Merge pull request #37 from control-toolbox/19-handle-warning-types

no more warning for performance
control-toolbox · Aug 5, 2024 · 7560c45 · 7560c45
2 parents 6d5743a + ed9f672
commit 7560c45
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Showing 4 changed files with 15 additions and 6 deletions.
diff --git a/ext/hamiltonian.jl b/ext/hamiltonian.jl
@@ -6,7 +6,7 @@ Returns a function that solves ODE problem associated to Hamiltonian vector fiel
 """
 function hamiltonian_usage(alg, abstol, reltol, saveat; kwargs_Flow...)
 
-    function f(tspan::Tuple{Time,Time}, x0::State, p0::Costate, v::Variable=__variable(); 
+    function f(tspan::Tuple{Time,Time}, x0::State, p0::Costate, v::Variable=__variable(x0, p0); 
         jumps, _t_stops_interne, DiffEqRHS, tstops=__tstops(), callback=__callback(), kwargs...)
 
         # ode
@@ -24,7 +24,7 @@ function hamiltonian_usage(alg, abstol, reltol, saveat; kwargs_Flow...)
         return sol
     end
 
-    function f(t0::Time, x0::State, p0::Costate, tf::Time, v::Variable=__variable(); kwargs...)
+    function f(t0::Time, x0::State, p0::Costate, tf::Time, v::Variable=__variable(x0, p0); kwargs...)
         sol = f((t0, tf), x0, p0, v; kwargs...)
         n = size(x0, 1)
         return sol[rg(1,n), end], sol[rg(n+1,2n), end]

diff --git a/ext/vector_field.jl b/ext/vector_field.jl
@@ -6,7 +6,7 @@ Returns a function that solves ODE problem associated to classical vector field.
 function vector_field_usage(alg, abstol, reltol, saveat; kwargs_Flow...)
 
     # kwargs has priority wrt kwargs_flow
-    function f(tspan::Tuple{Time,Time}, x0::State, v::Variable=__variable(); 
+    function f(tspan::Tuple{Time,Time}, x0::State, v::Variable=__variable(x0); 
         jumps, _t_stops_interne, DiffEqRHS, tstops=__tstops(), callback=__callback(), kwargs...)
 
         # ode
@@ -24,7 +24,7 @@ function vector_field_usage(alg, abstol, reltol, saveat; kwargs_Flow...)
 
     end
 
-    function f(t0::Time, x0::State, t::Time, v::Variable=__variable(); kwargs...)
+    function f(t0::Time, x0::State, t::Time, v::Variable=__variable(x0); kwargs...)
         sol = f((t0, t), x0, v; kwargs...)
         return sol.u[end]
     end

diff --git a/src/default.jl b/src/default.jl
@@ -1,7 +1,16 @@
 # --------------------------------------------------------------------------------------------
 # Default options for flows
 # --------------------------------------------------------------------------------------------
-__variable() = Real[]
+function __variable(x0, p0) 
+    z0 = [x0; p0]
+    T  = eltype(z0)
+    return Vector{T}()
+end
+
+function __variable(x0) 
+    T  = eltype(x0)
+    return Vector{T}()
+end
 
 """
 $(TYPEDSIGNATURES)

diff --git a/src/types.jl b/src/types.jl
@@ -125,7 +125,7 @@ end
 end
 
 # 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...) 
+function (F::OptimalControlFlow)(tspan::Tuple{Time,Time}, x0::State, p0::Costate, v::Variable=__variable(x0, p0); kwargs...) 
     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)