49 const double t_end = 10.0;
55 f <<
dot(v) == (u-0.02*v*
v)/m;
56 f <<
dot(m) == -0.01*u*u;
61 OCP ocp( t_start, t_end, 20 );
returnValue minimizeLagrangeTerm(const Expression &arg)
User-interface to formulate and solve optimal control problems and static NLPs.
#define USING_NAMESPACE_ACADO
returnValue subjectTo(const DifferentialEquation &differentialEquation_)
returnValue addSubplot(PlotWindowSubplot &_subplot)
returnValue set(OptionsName name, int value)
Data class for defining optimal control problems.
Expression dot(const Expression &arg)
Provides an interface to Gnuplot for plotting algorithmic outputs.
virtual returnValue solve()
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.