Merge branch 'main' of github.com:control-toolbox/CTBase.jl

Author: ocots

src/CTBase.jl

@@ -82,9 +82,9 @@ export AbstractOptimalControlModel, OptimalControlModel
 export Model, time!, constraint!, objective!, state!, control!, remove_constraint!, constraint
 export ismin, dynamics, lagrange, mayer, criterion, initial_time, final_time
 export control_dimension, state_dimension, constraints
-export initial_condition, final_condition, initial_constraint, final_constraint
 export isautonomous, isnonautonomous
 export control_labels, state_labels
+export nlp_constraints
 
 # solution
 export AbstractOptimalControlSolution, OptimalControlSolution

src/model.jl

@@ -152,7 +152,7 @@ julia> constraint!(ocp, :final, 1, 0)
 ```
 """
 function constraint!(ocp::OptimalControlModel, type::Symbol, rg::Union{Integer, UnitRange{<:Integer}}, val, label::Symbol=gensym(:anonymous))
-    if type ∈ [ :initial, :final ] # not allowed for :control or :state
+    if type ∈ [ :initial, :final ] # not allowed for :control or :state (does not make sense)
         ocp.constraints[label] = (type, :eq, x -> x[rg], val, val)
     else
         throw(IncorrectArgument("the following type of constraint is not valid: " * String(type) *
@@ -175,11 +175,11 @@ julia> constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
 """
 function constraint!(ocp::OptimalControlModel, type::Symbol, lb, ub, label::Symbol=gensym(:anonymous))
     if type ∈ [ :initial, :final ]
-        ocp.constraints[label] = (type, :ineq, x -> x, ub, lb)
+        ocp.constraints[label] = (type, :ineq, x -> x, lb, ub)
     elseif type == :control
-        ocp.constraints[label] = (type, :ineq, lb isa MyNumber ? 1 : 1:control_dimension(ocp), ub, lb) # debug
+        ocp.constraints[label] = (type, :ineq, lb isa MyNumber ? 1 : 1:control_dimension(ocp), lb, ub) # debug
     elseif type == :state
-        ocp.constraints[label] = (type, :ineq, lb isa MyNumber ? 1 : 1:state_dimension(ocp), ub, lb) # debug
+        ocp.constraints[label] = (type, :ineq, lb isa MyNumber ? 1 : 1:state_dimension(ocp), lb, ub) # debug
     else
         throw(IncorrectArgument("the following type of constraint is not valid: " * String(type) *
         ". Please choose in [ :initial, :final, :control, :state ] or check the arguments of the constraint! method."))
@@ -199,11 +199,11 @@ julia> constraint!(ocp, :control, 1, 0, 2)
 julia> constraint!(ocp, :state, 2:3, [ 0, 0 ], [1, 2])
 ```
 """
-function constraint!(ocp::OptimalControlModel, type::Symbol, rg, lb, ub, label::Symbol=gensym(:anonymous))
+function constraint!(ocp::OptimalControlModel, type::Symbol, rg::Union{Integer, UnitRange{<:Integer}}, lb, ub, label::Symbol=gensym(:anonymous))
     if type ∈ [ :initial, :final ]
-        ocp.constraints[label] = (type, :ineq, x -> x[rg], ub, lb)
+        ocp.constraints[label] = (type, :ineq, x -> x[rg], lb, ub)
     elseif type ∈ [ :control, :state ]
-        ocp.constraints[label] = (type, :ineq, rg, ub, lb)
+        ocp.constraints[label] = (type, :ineq, rg, lb, ub)
     else
         throw(IncorrectArgument("the following type of constraint is not valid: " * String(type) *
         ". Please choose in [ :initial, :final, :contol, :state ] or check the arguments of the constraint! method."))
@@ -319,7 +319,7 @@ end
 
 #
 """
-    nlp_constraint(ocp)
+    nlp_constraints(ocp)
 
 Return a 6-tuple of tuples:
 - `(ξl, ξ, ξu)` are control constraints
@@ -331,7 +331,7 @@ Return a 6-tuple of tuples:
 
 # Examples
 ```jldoctest
-julia> (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (ulb, uind, uub), (xlb, xind, xub) = nlp_constraint(ocp)
+julia> (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (ulb, uind, uub), (xlb, xind, xub) = nlp_constraints(ocp)
 ```
 """
 function nlp_constraints(ocp::OptimalControlModel{time_dependence, dimension_usage}) where {time_dependence, dimension_usage}

src/print.jl

@@ -66,14 +66,6 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{time_dep
         end
         nb_fixed += 1
     end
-    if initial_condition(ocp) !== nothing
-        if s == ""
-            s = s * "x0"
-        else
-            s = s * " and x0"
-        end
-        nb_fixed += 1
-    end
     if nb_fixed > 1
         s = s * " are fixed."
     elseif nb_fixed == 1

test/test_model.jl

@@ -78,37 +78,50 @@ constraint!(ocp, :dynamics, f)
 # 
 # goddard (version 2, ranges, vectorial constraints)
 ocp = Model()
-#
 Cd = 310.; Tmax = 3.5; β = 500.; b = 2.; t0 = 0.; r0 = 1.; v0 = 0.
 vmax = 0.1; m0 = 1.; mf = 0.6; x0 = [r0, v0, m0]
-#
 m = 1
 n = 3
-#
+
 time!(ocp, :initial, t0) # if not provided, final time is free
 state!(ocp, n) # state dim
 control!(ocp, m) # control dim
 constraint!(ocp, :initial, x0, :initial_con1)
 constraint!(ocp, :control, 0., 1., :control_con1)
 constraint!(ocp, :state, 1:2, [ r0, 0 ], [ Inf, vmax ], :state_con1)
 constraint!(ocp, :state, 3, m0, mf, :state_con2)
-#
+
 objective!(ocp, :mayer, (t0, x0, tf, xf) -> xf[1], :max)
-#
+
 constraint!(ocp, :dynamics, f) # see previous defs
 
-#
 @test isautonomous(ocp)
 @test lagrange(ocp) === nothing
 @test mayer(ocp)(t0, x0, tf, x0) ≈ x0[1] atol=1e-8
 @test !ismin(ocp)
+
 @test initial_time(ocp) == t0
 @test final_time(ocp) === nothing
 @test control_dimension(ocp) == m
 @test state_dimension(ocp) == n
+
 @test constraint(ocp, :initial_con1)(x0) == x0 
 @test constraint(ocp, :control_con1)(1) == 1 
 @test constraint(ocp, :state_con1)(x0) == x0[1:2]
 @test constraint(ocp, :state_con2)(x0) == x0[3]
 
+(ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (ulb, uind, uub), (xlb, xind, xub) = nlp_constraints(ocp)
+@test ξl == [ ]
+@test ξu == [ ]
+@test ηl == [ ]
+@test ηu == [ ]
+@test ψl == [ ] 
+@test ψu == [ ]
+@test ϕl == x0 
+@test ϕu == x0 
+@test ulb == [ 0 ][uind]
+@test uub == [ 1 ][uind]
+@test xlb == [ r0, 0, m0 ][xind]
+@test xub == [ Inf, vmax, mf ][xind]
+
 end