Merge pull request #21 from control-toolbox/profiling

update constraints perf

Author: ocots

Project.toml

@@ -9,13 +9,11 @@ DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
 MacroTools = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
-StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
 CTBase = "0.14.0"
 DocStringExtensions = "0.9.3"
 MLStyle = "0.4.17"
 MacroTools = "0.5.13"
 Parameters = "0.12.3"
-StaticArrays = "1.9.8"
 julia = "1.11"

profiling/Project.toml

@@ -0,0 +1,7 @@
+[deps]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
+JET = "c3a54625-cd67-489e-a8e7-0a5a0ff4e31b"
+PProf = "e4faabce-9ead-11e9-39d9-4379958e3056"
+Profile = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
+Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"

profiling/boundary.jl

@@ -0,0 +1,77 @@
+begin
+    using Revise
+    using CTModels
+
+    using JET
+    using BenchmarkTools
+    using Profile 
+
+    # define problem with new model: simple integrator
+    function simple_integrator_model()
+        pre_ocp = CTModels.PreModel()
+        CTModels.state!(pre_ocp, 1)
+        CTModels.control!(pre_ocp, 2)
+        CTModels.time!(pre_ocp, t0=0.0, tf=1.0)
+        f!(r, t, x, u, v) = r .=  .- x[1] .- u[1] .+ u[2] 
+        CTModels.dynamics!(pre_ocp, f!)
+        l(t, x, u, v) = (u[1] .+ u[2]).^2
+        CTModels.objective!(pre_ocp, :min, lagrange=l)
+        function bc!(r, x0, xf, v)
+            r[1] = x0[1]
+            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.definition!(pre_ocp, Expr(:simple_integrator_min_energy))
+        ocp = CTModels.build_model(pre_ocp)
+        return ocp
+    end
+
+    ocp = simple_integrator_model()
+
+    x0 = [1.0]
+    xf = [0.0]
+    v  = Float64[]
+    r = zeros(Float64, 6)
+    bc_constraint = CTModels.boundary_constraints_nl(ocp)
+    boundary! = bc_constraint[2]
+    boundary!(r, x0, xf, v)
+    r
+
+    function bc!(r, x0, xf, v)
+        r[1] = x0[1]
+        r[2] = xf[1]
+        return nothing
+    end
+end
+
+let
+    println("--------------------------------")
+    println("Boundary constraint")
+    @code_warntype bc!(r, x0, xf, v)
+
+    println("--------------------------------")
+    println("Boundary constraint from model")
+    @code_warntype boundary!(r, x0, xf, v)
+end
+
+let
+    println("Boundary constraint")
+    @btime bc!(r, x0, xf, v)
+    println("Boundary constraint from model")
+    @btime boundary!(r, x0, xf, v)
+end
+
+let
+    println("--------------------------------")
+    println("Boundary constraint")
+    @code_native debuginfo=:none dump_module=false bc!(r, x0, xf, v)
+
+    println("--------------------------------")
+    println("Boundary constraint from model")
+    @code_native debuginfo=:none dump_module=false boundary!(r, x0, xf, v)
+end

src/constraints.jl

@@ -106,14 +106,14 @@ function __constraint!(
 
         (::Nothing, ::Function, ::ctVector, ::ctVector) => begin
             # set the constraint
-            if type ∈ [:boundary, :variable, :path]
+            if type ∈ [:boundary, :path]
                 ocp_constraints[label] = (type, f, lb, ub)
             else
                 throw(
                     CTBase.IncorrectArgument(
                         "the following type of constraint is not valid: " *
                         String(type) *
-                        ". Please choose in [ :boundary, :variable, :path ] or check the arguments of the constraint! method.",
+                        ". Please choose in [ :boundary, :path ] or check the arguments of the constraint! method.",
                     ),
                 )
             end
@@ -172,7 +172,7 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
 
 (
     path_constraints_nl(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
+        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TB,TS,TC,TV,ConstraintsDictType}}
     )::TP
 ) where {
     T<:TimesModel,
@@ -182,35 +182,15 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
     D<:Function,
     O<:AbstractObjectiveModel,
     TP,
-    TV1,
     TB,
     TS,
     TC,
-    TV2,
+    TV,
 } = ocp.constraints.path_nl
 
