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removed useless change to __getter in test_model, as everything is fu…
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…nctional and oop (= out of place)
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@jbcaillau
jbcaillau committed Sep 6, 2024
1 parent 4bf88fc commit c1bed0a
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164 changes: 82 additions & 82 deletions test/test_model.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -781,17 +781,17 @@ function test_model() # 30 55 185
)
constraint!(ocp, :initial, lb = 0, ub = 0, label = :c0)
constraint!(ocp, :final, lb = 1, ub = 1, label = :cf)
@test __constraint(ocp, :c0)(12, ∅) == 12
@test __constraint(ocp, :cf)(∅, 12) == 12
@test constraint(ocp, :c0)(12, ∅) == 12
@test constraint(ocp, :cf)(∅, 12) == 12

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 1)
constraint!(ocp, :initial, lb = [0, 1], ub = [0, 1], label = :c0)
constraint!(ocp, :final, lb = [1, 2], ub = [1, 2], label = :cf)
@test __constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test __constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]
@test constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]

# constraint already exists
ocp = Model()
Expand All @@ -812,13 +812,13 @@ function test_model() # 30 55 185
xf = 1
constraint!(ocp, :initial, rg = 1, lb = x0, ub = x0, label = :c0)
constraint!(ocp, :final, rg = 1, lb = xf, ub = xf, label = :cf)
@test __constraint(ocp, :c0)(x, ∅) == x
@test __constraint(ocp, :cf)(∅, x) == x
@test constraint(ocp, :c0)(x, ∅) == x
@test constraint(ocp, :cf)(∅, x) == x

constraint!(ocp, :initial, rg = 1, lb = x0, ub = x0, label = :c00)
constraint!(ocp, :final, rg = 1, lb = xf, ub = xf, label = :cff)
@test __constraint(ocp, :c00)(x, ∅) == x
@test __constraint(ocp, :cff)(∅, x) == x
@test constraint(ocp, :c00)(x, ∅) == x
@test constraint(ocp, :cff)(∅, x) == x

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand Down Expand Up @@ -853,8 +853,8 @@ function test_model() # 30 55 185
xf = [1, 2]
constraint!(ocp, :initial, rg = 1:2, lb = x0, ub = x0, label = :c0)
constraint!(ocp, :final, rg = 1:2, lb = xf, ub = xf, label = :cf)
@test __constraint(ocp, :c0)(x, ∅) == x[1:2]
@test __constraint(ocp, :cf)(∅, x) == x[1:2]
@test constraint(ocp, :c0)(x, ∅) == x[1:2]
@test constraint(ocp, :cf)(∅, x) == x[1:2]

# constraint already exists
ocp = Model()
Expand All @@ -874,10 +874,10 @@ function test_model() # 30 55 185
constraint!(ocp, :final, lb = 1, ub = 2, label = :cf)
constraint!(ocp, :control, lb = 0, ub = 1, label = :cu)
constraint!(ocp, :state, lb = 0, ub = 1, label = :cs)
@test __constraint(ocp, :c0)(12, ∅) == 12
@test __constraint(ocp, :cf)(∅, 12) == 12
@test __constraint(ocp, :cu)(12) == 12
@test __constraint(ocp, :cs)(12) == 12
@test constraint(ocp, :c0)(12, ∅) == 12
@test constraint(ocp, :cf)(∅, 12) == 12
@test constraint(ocp, :cu)(12) == 12
@test constraint(ocp, :cs)(12) == 12

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand All @@ -887,10 +887,10 @@ function test_model() # 30 55 185
constraint!(ocp, :final, lb = [1, 2], ub = [2, 3], label = :cf)
constraint!(ocp, :control, lb = [0, 1], ub = [1, 2], label = :cu)
constraint!(ocp, :state, lb = [0, 1], ub = [1, 2], label = :cs)
@test __constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test __constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]
@test __constraint(ocp, :cu)([12, 13]) == [12, 13]
@test __constraint(ocp, :cs)([12, 13]) == [12, 13]
@test constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]
@test constraint(ocp, :cu)([12, 13]) == [12, 13]
@test constraint(ocp, :cs)([12, 13]) == [12, 13]

# constraint already exists
ocp = Model()
Expand All @@ -910,10 +910,10 @@ function test_model() # 30 55 185
constraint!(ocp, :final, rg = 1, lb = 1, ub = 2, label = :cf)
constraint!(ocp, :control, rg = 1, lb = 0, ub = 1, label = :cu)
constraint!(ocp, :state, rg = 1, lb = 0, ub = 1, label = :cs)
@test __constraint(ocp, :c0)(12, ∅) == 12
@test __constraint(ocp, :cf)(∅, 12) == 12
@test __constraint(ocp, :cu)(12) == 12
@test __constraint(ocp, :cs)(12) == 12
@test constraint(ocp, :c0)(12, ∅) == 12
@test constraint(ocp, :cf)(∅, 12) == 12
@test constraint(ocp, :cu)(12) == 12
@test constraint(ocp, :cs)(12) == 12

