Merge pull request #132 from control-toolbox/onepass

WIP - Onepass

Author: ocots

src/ctparser_utils.jl

@@ -14,7 +14,7 @@ expr_it(e, _Expr, f) =
     if e isa Expr
     args = e.args
     n = length(args)
-    newargs = [ expr_it(e.args[i], _Expr, f) for i ∈ 1:n ]
+    newargs = [ expr_it(e.args[i], _Expr, f) for i ∈ 1:n ]
         return _Expr(e.head, newargs...)
     else
         return f(e)
@@ -115,15 +115,15 @@ replace_call(e, x::Vector{Symbol}, t, y) = begin
     @assert length(x) == length(y)
     foo(x, t, y) = (h, args...) -> begin
         ee = Expr(h, args...)
-	@match ee begin
+	    @match ee begin
 	    :( $eee($tt) ) && if tt == t end =>
 	        let ch = false
 	    	    for i ∈ 1:length(x)
-		        if has(eee, x[i])
-		            eee = subs(eee, x[i], y[i])
-		            ch = true
+		            if has(eee, x[i])
+		                eee = subs(eee, x[i], y[i])
+		                ch = true # todo: unnecessary (as subs can be idempotent)?
+		            end
 		        end
-		    end
  	            ch ? eee : ee
 	        end
 	    _ => ee
@@ -188,7 +188,7 @@ end
 """
 $(TYPEDSIGNATURES)
 
-Return true if e contains an `(...x...)(t)` call.
+Return true if e contains a `(...x...)(t)` call.
 
 # Example
 ```jldoctest
@@ -205,16 +205,17 @@ true
 has(e, x, t) = begin
     foo(x, t) = (h, args...) -> begin
         ee = Expr(h, args...)
-	if :yes ∈ args
-	    :yes
-	else @match ee begin
+	    if :yes ∈ args
+	        :yes
+	    else @match ee begin
             :( $eee($tt) ) => (tt == t && has(eee, x)) ? :yes : ee
             _ => ee end
         end
     end
     expr_it(e, foo(x, t), x -> x) == :yes
 end
 
+
 """
 $(TYPEDSIGNATURES)
 
@@ -369,4 +370,4 @@ constraint_type(e, t, t0, tf, x, u, v) = begin
 	    _                                        =>  :variable_fun end
         _ => :other
     end
-end
+end

src/model.jl

@@ -113,7 +113,7 @@ Define the variable dimension and possibly the names of each component.
 # Examples
 ```jldoctest
 julia> variable!(ocp, 1, "v")
-julia> variable!(ocp, 2, "v", [ "v₁", "v₂" ])
+julia> variable!(ocp, 2, "v", [ "v₁", "v₂" ])
 ```
 """
 function variable!(ocp::OptimalControlModel, q::Dimension, name::String=__variable_name(), 
@@ -129,6 +129,14 @@ function variable!(ocp::OptimalControlModel, q::Dimension, name::String=__variab
     nothing # to force to return nothing
 end
 
+function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol, components_names::Vector{Symbol})
+    variable!(ocp, q, string(name), string.(components_names))
+end
+
+function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol, components_names::Vector{String})
+    variable!(ocp, q, string(name), components_names)
+end
+
 function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol)
     variable!(ocp, q, string(name))
 end
@@ -187,6 +195,15 @@ function state!(ocp::OptimalControlModel, n::Dimension, name::String=__state_nam
     ocp.state_name = name
     nothing # to force to return nothing
 end
+
+function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol, components_names::Vector{Symbol})
+    state!(ocp, n, string(name), string.(components_names))
+end
+
+function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol, components_names::Vector{String})
+    state!(ocp, n, string(name), components_names)
+end
+
 function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol)
     state!(ocp, n, string(name))
 end
@@ -246,6 +263,14 @@ function control!(ocp::OptimalControlModel, m::Dimension, name::String=__control
     nothing # to force to return nothing
 end
 
+function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol, components_names::Vector{Symbol})
+    control!(ocp, m, string(name), string.(components_names))
+end
+
+function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol, components_names::Vector{String})
+    control!(ocp, m, string(name), components_names)
+end
+
 function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol)
     control!(ocp, m, string(name))
 end
@@ -438,12 +463,12 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
 # Examples
 
