Merge pull request #530 from control-toolbox/529-dev-export-dual-function

add export dual

Author: ocots

src/OptimalControl.jl

@@ -34,6 +34,7 @@ import CTModels:
     Model,
     PreModel,
     # getters
+    dual,
     initial_time,
     final_time,
     time_name,
@@ -65,7 +66,8 @@ import CTModels:
     message,
     infos
 export Model
-export initial_time,
+export dual,
+    initial_time,
     final_time,
     time_name,
     variable_dimension,

test/extras/cons.jl

@@ -90,7 +90,9 @@ t_flow = time_grid(sol_flow);
 x_flow = state(sol_flow);
 p_flow = costate(sol_flow);
 u_flow = control(sol_flow);
-η_flow = t -> 2x(t) * (t1 ≤ t ≤ t2)
+η_flow = dual(sol, ocp, :eq1) # t -> 2x(t) * (t1 ≤ t ≤ t2)
 
 H_flow(t) = H(x_flow(t), p_flow(t), u_flow(t), η_flow(t));
 plot!(plt_H, t, H_flow; color=:blue, label="indirect")
+
+plot(t_flow, η_flow)