(&w70); | |
| arg1[32]=(&w62); | |
| arg1[33]=(&w59); | |
| arg1[34]=(&w56); | |
| arg1[35]=0; | |
| arg1[36]=0; | |
| arg1[37]=0; | |
| arg1[38]=0; | |
| arg1[39]=0; | |
| arg1[40]=0; | |
| arg1[41]=0; | |
| arg1[42]=0; | |
| arg1[43]=0; | |
| arg1[44]=0; | |
| arg1[45]=w25; | |
| arg1[46]=w86; | |
| arg1[47]=w87; | |
| arg1[48]=0; | |
| arg1[49]=0; | |
| arg1[50]=0; | |
| arg1[51]=0; | |
| arg1[52]=0; | |
| arg1[53]=0; | |
| res1[0]=w93; | |
| res1[1]=(&w53); | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=0; | |
| res1[5]=0; | |
| if (casadi_f17(arg1, res1, iw, w, 0)) return 1; | |
| /* #608: {@67, @66} = vertsplit(@93) */ | |
| w67 = w93[0]; | |
| w66 = w93[1]; | |
| /* #609: @68 = (2.*@68) */ | |
| w68 = (2.* w68 ); | |
| /* #610: @68 = (@4*@68) */ | |
| w68 = (w4*w68); | |
| /* #611: @67 = (@67+@68) */ | |
| w67 += w68; | |
| /* #612: @69 = (2.*@69) */ | |
| w69 = (2.* w69 ); | |
| /* #613: @69 = (@4*@69) */ | |
| w69 = (w4*w69); | |
| /* #614: @66 = (@66+@69) */ | |
| w66 += w69; | |
| /* #615: @70 = (2.*@70) */ | |
| w70 = (2.* w70 ); | |
| /* #616: @70 = (@4*@70) */ | |
| w70 = (w4*w70); | |
| /* #617: @53 = (@53+@70) */ | |
| w53 += w70; | |
| /* #618: @71 = (2.*@71) */ | |
| w71 = (2.* w71 ); | |
| /* #619: @4 = (@4*@71) */ | |
| w4 *= w71; | |
| /* #620: @6 = 00 */ | |
| /* #621: @96 = vertcat(@1, @2, @94, @43, @42, @95, @46, @45, @75, @49, @48, @74, @52, @51, @73, @55, @54, @41, @58, @57, @44, @61, @60, @47, @64, @63, @50, @67, @66, @53, @4, @6) */ | |
| rr=w96; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w94; | |
| *rr++ = w43; | |
| *rr++ = w42; | |
| *rr++ = w95; | |
| *rr++ = w46; | |
| *rr++ = w45; | |
| *rr++ = w75; | |
| *rr++ = w49; | |
| *rr++ = w48; | |
| *rr++ = w74; | |
| *rr++ = w52; | |
| *rr++ = w51; | |
| *rr++ = w73; | |
| *rr++ = w55; | |
| *rr++ = w54; | |
| *rr++ = w41; | |
| *rr++ = w58; | |
| *rr++ = w57; | |
| *rr++ = w44; | |
| *rr++ = w61; | |
| *rr++ = w60; | |
| *rr++ = w47; | |
| *rr++ = w64; | |
| *rr++ = w63; | |
| *rr++ = w50; | |
| *rr++ = w67; | |
| *rr++ = w66; | |
| *rr++ = w53; | |
| *rr++ = w4; | |
| /* #622: @97 = @96[:31] */ | |
| for (rr=w97, ss=w96+0; ss!=w96+31; ss+=1) *rr++ = *ss; | |
| /* #623: (@0[:31] = @97) */ | |
| for (rr=w0+0, ss=w97; rr!=w0+31; rr+=1) *rr = *ss++; | |
| /* #624: @97 = @96[:31] */ | |
| for (rr=w97, ss=w96+0; ss!=w96+31; ss+=1) *rr++ = *ss; | |
| /* #625: (@0[:31] = @97) */ | |
| for (rr=w0+0, ss=w97; rr!=w0+31; rr+=1) *rr = *ss++; | |
| /* #626: @97 = @0' */ | |
| casadi_trans(w0,casadi_s12, w97, casadi_s12, iw); | |
| /* #627: output[0][0] = @97 */ | |
| casadi_copy(w97, 31, res[0]); | |
| return 0; | |
| } | |
| /* solver:(x0[32],p,lbx[32],ubx[32],lbg[42],ubg[42],lam_x0[32],lam_g0[42])->(x[32],f,g[42],lam_x[32],lam_g[42],lam_p) */ | |
| static int casadi_f1(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| const casadi_real one=1; | |
| static struct casadi_ocp_block block_AB[10], block_CD[11], block_RSQ[11]; | |
