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<?xml version='1.0'?>
<html xmlns='http://www.w3.org/1999/xhtml'
      xmlns:math='http://www.w3.org/1998/Math/MathML'
>
<head>
<title>OdeGearControl: Example and Test</title>
<meta http-equiv='Content-Type' content='text/html' charset='utf-8'/>
<meta name="description" id="description" content="OdeGearControl: Example and Test"/>
<meta name="keywords" id="keywords" content=" odegearcontrol: example test Odegearcontrol "/>
<style type='text/css'>
body { color : black }
body { background-color : white }
A:link { color : blue }
A:visited { color : purple }
A:active { color : purple }
</style>
<script type='text/javascript' language='JavaScript' src='_ode_gear_control.cpp_xml.js'>
</script>
</head>
<body>
<table><tr>
<td>
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<option>OdeGearControl-&gt;</option>
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</td>
<td>ode_gear_control.cpp</td>
<td>Headings</td>
</tr></table><br/>



<center><b><big><big>OdeGearControl: Example and Test</big></big></b></center>
Define

<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><mrow>
<mi mathvariant='italic'>X</mi>
<mo stretchy="false">:</mo>
<mrow><mstyle mathvariant='bold'><mi mathvariant='bold'>R</mi>
</mstyle></mrow>
<mo stretchy="false">&#x02192;</mo>
<msup><mrow><mstyle mathvariant='bold'><mi mathvariant='bold'>R</mi>
</mstyle></mrow>
<mn>2</mn>
</msup>
</mrow></math>

 by

<math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><mrow>
<mtable rowalign="center" ><mtr><mtd columnalign="right" >
<msub><mi mathvariant='italic'>X</mi>
<mn>0</mn>
</msub>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd><mtd columnalign="center" >
<mo stretchy="false">=</mo>
</mtd><mtd columnalign="left" >
<mo stretchy="false">-</mo>
<mi>exp</mi>
<mo stretchy="false">(</mo>
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd></mtr><mtr><mtd columnalign="right" >
<msub><mi mathvariant='italic'>X</mi>
<mn>1</mn>
</msub>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd><mtd columnalign="center" >
<mo stretchy="false">=</mo>
</mtd><mtd columnalign="left" >
<mfrac><mrow><msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
</mrow>
<mrow><msub><mi mathvariant='italic'>w</mi>
<mn>1</mn>
</msub>
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
</mrow>
</mfrac>
<mo stretchy="false">[</mo>
<mi>exp</mi>
<mo stretchy="false">(</mo>
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
<mo stretchy="false">-</mo>
<mi>exp</mi>
<mo stretchy="false">(</mo>
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>1</mn>
</msub>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
<mo stretchy="false">]</mo>
</mtd></mtr></mtable>
</mrow></math>

It follows that 
<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><mrow>
<msub><mi mathvariant='italic'>X</mi>
<mn>0</mn>
</msub>
<mo stretchy="false">(</mo>
<mn>0</mn>
<mo stretchy="false">)</mo>
<mo stretchy="false">=</mo>
<mn>1</mn>
</mrow></math>

, 
<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><mrow>
<msub><mi mathvariant='italic'>X</mi>
<mn>1</mn>
</msub>
<mo stretchy="false">(</mo>
<mn>0</mn>
<mo stretchy="false">)</mo>
<mo stretchy="false">=</mo>
<mn>0</mn>
</mrow></math>

