Merge pull request #120 from control-toolbox/plot

Plot limits

.github/workflows/Documentation.yml

@@ -20,11 +20,12 @@ jobs:
           registry: control-toolbox/ct-registry
       - uses: julia-actions/julia-buildpkg@v1
         with:
-          version: '1.8'
+          version: '1.9'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token
           DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key
+          GKSwstype: 100 # To make GitHub Action work, disable showing a plot window with the GR backend of the Plots package
         run: julia --project=docs/ -e 'ENV["GKSwstype"]="nul" ; include("docs/make.jl")'

docs/make.jl

@@ -2,23 +2,21 @@ using Documenter
 using CTBase
 
 makedocs(
+    warnonly = [:cross_references, :autodocs_block],
     sitename = "CTBase.jl",
     format = Documenter.HTML(prettyurls = false),
     pages = [
         "Introduction" => "index.md",
         "API" => ["api-ctbase.md", 
-        #"api-callbacks.md",
-        #"api-checking.md",
-        "api-default.md", 
+        "api-callbacks.md",
         "api-description.md", 
         "api-diffgeom.md",
         "api-exceptions.md", 
-        #"api-functions.md", 
         "api-model.md",
         "api-parser.md",
         "api-plot.md", 
         "api-print.md",
-        "api-ctrepl.md",
+        "api-repl.md",
         "api-types.md", 
         "api-utils.md"],
         "Developers" => "api-developers.md"

docs/src/api-developers.md

@@ -3,10 +3,10 @@
 ## Index
 
 ```@index
-Pages   = ["api-callbacks.md"]
+Pages   = ["api-developers.md"]
 Modules = [CTBase]
 Order = [:module, :constant, :type, :function, :macro]
-Private = false
+Public = false
 ```
 
 ## Documentation

docs/src/api-plot.md

@@ -6,138 +6,3 @@ Order = [:module, :constant, :type, :function, :macro]
 Pages = ["plot.jl"]
 Private = false
 ```
-
-## Examples
-
-```@setup main
-using CTBase
-
-# create a solution
-n=2
-m=1
-t0=0.0
-tf=1.0
-x0=[-1.0, 0.0]
-xf=[0.0, 0.0]
-a = x0[1]
-b = x0[2]
-C = [-(tf-t0)^3/6.0 (tf-t0)^2/2.0
-     -(tf-t0)^2/2.0 (tf-t0)]
-D = [-a-b*(tf-t0), -b]+xf
-p0 = C\D
-α = p0[1]
-β = p0[2]
-x(t) = [a+b*(t-t0)+β*(t-t0)^2/2.0-α*(t-t0)^3/6.0, b+β*(t-t0)-α*(t-t0)^2/2.0]
-p(t) = [α, -α*(t-t0)+β]
-u(t) = [p(t)[2]]
-objective = 0.5*(α^2*(tf-t0)^3/3+β^2*(tf-t0)-α*β*(tf-t0)^2)
-#
-N=201
-times = range(t0, tf, N)
-#
-
-sol = OptimalControlSolution()
-sol.state_dimension = n
-sol.control_dimension = m
-sol.times = times
-sol.time_name="t"
-sol.state = x
-sol.state_components_names = [ "x" * ctindices(i) for i ∈ range(1, n)]
-sol.costate = p
-sol.control = u
-sol.control_components_names = [ "u" ]
-sol.objective = objective
-sol.iterations = 0
-sol.stopping = :dummy
-sol.message = "ceci est un test"
-sol.success = true
-```
-
-Let us consider we have defined an optimal control problem
-
-```julia
-ocp = Model()
-...
-```
-
-and solve it
-
-```julia
-sol = solve(ocp)
-```
-
-We can plot the solution with the default layout `:split`.
-
-```@example main
-plot(sol, layout=:split, size=(800, 600))
-```
-
-Or with the layout `:group`.
-
-```@example main
-plot(sol, layout=:group, size=(800, 300))
-```
-
-You can specify some styles:
-
-```@example main
-plot_sol = plot(sol, 
-    state_style=(color=:blue,), 
-    costate_style=(color=:black, linestyle=:dash),
-    control_style=(color=:red, linewidth=2),
-    size=(800, 600))
-```
-
-You can also add additional plots with the command `plot!`.
-
-```@setup main
-using CTBase
-
-# create a other solution
-n=2
-m=1
-t0=0.0
-tf=1.0
-x0=[-0.5, 0.0]
-xf=[0.0, 0.0]
-a = x0[1]
-b = x0[2]
-C = [-(tf-t0)^3/6.0 (tf-t0)^2/2.0
-     -(tf-t0)^2/2.0 (tf-t0)]
-D = [-a-b*(tf-t0), -b]+xf
-p0 = C\D
-α = p0[1]
-β = p0[2]
-x(t) = [a+b*(t-t0)+β*(t-t0)^2/2.0-α*(t-t0)^3/6.0, b+β*(t-t0)-α*(t-t0)^2/2.0]
-p(t) = [α, -α*(t-t0)+β]
-u(t) = [p(t)[2]]
-objective = 0.5*(α^2*(tf-t0)^3/3+β^2*(tf-t0)-α*β*(tf-t0)^2)
-#
-N=201
-times = range(t0, tf, N)
-#
-
-sol2 = OptimalControlSolution()
-sol2.state_dimension = n
-sol2.control_dimension = m
-sol2.times = times
-sol2.time_name="t"
-sol2.state = x
-sol2.state_components_names = [ "x" * ctindices(i) for i ∈ range(1, n)]
-sol2.costate = p
-sol2.control = u
-sol2.control_components_names = [ "u" ]
-sol2.objective = objective
-sol2.iterations = 0
-sol2.stopping = :dummy
-sol2.message = "ceci est un test"
-sol2.success = true
-```
-
-```@example main
-plot!(plot_sol, sol2, 
-    state_style=(color=:purple,), 
-    costate_style=(color=:grey, linestyle=:dash),
-    control_style=(color=:pink, linewidth=2),
-    size=(800, 600))
-```

docs/src/api-ctrepl.md → docs/src/api-repl.md

@@ -3,7 +3,7 @@
 ## Index
 
 ```@index
-Pages   = ["api-ctrepl.md"]
+Pages   = ["api-repl.md"]
 Modules = [CTBase]
 Order = [:module, :constant, :type, :function, :macro]
 Private = false

src/ctparser_utils.jl

@@ -208,8 +208,8 @@ has(e, x, t) = begin
 	if :yes ∈ args
 	    :yes
 	else @match ee begin
-            :( $eee($tt) ) => (tt == t && has(eee, x)) ? :yes : ee
-            _ => ee end
+            :( $eee($tt) ) => (tt == t && has(eee, x)) ? :yes : ee
+            _ => ee end
         end
     end
     expr_it(e, foo(x, t), x -> x) == :yes