def test_kron(self):
a = sparsify(DM([[1, 0, 6], [2, 7, 0]]))
b = sparsify(DM([[1, 0, 0], [2, 3, 7], [0, 0, 9], [1, 12, 13]]))
c_ = c.kron(a.sparsity(), b.sparsity())
self.assertEqual(c_.size1(), a.size1() * b.size1())
self.assertEqual(c_.size2(), a.size2() * b.size2())
self.assertEqual(c_.nnz(), a.nnz() * b.nnz())
self.checkarray(IM(c_, 1), IM(c.kron(a, b).sparsity(), 1))
def test_kron(self):
a = sparsify(DM([[1,0,6],[2,7,0]]))
b = sparsify(DM([[1,0,0],[2,3,7],[0,0,9],[1,12,13]]))
c_ = c.kron(a.sparsity(),b.sparsity())
self.assertEqual(c_.size1(),a.size1()*b.size1())
self.assertEqual(c_.size2(),a.size2()*b.size2())
self.assertEqual(c_.nnz(),a.nnz()*b.nnz())
self.checkarray(IM(c_,1),IM(c.kron(a,b).sparsity(),1))
def test_cle_small(self):
for Solver, options in clesolvers:
for n in [2, 3, 4]:
numpy.random.seed(1)
print(n)
A_ = DMatrix(numpy.random.random((n, n)))
v = DMatrix(numpy.random.random((n, n)))
V_ = mul(v, v.T)
solver = CleSolver(
Solver,
cleStruct(a=Sparsity.dense(n, n), v=Sparsity.dense(n, n)))
solver.setOption(options)
solver.init()
solver.setInput(A_, "a")
solver.setInput(V_, "v")
As = MX.sym("A", n, n)
Vs = MX.sym("V", n, n)
Vss = (Vs + Vs.T) / 2
e = DMatrix.eye(n)
A_total = -c.kron(e, As) - c.kron(As, e)
Pf = solve(A_total, vec(Vss), "csparse")
refsol = MXFunction(dleIn(a=As, v=Vs),
dleOut(p=Pf.reshape((n, n))))
refsol.init()
refsol.setInput(A_, "a")
refsol.setInput(V_, "v")
solver.evaluate()
X = solver.getOutput()
refsol.evaluate()
Xref = refsol.getOutput()
a0 = mul([A_, X]) + mul([X, A_.T]) + V_
a0ref = mul([A_, Xref]) + mul([Xref, A_.T]) + V_
self.checkarray(a0, a0ref)
self.checkarray(a0, DMatrix.zeros(n, n))
self.checkfunction(solver,
refsol,
sens_der=True,
hessian=True,
evals=2)
def test_cle_small(self):
for Solver, options in clesolvers:
for n in [2,3,4]:
numpy.random.seed(1)
print (n)
A_ = DMatrix(numpy.random.random((n,n)))
v = DMatrix(numpy.random.random((n,n)))
V_ = mul(v,v.T)
solver = CleSolver(Solver,cleStruct(a=Sparsity.dense(n,n),v=Sparsity.dense(n,n)))
solver.setOption(options)
solver.init()
solver.setInput(A_,"a")
solver.setInput(V_,"v")
As = MX.sym("A",n,n)
Vs = MX.sym("V",n,n)
Vss = (Vs+Vs.T)/2
e = DMatrix.eye(n)
A_total = - c.kron(e,As) - c.kron(As,e)
Pf = solve(A_total,vec(Vss),"csparse")
refsol = MXFunction(dleIn(a=As,v=Vs),dleOut(p=Pf.reshape((n,n))))
refsol.init()
refsol.setInput(A_,"a")
refsol.setInput(V_,"v")
solver.evaluate()
X = solver.getOutput()
refsol.evaluate()
Xref = refsol.getOutput()
a0 = mul([A_,X]) + mul([X,A_.T])+V_
a0ref = mul([A_,Xref]) + mul([Xref,A_.T])+V_
self.checkarray(a0,a0ref)
self.checkarray(a0,DMatrix.zeros(n,n))
self.checkfunction(solver,refsol,sens_der=True,hessian=True,evals=2)
def test_dle_small(self):
for Solver, options in dlesolvers:
for n in [2,3,4]:
numpy.random.seed(1)
print (n)
r = 0.8
A_ = tril(DMatrix(numpy.random.random((n,n))))
for i in range(n): A_[i,i] = numpy.random.random()*r*2-r
Q = scipy.linalg.orth(numpy.random.random((n,n)))
A_ = mul([Q,A_,Q.T])
v = DMatrix(numpy.random.random((n,n)))
V_ = mul(v,v.T)
solver = DleSolver("solver", Solver,{'a':Sparsity.dense(n,n),'v':Sparsity.dense(n,n)}, options)
solver.setInput(A_,"a")
solver.setInput(V_,"v")
As = MX.sym("A",n,n)
Vs = MX.sym("V",n,n)
Vss = (Vs+Vs.T)/2
A_total = DMatrix.eye(n*n) - c.kron(As,As)