 and

<math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><mrow>
<mtable rowalign="center" ><mtr><mtd columnalign="right" >
<msubsup><mi mathvariant='italic'>X</mi>
<mn>0</mn>
<mrow><mo stretchy="false">(</mo>
<mn>1</mn>
<mo stretchy="false">)</mo>
</mrow>
</msubsup>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd><mtd columnalign="center" >
<mo stretchy="false">=</mo>
</mtd><mtd columnalign="left" >
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
<msub><mi mathvariant='italic'>X</mi>
<mn>0</mn>
</msub>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd></mtr><mtr><mtd columnalign="right" >
<msubsup><mi mathvariant='italic'>X</mi>
<mn>1</mn>
<mrow><mo stretchy="false">(</mo>
<mn>1</mn>
<mo stretchy="false">)</mo>
</mrow>
</msubsup>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd><mtd columnalign="center" >
<mo stretchy="false">=</mo>
</mtd><mtd columnalign="left" >
<mo stretchy="false">+</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>0</mn>
</msub>
<msub><mi mathvariant='italic'>X</mi>
<mn>0</mn>
</msub>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
<mo stretchy="false">-</mo>
<msub><mi mathvariant='italic'>w</mi>
<mn>1</mn>
</msub>
<msub><mi mathvariant='italic'>X</mi>
<mn>1</mn>
</msub>
<mo stretchy="false">(</mo>
<mi mathvariant='italic'>t</mi>
<mo stretchy="false">)</mo>
</mtd></mtr></mtable>
</mrow></math>

The example tests OdeGearControl using the relations above:

<code><font color="blue">
<pre><tt>
<span style="font-weight: bold"><span style="color: #000080"># include</span></span> <span style="color: #FF0000">&lt;cppad/cppad.hpp&gt;</span>
<span style="font-weight: bold"><span style="color: #000080"># include</span></span> <span style="color: #FF0000">&lt;cppad/utility/ode_gear_control.hpp&gt;</span>   <span style="font-style: italic"><span style="color: #9A1900">// CppAD::OdeGearControl</span></span>

<span style="font-weight: bold"><span style="color: #0000FF">namespace</span></span> <span style="color: #FF0000">{</span>
     <span style="font-style: italic"><span style="color: #9A1900">// --------------------------------------------------------------</span></span>
     <span style="font-weight: bold"><span style="color: #0000FF">class</span></span> <span style="color: #008080">Fun</span> <span style="color: #FF0000">{</span>
     <span style="font-weight: bold"><span style="color: #0000FF">private</span></span><span style="color: #990000">:</span>
           <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> w<span style="color: #990000">;</span>
     <span style="font-weight: bold"><span style="color: #0000FF">public</span></span><span style="color: #990000">:</span>
          <span style="font-style: italic"><span style="color: #9A1900">// constructor</span></span>
          <span style="font-weight: bold"><span style="color: #000000">Fun</span></span><span style="color: #990000">(</span><span style="font-weight: bold"><span style="color: #0000FF">const</span></span> <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="color: #990000">&amp;</span>w_<span style="color: #990000">)</span> <span style="color: #990000">:</span> <span style="font-weight: bold"><span style="color: #000000">w</span></span><span style="color: #990000">(</span>w_<span style="color: #990000">)</span>
          <span style="color: #FF0000">{</span> <span style="color: #FF0000">}</span>

          <span style="font-style: italic"><span style="color: #9A1900">// set f = x'(t)</span></span>
          <span style="font-weight: bold"><span style="color: #0000FF">template</span></span> <span style="color: #990000">&lt;</span><span style="font-weight: bold"><span style="color: #0000FF">typename</span></span> <span style="color: #008080">Scalar</span><span style="color: #990000">&gt;</span>
          <span style="color: #009900">void</span> <span style="font-weight: bold"><span style="color: #000000">Ode</span></span><span style="color: #990000">(</span>
               <span style="font-weight: bold"><span style="color: #0000FF">const</span></span> <span style="color: #008080">Scalar</span>                    <span style="color: #990000">&amp;</span>t<span style="color: #990000">,</span>
               <span style="font-weight: bold"><span style="color: #0000FF">const</span></span> <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span>Scalar<span style="color: #990000">)</span> <span style="color: #990000">&amp;</span>x<span style="color: #990000">,</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span>Scalar<span style="color: #990000">)</span>       <span style="color: #990000">&amp;</span>f<span style="color: #990000">)</span>
          <span style="color: #FF0000">{</span>     f<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #990000">-</span> w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">*</span> x<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">];</span>
               f<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #990000">+</span> w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">*</span> x<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">-</span> w<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">*</span> x<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">];</span>
          <span style="color: #FF0000">}</span>

