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

Author: ocots

profiling/boundary.jl

@@ -26,10 +26,15 @@ begin
             r[2] = xf[1]
             return nothing
         end
-        CTModels.constraint!(pre_ocp, :boundary, f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary1); N  = 2
+        CTModels.constraint!(
+            pre_ocp, :boundary; f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary1
+        )
+        N = 2
         CTModels.constraint!(pre_ocp, :boundary, f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary2); N += 2
         CTModels.constraint!(pre_ocp, :boundary, f=bc2!, lb=[-1, 0], ub=[-1, 0], label=:boundary3); N += 2
-        CTModels.constraint!(pre_ocp, :control, rg=1:2, lb=[0, 0], ub=[Inf, Inf], label=:control_rg)
+        CTModels.constraint!(
+            pre_ocp, :control; rg=1:2, lb=[0, 0], ub=[Inf, Inf], label=:control_rg
+        )
         CTModels.definition!(pre_ocp, Expr(:simple_integrator_min_energy))
         ocp = CTModels.build_model(pre_ocp)
         return ocp, N
@@ -39,7 +44,7 @@ begin
 
     x0 = [1.0]
     xf = [0.0]
-    v  = Float64[]
+    v = Float64[]
     r = zeros(Float64, N)
     bc_constraint = CTModels.boundary_constraints_nl(ocp)
     boundary! = bc_constraint[2]
@@ -85,7 +90,7 @@ end
 let
     println("--------------------------------")
     println("Boundary constraint")
-    @code_native debuginfo=:none dump_module=false bc!(r, x0, xf, v)
+    @code_native debuginfo = :none dump_module = false bc!(r, x0, xf, v)
     println("\n")
     println("--------------------------------")
     println("Boundary constraint from model")

src/CTModels.jl

@@ -30,5 +30,6 @@ include("objective.jl")
 include("constraints.jl")
 include("definition.jl")
 include("model.jl")
+include("solution.jl")
 
 end

src/model.jl

@@ -75,17 +75,17 @@ function build_constraints(constraints::ConstraintsDictType)::ConstraintsModel
     length_boundary_cons_nl::Int = length(boundary_cons_nl_f)
 
     function make_path_cons_nl(
-        constraints_number::Int, 
-        constraints_dimensions::Vector{Int}, 
-        constraints_function::Function # only one function
+        constraints_number::Int,
+        constraints_dimensions::Vector{Int},
+        constraints_function::Function, # only one function
     )
         @assert constraints_number == 1
         return constraints_function
     end
 
     function make_path_cons_nl(
-        constraints_number::Int, 
-        constraints_dimensions::Vector{Int}, 
+        constraints_number::Int,
+        constraints_dimensions::Vector{Int},
         constraints_functions::Function...,
     )
         function path_cons_nl!(val, t, x, u, v)
@@ -101,9 +101,9 @@ function build_constraints(constraints::ConstraintsDictType)::ConstraintsModel
     end
 
     function make_boundary_cons_nl(
-        constraints_number::Int, 
-        constraints_dimensions::Vector{Int}, 
-        constraints_function::Function # only one function
+        constraints_number::Int,
+        constraints_dimensions::Vector{Int},
+        constraints_function::Function, # only one function
     )
         @assert constraints_number == 1
         return constraints_function