examples/integrator/transition.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_integrators.hpp>



/* >>> start tutorial code >>> */
int main( ){


    USING_NAMESPACE_ACADO

    // Define a Right-Hand-Side:
    // -------------------------
    DifferentialState     x;
    DifferentialEquation  f;
    Transition            j;
    TIME t;

    f << dot(x) == -x - 1.0;
    j << x      == x*x;

    // Define an integrator:
    // ---------------------
    IntegratorRK45 integrator;

    integrator.init( f, j );


    // Define an initial value:
    // ------------------------

    double x_start[1] = { 0.0 };

    double t_start    =   0.0;
    double t_end      =   1.0;


    // START THE INTEGRATION
    // ----------------------
    integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
    integrator.set( INTEGRATOR_TOLERANCE, 1.0e-6 );

    integrator.freezeAll();
    integrator.integrate( t_start, t_end, x_start );

    DVector xEnd;
    integrator.getX(xEnd);

    xEnd.print();


    DVector seed(1);
    seed(0) = 1.0;

    integrator.setBackwardSeed( 1, seed );

    integrator.integrateSensitivities();

    DVector dX(1), dP, dU, dW;

    integrator.getBackwardSensitivities( dX, dP, dU, dW, 1 );

    dX.print("dX ");


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