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 <time.h> 00036 #include <acado_toolkit.hpp> 00037 00038 /* >>> start tutorial code >>> */ 00039 int main( ){ 00040 00041 USING_NAMESPACE_ACADO 00042 00043 // DEFINE VARIABLES: 00044 // ---------------------- 00045 DifferentialState x; 00046 TIME t; 00047 OutputFcn f; 00048 00049 f << x*x + t; 00050 00051 00052 // TEST THE FUNCTION f: 00053 // -------------------- 00054 VariablesGrid X = readFromFile("evaluation_data.txt"); 00055 VariablesGrid result = X; 00056 00057 f.evaluate( &X, 0, 0, 0, 0, &result ); 00058 00059 // PRINT THE RESULT: 00060 // ----------------- 00061 result.print(); 00062 00063 00064 return 0; 00065 } 00066 /* <<< end tutorial code <<< */ 00067 00068