Merge pull request #81 from control-toolbox/develop

Develop

Author: ocots

.gitignore

@@ -26,3 +26,8 @@ Manifest.toml
 
 # Notebooks checkpoints
 */.ipynb_checkpoints
+
+# garbage
+.\#*
+\#*
+.*.swp

Project.toml

@@ -4,22 +4,32 @@ authors = ["Olivier Cots <[email protected]>"]
 version = "0.6.0"
 
 [deps]
+DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
+MacroTools = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
+ReplMaker = "b873ce64-0db9-51f5-a568-4457d8e49576"
+Unicode = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [compat]
+DataStructures = "0.18"
 DocStringExtensions = "0.9"
 ForwardDiff = "0.10"
 Interpolations = "0.14"
 MLStyle = "0.4"
+MacroTools = "0.5"
 Parameters = "0.12"
 Plots = "1.38"
+PrettyTables = "2.2"
 Printf = "1.8"
 Reexport = "1.2"
+ReplMaker = "0.2"
 julia = "1.8"

docs/src/api-plot.md

@@ -44,10 +44,10 @@ sol.control_dimension = m
 sol.times = times
 sol.time_name="t"
 sol.state = x
-sol.state_names = [ "x" * ctindices(i) for i ∈ range(1, n)]
-sol.adjoint = p
+sol.state_components_names = [ "x" * ctindices(i) for i ∈ range(1, n)]
+sol.costate = p
 sol.control = u
-sol.control_names = [ "u" ]
+sol.control_components_names = [ "u" ]
 sol.objective = objective
 sol.iterations = 0
 sol.stopping = :dummy
@@ -85,7 +85,7 @@ You can specify some styles:
 ```@example main
 plot(sol, 
     state_style=(color=:blue,), 
-    adjoint_style=(color=:black, linestyle=:dash),
+    costate_style=(color=:black, linestyle=:dash),
     control_style=(color=:red, linewidth=2),
     size=(800, 600))
 ```

docs/src/api-print.md

@@ -52,7 +52,7 @@ A = [ 0 1
       0 0 ]
 B = [ 0
       1 ]
-constraint!(ocp, :dynamics, (x, u) -> A*x + B*u)
+dynamics!(ocp, (x, u) -> A*x + B*u)
 
 objective!(ocp, :lagrange, (x, u) -> 0.5u^2)
 nothing # hide

src/CTBase.jl

@@ -16,12 +16,18 @@ import Base
 using DocStringExtensions
 using ForwardDiff: jacobian, gradient, ForwardDiff # automatic differentiation
 using Interpolations: linear_interpolation, Line, Interpolations # for default interpolation
-using MLStyle
+using Reexport
+@reexport using MLStyle # pattern matching
 using Parameters # @with_kw: to have default values in struct
 using Plots
 import Plots: plot, plot! # import instead of using to overload the plot and plot! functions
 using Printf # to print an OptimalControlModel
-using Reexport
+using DataStructures # OrderedDict for aliases
+using Unicode # unicode primitives
+using PrettyTables # to print a table
+using ReplMaker
+using MacroTools: inexpr, striplines, MacroTools
+using LinearAlgebra
 
 # --------------------------------------------------------------------------------------------------
 # Aliases for types
@@ -30,12 +36,10 @@ using Reexport
 Type alias for a real number.
 """
 const ctNumber = Real
-const MyNumber = Real
 """
 Type alias for a vector of real numbers.
 """
-const ctVector = AbstractVector{<:ctNumber}
-const MyVector = AbstractVector{<:MyNumber}
+const ctVector = Union{ctNumber, AbstractVector{<:ctNumber}} # [] must be defined as Vector{Real}()
 """
 Type alias for a time.
 """
@@ -53,51 +57,62 @@ Type alias for a state.
 """
 const State = ctVector
 """
-Type alias for an adjoint.
+Type alias for an costate.
 """
-const Adjoint = ctVector # todo: add ajoint to write p*f(x, u) instead of p'*f(x,u)
+const Costate = ctVector # todo: add ajoint to write p*f(x, u) instead of p'*f(x,u)
 """
 Type alias for a control.
 """
 const Control = ctVector
 """
+Type alias for a variable.
+"""
+const Variable = ctVector
+"""
 Type alias for a vector of states.
 """
-const States = Vector{<:State}
+const States = AbstractVector{<:State}
 """
-Type alias for a vector of adjoints.
+Type alias for a vector of costates.
 """
-const Adjoints = Vector{<:Adjoint}
+const Costates = AbstractVector{<:Costate}
 """
 Type alias for a vector of controls.
 """
-const Controls = Vector{<:Control}
+const Controls = AbstractVector{<:Control}
 """
 Type alias for a dimension.
 """
 const Dimension = Integer
 
 #
-include("exceptions.jl")
+include("exception.jl")
 include("description.jl")
-include("callbacks.jl")
-include("functions.jl")
-#
+include("callback.jl")
 include("default.jl")
 include("utils.jl")
-include("model.jl")
 #
-include("ctparser_utils.jl")
-#include("ctparser.jl")
-#@reexport using .CtParser
+include("types.jl")
+#
+include("checking.jl")
 #
 include("print.jl")
-include("solution.jl")
 include("plot.jl")
+#
+include("functions.jl")
+include("model.jl")
+#
+include("ctparser_utils.jl")
+#include("ctparser.jl")
+include("onepass.jl")
+include("repl.jl")
 