| struct casadi_fatrop_data* d=&casadi_f1_mem[mem]; | |
| struct casadi_fatrop_prob p; | |
| struct casadi_nlpsol_data d_nlp; | |
| struct casadi_nlpsol_prob p_nlp; | |
| struct casadi_oracle_data d_oracle; | |
| d_nlp.oracle = &d_oracle; | |
| d_nlp.p = arg[1]; | |
| d_nlp.lbx = arg[2]; | |
| d_nlp.ubx = arg[3]; | |
| d_nlp.lbg = arg[4]; | |
| d_nlp.ubg = arg[5]; | |
| d_nlp.x0 = arg[0]; | |
| d_nlp.lam_x0 = arg[6]; | |
| d_nlp.lam_g0 = arg[7]; | |
| d_nlp.x = res[0]; | |
| d_nlp.f = res[1]; | |
| d_nlp.g = res[2]; | |
| d_nlp.lam_x = res[3]; | |
| d_nlp.lam_g = res[4]; | |
| d_nlp.lam_p = res[5]; | |
| d_nlp.prob = &p_nlp; | |
| p_nlp.nx = 32; | |
| p_nlp.ng = 42; | |
| p_nlp.np = 1; | |
| p_nlp.detect_bounds.ng = 0; | |
| casadi_nlpsol_init(&d_nlp, &arg, &res, &iw, &w); | |
| if (d_nlp.x0) { | |
| casadi_copy(d_nlp.x0, 32, d_nlp.z); | |
| } else { | |
| casadi_clear(d_nlp.z, 32); | |
| } | |
| if (d_nlp.lbx) { | |
| casadi_copy(d_nlp.lbx, 32, d_nlp.lbz); | |
| } else { | |
| casadi_fill(d_nlp.lbz, 32, -casadi_inf); | |
| } | |
| if (d_nlp.ubx) { | |
| casadi_copy(d_nlp.ubx, 32, d_nlp.ubz); | |
| } else { | |
| casadi_fill(d_nlp.ubz, 32, casadi_inf); | |
| } | |
| if (d_nlp.lam_x0) { | |
| casadi_copy(d_nlp.lam_x0, 32, d_nlp.lam); | |
| } else { | |
| casadi_clear(d_nlp.lam, 32); | |
| } | |
| if (d_nlp.lbg) { | |
| casadi_copy(d_nlp.lbg, 42, d_nlp.lbz+32); | |
| } else { | |
| casadi_fill(d_nlp.lbz+32, 42, -casadi_inf); | |
| } | |
| if (d_nlp.ubg) { | |
| casadi_copy(d_nlp.ubg, 42, d_nlp.ubz+32); | |
| } else { | |
| casadi_fill(d_nlp.ubz+32, 42, casadi_inf); | |
| } | |
| if (d_nlp.lam_g0) { | |
| casadi_copy(d_nlp.lam_g0, 42, d_nlp.lam+32); | |
| } else { | |
| casadi_clear(d_nlp.lam+32, 42); | |
| } | |
| d->nlp = &d_nlp; | |
| d->prob = &p; | |
| p.nlp = &p_nlp; | |
| p.nx = casadi_s13; | |
| p.nu = casadi_s14; | |
| p.ABsp = casadi_s15; | |
| p.AB_offsets = casadi_s16; | |
| p.CDsp = casadi_s17; | |
| p.CD_offsets = casadi_s18; | |
| p.RSQsp = casadi_s19; | |
| p.RSQ_offsets = casadi_s20; | |
| p.AB = block_AB; | |
| casadi_unpack_ocp_blocks(10, p.AB, casadi_s21); | |
| p.CD = block_CD; | |
| casadi_unpack_ocp_blocks(11, p.CD, casadi_s22); | |
| p.RSQ = block_RSQ; | |
| casadi_unpack_ocp_blocks(11, p.RSQ, casadi_s23); | |
| p.N = 10; | |
| p.nlp_jac_g.checkout = 0; | |
| p.nlp_jac_g.eval = casadi_f12; | |
| p.nlp_jac_g.release = 0; | |
| p.sp_a = casadi_s10; | |
| p.sp_h = casadi_s12; | |
| casadi_fatrop_setup(&p); | |
| casadi_fatrop_init(d, &arg, &res, &iw, &w); | |
| casadi_fatrop_presolve(d); | |
| casadi_fatrop_solve(d); | |
| d->arg[0] = d_nlp.z; | |
| d->arg[1] = d_nlp.p; | |
| d->arg[2] = &one; | |
| d->arg[3] = d_nlp.lam+32; | |
| d->res[0] = 0; | |
| d->res[1] = 0; | |
| d->res[2] = 0; | |
| d->res[3] = d_nlp.lam_p; | |
| if (casadi_f2(d->arg, d->res, d->iw, d->w, 0)) return 1; | |
| casadi_scal(1, -1.0, d_nlp.lam_p); | |
| casadi_copy(d_nlp.z, 32, d_nlp.x); | |
