foo

Author: ocots

src/OptimalControl.jl

@@ -22,6 +22,7 @@ using CTProblems
 
 # declarations
 const __display = CTBase.__display
+__ocp_init() = CTBase.OCPInit()
 
 include("solve.jl")
 

src/solve.jl

@@ -66,7 +66,7 @@ julia> sol = solve(ocp, init=(state=t->[-1+t, t*(t-1)], control=t->6-12*t))
 """
 function solve(ocp::OptimalControlModel, description::Symbol...; 
     display::Bool=__display(),
-    init=nothing,
+    init=__ocp_init(),
     kwargs...)
 
     #

test/runtests.jl

@@ -7,6 +7,7 @@ using CTProblems
 #
 @testset verbose = true showtiming = true "Optimal control tests" begin
     for name ∈ (
+        :basic,
         :goddard_direct,
         :goddard_indirect,
         :init,

test/test_basic.jl

@@ -0,0 +1,16 @@
+function test_basic()
+
+    @def ocp begin
+        t ∈ [ 0, 1 ], time
+        x ∈ R², state
+        u ∈ R, control
+        x(0) == [ -1, 0 ]
+        x(1) == [ 0, 0 ]
+        ẋ(t) == [ x₂(t), u(t) ]
+        ∫( 0.5u(t)^2 ) → min
+    end
+
+    sol = solve(ocp)
+    @test sol.objective ≈ 6 atol=1e-2
+
+end