<filename>crane_controllers/external/casadi-3.4.5/docs/api/examples/matrix/btf.py
#
#     This file is part of CasADi.
#
#     CasADi -- A symbolic framework for dynamic optimization.
#     Copyright (C) 2010-2014 <NAME>, <NAME>, <NAME>,
#                             <NAME>. All rights reserved.
#     Copyright (C) 2011-2014 <NAME>
#
#     CasADi is free software; you can redistribute it and/or
#     modify it under the terms of the GNU Lesser General Public
#     License as published by the Free Software Foundation; either
#     version 3 of the License, or (at your option) any later version.
#
#     CasADi is distributed in the hope that it will be useful,
#     but WITHOUT ANY WARRANTY; without even the implied warranty of
#     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
#     Lesser General Public License for more details.
#
#     You should have received a copy of the GNU Lesser General Public
#     License along with CasADi; if not, write to the Free Software
#     Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
#
#
from casadi import *
import numpy

#! Let's construct a block diagonal structure
b1 = DM([[2,3],[4,5]])
b2 = DM([[6,7,8],[9,10,11],[12,13,14]])
A = diagcat(1,b1,b2,15)

print("original: ")
print(A)

#! Ruin the nice structure
numpy.random.seed(0)
p1 = numpy.random.permutation(A.size1())
p2 = numpy.random.permutation(A.size2())

S = A[p1,:]
#S = A[p1,p2]

print("randomly permuted: ")
print(S)
nb, rowperm, colperm, rowblock, colblock, coarse_rowblock, coarse_colblock = S.sparsity().btf()

print("number of blocks: ", nb)
print("rowperm: ", rowperm)
print("colperm: ", colperm)
print("restored:")
print(S[rowperm,colperm])
print("rowblock: ", rowblock)
print("colblock: ", colblock)
print("coarse_rowblock: ", coarse_rowblock)
print("coarse_colblock: ", coarse_colblock)


<filename>crane_controllers/external/casadi-3.4.5/docs/api/examples/matrix/btf.py
#
#     This file is part of CasADi.
#
#     CasADi -- A symbolic framework for dynamic optimization.
#     Copyright (C) 2010-2014 <NAME>, <NAME>, <NAME>,
#                             <NAME>. All rights reserved.
#     Copyright (C) 2011-2014 <NAME>
#
#     CasADi is free software; you can redistribute it and/or
#     modify it under the terms of the GNU Lesser General Public
#     License as published by the Free Software Foundation; either
#     version 3 of the License, or (at your option) any later version.
#
#     CasADi is distributed in the hope that it will be useful,
#     but WITHOUT ANY WARRANTY; without even the implied warranty of
#     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
#     Lesser General Public License for more details.
#
#     You should have received a copy of the GNU Lesser General Public
#     License along with CasADi; if not, write to the Free Software
#     Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
#
#
from casadi import *
import numpy

#! Let's construct a block diagonal structure
b1 = DM([[2,3],[4,5]])
b2 = DM([[6,7,8],[9,10,11],[12,13,14]])
A = diagcat(1,b1,b2,15)

print("original: ")
print(A)

#! Ruin the nice structure
numpy.random.seed(0)
p1 = numpy.random.permutation(A.size1())
p2 = numpy.random.permutation(A.size2())

S = A[p1,:]
#S = A[p1,p2]

print("randomly permuted: ")
print(S)
nb, rowperm, colperm, rowblock, colblock, coarse_rowblock, coarse_colblock = S.sparsity().btf()

print("number of blocks: ", nb)
print("rowperm: ", rowperm)
print("colperm: ", colperm)
print("restored:")
print(S[rowperm,colperm])
print("rowblock: ", rowblock)
print("colblock: ", colblock)
print("coarse_rowblock: ", coarse_rowblock)
print("coarse_colblock: ", coarse_colblock)


# #     This file is part of CasADi. # #     CasADi -- A symbolic framework for dynamic optimization. #     Copyright (C) 2010-2014 <NAME>, <NAME>, <NAME>, #                             <NAME>. All rights reserved. #     Copyright (C) 2011-2014 <NAME> # #     CasADi is free software; you can redistribute it and/or #     modify it under the terms of the GNU Lesser General Public #     License as published by the Free Software Foundation; either #     version 3 of the License, or (at your option) any later version. # #     CasADi is distributed in the hope that it will be useful, #     but WITHOUT ANY WARRANTY; without even the implied warranty of #     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU #     Lesser General Public License for more details. # #     You should have received a copy of the GNU Lesser General Public #     License along with CasADi; if not, write to the Free Software #     Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA # # #! Let's construct a block diagonal structure #! Ruin the nice structure #S = A[p1,p2]