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@jbcaillau
jbcaillau committed Jun 21, 2024
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68 changes: 34 additions & 34 deletions src/model.jl
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Expand Up @@ -484,12 +484,12 @@ We denote by `x`, `u` and `v` respectively the state, control and variable.
## Examples
```jldoctest
julia> constraint!(ocp, :initial, lb=[ 0, 0, 0 ]) # [ 0, 0, 0 ] ≤ x(t0), dim(x) = 3
julia> constraint!(ocp, :initial, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ]) # [ 0, 0, 0 ] ≤ x(t0) ≤ [ 1, 2, 1 ], dim(x) = 3
julia> constraint!(ocp, :final, lb=-1, ub=1) # -1 ≤ x(tf) ≤ 1, dim(x) = 1
julia> constraint!(ocp, :control, lb=0, ub=2) # 0 ≤ u(t) ≤ 2, t ∈ [t0, tf], dim(u) = 1
julia> constraint!(ocp, :state, lb=[ 0, 0 ], ub=[ 1, 2 ]) # [ 0, 0 ] ≤ x(t) ≤ [ 1, 2 ], t ∈ [t0, tf], dim(x) = 2
julia> constraint!(ocp, :variable, lb=[ 0, 0 ], ub=[ 1, 2 ]) # [ 0, 0 ] ≤ v ≤ [ 1, 2 ], dim(v) = 2
julia> constraint!(ocp, :initial; lb=[ 0, 0, 0 ]) # [ 0, 0, 0 ] ≤ x(t0), dim(x) = 3
julia> constraint!(ocp, :initial; lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ]) # [ 0, 0, 0 ] ≤ x(t0) ≤ [ 1, 2, 1 ], dim(x) = 3
julia> constraint!(ocp, :final; lb=-1, ub=1) # -1 ≤ x(tf) ≤ 1, dim(x) = 1
julia> constraint!(ocp, :control; lb=0, ub=2) # 0 ≤ u(t) ≤ 2, t ∈ [t0, tf], dim(u) = 1
julia> constraint!(ocp, :state; lb=[ 0, 0 ], ub=[ 1, 2 ]) # [ 0, 0 ] ≤ x(t) ≤ [ 1, 2 ], t ∈ [t0, tf], dim(x) = 2
julia> constraint!(ocp, :variable; lb=[ 0, 0 ], ub=[ 1, 2 ]) # [ 0, 0 ] ≤ v ≤ [ 1, 2 ], dim(v) = 2
```
# Box constraint on the state, control or variable on some components
Expand All @@ -501,12 +501,12 @@ The range of the constraint must be contained in 1:n if the constraint is on the
## Examples
```jldoctest
julia> constraint!(ocp, :initial, rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :initial, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :final, rg=1, lb=0, ub=2)
julia> constraint!(ocp, :control, rg=1, lb=0, ub=2)
julia> constraint!(ocp, :state, rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :variable, rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :initial; rg=1:2:5, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :initial; rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :final; rg=1, lb=0, ub=2)
julia> constraint!(ocp, :control; rg=1, lb=0, ub=2)
julia> constraint!(ocp, :state; rg=2:3, lb=[ 0, 0 ], ub=[ 1, 2 ])
julia> constraint!(ocp, :variable; rg=1:2, lb=[ 0, 0 ], ub=[ 1, 2 ])
```
# Functional constraint
Expand All @@ -517,30 +517,30 @@ You can add a `:boundary`, `:control`, `:state`, `:mixed` or `:variable` box fun
```@example
# variable independent ocp
julia> constraint!(ocp, :boundary, f = (x0, xf) -> x0[3]+xf[2], lb=0, ub=1)
julia> constraint!(ocp, :boundary; f = (x0, xf) -> x0[3]+xf[2], lb=0, ub=1)
# variable dependent ocp
julia> constraint!(ocp, :boundary, f = (x0, xf, v) -> x0[3]+xf[2]*v[1], lb=0, ub=1)
julia> constraint!(ocp, :boundary; f = (x0, xf, v) -> x0[3]+xf[2]*v[1], lb=0, ub=1)
# time independent and variable independent ocp
julia> constraint!(ocp, :control, f = u -> 2u, lb=0, ub=1)
julia> constraint!(ocp, :state, f = x -> x-1, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, f = (x, u) -> x[1]-u, lb=0, ub=1)
julia> constraint!(ocp, :control; f = u -> 2u, lb=0, ub=1)
julia> constraint!(ocp, :state; f = x -> x-1, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed; f = (x, u) -> x[1]-u, lb=0, ub=1)
# time dependent and variable independent ocp
julia> constraint!(ocp, :control, f = (t, u) -> 2u, lb=0, ub=1)
julia> constraint!(ocp, :state, f = (t, x) -> x-t, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, f = (t, x, u) -> x[1]-u, lb=0, ub=1)
julia> constraint!(ocp, :control; f = (t, u) -> 2u, lb=0, ub=1)
julia> constraint!(ocp, :state; f = (t, x) -> t * x, lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed; f = (t, x, u) -> x[1]-u, lb=0, ub=1)
# time independent and variable dependent ocp
julia> constraint!(ocp, :control, f = (u, v) -> 2u*v[1], lb=0, ub=1)
julia> constraint!(ocp, :state, f = (x, v) -> x-v[1], lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, f = (x, u, v) -> x[1]-v[2]*u, lb=0, ub=1)
julia> constraint!(ocp, :control; f = (u, v) -> 2u * v[1], lb=0, ub=1)
julia> constraint!(ocp, :state; f = (x, v) -> x * v[1], lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed; f = (x, u, v) -> x[1]-v[2]*u, lb=0, ub=1)
# time dependent and variable dependent ocp
julia> constraint!(ocp, :control, f = (t, u, v) -> 2u+v[2], lb=0, ub=1)
julia> constraint!(ocp, :state, f = (t, x, v) -> x-t*v[1], lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed, f = (t, x, u, v) -> x[1]*v[2]-u, lb=0, ub=1)
julia> constraint!(ocp, :control; f = (t, u, v) -> 2u+v[2], lb=0, ub=1)
julia> constraint!(ocp, :state; f = (t, x, v) -> x-t*v[1], lb=[ 0, 0, 0 ], ub=[ 1, 2, 1 ])
julia> constraint!(ocp, :mixed; f = (t, x, u, v) -> x[1]*v[2]-u, lb=0, ub=1)
```
"""
Expand Down Expand Up @@ -570,23 +570,23 @@ function constraint!(
( isnothing(lb) && !isnothing(ub)) && (lb = -Inf*(size(ub,1) == 1 ? 1 : ones(eltype(ub), size(ub,1))))