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand Down Expand Up @@ -960,10 +960,10 @@ function test_model() # 30 55 185
constraint!(ocp, :final, rg = 1:2, lb = [1, 2], ub = [2, 3], label = :cf)
constraint!(ocp, :control, rg = 1:2, lb = [0, 1], ub = [1, 2], label = :cu)
constraint!(ocp, :state, rg = 1:2, lb = [0, 1], ub = [1, 2], label = :cs)
@test __constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test __constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]
@test __constraint(ocp, :cu)([12, 13]) == [12, 13]
@test __constraint(ocp, :cs)([12, 13]) == [12, 13]
@test constraint(ocp, :c0)([12, 13], ∅) == [12, 13]
@test constraint(ocp, :cf)(∅, [12, 13]) == [12, 13]
@test constraint(ocp, :cu)([12, 13]) == [12, 13]
@test constraint(ocp, :cs)([12, 13]) == [12, 13]

# constraint already exists
ocp = Model()
Expand All @@ -983,10 +983,10 @@ function test_model() # 30 55 185
constraint!(ocp, :control, f = u -> u, lb = 0, ub = 0, label = :cu)
constraint!(ocp, :state, f = x -> x, lb = 0, ub = 0, label = :cs)
constraint!(ocp, :mixed, f = (x, u) -> x + u, lb = 1, ub = 1, label = :cm)
@test __constraint(ocp, :cb)(12, 13) == 12 + 13
@test __constraint(ocp, :cu)(12) == 12
@test __constraint(ocp, :cs)(12) == 12
@test __constraint(ocp, :cm)(12, 13) == 12 + 13
@test constraint(ocp, :cb)(12, 13) == 12 + 13
@test constraint(ocp, :cu)(12) == 12
@test constraint(ocp, :cs)(12) == 12
@test constraint(ocp, :cm)(12, 13) == 12 + 13

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand All @@ -996,10 +996,10 @@ function test_model() # 30 55 185
constraint!(ocp, :control, f = u -> u[1], lb = 0, ub = 0, label = :cu)
constraint!(ocp, :state, f = x -> x[1], lb = 0, ub = 0, label = :cs)
constraint!(ocp, :mixed, f = (x, u) -> x[1] + u[1], lb = 1, ub = 1, label = :cm)
@test __constraint(ocp, :cb)([13, 14], [16, 17]) == 13 + 16
@test __constraint(ocp, :cu)([12, 13]) == 12
@test __constraint(ocp, :cs)([12, 13]) == 12
@test __constraint(ocp, :cm)([12, 13], [14, 15]) == 12 + 14
@test constraint(ocp, :cb)([13, 14], [16, 17]) == 13 + 16
@test constraint(ocp, :cu)([12, 13]) == 12
@test constraint(ocp, :cs)([12, 13]) == 12
@test constraint(ocp, :cm)([12, 13], [14, 15]) == 12 + 14

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand All @@ -1023,10 +1023,10 @@ function test_model() # 30 55 185
ub = [0, 0],
label = :cm,
)
@test __constraint(ocp, :cb)([13, 14, 15], [17, 18, 19]) == [13 + 17, 14 + 18]
@test __constraint(ocp, :cu)([12, 13, 14]) == [12, 13]
@test __constraint(ocp, :cs)([12, 13, 14]) == [12, 13]
@test __constraint(ocp, :cm)([12, 13, 14], [15, 16, 17]) == [12 + 15, 13 + 16]
@test constraint(ocp, :cb)([13, 14, 15], [17, 18, 19]) == [13 + 17, 14 + 18]
@test constraint(ocp, :cu)([12, 13, 14]) == [12, 13]
@test constraint(ocp, :cs)([12, 13, 14]) == [12, 13]
@test constraint(ocp, :cm)([12, 13, 14], [15, 16, 17]) == [12 + 15, 13 + 16]

