def interp(x, xp, fp, left=None, right=None, period=None):
"""
One-dimensional linear interpolation, analogous to numpy.interp().
Returns the one-dimensional piecewise linear interpolant to a function with given discrete data points (xp, fp),
evaluated at x.
See syntax here: https://numpy.org/doc/stable/reference/generated/numpy.interp.html
Specific notes: xp is assumed to be sorted.
"""
if not is_casadi_type([x, xp, fp], recursive=True):
return _onp.interp(x=x,
xp=xp,
fp=fp,
left=left,
right=right,
period=period)
else:
### If xp or x are CasADi types, this is unsupported :(
if is_casadi_type([x, xp], recursive=True):
raise NotImplementedError(
"Unfortunately, CasADi doesn't yet support a dispatch for x or xp as CasADi types."
)
### Handle period argument
if period is not None:
if any(logical_or(xp < 0, xp > period)):
raise NotImplementedError(
"Haven't yet implemented handling for if xp is outside the period."
) # Not easy to implement because casadi doesn't have a sort feature.
x = _cas.mod(x, period)
### Make sure x isn't an int
if isinstance(x, int):
x = float(x)
### Make sure that x is an iterable
try:
x[0]
except TypeError:
x = array([x], dtype=float)
### Make sure xp is an iterable
xp = array(xp, dtype=float)
### Do the interpolation
f = _cas.interp1d(xp, fp, x)
### Handle left/right
if left is not None:
f = where(x < xp[0], left, f)
if right is not None:
f = where(x > xp[-1], right, f)
### Return
return f
def mod(x1, x2):
"""
Return element-wise remainder of division.
See syntax here: https://numpy.org/doc/stable/reference/generated/numpy.mod.html
"""
if not is_casadi_type(x1) and not is_casadi_type(x2):
return _onp.mod(x1, x2)
else:
return _cas.mod(x1, x2)