Merge pull request #153 from control-toolbox/add_some_ocp_indicators

WIP - add some boolean indicators for OCP

src/CTBase.jl

@@ -249,12 +249,14 @@ export __OCPModel # redirection to Model to avoid confusion with other Model fun
 export variable!, time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
 export is_time_independent, is_time_dependent, is_min, is_max, is_variable_dependent, is_variable_independent
 export nlp_constraints, constraints_labels
+export has_free_final_time, has_free_initial_time, has_lagrange_cost, has_mayer_cost
+export dim_boundary_conditions, dim_control_constraints, dim_state_constraints, dim_variable_constraints, dim_mixed_constraints, dim_path_constraints, dim_control_box, dim_state_box, dim_variable_box
 
 # solution
 export OptimalControlSolution
 
 # initialization
-export OCPInit
+export OptimalControlInit
 
 # utils
 export ctgradient, ctjacobian, ctinterpolate, ctindices, ctupperscripts

src/init.jl

@@ -5,22 +5,22 @@ Initialization of the OCP solution that can be used when solving the discretized
 
 # Constructors:
 
-- `OCPInit()`: default initialization
-- `OCPInit(x_init, u_init, v_init)`: constant vector and/or function handles
-- `OCPInit(sol)`: from existing solution
+- `OptimalControlInit()`: default initialization
+- `OptimalControlInit(x_init, u_init, v_init)`: constant vector and/or function handles
+- `OptimalControlInit(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)
+julia> init = OptimalControlInit()
+julia> init = OptimalControlInit(x_init=[0.1, 0.2], u_init=0.3)
+julia> init = OptimalControlInit(x_init=[0.1, 0.2], u_init=0.3, v_init=0.5)
+julia> init = OptimalControlInit(x_init=[0.1, 0.2], u_init=t->sin(t), v_init=0.5)
+julia> init = OptimalControlInit(sol)
 ```
 
 """
-mutable struct OCPInit
+mutable struct OptimalControlInit
 
     state_init::Function
     control_init::Function
@@ -30,7 +30,7 @@ mutable struct OCPInit
     info::Symbol
 
     # warm start from solution
-    function OCPInit(sol::OptimalControlSolution)
+    function OptimalControlInit(sol::OptimalControlSolution)
 
         init = new()
         init.info = :from_solution
@@ -43,7 +43,7 @@ mutable struct OCPInit
     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)
+    function OptimalControlInit(; state::Union{Nothing, ctVector, Function}=nothing, control::Union{Nothing, ctVector, Function}=nothing, variable::Union{Nothing, ctVector}=nothing)
 
         init = new()
         init.info = :constant_or_function
@@ -57,13 +57,19 @@ mutable struct OCPInit
 
     # version with arguments as collection/iterable
     # (may be fused with version above ?)
-    function OCPInit(init)
+    function OptimalControlInit(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)
+        return OptimalControlInit(state=x_init, control=u_init, variable=v_init)
 
     end
 
+    # trivial version that just returns its argument
+    # used for unified syntax in caller functions
+    function OptimalControlInit(init::OptimalControlInit)
+        return init
+    end
+
 end

src/model.jl

@@ -106,6 +106,36 @@ Return `true` if the model has been defined as variable independent.
 """
 is_variable_independent(ocp::OptimalControlModel) = !is_variable_dependent(ocp)
 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free initial time.
+"""
+has_free_initial_time(ocp::OptimalControlModel) = (typeof(ocp.initial_time)==Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free final time.
+"""
+has_free_final_time(ocp::OptimalControlModel) = (typeof(ocp.final_time)==Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with lagrange cost.
+"""