# constraint already exists
ocp = Model()
Expand All @@ -1053,10 +1053,10 @@ function test_model() # 30 55 185
constraint!(ocp, :control, f = u -> u, lb = 0, ub = 1, label = :cu)
constraint!(ocp, :state, f = x -> x, lb = 0, ub = 1, label = :cs)
constraint!(ocp, :mixed, f = (x, u) -> x + u, lb = 1, ub = 1, label = :cm)
@test __constraint(ocp, :cb)(12, 13) == 12 + 13
@test __constraint(ocp, :cu)(12) == 12
@test __constraint(ocp, :cs)(12) == 12
@test __constraint(ocp, :cm)(12, 13) == 12 + 13
@test constraint(ocp, :cb)(12, 13) == 12 + 13
@test constraint(ocp, :cu)(12) == 12
@test constraint(ocp, :cs)(12) == 12
@test constraint(ocp, :cm)(12, 13) == 12 + 13

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand All @@ -1066,10 +1066,10 @@ function test_model() # 30 55 185
constraint!(ocp, :control, f = u -> u[1], lb = 0, ub = 1, label = :cu)
constraint!(ocp, :state, f = x -> x[1], lb = 0, ub = 1, label = :cs)
constraint!(ocp, :mixed, f = (x, u) -> x[1] + u[1], lb = 1, ub = 1, label = :cm)
@test __constraint(ocp, :cb)([13, 14], [16, 17]) == 13 + 16
@test __constraint(ocp, :cu)([12, 13]) == 12
@test __constraint(ocp, :cs)([12, 13]) == 12
@test __constraint(ocp, :cm)([12, 13], [14, 15]) == 12 + 14
@test constraint(ocp, :cb)([13, 14], [16, 17]) == 13 + 16
@test constraint(ocp, :cu)([12, 13]) == 12
@test constraint(ocp, :cs)([12, 13]) == 12
@test constraint(ocp, :cm)([12, 13], [14, 15]) == 12 + 14

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
Expand All @@ -1093,10 +1093,10 @@ function test_model() # 30 55 185
ub = [1, 1],
label = :cm,
)
@test __constraint(ocp, :cb)([13, 14, 15], [17, 18, 19]) == [13 + 17, 14 + 18]
@test __constraint(ocp, :cu)([12, 13, 14]) == [12, 13]
@test __constraint(ocp, :cs)([12, 13, 14]) == [12, 13]
@test __constraint(ocp, :cm)([12, 13, 14], [15, 16, 17]) == [12 + 15, 13 + 16]
@test constraint(ocp, :cb)([13, 14, 15], [17, 18, 19]) == [13 + 17, 14 + 18]
@test constraint(ocp, :cu)([12, 13, 14]) == [12, 13]
@test constraint(ocp, :cs)([12, 13, 14]) == [12, 13]
@test constraint(ocp, :cm)([12, 13, 14], [15, 16, 17]) == [12 + 15, 13 + 16]
end

@testset "constraint! 7" begin
Expand All @@ -1122,11 +1122,11 @@ function test_model() # 30 55 185
ub = [1, 0, 1, 0],
label = :eq5,
)
@test __constraint(ocp, :eq1)(v) == v
@test __constraint(ocp, :eq2)(v) == v[1]
@test __constraint(ocp, :eq3)(v) == v[1:2]
@test __constraint(ocp, :eq4)(v) == v[1:2:4]
@test __constraint(ocp, :eq5)(v) == v .^ 2
@test constraint(ocp, :eq1)(v) == v
@test constraint(ocp, :eq2)(v) == v[1]
@test constraint(ocp, :eq3)(v) == v[1:2]
@test constraint(ocp, :eq4)(v) == v[1:2:4]
@test constraint(ocp, :eq5)(v) == v .^ 2
end

@testset "constraint! 8" begin
Expand Down Expand Up @@ -1156,15 +1156,15 @@ function test_model() # 30 55 185
ub = [0, 0, 0, 0],
label = :eq5,
)
@test __constraint(ocp, :cb)(x0, xf, v) == x0 + xf + v[1]
@test __constraint(ocp, :cu)(u, v) == u + v[1]
@test __constraint(ocp, :cs)(x, v) == x + v[1]
@test __constraint(ocp, :cm)(x, u, v) == x + u + v[1]
@test __constraint(ocp, :eq1)(v) == v
@test __constraint(ocp, :eq2)(v) == v[1]
@test __constraint(ocp, :eq3)(v) == v[1:2]
@test __constraint(ocp, :eq4)(v) == v[1:2:4]
@test __constraint(ocp, :eq5)(v) == v .^ 2
@test constraint(ocp, :cb)(x0, xf, v) == x0 + xf + v[1]
@test constraint(ocp, :cu)(u, v) == u + v[1]
@test constraint(ocp, :cs)(x, v) == x + v[1]
@test constraint(ocp, :cm)(x, u, v) == x + u + v[1]
@test constraint(ocp, :eq1)(v) == v
@test constraint(ocp, :eq2)(v) == v[1]
@test constraint(ocp, :eq3)(v) == v[1:2]
@test constraint(ocp, :eq4)(v) == v[1:2:4]
@test constraint(ocp, :eq5)(v) == v .^ 2
end