| casadi_copy(d_nlp.z + 32, 42, d_nlp.g); | |
| casadi_copy(d_nlp.lam, 32, d_nlp.lam_x); | |
| casadi_copy(d_nlp.lam + 32, 42, d_nlp.lam_g); | |
| if (d_nlp.f) casadi_copy(&d_nlp.objective, 1, d_nlp.f); | |
| if (d_nlp.lam_p) casadi_copy(d_nlp.lam_p, 1, d_nlp.lam_p); | |
| return 0; | |
| return 0; | |
| } | |
| int casadi_f1_alloc_mem(void) { | |
| return casadi_f1_mem_counter++; | |
| } | |
| int casadi_f1_init_mem(int mem) { | |
| fatrop_init_mem(&casadi_f1_mem[mem]); | |
| return 0; | |
| } | |
| void casadi_f1_free_mem(int mem) { | |
| fatrop_free_mem(&casadi_f1_mem[mem]); | |
| } | |
| int casadi_f1_checkout(void) { | |
| int mid; | |
| if (casadi_f1_unused_stack_counter>=0) { | |
| return casadi_f1_unused_stack[casadi_f1_unused_stack_counter--]; | |
| } else { | |
| if (casadi_f1_mem_counter==CASADI_MAX_NUM_THREADS) return -1; | |
| mid = casadi_f1_alloc_mem(); | |
| if (mid<0) return -1; | |
| if(casadi_f1_init_mem(mid)) return -1; | |
| return mid; | |
| } | |
| } | |
| void casadi_f1_release(int mem) { | |
| casadi_f1_unused_stack[++casadi_f1_unused_stack_counter] = mem; | |
| } | |
| /* helper:(i0[32],i1,i2[42])->(o0[1x11]) */ | |
| static int casadi_f21(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_real w0; | |
| /* #0: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #1: output[0][0] = @0 */ | |
| if (res[0]) res[0][0] = w0; | |
| /* #2: @0 = input[0][3] */ | |
| w0 = arg[0] ? arg[0][3] : 0; | |
| /* #3: output[0][1] = @0 */ | |
| if (res[0]) res[0][1] = w0; | |
| /* #4: @0 = input[0][6] */ | |
| w0 = arg[0] ? arg[0][6] : 0; | |
| /* #5: output[0][2] = @0 */ | |
| if (res[0]) res[0][2] = w0; | |
| /* #6: @0 = input[0][9] */ | |
| w0 = arg[0] ? arg[0][9] : 0; | |
| /* #7: output[0][3] = @0 */ | |
| if (res[0]) res[0][3] = w0; | |
| /* #8: @0 = input[0][12] */ | |
| w0 = arg[0] ? arg[0][12] : 0; | |
| /* #9: output[0][4] = @0 */ | |
| if (res[0]) res[0][4] = w0; | |
| /* #10: @0 = input[0][15] */ | |
| w0 = arg[0] ? arg[0][15] : 0; | |
| /* #11: output[0][5] = @0 */ | |
| if (res[0]) res[0][5] = w0; | |
| /* #12: @0 = input[0][18] */ | |
| w0 = arg[0] ? arg[0][18] : 0; | |
| /* #13: output[0][6] = @0 */ | |
| if (res[0]) res[0][6] = w0; | |
| /* #14: @0 = input[0][21] */ | |
| w0 = arg[0] ? arg[0][21] : 0; | |
| /* #15: output[0][7] = @0 */ | |
| if (res[0]) res[0][7] = w0; | |
| /* #16: @0 = input[0][24] */ | |
| w0 = arg[0] ? arg[0][24] : 0; | |
| /* #17: output[0][8] = @0 */ | |
| if (res[0]) res[0][8] = w0; | |
| /* #18: @0 = input[0][27] */ | |
| w0 = arg[0] ? arg[0][27] : 0; | |
| /* #19: output[0][9] = @0 */ | |
| if (res[0]) res[0][9] = w0; | |
| /* #20: @0 = input[0][30] */ | |
| w0 = arg[0] ? arg[0][30] : 0; | |
| /* #21: output[0][10] = @0 */ | |
| if (res[0]) res[0][10] = w0; | |
| return 0; | |
| } | |
| /* F:(i0)->(o0[1x11]) */ | |
| static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { | |
| casadi_int i; | |
| casadi_real **res1=res+1, *rr; | |
| const casadi_real **arg1=arg+1, *cs; | |
