up CTBase 0.10, v0.4.0

Project.toml

@@ -1,7 +1,7 @@
 name = "CTFlows"
 uuid = "1c39547c-7794-42f7-af83-d98194f657c2"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.3.7"
+version = "0.4.0"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
@@ -17,7 +17,7 @@ CTFlowsODE = "DifferentialEquations"
 CTFlowsPlots = "Plots"
 
 [compat]
-CTBase = "0.9"
+CTBase = "0.10"
 DifferentialEquations = "7.13"
 DocStringExtensions = "0.9"
 Plots = "1.38"

ext/CTFlowsPlots.jl

@@ -15,7 +15,7 @@ module CTFlowsPlots
     function Plots.plot(sol::OptimalControlFlowSolution; style::Symbol=:ocp, kwargs...)
         ocp_sol = OptimalControlSolution(sol) # from a flow (from ocp and control) solution to an OptimalControlSolution
         if style==:ocp
-            CTBase.plot(ocp_sol; kwargs...)
+            Plots.plot(ocp_sol; kwargs...)
         else
             Plots.plot(sol.ode_sol; kwargs...)
         end
@@ -24,7 +24,7 @@ module CTFlowsPlots
     function Plots.plot!(p::Plots.Plot, sol::OptimalControlFlowSolution; style::Symbol=:ocp, kwargs...)
         ocp_sol = OptimalControlSolution(sol) # from a flow (from ocp and control) solution to an OptimalControlSolution
         if style==:ocp
-            CTBase.plot!(p, ocp_sol; kwargs...)
+            Plots.plot!(p, ocp_sol; kwargs...)
         else
             Plots.plot!(p, sol.ode_sol; kwargs...)
         end

test/Project.toml

@@ -6,6 +6,6 @@ Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
-CTBase = "0.9"
+CTBase = "0.10"
 DifferentialEquations = "7.13"
 Plots = "1.38"

test/manual_plot_goddard.jl

@@ -1,6 +1,7 @@
 using CTBase
 using CTFlows
 using DifferentialEquations
+using Plots
 
 # Parameters
 Cd = 310
@@ -18,14 +19,14 @@ x0 = [r0, v0, m0]
 # OCP model
 ocp = Model(variable=true)
 variable!(ocp, 1)
-time!(ocp, t0, Index(1)) # if not provided, final time is free
+time!(ocp, t0=t0, indf=1) # if not provided, final time is free
 state!(ocp, 3, "x", ["r", "v", "m"]) # state dim
 control!(ocp, 1) # control dim
-constraint!(ocp, :initial, x0)
-constraint!(ocp, :control, (u, v) -> u, 0, 1)
-constraint!(ocp, :state, (x, v) -> x[1], r0, Inf, :state_con1)
-constraint!(ocp, :state, (x, v) -> x[2], 0, vmax, :state_con2)
-constraint!(ocp, :state, (x, v) -> x[3], m0, mf, :state_con3)
+constraint!(ocp, :initial, lb=x0, ub=x0)
+constraint!(ocp, :control, f=(u, v) -> u,  lb=0,  ub=1)
+constraint!(ocp, :state, f=(x, v) -> x[1], lb=r0, ub=Inf,  label=:state_con1)
+constraint!(ocp, :state, f=(x, v) -> x[2], lb=0,  ub=vmax, label=:state_con2)
+constraint!(ocp, :state, f=(x, v) -> x[3], lb=m0, ub=mf,   label=:state_con3)
 objective!(ocp, :mayer,  (x0, xf, v) -> xf[1], :max)
 function F0(x)
     r, v, m = x

test/runtests.jl

@@ -1,8 +1,8 @@
 using Test
 using CTFlows
 using DifferentialEquations
-using Plots
 using CTBase
+using Plots
 using LinearAlgebra
 
 @testset verbose = true showtiming = true "CTFlows" begin

test/test_concatenation.jl

@@ -280,8 +280,8 @@ function test_concatenation()
         ocp = Model()
         state!(ocp, 2)
         control!(ocp, 2)
-        time!(ocp, [0, 5])
-        constraint!(ocp, :initial, [0, 0])
+        time!(ocp, t0=0, tf=5)
+        constraint!(ocp, :initial, lb=[0, 0], ub=[0, 0])
         dynamics!(ocp, (x, u) -> u)
         objective!(ocp, :mayer, (x0, xf) -> xf)
         f = Flow(ocp, (x, p) -> [p[1]/2, 0])
@@ -295,10 +295,10 @@ function test_concatenation()
         ocp = Model()
         state!(ocp, 1)
         control!(ocp, 1)
-        time!(ocp, [0, 1])
-        constraint!(ocp, :initial, -1, :initial_constraint)
-        constraint!(ocp, :final,    0, :final_constraint)
-        constraint!(ocp, :control, -1, 1, :control_constraint) 
+        time!(ocp, t0=0, tf=1)
+        constraint!(ocp, :initial, lb=-1, ub=-1, label=:initial_constraint)
+        constraint!(ocp, :final,   lb= 0, ub= 0, label=:final_constraint)
+        constraint!(ocp, :control, lb=-1, ub= 1, label=:control_constraint) 
         dynamics!(ocp, (x, u) -> -x + u)
         objective!(ocp, :lagrange, (x, u) -> abs(u))
         f0 = Flow(ocp, ControlLaw((x, p) -> 0))

test/test_optimal_control_problem.jl

@@ -11,9 +11,9 @@ function test_optimal_control_problem()
         ocp = Model()
         state!(ocp, n)   # dimension of the state
         control!(ocp, m) # dimension of the control
-        time!(ocp, [t0, tf])
-        constraint!(ocp, :initial, x0, :initial_constraint)
-        constraint!(ocp, :final, xf, :final_constraint)
+        time!(ocp, t0=t0, tf=tf)
+        constraint!(ocp, :initial, lb=x0, ub=x0, label=:initial_constraint)
+        constraint!(ocp, :final, lb=xf, ub=xf, label=:final_constraint)
         dynamics!(ocp, (x, u) -> [x[2], u])
         objective!(ocp, :lagrange, (x, u) -> 0.5u^2) # default is to minimise
         f = Flow(ocp, (x, p) -> p[2])
@@ -33,9 +33,9 @@ function test_optimal_control_problem()
         ocp = Model()
         state!(ocp, n)   # dimension of the state
         control!(ocp, m) # dimension of the control
-        time!(ocp, [t0, tf])
-        constraint!(ocp, :initial, x0)
-        constraint!(ocp, :mixed, (x,u) -> x + u, -Inf, 0)
+        time!(ocp, t0=t0, tf=tf)
+        constraint!(ocp, :initial, lb=x0, ub=x0)
+        constraint!(ocp, :mixed, f=(x,u) -> x + u, lb=-Inf, ub=0)
         dynamics!(ocp, (x, u) -> u)
         objective!(ocp, :lagrange, (x, u) -> -u)
 
@@ -102,10 +102,10 @@ function test_optimal_control_problem()
         ocp = Model()
         state!(ocp, n)   # dimension of the state
         control!(ocp, m) # dimension of the control
-        time!(ocp, [t0, tf])
-        constraint!(ocp, :initial, x0)
-        constraint!(ocp, :final,   xf)
-        constraint!(ocp, :state, Index(1), -Inf, l)
+        time!(ocp, t0=t0, tf=tf)
+        constraint!(ocp, :initial, lb=x0, ub=x0)
+        constraint!(ocp, :final,   lb=xf, ub=xf)
+        constraint!(ocp, :state, rg=Index(1), lb=-Inf, ub=l)
         A = [ 0 1
             0 0 ]
         B = [ 0