loops.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>



int main( ){

    USING_NAMESPACE_ACADO

    // DEFINE VARIABLES:
    // -----------------------
       DifferentialState x, y;
       IntermediateState z   ;
       Function f;

       z = 1.0;

       int run1;

       for( run1 = 0; run1 < 5; run1++ )
            z += sin( z + x*y );

       f << z;


    // TEST THE FUNCTION f:
    // --------------------
       EvaluationPoint zz(f);

       DVector xx(2);
       xx.setZero();
       xx(0) = 2.0;
       xx(1) = 0.0;

       zz.setX(xx);

       DVector result = f.evaluate( zz );
       result.print("result");

    return 0;
}