ode_taylor_expansion.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/utils/acado_utils.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/function/function.hpp>
#include <acado/set_arithmetics/set_arithmetics.hpp>

using namespace std;

USING_NAMESPACE_ACADO

typedef TaylorVariable<Interval> T;

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

        // DEFINE VARIABLES:
        // ----------------------
        DifferentialState x, y;
        DifferentialEquation f;

        IntermediateState test;

        test = sin(x);

        f << dot(x) == sin(x);
//      f << dot(y) == y*y;

        double time = acadoGetTime();

        Function g;
        g << f.getODEexpansion(6);

        time -= acadoGetTime();
        cout << "Time = " << scientific << time << endl;

        time = acadoGetTime();

        ofstream stream( "my_function.c" );
        stream << g;
        stream.close();

        time -= acadoGetTime();
        cout << "Time = " << scientific << time << endl;

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