added state init for goddard without state box (#134)

test/suite/constraints.jl

@@ -1,6 +1,27 @@
 println("Test: constraint types")
 
 @testset verbose = true showtiming = true ":goddard :box_constraints" begin
-    sol1 = solve(goddard, print_level=0, tol=1e-8)
-    @test sol1.objective ≈ 1.0125 rtol=1e-2
+    sol = solve(goddard, print_level=0, tol=1e-8)
+    @test sol.objective ≈ 1.0125 rtol=1e-2
 end
+
+# functional constraints
+ocp1 = Model(variable=true)
+state!(ocp1, 3)
+control!(ocp1, 1)
+variable!(ocp1, 1)
+time!(ocp1, t0=0, indf=1)
+constraint!(ocp1, :initial, lb=x0, ub=x0)
+constraint!(ocp1, :final, rg=3, lb=mf, ub=Inf)
+constraint!(ocp1, :state, f=(x,v)->x, lb=[r0,v0,mf], ub=[r0+0.2,vmax,m0])
+constraint!(ocp1, :control, f=(u,v)->u, lb=0, ub=1)
+constraint!(ocp1, :variable, f=v->v, lb=0.01, ub=Inf)
+objective!(ocp1, :mayer, (x0, xf, v) -> xf[1], :max)
+dynamics!(ocp1, (x, u, v) -> F0(x) + u*F1(x) )
+
+# note: the equations do not handle r<1 well
+# without the box constraint on x, the default init (0.1) is not suitable
+@testset verbose = true showtiming = true ":goddard :functional_constraints" begin
+    sol1 = solve(ocp1, print_level=0, tol=1e-8, init=(state=[1.01,0.05,0.75],))
+    @test sol1.objective ≈ 1.0125 rtol=1e-2
+end

test/test_constraints.jl

@@ -9,7 +9,6 @@ ocp = goddard
 sol = solve(ocp, print_level=0, tol=1e-8)
 println("Target 1.0125, found ", sol.objective, " at ", sol.iterations, " iterations")
 
-#=
 # functional constraints
 ocp1 = Model(variable=true)
 state!(ocp1, 3)
@@ -24,6 +23,7 @@ constraint!(ocp1, :variable, f=v->v, lb=0.01, ub=Inf)
 objective!(ocp1, :mayer, (x0, xf, v) -> xf[1], :max)
 dynamics!(ocp1, (x, u, v) -> F0(x) + u*F1(x) )
 
-sol = solve(ocp1, print_level=5, tol=1e-8)
+# note: the equations do not handle r<1 well
+# without the box constraint on x, the default init (0.1) is not suitable
+sol = solve(ocp1, print_level=0, tol=1e-8, init=(state=[1.01,0.05,0.75],))
 println("Target 1.0125, found ", sol.objective, " at ", sol.iterations, " iterations")
-=#