atan.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 
00035 #include <acado/utils/acado_utils.hpp>
00036 #include <acado/symbolic_operator/symbolic_operator.hpp>
00037 
00038 
00039 double dAtan(double x){
00040   return 1/(1+x*x);
00041 }
00042 
00043 
00044 double ddAtan(double x){
00045   double v1 = 1+x*x;
00046   return -2*x/v1/v1;
00047 }
00048 
00049 BEGIN_NAMESPACE_ACADO
00050 
00051 
00052 Atan::Atan():UnaryOperator(){
00053   cName = "atan";
00054 
00055   fcn = &atan;
00056   dfcn = &dAtan;
00057   ddfcn = &ddAtan;
00058 
00059   operatorName = ON_ATAN;
00060 
00061 }
00062 
00063 Atan::Atan( Operator *_argument ):UnaryOperator(_argument){
00064   cName = "atan";
00065 
00066   fcn = &atan;
00067   dfcn = &dAtan;
00068   ddfcn = &ddAtan;
00069 
00070   operatorName = ON_ATAN;
00071 }
00072 
00073 
00074 Atan::Atan( const Atan &arg ):UnaryOperator(arg){
00075   cName = "atan";
00076 
00077   fcn = &atan;
00078   dfcn = &dAtan;
00079   ddfcn = &ddAtan;
00080 
00081   operatorName = ON_ATAN;
00082 }
00083 
00084 
00085 Atan::~Atan(){
00086 
00087 }
00088 
00089 
00090 Atan& Atan::operator=( const Atan &arg ){
00091 
00092   UnaryOperator::operator=(arg);
00093 
00094   return *this;
00095 }
00096 
00097 
00098 returnValue Atan::evaluate( EvaluationBase *x ){
00099  
00100     x->Atan(*argument);
00101     return SUCCESSFUL_RETURN;
00102 }
00103 
00104 
00105 Operator* Atan::substitute( int index, const Operator *sub ){
00106 
00107     return new Atan( argument->substitute( index , sub ) );
00108 
00109 }
00110 
00111 Operator* Atan::clone() const{
00112 
00113     return new Atan(*this);
00114 }
00115 
00116 returnValue Atan::initDerivative() {
00117 
00118         if( initialized ) return SUCCESSFUL_RETURN;
00119         initialized = BT_TRUE;
00120 
00121         derivative = convert2TreeProjection(
00122                         new Quotient(
00123                                         new DoubleConstant( 1.0 , NE_ONE ),
00124                                         new Addition(
00125                                                         new DoubleConstant( 1.0 , NE_ONE ),
00126                                                         new Power_Int(
00127                                                                         argument->clone(),
00128                                                                         2
00129                                                         )
00130                                         )
00131                         ));
00132         derivative2 = convert2TreeProjection(
00133                         new Product( new DoubleConstant( -2.0 , NE_NEITHER_ONE_NOR_ZERO ),
00134                                         new Product(
00135                                                         new Power(
00136                                                                         new Addition(
00137                                                                                         new DoubleConstant(1.0 , NE_ONE),
00138                                                                                         new Power_Int(
00139                                                                                                         argument->clone(),
00140                                                                                                         2
00141                                                                                         )
00142                                                                         ),
00143                                                                         new DoubleConstant( -2.0 , NE_NEITHER_ONE_NOR_ZERO )
00144                                                         ),
00145                                                         argument->clone()
00146                                         )
00147                         ));
00148 
00149         return argument->initDerivative();
00150 }
00151 
00152 
00153 CLOSE_NAMESPACE_ACADO
00154 
00155 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:43