examples/validated_integrator/harmonic_oscillator.cpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
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39 
40 /* >>> start tutorial code >>> */
41 int main( ){
42 
43  // DEFINE VARIABLES:
44  // ----------------------
47 
48  f << dot(x) == y;
49  f << dot(y) == -x;
50 
51  Tmatrix<Interval> x_init(2);
52  x_init(0) = Interval(-1.0,1.0);
53  x_init(1) = Interval(-1.0,1.0);
54 
55  EllipsoidalIntegrator integrator( f, 8 );
56 
57  integrator.set(INTEGRATOR_PRINTLEVEL, MEDIUM );
58  integrator.set(INTEGRATOR_TOLERANCE, 1e-8 );
59  integrator.set(ABSOLUTE_TOLERANCE, 1e-10 );
60 
61  integrator.integrate( 0.0, 2*M_PI, 1, x_init );
62 
63  return 0;
64 }
65 /* <<< end tutorial code <<< */
66 
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Implements a templated dense matrix class.
Definition: t_matrix.hpp:53
Tmatrix< Interval > integrate(double t0, double tf, int M, const Tmatrix< Interval > &x)
returnValue set(OptionsName name, int value)
#define USING_NAMESPACE_ACADO
Implements a rudimentary interval class.
Definition: interval.hpp:67
Validated integrator for ODEs based on Taylor models with ellipsoidal remainder term.
#define M_PI
Definition: acado_utils.hpp:54
Expression dot(const Expression &arg)
USING_NAMESPACE_ACADO int main()
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:39