propagate ctbase v0.5.0

Project.toml

@@ -1,21 +1,21 @@
 name = "CTDirectShooting"
 uuid = "e0e6c04b-5022-4cd2-bea2-4a09fff39444"
 authors = ["Olivier Cots <olivier.cots@enseeiht.fr>"]
-version = "0.1.3"
+version = "0.1.4"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
+CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
 CTOptimization = "22f08de8-270f-4470-8fba-397dbc90d8e0"
-HamiltonianFlows = "5fb78580-10a0-4606-82bc-07a60f425ab3"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
 [compat]
-CTBase = "0.4"
+CTBase = "0.5"
+CTFlows = "0.2"
 CTOptimization = "0.1"
-HamiltonianFlows = "1.0"
 LinearAlgebra = "1.8"
-Plots = "1.38"
+MLStyle = "0.4"
 Printf = "1.8"
 julia = "1.8"

src/CTDirectShooting.jl

@@ -1,20 +1,13 @@
 module CTDirectShooting
 
-# using
 #
 using CTBase
-
-#
+using CTFlows
+using CTOptimization
 using LinearAlgebra # for the norm for instance
+using MLStyle
 using Printf # to print iterations results for instance
 
-# flows
-using HamiltonianFlows
-
-# nlp solvers
-using CTOptimization
-#import CTOptimization: solve #todo: remove this
-
 # Other declarations
 const nlp_constraints = CTBase.nlp_constraints
 const __grid_size_direct_shooting = CTBase.__grid_size_direct_shooting
@@ -29,7 +22,7 @@ const __stagnationTolerance = CTBase.__stagnationTolerance
 const expand = CTBase.expand
 const vec2vec = CTBase.vec2vec
 
-# includes
+#
 include("utils.jl")
 include("init.jl")
 include("problem.jl")

src/init.jl

@@ -123,7 +123,7 @@ end
 
 # 
 function CTOptimizationInit(t0::Time, tf::Time, m::Dimension, S::OptimalControlSolution, grid, interp::Function)
-    return CTOptimizationInit(t0, tf, m, control(S), grid, interp)
+    return CTOptimizationInit(t0, tf, m, S.control, grid, interp)
 end
 
 #

src/solution.jl

@@ -1,4 +1,3 @@
-
 # ------------------------------------------------------------------------------------
 # Direct shooting solution
 #
@@ -75,6 +74,7 @@ function _OptimalControlSolution(ocp::OptimalControlModel, dssol::DirectShooting
     sol.state_dimension = dssol.state_dimension
     sol.control_dimension = dssol.control_dimension
     sol.times = dssol.T
+    sol.time_label = ocp.time_label
     sol.state = t -> x(t)
     sol.state_labels = ocp.state_labels # update CTBase to have a getter
     sol.adjoint = t -> p(t)

src/solve.jl

@@ -51,9 +51,9 @@ function CTDirectShooting.solve(
     end
 
     # Init - need some parsing
-    t0 = initial_time(ocp)
-    tf = final_time(ocp)
-    m  = control_dimension(ocp)
+    t0 = ocp.initial_time
+    tf = ocp.final_time
+    m  = ocp.control_dimension
     opti_init, grid = CTOptimizationInit(t0, tf, m, init, grid, init_interpolation)
 
     # Problem

src/utils.jl

@@ -4,12 +4,35 @@
 function parse_ocp_direct_shooting(ocp::OptimalControlModel)
 
     # parsing ocp
-    dy = dynamics(ocp)
-    co = lagrange(ocp)
-    cf = final_constraint(ocp)
-    x0 = initial_condition(ocp)
-    n = state_dimension(ocp)
-    m = control_dimension(ocp)
+    dy = ocp.dynamics
+    co = ocp.lagrange
+    n = ocp.state_dimension
+    m = ocp.control_dimension
+
+    # initial_condition and final_constraint
+    # x0 = ocp.initial_condition
+    # cf = ocp.final_constraint
+    x0 = nothing
+    cf = nothing
+    constraints = ocp.constraints
+    for (_, c) ∈ constraints
+        @match c begin
+        (:initial, _, f, lb, ub) => begin
+            if lb ≠ ub 
+                error("direct shooting is implemented for problems with initial condition")
+            else
+                x0 = lb
+            end
+            end
+        (:final, _, f, lb, ub) => begin
+            if lb ≠ ub 
+                error("direct shooting is implemented for problems with final equality constraint")
+            else
+                cf = x -> f(x) - lb
+            end
+            end
+	    end # match
+    end # for
 
     return dy, co, cf, x0, n, m
 

test/Project.toml

@@ -1,4 +1,4 @@
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
-CTProblemLibrary = "0649932a-8c77-4f67-b1e4-c19ddd080280"
+CTProblems = "45d9ea3f-a92f-411f-833f-222dd4fb9cd8"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

test/runtests.jl

@@ -1,7 +1,7 @@
 using CTDirectShooting
 using Test
 using CTBase
-using CTProblemLibrary
+using CTProblems
 
 # CTDirectShooting
 const CTOptimizationInit = CTDirectShooting.CTOptimizationInit

test/test_CTOptimization.jl

@@ -6,9 +6,9 @@ ocp = prob.model
 u_sol(t) = prob.solution.control(t)[1]
 
 #
-t0 = initial_time(ocp)
-tf = final_time(ocp)
-m  = control_dimension(ocp)
+t0 = ocp.initial_time
+tf = ocp.final_time
+m  = ocp.control_dimension
 
 # --------------------------------------------------------------------------------------------------
 #

test/test_plot_manual.jl

@@ -1,5 +1,5 @@
 using CTDirectShooting
-using CTProblemLibrary
+using CTProblems
 using CTBase
 
 prob = Problem(:integrator, :dim2, :energy); ocp = prob.model