Merge pull request #120 from control-toolbox/119-dev-plot

Plot only on sol

Author: ocots

Project.toml

@@ -1,7 +1,7 @@
 name = "CTModels"
 uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.3.8"
+version = "0.3.9"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"

ext/default.jl

@@ -67,6 +67,7 @@ function __size_plot(
 
     # check what to plot
     do_plot_state, do_plot_costate, do_plot_control, do_plot_path, do_plot_dual = do_plot(
+        sol,
         description...;
         state_style=state_style,
         control_style=control_style,

ext/plot.jl

@@ -216,6 +216,7 @@ function __initial_plot(
 
     # check what to plot
     do_plot_state, do_plot_costate, do_plot_control, do_plot_path, do_plot_dual = do_plot(
+        sol,
         description...;
         state_style=state_style,
         control_style=control_style,
@@ -449,6 +450,7 @@ function __plot!(
 
     # check what to plot
     do_plot_state, do_plot_costate, do_plot_control, do_plot_path, do_plot_dual = do_plot(
+        sol,
         description...;
         state_style=state_style,
         control_style=control_style,
@@ -1040,119 +1042,14 @@ function __plot(
 end
 
 # --------------------------------------------------------------------------------------------------
-# public plots: from a solution
-"""
-$(TYPEDSIGNATURES)
-
-Plot the optimal control solution `sol` using the layout `layout`.
-
-**Notes.**
-
-- The argument `layout` can be `:group` or `:split` (default).
-- `control` can be `:components`, `:norm` or `:all`.
-- `time` can be `:default` or `:normalize`.
-- The keyword arguments `state_style`, `control_style` and `costate_style` are passed to the `plot` function of the `Plots` package. The `state_style` is passed to the plot of the state, the `control_style` is passed to the plot of the control and the `costate_style` is passed to the plot of the costate.
-"""
-function Plots.plot!(
-    p::Plots.Plot,
-    sol::CTModels.Solution,
-    description::Symbol...;
-    layout::Symbol=__plot_layout(),
-    control::Symbol=__control_layout(),
-    time::Symbol=__time_normalization(),
-    solution_label::String=__plot_label_suffix(),
-    state_style::Union{NamedTuple,Symbol}=__plot_style(),
-    control_style::Union{NamedTuple,Symbol}=__plot_style(),
-    costate_style::Union{NamedTuple,Symbol}=__plot_style(),
-    kwargs...,
-)
-    return __plot!(
-        p,
-        sol,
-        description...;
-        layout=layout,
-        control=control,
-        time=time,
-        solution_label=solution_label,
-        state_style=state_style,
-        control_style=control_style,
-        costate_style=costate_style,
-        model=nothing,
-        state_bounds_style=__plot_style(),
-        control_bounds_style=__plot_style(),
-        time_style=__plot_style(),
-        path_style=__plot_style(),
-        path_bounds_style=__plot_style(),
-        dual_style=__plot_style(),
-        kwargs...,
-    )
-end
-
+# public plots
 """
 $(TYPEDSIGNATURES)
 
 Plot the optimal control solution `sol`.
 
