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/matrix_vector/matrix_vector.hpp> 00037 00038 00039 /* >>> start tutorial code >>> */ 00040 int main( ){ 00041 00042 USING_NAMESPACE_ACADO 00043 00044 // DEFINE SOME VECTORS: 00045 // -------------------- 00046 DVector a(3), b(3), c; 00047 00048 a(0) = 1.0; a(1) = 3.0; a(2) = 2.0; 00049 b(0) = 4.0; b(1) = 2.0; b(2) = 3.0; 00050 00051 // COMPUTE THE SUM OF a AND b: 00052 // --------------------------- 00053 c = a+b; 00054 00055 printf("\nThe result for a+b is:\n"); 00056 c.print(); 00057 printf("\n"); 00058 00059 printf("\nThe scalar product of a and b is:\n"); 00060 printf("%.16e \n", a^b ); 00061 printf("\n"); 00062 00063 // DEFINE SOME MATRICES: 00064 // --------------------- 00065 DMatrix A(2,2), B(2,2); 00066 00067 A(0,0) = 1.0; A(0,1) = 1.0; 00068 A(1,0) = 0.0; A(1,1) = 2.0; 00069 00070 B(0,0) = 1.0; B(0,1) = 0.0; 00071 B(1,0) = 0.0; B(1,1) = 3.0; 00072 00073 printf("\nThe matrix A*B+A is:\n"); 00074 (A*B + A).print(); 00075 00076 printf("\nThe dyadic product of a and b is:\n"); 00077 (a%b).print(); 00078 printf("\n"); 00079 00080 A.appendRows( A ); 00081 A.print(); 00082 00083 return 0; 00084 } 00085 /* <<< end tutorial code <<< */ 00086 00087