Code

Inplace#297

Code

Merged

PierreMartinon merged 87 commits intomaincontrol-toolbox/CTDirect.jl:mainfrom inplacecontrol-toolbox/CTDirect.jl:inplaceCopy head branch name to clipboardOct 16, 2024

+1,228-713

Commits

Commits on Sep 3, 2024

• args and setstateequation for trapeze

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  273b502

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• path for trapeze

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  349cc5e

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• todo: compute whole dynamics

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  0cb0fc8

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• undefined reference

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  02fbaaf

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• try extended dynaùics first

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  ece2905

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Commits on Sep 4, 2024

• try vector of structs

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  b1feeba

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• sync

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  0df7f58

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• tests ok

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  46dc1e2

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• with dynamics matrix for trapeze

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  61353d7

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• with lagrange vector for trapeze

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  ffbb02f

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Commits on Sep 5, 2024

• comment

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  2f9ff77

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• prepare constraints main loop for multithread

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  5dc2a7d

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• try c_block views

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  d0de0d5

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• tests ok for c_block (except mintf with lagrange cost equal to 1)

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  f4f1b14

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• cleanup

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  820fb11

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• compact setPathConstraints

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  6d9201d

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• loop test

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  5a39fc9

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• multi-thread always fails on main constraints loop

  PierreMartinon

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  dce69e4

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• extended dynamics with vectorize; use with new separate (vector) getters for x, u

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  93df588

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Commits on Sep 6, 2024

• midpoint prof

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  edac074

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• simple args for midpoint

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  265263f

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• shift index for get variables

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  93877cf

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• grid in DOCP

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  e99ccd3

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• trapeze, work array for dynamics

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  e878492

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• tests ok

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  7813b00

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Commits on Sep 9, 2024

• sync from main

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  8d9edaf

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• tests ok

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  81b2eba

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• prepare for inplace

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  f5d310c

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• better prof

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  ca9834a

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• btime

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  ebbf18c

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• total allocs do not match .mem values

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  fea28fb

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Commits on Sep 10, 2024

• more tests

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  93d8590

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• tests ok

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  824636d

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• standard tests ok with inplace

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  aa8f54f

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• inplace for midpoint

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  31201b3

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• check allocs for inplace case

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  6ee41f8

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Commits on Sep 11, 2024

• mem files for inplace/outplace comparison

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  469b481

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• grmbl

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  e1165c3

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Commits on Sep 12, 2024

• prepare for vectorized ocp functions and extended dynamics

  PierreMartinon

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  bb5b888

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• prepare dynamics extended

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  ac0eef4

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• todo: inplace version, then optimize

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  af20f07

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• fbll

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  2e96cbb

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• todo: check tests

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  0797d42

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• tests ok

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  7928795

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• still ok

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  2e79093

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Commits on Sep 13, 2024

• removed some allocs

  PierreMartinon

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  11ccec5

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• work arrays in disc struct are worse, even with inplace getters

  PierreMartinon

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  75f80eb

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• code warntype

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  6ab7678

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• prof

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  b7341b2

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Commits on Sep 17, 2024

• test dyn

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  2ed25ba

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Commits on Sep 18, 2024

• inlined path constraints

  PierreMartinon

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  2793dd4

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• getters for v, t0, tf and time grid now defined as part of DOCP

  PierreMartinon

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  5bf760e

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• getter for x defined in discretization struct

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  be966a9

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• WORSE with getters in disc and objective in docp...

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  97578c4

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Commits on Sep 19, 2024

• OK with multiple definition of objective in docp :-)

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  99fc588

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• cleanup

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  3b603c3

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• clean then sync and merge

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  78b4418

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• cleaned

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  499f441

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• cleanup

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  3ffa4fd

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• cleanup

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  557b64f

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Commits on Sep 20, 2024

• sync 1

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  f7dc251

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• sync 2

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  de0dfeb

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• sync ok

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  3a2a8ce

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• compat for docs

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  ae740be

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• jet

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  76fa250

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• ignore

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  71872e0

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Commits on Sep 25, 2024

• check getters

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  63a179c

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• simplification: dynamics_ext is now always inplace even if OCP is not

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  11673ad

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• views do seem slightly better than slices for getters

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  9a9b377

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• check t_i type

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  846de64

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• redefine type_stable ti/tf in docp

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  291a993

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Commits on Sep 26, 2024

• miminalist objective

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  266f325

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• getters without allocs; todo: improve _x by passing full argument

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  1da2bd1

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• allocs tests for local mayer

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  9dae5b8

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Commits on Sep 27, 2024

• reintroduced scal/vec getters that seem to give less allocs than scalarization functions

  PierreMartinon

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  3da2a93

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• grr

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  c51c584

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• Val in external getter does not fix type

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  0b184b6

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• parametric types in DOCP for scal/vect variables seem promising

  PierreMartinon

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  8f97e5f

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• in progress: constraints with param getters

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  5cce50f

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• test param

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  918a27a

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• tests param ok except the 3 midpoint

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  8cd72ce

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• check block

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  8c80e65

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Commits on Sep 30, 2024

• fixing regression on t_i types; still some errors in tests

  PierreMartinon

  committed
  6931a08

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Commits on Oct 1, 2024

• all tests (except midpoint) ok

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  db87c66

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• allocs and runtime dispatch for all ocp functions, which show as type Any

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  6d5aaa9

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Commits on Oct 3, 2024

• mayer test

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  9d13a77

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Commits on Oct 10, 2024

• prof

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  963d40d

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