foo

docs/make.jl

@@ -27,8 +27,8 @@ makedocs(
     pages = [
         "Introduction" => "index.md",
         "Basic examples" => [
-            "Energy minimisation" => "tutorial-basic-example.md",
-            "Time mininimisation" => "tutorial-double-integrator.md",
+            "Energy minimisation" => "tutorial-double-integrator-energy.md",
+            "Time mininimisation" => "tutorial-double-integrator-time.md",
         ],
         "Manual" => [
             "Abstract syntax" => "tutorial-abstract.md",

docs/src/api-ctbase.md

@@ -18,15 +18,16 @@ style B fill:#FBF275
 
 You may find in this package:
 
-- [Types](@ref api-ctbase-types): the common types and associated methods if any.
 - [Description](@ref api-ctbase-description): tools to manipulate tuples.
-- [Differential geometry](@ref api-ctbase-diffgeometry): tools to compute [Lie brackets](https://en.wikipedia.org/w/index.php?title=Lie_bracket_of_vector_fields&oldid=1163591634), [Poisson brackets](https://en.wikipedia.org/w/index.php?title=Poisson_manifold&oldid=1163991099#Formal_definition)...
+- [Differential geometry](@ref api-ctbase-differential-geometry): tools to compute [Lie brackets](https://en.wikipedia.org/w/index.php?title=Lie_bracket_of_vector_fields&oldid=1163591634), [Poisson brackets](https://en.wikipedia.org/w/index.php?title=Poisson_manifold&oldid=1163991099#Formal_definition)...
 - [Exceptions](@ref api-ctbase-exceptions).
+- [Initial guess](@ref api-ctbase-init): tools to define an initial guess.
 - [Model](@ref api-ctbase-model): tools to modelise an optimal control problem in a functional manner.
 - [Parser](@ref api-ctbase-parser): tools to modelise an optimal control problem in an abstract manner.
-- [Plot](@ref api-ctbase-plot): the `plot` function extended from Plots.jl and utils.
 - [Print](@ref api-ctbase-print): check how an optimal control problem is displayed.
 - [Repl](@ref api-ctbase-repl): control-toolbox repl.
+- [Solution](@ref api-ctbase-solution): optimal control solution.
+- [Types](@ref api-ctbase-types): the common types and associated methods if any.
 - [Utils](@ref api-ctbase-utils): auxiliary methods.
 
 Here is the list of imported packages and exported functions.

docs/src/api-ctbase/description.md

@@ -9,14 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["description.md"]
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["description.jl"]
 Private = false
 ```

docs/src/api-ctbase/diffgeometry.md

@@ -1,4 +1,4 @@
-# [Differential geometry](@id api-ctbase-diffegeometry)
+# [Differential geometry](@id api-ctbase-differential-geometry)
 
 ```@meta
 CollapsedDocStrings = true
@@ -9,14 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["diffgeometry.md"]
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["differential_geometry.jl"]
 Private = false
 ```

docs/src/api-ctbase/exceptions.md

@@ -9,14 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["exceptions.md"]
 Modules = [CTBase]
-Order = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages = ["exception.jl"]
 Private = false
 ```

docs/src/api-ctbase/init.md

@@ -0,0 +1,22 @@
+# [Initial guess](@id api-ctbase-init)
+
+```@meta
+CollapsedDocStrings = true
+```
+
+## Index
+
+```@index
+Pages   = ["init.md"]
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+```
+
+## Documentation
+
+```@autodocs
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["init.jl"]
+Private = false
+```

docs/src/api-ctbase/model.md

@@ -4,19 +4,33 @@
 CollapsedDocStrings = true
 ```
 
-## Index
-
-```@index
+```@contents
 Pages   = ["model.md"]
+```
+
+## Optimal control model type
+
+```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_model-type.jl"]
+Private = false
 ```
 
-## Documentation
+## Getters
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
-Pages   = ["model.jl"]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_model-getters.jl"]
 Private = false
 ```
+
+## Constructors and setters
+
+```@autodocs
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_model-setters.jl"]
+Private = false
+```

docs/src/api-ctbase/plot.md

@@ -6,7 +6,7 @@ CollapsedDocStrings = true
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["plot.jl"]
 Private = false
 ```

docs/src/api-ctbase/print.md

@@ -6,7 +6,7 @@ CollapsedDocStrings = true
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["print.jl"]
 Private = false
 ```
@@ -70,7 +70,7 @@ You can also define the optimal control problem in an abstract form:
 ```@example main2
 using OptimalControl
 