| int flag, mid; | |
| casadi_real w0, w1, w2, w3, w4, w5, w6, w7, w8, w9, w10, w11, w12, w13, w14, w15, w16, w17, w18, w19, w20, w21, w22, w23, w24, w25, w26, w27, w28, w29, w30, w31, *w32=w+2269, *w33=w+2301, *w34=w+2333, *w35=w+2365, *w36=w+2367, *w37=w+2369, *w38=w+2371, *w39=w+2373, *w40=w+2375, *w41=w+2377, *w42=w+2379, *w43=w+2381, *w44=w+2383, *w45=w+2385, *w46=w+2427, *w47=w+2469, *w48=w+2501, *w49=w+2543, *w50=w+2575, *w51=w+2617; | |
| /* #0: @0 = 0 */ | |
| w0 = 0.; | |
| /* #1: @1 = 0.1 */ | |
| w1 = 1.0000000000000001e-01; | |
| /* #2: @2 = 1 */ | |
| w2 = 1.; | |
| /* #3: @3 = 0.02 */ | |
| w3 = 2.0000000000000000e-02; | |
| /* #4: @4 = 0.1 */ | |
| w4 = 1.0000000000000001e-01; | |
| /* #5: @5 = 1.11111 */ | |
| w5 = 1.1111111111111112e+00; | |
| /* #6: @6 = 0.04 */ | |
| w6 = 4.0000000000000001e-02; | |
| /* #7: @7 = 0.1 */ | |
| w7 = 1.0000000000000001e-01; | |
| /* #8: @8 = 1.22222 */ | |
| w8 = 1.2222222222222223e+00; | |
| /* #9: @9 = 0.06 */ | |
| w9 = 5.9999999999999998e-02; | |
| /* #10: @10 = 0.1 */ | |
| w10 = 1.0000000000000001e-01; | |
| /* #11: @11 = 1.33333 */ | |
| w11 = 1.3333333333333333e+00; | |
| /* #12: @12 = 0.08 */ | |
| w12 = 8.0000000000000002e-02; | |
| /* #13: @13 = 0.1 */ | |
| w13 = 1.0000000000000001e-01; | |
| /* #14: @14 = 1.44444 */ | |
| w14 = 1.4444444444444444e+00; | |
| /* #15: @15 = 0.1 */ | |
| w15 = 1.0000000000000001e-01; | |
| /* #16: @16 = 0.1 */ | |
| w16 = 1.0000000000000001e-01; | |
| /* #17: @17 = 1.55556 */ | |
| w17 = 1.5555555555555556e+00; | |
| /* #18: @18 = 0.12 */ | |
| w18 = 1.2000000000000000e-01; | |
| /* #19: @19 = 0.1 */ | |
| w19 = 1.0000000000000001e-01; | |
| /* #20: @20 = 1.66667 */ | |
| w20 = 1.6666666666666665e+00; | |
| /* #21: @21 = 0.14 */ | |
| w21 = 1.4000000000000001e-01; | |
| /* #22: @22 = 0.1 */ | |
| w22 = 1.0000000000000001e-01; | |
| /* #23: @23 = 1.77778 */ | |
| w23 = 1.7777777777777777e+00; | |
| /* #24: @24 = 0.16 */ | |
| w24 = 1.6000000000000000e-01; | |
| /* #25: @25 = 0.1 */ | |
| w25 = 1.0000000000000001e-01; | |
| /* #26: @26 = 1.88889 */ | |
| w26 = 1.8888888888888888e+00; | |
| /* #27: @27 = 0.18 */ | |
| w27 = 1.7999999999999999e-01; | |
| /* #28: @28 = 0.1 */ | |
| w28 = 1.0000000000000001e-01; | |
| /* #29: @29 = 2 */ | |
| w29 = 2.; | |
| /* #30: @30 = 0.2 */ | |
| w30 = 2.0000000000000001e-01; | |
| /* #31: @31 = 0.1 */ | |
| w31 = 1.0000000000000001e-01; | |
| /* #32: @32 = vertcat(@0, @1, @2, @3, @4, @5, @6, @7, @8, @9, @10, @11, @12, @13, @14, @15, @16, @17, @18, @19, @20, @21, @22, @23, @24, @25, @26, @27, @28, @29, @30, @31) */ | |
| rr=w32; | |
| *rr++ = w0; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| *rr++ = w23; | |
| *rr++ = w24; | |
| *rr++ = w25; | |
| *rr++ = w26; | |
| *rr++ = w27; | |
| *rr++ = w28; | |
| *rr++ = w29; | |
| *rr++ = w30; | |
| *rr++ = w31; | |
| /* #33: @0 = input[0][0] */ | |
| w0 = arg[0] ? arg[0][0] : 0; | |
| /* #34: @33 = -inf(32x1) */ | |