# range
(typeof(rg) <: Int) && (rg = Index(rg))
(typeof(rg) <: Int) && (rg = Index(rg)) # debug: useless?

# checkings
@match (rg, f) begin
(::RangeConstraint, ::Function) => throw(UnauthorizedCall("Providing a range (rg keyword) and a function (f keyword) is not authorized."))
_ => nothing
_ => nothing # debug: rewrite properly
end
@match (lb, ub) begin
(::Nothing, ::Nothing) => throw(UnauthorizedCall("Calling the constraint! function without any bounds is not authorized."))
_ => nothing
_ => nothing # debug: rewrite properly
end

# core
@match (rg, f, lb, ub) begin
(::Nothing, ::Nothing, ::ctVector, ::ctVector) => begin

rg = nothing
rg = nothing # debug: useless

if type ∈ [:initial, :final, :state]
rg = n == 1 ? Index(1) : 1:n
Expand All @@ -605,7 +605,7 @@ function constraint!(
(length(rg) != length(lb)) && throw(IncorrectArgument(txt))
(length(rg) != length(ub)) && throw(IncorrectArgument(txt))

constraint!(ocp, type, rg=rg, lb=lb, ub=ub, label=label)
constraint!(ocp, type; rg=rg, lb=lb, ub=ub, label=label)

end
(::Nothing, ::Function, ::ctVector, ::ctVector) => begin
Expand Down Expand Up @@ -661,7 +661,7 @@ function constraint!(
end

# update constraints dimensions
__set_dim_constraints(ocp)
__set_dim_constraints(ocp) # debug: WTF

end

Expand Down Expand Up @@ -807,7 +807,7 @@ function remove_constraint!(ocp::OptimalControlModel, label::Symbol)
". Please check the list of constraints: ocp.constraints."))
end
delete!(ocp.constraints, label)
__set_dim_constraints(ocp) # update constraints dimensions
__set_dim_constraints(ocp) # update constraints dimensions # debug: WTF
nothing
end

Expand Down Expand Up @@ -1010,7 +1010,7 @@ function nlp_constraints(ocp::OptimalControlModel)
end

#
function __set_dim_constraints(ocp::OptimalControlModel)
function __set_dim_constraints(ocp::OptimalControlModel) # debug: WTF
nlp_constraints(ocp)
nothing
end
Expand Down

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