interpolation.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_integrators.hpp>
00036 #include <acado_gnuplot.hpp>
00037 
00038 USING_NAMESPACE_ACADO
00039 
00040 /* >>> start tutorial code >>> */
00041 int main( )
00042 {
00043     // DEFINE A VARIABLES GRID:
00044     // ------------------------
00045     Grid dataGrid( 0.0, 5.0, 6 );
00046 
00047     VariablesGrid data;
00048     data.init( 2, dataGrid );
00049 
00050     data( 0, 0 ) = 0.0;  data( 0, 1 ) = 1.0  ;
00051     data( 1, 0 ) = 0.2;  data( 1, 1 ) = 0.8  ;
00052     data( 2, 0 ) = 0.4;  data( 2, 1 ) = 0.7  ;
00053     data( 3, 0 ) = 0.6;  data( 3, 1 ) = 0.65 ;
00054     data( 4, 0 ) = 0.8;  data( 4, 1 ) = 0.625;
00055     data( 5, 0 ) = 1.0;  data( 5, 1 ) = 0.613;
00056 
00057     // CONSTRUCT A CURVE INTERPOLATING THE DATA:
00058     // -----------------------------------------
00059 
00060     Curve c1, c2;
00061 
00062     c1.add( data, IM_CONSTANT );
00063     c2.add( data, IM_LINEAR   );
00064 
00065 
00066     // PLOT CURVES ON GIVEN GRID:
00067     // --------------------------
00068     GnuplotWindow window;
00069          window.addSubplot( c1, 0.0,5.0, "Constant data Interpolation"   );
00070          window.addSubplot( c2, 0.0,5.0, "Linear data Interpolation"   );
00071     window.plot();
00072 
00073     return 0;
00074 }
00075 /* <<< end tutorial code <<< */
00076 
00077 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 11:58:37