66 if( fabs( arg2 - floor(arg2) ) <= 10.0*
EPS ){
67 int intarg = (int) floor(arg2);
70 if( fabs( arg2 - ceil(arg2) ) <= 10.0*
EPS ){
71 int intarg = (int) ceil(arg2);
74 return arg1.
getPow( arg2 );
165 return arg1.
ADsymmetric( arg2, forward_seed, backward_seed, forward_result, backward_result );
194 return A.transpose()*P + P*A + Q - P*B*(
DMatrix(R.inverse()))*B.
transpose()*P;
229 for( j = 0; j < dim; j++ ){
231 for( k = 0; k < j; k++ )
L(j,j) -=
L(j,k)*
L(j,k) ;
233 for( i = j+1; i < dim; i++ ){
235 for( k = 0; k < j; k++ )
L(i,j) -=
L(i,k)*
L(j,k) ;
236 L(i,j) =
L(i,j)/(
L(j,j) + 100.0*
EPS );
240 for( j = 0; j < dim; j++ )
241 for( k = j+1; k < dim; k++ )
Expression getAtan() const
USING_NAMESPACE_ACADO IntermediateState sin(const Expression &arg)
Expression symmetricDerivative(const Expression &arg1, const Expression &arg2, const Expression &forward_seed, const Expression &backward_seed, Expression *forward_result, Expression *backward_result)
Expression getEntropy() const
IntermediateState sqrt(const Expression &arg)
Expression getPow(const Expression &arg) const
IntermediateState atan(const Expression &arg)
Expression backwardDerivative(const Expression &arg1, const Expression &arg2)
Expression getRiccatiODE(const Expression &rhs, const DifferentialState &x, const Control &u, const DifferentialState &P, const DMatrix &Q, const DMatrix &R)
Expression ADsymmetric(const Expression &arg, const Expression &S, const Expression &l, Expression *dfS=0, Expression *ldf=0) const
Expression getCol(const uint &colIdx) const
BEGIN_NAMESPACE_ACADO const double EPS
#define USING_NAMESPACE_ACADO
Allows to pass back messages to the calling function.
Expression chol(const Expression &arg)
Expression forwardDerivative(const Expression &arg1, const Expression &arg2)
IntermediateState log_sum_exp(const Expression &arg)
IntermediateState asin(const Expression &arg)
IntermediateState pow(const Expression &arg1, const Expression &arg2)
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
IntermediateState tan(const Expression &arg)
Expression getLogSumExp() const
Expression getDot() const
GenericMatrix< double > DMatrix
Expression getSqrt() const
Expression laplace(const Expression &arg1, const Expression &arg2)
IntermediateState cos(const Expression &arg)
IntermediateState sum_square(const Expression &arg)
IntermediateState euclidean_norm(const Expression &arg)
Base class for all variables within the symbolic expressions family.
Expression getPowInt(const int &arg) const
IntermediateState entropy(const Expression &arg)
Expression getExp() const
Expression getTan() const
Expression getSumSquare() const
Expression jacobian(const Expression &arg1, const Expression &arg2)
Expression ADforward(const Expression &arg) const
Expression getAsin() const
IntermediateState acos(const Expression &arg)
Expression multipleForwardDerivative(const Expression &arg1, const Expression &arg2, const Expression &seed)
IntermediateState square(const Expression &arg)
void rhs(const real_t *x, real_t *f)
Expression dot(const Expression &arg)
Expression transpose() const
Expression getNext() const
returnValue clearAllStaticCounters()
Expression getAcos() const
IntermediateState ln(const Expression &arg)
Expression getSin() const
Expression next(const Expression &arg)
returnValue clearStaticCounters()
Expression getEuclideanNorm() const
IntermediateState exp(const Expression &arg)
Expression ADbackward(const Expression &arg) const
Expression & appendCols(const Expression &arg)
Expression multipleBackwardDerivative(const Expression &arg1, const Expression &arg2, const Expression &seed)
Expression getCos() const
IntermediateState log(const Expression &arg)