Pf = solve(A_total,vec(Vss),"csparse")
refsol = MXFunction("refsol", dleIn(a=As,v=Vs),dleOut(p=Pf.reshape((n,n))))
refsol.setInput(A_,"a")
refsol.setInput(V_,"v")
solver.evaluate()
X = solver.getOutput()
refsol.evaluate()
Xref = refsol.getOutput()
a0 = (mul([A_,X,A_.T])+V_)
a0ref = (mul([A_,Xref,A_.T])+V_)
a1 = X
a1ref = Xref
self.checkarray(a0ref,a1ref)
self.checkarray(a0,a1)
try:
self.checkfunction(solver,refsol,sens_der=True,hessian=True,evals=2,failmessage=str(Solver))
except Exception as e:
if "second order derivatives are not supported" in str(e):
self.checkfunction(solver,refsol,evals=1,hessian=False,sens_der=False,failmessage=str(Solver))
else:
raise e
def test_kron(self):
a = sparsify(DMatrix([[1, 0, 6], [2, 7, 0]]))
b = sparsify(DMatrix([[1, 0, 0], [2, 3, 7], [0, 0, 9], [1, 12, 13]]))
c_ = c.kron(a, b)
self.assertEqual(c_.size1(), a.size1() * b.size1())
self.assertEqual(c_.size2(), a.size2() * b.size2())
self.assertEqual(c_.nnz(), a.nnz() * b.nnz())
self.checkarray(c_, numpy.kron(a, b))
def test_kron(self):
a = sparse(DMatrix([[1, 0, 6], [2, 7, 0]]))
b = sparse(DMatrix([[1, 0, 0], [2, 3, 7], [0, 0, 9], [1, 12, 13]]))
c_ = c.kron(a, b)
self.assertEqual(c_.size1(), a.size1() * b.size1())
self.assertEqual(c_.size2(), a.size2() * b.size2())
self.assertEqual(c_.size(), a.size() * b.size())
self.checkarray(c_, numpy.kron(a, b))
def test_dple_small(self):
for Solver, options in dplesolvers:
for K in ([3,4] if args.run_slow else [2,3]):
for n in [2,3,4]:
print (Solver, options)
numpy.random.seed(1)
print (n,K)
A_ = [randstable(n) for i in range(K)]
V_ = [mtimes(v,v.T) for v in [DM(numpy.random.random((n,n))) for i in range(K)]]
V2_ = [mtimes(v,v.T) for v in [DM(numpy.random.random((n,n))) for i in range(K)]]
S = kron(Sparsity.diag(K),Sparsity.dense(n,n))
solver = dplesol("solver", Solver,{'a':S,'v':repmat(S,1,2)}, options)
inputs = {"a":dcat(A_), "v": horzcat(dcat(V_),dcat(V2_))}
As = MX.sym("A",S)
Vs = MX.sym("V",S)
def sigma(a):
return a[1:] + [a[0]]
def isigma(a):
return [a[-1]] + a[:-1]
Vss = hcat([(i+i.T)/2 for i in isigma(list(diagsplit(Vs,n))) ])
AA = dcat([c.kron(i,i) for i in diagsplit(As,n)])
A_total = DM.eye(n*n*K) - vertcat(*[AA[-n*n:,:],AA[:-n*n,:]])
Pf = solve(A_total,vec(Vss),"csparse")
P = Pf.reshape((n,K*n))
P = dcat(horzsplit(P,n))
refsol = Function("refsol", {"a": As,"v":Vs,"p":P},dple_in(),dple_out()).map("map","serial",2,["a"],[])
self.checkfunction(solver,refsol,inputs=inputs,failmessage=str(Solver))
def test_dple_alt_small(self):
for Solver, options in dplesolvers:
for K in ([3,4] if args.run_slow else [2,3]):
for n in [2,3,4]:
print (Solver, options)
numpy.random.seed(1)
print (n,K)
A_ = [randstable(n) for i in range(K)]
V_ = [mtimes(v,v.T) for v in [DM(numpy.random.random((n,n))) for i in range(K)]]
inputs = {"a":hcat(A_), "v": hcat(V_)}
As = MX.sym("A",n,n*K)
Vs = MX.sym("V",n,n*K)
def sigma(a):
return a[1:] + [a[0]]
def isigma(a):
return [a[-1]] + a[:-1]
Vss = hcat([(i+i.T)/2 for i in isigma(list(horzsplit(Vs,n))) ])
AA = dcat([c.kron(i,i) for i in horzsplit(As,n)])
A_total = DM.eye(n*n*K) - vcat([AA[-n*n:,:],AA[:-n*n,:]])
Pf = solve(A_total,vec(Vss),"csparse")
P = Pf.reshape((n,K*n))
solver = Function("solver", {"a": As,"v":Vs,"p":hcat(dplesol(horzsplit(As,n),horzsplit(Vs,n),Solver,options))},dple_in(),dple_out())