@testset "constraint! 9" begin
Expand All @@ -1173,28 +1173,28 @@ function test_model() # 30 55 185
state!(ocp, 1)
control!(ocp, 1)
dynamics!(ocp, (x, u) -> x + u)
@test __dynamics(ocp)(1, 2) == 3
@test dynamics(ocp)(1, 2) == 3

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
dynamics!(ocp, (x, u) -> x[1] + u[1])
@test __dynamics(ocp)([1, 2], [3, 4]) == 4
@test dynamics(ocp)([1, 2], [3, 4]) == 4

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
dynamics!(ocp, (x, u) -> [x[1] + u[1], x[2] + u[2]])
@test __dynamics(ocp)([1, 2], [3, 4]) == [4, 6]
@test dynamics(ocp)([1, 2], [3, 4]) == [4, 6]

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 1)
dynamics!(ocp, (x, u) -> [x[1] + u, x[2] + u])
@test __dynamics(ocp)([1, 2], 3) == [4, 5]
@test dynamics(ocp)([1, 2], 3) == [4, 5]
end

@testset "constraint! 10" begin
Expand All @@ -1204,8 +1204,8 @@ function test_model() # 30 55 185
control!(ocp, 1)
constraint!(ocp, :initial, lb = 0, ub = 1, label = :c0)
constraint!(ocp, :final, lb = 1, ub = 2, label = :cf)
@test __constraint(ocp, :c0)(12, ∅) == 12
@test __constraint(ocp, :cf)(∅, 12) == 12
@test constraint(ocp, :c0)(12, ∅) == 12
@test constraint(ocp, :cf)(∅, 12) == 12
end

@testset "constraint! 11" begin
Expand Down Expand Up @@ -1888,60 +1888,60 @@ function test_model() # 30 55 185
state!(ocp, 1)
control!(ocp, 1)
objective!(ocp, :lagrange, (x, u) -> 0.5u^2)
@test __lagrange(ocp)(1, 2) == 2
@test lagrange(ocp)(1, 2) == 2

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
objective!(ocp, :lagrange, (x, u) -> 0.5u[1]^2)
@test __lagrange(ocp)([1, 2], [3, 4]) == 4.5
@test lagrange(ocp)([1, 2], [3, 4]) == 4.5

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 1)
control!(ocp, 1)
objective!(ocp, :mayer, (x0, xf) -> 0.5x0^2)
@test __mayer(ocp)(2, 3) == 2
@test mayer(ocp)(2, 3) == 2

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
objective!(ocp, :mayer, (x0, xf) -> 0.5x0[1]^2)
@test __mayer(ocp)([2, 3], [5, 6]) == 2
@test mayer(ocp)([2, 3], [5, 6]) == 2

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 1)
control!(ocp, 1)
objective!(ocp, :bolza, (x0, xf) -> 0.5x0^2, (x, u) -> 0.5u^2)
@test __mayer(ocp)(2, 3) == 2
@test __lagrange(ocp)(1, 2) == 2
@test mayer(ocp)(2, 3) == 2
@test lagrange(ocp)(1, 2) == 2

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
objective!(ocp, :bolza, (x0, xf) -> 0.5x0[1]^2, (x, u) -> 0.5u[1]^2)
@test __mayer(ocp)([2, 3], [5, 6]) == 2
@test __lagrange(ocp)([1, 2], [3, 4]) == 4.5
@test mayer(ocp)([2, 3], [5, 6]) == 2
@test lagrange(ocp)([1, 2], [3, 4]) == 4.5

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
objective!(ocp, :lagrange, (x, u) -> 0.5u[1]^2)
@test __lagrange(ocp)([1, 2], [3, 4]) == 4.5
@test isnothing(__mayer(ocp))
@test lagrange(ocp)([1, 2], [3, 4]) == 4.5
@test isnothing(mayer(ocp))

ocp = Model()
time!(ocp; t0 = 0, tf = 1)
state!(ocp, 2)
control!(ocp, 2)
objective!(ocp, :mayer, (x0, xf) -> 0.5x0[1]^2)
@test __mayer(ocp)([2, 3], [5, 6]) == 2
@test isnothing(__lagrange(ocp))
@test mayer(ocp)([2, 3], [5, 6]) == 2
@test isnothing(lagrange(ocp))
end

@testset "redeclarations" begin
Expand Down
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