Merge pull request #273 from control-toolbox/272-update-test_onepassj…

…l-to-replace-field-accesses-by-getters

Use getters for tests and remove old constraints, time in tests

bench/bench_nlp_constraints.jl

@@ -197,8 +197,8 @@ function test_alloc_bad(ocp, N)
     begin
         v = Real[]
 
-        n = ocp.state_dimension
-        m = ocp.control_dimension
+        n = state_dimension(ocp)
+        m = control_dimension(ocp)
 
         times = LinRange(0, 1, N)
         XU = ones(N * (n + m))
@@ -456,8 +456,8 @@ function test_alloc_good(ocp, N)
         begin
             v = Real[]
 
-            n = ocp.state_dimension
-            m = ocp.control_dimension
+            n = state_dimension(ocp)
+            m = control_dimension(ocp)
 
             times = LinRange(0, 1, N)
             XU = zeros(N * (n + m))

bench/bench_nlp_constraints.md

@@ -172,8 +172,8 @@ function test_alloc_bad(ocp, N)
     println("   declare variables")
     begin
         v = Real[]
-        n = ocp.state_dimension
-        m = ocp.control_dimension
+        n = state_dimension(ocp)
+        m = control_dimension(ocp)
         times = LinRange(0, 1, N)
         XU = ones(N * (n + m))
         nξ = length(ξl)
@@ -373,8 +373,8 @@ function test_alloc_good(ocp, N)
         println("   declare variables")
         begin
             v = Real[]
-            n = ocp.state_dimension
-            m = ocp.control_dimension
+            n = state_dimension(ocp)
+            m = control_dimension(ocp)
             times = LinRange(0, 1, N)
             XU = zeros(N * (n + m))
             nξ = length(ξl)

ext/plot.jl

@@ -228,8 +228,8 @@ function __initial_plot(
 )
 
     # parameters
-    n = sol.state_dimension
-    m = sol.control_dimension
+    n = state_dimension(sol)
+    m = control_dimension(sol)
 
     if layout == :group
         @match control begin
@@ -354,12 +354,12 @@ function Plots.plot!(
     end
 
     #
-    n = sol.state_dimension
-    m = sol.control_dimension
-    x_labels = sol.state_components_names
-    u_labels = sol.control_components_names
-    u_label = sol.control_name
-    t_label = sol.time_name
+    n = state_dimension(sol)
+    m = control_dimension(sol)
+    x_labels = state_components_names(sol)
+    u_labels = control_components_names(sol)
+    u_label = control_name(sol)
+    t_label = time_name(sol)
 
     # split series attributes 
     series_attr = __keep_series_attributes(; kwargs...)
@@ -548,12 +548,12 @@ function Plots.plot!(
 end
 
 function __size_plot(sol::OptimalControlSolution, control::Symbol)
-    n = sol.state_dimension
-    #m = sol.control_dimension
+    n = state_dimension(sol)
+    #m = control_dimension(sol)
     m = @match control begin
-        :components => sol.control_dimension
+        :components => control_dimension(sol)
         :norm => 1
-        :all => sol.control_dimension + 1
+        :all => control_dimension(sol) + 1
         _ => throw(IncorrectArgument("No such choice for control. Use :components, :norm or :all"))
     end
     return (600, 140 * (n + m))
@@ -643,10 +643,10 @@ function recipe_label(
         end
 
         label = @match s begin
-            :state => sol.state_components_names[i]
-            :control => sol.control_components_names[i]
-            :costate => "p" * sol.state_components_names[i]
-            :control_norm => "‖" * sol.control_name * "‖"
+            :state => state_components_names(sol)[i]
+            :control => control_components_names(sol)[i]
+            :costate => "p" * state_components_names(sol)[i]
+            :control_norm => "‖" * control_name(sol) * "‖"
             _ => error("Internal error, no such choice for label")
         end
     end
@@ -664,10 +664,10 @@ function __get_data_plot(
     xx::Union{Symbol, Tuple{Symbol, Integer}};
     time::Symbol = :default,
 )
-    T = sol.time_grid
-    X = sol.state.(T)
-    U = sol.control.(T)
-    P = sol.costate.(T)
+    T = time_grid(sol)
+    X = state(sol).(T)
+    U = control(sol).(T)
+    P = costate(sol).(T)
 
     vv, ii = @match xx begin
         ::Symbol => (xx, 1)

src/CTBase.jl

@@ -258,10 +258,10 @@ export OptimalControlModel
 export Model
 export __OCPModel # redirection to Model to avoid confusion with other Model functions from other packages. Due to @def macro
 export variable!,
-    time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
+    time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, model_expression!
 export is_autonomous, is_fixed, is_time_independent, is_time_dependent, is_min, is_max
 export is_variable_dependent, is_variable_independent
-export nlp_constraints!, constraints_labels
+export nlp_constraints!, constraints, constraints_labels, constraint
 export has_free_final_time, has_free_initial_time, has_lagrange_cost, has_mayer_cost
 export dim_control_constraints, dim_state_constraints, dim_mixed_constraints, dim_path_constraints
 export dim_boundary_constraints, dim_variable_constraints, dim_control_range

src/init.jl

@@ -236,12 +236,12 @@ mutable struct OptimalControlInit
     """
     function OptimalControlInit(sol::OptimalControlSolution; unused_kwargs...)
         return OptimalControlInit(
-            state = sol.state,
-            control = sol.control,
-            variable = sol.variable,
-            state_dim = sol.state_dimension,
-            control_dim = sol.control_dimension,
-            variable_dim = sol.variable_dimension,
+            state = state(sol),
+            control = control(sol),
+            variable = variable(sol),
+            state_dim = state_dimension(sol),
+            control_dim = control_dimension(sol),
+            variable_dim = variable_dimension(sol),
         )
     end
 end

src/optimal_control_model-getters.jl

@@ -36,9 +36,6 @@ function nlp_constraints!(ocp::OptimalControlModel)
     # we check if the dimensions and times have been set
     __check_all_set(ocp)
 
-    #
-    constraints = ocp.constraints
-
     ξf = Vector{ControlConstraint}()
     ξl = Vector{ctNumber}()
     ξu = Vector{ctNumber}()
@@ -64,7 +61,7 @@ function nlp_constraints!(ocp::OptimalControlModel)
     vl = Vector{ctNumber}()
     vu = Vector{ctNumber}()
 
-    for (_, c) ∈ constraints
+    for (_, c) ∈ constraints(ocp)
         @match c begin
             (type, f::BoundaryConstraint, lb, ub) && if type ∈ [:initial, :final, :boundary]
             end => begin
@@ -207,88 +204,12 @@ end
 """
 $(TYPEDSIGNATURES)
 
-Return `true` if the model is autonomous.
-"""
-is_autonomous(ocp::OptimalControlModel{Autonomous, <:VariableDependence}) = true
-is_autonomous(ocp::OptimalControlModel{NonAutonomous, <:VariableDependence}) = false
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined as time dependent.
-"""
-is_time_dependent(ocp::OptimalControlModel) = !is_autonomous(ocp)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined as time independent.
-"""
-is_time_independent(ocp::OptimalControlModel) = !is_time_dependent(ocp)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the criterion type of `ocp` is `:min`.
-"""
-is_min(ocp::OptimalControlModel) = ocp.criterion == :min
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the criterion type of `ocp` is `:max`.
-"""
-is_max(ocp::OptimalControlModel) = !is_min(ocp)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model is fixed (= has no variable).
-"""
-is_fixed(ocp::OptimalControlModel{<:TimeDependence, Fixed}) = true
-is_fixed(ocp::OptimalControlModel{<:TimeDependence, NonFixed}) = false
+Return the constraints of the ocp or nothing.
 
 """
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined as variable dependent.
-"""
-is_variable_dependent(ocp::OptimalControlModel) = !is_fixed(ocp)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined as variable independent.
-"""
-is_variable_independent(ocp::OptimalControlModel) = !is_variable_dependent(ocp)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined with free initial time.
-"""
-has_free_initial_time(ocp::OptimalControlModel) = (typeof(ocp.initial_time) == Index)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined with free final time.
-"""
-has_free_final_time(ocp::OptimalControlModel) = (typeof(ocp.final_time) == Index)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined with lagrange cost.
-"""
-has_lagrange_cost(ocp::OptimalControlModel) = !isnothing(ocp.lagrange)
-
-"""
-$(TYPEDSIGNATURES)
-
-Return `true` if the model has been defined with mayer cost.
-"""
-has_mayer_cost(ocp::OptimalControlModel) = !isnothing(ocp.mayer)
+function constraints(ocp::OptimalControlModel)
+    return ocp.constraints
+end
 
 """
 $(TYPEDSIGNATURES)
@@ -587,3 +508,89 @@ Return the dynamics of the optimal control problem or `nothing`.
 
 """
 dynamics(ocp::OptimalControlModel) = ocp.dynamics
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model is autonomous.
+"""
+is_autonomous(ocp::OptimalControlModel{Autonomous, <:VariableDependence}) = true
+is_autonomous(ocp::OptimalControlModel{NonAutonomous, <:VariableDependence}) = false
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined as time dependent.
+"""
+is_time_dependent(ocp::OptimalControlModel) = !is_autonomous(ocp)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined as time independent.
+"""
+is_time_independent(ocp::OptimalControlModel) = !is_time_dependent(ocp)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the criterion type of `ocp` is `:min`.
+"""
+is_min(ocp::OptimalControlModel) = criterion(ocp) == :min
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the criterion type of `ocp` is `:max`.
+"""
+is_max(ocp::OptimalControlModel) = !is_min(ocp)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model is fixed (= has no variable).
+"""
+is_fixed(ocp::OptimalControlModel{<:TimeDependence, Fixed}) = true
+is_fixed(ocp::OptimalControlModel{<:TimeDependence, NonFixed}) = false
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined as variable dependent.
+"""
+is_variable_dependent(ocp::OptimalControlModel) = !is_fixed(ocp)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined as variable independent.
+"""
+is_variable_independent(ocp::OptimalControlModel) = !is_variable_dependent(ocp)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free initial time.
+"""
+has_free_initial_time(ocp::OptimalControlModel) = (typeof(initial_time(ocp)) == Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free final time.
+"""
+has_free_final_time(ocp::OptimalControlModel) = (typeof(final_time(ocp)) == Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with lagrange cost.
+"""
+has_lagrange_cost(ocp::OptimalControlModel) = !isnothing(lagrange(ocp))
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with mayer cost.
+"""
+has_mayer_cost(ocp::OptimalControlModel) = !isnothing(mayer(ocp))