Default values

[ocots]

Replace default values by the ones defined in CTBase.jl when the new release is released: control-toolbox/CTBase.jl#220.

CTDirect.jl/src/CTDirect.jl

Line 17 in a9ae483

const __grid_size_direct() = 100

[PierreMartinon]

By the way, how do we organize the default values ? I find it a bit confusing to redefine default values at multiple levels.

We could

• define everything in CTBase since every package is supposed to use it anyway
• define the 'generic' ones in CTBase and the 'specific' ones (such as the grid size above) in their related packages ?

[ocots]

So here: https://github.com/control-toolbox/CTBase.jl/pull/222/files

I let __ocp_init but we keep the others in CTDirect.jl?

This is fine for me also.

[ocots]

Can you take a look at the end of this comment: control-toolbox/CTBase.jl#222 (comment)

With 200 there is a problem on an example.

[ocots]

You are right for the default values. We already do that here: https://github.com/control-toolbox/CTFlows.jl/blob/main/src/default.jl

I will just add a file with the specific default values with docstrings in CTDirect.jl.

[ocots]

To keep track:

# ------------------------------------------------------------------------------------
# Direct methods

"""
$(TYPEDSIGNATURES)

Used to set the default grid size.
The default value is `100`.
"""
__grid_size() = 100

"""
$(TYPEDSIGNATURES)

Used to set the default time grid.
The default value is `nothing`.
"""
__time_grid() = nothing

"""
$(TYPEDSIGNATURES)

Used to set the default tolerance.
The default value is `1e-8`.
"""
__tolerance() = 1e-8

"""
$(TYPEDSIGNATURES)

Used to set the default maximum of iterations.
The default value is `1000`.
"""
__max_iterations() = 1000

# ------------------------------------------------------------------------------------
# IPOPT

"""
$(TYPEDSIGNATURES)

Used to set the default value of the print level of Ipopt for the direct method.
The default va  lue is `5`.
"""
__ipopt_print_level() = 5

"""
$(TYPEDSIGNATURES)

Used to set the default value of the μ strategy of Ipopt for the direct method.
The default value is `adaptive`.
"""
__ipopt_mu_strategy() = "adaptive"

"""
$(TYPEDSIGNATURES)

Used to set the default value of the linear solver of Ipopt for the direct method.
The default value is `mumps`.
"""
__ipopt_linear_solver() = "mumps"

# ------------------------------------------------------------------------------------
# MadNLP

"""
$(TYPEDSIGNATURES)

Used to set the default value of the linear solver of MadNLP for the direct method.
The default value is `umfpack`.
"""
__madnlp_linear_solver() = "umfpack"

and

    @testset "Default value for direct solver" begin
        @test CTBase.__grid_size_direct() isa Integer
        @test isnothing(CTBase.__time_grid_direct())
        @test CTBase.__tolerance_direct() < 1
        @test CTBase.__max_iterations_direct() isa Integer
        @test CTBase.__linear_solver_direct() isa Symbol
    end

    @testset "Default value of the print level of ipopt for the direct method" begin
        @test CTBase.__ipopt_print_level() isa Integer
        @test CTBase.__ipopt_print_level() ≤ 12
        @test CTBase.__ipopt_print_level() ≥ 0
    end

    @testset "Default value of the mu strategy of ipopt for the direct method" begin
        @test CTBase.__ipopt_mu_strategy() isa String
    end

[PierreMartinon]

@ocots I added the default.jl file and tests in CTDirect :-)