symbolic_differentiation1.cpp

Go to the documentation of this file.

/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/user_interaction.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/function/function.hpp>

using namespace std;

USING_NAMESPACE_ACADO

/* >>> start tutorial code >>> */
int main()
{
        // DEFINE VALRIABLES:
        // ---------------------------
        DifferentialState x;
        IntermediateState y;
        IntermediateState z;

        Function f;

        // DEFINE A TEST FUNCTION:
        // -----------------------
        y = x * x;

        f << cos(x);
        f << sin(x);
        f << forwardDerivative(sin(x), x);
        f << forwardDerivative(cos(x), x);
        f << forwardDerivative(x * x, x);
        f << forwardDerivative(y, x);
        f << forwardDerivative(y + x * y, x);
        f << x + forwardDerivative(x + y * y, x);
        f << forwardDerivative(y * y + 1.0 / y, x);
        f << forwardDerivative(sqrt(x), x);
        f << forwardDerivative(log(x), x);

        f << laplace(x * y, x);

//      DifferentialState z(2);
//
//      f << forwardDerivative(sin(z), z);
//      f << backwardDerivative(z(0) * z(0) + z(1) * z(1) * 3.0, z);

        f << backwardDerivative(cos(y) + sin(y), x);

        ofstream stream( "symbolic_differentiation1_output.txt" );
        stream << f;
        stream.close();

//      // TEST THE FUNCTION f:
//      // --------------------
//      double xx[3] = { 1.0, 1.0, 1.0 };
//      double *result = new double[f.getDim()];
//
//      // EVALUATE f AT THE POINT  (tt,xx):
//      // ---------------------------------
//      f.evaluate(0.0, xx, result, MEDIUM);
//
//      delete[] result;

        return 0;
}
/* <<< end tutorial code <<< */