Merge pull request #169 from control-toolbox/167-update-nlp_constraints

167 update nlp constraints

Author: ocots

src/CTBase.jl

@@ -248,8 +248,9 @@ export Model
 export __OCPModel # redirection to Model to avoid confusion with other Model functions from other packages. Due to @def macro
 export variable!, time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
 export is_autonomous, is_fixed, is_time_independent, is_time_dependent, is_min, is_max, is_variable_dependent, is_variable_independent
-export nlp_constraints, constraints_labels
+export nlp_constraints!, constraints_labels
 export has_free_final_time, has_free_initial_time, has_lagrange_cost, has_mayer_cost
+export dim_control_constraints, dim_state_constraints, dim_mixed_constraints, dim_path_constraints, dim_boundary_constraints, dim_variable_constraints, dim_control_range, dim_state_range, dim_variable_range, dim_control_box, dim_state_box, dim_variable_box
 
 # solution
 export OptimalControlSolution
@@ -273,4 +274,4 @@ export @def
 export ct_repl, ct_repl_update_model
 isdefined(Base, :active_repl) && ct_repl()
 
-end
+end

src/model.jl

@@ -1,3 +1,4 @@
+# todo: use design pattern to generate functions in nlp_constraints!
 """
 $(TYPEDSIGNATURES)
 
@@ -865,18 +866,21 @@ Return a 6-tuple of tuples:
 - `(xl, xind, xu)` are state linear constraints of a subset of indices
 - `(vl, vind, vu)` are variable linear constraints of a subset of indices
 
+and update information about constraints dimensions of  `ocp`.
+
 !!! note
 
-    - The dimensions of the state and control must be set before calling `nlp_constraints`.
+    - The dimensions of the state and control must be set before calling `nlp_constraints!`.
+    - For a `Fixed` problem, dimensions associated with constraints on the variable are set to zero.
 
 # Example
 
 ```jldoctest
 julia> (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu),
-    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints(ocp)
+    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints!(ocp)
 ```
 """
-function nlp_constraints(ocp::OptimalControlModel)
+function nlp_constraints!(ocp::OptimalControlModel)
 
     # we check if the dimensions and times have been set
     __check_all_set(ocp)
@@ -965,12 +969,6 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
-    function _η(t, x, v) # nonlinear state constraints
-        val = Vector{ctNumber}()
-        for i ∈ 1:length(ηf) append!(val, ηf[i](t, x, v)) end
-        return val
-    end
-
     function ψ(t, x, u, v) # nonlinear mixed constraints
         dim = length(ψl)
         val = zeros(ctNumber, dim)
@@ -984,13 +982,7 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
-    function _ψ(t, x, u, v) # nonlinear mixed constraints
-        val = Vector{ctNumber}()
-        for i ∈ 1:length(ψf) append!(val, ψf[i](t, x, u, v)) end
-        return val
-    end
-    
-    function ϕ(x0, xf, v) # nonlinear mixed constraints
+    function ϕ(x0, xf, v) # nonlinear boundary constraints
         dim = length(ϕl)
         val = zeros(ctNumber, dim)
         j = 1
@@ -1003,13 +995,7 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
-    function _ϕ(x0, xf, v) # nonlinear boundary constraints
-        val = Vector{ctNumber}()
-        for i ∈ 1:length(ϕf) append!(val, ϕf[i](x0, xf, v)) end
-        return val
-    end
-
-    function θ(v) # nonlinear mixed constraints
+    function θ(v) # nonlinear variable constraints
         dim = length(θl)
         val = zeros(ctNumber, dim)
         j = 1
@@ -1022,12 +1008,96 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
-    function _θ(v) # nonlinear variable constraints
-        val = Vector{ctNumber}()
-        for i ∈ 1:length(θf) append!(val, θf[i](v)) end
-        return val
-    end
+    ocp.dim_control_constraints = length(ξl)
+    ocp.dim_state_constraints = length(ηl)
+    ocp.dim_mixed_constraints = length(ψl)
+    ocp.dim_boundary_constraints = length(ϕl)
+    ocp.dim_variable_constraints = length(θl)
+    ocp.dim_control_range = length(ul)
+    ocp.dim_state_range = length(xl) 
+    ocp.dim_variable_range = length(vl)
 
     return (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu), (ul, uind, uu), (xl, xind, xu), (vl, vind, vu)
 