          <span style="color: #009900">void</span> <span style="font-weight: bold"><span style="color: #000000">Ode_dep</span></span><span style="color: #990000">(</span>
               <span style="font-weight: bold"><span style="color: #0000FF">const</span></span> <span style="color: #009900">double</span>                    <span style="color: #990000">&amp;</span>t<span style="color: #990000">,</span>
               <span style="font-weight: bold"><span style="color: #0000FF">const</span></span> <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="color: #990000">&amp;</span>x<span style="color: #990000">,</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span>       <span style="color: #990000">&amp;</span>f_x<span style="color: #990000">)</span>
          <span style="color: #FF0000">{</span>     <span style="font-weight: bold"><span style="color: #0000FF">using</span></span> <span style="font-weight: bold"><span style="color: #0000FF">namespace</span></span> CppAD<span style="color: #990000">;</span>

               <span style="color: #008080">size_t</span> n  <span style="color: #990000">=</span> x<span style="color: #990000">.</span><span style="font-weight: bold"><span style="color: #000000">size</span></span><span style="color: #990000">();</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span>AD<span style="color: #990000">&lt;</span><span style="color: #009900">double</span><span style="color: #990000">&gt;)</span> <span style="font-weight: bold"><span style="color: #000000">T</span></span><span style="color: #990000">(</span><span style="color: #993399">1</span><span style="color: #990000">);</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span>AD<span style="color: #990000">&lt;</span><span style="color: #009900">double</span><span style="color: #990000">&gt;)</span> <span style="font-weight: bold"><span style="color: #000000">X</span></span><span style="color: #990000">(</span>n<span style="color: #990000">);</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span>AD<span style="color: #990000">&lt;</span><span style="color: #009900">double</span><span style="color: #990000">&gt;)</span> <span style="font-weight: bold"><span style="color: #000000">F</span></span><span style="color: #990000">(</span>n<span style="color: #990000">);</span>

               <span style="font-style: italic"><span style="color: #9A1900">// set argument values</span></span>
               T<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> t<span style="color: #990000">;</span>
               <span style="color: #008080">size_t</span> i<span style="color: #990000">,</span> j<span style="color: #990000">;</span>
               <span style="font-weight: bold"><span style="color: #0000FF">for</span></span><span style="color: #990000">(</span>i <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">;</span> i <span style="color: #990000">&lt;</span> n<span style="color: #990000">;</span> i<span style="color: #990000">++)</span>
                    X<span style="color: #990000">[</span>i<span style="color: #990000">]</span> <span style="color: #990000">=</span> x<span style="color: #990000">[</span>i<span style="color: #990000">];</span>

               <span style="font-style: italic"><span style="color: #9A1900">// declare independent variables</span></span>
               <span style="font-weight: bold"><span style="color: #000000">Independent</span></span><span style="color: #990000">(</span>X<span style="color: #990000">);</span>

               <span style="font-style: italic"><span style="color: #9A1900">// compute f(t, x)</span></span>
               <span style="font-weight: bold"><span style="color: #0000FF">this</span></span><span style="color: #990000">-&gt;</span><span style="font-weight: bold"><span style="color: #000000">Ode</span></span><span style="color: #990000">(</span>T<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">],</span> X<span style="color: #990000">,</span> F<span style="color: #990000">);</span>

               <span style="font-style: italic"><span style="color: #9A1900">// define AD function object</span></span>
               <span style="color: #008080">ADFun&lt;double&gt;</span> <span style="font-weight: bold"><span style="color: #000000">fun</span></span><span style="color: #990000">(</span>X<span style="color: #990000">,</span> F<span style="color: #990000">);</span>