-@def ocp begin
+ocp = @def begin
     t ∈ [ 0, 1 ], time
     x ∈ R^2, state
     u ∈ R, control

docs/src/api-ctbase/repl.md

@@ -9,14 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["repl.md"]
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["repl.jl"]
 Private = false
 ```

docs/src/api-ctbase/solution.md

@@ -0,0 +1,36 @@
+# [Solution](@id api-ctbase-solution)
+
+```@meta
+CollapsedDocStrings = true
+```
+
+```@contents
+Pages   = ["solution.md"]
+```
+
+## Optimal control solution type
+
+```@autodocs
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_solution-type.jl"]
+Private = false
+```
+
+## Getters
+
+```@autodocs
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_solution-getters.jl"]
+Private = false
+```
+
+## Constructors and setters
+
+```@autodocs
+Modules = [CTBase]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["optimal_control_solution-setters.jl"]
+Private = false
+```

docs/src/api-ctbase/types.md

@@ -9,13 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["types.md"]
 Modules = [CTBase]
-Order   = [:type]
+Order   = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:type]
+Order   = [:type, :module, :constant, :function, :macro]
+Pages   = ["types.jl", "functions.jl"]
 Private = false
 ```

docs/src/api-ctbase/utils.md

@@ -9,14 +9,14 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["utils.md"]
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :function, :macro]
+Order = [:type, :module, :constant, :function, :macro]
 Pages   = ["utils.jl"]
 Private = false
 ```

docs/src/dev-ctbase.md

@@ -9,13 +9,13 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["dev-ctbase.md"]
 Modules = [CTBase]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTBase]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 Public  = false
 ```

docs/src/dev-ctdirect.md

@@ -9,13 +9,13 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["dev-ctdirect.md"]
 Modules = [CTDirect]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTDirect]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 Public  = false
 ```

docs/src/dev-ctflows.md

@@ -9,13 +9,13 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["dev-ctflows.md"]
 Modules = [CTFlows]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [CTFlows]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 Public  = false
 ```

docs/src/dev-optimalcontrol.md

@@ -9,13 +9,13 @@ CollapsedDocStrings = true
 ```@index
 Pages   = ["dev-optimalcontrol.md"]
 Modules = [OptimalControl]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 ```
 
 ## Documentation
 
 ```@autodocs
 Modules = [OptimalControl]
-Order   = [:module, :constant, :type, :function, :macro]
+Order   = [:type, :module, :constant, :type, :function, :macro]
 Public  = false
 ```

docs/src/tutorial-basic-example.md → docs/src/tutorial-double-integrator-energy.md

@@ -51,7 +51,7 @@ nothing # hide
 
 !!! note "Nota bene"
 
-    For a comprehensive introduction to the syntax used above to describe the optimal control problem, check [this tutorial](@ref abstract). In particular, there are non-unicode alternatives for derivatives, integrals, *etc.* There is also a non-standard but more classical functional syntax, check [this tutorial](@ref functional).
+    For a comprehensive introduction to the syntax used above to describe the optimal control problem, check [this abstract syntax tutorial](@ref abstract). In particular, there are non-unicode alternatives for derivatives, integrals, *etc.* There is also a non-standard but more classical functional syntax, check [this functional syntax tutorial](@ref functional).
 
 ## [Solve and plot](@id basic-solve-plot)
 

docs/src/tutorial-double-integrator.md → docs/src/tutorial-double-integrator-time.md

@@ -70,7 +70,7 @@ nothing # hide
 
 !!! note "Nota bene"
 
-    For a comprehensive introduction to the syntax used above to describe the optimal control problem, check [this tutorial](@ref abstract). In particular, there are non-unicode alternatives for derivatives, integrals, *etc.* There is also a non-standard but more classical functional syntax, check [this tutorial](@ref functional).
+    For a comprehensive introduction to the syntax used above to describe the optimal control problem, check [this abstract syntax tutorial](@ref abstract). In particular, there are non-unicode alternatives for derivatives, integrals, *etc.* There is also a non-standard but more classical functional syntax, check [this functional syntax tutorial](@ref functional).
 
 ## Solve and plot
 

docs/src/tutorial-flow.md

@@ -142,6 +142,10 @@ You can notice from the graph of `v` that the integrator has made very few steps
 time_grid(sol)
 ```
 
+!!! Note "Time grid"
+
+    The function [`time_grid`](@ref) returns the discretized time grid returned by the solver. In this case, the solution has been computed by numerical integration with an adaptive step-length Runge-Kutta scheme.
+
 To have a better visualisation (the accuracy won't change), you can provide a fine grid.
 
 ```@example main

docs/src/tutorial-goddard.md

@@ -123,6 +123,10 @@ bang arc with maximal control, followed by a singular arc, then by a boundary ar
 arc is with zero control. Note that the switching function vanishes along the singular and
 boundary arcs.
 
+!!! tip "Interactions with an optimal control solution"
+
+    Please check [`state`](@ref), [`costate`](@ref), [`control`](@ref) and [`variable`](@ref) to get data from the solution. The functions `state`, `costate` and `control` return functions of time and `variable` returns a vector. The function [`time_grid`](@ref) returns the discretized time grid returned by the solver.
+
 ```@example main
 t = time_grid(direct_sol)
 x = state(direct_sol)
@@ -371,7 +375,7 @@ Let us define the problem to solve.
 # auxiliary function with aggregated inputs
 nle!  = ( s, ξ) -> shoot!(s, ξ[1:3], ξ[4], ξ[5], ξ[6], ξ[7])
 
- # Jacobian of the (auxiliary) shooting function
+# Jacobian of the (auxiliary) shooting function
 jnle! = (js, ξ) -> jacobian!(nle!, similar(ξ), js, backend, ξ)
 nothing # hide
 ```