getting_started.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_integrators.hpp>
00036 #include <acado_gnuplot.hpp>
00037 
00038 
00039 /* >>> start tutorial code >>> */
00040 int main( ){
00041 
00042     USING_NAMESPACE_ACADO
00043 
00044 
00045     // DEFINE SOME FUNCTIONS:
00046     // ----------------------
00047 
00048     TIME t;
00049     Function sine, cosine,
00050              ramp1, ramp2, ramp3,
00051              parabola;
00052 
00053     sine   << sin(t);
00054     cosine << cos(t);
00055 
00056     ramp1  <<  t      ;
00057     ramp2  <<  t - 1.0;
00058     ramp3  <<  t - 2.0;
00059 
00060     parabola << t*t/M_PI - 3.0*t + 2.0*M_PI;
00061 
00062 
00063     // DEFINE SOME CURVES:
00064     // -------------------
00065 
00066     Curve c1, c2, c3, c4;
00067 
00068     c1.add( 0.0, 2.0*M_PI, sine   );
00069     c2.add( 0.0, 2.0*M_PI, cosine );
00070 
00071     c3.add( 0.0, 1.0, ramp1 );
00072     c3.add( 1.0, 2.0, ramp2 );
00073     c3.add( 2.0, 3.0, ramp3 );
00074 
00075     c4.add( 0.0 ,     M_PI, sine     );
00076     c4.add( M_PI, 2.0*M_PI, parabola );
00077 
00078 
00079 
00080     // PLOT CURVES ON GIVEN GRID:
00081     // --------------------------
00082         GnuplotWindow window;
00083          window.addSubplot( c1, 0.0,2.0*M_PI, "Sampled sine function"   );
00084          window.addSubplot( c2, 0.0,2.0*M_PI, "Sampled cosine function" );
00085          window.addSubplot( c3, 0.0,3.0,      "Sampled ramp function"   );
00086          window.addSubplot( c4, 0.0,2.0*M_PI, "composed curve"          );
00087     window.plot();
00088 
00089     return 0;
00090 }
00091 /* <<< end tutorial code <<< */
00092 
00093 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:14