 # numeric types
 export ctNumber, ctVector, Time, Times, TimesDisc
-export States, Adjoints, Controls, State, Adjoint, Dimension, Index
+
+export States, Costates, Controls, State, Costate, Control, Variable, Dimension, Index
+export TimeDependence, Autonomous, NonAutonomous
+export VariableDependence, NonFixed, Fixed
 
 # callback
 export CTCallback, CTCallbacks, PrintCallback, StopCallback
@@ -107,29 +122,35 @@ export get_priority_print_callbacks, get_priority_stop_callbacks
 export Description, makeDescription, add, getFullDescription
 
 # exceptions
-export CTException, AmbiguousDescription, InconsistentArgument, IncorrectMethod
+export CTException, ParsingError, AmbiguousDescription, IncorrectMethod
 export IncorrectArgument, IncorrectOutput, NotImplemented, UnauthorizedCall
 
 # functions
 export Hamiltonian, HamiltonianVectorField, VectorField
 export Mayer, Lagrange, Dynamics, ControlLaw, FeedbackControl, Multiplier
-export BoundaryConstraint, StateConstraint, ControlConstraint, MixedConstraint
+export BoundaryConstraint, StateConstraint, ControlConstraint, MixedConstraint, VariableConstraint
 
 # model
 export OptimalControlModel
 export Model
-export time!, constraint!, objective!, state!, control!, remove_constraint!, constraint
-export isautonomous, isnonautonomous, ismin, ismax
+export variable!, time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
+export is_time_independent, is_time_dependent, is_min, is_max, is_variable_dependent, is_variable_independent
 export nlp_constraints, constraints_labels
 
 # solution
 export OptimalControlSolution
-export plot
+export plot, plot!
 
 # utils
 export Ad, Poisson, ctgradient, ctjacobian, ctinterpolate, ctindices, ctupperscripts
 
-# _Time
-export _Time
+# ctparser_utils
+export replace_call, constraint_type
+
+# onepass
+export @def
+
+# repl
+isdefined(Base, :active_repl) && __init_repl()
 
 end

src/callbacks.jl renamed to src/callback.jl

@@ -0,0 +1,54 @@
+function __check_time_dependence(time_dependence::DataType)
+    time_dependence ∉ [Autonomous, NonAutonomous] && throw(IncorrectArgument("time_dependence must be either Autonomous or NonAutonomous"))
+end
+
+function __check_variable_dependence(variable_dependence::DataType)
+    variable_dependence ∉ [Fixed, NonFixed] && throw(IncorrectArgument("variable_dependence must be either Fixed or NonFixed"))
+end
+
+function __check_dependences(dependences::Tuple{Vararg{DataType}})
+    size(filter(p->p<:VariableDependence,dependences),1) > 1 && throw(IncorrectArgument("the number of arguments about variable dependence must be equal at most to 1"))
+    size(filter(p->p<:TimeDependence,dependences),1) > 1 && throw(IncorrectArgument("the number of arguments about time dependence must be equal at most to 1"))
+    size(dependences,1) > 2 && throw(IncorrectArgument("the number of arguments about dependences must be equal at most to 2"))
+    size(filter(p->!(p<:Union{TimeDependence,VariableDependence}),dependences),1) > 0 && throw(IncorrectArgument("the wrong of arguments, possible arguments are : NonAutonomous, Autonomous, Fixed, NonFixed"))
+end
+
+function __check_criterion(criterion::Symbol)
+    criterion ∉ [:min, :max] && throw(IncorrectArgument("criterion must be either :min or :max"))
+end
+
+function __check_state_set(ocp::OptimalControlModel)
+    __is_state_not_set(ocp) && throw(UnauthorizedCall("the state dimension has to be set before. Use state!."))
+end
+
+function __check_control_set(ocp::OptimalControlModel)
+    __is_control_not_set(ocp) && throw(UnauthorizedCall("the control dimension has to be set before. Use control!."))
+end
+
+function __check___is_time_set(ocp::OptimalControlModel)
+    __is_time_not_set(ocp) && throw(UnauthorizedCall("the time dimension has to be set before. Use time!."))
+end
+
+function __check_variable_set(ocp::OptimalControlModel{<:TimeDependence, NonFixed})
+    __is_variable_not_set(ocp) && throw(UnauthorizedCall("the variable dimension has to be set before. Use variable!."))
+end
+
+function __check_variable_set(ocp::OptimalControlModel{<:TimeDependence, Fixed})
+    nothing
+end
+
+function __check_all_set(ocp::OptimalControlModel)
+    __check_state_set(ocp)
+    __check_control_set(ocp)
+    __check___is_time_set(ocp)
+    __check_variable_set(ocp)
+end
+
+macro __check(s::Symbol)
+    s == :dependences && return esc(quote __check_dependences($s) end)
+    s == :time_dependence && return esc(quote __check_time_dependence($s) end)
+    s == :variable_dependence && return esc(quote __check_variable_dependence($s) end)
+    s == :criterion && return esc(quote __check_criterion($s) end)
+    s == :ocp && return esc(quote __check_all_set($s) end)
+    error("s must be either :time_dependence, :variable_dependence or :criterion")
+end