Private API

abstract type Scheme

Abstract type representing a discretization scheme strategy for an optimal control problem.

Concrete subtypes of Scheme define specific schemes for transforming a continuous-time problem into a discrete-time representation suitable for numerical solution.

Example

julia> struct MyScheme <: Scheme end
MyScheme

discretize(
    ocp::CTModels.OCP.AbstractModel,
    discretizer::CTDirect.AbstractDiscretizer
) -> Union{CTSolvers.DOCP.DiscretizedModel{TO, TAMB, CTSolvers.Optimization.ExaModelBuilder{CTDirect.var"#build_exa_model#build_exa_model##1"{CTDirect.var"#build_exa_model#36#42"}}, TASB, CTSolvers.Optimization.ExaSolutionBuilder{CTDirect.var"#build_exa_solution#build_exa_solution##1"}} where {TO<:CTModels.OCP.AbstractModel, TAMB<:(CTSolvers.Optimization.ADNLPModelBuilder{T} where T<:(CTDirect.var"#build_adnlp_model#build_adnlp_model##1"{CTDirect.var"#build_adnlp_model#33#37"{var"#s179", CTDirect.DOCP{D, O}}} where {var"#s179"<:CTModels.OCP.AbstractModel, D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TASB<:(CTSolvers.Optimization.ADNLPSolutionBuilder{T} where T<:(CTDirect.var"#build_adnlp_solution#build_adnlp_solution##1"{CTDirect.DOCP{D, O}} where {D<:CTDirect.Scheme, O<:CTModels.OCP.Model}))}, CTSolvers.DOCP.DiscretizedModel{TO, TAMB, TEMB, TASB, TESB} where {TO<:CTModels.OCP.AbstractModel, TAMB<:(CTSolvers.Optimization.ADNLPModelBuilder{T} where T<:(CTDirect.var"#build_adnlp_model#build_adnlp_model##0"{CTDirect.var"#build_adnlp_model#16#22"{var"#s179", CTDirect.DOCP{D, O}}} where {var"#s179"<:CTModels.OCP.AbstractModel, D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TEMB<:(CTSolvers.Optimization.ExaModelBuilder{T} where T<:(CTDirect.var"#build_exa_model#build_exa_model##0"{CTDirect.var"#build_exa_model#19#27"{CTDirect.Collocation, var"#s179", CTDirect.DOCP{D, O}}} where {var"#s179"<:CTModels.OCP.AbstractModel, D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TASB<:(CTSolvers.Optimization.ADNLPSolutionBuilder{T} where T<:(CTDirect.var"#build_adnlp_solution#build_adnlp_solution##0"{CTDirect.DOCP{D, O}} where {D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TESB<:(CTSolvers.Optimization.ExaSolutionBuilder{T} where T<:(CTDirect.var"#build_exa_solution#build_exa_solution##0"{CTDirect.DOCP{D, O}} where {D<:CTDirect.Scheme, O<:CTModels.OCP.Model}))}}

Discretize an optimal control problem using the specified discretizer.

Arguments

• ocp::AbstractModel: The optimal control problem to discretize
• discretizer::AbstractDiscretizer: The discretization strategy to apply

Returns

• The discretized problem representation

discretize(
    ocp::CTModels.OCP.AbstractModel;
    discretizer
) -> CTSolvers.DOCP.DiscretizedModel{TO, TAMB, TEMB, TASB, TESB} where {TO<:CTModels.OCP.AbstractModel, TAMB<:(CTSolvers.Optimization.ADNLPModelBuilder{T} where T<:(CTDirect.var"#build_adnlp_model#build_adnlp_model##0"{CTDirect.var"#build_adnlp_model#16#22"{var"#s179", CTDirect.DOCP{D, O}}} where {var"#s179"<:CTModels.OCP.AbstractModel, D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TEMB<:(CTSolvers.Optimization.ExaModelBuilder{T} where T<:(CTDirect.var"#build_exa_model#build_exa_model##0"{CTDirect.var"#build_exa_model#19#27"{CTDirect.Collocation, var"#s179", CTDirect.DOCP{D, O}}} where {var"#s179"<:CTModels.OCP.AbstractModel, D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TASB<:(CTSolvers.Optimization.ADNLPSolutionBuilder{T} where T<:(CTDirect.var"#build_adnlp_solution#build_adnlp_solution##0"{CTDirect.DOCP{D, O}} where {D<:CTDirect.Scheme, O<:CTModels.OCP.Model})), TESB<:(CTSolvers.Optimization.ExaSolutionBuilder{T} where T<:(CTDirect.var"#build_exa_solution#build_exa_solution##0"{CTDirect.DOCP{D, O}} where {D<:CTDirect.Scheme, O<:CTModels.OCP.Model}))}

Discretize an optimal control problem using the default discretizer.

This is a convenience method that uses the default discretizer (Collocation).

Arguments

• ocp::AbstractModel: The optimal control problem to discretize
• discretizer::AbstractDiscretizer: Optional discretization strategy (default: Collocation)

Returns

• The discretized problem representation