added PrettyPlots as a module

REQUIRE

@@ -3,9 +3,12 @@ FastGaussQuadrature
 JuMP
 DataFrames 0.11
 Ipopt
-KNITRO
+KNITRO 0.4
 Interpolations
 MathProgBase
 CSV 0.2.4
 OrdinaryDiffEq
 DiffEqBase
+Colors
+Plots
+GR

src/NLOptControl.jl

@@ -175,11 +175,14 @@ NLOpt(
 end
 
 # scripts
-include("utils.jl");
+include("utils.jl")
 include("setup.jl");
 include("ps.jl");
 include("diffeq.jl")
 
+include("PrettyPlots/PrettyPlots.jl")
+using .PrettyPlots
+
 export
        # Base functions  TODO make a hamiltonian function
        evalConstraints!,
@@ -246,5 +249,30 @@ export
        @NLconstraint,
        setvalue,
        getvalue,
-       setRHS
+       setRHS,
+
+       # PrettyPlots
+        minDF,
+        maxDF,
+        plotSettings,
+        _pretty_defaults,
+        currentSettings,
+
+        # NLOptControl plots
+        statePlot,
+        controlPlot,
+        costatesPlot,
+        costatesPlots,
+        allPlots,
+        adjust_axis,
+
+        # MPC plots
+        mpcPlot,
+        tPlot,
+        optPlot,
+
+        # Plots.jl exported functions
+        xlims!,
+        ylims!,
+        plot
 end # module

src/PrettyPlots/MPCPlots.jl

@@ -0,0 +1,95 @@
+"""
+--------------------------------------------------------------------------------------\n
+Author: Huckleberry Febbo, Graduate Student, University of Michigan
+Date Create: 04/26/2018 Last Modified: 04/26/2018 \n
+--------------------------------------------------------------------------------------\n
+"""
+function mpcPlot(n,idx,kwargs...)
+  if !isdir(n.r.resultsDir); resultsDir!(n); end
+  stp = [statePlot(n,idx,st;kwargs...) for st in 1:n.ocp.state.num]
+  ctp = [controlPlot(n,idx,ctr;kwargs...) for ctr in 1:n.ocp.control.num]
+
+  tp = tPlot(n,idx)
+
+  if n.s.ocp.evalCostates && n.s.ocp.integrationMethod == :ps && n.s.ocp.evalConstraints
+    csp = [costatePlot(n,idx,st;kwargs...) for st in 1:n.ocp.state.num]
+    all = [stp;ctp;tp;csp]
+  else
+    all = [stp;ctp;tp]
+  end
+
+  h = plot(all...,size=_pretty_defaults[:size])
+  if !_pretty_defaults[:simulate]; savefig(string(n.r.resultsDir,"mpc.",_pretty_defaults[:format])) end
+  return h
+end
+"""
+tp=tPlot(n,r,idx)
+tp=tPlot(n,r,idx,tp;(:append=>true))
+# plot the optimization times
+--------------------------------------------------------------------------------------\n
+Author: Huckleberry Febbo, Graduate Student, University of Michigan
+Date Create: 3/11/2017, Last Modified: 6/28/2017 \n
+--------------------------------------------------------------------------------------\n
+"""
+function tPlot(n,idx::Int64,args...;kwargs...);
+  r = n.r.ocp
+
+  kw = Dict(kwargs);
+  # check to see if user would like to add to an existing plot
+  if !haskey(kw,:append); append=false;
+  else; append = get(kw,:append,0);
+  end
+  if !append; tp=plot(0,leg=:false); else tp=args[1]; end
+
+  if idx > length(r.dfsOpt[:tSolve])
+      warn("Cannot plot idx = ", idx, " because length(r.dfsOpt[:tSolve]) = ", length(r.dfsOpt[:tSolve]), ". \n
+            reducing idx in tPlot!().")
+      idx = length(r.dfsOpt[:tSolve])
+  end
+
+  # check to see if user would like to label legend
+  if !haskey(kw,:legend);legend_string="";
+  else; legend_string = get(kw,:legend,0);
+  end
+
+  # to avoid a bunch of jumping around in the simulation
+	idx_max = length(r.dfsOpt[:tSolve])
+	if (idx_max<10); idx_max=10 end
+
+  if idx > 1
+    scatter!(1:idx-1,r.dfsOpt[:tSolve][1:idx-1],marker=_pretty_defaults[:opt_marker][3],label=string(legend_string,"Previous Times"))
+  end
+  if isequal(r.dfsOpt[:status][idx],:Optimal)
+    scatter!((idx,r.dfsOpt[:tSolve][idx]),marker=_pretty_defaults[:opt_marker][1],label=string(legend_string,"Optimal"))
+  else
+    scatter!((idx,r.dfsOpt[:tSolve][idx]),marker=_pretty_defaults[:opt_marker][2],label=string(legend_string,string(r.dfsOpt[:status][idx])) )
+  end
+
+  plot!(1:length(r.dfsOpt[:tSolve]),n.mpc.v.tex*ones(length(r.dfsOpt[:tSolve])),line=_pretty_defaults[:limit_lines][2],leg=:true,label="real-time threshhold",leg=:topright)
+
+	ylims!(0,max(n.mpc.v.tex*1.2, maximum(r.dfsOpt[:tSolve])))
+  xlims!(1,length(r.dfsOpt[:tSolve]))
+	yaxis!("Optimization Time (s)")
+	xaxis!("Evaluation Number")
+  plot!(size=_pretty_defaults[:size]);
+	if !_pretty_defaults[:simulate] savefig(string(n.r.resultsDir,"tplot.",_pretty_defaults[:format])) end
+
+	return tp
+end
+
+"""
+--------------------------------------------------------\n
+Author: Huckleberry Febbo, Graduate Student, University of Michigan
+Date Create: 7/04/2017, Last Modified: 7/04/2017 \n
+--------------------------------------------------------------------------------------\n
+"""
+function optPlot(n)
+  L = length(n.r.ocp.dfsOpt[:tSolve])
+  temp = [n.r.ocp.dfsOpt[:objVal][jj] for jj in 1:L]
+  val = [idx for tempM in temp for idx=tempM]
+  opt = plot(1:L,val)
+  yaxis!("Objective Function Values")
+	xaxis!("Evaluation Number")
+  savefig(string(n.r.resultsDir,"optPlot.",_pretty_defaults[:format]))
+  return opt
+end