| casadi_fill(w33, 32, -casadi_inf); | |
| /* #35: @34 = inf(32x1) */ | |
| casadi_fill(w34, 32, casadi_inf); | |
| /* #36: @35 = zeros(2x1) */ | |
| casadi_clear(w35, 2); | |
| /* #37: @1 = 0 */ | |
| w1 = 0.; | |
| /* #38: @2 = 1 */ | |
| w2 = 1.; | |
| /* #39: @3 = -1 */ | |
| w3 = -1.; | |
| /* #40: @36 = zeros(2x1) */ | |
| casadi_clear(w36, 2); | |
| /* #41: @4 = -0.25 */ | |
| w4 = -2.5000000000000000e-01; | |
| /* #42: @5 = -1 */ | |
| w5 = -1.; | |
| /* #43: @37 = zeros(2x1) */ | |
| casadi_clear(w37, 2); | |
| /* #44: @6 = -0.25 */ | |
| w6 = -2.5000000000000000e-01; | |
| /* #45: @7 = -1 */ | |
| w7 = -1.; | |
| /* #46: @38 = zeros(2x1) */ | |
| casadi_clear(w38, 2); | |
| /* #47: @8 = -0.25 */ | |
| w8 = -2.5000000000000000e-01; | |
| /* #48: @9 = -1 */ | |
| w9 = -1.; | |
| /* #49: @39 = zeros(2x1) */ | |
| casadi_clear(w39, 2); | |
| /* #50: @10 = -0.25 */ | |
| w10 = -2.5000000000000000e-01; | |
| /* #51: @11 = -1 */ | |
| w11 = -1.; | |
| /* #52: @40 = zeros(2x1) */ | |
| casadi_clear(w40, 2); | |
| /* #53: @12 = -0.25 */ | |
| w12 = -2.5000000000000000e-01; | |
| /* #54: @13 = -1 */ | |
| w13 = -1.; | |
| /* #55: @41 = zeros(2x1) */ | |
| casadi_clear(w41, 2); | |
| /* #56: @14 = -0.25 */ | |
| w14 = -2.5000000000000000e-01; | |
| /* #57: @15 = -1 */ | |
| w15 = -1.; | |
| /* #58: @42 = zeros(2x1) */ | |
| casadi_clear(w42, 2); | |
| /* #59: @16 = -0.25 */ | |
| w16 = -2.5000000000000000e-01; | |
| /* #60: @17 = -1 */ | |
| w17 = -1.; | |
| /* #61: @43 = zeros(2x1) */ | |
| casadi_clear(w43, 2); | |
| /* #62: @18 = -0.25 */ | |
| w18 = -2.5000000000000000e-01; | |
| /* #63: @19 = -1 */ | |
| w19 = -1.; | |
| /* #64: @44 = zeros(2x1) */ | |
| casadi_clear(w44, 2); | |
| /* #65: @20 = -0.25 */ | |
| w20 = -2.5000000000000000e-01; | |
| /* #66: @21 = -1 */ | |
| w21 = -1.; | |
| /* #67: @22 = -0.25 */ | |
| w22 = -2.5000000000000000e-01; | |
| /* #68: @45 = vertcat(@35, @1, @2, @3, @36, @4, @5, @37, @6, @7, @38, @8, @9, @39, @10, @11, @40, @12, @13, @41, @14, @15, @42, @16, @17, @43, @18, @19, @44, @20, @21, @22) */ | |
| rr=w45; | |
| for (i=0, cs=w35; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| for (i=0, cs=w36; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| for (i=0, cs=w37; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| for (i=0, cs=w38; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| for (i=0, cs=w39; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| for (i=0, cs=w40; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| for (i=0, cs=w41; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| for (i=0, cs=w42; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| for (i=0, cs=w43; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| for (i=0, cs=w44; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| /* #69: @3 = 1 */ | |
| w3 = 1.; | |
| /* #70: @4 = inf */ | |
| w4 = casadi_inf; | |
| /* #71: @5 = 1 */ | |
| w5 = 1.; | |
| /* #72: @6 = inf */ | |
