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WIP - Onepass #132

Merged
merged 15 commits into from
May 23, 2024
Merged

WIP - Onepass #132

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c3c5005
foo
ocots Apr 27, 2024
6e75ade
Merge branch 'main' into onepass
ocots May 5, 2024
0decc95
foo
ocots May 5, 2024
677f256
add labeling state, control and variable from declaration
ocots May 15, 2024
41058d4
foo
ocots May 22, 2024
3a43392
test 0.5∫
ocots May 22, 2024
e3812c7
test 0.5∫
ocots May 22, 2024
580498e
add square brackets
ocots May 22, 2024
9af7525
add left x and right /
ocots May 22, 2024
fd06249
wip - onepass/ ctparser_utils update
jbcaillau May 22, 2024
8d9638b
has_call, for the record (useless)
jbcaillau May 23, 2024
6c3a438
check for expression before integral in Lagrange / Bolza cost
jbcaillau May 23, 2024
acbeb23
running tests...
jbcaillau May 23, 2024
1b70320
tests passed
jbcaillau May 23, 2024
58e4b75
Merge branch 'main' into onepass
jbcaillau May 23, 2024
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73 changes: 49 additions & 24 deletions src/model.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,7 @@ Define the variable dimension and possibly the names of each component.
# Examples
```jldoctest
julia> variable!(ocp, 1, "v")
julia> variable!(ocp, 2, "v", [ "v₁", "v₂" ])
julia> variable!(ocp, 2, "v", [ "v₁", "v₂" ])
```
"""
function variable!(ocp::OptimalControlModel, q::Dimension, name::String=__variable_name(),
Expand All @@ -129,6 +129,14 @@ function variable!(ocp::OptimalControlModel, q::Dimension, name::String=__variab
nothing # to force to return nothing
end

function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol, components_names::Vector{Symbol})
variable!(ocp, q, string(name), string.(components_names))
end

function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol, components_names::Vector{String})
variable!(ocp, q, string(name), components_names)
end

function variable!(ocp::OptimalControlModel, q::Dimension, name::Symbol)
variable!(ocp, q, string(name))
end
Expand Down Expand Up @@ -187,6 +195,15 @@ function state!(ocp::OptimalControlModel, n::Dimension, name::String=__state_nam
ocp.state_name = name
nothing # to force to return nothing
end

function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol, components_names::Vector{Symbol})
state!(ocp, n, string(name), string.(components_names))
end

function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol, components_names::Vector{String})
state!(ocp, n, string(name), components_names)
end

function state!(ocp::OptimalControlModel, n::Dimension, name::Symbol)
state!(ocp, n, string(name))
end
Expand Down Expand Up @@ -246,6 +263,14 @@ function control!(ocp::OptimalControlModel, m::Dimension, name::String=__control
nothing # to force to return nothing
end

function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol, components_names::Vector{Symbol})
control!(ocp, m, string(name), string.(components_names))
end

function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol, components_names::Vector{String})
control!(ocp, m, string(name), components_names)
end

function control!(ocp::OptimalControlModel, m::Dimension, name::Symbol)
control!(ocp, m, string(name))
end
Expand Down Expand Up @@ -438,12 +463,12 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
# Examples

```jldoctest
julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ], [ 1, 2 ])
julia> constraint!(ocp, :final, Index(1), 0, 2)
julia> constraint!(ocp, :control, Index(1), 0, 2)
julia> constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
julia> constraint!(ocp, :state, 2:3, [ 0, 0 ], [ 1, 2 ])
julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :variable, 1:2, [ 0, 0 ], [ 1, 2 ])
```
"""
function constraint!(ocp::OptimalControlModel{<: TimeDependence, V}, type::Symbol, rg::RangeConstraint, lb::ctVector, ub::ctVector,
Expand Down Expand Up @@ -512,8 +537,8 @@ Add an `:initial` or `:final` value constraint on a range of the state, or a val
# Examples

```jldoctest
julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ])
julia> constraint!(ocp, :initial, 1:2:5, [ 0, 0, 0 ])
julia> constraint!(ocp, :initial, 2:3, [ 0, 0 ])
julia> constraint!(ocp, :final, Index(2), 0)
julia> constraint!(ocp, :variable, 2:3, [ 0, 3 ])
```
Expand Down Expand Up @@ -566,9 +591,9 @@ Add an `:initial` or `:final` value constraint on the state, or a `:variable` va
# Examples

```jldoctest
julia> constraint!(ocp, :initial, [ 0, 0 ])
julia> constraint!(ocp, :initial, [ 0, 0 ])
julia> constraint!(ocp, :final, 2) # if the state is of dimension 1
julia> constraint!(ocp, :variable, [ 3, 0, 1 ])
julia> constraint!(ocp, :variable, [ 3, 0, 1 ])
```
"""
function constraint!(ocp::OptimalControlModel, type::Symbol, val::ctVector, label::Symbol=__constraint_label())
Expand Down Expand Up @@ -618,10 +643,10 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
# Examples

```jldoctest
julia> constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :initial, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :final, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :control, [ 0, 0 ], [ 2, 3 ])
julia> constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :state, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :variable, 0, 1) # the variable here is of dimension 1
```
"""
Expand Down Expand Up @@ -687,22 +712,22 @@ julia> constraint!(ocp, :boundary, (x0, xf, v) -> x0[3]+xf[2]*v[1], 0, 1)

