Ejemplo n.º 1
0
returnValue EllipsoidalIntegrator::init( const DifferentialEquation &rhs_, const int &N_ ){
 
  if( rhs_.isODE( ) == BT_FALSE ) return ACADOERROR(RET_CANNOT_TREAT_DAE);
  
  nx = rhs_.getDim();
  
  Q.resize(nx,nx);
  for( int i=0; i<nx*nx; i++ ) Q(i) = 0.0;
  N = N_;
  
  IntermediateState derivatives = rhs_.getODEexpansion( N );
  
  IntermediateState gg = derivatives.getCol(0);
  for( int i=0; i<N; i++ ) gg << derivatives.getCol(i+1)/acadoFactorial(i+1);
  
  g  << gg;
  
//   FILE *file = fopen("g.c","w");
//   file << g;
//   fclose(file);
  
  gr << derivatives.getCol(N+1)/acadoFactorial(N+1);
  dg << gg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), nx );
  
  DifferentialState r(nx);
  
  IntermediateState dgg = gg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), r );
  ddg << 0.5*dgg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), r );
  
  return SUCCESSFUL_RETURN;
}
Ejemplo n.º 2
0
EllipsoidalIntegrator::EllipsoidalIntegrator( const DifferentialEquation &rhs_, const int &N_ ):AlgorithmicBase(){

    ASSERT( rhs_.isODE( ) == BT_TRUE );
	setupOptions();
    init( rhs_, N_ );
}