loops.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 <time.h>
00035 
00036 #include <acado/utils/acado_utils.hpp>
00037 #include <acado/user_interaction/user_interaction.hpp>
00038 #include <acado/symbolic_expression/symbolic_expression.hpp>
00039 #include <acado/function/function.hpp>
00040 
00041 
00042 
00043 int main( ){
00044 
00045     USING_NAMESPACE_ACADO
00046 
00047     // DEFINE VARIABLES:
00048     // -----------------------
00049        DifferentialState x, y;
00050        IntermediateState z   ;
00051        Function f;
00052 
00053        z = 1.0;
00054 
00055        int run1;
00056 
00057        for( run1 = 0; run1 < 5; run1++ )
00058             z += sin( z + x*y );
00059 
00060        f << z;
00061 
00062 
00063     // TEST THE FUNCTION f:
00064     // --------------------
00065        EvaluationPoint zz(f);
00066 
00067        DVector xx(2);
00068        xx.setZero();
00069        xx(0) = 2.0;
00070        xx(1) = 0.0;
00071 
00072        zz.setX(xx);
00073 
00074        DVector result = f.evaluate( zz );
00075        result.print("result");
00076 
00077     return 0;
00078 }
00079 
00080 
00081 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:53