Public API

This page lists exported symbols of CTModels.Components.

From `CTModels.Components`

`CTModels.Components` [Module]

julia

Components

Foundational component types and accessors for optimal control problems.

Provides type aliases, abstract and concrete component types (state, control, variable, time, objective, constraints, definitions), and their accessors.

All downstream modules (Models, OCP, Display, Serialization, Init) depend on this module. It has no sibling dependencies.

Organisation

aliases.jl: Type aliases (CTModels.Components.Dimension, CTModels.Components.ctNumber, CTModels.Components.Time, etc.)
types.jl: Abstract and concrete component types (CTModels.Components.StateModel, CTModels.Components.ControlModel, etc.)
accessors.jl: Accessor methods for state, control, variable, and definition models
times_accessors.jl: Accessor methods for time models (CTModels.Components.TimesModel)
objective_accessors.jl: Accessor methods for objective models (CTModels.Components.MayerObjectiveModel, etc.)
constraints_accessors.jl: Accessor methods for constraints models (CTModels.Components.ConstraintsModel)

Dependencies

External: OrderedCollections (for CTModels.Components.ConstraintsDictType), CTBase.

`AbstractConstraintsModel` [Abstract Type]

CTModels.Components.AbstractConstraintsModel Type

julia

abstract type AbstractConstraintsModel

Abstract base type for constraint models in optimal control problems.

`AbstractControlModel` [Abstract Type]

CTModels.Components.AbstractControlModel Type

julia

abstract type AbstractControlModel

Abstract base type for control variable models in optimal control problems.

`AbstractDefinition` [Abstract Type]

CTModels.Components.AbstractDefinition Type

julia

abstract type AbstractDefinition

Abstract base type for the symbolic definition attached to an optimal control problem.

`AbstractObjectiveModel` [Abstract Type]

CTModels.Components.AbstractObjectiveModel Type

julia

abstract type AbstractObjectiveModel

Abstract base type for objective function models in optimal control problems.

`AbstractStateModel` [Abstract Type]

CTModels.Components.AbstractStateModel Type

julia

abstract type AbstractStateModel

Abstract base type for state variable models in optimal control problems.

Subtypes describe the state space structure including dimension, naming, and optionally the state trajectory itself.

`AbstractTimeModel` [Abstract Type]

CTModels.Components.AbstractTimeModel Type

julia

abstract type AbstractTimeModel

Abstract base type for time boundary models (initial or final time).

`AbstractTimesModel` [Abstract Type]

CTModels.Components.AbstractTimesModel Type

julia

abstract type AbstractTimesModel

Abstract base type for combined initial and final time models.

`AbstractVariableModel` [Abstract Type]

CTModels.Components.AbstractVariableModel Type

julia

abstract type AbstractVariableModel

Abstract base type for optimisation variable models in optimal control problems.

`BolzaObjectiveModel` [Struct]

CTModels.Components.BolzaObjectiveModel Type

julia

struct BolzaObjectiveModel{TM<:Function, TL<:Function} <: CTModels.Components.AbstractObjectiveModel

Objective model with both Mayer and Lagrange costs (Bolza form): g(x(t₀), x(tf), v) + ∫ f⁰(t, x, u, v) dt.

Fields

mayer::TM: The Mayer cost function.
lagrange::TL: The Lagrange integrand.
criterion::Symbol: Optimisation direction, either :min or :max.

`ConstraintsDictType` [Struct]

CTModels.Components.ConstraintsDictType Type

Type alias for a dictionary of constraints, used to store constraints before building the model.

julia

const ConstraintsDictType = OrderedCollections.OrderedDict{
    Symbol,Tuple{Symbol,Union{Function,OrdinalRange{<:Int}},ctVector,ctVector}
}

`ConstraintsModel` [Struct]

CTModels.Components.ConstraintsModel Type

julia

struct ConstraintsModel{TP<:Tuple, TB<:Tuple, TS<:Tuple, TC<:Tuple, TV<:Tuple} <: CTModels.Components.AbstractConstraintsModel

Container for all constraints in an optimal control problem.

