Merge pull request #23 from control-toolbox/profiling

foo

Author: ocots

profiling/boundary.jl

@@ -21,30 +21,21 @@ begin
             r[2] = xf[1]
             return nothing
         end
-        #bc!(r, x0, xf, v) = r .= [x0[1], xf[1]]
-        CTModels.constraint!(
-            pre_ocp, :boundary; f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary1
-        )
-        CTModels.constraint!(
-            pre_ocp, :boundary; f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary2
-        )
-        CTModels.constraint!(
-            pre_ocp, :boundary; f=bc!, lb=[-1, 0], ub=[-1, 0], label=:boundary3
-        )
-        CTModels.constraint!(
-            pre_ocp, :control; rg=1:2, lb=[0, 0], ub=[Inf, Inf], label=:control_rg
-        )
+        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=bc!, 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.definition!(pre_ocp, Expr(:simple_integrator_min_energy))
         ocp = CTModels.build_model(pre_ocp)
-        return ocp
+        return ocp, N
     end
 
-    ocp = simple_integrator_model()
+    ocp, N = simple_integrator_model()
 
     x0 = [1.0]
     xf = [0.0]
-    v = Float64[]
-    r = zeros(Float64, 6)
+    v  = Float64[]
+    r = zeros(Float64, N)
     bc_constraint = CTModels.boundary_constraints_nl(ocp)
     boundary! = bc_constraint[2]
     boundary!(r, x0, xf, v)
@@ -61,24 +52,27 @@ let
     println("--------------------------------")
     println("Boundary constraint")
     @code_warntype bc!(r, x0, xf, v)
-
+    println("\n")
     println("--------------------------------")
     println("Boundary constraint from model")
     @code_warntype boundary!(r, x0, xf, v)
 end
 
 let
+    println("--------------------------------")
     println("Boundary constraint")
-    @btime bc!(r, x0, xf, v)
+    display(@benchmark bc!(r, x0, xf, v))
+    println("\n")
+    println("--------------------------------")
     println("Boundary constraint from model")
-    @btime boundary!(r, x0, xf, v)
+    display(@benchmark boundary!(r, x0, xf, v))
 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")
     @code_native debuginfo = :none dump_module = false boundary!(r, x0, xf, v)

src/model.jl

@@ -74,8 +74,17 @@ 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_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_functions::Function...,
     )
         function path_cons_nl!(val, t, x, u, v)
@@ -90,15 +99,14 @@ function build_constraints(constraints::ConstraintsDictType)::ConstraintsModel
         return path_cons_nl!
     end
 
-    # function path_cons_nl!(val, t, x, u, v) # nonlinear path constraints (in place)
-    #     j = 1
-    #     for i in 1:length_path_cons_nl
-    #         li = path_cons_nl_dim[i]
-    #         path_cons_nl_f[i](@view(val[j:(j + li - 1)]), t, x, u, v)
-    #         j += li
-    #     end
-    #     return nothing
-    # end
+    function make_boundary_cons_nl(
+        constraints_number::Int, 
+        constraints_dimensions::Vector{Int}, 
+        constraints_function::Function # only one function
+    )
+        @assert constraints_number == 1
+        return constraints_function
+    end
 
     function make_boundary_cons_nl(
         constraints_number::Int,
@@ -117,16 +125,6 @@ function build_constraints(constraints::ConstraintsDictType)::ConstraintsModel
         return boundary_cons_nl!
     end
 
-    # function boundary_cons_nl!(val, x0, xf, v) # nonlinear boundary constraints
-    #     j = 1
-    #     for i in 1:length_boundary_cons_nl
-    #         li = boundary_cons_nl_dim[i]
-    #         boundary_cons_nl_f[i](@view(val[j:(j + li - 1)]), x0, xf, v)
-    #         j += li
-    #     end
-    #     return nothing
-    # end
-
     path_cons_nl! = make_path_cons_nl(
         length_path_cons_nl, path_cons_nl_dim, path_cons_nl_f...
     )