int main( ){
USING_NAMESPACE_ACADO
DifferentialState a,b;
TIME t;
CFunction myFunction( 1, my_function );
IntermediateState x(3);
x(0) = t;
x(1) = a;
x(2) = b;
Function f;
f << myFunction( x );
// TEST THE FUNCTION f:
// --------------------
int x_index, y_index;
x_index = f.index(VT_DIFFERENTIAL_STATE,0);
y_index = f.index(VT_DIFFERENTIAL_STATE,1);
double *xx = new double[f.getNumberOfVariables()+1];
double *seed = new double[f.getNumberOfVariables()+1];
double *ff = new double[f.getDim() ];
double *df = new double[f.getDim() ];
xx[x_index] = 1.0;
xx[y_index] = 1.0;
seed[x_index] = 0.5;
seed[y_index] = 0.5;
// FORWARD DIFFERENTIATION:
// ------------------------
f.evaluate ( 0, xx , ff );
f.AD_forward( 0, seed, df );
// PRINT THE RESULTS:
// ------------------
printf(" x = %10.16e \n", xx[x_index] );
printf(" y = %10.16e \n", xx[y_index] );
printf("seed_x = %10.16e \n", seed[x_index] );
printf("seed_y = %10.16e \n", seed[y_index] );
printf(" f = %10.16e \n", ff[0 ] );
printf(" df = %10.16e \n", df[0 ] );
delete[] xx;
delete[] seed;
delete[] ff;
delete[] df;
return 0;
}
/* >>> start tutorial code >>> */
int main( ){
USING_NAMESPACE_ACADO
// DEFINE VALRIABLES:
// ---------------------------
DifferentialState x, y;
Function f;
f << x*x + pow(y,2);
// TEST THE FUNCTION f:
// --------------------
EvaluationPoint z(f);
EvaluationPoint dz(f);
Vector xx(2); Vector dx(2);
xx(0) = 1.0; dx(0) = 0.5;
xx(1) = 1.0; dx(1) = 0.1;
z.setX( xx ); dz.setX( dx );
// FORWARD DIFFERENTIATION:
// ------------------------
Vector ff = f.evaluate ( z );
Vector df = f.AD_forward( dz );
// PRINT THE RESULTS:
// ------------------
ff.print("result of evaluation \n");
df.print("result for the derivative \n");
return 0;
}
USING_NAMESPACE_ACADO
/* >>> start tutorial code >>> */
int main()
{
// DEFINE VALRIABLES:
// ---------------------------
DifferentialState x, y;
Function f;
f << x*x + pow(y,2);
// TEST THE FUNCTION f:
// --------------------
EvaluationPoint z(f);
EvaluationPoint dz(f);
DVector xx(2); DVector dx(2);
xx(0) = 1.0; dx(0) = 0.5;
xx(1) = 1.0; dx(1) = 0.1;
z.setX( xx ); dz.setX( dx );
// FORWARD DIFFERENTIATION:
// ------------------------
DVector ff = f.evaluate ( z );
DVector df = f.AD_forward( dz );
// PRINT THE RESULTS:
// ------------------
cout << "result of evaluation : " << ff;
cout << "result of the derivative: " << df;
return 0;
}
