simple_integrator.cpp
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00001 
00034 #include <acado_toolkit.hpp>                    // Include the ACADO toolkit
00035 #include <acado/utils/matlab_acado_utils.hpp>   // Include specific Matlab utils
00036 
00037 USING_NAMESPACE_ACADO                           // Open the namespace
00038 
00039 void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )  // Start the MEX function. Do NOT change the header of this function.
00040  { 
00041     clearAllStaticCounters( );                  // Clear software counters
00042  
00043     
00044     // Define a Right-Hand-Side:
00045     // -------------------------
00046     DifferentialState     x;
00047     DifferentialEquation  f;
00048     TIME t;
00049 
00050     f << dot(x) == -x + sin(0.01*t);
00051 
00052 
00053 
00054     // Define an integrator:
00055     // ---------------------
00056     IntegratorBDF integrator( f );
00057 
00058     // Define an initial value:
00059     // ------------------------
00060 
00061     double x_start[1] = { 1.0 };
00062 
00063     double t_start    =   0.0;
00064     double t_end      =   1000.0;
00065 
00066 
00067     // START THE INTEGRATION
00068     // ----------------------
00069     integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
00070     integrator.set( INTEGRATOR_TOLERANCE, 1.0e-3 );
00071         integrator.set( PRINT_INTEGRATOR_PROFILE, YES );
00072     
00073 
00074     integrator.freezeAll();
00075     integrator.integrate( t_start, t_end, x_start );
00076 
00077     
00078 
00079     clearAllStaticCounters( );                  // Clear software counters
00080 } 
00081 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 12:00:00