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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:06