 ```jldoctest
-julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
+julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
 julia> constraint!(ocp, :final, Index(1), 0, 2)
 julia> constraint!(ocp, :control, Index(1), 0, 2)
-julia> constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
-julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
-julia> constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
+julia> constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
+julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
 ```
 """
 function constraint!(ocp::OptimalControlModel{<: TimeDependence, V}, type::Symbol, rg::RangeConstraint, lb::ctVector, ub::ctVector, 
@@ -512,8 +537,8 @@ Add an `:initial` or `:final` value constraint on a range of the state, or a val
 # Examples
 
 ```jldoctest
-julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
-julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ])
+julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
+julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ])
 julia> constraint!(ocp, :final, Index(2), 0)
 julia> constraint!(ocp, :variable, 2:3, [ 0, 3 ])
 ```
@@ -566,9 +591,9 @@ Add an `:initial` or `:final` value constraint on the state, or a `:variable` va
 # Examples
 
 ```jldoctest
-julia> constraint!(ocp, :initial, [ 0, 0 ])
+julia> constraint!(ocp, :initial, [ 0, 0 ])
 julia> constraint!(ocp, :final, 2) # if the state is of dimension 1
-julia> constraint!(ocp, :variable, [ 3, 0, 1 ])
+julia> constraint!(ocp, :variable, [ 3, 0, 1 ])
 ```
 """
 function constraint!(ocp::OptimalControlModel, type::Symbol, val::ctVector, label::Symbol=__constraint_label())
@@ -618,10 +643,10 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
 # Examples
 
 ```jldoctest
-julia> constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
-julia> constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :control, [ 0, 0 ], [ 2, 3 ])
-julia> constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :variable, 0, 1) # the variable here is of dimension 1
 ```
 """
@@ -687,22 +712,22 @@ julia> constraint!(ocp, :boundary, (x0, xf, v) -> x0[3]+xf[2]*v[1], 0, 1)
 
 # time independent and variable independent ocp
 julia> constraint!(ocp, :control, u -> 2u, 0, 1)
-julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0, 1)
 
 # time dependent and variable independent ocp
 julia> constraint!(ocp, :control, (t, u) -> 2u, 0, 1)
-julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0, 1)
 
 # time independent and variable dependent ocp
 julia> constraint!(ocp, :control, (u, v) -> 2u*v[1], 0, 1)
-julia> constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :mixed, (x, u, v) -> x[1]-v[2]*u, 0, 1)
 
 # time dependent and variable dependent ocp
 julia> constraint!(ocp, :control, (t, u, v) -> 2u+v[2], 0, 1)
-julia> constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
+julia> constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
 julia> constraint!(ocp, :mixed, (t, x, u, v) -> x[1]*v[2]-u, 0, 1)
 ```
 """
@@ -761,22 +786,22 @@ julia> constraint!(ocp, :boundary, (x0, xf, v) -> x0[3]+xf[2]*v[1], 0)
 
 # time independent and variable independent ocp
 julia> constraint!(ocp, :control, u -> 2u, 1)
-julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
+julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
 julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0)
 
 # time dependent and variable independent ocp
 julia> constraint!(ocp, :control, (t, u) -> 2u, 1)
-julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
+julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
 julia> constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0)
 
 # time independent and variable dependent ocp
 julia> constraint!(ocp, :control, (u, v) -> 2u*v[1], 1)
-julia> constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
+julia> constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
 julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u+v[1], 0)
 
 # time dependent and variable dependent ocp
 julia> constraint!(ocp, :control, (t, u, v) -> 2u-t*v[2], 1)
-julia> constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
+julia> constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
 julia> constraint!(ocp, :mixed, (t, x, u, v) -> x[1]-u*v[1], 0)
 ```
 """
@@ -800,12 +825,12 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
 # Examples
 
 ```jldoctest
-julia> constraint!(ocp, :initial, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
+julia> constraint!(ocp, :initial, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
 julia> constraint!(ocp, :final, val=Index(1), lb=0, ub=2)
 julia> constraint!(ocp, :control, val=Index(1), lb=0, ub=2)
-julia> constraint!(ocp, :state, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
-julia> constraint!(ocp, :initial, rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
-julia> constraint!(ocp, :variable, rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
+julia> constraint!(ocp, :state, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
+julia> constraint!(ocp, :initial, rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
+julia> constraint!(ocp, :variable, rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
 ```
 """
 function constraint!(ocp::OptimalControlModel{<: TimeDependence, <: VariableDependence}, type::Symbol;