Merge pull request #157 from control-toolbox/documentation

update doc

docs/make.jl

@@ -12,6 +12,7 @@ makedocs(
         "api-description.md", 
         "api-diffgeom.md",
         "api-exceptions.md", 
+        "api-init.md",
         "api-model.md",
         "api-parser.md",
         "api-plot.md", 

docs/src/api-init.md

@@ -0,0 +1,19 @@
+# Initialisation
+
+## Index
+
+```@index
+Pages   = ["api-init.md"]
+Modules = [CTBase]
+Order = [:module, :constant, :type, :function, :macro]
+Private = false
+```
+
+## Documentation
+
+```@autodocs
+Modules = [CTBase]
+Order = [:module, :constant, :type, :function, :macro]
+Pages = ["init.jl"]
+Private = false
+```

src/CTBase.jl

@@ -194,8 +194,6 @@ See also: [`ctVector`](@ref), [`DState`](@ref).
 """
 const DCostate   = ctVector
 
-__auto() = AutoForwardDiff() # default AD backend
-
 #
 include("exception.jl")
 include("description.jl")
@@ -214,7 +212,6 @@ include("model.jl")
 include("differential_geometry.jl")
 #
 include("ctparser_utils.jl")
-##include("ctparser.jl")
 include("onepass.jl")
 include("repl.jl")
 #

src/default.jl

@@ -1,6 +1,15 @@
 """
 $(TYPEDSIGNATURES)
 
+Used to set the default value of Automatic Differentiation backend.
+
+The default value is `AutoForwardDiff()`, that is the `ForwardDiff` package is used by default.
+"""
+__auto() = AutoForwardDiff() # default AD backend
+
+"""
+$(TYPEDSIGNATURES)
+
 Used to set the default value of the time dependence of the functions.
 
 The default value is `Autonomous`, which means that the functions are considered time independent.

src/onepass.jl

@@ -430,7 +430,13 @@ p_bolza!(p, ocp, e1, e2, type; log=false) = begin
     end, p.lnum, p.line)
 end
 
-# redirection to Model() to avoid confusion with other functions Model from other packages
+"""
+$(TYPEDSIGNATURES)
+
+Redirection to [`Model`](@ref) to avoid confusion with other functions Model from other packages
+if imported. This function is used by [`@def`](@ref).
+
+"""
 function __OCPModel(args...; kwargs...)
     return CTBase.Model(args...; kwargs...)
 end

src/print.jl

@@ -198,20 +198,35 @@ function Base.show(io::IO, ::MIME"text/plain", ocp::OptimalControlModel{<: TimeD
     #is_variable_dependent(ocp) && push!(header, "variable")
     push!(header, "variable")
     push!(header, "dynamics*", "objective*", "constraints")
-    data = hcat(__is_time_not_set(ocp)      ? "❌" : "✅",
-                __is_state_not_set(ocp)     ? "❌" : "✅", 
-                __is_control_not_set(ocp)   ? "❌" : "✅")
+    data = hcat(__is_time_not_set(ocp)      ? "X" : "V",
+                __is_state_not_set(ocp)     ? "X" : "V", 
+                __is_control_not_set(ocp)   ? "X" : "V")
     #is_variable_dependent(ocp) && 
     begin
         (data = hcat(data, 
-                __is_variable_not_set(ocp)  ? "❌" : "✅")) 
+                __is_variable_not_set(ocp)  ? "X" : "V")) 
     end
     data = hcat(data, 
-                __is_dynamics_not_set(ocp)  ? "❌" : "✅",
-                __is_objective_not_set(ocp) ? "❌" : "✅",
-                isempty(ocp.constraints)    ? "❌" : "✅")
+                __is_dynamics_not_set(ocp)  ? "X" : "V",
+                __is_objective_not_set(ocp) ? "X" : "V",
+                isempty(ocp.constraints)    ? "X" : "V")
     println("")
-    pretty_table(data, header=header, header_crayon=crayon"yellow")
+    h1 = Highlighter(
+    (data, i, j) -> data[i, j] == "X",
+    bold       = true,
+    foreground = :red )
+    h2 = Highlighter(
+    (data, i, j) -> data[i, j] == "V",
+    bold       = true,
+    foreground = :green )
+    pretty_table(io, data; 
+        tf=tf_unicode_rounded, 
+        header=header, 
+        header_crayon=crayon"yellow", 
+        crop=:none, 
+        highlighters=(h1, h2),
+        alignment=:c,
+        compact_printing=true)
     nothing
 
 end

src/repl.jl

@@ -18,6 +18,12 @@ global ct_repl_is_set::Bool = false
 global ct_repl_data::CTRepl 
 global ct_repl_ct_repl_history::HistoryRepl
 
+"""
+$(TYPEDSIGNATURES)
+
+Update the model adding the expression e. It must be public since in the ct repl, this function 
+is quoted each time an expression is parsed and is valid. 
+"""
 function ct_repl_update_model(e::Expr)
 
     ct_repl_data.debug && (println("debug> expression to add: ", e))