cos.cpp
Go to the documentation of this file.
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 dCos(double x){
00040   return -sin(x);
00041 }
00042 
00043 
00044 double ddCos(double x){
00045   return -cos(x);
00046 }
00047 
00048 BEGIN_NAMESPACE_ACADO
00049 
00050 
00051 Cos::Cos():UnaryOperator(){
00052   cName = "cos";
00053 
00054   fcn = &cos;
00055   dfcn = &dCos;
00056   ddfcn = &ddCos;
00057 
00058   operatorName = ON_COS;
00059 
00060 }
00061 
00062 Cos::Cos( Operator *_argument ):UnaryOperator(_argument){
00063   cName = "cos";
00064 
00065   fcn = &cos;
00066   dfcn = &dCos;
00067   ddfcn = &ddCos;
00068 
00069   operatorName = ON_COS;
00070 }
00071 
00072 
00073 Cos::Cos( const Cos &arg ):UnaryOperator(arg){
00074   cName = "cos";
00075 
00076   fcn = &cos;
00077   dfcn = &dCos;
00078   ddfcn = &ddCos;
00079 
00080   operatorName = ON_COS;
00081 }
00082 
00083 
00084 Cos::~Cos(){
00085 
00086 }
00087 
00088 
00089 Cos& Cos::operator=( const Cos &arg ){
00090 
00091   UnaryOperator::operator=(arg);
00092 
00093   return *this;
00094 }
00095 
00096 
00097 returnValue Cos::evaluate( EvaluationBase *x ){
00098  
00099     x->Cos(*argument);
00100     return SUCCESSFUL_RETURN;
00101 }
00102 
00103 
00104 Operator* Cos::substitute( int index, const Operator *sub ){
00105 
00106     return new Cos( argument->substitute( index , sub ) );
00107 
00108 }
00109 
00110 Operator* Cos::clone() const{
00111 
00112     return new Cos(*this);
00113 }
00114 
00115 returnValue Cos::initDerivative() {
00116 
00117         if( initialized ) return SUCCESSFUL_RETURN;
00118         initialized = BT_TRUE;
00119 
00120         derivative = convert2TreeProjection(new Product( new DoubleConstant( -1.0 , NE_NEITHER_ONE_NOR_ZERO ), new Sin(argument->clone()) ));
00121         derivative2 = convert2TreeProjection(new Product( new DoubleConstant( -1.0 , NE_NEITHER_ONE_NOR_ZERO ), new Cos(argument->clone()) ));
00122 
00123         return argument->initDerivative();
00124 }
00125 
00126 
00127 CLOSE_NAMESPACE_ACADO
00128 
00129 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:56