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/*
* MIT No Attribution
*
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this
* software and associated documentation files (the "Software"), to deal in the Software
* without restriction, including without limitation the rights to use, copy, modify,
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#include <casadi/casadi.hpp>
using namespace casadi;
int main() {
// Example on how to use the DaeBuilder class
// Joel Andersson, 2017-2025
// Start with an empty DaeBuilder instance
DaeBuilder dae("rocket");
// Model variables
auto a = dae.add("a", "parameter", "tunable");
auto b = dae.add("b", "parameter", "tunable");
auto u = dae.add("u", "input");
auto h = dae.add("h");
auto v = dae.add("v");
auto m = dae.add("m");
// Constants
double g = 9.81; // gravity
// Dynamic equations
dae.eq(dae.der(h), v);
dae.eq(dae.der(v), (u-a*pow(v,2))/m-g);
dae.eq(dae.der(m), -b*pow(u,2));
// Specify initial conditions
dae.set_start("h", 0);
dae.set_start("v", 0);
dae.set_start("m", 1);
// Add meta information
dae.set_unit("h","m");
dae.set_unit("v","m/s");
dae.set_unit("m","kg");
// Print DAE
dae.disp(std::cout, true);
// Generate FMU
std::vector<std::string> files = dae.export_fmu();
std::cout << "generated files: " << files << "\n";
return 0;
}
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