getting_started.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 <acado_integrators.hpp>

using namespace std;

USING_NAMESPACE_ACADO

/* >>> start tutorial code >>> */
int main( )
{
        // Setup an equidistant VariablesGrid with 5 grid points
        // and vectors of dimension 2 at each grid point and assign values
        double tStart =  0.0;
        double tEnd   =  2.0;

        VariablesGrid equidistantGrid(2, tStart, tEnd, 5);

        equidistantGrid.setZero();

        DVector v(2);
        v(0) = 1.0;
        v(1) = 2.0;
        equidistantGrid.setVector(1, v);
        equidistantGrid.setVector(2, v);

        v.setAll(5.0);
        equidistantGrid.setVector(3, v);
        equidistantGrid.setVector(4, v);

        cout << "The grid consists of the following grid points:\n"
                 << equidistantGrid
                 << "Its number of grid points is:  " <<  equidistantGrid.getNumPoints() << endl
                 << "Each vector has dimension:     " <<  equidistantGrid.getNumValues() << endl;

        // Construct another VariablesGrid from file
        VariablesGrid gridFromFile;
        gridFromFile.read( "./data.txt" );

        cout << "\nThe second grid consists of the following grid points:\n"
                 << gridFromFile;

        // Append (in time) grid points of second VariablesGrid to first one
        equidistantGrid.appendTimes(gridFromFile);

        cout << "\nNow, the grid consists of the following grid points:\n"
                 << equidistantGrid
                 << "Its number of grid points is:  " << equidistantGrid.getNumPoints() << endl
                 << "Each vector has dimension:     " << equidistantGrid.getNumValues() << endl;

        // Setup a third grid with identical grid points as modified first one,
        // and comprising Vectors of dimension 1...
        VariablesGrid thirdGrid(1, equidistantGrid);

        // ... and initialise these vectors
        for (unsigned int i = 0; i < thirdGrid.getNumPoints(); ++i)
                thirdGrid(i, 0) = (double) i;

        cout << "\nThe third grid consists of the following grid points:\n" << thirdGrid;

        // Append values of all grid points of third VariablesGrid to ones of first VariablesGrid
        equidistantGrid.appendValues(thirdGrid);

        cout << "\nNow, the grid consists of the following grid points:\n";
        equidistantGrid.print();
        cout << "Its number of grid points is:  " << equidistantGrid.getNumPoints() << endl;
        cout << "Each vector has dimension:     " << equidistantGrid.getNumValues() << endl;

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