| w6 = casadi_inf; | |
| /* #73: @7 = 1 */ | |
| w7 = 1.; | |
| /* #74: @8 = inf */ | |
| w8 = casadi_inf; | |
| /* #75: @9 = 1 */ | |
| w9 = 1.; | |
| /* #76: @10 = inf */ | |
| w10 = casadi_inf; | |
| /* #77: @11 = 1 */ | |
| w11 = 1.; | |
| /* #78: @12 = inf */ | |
| w12 = casadi_inf; | |
| /* #79: @13 = 1 */ | |
| w13 = 1.; | |
| /* #80: @14 = inf */ | |
| w14 = casadi_inf; | |
| /* #81: @15 = 1 */ | |
| w15 = 1.; | |
| /* #82: @16 = inf */ | |
| w16 = casadi_inf; | |
| /* #83: @17 = 1 */ | |
| w17 = 1.; | |
| /* #84: @18 = inf */ | |
| w18 = casadi_inf; | |
| /* #85: @19 = 1 */ | |
| w19 = 1.; | |
| /* #86: @20 = inf */ | |
| w20 = casadi_inf; | |
| /* #87: @21 = 1 */ | |
| w21 = 1.; | |
| /* #88: @22 = inf */ | |
| w22 = casadi_inf; | |
| /* #89: @46 = vertcat(@35, @1, @2, @3, @36, @4, @5, @37, @6, @7, @38, @8, @9, @39, @10, @11, @40, @12, @13, @41, @14, @15, @42, @16, @17, @43, @18, @19, @44, @20, @21, @22) */ | |
| rr=w46; | |
| for (i=0, cs=w35; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w1; | |
| *rr++ = w2; | |
| *rr++ = w3; | |
| for (i=0, cs=w36; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w4; | |
| *rr++ = w5; | |
| for (i=0, cs=w37; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w6; | |
| *rr++ = w7; | |
| for (i=0, cs=w38; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w8; | |
| *rr++ = w9; | |
| for (i=0, cs=w39; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w10; | |
| *rr++ = w11; | |
| for (i=0, cs=w40; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w12; | |
| *rr++ = w13; | |
| for (i=0, cs=w41; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w14; | |
| *rr++ = w15; | |
| for (i=0, cs=w42; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w16; | |
| *rr++ = w17; | |
| for (i=0, cs=w43; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w18; | |
| *rr++ = w19; | |
| for (i=0, cs=w44; i<2; ++i) *rr++ = *cs++; | |
| *rr++ = w20; | |
| *rr++ = w21; | |
| *rr++ = w22; | |
| /* #90: @47 = zeros(32x1) */ | |
| casadi_clear(w47, 32); | |
| /* #91: @48 = zeros(42x1) */ | |
| casadi_clear(w48, 42); | |
| /* #92: {@49, NULL, NULL, NULL, @50, NULL} = solver(@32, @0, @33, @34, @45, @46, @47, @48) */ | |
| arg1[0]=w32; | |
| arg1[1]=(&w0); | |
| arg1[2]=w33; | |
| arg1[3]=w34; | |
| arg1[4]=w45; | |
| arg1[5]=w46; | |
| arg1[6]=w47; | |
| arg1[7]=w48; | |
| res1[0]=w49; | |
| res1[1]=0; | |
| res1[2]=0; | |
| res1[3]=0; | |
| res1[4]=w50; | |
| res1[5]=0; | |
| mid = casadi_f1_checkout(); | |
| if (mid<0) return 1; | |
| flag = casadi_f1(arg1, res1, iw, w, mid); | |
| casadi_f1_release(mid); | |
| if (flag) return 1; | |
| /* #93: @51 = helper(@49, @0, @50) */ | |
| arg1[0]=w49; | |
| arg1[1]=(&w0); | |
| arg1[2]=w50; | |
| res1[0]=w51; | |
| if (casadi_f21(arg1, res1, iw, w, 0)) return 1; | |
| /* #94: output[0][0] = @51 */ | |
| casadi_copy(w51, 11, res[0]); | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ | |
| return casadi_f0(arg, res, iw, w, mem); | |
