00001 00035 #include <acado_toolkit.hpp> // Include the ACADO toolkit 00036 #include <acado/utils/matlab_acado_utils.hpp> // Include specific Matlab utils 00037 00038 USING_NAMESPACE_ACADO // Open the namespace 00039 00040 void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] ) // Start the MEX function. Do NOT change the header of this function. 00041 { 00042 clearAllStaticCounters( ); // Clear software counters 00043 00044 00045 00046 DifferentialState x; 00047 IntermediateState z; 00048 TIME t; 00049 Function f; 00050 00051 z = 0.5*x + 1.0 ; 00052 00053 f << exp(x) + t ; 00054 f << exp(z+exp(z)) ; 00055 00056 printf("the dimension of f is %d \n", f.getDim() ); 00057 printf("f depends on %d states \n", f.getNX () ); 00058 printf("f depends on %d controls \n", f.getNU () ); 00059 00060 if( f.isConvex() == BT_TRUE ) 00061 printf("all components of function f are convex. \n"); 00062 00063 00064 00065 clearAllStaticCounters( ); // Clear software counters 00066 } 00067