DifferentialEquation

The class DifferentialEquation allows to setup and evaluate differential equations (ODEs) based on SymbolicExpressions.

  Usage:
    >> DifferentialEquation();
    >> DifferentialEquation(tStart, tEnd);

  Parameters:
    tStart     start of the time horizon of the diff eq     [NUMERIC / PARAMETER]
    tEnd       end of the time horizon of the diff eq       [NUMERIC / PARAMETER]

  Example:
    >> f = acado.DifferentialEquation();
    >> f = acado.DifferentialEquation(0.0, 10.0);

  See also:
    acado.DifferentialEquation.add             Adds a differential equation in symbolic syntax
    acado.DifferentialEquation.linkMatlabODE   Links a matlab black box model
    acado.DifferentialEquation.linkMatlabDAE
    acado.DifferentialEquation.linkCFunction   Links a c function

  Licence:
    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)

    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
    Developed within the Optimization in Engineering Center (OPTEC) under
    supervision of Moritz Diehl. All rights reserved.

    ACADO Toolkit is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 3 of the License, or (at your option) any later version.

    ACADO Toolkit is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with ACADO Toolkit; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

    Author: David Ariens
    Date: 2009-2010

0001 %The class DifferentialEquation allows to setup and evaluate differential equations (ODEs) based on SymbolicExpressions.
0002 %
0003 %  Usage:
0004 %    >> DifferentialEquation();
0005 %    >> DifferentialEquation(tStart, tEnd);
0006 %
0007 %  Parameters:
0008 %    tStart     start of the time horizon of the diff eq     [NUMERIC / PARAMETER]
0009 %    tEnd       end of the time horizon of the diff eq       [NUMERIC / PARAMETER]
0010 %
0011 %  Example:
0012 %    >> f = acado.DifferentialEquation();
0013 %    >> f = acado.DifferentialEquation(0.0, 10.0);
0014 %
0015 %  See also:
0016 %    acado.DifferentialEquation.add             Adds a differential equation in symbolic syntax
0017 %    acado.DifferentialEquation.linkMatlabODE   Links a matlab black box model
0018 %    acado.DifferentialEquation.linkMatlabDAE
0019 %    acado.DifferentialEquation.linkCFunction   Links a c function
0020 %
0021 %  Licence:
0022 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0023 %
0024 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0025 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0026 %    Developed within the Optimization in Engineering Center (OPTEC) under
0027 %    supervision of Moritz Diehl. All rights reserved.
0028 %
0029 %    ACADO Toolkit is free software; you can redistribute it and/or
0030 %    modify it under the terms of the GNU Lesser General Public
0031 %    License as published by the Free Software Foundation; either
0032 %    version 3 of the License, or (at your option) any later version.
0033 %
0034 %    ACADO Toolkit is distributed in the hope that it will be useful,
0035 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0036 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0037 %    Lesser General Public License for more details.
0038 %
0039 %    You should have received a copy of the GNU Lesser General Public
0040 %    License along with ACADO Toolkit; if not, write to the Free Software
0041 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0042 %
0043 %    Author: David Ariens
0044 %    Date: 2009-2010
0045 %
0046 classdef DifferentialEquation < acado.Function    
0047     properties(SetAccess='private')
0048         tStart;
0049         tEnd;
0050         
0051         %MATLAB ODE/DAE/Jac
0052         matlabODE_fcnHandle = '';
0053         matlabDAE_fcnHandle = '';
0054         matlabJacobian_fcnHandle = '';
0055         matlablinkcount = 0;
0056         
0057         cfunction_file = '';
0058         cfunction_function = '';
0059         
0060         % Differential eq
0061         differentialList = {};
0062     end
0063     
0064     methods
0065         function obj = DifferentialEquation(varargin)
0066            checkActiveModel;
0067            
0068            if (nargin == 2)
0069 
0070                 if (isa(varargin{1}, 'acado.Expression'))
0071                     obj.tStart = varargin{1};
0072                 else
0073                     obj.tStart = acado.DoubleConstant(varargin{1});    
0074                 end
0075                 
0076                 if (isa(varargin{2}, 'acado.Expression'))
0077                     obj.tEnd = varargin{2};
0078                 else
0079                     obj.tEnd = acado.DoubleConstant(varargin{2});    
0080                 end
0081                 
0082             end
0083             
0084             global ACADO_;
0085             obj.matlablinkcount = ACADO_.count_function;
0086             
0087         end
0088         
0089         
0090         linkMatlabODE(obj, varargin)
0091         linkMatlabJacobian(obj, fcnHandle)
0092         linkCFunction(obj, fcnfile, fcnname)
0093         ODE(obj, varargin)
0094         add(obj, varargin)
0095         getInstructions(obj, cppobj, get)
0096         
0097         function r = getHeader(obj)
0098             
0099             if (~isempty(obj.tStart) && ~isempty(obj.tEnd))
0100                 r = sprintf('DifferentialEquation %s(%s, %s)',obj.name, obj.tStart.name, obj.tEnd.name);
0101 
0102             else
0103                 r = sprintf('DifferentialEquation %s',obj.name);
0104             end
0105             
0106         end
0107     end
0108     
0109 end
0110