00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00027 00034 #include <time.h> 00035 00036 #include <acado/utils/acado_utils.hpp> 00037 #include <acado/user_interaction/user_interaction.hpp> 00038 #include <acado/symbolic_expression/symbolic_expression.hpp> 00039 #include <acado/function/function.hpp> 00040 00041 00042 /* >>> start tutorial code >>> */ 00043 int main( ){ 00044 00045 USING_NAMESPACE_ACADO 00046 00047 00048 // DEFINE VALRIABLES: 00049 // ------------------------------------- 00050 DifferentialState x, y, z; 00051 IntermediateState a ; 00052 TIME t ; 00053 Function f ; 00054 00055 a = t*sin(y); 00056 00057 f << x*x*a + t ; 00058 f << x/(y*y) + x*x ; 00059 f << x*y/(z*z+1.0) ; 00060 00061 if( f.isDependingOn( x ) == BT_TRUE ) 00062 printf("f depends on x \n"); 00063 else printf("f is not depending on x \n"); 00064 00065 if( f.isLinearIn( x ) == BT_TRUE ) 00066 printf("f is linear in x \n"); 00067 else printf("f is not linear in x \n"); 00068 00069 if( f.isPolynomialIn( x ) == BT_TRUE ) 00070 printf("f is polynomial in x \n"); 00071 else printf("f is not polynomial in x \n"); 00072 00073 if( f.isRationalIn( x ) == BT_TRUE ) 00074 printf("f is rational in x \n"); 00075 else printf("f is transcendental in x \n"); 00076 00077 if( f.isRationalIn( y ) == BT_TRUE ) 00078 printf("f is rational in y \n"); 00079 else printf("f is transcendental in y \n"); 00080 00081 if( f.isPolynomialIn( z ) == BT_TRUE ) 00082 printf("f is polynomial in z \n"); 00083 else printf("f is not polynomial in z \n"); 00084 00085 if( f.isRationalIn( z ) == BT_TRUE ) 00086 printf("f is rational in z \n"); 00087 else printf("f is transcendental in z \n"); 00088 00089 if( f.isLinearIn( t ) == BT_TRUE ) 00090 printf("f is linear in t \n"); 00091 else printf("f is not linear in t \n"); 00092 00093 00094 return 0; 00095 } 00096 /* <<< end tutorial code <<< */