 **Notes.**
 
-- The argument `layout` can be `:group` or `:split` (default).
-- The keyword arguments `state_style`, `control_style` and `costate_style` are passed to the `plot` function of the `Plots` package. The `state_style` is passed to the plot of the state, the `control_style` is passed to the plot of the control and the `costate_style` is passed to the plot of the costate.
-"""
-function Plots.plot(
-    sol::CTModels.Solution,
-    description::Symbol...;
-    layout::Symbol=__plot_layout(),
-    control::Symbol=__control_layout(),
-    time::Symbol=__time_normalization(),
-    solution_label::String=__plot_label_suffix(),
-    state_style::Union{NamedTuple,Symbol}=__plot_style(),
-    control_style::Union{NamedTuple,Symbol}=__plot_style(),
-    costate_style::Union{NamedTuple,Symbol}=__plot_style(),
-    size::Tuple=__size_plot(
-        sol,
-        nothing,
-        control,
-        layout,
-        description...;
-        state_style=state_style,
-        control_style=control_style,
-        costate_style=costate_style,
-        path_style=:none,
-        dual_style=:none,
-    ),
-    kwargs...,
-)
-    return __plot(
-        sol,
-        description...;
-        layout=layout,
-        control=control,
-        time=time,
-        solution_label=solution_label,
-        state_style=state_style,
-        control_style=control_style,
-        costate_style=costate_style,
-        model=nothing,
-        state_bounds_style=__plot_style(),
-        control_bounds_style=__plot_style(),
-        time_style=__plot_style(),
-        path_style=__plot_style(),
-        path_bounds_style=__plot_style(),
-        dual_style=__plot_style(),
-        size=size,
-        kwargs...,
-    )
-end
-
-# --------------------------------------------------------------------------------------------------
-# public plots: from a solution and the model
-"""
-$(TYPEDSIGNATURES)
-
-Plot the optimal control solution `sol` using the layout `layout`. The model is used to represent the initial and final times and the constraints.
-
-**Notes.**
-
 - The argument `layout` can be `:group` or `:split` (default).
 - `control` can be `:components`, `:norm` or `:all`.
 - `time` can be `:default` or `:normalize`.
@@ -1162,7 +1059,6 @@ Plot the optimal control solution `sol` using the layout `layout`. The model is
 function Plots.plot!(
     p::Plots.Plot,
     sol::CTModels.Solution,
-    model::CTModels.Model,
     description::Symbol...;
     layout::Symbol=__plot_layout(),
     control::Symbol=__control_layout(),
@@ -1192,7 +1088,7 @@ function Plots.plot!(
         state_style=state_style,
         control_style=control_style,
         costate_style=costate_style,
-        model=model,
+        model=CTModels.model(sol),
         state_bounds_style=state_bounds_style,
         control_bounds_style=control_bounds_style,
         time_style=time_style,
@@ -1206,7 +1102,7 @@ end
 """
 $(TYPEDSIGNATURES)
 
-Plot the optimal control solution `sol` using the layout `layout`. The model is used to represent the initial and final times and the constraints.
+Plot the optimal control solution `sol`.
 
 **Notes.**
 
@@ -1216,7 +1112,6 @@ Plot the optimal control solution `sol` using the layout `layout`. The model is
 """
 function Plots.plot(
     sol::CTModels.Solution,
-    model::CTModels.Model,
     description::Symbol...;
     layout::Symbol=__plot_layout(),
     control::Symbol=__control_layout(),
@@ -1233,7 +1128,7 @@ function Plots.plot(
     dual_style::Union{NamedTuple,Symbol}=__plot_style(),
     size::Tuple=__size_plot(
         sol,
-        model,
+        CTModels.model(sol),
         control,
         layout,
         description...;
@@ -1255,7 +1150,7 @@ function Plots.plot(
         state_style=state_style,
         control_style=control_style,
         costate_style=costate_style,
-        model=model,
+        model=CTModels.model(sol),
         state_bounds_style=state_bounds_style,
         control_bounds_style=control_bounds_style,
         time_style=time_style,

ext/plot_utils.jl

@@ -26,6 +26,7 @@ The description is a cleaned tuple of symbols that can be:
     :state, :costate, :control, :path, :dual
 """
 function do_plot(
+    sol::CTModels.Solution,
     description::Symbol...;
     state_style::Union{NamedTuple,Symbol},
     control_style::Union{NamedTuple,Symbol},
@@ -37,7 +38,7 @@ function do_plot(
     do_plot_costate = :costate ∈ description && costate_style != :none
     do_plot_control = :control ∈ description && control_style != :none
     do_plot_path = :path ∈ description && path_style != :none
-    do_plot_dual = :dual ∈ description && dual_style != :none
+    do_plot_dual = :dual ∈ description && dual_style != :none && !isnothing(CTModels.path_constraints_dual(sol))
 
     return (do_plot_state, do_plot_costate, do_plot_control, do_plot_path, do_plot_dual)
 end

src/CTModels.jl

@@ -221,15 +221,6 @@ function RecipesBase.plot(sol::AbstractSolution; kwargs...)
     throw(CTBase.ExtensionError(:Plots))
 end
 