-end
+end
+
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of nonlinear state constraints (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_state_constraints(ocp::OptimalControlModel) = ocp.dim_state_constraints 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of nonlinear control constraints (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_control_constraints(ocp::OptimalControlModel) = ocp.dim_control_constraints 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of nonlinear mixed constraints (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_mixed_constraints(ocp::OptimalControlModel) = ocp.dim_mixed_constraints 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of nonlinear path (state + control + mixed) constraints (`nothing` if one of them is not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+function dim_path_constraints(ocp::OptimalControlModel)
+    isnothing(ocp.dim_control_constraints) && return nothing
+    isnothing(ocp.dim_state_constraints) && return nothing
+    isnothing(ocp.dim_mixed_constraints) && return nothing
+    return ocp.dim_state_constraints + ocp.dim_control_constraints + ocp.dim_mixed_constraints
+end
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of the boundary constraints (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_boundary_constraints(ocp::OptimalControlModel) = ocp.dim_boundary_constraints 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of nonlinear variable constraints (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_variable_constraints(ocp::OptimalControlModel) = ocp.dim_variable_constraints 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of range constraints on state (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_state_range(ocp::OptimalControlModel) = ocp.dim_state_range 
+dim_state_box = dim_state_range # alias, CTDirect.jl compatibility
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of range constraints on control (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_control_range(ocp::OptimalControlModel) = ocp.dim_control_range 
+dim_control_box = dim_control_range # alias, CTDirect.jl compatibility
+
+"""
+$(TYPEDSIGNATURES)
+
+Return the dimension of range constraints on variable (`nothing` if not knonw).
+Information is updated after `nlp_constraints!` is called.
+"""
+dim_variable_range(ocp::OptimalControlModel) = ocp.dim_variable_range
+dim_variable_box = dim_variable_range # alias, CTDirect.jl compatibility

src/print.jl

@@ -104,7 +104,7 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
         println(io, "")
 
         # other constraints: control, state, mixed, boundary, bounds on u, bounds on x
-        (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (ulb, uind, uub), (xlb, xind, xub) = nlp_constraints(ocp)
+        (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (ulb, uind, uub), (xlb, xind, xub) = nlp_constraints!(ocp)
         has_constraints = false
         if !isempty(ξl) || !isempty(ulb)
             has_constraints = true

src/types.jl

@@ -1174,6 +1174,14 @@ $(TYPEDFIELDS)
     criterion::Union{Symbol,Nothing}=nothing
     dynamics::Union{Dynamics,Nothing}=nothing
     constraints::Dict{Symbol, Tuple{Vararg{Any}}}=Dict{Symbol, Tuple{Vararg{Any}}}()
+    dim_control_constraints::Union{Dimension,Nothing}=nothing
+    dim_state_constraints::Union{Dimension,Nothing}=nothing
+    dim_mixed_constraints::Union{Dimension,Nothing}=nothing
+    dim_boundary_constraints::Union{Dimension,Nothing}=nothing
+    dim_variable_constraints::Union{Dimension,Nothing}=nothing
+    dim_control_range::Union{Dimension,Nothing}=nothing
+    dim_state_range::Union{Dimension,Nothing}=nothing
+    dim_variable_range::Union{Dimension,Nothing}=nothing
 end
 
 # used for checkings

test/test_model.jl

@@ -859,7 +859,7 @@ end
 
 end
 
-@testset "nlp_constraints without variable" begin
+@testset "nlp_constraints! without variable" begin
 
     ocp = Model(); __time!(ocp, 0, 1); state!(ocp, 2); control!(ocp, 1)
     __constraint!(ocp, :initial, Index(2), 10, 10, :ci)
@@ -871,8 +871,19 @@ end
     __constraint!(ocp, :state, x->x, [0, 1], [1, 2], :css)
     __constraint!(ocp, :mixed, (x,u)->x[1]+u, 1, 1, :cm)
 
