tan.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 dTan(double x){
00040   double v1 = tan(x);
00041   return 1+v1*v1;
00042 }
00043 
00044 double ddTan(double x){
00045   double v1 = tan(x);
00046   return 2*v1*(1+v1*v1);
00047 }
00048 
00049 BEGIN_NAMESPACE_ACADO
00050 
00051 
00052 
00053 
00054 Tan::Tan():UnaryOperator(){
00055   cName = "tan";
00056 
00057   fcn = &tan;
00058   dfcn = &dTan;
00059   ddfcn = &ddTan;
00060 
00061   operatorName = ON_TAN;
00062 
00063 }
00064 
00065 Tan::Tan( Operator *_argument ):UnaryOperator(_argument){
00066   cName = "tan";
00067 
00068   fcn = &tan;
00069   dfcn = &dTan;
00070   ddfcn = &ddTan;
00071 
00072   operatorName = ON_TAN;
00073 }
00074 
00075 
00076 Tan::Tan( const Tan &arg ):UnaryOperator(arg){
00077   cName = "tan";
00078 
00079   fcn = &tan;
00080   dfcn = &dTan;
00081   ddfcn = &ddTan;
00082 
00083   operatorName = ON_TAN;
00084 }
00085 
00086 
00087 Tan::~Tan(){
00088 
00089 }
00090 
00091 
00092 Tan& Tan::operator=( const Tan &arg ){
00093 
00094   UnaryOperator::operator=(arg);
00095 
00096   return *this;
00097 }
00098 
00099 
00100 returnValue Tan::evaluate( EvaluationBase *x ){
00101 
00102     x->Tan(*argument);
00103     return SUCCESSFUL_RETURN;
00104 }
00105 
00106 Operator* Tan::substitute( int index, const Operator *sub ){
00107 
00108     return new Tan( argument->substitute( index , sub ) );
00109 
00110 }
00111 
00112 Operator* Tan::clone() const{
00113 
00114     return new Tan(*this);
00115 }
00116 
00117 returnValue Tan::initDerivative() {
00118 
00119         if( initialized ) return SUCCESSFUL_RETURN;
00120         initialized = BT_TRUE;
00121 
00122         derivative = convert2TreeProjection(new Quotient( new DoubleConstant( 1.0 , NE_ONE ), new Power_Int( new Cos( argument->clone() ), 2 ) ));
00123         derivative2 = convert2TreeProjection(new Quotient(    new Product(
00124                         new DoubleConstant( 2.0 , NE_NEITHER_ONE_NOR_ZERO ),
00125                         new Tan(argument->clone())
00126         ),
00127                         new Power_Int( new Cos( argument->clone() ), 2 )
00128         ));
00129 
00130         return argument->initDerivative();
00131 }
00132 
00133 
00134 CLOSE_NAMESPACE_ACADO
00135 
00136 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:56