-# """
-# $(TYPEDSIGNATURES)
-
-# Plot a solution on an existing plot.
-# """
-# function RecipesBase.plot!(p::RecipesBase.AbstractPlot, sol::AbstractSolution; kwargs...)
-#     throw(CTBase.ExtensionError(:Plots))
-# end
-
 #
 include("init.jl")
 include("dual_model.jl")

src/solution.jl

@@ -218,7 +218,7 @@ function build_solution(
     )
 
     return Solution(
-        time_grid, times(ocp), state, control, variable, fp, objective, dual, solver_infos
+        time_grid, times(ocp), state, control, variable, fp, objective, dual, solver_infos, ocp
     )
 end
 
@@ -277,6 +277,7 @@ function state(
         <:ctNumber,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::TS where {TS<:Function}
     return value(sol.state)
@@ -334,6 +335,7 @@ function control(
         <:ctNumber,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::TS where {TS<:Function}
     return value(sol.control)
@@ -389,6 +391,7 @@ function variable(
         <:ctNumber,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::TS where {TS<:Union{ctNumber,ctVector}}
     return value(sol.variable)
@@ -416,6 +419,7 @@ function costate(
         <:ctNumber,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::Co where {Co<:Function}
     return sol.costate
@@ -468,6 +472,7 @@ function time_grid(
         <:ctNumber,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::T where {T<:TimesDisc}
     return sol.time_grid.value
@@ -490,6 +495,7 @@ function objective(
         O,
         <:AbstractDualModel,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::O where {O<:ctNumber}
     return sol.objective
@@ -570,6 +576,7 @@ function dual_model(
         <:ctNumber,
         DM,
         <:AbstractSolverInfos,
+        <:AbstractModel,
     },
 )::DM where {DM<:AbstractDualModel}
     return sol.dual
@@ -655,6 +662,27 @@ function variable_constraints_ub_dual(sol::Solution)
     return variable_constraints_ub_dual(dual_model(sol))
 end
 
+"""
+$(TYPEDSIGNATURES)
+
+"""
+function model(
+    sol::Solution{
+        <:AbstractTimeGridModel,
+        <:AbstractTimesModel,
+        <:AbstractStateModel,
+        <:AbstractControlModel,
+        <:AbstractVariableModel,
+        <:Function,
+        <:ctNumber,
+        <:AbstractDualModel,
+        <:AbstractSolverInfos,
+        TM,
+    },
+)::TM where {TM<:AbstractModel}
+    return sol.model
+end
+
 # --------------------------------------------------------------------------------------------------
 # print a solution
 """
@@ -663,14 +691,14 @@ $(TYPEDSIGNATURES)
 Prints the solution.
 """
 function Base.show(io::IO, ::MIME"text/plain", sol::Solution)
-    return print(io, typeof(sol))
+    return print(io, "Optimal Control Solution")
 end
 
 """
 $(TYPEDSIGNATURES)
 
 """
 function Base.show_default(io::IO, sol::Solution)
-    return print(io, typeof(sol))
+    return print(io, "Optimal Control Solution")
     #show(io, MIME("text/plain"), sol)
 end

src/types.jl

@@ -490,6 +490,7 @@ struct Solution{
     ObjectiveValueType<:ctNumber,
     DualModelType<:AbstractDualModel,
     SolverInfosType<:AbstractSolverInfos,
+    ModelType<:AbstractModel,
 } <: AbstractSolution
     time_grid::TimeGridModelType
     times::TimesModelType
@@ -500,6 +501,7 @@ struct Solution{
     objective::ObjectiveValueType
     dual::DualModelType
     solver_infos::SolverInfosType
+    model::ModelType
 end
 
 """

test/Project.toml

@@ -13,7 +13,7 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 Aqua = "0.8"
 CTBase = "0.16"
 CTDirect = "0.14"
-CTParser = "0.2"
+CTParser = "0.3"
 JLD2 = "0.5"
 JSON3 = "1"
 NLPModelsIpopt = "0.10"