               <span style="font-style: italic"><span style="color: #9A1900">// compute partial of f w.r.t x</span></span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">dx</span></span><span style="color: #990000">(</span>n<span style="color: #990000">);</span>
               <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">df</span></span><span style="color: #990000">(</span>n<span style="color: #990000">);</span>
               <span style="font-weight: bold"><span style="color: #0000FF">for</span></span><span style="color: #990000">(</span>j <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">;</span> j <span style="color: #990000">&lt;</span> n<span style="color: #990000">;</span> j<span style="color: #990000">++)</span>
                    dx<span style="color: #990000">[</span>j<span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">.;</span>
               <span style="font-weight: bold"><span style="color: #0000FF">for</span></span><span style="color: #990000">(</span>j <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">;</span> j <span style="color: #990000">&lt;</span> n<span style="color: #990000">;</span> j<span style="color: #990000">++)</span>
               <span style="color: #FF0000">{</span>     dx<span style="color: #990000">[</span>j<span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">1</span><span style="color: #990000">.;</span>
                    df <span style="color: #990000">=</span> fun<span style="color: #990000">.</span><span style="font-weight: bold"><span style="color: #000000">Forward</span></span><span style="color: #990000">(</span><span style="color: #993399">1</span><span style="color: #990000">,</span> dx<span style="color: #990000">);</span>
                    <span style="font-weight: bold"><span style="color: #0000FF">for</span></span><span style="color: #990000">(</span>i <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">;</span> i <span style="color: #990000">&lt;</span> n<span style="color: #990000">;</span> i<span style="color: #990000">++)</span>
                         f_x <span style="color: #990000">[</span>i <span style="color: #990000">*</span> n <span style="color: #990000">+</span> j<span style="color: #990000">]</span> <span style="color: #990000">=</span> df<span style="color: #990000">[</span>i<span style="color: #990000">];</span>
                    dx<span style="color: #990000">[</span>j<span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">.;</span>
               <span style="color: #FF0000">}</span>
          <span style="color: #FF0000">}</span>
     <span style="color: #FF0000">}</span><span style="color: #990000">;</span>
<span style="color: #FF0000">}</span>

<span style="color: #009900">bool</span> <span style="font-weight: bold"><span style="color: #000000">OdeGearControl</span></span><span style="color: #990000">(</span><span style="color: #009900">void</span><span style="color: #990000">)</span>
<span style="color: #FF0000">{</span>     <span style="color: #009900">bool</span> ok <span style="color: #990000">=</span> <span style="font-weight: bold"><span style="color: #0000FF">true</span></span><span style="color: #990000">;</span>     <span style="font-style: italic"><span style="color: #9A1900">// initial return value</span></span>
     <span style="font-weight: bold"><span style="color: #0000FF">using</span></span> CppAD<span style="color: #990000">::</span>NearEqual<span style="color: #990000">;</span>

     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">w</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">10</span><span style="color: #990000">.;</span>
     w<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">1</span><span style="color: #990000">.;</span>
     <span style="color: #008080">Fun</span> <span style="font-weight: bold"><span style="color: #000000">F</span></span><span style="color: #990000">(</span>w<span style="color: #990000">);</span>

     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">xi</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     xi<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">1</span><span style="color: #990000">.;</span>
     xi<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">.;</span>

     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">eabs</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     eabs<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">1e-4</span><span style="color: #990000">;</span>
     eabs<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">=</span> <span style="color: #993399">1e-4</span><span style="color: #990000">;</span>

     <span style="font-style: italic"><span style="color: #9A1900">// return values</span></span>
     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">ef</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">maxabs</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     <span style="font-weight: bold"><span style="color: #000000">CPPAD_TESTVECTOR</span></span><span style="color: #990000">(</span><span style="color: #009900">double</span><span style="color: #990000">)</span> <span style="font-weight: bold"><span style="color: #000000">xf</span></span><span style="color: #990000">(</span><span style="color: #993399">2</span><span style="color: #990000">);</span>
     <span style="color: #008080">size_t</span>                nstep<span style="color: #990000">;</span>