+has_lagrange_cost(ocp::OptimalControlModel) = !isnothing(ocp.lagrange)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with mayer cost.
+"""
+has_mayer_cost(ocp::OptimalControlModel) = !isnothing(ocp.mayer)
+
+
 """
 $(TYPEDSIGNATURES)
 
@@ -625,12 +655,14 @@ function constraint!(
                     ". Please choose in [ :initial, :final, :control, :state, :variable ] or check the arguments of the constraint! method."))
                 end
                 ocp.constraints[label] = (type, fun_rg, lb, ub)
-                nothing # to force to return nothing
 
             end #
         _ => throw(IncorrectArgument("Provided arguments are inconsistent."))
     end
 
+    # update constraints dimensions
+    __set_dim_constraints(ocp)
+
 end
 
 """
@@ -775,6 +807,7 @@ function remove_constraint!(ocp::OptimalControlModel, label::Symbol)
         ". Please check the list of constraints: ocp.constraints."))
     end
     delete!(ocp.constraints, label)
+    __set_dim_constraints(ocp) # update constraints dimensions
     nothing
 end
 
@@ -961,6 +994,34 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
+    # set specific constraints dimensions
+    ocp.dim_control_constraints = length(ξl)
+    ocp.dim_state_constraints = length(ηl)
+    ocp.dim_mixed_constraints = length(ψl)
+    ocp.dim_path_constraints = ocp.dim_control_constraints + ocp.dim_state_constraints + ocp.dim_mixed_constraints
+    ocp.dim_boundary_conditions = length(ϕl)
+    ocp.dim_variable_constraints = length(θl)
+    ocp.dim_control_box = length(ul)
+    ocp.dim_state_box = length(xl)
+    ocp.dim_variable_box = length(vl)
+
     return (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu), (ul, uind, uu), (xl, xind, xu), (vl, vind, vu)
 
 end
+
+#
+function __set_dim_constraints(ocp::OptimalControlModel)
+    nlp_constraints(ocp)
+    nothing
+end
+
+# getters for constraints dimensions
+dim_control_constraints(ocp::OptimalControlModel) = ocp.dim_control_constraints 
+dim_state_constraints(ocp::OptimalControlModel) = ocp.dim_state_constraints 
+dim_mixed_constraints(ocp::OptimalControlModel) = ocp.dim_mixed_constraints 
+dim_path_constraints(ocp::OptimalControlModel) = ocp.dim_path_constraints 
+dim_boundary_conditions(ocp::OptimalControlModel) = ocp.dim_boundary_conditions 
+dim_variable_constraints(ocp::OptimalControlModel) = ocp.dim_variable_constraints 
+dim_control_box(ocp::OptimalControlModel) = ocp.dim_control_box 
+dim_state_box(ocp::OptimalControlModel) = ocp.dim_state_box 
+dim_variable_box(ocp::OptimalControlModel) = ocp.dim_variable_box

src/print.jl

@@ -190,7 +190,7 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
     #
     println(io)
     printstyled(io, "Declarations ", bold=true)
-    printstyled(io, "(* for required):\n", bold=false)
+    printstyled(io, "(* required):\n", bold=false)
     #println(io)
 
     # print table of settings

src/types.jl

@@ -1174,6 +1174,17 @@ $(TYPEDFIELDS)
     criterion::Union{Symbol,Nothing}=nothing
     dynamics::Union{Dynamics,Nothing}=nothing
     constraints::Dict{Symbol, Tuple{Vararg{Any}}}=Dict{Symbol, Tuple{Vararg{Any}}}()
+
+    # internal dimensions for constraints
+    dim_control_constraints::Union{Dimension, Nothing}=nothing
+    dim_state_constraints::Union{Dimension, Nothing}=nothing
+    dim_mixed_constraints::Union{Dimension, Nothing}=nothing
+    dim_path_constraints::Union{Dimension, Nothing}=nothing
+    dim_boundary_conditions::Union{Dimension, Nothing}=nothing
+    dim_variable_constraints::Union{Dimension, Nothing}=nothing
+    dim_control_box::Union{Dimension, Nothing}=nothing
+    dim_state_box::Union{Dimension, Nothing}=nothing
+    dim_variable_box::Union{Dimension, Nothing}=nothing
 end
 
 # used for checkings