55 double const g = 9.81;
56 double const m = 10.0;
57 double const b = 0.1 ;
61 const double F2 = 50.0;
66 f <<
dot(x ) == dx + 0.000001*gamma;
67 f <<
dot(dx ) == ddx ;
69 f <<
dot(dL ) == ddL ;
70 f <<
dot(phi ) == dphi;
71 f <<
dot(dphi) == -(g/
L)*phi - ( b + 2.0*dL/L )*dphi - ddx/
L;
73 f <<
dot(P0) == 2.0*P1;
74 f <<
dot(P1) == -(g/
L)*P0 - ( b + 2.0*dL/L )*P1 + P2;
75 f <<
dot(P2) == -2.0*(g/
L)*P1 - 2.0*( b + 2.0*dL/L )*P2 + F2/(m*m*L*
L);
80 OCP ocp( 0.0, T, 20 );
142 window1.
addSubplot( paretoFront,
"Pareto Front (robustness versus time)",
"TIME",
"ROBUSTNESS",
PM_POINTS );
153 paretoFront.
print(
"crane_ws_pareto.txt" );
returnValue print(std::ostream &stream=std::cout, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
IntermediateState sqrt(const Expression &arg)
USING_NAMESPACE_ACADO typedef TaylorVariable< Interval > T
virtual returnValue solve()
DMatrix getWeights() const
virtual returnValue plot(PlotFrequency _frequency=PLOT_IN_ANY_CASE)
#define USING_NAMESPACE_ACADO
Provides a time grid consisting of vector-valued optimization variables at each grid point...
returnValue subjectTo(const DifferentialEquation &differentialEquation_)
returnValue minimizeMayerTerm(const Expression &arg)
returnValue addSubplot(PlotWindowSubplot &_subplot)
returnValue set(OptionsName name, int value)
returnValue getAllControls(const char *fileName) const
returnValue getParetoFront(VariablesGrid &paretoFront) const
Data class for defining optimal control problems.
Expression dot(const Expression &arg)
User-interface to formulate and solve optimal control problems with multiple objectives.
returnValue getAllDifferentialStates(const char *fileName) const
Provides an interface to Gnuplot for plotting algorithmic outputs.
returnValue getAllParameters(const char *fileName) const
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.