WIP - add some boolean indicators for OCP

src/CTBase.jl

@@ -150,6 +150,8 @@ 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
+export dim_boundary_conditions, dim_control_constraints, dim_state_constraints, dim_variable_constraints, dim_mixed_constraints, dim_path_constraints, dim_control_box, dim_state_box, dim_variable_box
 
 # solution
 export OptimalControlSolution

src/init.jl

@@ -66,4 +66,10 @@ mutable struct OCPInit
 
     end
 
+    # trivial version that just returns its argument
+    # used for unified syntax in caller functions
+    function OCPInit(init::OCPInit)
+        return init
+    end
+
 end

src/model.jl

@@ -101,6 +101,36 @@ Return `true` if the model has been defined as variable independent.
 """
 is_variable_independent(ocp::OptimalControlModel) = !is_variable_dependent(ocp)
 
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free initial time.
+"""
+has_free_initial_time(ocp::OptimalControlModel) = (typeof(ocp.initial_time)==Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with free final time.
+"""
+has_free_final_time(ocp::OptimalControlModel) = (typeof(ocp.final_time)==Index)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with lagrange cost.
+"""
+has_lagrange_cost(ocp::OptimalControlModel) = !isnothing(ocp.lagrange)
+
+"""
+$(TYPEDSIGNATURES)
+
+Return `true` if the model has been defined with mayer cost.
+"""
+has_mayer_cost(ocp::OptimalControlModel) = !isnothing(ocp.mayer)
+
+
 """
 $(TYPEDSIGNATURES)
 
@@ -1182,6 +1212,28 @@ function nlp_constraints(ocp::OptimalControlModel)
         return val
     end
 
+    # set specific constraints dimensions
+    ocp.dim_control_constraints = length(ξl)
+    ocp.dim_state_constraints = length(ηl)
+    ocp.dim_mixed_constraints = length(ψl)
+    ocp.dim_path_constraints = ocp.dim_control_constraints + ocp.dim_state_constraints + ocp.dim_mixed_constraints
+    ocp.dim_boundary_conditions = length(ϕl)
+    ocp.dim_variable_constraints = length(θl)
+    ocp.dim_control_box = length(ul)
+    ocp.dim_state_box = length(xl)
+    ocp.dim_variable_box = length(vl)
+
     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

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::Dimension=0
+    dim_state_constraints::Dimension=0
+    dim_mixed_constraints::Dimension=0
+    dim_path_constraints::Dimension=0
+    dim_boundary_conditions::Dimension=0
+    dim_variable_constraints::Dimension=0
+    dim_control_box::Dimension=0
+    dim_state_box::Dimension=0
+    dim_variable_box::Dimension=0
 end
 
 # used for checkings