symbolic_algebra.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 <acado_toolkit.hpp>
00035 
00036 using namespace std;
00037 
00038 USING_NAMESPACE_ACADO
00039 
00040 void output(const char* name, const Expression& e)
00041 {
00042     Function f;
00043     f << e;
00044 
00045     ofstream stream( name );
00046     stream << f;
00047     stream.close();
00048 }
00049 
00050 int main( ){
00051 
00052     IntermediateState y0;
00053     IntermediateState y1=y0*2+1;
00054     output("sym1.txt",y1);
00055     y0=4;
00056     output("sym2.txt",y1);
00057     y0=2;
00058     output("sym3.txt",y1);
00059 
00060     Expression E;
00061     IntermediateState e1(1,3);e1(0)=1;e1(1)=2;e1(2)=3;
00062     IntermediateState e2(1,3);e2(0)=-1;e2(1)=-2;e2(2)=-3;
00063     // Thus doesn't work with DifferentialState e1(3);
00064     E.appendRows(e1);
00065     printf("Shape %d x %d\n",E.getNumRows(),E.getNumCols());
00066     E.appendRows(e2);
00067 
00068     output("sym4.txt",E);
00069 
00070     return 0;
00071 }
00072 
00073 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:55