test_initial_guess updated

test/test_initial_guess.jl

@@ -9,18 +9,12 @@ maxiter = 0
 
 # test functions
 function check_xf(sol, xf)
-    #println(xf)
-    #println(sol.state(sol.times[end]))
     return xf == sol.state(sol.times[end])
 end
 function check_uf(sol, uf)
-    #println(uf)
-    #println(sol.control(sol.times[end]))
     return uf == sol.control(sol.times[end])
 end
 function check_v(sol, v)
-    #println(v)
-    #println(sol.variable)
     return v == sol.variable
 end
 
@@ -49,9 +43,6 @@ x_func = t->[t^2, sqrt(t)]
 u_func = t->(cos(10*t)+1)*0.5
 
 # interpolated initial gues
-v = 1 #tf
-t_vec = [0, .1, v]
-t_matrix = [0 .1 v]
 x_vec = [[0, 0], [1, 2], [5, -1]]
 x_matrix = [0 0; 1 2; 5 -1]
 u_vec = [0, 0.3, .1]
@@ -93,21 +84,21 @@ end
 
 sol = solve(ocp, print_level=0, init=(state=x_const, control=u_const), max_iter=maxiter)
 if maxiter > 0
-    @printf("%-56s %.3f at %d iterations\n", "Constant  x,u; default v", sol.objective, sol.iterations)
+    @printf("%-56s %.3f at %d iterations\n", "Constant x,u; default v", sol.objective, sol.iterations)
 else
     println(check_xf(sol, x_const) && check_uf(sol, u_const))
 end
 
 sol = solve(ocp, print_level=0, init=(state=x_const, variable=v_const), max_iter=maxiter)
 if maxiter > 0
-    @printf("%-56s %.3f at %d iterations\n", "Constant x,v; default u)", sol.objective, sol.iterations)
+    @printf("%-56s %.3f at %d iterations\n", "Constant x,v; default u", sol.objective, sol.iterations)
 else
     println(check_xf(sol, x_const) && check_v(sol, v_const))
 end
 
 sol = solve(ocp, print_level=0, init=(control=u_const, variable=v_const), max_iter=maxiter)
 if maxiter > 0
-    @printf("%-56s %.3f at %d iterations\n", "Constant u,v; default x)", sol.objective, sol.iterations)
+    @printf("%-56s %.3f at %d iterations\n", "Constant u,v; default x", sol.objective, sol.iterations)
 else
     println(check_uf(sol, u_const) && check_v(sol, v_const))
 end
@@ -141,17 +132,37 @@ else
     println(check_xf(sol, x_func(sol.times[end])) && check_uf(sol, u_func(sol.times[end])))
 end
 
-# +++1.d interpolated initial guess
+# 1.d interpolated initial guess
+t_vec = [0, .1, v_const]
+sol = solve(ocp, print_level=0, init=(time=t_vec, state=x_vec, control=u_vec, variable=v_const), max_iter=maxiter)
+if maxiter > 0
+    @printf("%-56s %.3f at %d iterations\n", "Vector t,x,u; constant v", sol.objective, sol.iterations)
+else
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_vec[end]) && check_v(sol, v_const))
+end
 
-# 1.e mixed initial guess
-sol = solve(ocp, print_level=0, init=(state=x_func, control=u_const), max_iter=maxiter)
+t_matrix = [0 .1 v_const]
+sol = solve(ocp, print_level=0, init=(time=t_matrix, state=x_vec, control=u_vec, variable=v_const), max_iter=maxiter)
+if maxiter > 0
+    @printf("%-56s %.3f at %d iterations\n", "Matrix t; vector x,u; constant v", sol.objective, sol.iterations)
+else
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_vec[end]) && check_v(sol, v_const))
+end
+
+sol = solve(ocp, print_level=0, init=(time=t_vec, state=x_matrix, control=u_vec, variable=v_const), max_iter=maxiter)
 if maxiter > 0
-    @printf("%-56s %.3f at %d iterations\n", "Functional x; constant u; default v", sol.objective, sol.iterations)
+    @printf("%-56s %.3f at %d iterations\n", "Matrix x; vector t,u; constant v", sol.objective, sol.iterations)
 else
-    println(check_xf(sol, x_func(sol.times[end])) && check_uf(sol, u_const))
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_vec[end]) && check_v(sol, v_const))
 end
 
-#+++ some mixes with interp
+# 1.e mixed initial guess
+sol = solve(ocp, print_level=0, init=(time=t_vec, state=x_vec, control=u_func, variable=v_const), max_iter=maxiter)
+if maxiter > 0
+    @printf("%-56s %.3f at %d iterations\n", "Mixed: vector t,x; functional u; constant v", sol.objective, sol.iterations)
+else
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_func(sol.times[end])) && check_v(sol, v_const))
+end
 
 # 1.f warm start
 sol = solve(ocp, print_level=0, init=sol0, max_iter=maxiter)
@@ -166,13 +177,13 @@ end
 println("\n2. Setting the initial guess at the DOCP level")
 docp = directTranscription(ocp)
 # mixed init
-setInitialGuess(docp, (state=x_func, control=u_const))
+setInitialGuess(docp, (time=t_vec, state=x_vec, control=u_func, variable=v_const))
 dsol = solve(docp, print_level=0, max_iter=maxiter)
 sol = OCPSolutionFromDOCP(docp, dsol)
 if maxiter > 0
     @printf("%-56s %.3f at %d iterations\n", "Mixed initial guess set in DOCP", sol.objective, sol.iterations)
 else
-    println(check_xf(sol, x_func(sol.times[end])) && check_uf(sol, u_const))
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_func(sol.times[end])) && check_v(sol, v_const))
 end
 
 # warm start
@@ -190,12 +201,12 @@ end
 println("\n3. Passing the initial guess to solve call")
 setInitialGuess(docp, ()) # reset init in docp
 # mixed init
-dsol = solve(docp, init=(state=x_func, control=u_const), print_level=0, max_iter=maxiter)
+dsol = solve(docp, init=(time=t_vec, state=x_vec, control=u_func, variable=v_const), print_level=0, max_iter=maxiter)
 sol = OCPSolutionFromDOCP(docp, dsol)
 if maxiter > 0
     @printf("%-56s %.3f at %d iterations\n", "Mixed initial guess passed to solve", sol.objective, sol.iterations)
 else
-    println(check_xf(sol, x_func(sol.times[end])) && check_uf(sol, u_const))
+    println(check_xf(sol, x_vec[end]) && check_uf(sol, u_func(sol.times[end])) && check_v(sol, v_const))
 end
 
 # warm start