There is a function cse() that you may apply to expressions:Ĭasadi :: MX A = casadi :: MX :: sym ( "A", casadi :: Sparsity :: upper ( 2 )) casadi :: MX b = casadi :: MX :: sym ( "b", 2 ) casadi :: MX x = solve ( A, b ) // for argument-dependent lookup, alternatively casadi::MX::solve(A, b) for static function Added Common Subexpression Elimination #1540 for MX and SX.ĬasADi can now efficiently eliminate redundant computation by inspecting an expression graph and removing redundant nodes.īefore, CasADi internals would avoid introducing redundant nodes during operations on a given expression, but the user was responsible to avoid duplication when constructing that expression.DAE index reduction support (Pantelides structural algorithm) See.numpy.mod has no counterpart in CasADi only fmod is equivalent. CasADi-Python mod has been removed, because its numerical behaviour is not like numpy.mod. The builtin-Matlab mod has no CasADi counterpart. breaking CasADi-Matlab mod has been renamed to rem, because its numerical behaviour is like the builtin-Matlab rem.breaking vertcat/ vcat, horzcat/ hcat, etc now return a DM type instead of a Sparsity type #2549.Added logsumexp which behaves like log(sum(exp(x))) but is numerically more accurate (and no overflow issues).Jacobian(fmin(x,y),vertcat(x,y)) used to be for x=y. breaking AD rule of fmin/fmax` is now symmetric:. ![]() ![]() Added operation remainder with the semantics of the C operation.
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