refsol = Function("refsol", {"a": As,"v":Vs,"p":P},dple_in(),dple_out())
self.checkfunction(solver,refsol,inputs=inputs,failmessage=str(Solver))
def test_dple_small(self):
for Solver, options in dplesolvers:
for K in ([1,2,3,4] if args.run_slow else [1,2,3]):
for n in [2,3]:
print Solver, options
numpy.random.seed(1)
print (n,K)
A_ = [randstable(n) for i in range(K)]
V_ = [mul(v,v.T) for v in [DMatrix(numpy.random.random((n,n))) for i in range(K)]]
solver = DpleSolver(Solver,dpleStruct(a=[Sparsity.dense(n,n) for i in range(K)],v=[Sparsity.dense(n,n) for i in range(K)]))
solver.setOption(options)
solver.init()
solver.setInput(horzcat(A_),"a")
solver.setInput(horzcat(V_),"v")
As = MX.sym("A",n,K*n)
Vs = MX.sym("V",n,K*n)
def sigma(a):
return a[1:] + [a[0]]
def isigma(a):
return [a[-1]] + a[:-1]
Vss = horzcat([(i+i.T)/2 for i in isigma(list(horzsplit(Vs,n))) ])
AA = blkdiag([c.kron(i,i) for i in horzsplit(As,n)])
A_total = DMatrix.eye(n*n*K) - vertcat([AA[-n*n:,:],AA[:-n*n,:]])
Pf = solve(A_total,vec(Vss),"csparse")
P = Pf.reshape((n,K*n))
refsol = MXFunction(dpleIn(a=As,v=Vs),dpleOut(p=P))
refsol.init()
refsol.setInput(horzcat(A_),"a")
refsol.setInput(horzcat(V_),"v")
solver.evaluate()
X = list(horzsplit(solver.getOutput(),n))
refsol.evaluate()
Xref = list(horzsplit(refsol.getOutput(),n))
a0 = (mul([blkdiag(A_),blkdiag(X),blkdiag(A_).T])+blkdiag(V_))
a0ref = (mul([blkdiag(A_),blkdiag(Xref),blkdiag(A_).T])+blkdiag(V_))
a1 = blkdiag(sigma(X))
a1ref = blkdiag(sigma(Xref))
self.checkarray(a0ref,a1ref,failmessage=str(Solver))
self.checkarray(a0,a1,failmessage=str(Solver))
try:
self.checkfunction(solver,refsol,sens_der=True,hessian=True,evals=2,failmessage=str(Solver))
except Exception as e:
if "second order derivatives are not supported" in str(e):
self.checkfunction(solver,refsol,evals=1,hessian=False,sens_der=False,failmessage=str(Solver))
else:
raise e
def _convert(self, symbol, t, y):
""" See :meth:`CasadiConverter.convert()`. """
if isinstance(symbol, (pybamm.Scalar, pybamm.Array, pybamm.Time)):
return casadi.SX(symbol.evaluate(t, y))
elif isinstance(symbol, pybamm.StateVector):
if y is None:
raise ValueError(
"Must provide a 'y' for converting state vectors")
return casadi.vertcat(*[y[y_slice] for y_slice in symbol.y_slices])
elif isinstance(symbol, pybamm.BinaryOperator):
left, right = symbol.children
# process children
converted_left = self.convert(left, t, y)
converted_right = self.convert(right, t, y)
if isinstance(symbol, pybamm.Outer):
return casadi.kron(converted_left, converted_right)
else:
# _binary_evaluate defined in derived classes for specific rules
return symbol._binary_evaluate(converted_left, converted_right)
elif isinstance(symbol, pybamm.UnaryOperator):
converted_child = self.convert(symbol.child, t, y)
if isinstance(symbol, pybamm.AbsoluteValue):
return casadi.fabs(converted_child)
return symbol._unary_evaluate(converted_child)
elif isinstance(symbol, pybamm.Function):
converted_children = [
self.convert(child, t, y) for child in symbol.children
]
# Special functions
if symbol.function == np.min:
return casadi.mmin(*converted_children)
elif symbol.function == np.max:
return casadi.mmax(*converted_children)
elif symbol.function == np.abs:
return casadi.fabs(*converted_children)
elif not isinstance(
symbol.function, pybamm.GetCurrent
