Merge pull request #26 from control-toolbox/up

Up

.github/workflows/CI.yml

@@ -13,8 +13,6 @@ jobs:
     strategy:
       matrix:
         version:
-          - '1.8'
-          - '1.9'
           - '1.10'
         os:
           - ubuntu-latest
@@ -23,12 +21,12 @@ jobs:
         arch:
           - x64
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@latest
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/add-julia-registry@v1
+      - uses: julia-actions/add-julia-registry@v2
         with:
           key: ${{ secrets.SSH_KEY }}
           registry: control-toolbox/ct-registry

.github/workflows/Documentation.yml

@@ -12,15 +12,15 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@latest
-      - uses: julia-actions/add-julia-registry@v1
+      - uses: julia-actions/add-julia-registry@v2
         with:
           key: ${{ secrets.SSH_KEY }}
           registry: control-toolbox/ct-registry
       - uses: julia-actions/julia-buildpkg@v1
         with:
-          version: '1.8'
+          version: '1'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy

Project.toml

@@ -1,21 +1,17 @@
 name = "CTProblems"
 uuid = "45d9ea3f-a92f-411f-833f-222dd4fb9cd8"
 authors = ["Olivier Cots <[email protected]>"]
-version = "0.5.9"
+version = "0.7.0"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
 CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 
 [compat]
-CTBase = "0.9"
-CTFlows = "0.3"
+CTBase = "0.10"
+CTFlows = "0.4"
 DocStringExtensions = "0.9"
-ForwardDiff = "0.10"
 LinearAlgebra = "1.8"
-OrdinaryDiffEq = "6.49"
 julia = "1.8"

docs/Project.toml

@@ -1,7 +1,10 @@
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
+DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [compat]
+CTBase = "0.10"
 Documenter = "0.27"
 julia = "1.8"

docs/src/index.md

@@ -49,5 +49,6 @@ prob.model
 And you can plot the solution.
 
 ```@example main
+using Plots
 plot(prob.solution, size=(700, 500))
 ```

docs/src/problems/double_integrator_consumption.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/double_integrator_energy.md

@@ -114,5 +114,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
+using Plots
 plot(prob.solution, size=(700, 700))
 ```

docs/src/problems/double_integrator_energy_control_constraint.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/double_integrator_energy_distance.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/double_integrator_energy_state_constraint.md

@@ -35,5 +35,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/double_integrator_time.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/goddard.md

@@ -29,6 +29,8 @@ $v(t) \leq v_{\max}$. The initial state is fixed while only the final mass is pr
 
 ```@example main
 using CTProblems
+using DifferentialEquations
+using Plots
 ```
 
 You can access the problem in the CTProblems package:

docs/src/problems/lqr_ricatti.md

@@ -18,10 +18,15 @@ and the limit conditions
     x(0) = (0,1)
 ```
 
+```@example main
+using CTProblems
+using DifferentialEquations
+using Plots
+```
+
 You can access the problem in the CTProblems package:
 
 ```@example main
-using CTProblems
 prob = Problem(:lqr, :x_dim_2, :u_dim_1, :lagrange)
 ```
 
@@ -34,5 +39,5 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+plot(prob.solution)
 ```

docs/src/problems/orbital_transfert_consumption.md

@@ -37,10 +37,15 @@ F_{max} = 100 \\
 γ_{max}  = \frac{F_{max}*3600.0^2}{m_0*10^3} \\
 ```
 
+```@example main
+using CTProblems
+using DifferentialEquations
+using Plots
+```
+
 You can access the problem in the CTProblems package:
 
 ```@example main
-using CTProblems
 prob = Problem(:orbital_transfert, :consumption)
 ```
 
@@ -53,5 +58,5 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+plot(prob.solution)
 ```

docs/src/problems/orbital_transfert_energy.md

@@ -37,10 +37,15 @@ F_{max} = 100 \\
 γ_{max}  = \frac{F_{max}*3600.0^2}{m_0*10^3} \\
 ```
 
+```@example main
+using CTProblems
+using DifferentialEquations
+using Plots
+```
+
 You can access the problem in the CTProblems package:
 
 ```@example main
-using CTProblems
 prob = Problem(:orbital_transfert, :energy)
 ```
 
@@ -53,5 +58,5 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+plot(prob.solution)
 ```

docs/src/problems/orbital_transfert_time.md

@@ -36,10 +36,15 @@ F_{max} = 100 \\
 γ_{max}  = \frac{F_{max}*3600.0^2}{m_0*10^3} \\
 ```
 
+```@example main
+using CTProblems
+using DifferentialEquations
+using Plots
+```
+
 You can access the problem in the CTProblems package:
 
 ```@example main
-using CTProblems
 prob = Problem(:orbital_transfert, :time)
 ```
 
@@ -52,5 +57,5 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+plot(prob.solution)
 ```

docs/src/problems/simple_exponential_consumption.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/simple_exponential_energy.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/simple_exponential_time.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/simple_integrator_energy_free_tf.md

@@ -28,5 +28,6 @@ prob.model
 
 You can plot the solution.
 ```@example main
+using Plots
 plot(prob.solution)
 ```

docs/src/problems/simple_integrator_lqr_free_tf.md

@@ -27,5 +27,6 @@ prob.model
 
 You can plot the solution.
 ```@example main
+using Plots
 plot(prob.solution)
 ```

docs/src/problems/simple_integrator_mixed_constraint.md

@@ -35,5 +35,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/simple_integrator_nonsmooth_turnpike.md

@@ -34,5 +34,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

docs/src/problems/simple_integrator_state_and_control_constraints_nonautonomous.md

@@ -35,5 +35,6 @@ prob.model
 You can plot the solution.
 
