Merge pull request #131 from control-toolbox/init_CTDirect

v0.8.0

Project.toml

@@ -1,7 +1,7 @@
 name = "CTBase"
 uuid = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.7.12"
+version = "0.8.0"
 
 [deps]
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"

src/CTBase.jl

@@ -115,6 +115,8 @@ include("ctparser_utils.jl")
 ##include("ctparser.jl")
 include("onepass.jl")
 include("repl.jl")
+#
+include("init.jl")
 
 # numeric types
 export ctNumber, ctVector, Time, Times, TimesDisc
@@ -153,6 +155,9 @@ export nlp_constraints, constraints_labels
 export OptimalControlSolution
 export plot, plot!
 
+# initialization
+export OCPInit
+
 # utils
 export ctgradient, ctjacobian, ctinterpolate, ctindices, ctupperscripts
 

src/init.jl

@@ -0,0 +1,69 @@
+"""
+$(TYPEDSIGNATURES)
+
+Initialization of the OCP solution that can be used when solving the discretized problem DOCP.
+
+# Constructors:
+
+- `OCPInit()`: default initialization
+- `OCPInit(x_init, u_init, v_init)`: constant vector and/or function handles
+- `OCPInit(sol)`: from existing solution
+
+# Examples
+
+```julia-repl
+julia> init = OCPInit()
+julia> init = OCPInit(x_init=[0.1, 0.2], u_init=0.3)
+julia> init = OCPInit(x_init=[0.1, 0.2], u_init=0.3, v_init=0.5)
+julia> init = OCPInit(x_init=[0.1, 0.2], u_init=t->sin(t), v_init=0.5)
+julia> init = OCPInit(sol)
+```
+
+"""
+mutable struct OCPInit
+
+    state_init::Function
+    control_init::Function
+    variable_init::Union{Nothing, ctVector}
+    costate_init::Function
+    multipliers_init::Union{Nothing, ctVector}
+    info::Symbol
+
+    # warm start from solution
+    function OCPInit(sol::OptimalControlSolution)
+
+        init = new()
+        init.info = :from_solution
+        init.state_init    = t -> sol.state(t)
+        init.control_init  = t -> sol.control(t)
+        init.variable_init = sol.variable
+        #+++ add costate and scalar multipliers
+
+        return init
+    end
+
+    # constant / functional init with explicit arguments
+    function OCPInit(; state::Union{Nothing, ctVector, Function}=nothing, control::Union{Nothing, ctVector, Function}=nothing, variable::Union{Nothing, ctVector}=nothing)
+
+        init = new()
+        init.info = :constant_or_function
+        init.state_init = (state isa Function) ? t -> state(t) : t -> state
+        init.control_init = (control isa Function) ? t -> control(t) : t -> control
+        init.variable_init = variable
+        #+++ add costate and scalar multipliers
+
+        return init
+    end
+
+    # version with arguments as collection/iterable
+    # (may be fused with version above ?)
+    function OCPInit(init)
+
+        x_init = :state    ∈ keys(init) ? init[:state]    : nothing
+        u_init = :control  ∈ keys(init) ? init[:control]  : nothing
+        v_init = :variable ∈ keys(init) ? init[:variable] : nothing
+        return OCPInit(state=x_init, control=u_init, variable=v_init)
+
+    end
+
+end