simple_function.cpp

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#include <acado_toolkit.hpp>                    // Include the ACADO toolkit
#include <acado/utils/matlab_acado_utils.hpp>   // Include specific Matlab utils

USING_NAMESPACE_ACADO                           // Open the namespace

void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )  // Start the MEX function. Do NOT change the header of this function.
 { 
    clearAllStaticCounters( );                  // Clear software counters
 
    
    
    DifferentialState x;
    IntermediateState z;
    TIME              t;
    Function          f;

    z = 0.5*x + 1.0    ;

    f << exp(x) + t    ;
    f << exp(z+exp(z)) ;

    printf("the dimension of f is %d   \n",  f.getDim() );
    printf("f depends on  %d  states   \n",  f.getNX () );
    printf("f depends on  %d  controls \n",  f.getNU () );

    if( f.isConvex() == BT_TRUE )
        printf("all components of function f are convex. \n");
    
    

    clearAllStaticCounters( );                  // Clear software counters
}