Merge pull request #33 from control-toolbox/32-dev-as_vector-for-constraint

as_vector in constraint!

Author: jbcaillau

src/constraints.jl

@@ -129,8 +129,8 @@ function constraint!(
     type::Symbol;
     rg::Union{OrdinalRange{<:Int},Nothing}=nothing,
     f::Union{Function,Nothing}=nothing,
-    lb::Union{ctVector,Nothing}=nothing,
-    ub::Union{ctVector,Nothing}=nothing,
+    lb::Union{ctNumber,ctVector,Nothing}=nothing,
+    ub::Union{ctNumber,ctVector,Nothing}=nothing,
     label::Symbol=__constraint_label(),
 )
 
@@ -156,13 +156,16 @@ function constraint!(
     n = dimension(ocp.state)
     m = dimension(ocp.control)
     q = dimension(ocp.variable)
-
     # add the constraint
     return __constraint!(
-        ocp.constraints, type, n, m, q; rg=rg, f=f, lb=lb, ub=ub, label=label
+        ocp.constraints, type, n, m, q; rg=rg, f=f, lb=as_vector(lb), ub=as_vector(ub), label=label
     )
 end
 
+as_vector(x::Nothing) = nothing
+as_vector(x::T) where {T <: ctNumber} = [x]
+as_vector(x::Vector{T}) where {T <: ctNumber} = x
+
 # ------------------------------------------------------------------------------ #
 # GETTERS
 # ------------------------------------------------------------------------------ #