symbolic_differentiation3.cpp
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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 <acado/utils/acado_utils.hpp>
00035 #include <acado/user_interaction/user_interaction.hpp>
00036 #include <acado/symbolic_expression/symbolic_expression.hpp>
00037 #include <acado/function/function.hpp>
00038 
00039 using namespace std;
00040 
00041 USING_NAMESPACE_ACADO
00042 
00043 /* >>> start tutorial code >>> */
00044 int main( )
00045 {
00046         // DEFINE VALRIABLES:
00047         // ---------------------------
00048         DifferentialState x("",2,1);
00049 
00050         Function f;
00051 
00052         // DEFINE A TEST FUNCTION:
00053         // -----------------------
00054 
00055         IntermediateState ff;
00056         IntermediateState a;
00057         ff = sin(x(0)*x(1));
00058 
00059         f << ff;
00060         f << forwardDerivative(ff,x);
00061 
00062         ofstream stream( "symbolic_differentiation3_output.txt" );
00063         stream << f;
00064         stream.close();
00065 
00066         return 0;
00067 }
00068 /* <<< end tutorial code <<< */
00069 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 12:01:10