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 00034 #include <time.h> 00035 00036 #include <acado/utils/acado_utils.hpp> 00037 #include <acado/symbolic_expression/symbolic_expression.hpp> 00038 #include <acado/function/function.hpp> 00039 00040 00041 /* >>> start tutorial code >>> */ 00042 int main( ){ 00043 00044 USING_NAMESPACE_ACADO 00045 00046 // DEFINE VARIABLES: 00047 // ---------------------- 00048 DifferentialState x; 00049 TIME t; 00050 Function f; 00051 00052 f << pow(x,2) + t ; 00053 f << pow(x,2) ; 00054 00055 00056 // TEST THE FUNCTION f: 00057 // --------------------------------------- 00058 EvaluationPoint z(f); 00059 00060 DVector xx(1); 00061 xx(0) = 2.0; 00062 double tt = 1.0; 00063 00064 z.setT( tt ); 00065 z.setX( xx ); 00066 00067 DVector result = f.evaluate( z ); 00068 00069 00070 // PRINT THE RESULT: 00071 // ----------------- 00072 printf("\nf( %.1e , %.1e ) = ", tt, xx(0) ); 00073 result.print(); 00074 00075 printf("\n\n"); 00076 printf("the dimension of f is %d \n", f.getDim() ); 00077 printf("the function f depends on %d differential states \n", f.getNX () ); 00078 printf("the function f depends on %d controls \n", f.getNU () ); 00079 printf("the function f depends on %d parameters \n", f.getNP () ); 00080 00081 return 0; 00082 } 00083 /* <<< end tutorial code <<< */ 00084 00085