Merge pull request #240 from control-toolbox/239-add-non-unicode-keywords-for-derivative-and-integral

Non unicode keywords

Author: jbcaillau

src/checking.jl

@@ -18,7 +18,7 @@ Throw ```UnauthorizedCall``` exception if the state of an ocp is not set.
 
 """
 function __check_state_set(ocp::OptimalControlModel)
-    __is_state_not_set(ocp) && throw(UnauthorizedCall("the state dimension has to be set before. Use state!."))
+    __is_state_not_set(ocp) && throw(UnauthorizedCall("the state dimension has to be set before."))
 end
 
 """
@@ -28,7 +28,7 @@ Throw ```UnauthorizedCall``` exception if the control of an ocp is not set.
 
 """
 function __check_control_set(ocp::OptimalControlModel)
-    __is_control_not_set(ocp) && throw(UnauthorizedCall("the control dimension has to be set before. Use control!."))
+    __is_control_not_set(ocp) && throw(UnauthorizedCall("the control dimension has to be set before."))
 end
 
 """
@@ -38,7 +38,7 @@ Throw ```UnauthorizedCall``` exception if the time of an ocp is not set.
 
 """
 function __check_is_time_set(ocp::OptimalControlModel)
-    __is_time_not_set(ocp) && throw(UnauthorizedCall("the time dimension has to be set before. Use time!."))
+    __is_time_not_set(ocp) && throw(UnauthorizedCall("the time dimension has to be set before."))
 end
 
 """
@@ -48,7 +48,7 @@ Throw ```UnauthorizedCall``` exception if the variable of an ocp is not set.
 
 """
 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!."))
+    __is_variable_not_set(ocp) && throw(UnauthorizedCall("the variable dimension has to be set before."))
 end
 
 """

src/model.jl

@@ -174,7 +174,7 @@ function variable!(
 
     # checkings
     is_fixed(ocp) && throw(UnauthorizedCall("the ocp has no variable, you cannot use variable! function."))
-    __is_variable_set(ocp) && throw(UnauthorizedCall("the variable has already been set. Use variable! once."))
+    __is_variable_set(ocp) && throw(UnauthorizedCall("the variable has already been set."))
     (q  > 1) && (size(components_names, 1) ≠ q) && throw(IncorrectArgument("the number of variable names must be equal to the variable dimension"))
 
     ocp.variable_dimension = q
@@ -256,7 +256,7 @@ function state!(
     components_names::Vector{String}=__state_components_names(n, name))
 
     # checkings
-    __is_state_set(ocp) && throw(UnauthorizedCall("the state has already been set. Use state! once."))
+    __is_state_set(ocp) && throw(UnauthorizedCall("the state has already been set."))
     (n  > 1) && (size(components_names, 1) ≠ n) && throw(IncorrectArgument("the number of state names must be equal to the state dimension"))
 
     ocp.state_dimension = n
@@ -342,7 +342,7 @@ function control!(
     components_names::Vector{String}=__control_components_names(m, name))
 
     # checkings
-    __is_control_set(ocp) && throw(UnauthorizedCall("the control has already been set. Use control! once."))
+    __is_control_set(ocp) && throw(UnauthorizedCall("the control has already been set."))
     (m  > 1) && (size(components_names, 1) ≠ m) && throw(IncorrectArgument("the number of control names must be equal to the control dimension"))
 
     ocp.control_dimension = m
@@ -425,7 +425,7 @@ function time!(
     !isnothing(indf) && !(1 ≤ indf ≤ q) && throw(IncorrectArgument("the index of tf variable must be contained in 1:$q"))
 
     # check if the function has been already called
-    __is_time_set(ocp) && throw(UnauthorizedCall("the time has already been set. Use time! once."))
+    __is_time_set(ocp) && throw(UnauthorizedCall("the time has already been set."))
 
     # check consistency
     !isnothing(t0) && !isnothing(ind0) && throw(IncorrectArgument("Providing t0 and ind0 has no sense. The initial time cannot be fixed and free."))
@@ -673,7 +673,7 @@ function dynamics!(ocp::OptimalControlModel{T, V}, f::Function) where {T <: Time
 
     # we check if the dimensions and times have been set
     __check_all_set(ocp)
-    __is_dynamics_set(ocp) && throw(UnauthorizedCall("the dynamics has already been set. Use dynamics! once."))
+    __is_dynamics_set(ocp) && throw(UnauthorizedCall("the dynamics has already been set."))
 
     ocp.dynamics = Dynamics(f, T, V)
 
@@ -710,7 +710,7 @@ function objective!(ocp::OptimalControlModel{T, V}, type::Symbol, f::Function,
 
     # we check if the dimensions and times have been set
     __check_all_set(ocp)
-    __is_objective_set(ocp) && throw(UnauthorizedCall("the objective has already been set. Use objective! once."))
+    __is_objective_set(ocp) && throw(UnauthorizedCall("the objective has already been set."))
 
