examples/integration_algorithm/getting_started_discretized.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado_optimal_control.hpp>

/* >>> start tutorial code >>> */
int main( ){

    USING_NAMESPACE_ACADO

    DifferentialState   x;
    Control             u;

    const double h = 0.01;
    DiscretizedDifferentialEquation f(h);

    const double tStart =  0.0;
    const double tEnd   =  1.0;

        Grid timeHorizon( tStart,tEnd );


    // DEFINE A DIFFERENTIAL EQUATION:
    // -------------------------------
    f << next(x) == x - h*x + h*u*u;


    // Define an integrator:
    // ---------------------
        IntegrationAlgorithm intAlg;
        
        intAlg.addStage( f, timeHorizon );

    intAlg.set( INTEGRATOR_PRINTLEVEL, MEDIUM );


    // Define an initial value:
    // ------------------------

    DVector xStart( 1 );
        xStart(0) = 1.0;
    
        DVector uStart( 1 );
        uStart(0) = 1.0;

        DVector xaStart, pStart;


    // START THE INTEGRATION
    // ----------------------

    intAlg.integrate( timeHorizon, xStart, xaStart, pStart, uStart );

    // ----------------------
//     DVector seed(1);
//     seed(0) = 1.0;
// 
//     integrator.setForwardSeed( 1, emptyVector, emptyVector, seed );
//     integrator.integrateSensitivities();
// 
//     integrator.setForwardSeed( 2, emptyVector, emptyVector, seed );
//     integrator.integrateSensitivities();
// 
// 
//     // GET THE RESULTS
//     // ---------------
// 
//      VariablesGrid differentialStates;
//      integrator.getX( differentialStates );
// 
//      DVector Dx( 1 );
//      integrator.getForwardSensitivities( Dx,1 );
//      
//      differentialStates.print( "x" );
//      Dx.print( "Dx" );


    return 0;
}
/* <<< end tutorial code <<< */