-(
-    variable_constraints_nl(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
-    )::TV1
-) where {
-    T<:TimesModel,
-    S<:AbstractStateModel,
-    C<:AbstractControlModel,
-    V<:AbstractVariableModel,
-    D<:Function,
-    O<:AbstractObjectiveModel,
-    TP,
-    TV1,
-    TB,
-    TS,
-    TC,
-    TV2,
-} = ocp.constraints.variable_nl
-
 (
     boundary_constraints_nl(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
+        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TB,TS,TC,TV,ConstraintsDictType}}
     )::TB
 ) where {
     T<:TimesModel,
@@ -220,16 +200,15 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
     D<:Function,
     O<:AbstractObjectiveModel,
     TP,
-    TV1,
     TB,
     TS,
     TC,
-    TV2,
+    TV,
 } = ocp.constraints.boundary_nl
 
 (
     state_constraints_box(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
+        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TB,TS,TC,TV,ConstraintsDictType}}
     )::TS
 ) where {
     T<:TimesModel,
@@ -239,16 +218,15 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
     D<:Function,
     O<:AbstractObjectiveModel,
     TP,
-    TV1,
     TB,
     TS,
     TC,
-    TV2,
+    TV,
 } = ocp.constraints.state_box
 
 (
     control_constraints_box(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
+        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TB,TS,TC,TV,ConstraintsDictType}}
     )::TC
 ) where {
     T<:TimesModel,
@@ -258,17 +236,16 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
     D<:Function,
     O<:AbstractObjectiveModel,
     TP,
-    TV1,
     TB,
     TS,
     TC,
-    TV2,
+    TV,
 } = ocp.constraints.control_box
 
 (
     variable_constraints_box(
-        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TV1,TB,TS,TC,TV2,ConstraintsDictType}}
-    )::TV2
+        ocp::Model{T,S,C,V,D,O,ConstraintsModel{TP,TB,TS,TC,TV,ConstraintsDictType}}
+    )::TV
 ) where {
     T<:TimesModel,
     S<:AbstractStateModel,
@@ -277,51 +254,43 @@ constraint(ocp::Model, label::Symbol)::Tuple = ocp.constraints.dict[label]
     D<:Function,
     O<:AbstractObjectiveModel,
     TP,
-    TV1,
     TB,
     TS,
     TC,
-    TV2,
+    TV,
 } = ocp.constraints.variable_box
 
 """
 $(TYPEDSIGNATURES)
 
 Return the dimension of nonlinear path constraints.
 """
-dim_path_constraints_nl(ocp::Model)::Int = length(path_constraints_nl(ocp)[1])
+dim_path_constraints_nl(ocp::Model)::Dimension = length(path_constraints_nl(ocp)[1])
 
 """
 $(TYPEDSIGNATURES)
 
 Return the dimension of the boundary constraints.
 """
-dim_boundary_constraints_nl(ocp::Model)::Int = length(boundary_constraints_nl(ocp)[1])
-
-"""
-$(TYPEDSIGNATURES)
-
-Return the dimension of nonlinear variable constraints.
-"""
-dim_variable_constraints_nl(ocp::Model)::Int = length(variable_constraints_nl(ocp)[1])
+dim_boundary_constraints_nl(ocp::Model)::Dimension = length(boundary_constraints_nl(ocp)[1])
 
 """
 $(TYPEDSIGNATURES)
 
 Return the dimension of box constraints on state.
 """
-dim_state_constraints_box(ocp::Model)::Int = length(state_constraints_box(ocp)[1])
+dim_state_constraints_box(ocp::Model)::Dimension = length(state_constraints_box(ocp)[1])
 
 """
 $(TYPEDSIGNATURES)
 
 Return the dimension of box constraints on control.
 """
-dim_control_constraints_box(ocp::Model)::Int = length(control_constraints_box(ocp)[1])
+dim_control_constraints_box(ocp::Model)::Dimension = length(control_constraints_box(ocp)[1])
 
 """
 $(TYPEDSIGNATURES)
 
 Return the dimension of box constraints on variable.
 """
-dim_variable_constraints_box(ocp::Model)::Int = length(variable_constraints_box(ocp)[1])
+dim_variable_constraints_box(ocp::Model)::Dimension = length(variable_constraints_box(ocp)[1])