2 #include "acado_common.h" 14 f[4] = ((
real_t)(-9.81)+xa[2]);
16 f[6] = ((
sin(xd[2]))-xd[0]);
17 f[7] = (((
real_t)(0.)-(
cos(xd[2])))-xd[1]);
18 f[8] = (((((
real_t)(0.7)*xd[5])+(xa[1]*(
cos(xd[2]))))+(xa[2]*(
sin(xd[2]))))+xa[0]);
109 f[82] = ((xa[1]*((
real_t)(-1.)*(
sin(xd[2]))))+(xa[2]*(
cos(xd[2]))));
114 f[87] = (
cos(xd[2]));
115 f[88] = (
sin(xd[2]));
USING_NAMESPACE_ACADO IntermediateState sin(const Expression &arg)
void out_jac(const real_t *x, real_t *f)
IntermediateState cos(const Expression &arg)
void rhs_jac(const real_t *x, real_t *f)
void out(const real_t *x, real_t *f)
void rhs(const real_t *x, real_t *f)