) and symbol.function.__name__.startswith("elementwise_grad_of_"):
differentiating_child_idx = int(symbol.function.__name__[-1])
# Create dummy symbolic variables in order to differentiate using CasADi
dummy_vars = [
casadi.SX.sym("y_" + str(i))
for i in range(len(converted_children))
]
func_diff = casadi.gradient(
symbol.differentiated_function(*dummy_vars),
dummy_vars[differentiating_child_idx],
)
# Create function and evaluate it using the children
casadi_func_diff = casadi.Function("func_diff", dummy_vars,
[func_diff])
return casadi_func_diff(*converted_children)
# Other functions
else:
return symbol._function_evaluate(converted_children)
elif isinstance(symbol, pybamm.Concatenation):
converted_children = [
self.convert(child, t, y) for child in symbol.children
]
if isinstance(symbol,
(pybamm.NumpyConcatenation, pybamm.SparseStack)):
return casadi.vertcat(*converted_children)
# DomainConcatenation specifies a particular ordering for the concatenation,
# which we must follow
elif isinstance(symbol, pybamm.DomainConcatenation):
slice_starts = []
all_child_vectors = []
for i in range(symbol.secondary_dimensions_npts):
child_vectors = []
for child_var, slices in zip(converted_children,
symbol._children_slices):
for child_dom, child_slice in slices.items():
slice_starts.append(
symbol._slices[child_dom][i].start)
child_vectors.append(
child_var[child_slice[i].start:child_slice[i].
stop])
all_child_vectors.extend([
v for _, v in sorted(zip(slice_starts, child_vectors))
])
return casadi.vertcat(*all_child_vectors)
else:
raise TypeError("""
Cannot convert symbol of type '{}' to CasADi. Symbols must all be
'linear algebra' at this stage.
""".format(type(symbol)))
def test_dple_small(self):
for Solver, options in dplesolvers:
for K in ([1, 2, 3, 4] if args.run_slow else [1, 2, 3]):
for n in [2, 3]:
print Solver, options
numpy.random.seed(1)
print(n, K)
A_ = [randstable(n) for i in range(K)]
V_ = [
mul(v, v.T) for v in [
DMatrix(numpy.random.random((n, n)))
for i in range(K)
]
]
solver = DpleSolver(
"solver", Solver, {
'a': [Sparsity.dense(n, n) for i in range(K)],
'v': [Sparsity.dense(n, n) for i in range(K)]
}, options)
solver.setInput(horzcat(A_), "a")
solver.setInput(horzcat(V_), "v")
As = MX.sym("A", n, K * n)
Vs = MX.sym("V", n, K * n)
def sigma(a):
return a[1:] + [a[0]]
def isigma(a):
return [a[-1]] + a[:-1]
Vss = horzcat([(i + i.T) / 2
for i in isigma(list(horzsplit(Vs, n)))])
AA = diagcat([c.kron(i, i) for i in horzsplit(As, n)])
A_total = DMatrix.eye(n * n * K) - vertcat(
[AA[-n * n:, :], AA[:-n * n, :]])
Pf = solve(A_total, vec(Vss), "csparse")
P = Pf.reshape((n, K * n))
refsol = MXFunction("refsol", dpleIn(a=As, v=Vs),
dpleOut(p=P))
refsol.setInput(horzcat(A_), "a")
refsol.setInput(horzcat(V_), "v")
solver.evaluate()
X = list(horzsplit(solver.getOutput(), n))
refsol.evaluate()
Xref = list(horzsplit(refsol.getOutput(), n))
a0 = (mul([diagcat(A_),
diagcat(X),
diagcat(A_).T]) + diagcat(V_))
a0ref = (mul([diagcat(A_),
diagcat(Xref),
diagcat(A_).T]) + diagcat(V_))
a1 = diagcat(sigma(X))
a1ref = diagcat(sigma(Xref))
self.checkarray(a0ref, a1ref, failmessage=str(Solver))
self.checkarray(a0, a1, failmessage=str(Solver))
try:
self.checkfunction(solver,
refsol,
sens_der=True,
hessian=True,
evals=2,
failmessage=str(Solver))
except Exception as e:
if "second order derivatives are not supported" in str(
e):
self.checkfunction(solver,
refsol,
evals=1,
hessian=False,
sens_der=False,
failmessage=str(Solver))
else:
raise e
def test_dle_small(self):
for Solver, options in dlesolvers:
for n in [2, 3, 4]:
numpy.random.seed(1)
print(n)
r = 0.8
A_ = tril(DMatrix(numpy.random.random((n, n))))
for i in range(n):
A_[i, i] = numpy.random.random() * r * 2 - r
Q = scipy.linalg.orth(numpy.random.random((n, n)))
A_ = mul([Q, A_, Q.T])
v = DMatrix(numpy.random.random((n, n)))
V_ = mul(v, v.T)
solver = DleSolver("solver", Solver, {
'a': Sparsity.dense(n, n),
'v': Sparsity.dense(n, n)
}, options)
solver.setInput(A_, "a")
solver.setInput(V_, "v")
As = MX.sym("A", n, n)
Vs = MX.sym("V", n, n)
Vss = (Vs + Vs.T) / 2
A_total = DMatrix.eye(n * n) - c.kron(As, As)
Pf = solve(A_total, vec(Vss), "csparse")
refsol = MXFunction("refsol", dleIn(a=As, v=Vs),
dleOut(p=Pf.reshape((n, n))))
refsol.setInput(A_, "a")
refsol.setInput(V_, "v")
solver.evaluate()
X = solver.getOutput()
refsol.evaluate()
Xref = refsol.getOutput()
a0 = (mul([A_, X, A_.T]) + V_)
a0ref = (mul([A_, Xref, A_.T]) + V_)
a1 = X
a1ref = Xref
self.checkarray(a0ref, a1ref)
self.checkarray(a0, a1)
try:
self.checkfunction(solver,
refsol,
sens_der=True,
hessian=True,
evals=2,
failmessage=str(Solver))
except Exception as e:
if "second order derivatives are not supported" in str(e):
self.checkfunction(solver,
refsol,
evals=1,
hessian=False,
sens_der=False,
failmessage=str(Solver))
else:
raise e
def __init__(self, dae, t, order, method='legendre',
parallelization='serial', tdp_fun=None, expand=True, repeat_param=False, options={}):
"""Constructor
@param t time vector of length N+1 defining N collocation intervals
@param order number of collocation points per interval
@param method collocation method ('legendre', 'radau')
@param dae DAE model
@param parallelization parallelization of the outer map. Possible set of values is the same as for casadi.Function.map().
@return Returns a dictionary with the following keys:
'X' -- state at collocation points
'Z' -- alg. state at collocation points
'x0' -- initial state
'eq' -- the expression eq == 0 defines the collocation equation. eq depends on X, Z, x0, p.
'Q' -- quadrature values at collocation points depending on x0, X, Z, p.
"""
# Convert whatever DAE to implicit DAE
dae = dae.makeImplicit()
M = order
N = len(t) - 1
#
# Define variables and functions corresponfing to all control intervals
#
K = cs.MX.sym('K', dae.nx, N * M) # State derivatives at collocation points
Z = cs.MX.sym('Z', dae.nz, N * M) # Alg state at collocation points
x = cs.MX.sym('x', dae.nx, N + 1) # State at the ends of collocation intervals (t)
u = cs.MX.sym('u', dae.nu, N) # Input on collocation intervals
U = cs.horzcat(*[cs.repmat(u[:, n], 1, M) for n in range(N)]) # Input at collocation points
# Butcher tableau for the selected method
butcher = butcherTableuForCollocationMethod(order, method)
# Interval lengths
h = np.diff(t)
# Integrated state at collocation points
Mx = cs.kron(cs.DM.eye(N), cs.DM.ones(1, M))
MK = cs.kron(cs.diagcat(*h), butcher.A.T) # integration matrix
X = cs.mtimes(x[:, : -1], Mx) + cs.mtimes(K, MK)
# Integrated state at the ends of collocation intervals
xf = x[:, : -1] + cs.mtimes(K, cs.kron(cs.diagcat(*h), butcher.b))