     # check the validity of the criterion
     !__is_criterion_valid(criterion) && throw(IncorrectArgument("the following criterion is not valid: " * String(criterion) *
@@ -755,7 +755,7 @@ function objective!(ocp::OptimalControlModel{T, V}, type::Symbol, g::Function, f
 
     # we check if the dimensions and times have been set
     __check_all_set(ocp)
-    __is_objective_set(ocp) && throw(UnauthorizedCall("the objective has already been set. Use objective! once."))
+    __is_objective_set(ocp) && throw(UnauthorizedCall("the objective has already been set."))
 
     # check the validity of the criterion
     !__is_criterion_valid(criterion) && throw(IncorrectArgument("the following criterion is not valid: " * String(criterion) *

src/onepass.jl

@@ -30,9 +30,13 @@ $(TYPEDEF)
     t_dep::Bool=false
 end
 
-__init_aliases() = begin
+__init_aliases(;max_dim=20) = begin
     al = OrderedDict{Symbol, Union{Real, Symbol, Expr}}()
-    for i ∈ 1:9 al[Symbol(:R, ctupperscripts(i))] = :( R^$i  ) end
+    for i ∈ 1:max_dim al[Symbol(:R, ctupperscripts(i))] = :( R^$i ) end
+    al[:<=] = :≤
+    al[:>=] = :≥
+    al[:derivative] = :∂
+    al[:integral] = :∫
     al
 end
 

test/test_onepass.jl

@@ -2389,7 +2389,65 @@ end
         ∫( u(t)^2 ) / 2 → min # forbidden
     end
 
+end
+
+# ---------------------------------------------------------------
+# ---------------------------------------------------------------
+@testset "non unicode keywords" begin
+    println("non unicode keywords testset...")
 
+    # --------------------------------
+    # min
+    t0 = 0
+    tf = 1
+    @def o begin
+        t ∈ [ t0, tf ], time
+        x ∈ R^2, state
+        u ∈ R, control
+        x(t0) == [ -1, 0 ], (1)
+        x(tf) == [  0, 0 ]
+        derivative(x)(t) == A * x(t) + B * u(t)
+        integral( 0.5u(t)^2 ) → min
+    end
+    x = [ 1, 2 ]
+    x0 = 2 * x
+    xf = 3 * x
+    u = -1
+    A = [ 0 1
+          0 0 ]
+    B = [ 0
+          1 ]
+    @test constraint(o, :eq1)(x0, xf) == x0
+    @test o.dynamics(x, u) == A * x + B * u
+    @test o.lagrange(x, u) == 0.5u^2
+    @test o.criterion == :min
+
+    @def o begin
+        z ∈ R, variable
+        t ∈ [ 0, 1 ], time
+        x ∈ R², state
+        u ∈ R, control
+        r = x₁
+        v = x₂
+        0 <= r(0) - z <= 1,            (1)
+        0 <= v(1)^2 <= 1,              (2)
+        [ 0, 0 ] <= x(0) <= [ 1, 1 ],  (♡)
+        z >= 0,                        (3)
+        ẋ(t) == [ v(t), r(t)^2 + z ]
+        ∫( u(t)^2 + z * x₁(t) ) → min
+    end
+    x0 = [ 2, 3 ]
+    xf = [ 4, 5 ]
+    x = [ 1, 2 ]
+    u = 3
+    z = 4
+    @test constraint(o, :eq1)(x0, xf, z) == x0[1] - z
+    @test constraint(o, :eq2)(x0, xf, z) == xf[2]^2
+    @test constraint(o, Symbol("♡"))(x0, xf, z) == x0
+    @test constraint(o, :eq3)(z) == z
+    @test o.dynamics(x, u, z) == [ x[2], x[1]^2 + z ]
+    @test o.lagrange(x, u, z) == u^2 + z * x[1]
+    
 end
 
 end