Parse m-functions in casadi

mfunctionparser.py

import casadi
import re

class MFunctionParser:
  def parse(self,filename):
    f = open(filename,"r")
    
    signature = f.readline()
    m = re.search("function \[?([\w,]+)\]? = \w+\((.*)\)",signature)
    if not m:
      raise Exception("Parse error %s" %signature)
    outputs = m.group(1).split(",")
    inputs = m.group(2)
    inputSX = casadi.ssym("["+inputs+"]")
    evaldict = dict(zip(inputs.split(","),inputSX))
    
    for l in f.readlines():
      m = re.search("(\w+) = (.*);",l)
      if m:
        tvar = m.group(1)
        expr = m.group(2)
        expr = re.sub("\.[*]","*",expr)
        expr = re.sub("\.\^","**",expr)
        expr = re.sub("\./","/",expr)
        expr = re.sub(";",",",expr)
        evaldict[tvar] = eval(expr,casadi.__dict__,evaldict)
    f = casadi.SXFunction([inputSX],[casadi.vertcat(evaldict[o]) for o in outputs])
    f.init()
    return f
  
if __name__ == "__main__":
  p = MFunctionParser()
  f = p.parse("matcode_NATURAL.m")
  print f