Merge pull request #36 from control-toolbox/30-create-optimalcontrols…

…olution flow from ocp returns an OptimalControlSolution
control-toolbox · Aug 5, 2024 · 6d5743a · 6d5743a
2 parents bf38b92 + bf00c4c
commit 6d5743a
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diff --git a/Project.toml b/Project.toml
@@ -10,11 +10,9 @@ MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
 
 [weakdeps]
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [extensions]
 CTFlowsODE = "OrdinaryDiffEq"
-CTFlowsPlots = "Plots"
 
 [compat]
 CTBase = "0.11"

diff --git a/ext/CTFlowsPlots.jl b/ext/CTFlowsPlots.jl
diff --git a/src/CTFlows.jl b/src/CTFlows.jl
@@ -29,8 +29,6 @@ module CTFlows
         global default_algorithm = alg
         nothing
     end
-    #CTFlows.plot(sol::OptimalControlFlowSolution, args...; kwargs...) = throw(ExtensionError("Please make: julia> using Plots"))
-    #CTFlows.plot!(p, sol::OptimalControlFlowSolution, args...; kwargs...) = throw(ExtensionError("Please make: julia> using Plots"))
 
     #
     include("default.jl")
@@ -43,7 +41,6 @@ module CTFlows
     export Hamiltonian
     export HamiltonianLift
     export HamiltonianVectorField
-    #export plot, plot!
     export Flow
     export *
 

diff --git a/src/types.jl b/src/types.jl
@@ -124,9 +124,9 @@ end
     F.f(args...; jumps=F.jumps, _t_stops_interne=F.tstops, DiffEqRHS=F.rhs!, kwargs...)
 end
 
-# call F.f and then, construct a solution which contains all the need information for plotting
-# it is a Hamiltonian usage
+# call F.f and then, construct an optimal control solution
 function (F::OptimalControlFlow)(tspan::Tuple{Time,Time}, x0::State, p0::Costate, v::Variable=__variable(); kwargs...) 
-    ode_sol = F.f(tspan, x0, p0, v; jumps=F.jumps, _t_stops_interne=F.tstops, DiffEqRHS=F.rhs!, kwargs...)
-    return OptimalControlFlowSolution(ode_sol, F.feedback_control, F.ocp, v)
+    ode_sol  = F.f(tspan, x0, p0, v; jumps=F.jumps, _t_stops_interne=F.tstops, DiffEqRHS=F.rhs!, kwargs...)
+    flow_sol = OptimalControlFlowSolution(ode_sol, F.feedback_control, F.ocp, v)
+    return CTFlows.OptimalControlSolution(flow_sol)
 end