ok for free times, objective type and variable indicators

control-toolbox · Jun 14, 2024 · ea3be69 · ea3be69
1 parent 0414e27
commit ea3be69
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diff --git a/src/CTBase.jl b/src/CTBase.jl
@@ -150,6 +150,7 @@ export Model
 export variable!, time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, constraint
 export is_time_independent, is_time_dependent, is_min, is_max, is_variable_dependent, is_variable_independent
 export nlp_constraints, constraints_labels
+export has_free_final_time, has_free_initial_time, has_lagrange_cost, has_mayer_cost
 
 # solution
 export OptimalControlSolution

diff --git a/src/model.jl b/src/model.jl
@@ -1212,6 +1212,28 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
+    # set specific constraints dimensions
+    ocp.dim_control_constraints = length(ξf)
+    ocp.dim_state_constraints = length(ηf)
+    ocp.dim_mixed_constraints = length(ψf)
+    ocp.dim_path_constraints = ocp.dim_control_constraints + ocp.dim_state_constraints + ocp.dim_mixed_constraints
+    ocp.dim_boundary_conditions = length(ϕf)
+    ocp.dim_variable_constraints = length(θf)
+    ocp.dim_control_box = length(uind)
+    ocp.dim_state_box = length(xind)
+    ocp.dim_variable_box = length(vind)
+
     return (ξl, ξ, ξu), (ηl, η, ηu), (ψl, ψ, ψu), (ϕl, ϕ, ϕu), (θl, θ, θu), (ul, uind, uu), (xl, xind, xu), (vl, vind, vu)
 
 end
+
+# getters for constraints dimensions
+dim_control_constraints(ocp::OptimalControlModel) = ocp.dim_control_constraints 
+dim_state_constraints(ocp::OptimalControlModel) = ocp.dim_state_constraints 
+dim_mixed_constraints(ocp::OptimalControlModel) = ocp.dim_mixed_constraints 
+dim_path_constraints(ocp::OptimalControlModel) = ocp.dim_path_constraints 
+dim_boundary_conditions(ocp::OptimalControlModel) = ocp.dim_boundary_conditions 
+dim_variable_constraints(ocp::OptimalControlModel) = ocp.dim_variable_constraints 
+dim_control_box(ocp::OptimalControlModel) = ocp.dim_control_box 
+dim_state_box(ocp::OptimalControlModel) = ocp.dim_state_box 
+dim_variable_box(ocp::OptimalControlModel) = ocp.dim_variable_box
diff --git a/src/types.jl b/src/types.jl
@@ -1174,6 +1174,17 @@ $(TYPEDFIELDS)
     criterion::Union{Symbol,Nothing}=nothing
     dynamics::Union{Dynamics,Nothing}=nothing
     constraints::Dict{Symbol, Tuple{Vararg{Any}}}=Dict{Symbol, Tuple{Vararg{Any}}}()
+
+    # internal dimensions for constraints
+    dim_control_constraints::Int64=0
+    dim_state_constraints::Int64=0
+    dim_mixed_constraints::Int64=0
+    dim_path_constraints::Int64=0
+    dim_boundary_conditions::Int64=0
+    dim_variable_constraints::Int64=0
+    dim_control_box::Int64=0
+    dim_state_box::Int64=0
+    dim_variable_box::Int64=0
 end
 
 # used for checkings