# Points in time at which the collocation equations are calculated
# TODO: this possibly can be sped up a little bit.
tc = np.hstack([t[n] + h[n] * butcher.c for n in range(N)])
# Values of the time-dependent parameter
if tdp_fun is not None:
tdp_val = cs.horzcat(*[tdp_fun(t) for t in tc])
else:
assert dae.ntdp == 0
tdp_val = np.zeros((0, tc.size))
# DAE function
dae_fun = dae.createFunction('dae', ['xdot', 'x', 'z', 'u', 'p', 't', 'tdp'], ['dae', 'quad'])
if expand:
dae_fun = dae_fun.expand() # expand() for speed
if repeat_param:
reduce_in = []
p = cs.MX.sym('P', dae.np, N * M)
else:
reduce_in = [4]
p = cs.MX.sym('P', dae.np)
dae_map = dae_fun.map('dae_map', parallelization, N * M, reduce_in, [], options)
dae_out = dae_map(xdot=K, x=X, z=Z, u=U, p=p, t=tc, tdp=tdp_val)
eqc = ce.struct_MX([
ce.entry('collocation', expr=dae_out['dae']),
ce.entry('continuity', expr=xf - x[:, 1 :]),
ce.entry('param', expr=cs.diff(p, 1, 1))
])
# Integrate the quadrature state
quad = dae_out['quad']
#t0 = time.time()
q = [cs.MX.zeros(dae.nq)] # Integrated quadrature at interval ends
# TODO: speed up the calculation of q.
for n in range(N):
q.append(q[-1] + h[n] * cs.mtimes(quad[:, n * M : (n + 1) * M], butcher.b))
q = cs.horzcat(*q)
Q = cs.mtimes(q[:, : -1], Mx) + cs.mtimes(quad, MK) # Integrated quadrature at collocation points
#print('Creating Q took {0:.3f} s.'.format(time.time() - t0))
self._N = N
self._M = M
self._eq = eqc
self._x = x
self._X = X
self._K = K
self._Z = Z
self._U = U
self._u = u
self._quad = quad
self._Q = Q
self._q = q
self._p = p
self._tc = tc
self._butcher = butcher
self._tdp = tdp_val
self._t = t
def test_dple_small(self):
for Solver, options in dplesolvers:
for K in ([1,2,3,4] if args.run_slow else [1,2,3]):
for n in [2,3]:
numpy.random.seed(1)
print (n,K)
A_ = [DMatrix(numpy.random.random((n,n))) for i in range(K)]
V_ = [mul(v,v.T) for v in [DMatrix(numpy.random.random((n,n))) for i in range(K)]]
solver = Solver([Sparsity.dense(n,n) for i in range(K)],[Sparsity.dense(n,n) for i in range(K)])
solver.setOption(options)
solver.init()
solver.setInput(horzcat(A_),DPLE_A)
solver.setInput(horzcat(V_),DPLE_V)
As = MX.sym("A",n,K*n)
Vs = MX.sym("V",n,K*n)
def sigma(a):
return a[1:] + [a[0]]
def isigma(a):
return [a[-1]] + a[:-1]
Vss = horzcat([(i+i.T)/2 for i in isigma(list(horzsplit(Vs,n))) ])
AA = blkdiag([c.kron(i,i) for i in horzsplit(As,n)])
A_total = DMatrix.eye(n*n*K) - vertcat([AA[-n*n:,:],AA[:-n*n,:]])
Pf = solve(A_total,vec(Vss),CSparse)
P = Pf.reshape((n,K*n))
refsol = MXFunction([As,Vs],[P])
refsol.init()
refsol.setInput(horzcat(A_),DPLE_A)
refsol.setInput(horzcat(V_),DPLE_V)
solver.evaluate()
X = list(horzsplit(solver.getOutput(),n))
refsol.evaluate()
Xref = list(horzsplit(refsol.getOutput(),n))
a0 = (mul([blkdiag(A_),blkdiag(X),blkdiag(A_).T])+blkdiag(V_))
a0ref = (mul([blkdiag(A_),blkdiag(Xref),blkdiag(A_).T])+blkdiag(V_))
a1 = blkdiag(sigma(X))
a1ref = blkdiag(sigma(Xref))
self.checkarray(a0ref,a1ref)
self.checkarray(a0,a1)
self.checkfunction(solver,refsol,sens_der=False,hessian=False,evals=1)
