simple_integrator.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
 
    
    // Define a Right-Hand-Side:
    // -------------------------
    DifferentialState     x;
    DifferentialEquation  f;
    TIME t;

    f << dot(x) == -x + sin(0.01*t);



    // Define an integrator:
    // ---------------------
    IntegratorBDF integrator( f );

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

    double x_start[1] = { 1.0 };

    double t_start    =   0.0;
    double t_end      =   1000.0;


    // START THE INTEGRATION
    // ----------------------
    integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
    integrator.set( INTEGRATOR_TOLERANCE, 1.0e-3 );
        integrator.set( PRINT_INTEGRATOR_PROFILE, YES );
    

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

    

    clearAllStaticCounters( );                  // Clear software counters
}