+    # dimensions (not yet set)
+    @test dim_control_constraints(ocp) == nothing
+    @test dim_state_constraints(ocp) == nothing
+    @test dim_mixed_constraints(ocp) == nothing
+    @test dim_path_constraints(ocp) == nothing
+    @test dim_boundary_constraints(ocp) == nothing
+    @test dim_variable_constraints(ocp) == nothing
+    @test dim_control_range(ocp) == nothing
+    @test dim_state_range(ocp) == nothing
+    @test dim_variable_range(ocp) == nothing
+
     (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu),
-    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints(ocp)
+    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints!(ocp)
 
     v = Real[]
 
@@ -912,9 +923,20 @@ end
     @test sort(θu) == sort([ ])
     @test sort(θ(v)) == sort([ ])
 
+    # dimensions (set)
+    @test dim_control_constraints(ocp) == 1
+    @test dim_state_constraints(ocp) == 2
+    @test dim_mixed_constraints(ocp) == 1
+    @test dim_path_constraints(ocp) == 4
+    @test dim_boundary_constraints(ocp) == 3
+    @test dim_variable_constraints(ocp) == 0
+    @test dim_control_range(ocp) == 1
+    @test dim_state_range(ocp) == 2
+    @test dim_variable_range(ocp) == 0 
+
 end
 
-@testset "nlp_constraints with variable" begin
+@testset "nlp_constraints! with variable" begin
 
     ocp = Model(variable=true)
     __time!(ocp, 0, 1)
@@ -934,8 +956,19 @@ end
     __constraint!(ocp, :variable, Index(3), 2, 3, :cv3)
     __constraint!(ocp, :variable, v -> v[3]^2, 0, 1, :cv4)
 
+    # dimensions (not yet set)
+    @test dim_control_constraints(ocp) == nothing
+    @test dim_state_constraints(ocp) == nothing
+    @test dim_mixed_constraints(ocp) == nothing
+    @test dim_path_constraints(ocp) == nothing
+    @test dim_boundary_constraints(ocp) == nothing
+    @test dim_variable_constraints(ocp) == nothing
+    @test dim_control_range(ocp) == nothing
+    @test dim_state_range(ocp) == nothing
+    @test dim_variable_range(ocp) == nothing
+
     (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu),
-    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints(ocp)
+    (ul, uind, uu), (xl, xind, xu), (vl, vind, vu) = nlp_constraints!(ocp)
 
     v = [ 1, 2, 3, 4 ]
 
@@ -959,21 +992,32 @@ end
     @test sort(ϕu) == sort([10, 1, 1])
     @test sort(ϕ([1, 3], [4, 100], v)) == sort([ 3, 4, 103+v[1] ])
 
+    # variable
+    @test sort(θl) == sort([ 0 ])
+    @test sort(θu) == sort([ 1 ])
+    @test sort(θ(v)) == sort([ v[3]^2 ])
+
     # box constraint
     @test sort(ul) == sort([0])
     @test sort(uind) == sort([1])
     @test sort(uu) == sort([1])
     @test sort(xl) == sort([0, 1])
     @test sort(xind) == sort([1, 2])
     @test sort(xu) == sort([1, 2])
-
-    # variable
     @test sort(vl) == sort([ 0, 0, 0, 0, 1, 2, 2 ])
     @test sort(vind) == sort([ 1, 2, 3, 4, 1, 2, 3 ])
     @test sort(vu) == sort([ 5, 5, 5, 5, 3, 4, 3 ])
-    @test sort(θl) == sort([ 0 ])
-    @test sort(θu) == sort([ 1 ])
-    @test sort(θ(v)) == sort([ v[3]^2 ])
+
+    # dimensions
+    @test dim_control_constraints(ocp) == 1
+    @test dim_state_constraints(ocp) == 2
+    @test dim_mixed_constraints(ocp) == 1
+    @test dim_path_constraints(ocp) == 4
+    @test dim_boundary_constraints(ocp) == 3
+    @test dim_variable_constraints(ocp) == 1
+    @test dim_control_range(ocp) == 1
+    @test dim_state_range(ocp) == 2
+    @test dim_variable_range(ocp) == 7
 
 end