automatic_forward_differentiation.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit 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.
 *
 *    ACADO Toolkit 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 ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <time.h>

#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/user_interaction.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/function/function.hpp>

using namespace std;

USING_NAMESPACE_ACADO

/* >>> start tutorial code >>> */
int main()
{
        // DEFINE VALRIABLES:
        // ---------------------------
        DifferentialState       x, y;
        Function f;

        f << x*x + pow(y,2);

        // TEST THE FUNCTION f:
        // --------------------
        EvaluationPoint z(f);
        EvaluationPoint dz(f);

        DVector xx(2); DVector dx(2);

        xx(0) = 1.0; dx(0) = 0.5;
        xx(1) = 1.0; dx(1) = 0.1;

        z.setX( xx ); dz.setX( dx );

        // FORWARD DIFFERENTIATION:
        // ------------------------
        DVector ff = f.evaluate ( z );
        DVector df = f.AD_forward( dz );

        // PRINT THE RESULTS:
        // ------------------
        cout << "result of evaluation    : " << ff;
        cout << "result of the derivative: " << df;

        return 0;
}
/* <<< end tutorial code <<< */