 ```@example main
-plot(prob.solution, size=(700, 400))
+using Plots
+plot(prob.solution)
 ```

src/CTProblems.jl

@@ -17,8 +17,6 @@ import Base
 using CTBase
 using CTFlows
 using DocStringExtensions
-using OrdinaryDiffEq
-using ForwardDiff
 using LinearAlgebra
 #
 
@@ -54,6 +52,5 @@ include("list_of_problems.jl")
 
 #
 export ProblemsDescriptions, Problem, Problems, @ProblemsDescriptions, @Problems
-export plot
 
 end # module CTProblems

src/problems/double_integrator_consumption.jl

@@ -62,10 +62,10 @@ EXAMPLE=(:integrator, :consumption, :x_dim_2, :u_dim_1, :lagrange, :u_cons, :non
     h(α,β) = x_arc_3(tf,α,β)[2]
 
     # solve
-    function shoot!(s,α,β)
-        s[1] = g(α,β) - xf[1]
-        s[2] = h(α,β) - xf[2]
-    end
+    # function shoot!(s,α,β)
+    #     s[1] = g(α,β) - xf[1]
+    #     s[2] = h(α,β) - xf[2]
+    # end
 
     #=
     #using MINPACK

src/problems/double_integrator_energy_control_constraint.jl

@@ -66,10 +66,10 @@ EXAMPLE=(:integrator, :energy, :x_dim_2, :u_dim_1, :lagrange, :u_cons)
     h(α,β) = x_arc_3(tf,α,β)[2]
 
     # solve
-    function shoot!(s,α,β)
-        s[1] = g(α,β) - xf[1]
-        s[2] = h(α,β) - xf[2]
-    end
+    # function shoot!(s,α,β)
+    #     s[1] = g(α,β) - xf[1]
+    #     s[2] = h(α,β) - xf[2]
+    # end
 
     #=
     #using MINPACK

src/problems/orbital_transfert_consumption.jl

@@ -58,28 +58,28 @@ EXAMPLE=(:orbital_transfert, :consumption, :x_dim_4, :u_dim_2, :lagrange, :u_con
     f1 = Flow(Hamiltonian(H1));
 
     # shoot function
-    function shoot(p0, t1, t2, t3, t4)
+    # function shoot(p0, t1, t2, t3, t4)
 
-        s = zeros(eltype(p0),9)
+    #     s = zeros(eltype(p0),9)
 
-        x1, p1 = f1(t0, x0, p0, t1)
-        x2, p2 = f0(t1, x1, p1, t2)
-        x3, p3 = f1(t2, x2, p2, t3)
-        x4, p4 = f0(t3, x3, p3, t4)
-        xf, pf = f1(t4, x4, p4, tf)
+    #     x1, p1 = f1(t0, x0, p0, t1)
+    #     x2, p2 = f0(t1, x1, p1, t2)
+    #     x3, p3 = f1(t2, x2, p2, t3)
+    #     x4, p4 = f0(t3, x3, p3, t4)
+    #     xf, pf = f1(t4, x4, p4, tf)
 
-        s[1] = norm(xf[1:2]) - rf
-        s[2] = xf[3] + α*xf[2]
-        s[3] = xf[4] - α*xf[1]
-        s[4] = xf[2]*(pf[1] + α*pf[4]) - xf[1]*(pf[2] - α*pf[3])
-        s[5] = γ_max*(p1[3]^2 + p1[4]^2) - 1
-        s[6] = γ_max*(p2[3]^2 + p2[4]^2) - 1
-        s[7] = γ_max*(p3[3]^2 + p3[4]^2) - 1
-        s[8] = γ_max*(p4[3]^2 + p4[4]^2) - 1
-        s[9] = pf[5]
-        return s
+    #     s[1] = norm(xf[1:2]) - rf
+    #     s[2] = xf[3] + α*xf[2]
+    #     s[3] = xf[4] - α*xf[1]
+    #     s[4] = xf[2]*(pf[1] + α*pf[4]) - xf[1]*(pf[2] - α*pf[3])
+    #     s[5] = γ_max*(p1[3]^2 + p1[4]^2) - 1
+    #     s[6] = γ_max*(p2[3]^2 + p2[4]^2) - 1
+    #     s[7] = γ_max*(p3[3]^2 + p3[4]^2) - 1
+    #     s[8] = γ_max*(p4[3]^2 + p4[4]^2) - 1
+    #     s[9] = pf[5]
+    #     return s
 
-    end;
+    # end;
 
     # Solve
     # S(ξ) = shoot(ξ[1:5], ξ[6],ξ[7],ξ[8],ξ[9])