# time independent and variable independent ocp
julia> constraint!(ocp, :control, u -> 2u, 0, 1)
julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0, 1)

# time dependent and variable independent ocp
julia> constraint!(ocp, :control, (t, u) -> 2u, 0, 1)
julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0, 1)

# time independent and variable dependent ocp
julia> constraint!(ocp, :control, (u, v) -> 2u*v[1], 0, 1)
julia> constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :state, (x, v) -> x-v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, (x, u, v) -> x[1]-v[2]*u, 0, 1)

# time dependent and variable dependent ocp
julia> constraint!(ocp, :control, (t, u, v) -> 2u+v[2], 0, 1)
julia> constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :state, (t, x, v) -> x-t*v[1], [ 0, 0, 0 ], [ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, (t, x, u, v) -> x[1]*v[2]-u, 0, 1)
```
"""
Expand Down Expand Up @@ -761,22 +786,22 @@ julia> constraint!(ocp, :boundary, (x0, xf, v) -> x0[3]+xf[2]*v[1], 0)

# time independent and variable independent ocp
julia> constraint!(ocp, :control, u -> 2u, 1)
julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
julia> constraint!(ocp, :state, x -> x-1, [ 0, 0, 0 ])
julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u, 0)

# time dependent and variable independent ocp
julia> constraint!(ocp, :control, (t, u) -> 2u, 1)
julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
julia> constraint!(ocp, :state, (t, x) -> x-t, [ 0, 0, 0 ])
julia> constraint!(ocp, :mixed, (t, x, u) -> x[1]-u, 0)

# time independent and variable dependent ocp
julia> constraint!(ocp, :control, (u, v) -> 2u*v[1], 1)
julia> constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
julia> constraint!(ocp, :state, (x, v) -> x-v[2], [ 0, 0, 0 ])
julia> constraint!(ocp, :mixed, (x, u) -> x[1]-u+v[1], 0)

# time dependent and variable dependent ocp
julia> constraint!(ocp, :control, (t, u, v) -> 2u-t*v[2], 1)
julia> constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
julia> constraint!(ocp, :state, (t, x, v) -> x-t+v[1], [ 0, 0, 0 ])
julia> constraint!(ocp, :mixed, (t, x, u, v) -> x[1]-u*v[1], 0)
```
"""
Expand All @@ -800,12 +825,12 @@ Add an `:initial`, `:final`, `:control`, `:state` or `:variable` box constraint
# Examples

```jldoctest
julia> constraint!(ocp, :initial, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :initial, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :final, val=Index(1), lb=0, ub=2)
julia> constraint!(ocp, :control, val=Index(1), lb=0, ub=2)
julia> constraint!(ocp, :state, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :initial, rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :variable, rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :state, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :initial, rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :variable, rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
```
"""
function constraint!(ocp::OptimalControlModel{<: TimeDependence, <: VariableDependence}, type::Symbol;
Expand Down
133 changes: 91 additions & 42 deletions src/onepass.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,64 +73,101 @@ parse!(p, ocp, e; log=false) = begin
e = subs(e, a, p.aliases[a])
end
@match e begin
:( $v ∈ R^$q, variable ) => p_variable!(p, ocp, v, q; log)
:( $v ∈ R , variable ) => p_variable!(p, ocp, v ; log)
:( $v , variable ) => p_variable!(p, ocp, v ; log) # todo: remove
:( $t ∈ [ $t0, $tf ], time ) => p_time!(p, ocp, t, t0, tf; log)
:( $x ∈ R^$n, state ) => p_state!(p, ocp, x, n; log)
:( $x ∈ R , state ) => p_state!(p, ocp, x ; log)
:( $x , state ) => p_state!(p, ocp, x ; log) # todo: remove
:( $u ∈ R^$m, control ) => p_control!(p, ocp, u, m; log)
:( $u ∈ R , control ) => p_control!(p, ocp, u ; log)
:( $u , control ) => p_control!(p, ocp, u ; log) # todo: remove
:( $a = $e1 ) => p_alias!(p, ocp, a, e1; log)
:( ∂($x)($t) == $e1 ) => p_dynamics!(p, ocp, x, t, e1 ; log)
:( ∂($x)($t) == $e1, $label ) => p_dynamics!(p, ocp, x, t, e1, label; log)
:( $e1 == $e2 ) => p_constraint!(p, ocp, e2 , e1, e2 ; log)
