lotka_volterra.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/validated_integrator/ellipsoidal_integrator.hpp>


USING_NAMESPACE_ACADO
    
typedef TaylorVariable<Interval> T;

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

    // DEFINE VARIABLES:
    // ----------------------
        DifferentialState      x,y;
        Parameter                p; 
        DifferentialEquation     f;
        
        f << dot(x) == p*x*(1.0-y);
        f << dot(y) == p*y*(x-1.0);

        TaylorModel<Interval> Mod( 1, 4 );
        
        Tmatrix<T> x_init(2);
        x_init(0) = 1.2;
        x_init(1) = 1.1;
        
        Tmatrix<T> p_init(1);
        p_init(0) = T( &Mod, 0, Interval(2.95,3.05));
        
        EllipsoidalIntegrator integrator( f, 5 );

        integrator.set(INTEGRATOR_PRINTLEVEL   , MEDIUM );
        integrator.set(PRINT_INTEGRATOR_PROFILE, YES    );
        integrator.set(INTEGRATOR_TOLERANCE    , 1e-6   );
        integrator.set(ABSOLUTE_TOLERANCE      , 1e-6   );
        
        integrator.integrate( 0.0, 8.0, &x_init, &p_init );
//      integrator.step( 0.0, 1.0, &x_init, &p_init );

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