     <span style="font-style: italic"><span style="color: #9A1900">// input values</span></span>
     <span style="color: #008080">size_t</span>  M   <span style="color: #990000">=</span> <span style="color: #993399">5</span><span style="color: #990000">;</span>
     <span style="color: #009900">double</span> ti   <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">.;</span>
     <span style="color: #009900">double</span> tf   <span style="color: #990000">=</span> <span style="color: #993399">1</span><span style="color: #990000">.;</span>
     <span style="color: #009900">double</span> smin <span style="color: #990000">=</span> <span style="color: #993399">1e-8</span><span style="color: #990000">;</span>
     <span style="color: #009900">double</span> smax <span style="color: #990000">=</span> <span style="color: #993399">1</span><span style="color: #990000">.;</span>
     <span style="color: #009900">double</span> sini <span style="color: #990000">=</span> <span style="color: #993399">1e-10</span><span style="color: #990000">;</span>
     <span style="color: #009900">double</span> erel <span style="color: #990000">=</span> <span style="color: #993399">0</span><span style="color: #990000">.;</span>

     xf <span style="color: #990000">=</span> CppAD<span style="color: #990000">::</span><span style="font-weight: bold"><span style="color: #000000">OdeGearControl</span></span><span style="color: #990000">(</span>F<span style="color: #990000">,</span> M<span style="color: #990000">,</span>
          ti<span style="color: #990000">,</span> tf<span style="color: #990000">,</span> xi<span style="color: #990000">,</span> smin<span style="color: #990000">,</span> smax<span style="color: #990000">,</span> sini<span style="color: #990000">,</span> eabs<span style="color: #990000">,</span> erel<span style="color: #990000">,</span> ef<span style="color: #990000">,</span> maxabs<span style="color: #990000">,</span> nstep<span style="color: #990000">);</span>

     <span style="color: #009900">double</span> x0 <span style="color: #990000">=</span> <span style="font-weight: bold"><span style="color: #000000">exp</span></span><span style="color: #990000">(-</span>w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]*</span>tf<span style="color: #990000">);</span>
     ok <span style="color: #990000">&amp;=</span> <span style="font-weight: bold"><span style="color: #000000">NearEqual</span></span><span style="color: #990000">(</span>x0<span style="color: #990000">,</span> xf<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">],</span> <span style="color: #993399">1e-4</span><span style="color: #990000">,</span> <span style="color: #993399">1e-4</span><span style="color: #990000">);</span>
     ok <span style="color: #990000">&amp;=</span> <span style="font-weight: bold"><span style="color: #000000">NearEqual</span></span><span style="color: #990000">(</span><span style="color: #993399">0</span><span style="color: #990000">.,</span> ef<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">],</span> <span style="color: #993399">1e-4</span><span style="color: #990000">,</span> <span style="color: #993399">1e-4</span><span style="color: #990000">);</span>

     <span style="color: #009900">double</span> x1 <span style="color: #990000">=</span> w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]</span> <span style="color: #990000">*</span> <span style="color: #990000">(</span><span style="font-weight: bold"><span style="color: #000000">exp</span></span><span style="color: #990000">(-</span>w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]*</span>tf<span style="color: #990000">)</span> <span style="color: #990000">-</span> <span style="font-weight: bold"><span style="color: #000000">exp</span></span><span style="color: #990000">(-</span>w<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]*</span>tf<span style="color: #990000">))/(</span>w<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">]</span> <span style="color: #990000">-</span> w<span style="color: #990000">[</span><span style="color: #993399">0</span><span style="color: #990000">]);</span>
     ok <span style="color: #990000">&amp;=</span> <span style="font-weight: bold"><span style="color: #000000">NearEqual</span></span><span style="color: #990000">(</span>x1<span style="color: #990000">,</span> xf<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">],</span> <span style="color: #993399">1e-4</span><span style="color: #990000">,</span> <span style="color: #993399">1e-4</span><span style="color: #990000">);</span>
     ok <span style="color: #990000">&amp;=</span> <span style="font-weight: bold"><span style="color: #000000">NearEqual</span></span><span style="color: #990000">(</span><span style="color: #993399">0</span><span style="color: #990000">.,</span> ef<span style="color: #990000">[</span><span style="color: #993399">1</span><span style="color: #990000">],</span> <span style="color: #993399">1e-4</span><span style="color: #990000">,</span> <span style="color: #993399">1e-4</span><span style="color: #990000">);</span>

     <span style="font-weight: bold"><span style="color: #0000FF">return</span></span> ok<span style="color: #990000">;</span>
<span style="color: #FF0000">}</span>
</tt></pre>
</font></code>
<hr/>Input File: example/ode_gear_control.cpp

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