:( $e1 == $e2, $label ) => p_constraint!(p, ocp, e2 , e1, e2, label; log)
:( $e1 ≤ $e2 ≤ $e3 ) => p_constraint!(p, ocp, e1 , e2, e3 ; log)
:( $e1 ≤ $e2 ≤ $e3, $label ) => p_constraint!(p, ocp, e1 , e2, e3 , label; log)
:( $e2 ≤ $e3 ) => p_constraint!(p, ocp, nothing, e2, e3 ; log)
:( $e2 ≤ $e3, $label ) => p_constraint!(p, ocp, nothing, e2, e3 , label; log)
:( $e3 ≥ $e2 ≥ $e1 ) => p_constraint!(p, ocp, e1 , e2, e3 ; log)
:( $e3 ≥ $e2 ≥ $e1, $label ) => p_constraint!(p, ocp, e1 , e2, e3 , label; log)
:( $e2 ≥ $e1 ) => p_constraint!(p, ocp, e1 , e2, nothing ; log)
:( $e2 ≥ $e1, $label ) => p_constraint!(p, ocp, e1 , e2, nothing, label; log)
:( ∫($e1) → min ) => p_lagrange!(p, ocp, e1, :min; log)
:( ∫($e1) → max ) => p_lagrange!(p, ocp, e1, :max; log)
:( $e1 + ∫($e2) → min ) => p_bolza!(p, ocp, e1, e2 , :min; log)
:( $e1 - ∫($e2) → min ) => p_bolza!(p, ocp, e1, :( -$e2 ), :min; log)
:( $e1 + ∫($e2) → max ) => p_bolza!(p, ocp, e1, e2 , :max; log)
:( $e1 - ∫($e2) → max ) => p_bolza!(p, ocp, e1, :( -$e2 ), :max; log)
:( ∫($e2) + $e1 → min ) => p_bolza!(p, ocp, e1, e2 , :min; log)
:( ∫($e2) - $e1 → min ) => p_bolza!(p, ocp, :( -$e1 ), e2 , :min; log)
:( ∫($e2) + $e1 → max ) => p_bolza!(p, ocp, e1, e2 , :max; log)
:( ∫($e2) - $e1 → max ) => p_bolza!(p, ocp, :( -$e1 ), e2 , :max; log)
:( $e1 → min ) => p_mayer!(p, ocp, e1, :min; log)
:( $e1 → max ) => p_mayer!(p, ocp, e1, :max; log)
#
:( $a = $e1 ) =>
@match e1 begin
:( ($names) ∈ R^$q, variable ) => p_variable!(p, ocp, a, q; components_names=names, log)
:( ($names) ∈ R^$n, state ) => p_state!(p, ocp, a, n; components_names=names, log)
:( ($names) ∈ R^$m, control ) => p_control!(p, ocp, a, m; components_names=names, log)
:( ($names) ∈ R, $dummy ) => return __throw("unknown syntax", p.lnum, p.line)
_ => p_alias!(p, ocp, a, e1; log) # alias
end
# variable
:( ($e1, $e2) ∈ R^$q, variable ) => return __throw("unknown syntax: please provide a name to the variable", p.lnum, p.line)
:( $v ∈ R^$q, variable ) => p_variable!(p, ocp, v, q; log)
:( $v ∈ R , variable ) => p_variable!(p, ocp, v ; log)
:( $v , variable ) => p_variable!(p, ocp, v ; log) # todo: remove
# time
:( $t ∈ [ $t0, $tf ], time ) => p_time!(p, ocp, t, t0, tf; log)
# state
:( ($e1, $e2) ∈ R^$n, state ) => return __throw("unknown syntax: please provide a name to the state", p.lnum, p.line)
:( $x ∈ R^$n, state ) => p_state!(p, ocp, x, n; log)
:( $x ∈ R , state ) => p_state!(p, ocp, x ; log)
:( $x , state ) => p_state!(p, ocp, x ; log) # todo: remove
# control
:( ($e1, $e2) ∈ R^$m, control ) => return __throw("unknown syntax: please provide a name to the control", p.lnum, p.line)
:( $u ∈ R^$m, control ) => p_control!(p, ocp, u, m; log)
:( $u ∈ R , control ) => p_control!(p, ocp, u ; log)
:( $u , control ) => p_control!(p, ocp, u ; log) # todo: remove
# dynamics
:( ∂($x)($t) == $e1 ) => p_dynamics!(p, ocp, x, t, e1 ; log)
:( ∂($x)($t) == $e1, $label ) => p_dynamics!(p, ocp, x, t, e1, label; log)
# constraints
:( $e1 == $e2 ) => p_constraint!(p, ocp, e2 , e1, e2 ; log)
:( $e1 == $e2, $label ) => p_constraint!(p, ocp, e2 , e1, e2, label; log)
:( $e1 ≤ $e2 ≤ $e3 ) => p_constraint!(p, ocp, e1 , e2, e3 ; log)
:( $e1 ≤ $e2 ≤ $e3, $label ) => p_constraint!(p, ocp, e1 , e2, e3 , label; log)
:( $e2 ≤ $e3 ) => p_constraint!(p, ocp, nothing, e2, e3 ; log)
:( $e2 ≤ $e3, $label ) => p_constraint!(p, ocp, nothing, e2, e3 , label; log)
:( $e3 ≥ $e2 ≥ $e1 ) => p_constraint!(p, ocp, e1 , e2, e3 ; log)
:( $e3 ≥ $e2 ≥ $e1, $label ) => p_constraint!(p, ocp, e1 , e2, e3 , label; log)
:( $e2 ≥ $e1 ) => p_constraint!(p, ocp, e1 , e2, nothing ; log)
:( $e2 ≥ $e1, $label ) => p_constraint!(p, ocp, e1 , e2, nothing, label; log)
# lagrange cost
:( ∫($e1) → min ) => p_lagrange!(p, ocp, e1, :min; log)
:( $e1 * ∫($e2) → min ) => p_lagrange!(p, ocp, :( $e1 * $e2 ), :min; log)
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@jbcaillau jbcaillau May 15, 2024 •
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@ocots convenient but: this kind of expression only makes sense if e1 does not contain references to state or control (variable allowed, though). Otherwise we would allow something like

