Dynamics type

[jbcaillau]

@ocots just to be sure / for the record: do we agree that the motivation for the typing of Dynamics below, for instance allowing to call with time and / or variable arguments while the ocp is {Autonomous, Fixed}, is intended to enable a uniform call (e.g. in CTDirect.jl) with the most general signature, a.k.a. (t,x,u,v)?

For the sake of sanity, I would otherwise strongly advocate forbidding this (seemingly incoherent) use (i.e. using a time argument with an Autonomous ocp, etc.) On the contrary, I agree that it is convenient for developers to have access to uniform calls. changed my mind on this, not important

CTBase.jl/src/functions.jl

Line 561 in 9c156ad

function (F::VectorField{Autonomous, Fixed})(x::State)::ctVector

[jbcaillau]

@ocots below the getters that correspond to setters on an ocp (instead of using fields):

variable
time
state
control
dynamics
constraint
objective

Double check with usage in CTDirect and ocp fields.

Also: allows to use an abstract ocp.

[jbcaillau]

FYI @PierreMartinon @joseph-gergaud : might be some similar things (some already implemented) to add in the interface (= exported setters / getters & more) of CTDirect.jl.