void testCensor(const char* source, int length, bool (*testFun)(const char*, int)) {
if (!Filter::isInitialized()) {
Filter::init(Filter::HIGH);
}
Time startTime = getCurrentTime();
std::cout << "-- start --------------------------------------" << std::endl;
std::cout << (testFun(source, length) ? "legal" : "illegal") << std::endl;
Time endTime = getCurrentTime();
g_totalSeconds += timeInterval(startTime, endTime);
std::cout << "time costs: " << g_totalSeconds << " seconds" << std::endl;
std::cout << "--- end -------------------------------------" << std::endl;
}
////
/// \brief GlFrame::render
/// Rendering function to be called at each frame
///
void GlFrame::render()
{
m_timeSinceLastFrame = timeInterval(m_currentTime, Clock::now());
m_currentTime = Clock::now();
applyCameraTransformations();
// Rendu des objets
pushMatrix();
//useShader("color");
//g_Basis->draw();
for(unsigned int i=0; i<m_systems.size(); i++){
pushMatrix();
//translate(i, 0, 0);
m_systems[i]->draw();
popMatrix();
}
popMatrix();
}
int main( ){
USING_NAMESPACE_ACADO
// Define a Right-Hand-Side:
// -------------------------
DifferentialState x, y;
DifferentialEquation f;
f << dot(x) == y;
f << dot(y) == -x;
// Define an integrator:
// ---------------------
IntegratorRK45 integrator( f );
integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
integrator.set( PRINT_INTEGRATOR_PROFILE, YES );
// Define an initial value:
// ------------------------
double x_start[2] = { 0.0, 1.0 };
Grid timeInterval( 0.0, 2.0*M_PI, 100 );
integrator.freezeAll();
integrator.integrate( timeInterval, x_start );
// GET THE RESULTS
// ---------------
VariablesGrid differentialStates;
integrator.getX( differentialStates );
GnuplotWindow window;
window.addSubplot( differentialStates(0) );
window.addSubplot( differentialStates(1) );
window.plot();
// Vector seed(2);
//
// seed( 0 ) = 1.0;
// seed( 1 ) = 0.0;
//
// integrator.setForwardSeed( 1, seed );
// integrator.integrateSensitivities();
//
// VariablesGrid sens;
// integrator.getForwardSensitivities( sens, 1 );
//
// GnuplotWindow window2;
// window2.addSubplot( sens(0) );
// window2.addSubplot( sens(1) );
// window2.plot();
return 0;
}
int main( ){
// Define a Right-Hand-Side:
// -------------------------
DifferentialState x("", 4, 1), P("", 4, 4);
Control u("", 2, 1);
IntermediateState rhs = cstrModel( x, u );
DMatrix Q = zeros<double>(4,4);
Q(0,0) = 0.2;
Q(1,1) = 1.0;
Q(2,2) = 0.5;
Q(3,3) = 0.2;
DMatrix R = zeros<double>(2,2);
R(0,0) = 0.5;
R(1,1) = 5e-7;
DifferentialEquation f;
f << dot(x) == rhs;
f << dot(P) == getRiccatiODE( rhs, x, u, P, Q, R );
// Define an integrator:
// ---------------------
IntegratorRK45 integrator( f );
integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
integrator.set( PRINT_INTEGRATOR_PROFILE, YES );
// Define an initial value:
// ------------------------
//double x_ss[4] = { 2.14, 1.09, 114.2, 112.9 };
double x_start[20] = { 1.0, 0.5, 100.0, 100.0, 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 };
double u_start[2] = { 14.19, -1113.5 };
// double u_start[2] = { 10.00, -7000.0 };
Grid timeInterval( 0.0, 5000.0, 100 );
integrator.freezeAll();
integrator.integrate( timeInterval, x_start, 0 ,0, u_start );
// GET THE RESULTS
// ---------------
VariablesGrid differentialStates;
integrator.getX( differentialStates );
DVector PP = differentialStates.getLastVector();
DMatrix PPP(4,4);
for( int i=0; i<4; ++i )
for( int j=0; j<4; ++j )
PPP(i,j) = PP(4+i*4+j);
PPP.print( "P1.txt","",PS_PLAIN );
// PPP.printToFile( "P2.txt","",PS_PLAIN );
GnuplotWindow window;
window.addSubplot( differentialStates(0), "cA [mol/l]" );
window.addSubplot( differentialStates(1), "cB [mol/l]" );
window.addSubplot( differentialStates(2), "theta [C]" );
window.addSubplot( differentialStates(3), "thetaK [C]" );
window.addSubplot( differentialStates(4 ), "P11" );
window.addSubplot( differentialStates(9 ), "P22" );
window.addSubplot( differentialStates(14), "P33" );
window.addSubplot( differentialStates(19), "P44" );
window.plot();
return 0;
}
