three_dimensional_example.cpp

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/*
 *    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_optimal_control.hpp>
#include <acado_gnuplot.hpp>


int main( ){

    USING_NAMESPACE_ACADO

    // INTRODUCE THE VARIABLES:
    // -------------------------
    Parameter x, y, z;

    // DEFINE AN OPTIMAL CONTROL PROBLEM:
    // ----------------------------------
    NLP nlp;
    nlp.minimize (  x*y + y*z               );
    nlp.subjectTo(  x*x - y*y + z*z >= 2.0  );
    nlp.subjectTo(  x*x + y*y + z*z <= 10.0 );
    nlp.subjectTo(  x >= 0.01 );
    nlp.subjectTo(  y >= 0.01 );
    nlp.subjectTo(  z >= 0.01 );

    // DEFINE AN OPTIMIZATION ALGORITHM AND SOLVE THE NLP:
    // ---------------------------------------------------
    OptimizationAlgorithm algorithm(nlp);
    algorithm.solve();

    return 0;
}