acos.cpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00027 
00035 #include <acado/utils/acado_utils.hpp>
00036 #include <acado/symbolic_operator/symbolic_operator.hpp>
00037 
00038 double dAcos(double x){
00039   return -1/sqrt(1-x*x);
00040 }
00041 
00042 
00043 double ddAcos(double x){
00044   double v1 = sqrt(1-x*x);
00045   return 2*x*(-0.5/v1/v1/v1);
00046 }
00047 
00048 BEGIN_NAMESPACE_ACADO
00049 
00050 
00051 Acos::Acos():UnaryOperator(){
00052   cName = "acos";
00053 
00054   fcn = &acos;
00055   dfcn = &dAcos;
00056   ddfcn = &ddAcos;
00057 
00058   operatorName = ON_ACOS;
00059 
00060 }
00061 
00062 Acos::Acos( Operator *_argument ):UnaryOperator(_argument){
00063   cName = "acos";
00064 
00065   fcn = &acos;
00066   dfcn = &dAcos;
00067   ddfcn = &ddAcos;
00068 
00069   operatorName = ON_ACOS;
00070 }
00071 
00072 
00073 Acos::Acos( const Acos &arg ):UnaryOperator(arg){
00074   cName = "acos";
00075 
00076   fcn = &acos;
00077   dfcn = &dAcos;
00078   ddfcn = &ddAcos;
00079 
00080   operatorName = ON_ACOS;
00081 }
00082 
00083 
00084 Acos::~Acos(){
00085 
00086 }
00087 
00088 
00089 Acos& Acos::operator=( const Acos &arg ){
00090 
00091   UnaryOperator::operator=(arg);
00092 
00093   return *this;
00094 }
00095 
00096 
00097 returnValue Acos::evaluate( EvaluationBase *x ){
00098  
00099     x->Acos(*argument);
00100     return SUCCESSFUL_RETURN;
00101 }
00102 
00103 
00104 Operator* Acos::substitute( int index, const Operator *sub ){
00105 
00106     return new Acos( argument->substitute( index , sub ) );
00107 
00108 }
00109 
00110 Operator* Acos::clone() const{
00111 
00112     return new Acos(*this);
00113 }
00114 
00115 returnValue Acos::initDerivative() {
00116 
00117         if( initialized ) return SUCCESSFUL_RETURN;
00118         initialized = BT_TRUE;
00119 
00120         derivative = convert2TreeProjection(
00121                         new Product( new DoubleConstant( -1.0 , NE_NEITHER_ONE_NOR_ZERO ),
00122                                         new Power(
00123                                                         new Addition(
00124                                                                         new DoubleConstant(1.0 , NE_ONE),
00125                                                                         new Product(
00126                                                                                         new DoubleConstant( -1.0, NE_NEITHER_ONE_NOR_ZERO),
00127                                                                                         new Power_Int(
00128                                                                                                         argument->clone(),
00129                                                                                                         2
00130                                                                                         )
00131                                                                         )
00132                                                         ),
00133                                                         new DoubleConstant( -0.5 , NE_NEITHER_ONE_NOR_ZERO )
00134                                         )
00135                         ));
00136         derivative2 = convert2TreeProjection(
00137                         new Product( new DoubleConstant( -1.0 , NE_NEITHER_ONE_NOR_ZERO ),
00138                                         new Product(
00139                                                         new Power(
00140                                                                         new Addition(
00141                                                                                         new DoubleConstant(1.0 , NE_ONE),
00142                                                                                         new Product(
00143                                                                                                         new DoubleConstant( -1.0, NE_NEITHER_ONE_NOR_ZERO),
00144                                                                                                         new Power_Int(
00145                                                                                                                         argument->clone(),
00146                                                                                                                         2
00147                                                                                                         )
00148                                                                                         )
00149                                                                         ),
00150                                                                         new DoubleConstant( -1.5 , NE_NEITHER_ONE_NOR_ZERO )
00151                                                         ),
00152                                                         argument->clone()
00153                                         )
00154                         ));
00155 
00156         return argument->initDerivative();
00157 }
00158 
00159 
00160 CLOSE_NAMESPACE_ACADO
00161 
00162 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 11:57:48