x(t) * ∫(u(t)) → min # nonsense

as equivalent to

∫(x(t) * u(t)) → min # ... becomes meaningful

etc.

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@ocots I am taking care of the changes suggested in the review above before merging.

:( ∫($e1) → max ) => p_lagrange!(p, ocp, e1, :max; log)
:( $e1 * ∫($e2) → max ) => p_lagrange!(p, ocp, :( $e1 * $e2 ), :max; log)
# bolza cost
:( $e1 + ∫($e2) → min ) => p_bolza!(p, ocp, e1, e2 , :min; log)
:( $e1 + $e2 * ∫($e3) → min ) => p_bolza!(p, ocp, e1, :( $e2 * $e3 ), :min; log)
:( $e1 - ∫($e2) → min ) => p_bolza!(p, ocp, e1, :( -$e2 ) , :min; log)
:( $e1 - $e2 * ∫($e3) → min ) => p_bolza!(p, ocp, e1, :( -$e2 * $e3 ), :min; log)
:( $e1 + ∫($e2) → max ) => p_bolza!(p, ocp, e1, e2 , :max; log)
:( $e1 + $e2 * ∫($e3) → max ) => p_bolza!(p, ocp, e1, :( $e2 * $e3 ), :max; log)
:( $e1 - ∫($e2) → max ) => p_bolza!(p, ocp, e1, :( -$e2 ) , :max; log)
:( $e1 - $e2 * ∫($e3) → max ) => p_bolza!(p, ocp, e1, :( -$e2 * $e3 ), :max; log)
:( ∫($e2) + $e1 → min ) => p_bolza!(p, ocp, e1, e2 , :min; log)
:( $e2 * ∫($e3) + $e1 → min ) => p_bolza!(p, ocp, e1, :( $e2 * $e3 ), :min; log)
:( ∫($e2) - $e1 → min ) => p_bolza!(p, ocp, :( -$e1 ), e2 , :min; log)
:( $e2 * ∫($e3) - $e1 → min ) => p_bolza!(p, ocp, :( -$e1 ), :( $e2 * $e3 ), :min; log)
:( ∫($e2) + $e1 → max ) => p_bolza!(p, ocp, e1, e2 , :max; log)
:( $e2 * ∫($e3) + $e1 → max ) => p_bolza!(p, ocp, e1, :( $e2 * $e3 ), :max; log)
:( ∫($e2) - $e1 → max ) => p_bolza!(p, ocp, :( -$e1 ), e2 , :max; log)
:( $e2 * ∫($e3) - $e1 → max ) => p_bolza!(p, ocp, :( -$e1 ), :( $e2 * $e3 ), :max; log)
# mayer cost
:( $e1 → min ) => p_mayer!(p, ocp, e1, :min; log)
:( $e1 → max ) => p_mayer!(p, ocp, e1, :max; log)
#
_ => begin
if e isa LineNumberNode
p.lnum = p.lnum - 1
e
elseif e isa Expr && e.head == :block
p.lnum = p.lnum - 1
Expr(:block, map(e -> parse!(p, ocp, e; log), e.args)...)
# !!! assumes that map is done sequentially for side effects on p
# !!! assumes that map is done sequentially for side effects on p
else
return __throw("unknown syntax", p.lnum, p.line)
end end
end
end