| } | |
| CASADI_SYMBOL_EXPORT int F_alloc_mem(void) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F_init_mem(int mem) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT void F_free_mem(int mem) { | |
| } | |
| CASADI_SYMBOL_EXPORT int F_checkout(void) { | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT void F_release(int mem) { | |
| } | |
| CASADI_SYMBOL_EXPORT void F_incref(void) { | |
| } | |
| CASADI_SYMBOL_EXPORT void F_decref(void) { | |
| } | |
| CASADI_SYMBOL_EXPORT casadi_int F_n_in(void) { return 1;} | |
| CASADI_SYMBOL_EXPORT casadi_int F_n_out(void) { return 1;} | |
| CASADI_SYMBOL_EXPORT casadi_real F_default_in(casadi_int i) { | |
| switch (i) { | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const char* F_name_in(casadi_int i) { | |
| switch (i) { | |
| case 0: return "i0"; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const char* F_name_out(casadi_int i) { | |
| switch (i) { | |
| case 0: return "o0"; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const casadi_int* F_sparsity_in(casadi_int i) { | |
| switch (i) { | |
| case 0: return casadi_s24; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT const casadi_int* F_sparsity_out(casadi_int i) { | |
| switch (i) { | |
| case 0: return casadi_s25; | |
| default: return 0; | |
| } | |
| } | |
| CASADI_SYMBOL_EXPORT int F_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { | |
| if (sz_arg) *sz_arg = 141; | |
| if (sz_res) *sz_res = 43; | |
| if (sz_iw) *sz_iw = 229; | |
| if (sz_w) *sz_w = 2628; | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int F_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { | |
| if (sz_arg) *sz_arg = 141*sizeof(const casadi_real*); | |
| if (sz_res) *sz_res = 43*sizeof(casadi_real*); | |
| if (sz_iw) *sz_iw = 229*sizeof(casadi_int); | |
| if (sz_w) *sz_w = 2628*sizeof(casadi_real); | |
| return 0; | |
| } | |
| casadi_int main_F(casadi_int argc, char* argv[]) { | |
| casadi_int j; | |
| casadi_real* a; | |
| const casadi_real* r; | |
| casadi_int flag; | |
| casadi_int iw[229]; | |
| casadi_real w[2640]; | |
| const casadi_real* arg[141]; | |
| casadi_real* res[43]; | |
| arg[0] = w+0; | |
| res[0] = w+1; | |
| a = w; | |
| for (j=0; j<1; ++j) if (scanf("%lg", a++)<=0) return 2; | |
| flag = F(arg, res, iw, w+12, 0); | |
| if (flag) return flag; | |
| r = w+1; | |
| for (j=0; j<11; ++j) CASADI_PRINTF("%g ", *r++); | |
| CASADI_PRINTF("\n"); | |
| return 0; | |
| } | |
| CASADI_SYMBOL_EXPORT int main(int argc, char* argv[]) { | |
| if (argc<2) { | |
| /* name error */ | |
| } else if (strcmp(argv[1], "F")==0) { | |
| return main_F(argc-2, argv+2); | |
| } | |
| fprintf(stderr, "First input should be a command string. Possible values: 'F'\nNote: you may use function.generate_input to create a command string.\n"); | |
| return 1; | |
| } | |
| #ifdef __cplusplus | |
| } /* extern "C" */ | |
| #endif |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment