Merge pull request #186 from control-toolbox/185-improve-covering

add few tests

src/checking.jl

@@ -58,7 +58,7 @@ Do nothing, no variable for fixed ocp.
 
 """
 function __check_variable_set(ocp::OptimalControlModel{<:TimeDependence, Fixed})
-    nothing
+    return nothing
 end
 
 """

src/default.jl

@@ -1,7 +1,7 @@
 #
 const __default_AD_backend = Ref(AutoForwardDiff())
 
-function set_AD_backend(AD) 
+function set_AD_backend(AD)
     global __default_AD_backend[] = AD
     nothing
 end

src/model.jl

@@ -417,7 +417,7 @@ function time!(
     name::Union{String, Symbol}=__time_name()) where VT
 
     # check if the problem has been set to Variable or NonVariable
-    VT == NonFixed && (!isnothing(ind0) || !isnothing(indf)) && __check_variable_set(ocp)
+    (VT == NonFixed) && (!isnothing(ind0) || !isnothing(indf)) && __check_variable_set(ocp)
 
     # check if indices are in 1:q
     q = ocp.variable_dimension

test/Project.toml

@@ -1,3 +1,4 @@
 [deps]
+DifferentiationInterface = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

test/runtests.jl

@@ -1,6 +1,7 @@
 using CTBase
 using Test
 using Plots
+using DifferentiationInterface: AutoForwardDiff
 
 # functions and types that are not exported
 const vec2vec  = CTBase.vec2vec

test/test_default.jl

@@ -1,5 +1,10 @@
 function test_default()
 
+    @testset "Audo diff" begin
+        set_AD_backend(AutoForwardDiff())
+        @test CTBase.__get_AD_backend() == AutoForwardDiff()
+    end
+
     @testset "Default value of the time dependence of the functions" begin
         @test CTBase.__fun_time_dependence() == Autonomous
     end

test/test_model.jl

@@ -408,6 +408,8 @@ end
     # initial and final times
     ocp = Model()
     __time!(ocp, 0, 1)
+    @test !CTBase.__is_initial_time_free(ocp)
+    @test !CTBase.__is_final_time_free(ocp)
     @test ocp.initial_time == 0
     @test ocp.final_time == 1
     @test ocp.time_name == "t"
@@ -428,6 +430,8 @@ end
     ocp = Model(variable=true)
     variable!(ocp, 1)
     __time!(ocp, 0, Index(1))
+    @test !CTBase.__is_initial_time_free(ocp)
+    @test CTBase.__is_final_time_free(ocp)
     @test ocp.initial_time == 0
     @test ocp.final_time == Index(1)
     @test ocp.time_name == "t"
@@ -450,6 +454,8 @@ end
     ocp = Model(variable=true)
     variable!(ocp, 1)
     __time!(ocp, Index(1), 1)
+    @test CTBase.__is_initial_time_free(ocp)
+    @test !CTBase.__is_final_time_free(ocp)
     @test ocp.initial_time == Index(1)
     @test ocp.final_time == 1
     @test ocp.time_name == "t"

test/test_print.jl

@@ -1,54 +1,65 @@
 function test_print()
 
-    #
-    @test display(Model()) isa Nothing
+      #
+      @test display(Model()) isa Nothing
 
-    #
-    ocp = Model(autonomous=false)
-    state!(ocp, 2, "state", ["r", "v"]) # dimension of the state with the names of the components
-    control!(ocp, 1)           # dimension of the control
-    __time!(ocp, 0, 1, "s")    # initial and final time, with the name of the variable time
-    __constraint!(ocp, :initial, [-1, 0], [-1, 0])
-    __constraint!(ocp, :final  , [ 0, 0], [0, 0])
-    A = [ 0 1
-          0 0 ]
-    B = [ 0
-          1 ]
-    dynamics!(ocp, (t, x, u) -> A*x + B*u)
-    __constraint!(ocp, :state, (t, x) -> x[2], 0, 1)
-    __constraint!(ocp, :control, (t, u) -> u, -1, 1)
-    __constraint!(ocp, :mixed, (t, x, u) -> x[1]+u, 2, 3)
-    __constraint!(ocp, :state, Index(1), -10, 10)
-    __constraint!(ocp, :control, -2, 2)
-    objective!(ocp, :bolza, (t0, x0, tf, xf) -> tf, (t, x, u) -> 0.5u^2)
-    @test display(ocp) isa Nothing
+      @def ocp begin
+            t ∈ [ 0, 1 ], time
+            x ∈ R², state
+            u ∈ R, control
+            x(0) == [ -1, 0 ]
+            x(1) == [ 0, 0 ]
+            ẋ(t) == [ x₂(t), u(t) ]
+            ∫( 0.5u(t)^2 ) → min
+      end
+      @test display(ocp) isa Nothing
+
+      #
+      ocp = Model(autonomous=false)
+      state!(ocp, 2, "state", ["r", "v"]) # dimension of the state with the names of the components
+      control!(ocp, 1)           # dimension of the control
+      __time!(ocp, 0, 1, "s")    # initial and final time, with the name of the variable time
+      __constraint!(ocp, :initial, [-1, 0], [-1, 0])
+      __constraint!(ocp, :final  , [ 0, 0], [0, 0])
+      A = [ 0 1
+            0 0 ]
+      B = [ 0
+            1 ]
+      dynamics!(ocp, (t, x, u) -> A*x + B*u)
+      __constraint!(ocp, :state, (t, x) -> x[2], 0, 1)
+      __constraint!(ocp, :control, (t, u) -> u, -1, 1)
+      __constraint!(ocp, :mixed, (t, x, u) -> x[1]+u, 2, 3)
+      __constraint!(ocp, :state, Index(1), -10, 10)
+      __constraint!(ocp, :control, -2, 2)
+      objective!(ocp, :bolza, (t0, x0, tf, xf) -> tf, (t, x, u) -> 0.5u^2)
+      @test display(ocp) isa Nothing
 
-    #
-    ocp = Model(autonomous=false)
-    state!(ocp, 1, "y") # dimension of the state with the names of the components
-    control!(ocp, 1, "v")           # dimension of the control
-    __time!(ocp, 0, 1, "s")    # initial and final time, with the name of the variable time
-    __constraint!(ocp, :initial, -1, -1)
-    __constraint!(ocp, :final  , 0, 0)
-    dynamics!(ocp, (t, x, u) -> x+u)
-    __constraint!(ocp, :state, (t, x) -> x, 0, 1)
-    __constraint!(ocp, :control, (t, u) -> u, -1, 1)
-    __constraint!(ocp, :mixed, (t, x, u) -> x+u, 2, 3)
-    __constraint!(ocp, :state, -10, 10)
-    __constraint!(ocp, :control, -2, 2)
-    objective!(ocp, :mayer, (t0, x0, tf, xf) -> tf)
-    @test display(ocp) isa Nothing
+      #
+      ocp = Model(autonomous=false)
+      state!(ocp, 1, "y") # dimension of the state with the names of the components
+      control!(ocp, 1, "v")           # dimension of the control
+      __time!(ocp, 0, 1, "s")    # initial and final time, with the name of the variable time
+      __constraint!(ocp, :initial, -1, -1)
+      __constraint!(ocp, :final  , 0, 0)
+      dynamics!(ocp, (t, x, u) -> x+u)
+      __constraint!(ocp, :state, (t, x) -> x, 0, 1)
+      __constraint!(ocp, :control, (t, u) -> u, -1, 1)
+      __constraint!(ocp, :mixed, (t, x, u) -> x+u, 2, 3)
+      __constraint!(ocp, :state, -10, 10)
+      __constraint!(ocp, :control, -2, 2)
+      objective!(ocp, :mayer, (t0, x0, tf, xf) -> tf)
+      @test display(ocp) isa Nothing
 
-    #
-    ocp = Model(autonomous=false, variable=true)
-    variable!(ocp, 1)
-    state!(ocp, 1, "y") # dimension of the state with the names of the components
-    control!(ocp, 2)           # dimension of the control
-    __time!(ocp, 0, Index(1), "s")    # initial and final time, with the name of the variable time
-    __constraint!(ocp, :initial, -1, -1)
-    __constraint!(ocp, :final  , 0, 0)
-    dynamics!(ocp, (t, x, u) -> x+u)
-    objective!(ocp, :mayer, (t0, x0, tf, xf) -> tf)
-    @test display(ocp) isa Nothing
+      #
+      ocp = Model(autonomous=false, variable=true)
+      variable!(ocp, 1)
+      state!(ocp, 1, "y") # dimension of the state with the names of the components
+      control!(ocp, 2)           # dimension of the control
+      __time!(ocp, 0, Index(1), "s")    # initial and final time, with the name of the variable time
+      __constraint!(ocp, :initial, -1, -1)
+      __constraint!(ocp, :final  , 0, 0)
+      dynamics!(ocp, (t, x, u) -> x+u)
+      objective!(ocp, :mayer, (t0, x0, tf, xf) -> tf)
+      @test display(ocp) isa Nothing
 
 end

test/test_utils.jl

@@ -1,56 +1,85 @@
 function test_utils()
 
-    v = [1.0; 2.0; 3.0; 4.0; 5.0; 6.0]
-    n = 2
-    u = vec2vec(v, n)
-    w = vec2vec(u)
-    @test v == w
-
-
-    A = [ 0 1
-          2 3 ]
-
-    V = CTBase.matrix2vec(A)
-    @test V[1] == [0, 1]
-    @test V[2] == [2, 3]
-
-    W = CTBase.matrix2vec(A, 2)
-    @test W[1] == [0, 2]
-    @test W[2] == [1, 3]
-
-    @test_throws IncorrectArgument CTBase.ctindice(-1)
-    @test_throws IncorrectArgument CTBase.ctindice(10)
-
-    @test CTBase.ctindice(0) == '₀'
-    @test CTBase.ctindice(1) == '₁'
-    @test CTBase.ctindice(2) == '₂'
-    @test CTBase.ctindice(3) == '₃'
-    @test CTBase.ctindice(4) == '₄'
-    @test CTBase.ctindice(5) == '₅'
-    @test CTBase.ctindice(6) == '₆'
-    @test CTBase.ctindice(7) == '₇'
-    @test CTBase.ctindice(8) == '₈'
-    @test CTBase.ctindice(9) == '₉'
-
-    @test_throws IncorrectArgument CTBase.ctindices(-1)
-    @test CTBase.ctindices(019) == "₁₉"
-    @test CTBase.ctindices(314) == "₃₁₄"
-
-    @test_throws IncorrectArgument CTBase.ctupperscript(-1)
-    @test_throws IncorrectArgument CTBase.ctupperscript(10)
-    @test CTBase.ctupperscript(0) == '⁰'
-    @test CTBase.ctupperscript(1) == '¹'
-    @test CTBase.ctupperscript(2) == '²'
-    @test CTBase.ctupperscript(3) == '³'
-    @test CTBase.ctupperscript(4) == '⁴'
-    @test CTBase.ctupperscript(5) == '⁵'
-    @test CTBase.ctupperscript(6) == '⁶'
-    @test CTBase.ctupperscript(7) == '⁷'
-    @test CTBase.ctupperscript(8) == '⁸'
-    @test CTBase.ctupperscript(9) == '⁹'
-
-    @test_throws IncorrectArgument CTBase.ctupperscripts(-1)
-    @test CTBase.ctupperscripts(019) == "¹⁹"
-    @test CTBase.ctupperscripts(109) == "¹⁰⁹"
+    @testset "AD" begin
+
+        x0 = 1.0
+
+        f = x -> cos(x)
+        @test CTBase.ctgradient(f, x0)   ≈ -sin(x0) atol=1e-10
+        @test CTBase.__ctgradient(f, x0) ≈ -sin(x0) atol=1e-10
+        @test CTBase.ctgradient(VectorField(f), x0) ≈ -sin(x0) atol=1e-10
+        @test CTBase.__ctgradient(VectorField(f), x0) ≈ -sin(x0) atol=1e-10
+
+        f = x -> [cos(x)]
+        @test CTBase.ctjacobian(f, x0)   ≈ [-sin(x0);;] atol=1e-10
+        @test CTBase.__ctjacobian(f, x0) ≈ [-sin(x0);;] atol=1e-10
+        @test CTBase.ctjacobian(VectorField(f), x0)   ≈ [-sin(x0);;] atol=1e-10
+        @test CTBase.__ctjacobian(VectorField(f), x0) ≈ [-sin(x0);;] atol=1e-10
+
+        g = x -> cos(x[1]) + sin(x[2])
+        @test CTBase.ctgradient(g, [x0, x0])   ≈ [-sin(x0), cos(x0)] atol=1e-10
+        @test CTBase.__ctgradient(g, [x0, x0]) ≈ [-sin(x0), cos(x0)] atol=1e-10
+
+        g = x -> [cos(x[1]) + sin(x[2])]
+        @test CTBase.ctjacobian(g, [x0, x0])   ≈ [-sin(x0) cos(x0)] atol=1e-10
+        @test CTBase.__ctjacobian(g, [x0, x0]) ≈ [-sin(x0) cos(x0)] atol=1e-10
+
+    end
+
+    @testset "Other" begin
+
+        v = [1.0; 2.0; 3.0; 4.0; 5.0; 6.0]
+        n = 2
+        u = vec2vec(v, n)
+        w = vec2vec(u)
+        @test v == w
+
+        A = [ 0 1
+            2 3 ]
+
+        V = CTBase.matrix2vec(A)
+        @test V[1] == [0, 1]
+        @test V[2] == [2, 3]
+
+        W = CTBase.matrix2vec(A, 2)
+        @test W[1] == [0, 2]
+        @test W[2] == [1, 3]
+
+        @test_throws IncorrectArgument CTBase.ctindice(-1)
+        @test_throws IncorrectArgument CTBase.ctindice(10)
+
+        @test CTBase.ctindice(0) == '₀'
+        @test CTBase.ctindice(1) == '₁'
+        @test CTBase.ctindice(2) == '₂'
+        @test CTBase.ctindice(3) == '₃'
+        @test CTBase.ctindice(4) == '₄'
+        @test CTBase.ctindice(5) == '₅'
+        @test CTBase.ctindice(6) == '₆'
+        @test CTBase.ctindice(7) == '₇'
+        @test CTBase.ctindice(8) == '₈'
+        @test CTBase.ctindice(9) == '₉'
+
+        @test_throws IncorrectArgument CTBase.ctindices(-1)
+        @test CTBase.ctindices(019) == "₁₉"
+        @test CTBase.ctindices(314) == "₃₁₄"
+
+        @test_throws IncorrectArgument CTBase.ctupperscript(-1)
+        @test_throws IncorrectArgument CTBase.ctupperscript(10)
+        @test CTBase.ctupperscript(0) == '⁰'
+        @test CTBase.ctupperscript(1) == '¹'
+        @test CTBase.ctupperscript(2) == '²'
+        @test CTBase.ctupperscript(3) == '³'
+        @test CTBase.ctupperscript(4) == '⁴'
+        @test CTBase.ctupperscript(5) == '⁵'
+        @test CTBase.ctupperscript(6) == '⁶'
+        @test CTBase.ctupperscript(7) == '⁷'
+        @test CTBase.ctupperscript(8) == '⁸'
+        @test CTBase.ctupperscript(9) == '⁹'
+
+        @test_throws IncorrectArgument CTBase.ctupperscripts(-1)
+        @test CTBase.ctupperscripts(019) == "¹⁹"
+        @test CTBase.ctupperscripts(109) == "¹⁰⁹"
+
+    end
 
 end