better call to get_optim_variable

control-toolbox · Sep 2, 2024 · b8ee2fa · b8ee2fa
1 parent b863ccd
commit b8ee2fa
Show file tree

Hide file tree

Showing 4 changed files with 14 additions and 6 deletions.
diff --git a/src/problem.jl b/src/problem.jl
@@ -282,12 +282,15 @@ function DOCP_objective(xu, docp::DOCP)
     N = docp.dim_NLP_steps
     ocp = docp.ocp
 
+    # optimization variables
+    v = Float64[]
+    docp.has_variable && (v = get_optim_variable(xu, docp))
+
     # final state is always needed since lagrange cost is there
     xf, uf, xlf = get_variables_at_time_step(xu, docp, N)
 
     # mayer cost
     if docp.has_mayer
-        v = get_optim_variable(xu, docp)
         x0, u0, xl0 = get_variables_at_time_step(xu, docp, 0)
         obj = obj + ocp.mayer(x0, xf, v)
     end

diff --git a/src/solution.jl b/src/solution.jl
@@ -100,6 +100,7 @@ function parse_DOCP_solution_primal(docp, solution; mult_LB = nothing, mult_UB =
     N = docp.dim_NLP_steps
     X = zeros(N + 1, docp.dim_NLP_x)
     U = zeros(N + 1, docp.dim_NLP_u)
+    v = Float64[]
 
     # multipliers for box constraints
     if isnothing(mult_LB) || length(mult_LB) == 0
@@ -116,9 +117,11 @@ function parse_DOCP_solution_primal(docp, solution; mult_LB = nothing, mult_UB =
     mult_variable_box_upper = zeros(N + 1, docp.dim_NLP_v)
 
     # retrieve optimization variables
-    v = get_optim_variable(solution, docp)
-    mult_variable_box_lower = get_optim_variable(mult_LB, docp)
-    mult_variable_box_upper = get_optim_variable(mult_UB, docp)
+    if docp.has_variable
+        v = get_optim_variable(solution, docp)
+        mult_variable_box_lower = get_optim_variable(mult_LB, docp)
+        mult_variable_box_upper = get_optim_variable(mult_UB, docp)
+    end
 
     # loop over time steps
     for i = 1:(N + 1)

diff --git a/src/trapeze.jl b/src/trapeze.jl
@@ -120,7 +120,9 @@ struct ArgsAtTimeStep_Trapeze
 end
 # +++multiple dispatch here seems to cause more allocations !
 function initArgs(xu, docp::DOCP{TrapezeTag}, time_grid)
-    v = get_optim_variable(xu, docp)
+    # optimization variables
+    v = Float64[]
+    docp.has_variable && (v = get_optim_variable(xu, docp))
     args_i = ArgsAtTimeStep_Trapeze(xu, docp, v, time_grid, 0)
     args_ip1 = ArgsAtTimeStep_Trapeze(xu, docp, v, time_grid, 1)
     return (args_i, args_ip1), v

diff --git a/src/utils.jl b/src/utils.jl
@@ -20,7 +20,7 @@ function get_optim_variable(xu, docp)
             return xu[(end - docp.dim_NLP_v + 1):end]
         end
     else
-        return similar(xu, 0)
+        error("Problem is not variable dependent")
     end
 end
-Original file line number
+Diff line change
@@ Expand Up / @@ -20,7 +20,7 @@ function get_optim_variable(xu, docp) @@
                 return xu[(end - docp.dim_NLP_v + 1):end]
             end
         else
-            return similar(xu, 0)
+            error("Problem is not variable dependent")
         end
     end
@@ Expand Down @@