From b8ee2fac790a82c02e9ca781f60dc587e3613390 Mon Sep 17 00:00:00 2001
From: Pierre Martinon <pierrecmartinon@gmail.com>
Date: Mon, 2 Sep 2024 14:34:30 +0200
Subject: [PATCH] better call to get_optim_variable

---
 src/problem.jl  | 5 ++++-
 src/solution.jl | 9 ++++++---
 src/trapeze.jl  | 4 +++-
 src/utils.jl    | 2 +-
 4 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/src/problem.jl b/src/problem.jl
index 352a291a..1bf30d1d 100644
--- 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
index 4eaadfcc..8ce71eac 100644
--- 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
index 123acfc9..ab5d4bec 100644
--- 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
index 8664beec..e2844322 100644
--- 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