simple_dae.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 
00037 
00038 /* >>> start tutorial code >>> */
00039 int main( ){
00040 
00041     USING_NAMESPACE_ACADO
00042 
00043     // DEFINE A RIGHT-HAND-SIDE:
00044     // -------------------------
00045     DifferentialState         x;
00046     AlgebraicState            z;
00047     Parameter               p,q;
00048 
00049     DifferentialEquation f;
00050 
00051     f << dot(x) == -p*x*x*z  ;
00052     f <<     0  ==  q*q - z*z;
00053 
00054 
00055     // DEFINE AN INTEGRATOR:
00056     // ---------------------
00057 
00058         IntegratorBDF integrator(f);
00059 
00060         integrator.set( INTEGRATOR_PRINTLEVEL, HIGH );
00061 
00062         
00063     // DEFINE INITIAL VALUES:
00064     // ----------------------
00065 
00066     double x0   =  1.0;
00067     double z0   =  1.000000;
00068 
00069     double pp[2] = { 1.0, 1.0 };
00070 
00071     double t0   = 0.0 ;
00072     double tend = 0.2 ;
00073 
00074 
00075     // START THE INTEGRATION:
00076     // ----------------------
00077 
00078         //integrator.freezeAll();
00079     integrator.integrate( t0, tend, &x0, &z0, pp );
00080 
00081 
00082     // GET THE RESULTS
00083     // ---------------
00084 
00085     VariablesGrid differentialStates;
00086     VariablesGrid algebraicStates   ;
00087 
00088     integrator.getX ( differentialStates );
00089     integrator.getXA( algebraicStates    );
00090 
00091         differentialStates.print( "x" );
00092         algebraicStates.print( "z" );
00093 
00094 
00095     return 0;
00096 }
00097 /* <<< end tutorial code <<< */
00098 
00099 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:55