p_variable!(p, ocp, v, q=1; log=false) = begin
p_variable!(p, ocp, v, q=1; components_names=nothing, log=false) = begin
log && println("variable: $v, dim: $q")
v isa Symbol || return __throw("forbidden variable name: $v", p.lnum, p.line)
p.v = v
vv = QuoteNode(v)
qq = q isa Integer ? q : 9
for i ∈ 1:qq p.aliases[Symbol(v, ctindices(i))] = :( $v[$i] ) end
for i ∈ 1:9 p.aliases[Symbol(v, ctupperscripts(i))] = :( $v^$i ) end
__wrap(:( variable!($ocp, $q, $vv) ), p.lnum, p.line)
if (isnothing(components_names))
__wrap(:( variable!($ocp, $q, $vv) ), p.lnum, p.line)
else
for i ∈ 1:qq p.aliases[components_names.args[i]] = :( $v[$i] ) end
ss = QuoteNode(string.(components_names.args))
__wrap(:( variable!($ocp, $q, $vv, $ss) ), p.lnum, p.line)
end
end

p_alias!(p, ocp, a, e; log=false) = begin
Expand Down Expand Up @@ -177,7 +214,7 @@ p_time!(p, ocp, t, t0, tf; log=false) = begin
__wrap(code, p.lnum, p.line)
end

p_state!(p, ocp, x, n=1; log=false) = begin
p_state!(p, ocp, x, n=1; components_names=nothing, log=false) = begin
log && println("state: $x, dim: $n")
x isa Symbol || return __throw("forbidden state name: $x", p.lnum, p.line)
p.x = x
Expand All @@ -186,18 +223,30 @@ p_state!(p, ocp, x, n=1; log=false) = begin
for i ∈ 1:nn p.aliases[Symbol(x, ctindices(i))] = :( $x[$i] ) end
for i ∈ 1:9 p.aliases[Symbol(x, ctupperscripts(i))] = :( $x^$i ) end
p.aliases[Symbol(Unicode.normalize(string(x,"̇")))] = :( ∂($x) )
__wrap(:( state!($ocp, $n, $xx) ), p.lnum, p.line)
if (isnothing(components_names))
__wrap(:( state!($ocp, $n, $xx) ), p.lnum, p.line)
else
for i ∈ 1:nn p.aliases[components_names.args[i]] = :( $x[$i] ) end
ss = QuoteNode(string.(components_names.args))
__wrap(:( state!($ocp, $n, $xx, $ss) ), p.lnum, p.line)
end
end

p_control!(p, ocp, u, m=1; log=false) = begin
p_control!(p, ocp, u, m=1; components_names=nothing, log=false) = begin
log && println("control: $u, dim: $m")
u isa Symbol || return __throw("forbidden control name: $u", p.lnum, p.line)
p.u = u
uu = QuoteNode(u)
mm = m isa Integer ? m : 9
for i ∈ 1:mm p.aliases[Symbol(u, ctindices(i))] = :( $u[$i] ) end
for i ∈ 1:9 p.aliases[Symbol(u, ctupperscripts(i))] = :( $u^$i ) end
__wrap(:( control!($ocp, $m, $uu) ), p.lnum, p.line)
if (isnothing(components_names))
__wrap(:( control!($ocp, $m, $uu) ), p.lnum, p.line)
else
for i ∈ 1:mm p.aliases[components_names.args[i]] = :( $u[$i] ) end
ss = QuoteNode(string.(components_names.args))
__wrap(:( control!($ocp, $m, $uu, $ss) ), p.lnum, p.line)
end
end

p_constraint!(p, ocp, e1, e2, e3, label=gensym(); log=false) = begin
Expand Down
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