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286 lines
8.4 KiB
286 lines
8.4 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/function/differential_equation.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
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#define ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
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#include <acado/function/function_fwd.hpp>
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#include <acado/symbolic_expression/lyapunov.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
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*
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* \ingroup BasicDataStructures
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*
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* The class DifferentialEquation allows to setup and evaluate
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* differential equations (ODEs and DAEs) based on SymbolicExpressions.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class DifferentialEquation : public Function{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor. */
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DifferentialEquation( );
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/** Default constructor. */
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DifferentialEquation( const double &tStart, const double &tEnd );
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/** Default constructor. */
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DifferentialEquation( const double &tStart, const Parameter &tEnd );
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/** Default constructor. */
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DifferentialEquation( const Parameter &tStart, const double &tEnd );
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/** Default constructor. */
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DifferentialEquation( const Parameter &tStart, const Parameter &tEnd );
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/** Copy constructor (deep copy). */
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DifferentialEquation( const DifferentialEquation& arg );
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/** Destructor. */
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virtual ~DifferentialEquation( );
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/** Assignment operator (deep copy). */
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DifferentialEquation& operator=( const DifferentialEquation& arg );
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/** Clone constructor (deep copy). */
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virtual DifferentialEquation* clone() const;
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/** Loading Expressions (deep copy). */
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DifferentialEquation& operator<<( const Expression& arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& operator<<( const int& arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& operator==( const Expression& arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& operator==( const double &arg );
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/** Loading Symbolic DVector (deep copy). */
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DifferentialEquation& operator==( const DVector& arg );
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/** Loading Symbolic DMatrix (deep copy). */
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DifferentialEquation& operator==( const DMatrix& arg );
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/** Ask whether the differential equation is a DAE. */
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BooleanType isDAE( ) const;
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/** Ask whether the differential equation is a ODE. */
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BooleanType isODE( ) const;
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/** Ask whether the differential equation is given in implicit form. */
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inline BooleanType isImplicit( ) const;
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/** Adds DifferentialStateDerivative if the differential \n
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* equation is an ODE. \n
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* \return BT_TRUE if the ODE is made implicit \n
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* BT_FALSE if the differential equation is no \n
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* ODE.
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*/
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virtual BooleanType makeImplicit();
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/** Returns the number of dynamic equations \n
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*/
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inline int getNumDynamicEquations() const;
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/** Returns the number of algebraic equations \n
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*/
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inline int getNumAlgebraicEquations() const;
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/** Ask whether the differential equation is discretized (in time). */
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virtual BooleanType isDiscretized( ) const;
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/** Returns the start time of the horizon of the differential equation \n
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* or -INFTY for the case that the start time is not defined. \n
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* \n
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* \return the start time. \n
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*/
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inline double getStartTime() const;
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/** Returns the end time of the horizon of the differential equation \n
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* or +INFTY for the case that the start time is not defined. \n
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* \n
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* \return the end time. \n
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*/
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inline double getEndTime() const;
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/** Returns the index of the parameter associated with the start time \n
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* of the time horizon of the differential equation or -1 for the \n
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* that the start time is constant \n
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* \n
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* \return the start time. \n
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*/
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inline int getStartTimeIdx() const;
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/** Returns the index of the parameter associated with the start time \n
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* of the time horizon of the differential equation or -1 for the \n
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* that the start time is constant \n
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* \n
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* \return the start time. \n
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*/
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inline int getEndTimeIdx() const;
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/** Always returns -INFTY in the time-continuous case.
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*/
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virtual double getStepLength() const;
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inline int getStateEnumerationIndex( int index_ );
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inline DVector getDifferentialStateComponents() const;
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/** Loading Expressions (deep copy). */
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DifferentialEquation& addDifferential( const Expression& arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& addDifferential( const double &arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& addAlgebraic( const Expression& arg );
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/** Loading Expressions (deep copy). */
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DifferentialEquation& addAlgebraic( const double &arg );
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/** Loading Symbolic DVector (deep copy). */
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DifferentialEquation& addDifferential( const DVector& arg );
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/** Loading Symbolic DVector (deep copy). */
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DifferentialEquation& addAlgebraic( const DVector& arg );
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/** Loading Symbolic DMatrix (deep copy). */
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DifferentialEquation& addDifferential( const DMatrix& arg );
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/** Loading Symbolic DMatrix (deep copy). */
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DifferentialEquation& addAlgebraic( const DMatrix& arg );
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DifferentialEquation& operator==(const Lyapunov& arg );
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Lyapunov getLyapunovObject( ) const;
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BooleanType hasLyapunovEquation( ) const;
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/** Returning an Expression that contains a Taylor expansion \n
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* of the ODE-solution trajectory. \n
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* \n
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* \param order the order of Taylor expansion.
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*
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* \return A matrix valued expression C of dimension \n
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* n_x times (order+2) , \n
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* whose rows contain the Taylor coefficients. \n
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* C = [ x,f(x),f'(x)f(x),f''(x)f(x)f(x)+f'(x)f'(x)f(x), ... ]. \n
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**/
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Expression getODEexpansion( const int &order ) const;
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inline int* getComponents() const;
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// PROTECTED MEMBER FUNCTIONS:
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// ---------------------------
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protected:
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/** Setup routine (for internal use only) */
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void setup();
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/** Protected version of the copy constructor. */
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void copy( const DifferentialEquation &arg );
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// PROTECTED MEMBERS:
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// ------------------
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protected:
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DifferentialEquationType det;
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BooleanType is_implicit;
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BooleanType is_discretized;
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int counter ;
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int *component;
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Parameter *T1, *T2;
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double t1, t2;
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double stepLength; // for discretized dynamic equations only
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Lyapunov lyap;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/function/differential_equation.ipp>
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#endif // ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
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// end of file.
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