Fields

path_nl::TP: Tuple of nonlinear path constraints (lb, f!, ub, labels).
boundary_nl::TB: Tuple of nonlinear boundary constraints (lb, f!, ub, labels).
state_box::TS: Tuple of box constraints on state variables (lb, ind, ub, labels, aliases).
control_box::TC: Tuple of box constraints on control variables (same structure).
variable_box::TV: Tuple of box constraints on optimisation variables (same structure).

`ControlModel` [Struct]

CTModels.Components.ControlModel Type

julia

struct ControlModel <: CTModels.Components.AbstractControlModel

Control model describing the structure of the control variable in an optimal control problem definition.

Fields

name::String: Display name for the control variable (e.g., "u").
components::Vector{String}: Names of individual control components (e.g., ["u₁", "u₂"]).

`ControlModelSolution` [Struct]

CTModels.Components.ControlModelSolution Type

julia

struct ControlModelSolution{TS<:Function} <: CTModels.Components.AbstractControlModel

Represents the control trajectory in a solution.

Fields

name::String: Name of the control variable (e.g., "u").
components::Vector{String}: Names of individual control components.
value::TS: A function t -> u(t) returning the control vector at time t.
interpolation::Symbol: Interpolation type (:constant or :linear).

`Definition` [Struct]

CTModels.Components.Definition Type

julia

struct Definition <: CTModels.Components.AbstractDefinition

Wrapper around a Julia Expr holding the original symbolic definition of an optimal control problem (typically produced by the @def DSL).

Fields

expr::Expr: The symbolic expression defining the problem.

`Dimension` [Struct]

CTModels.Components.Dimension Type

Type alias for a dimension, used for the state, costate, control and variable spaces.

julia

const Dimension = Int

`EmptyControlModel` [Struct]

CTModels.Components.EmptyControlModel Type

julia

struct EmptyControlModel <: CTModels.Components.AbstractControlModel

Sentinel type representing the absence of a control input in an optimal control problem.

`EmptyDefinition` [Struct]

CTModels.Components.EmptyDefinition Type

julia

struct EmptyDefinition <: CTModels.Components.AbstractDefinition

Sentinel type representing the absence of a symbolic definition.

`EmptyVariableModel` [Struct]

CTModels.Components.EmptyVariableModel Type

julia

struct EmptyVariableModel <: CTModels.Components.AbstractVariableModel

Sentinel type representing the absence of optimisation variables.

`FixedTimeModel` [Struct]

CTModels.Components.FixedTimeModel Type

julia

struct FixedTimeModel{T<:Real} <: CTModels.Components.AbstractTimeModel

Time model representing a fixed (known) time boundary.

Fields

time::T: The fixed time value.
name::String: Display name for this time (e.g., "t₀" or "tf").

`FreeTimeModel` [Struct]

CTModels.Components.FreeTimeModel Type

julia

struct FreeTimeModel <: CTModels.Components.AbstractTimeModel

Time model representing a free (optimised) time boundary.

The actual time value is stored in the optimisation variable at the given index.

Fields

index::Int: Index into the optimisation variable where this time is stored.
name::String: Display name for this time (e.g., "tf").

`LagrangeObjectiveModel` [Struct]

CTModels.Components.LagrangeObjectiveModel Type

julia

struct LagrangeObjectiveModel{TL<:Function} <: CTModels.Components.AbstractObjectiveModel

Objective model with only a Lagrange (integral) cost: ∫ f⁰(t, x, u, v) dt.

Fields

lagrange::TL: The Lagrange integrand (t, x, u, v) -> f⁰(t, x, u, v).
criterion::Symbol: Optimisation direction, either :min or :max.

`MayerObjectiveModel` [Struct]

CTModels.Components.MayerObjectiveModel Type

julia

struct MayerObjectiveModel{TM<:Function} <: CTModels.Components.AbstractObjectiveModel

Objective model with only a Mayer (terminal) cost: g(x(t₀), x(tf), v).

Fields

mayer::TM: The Mayer cost function (x0, xf, v) -> g(x0, xf, v).
criterion::Symbol: Optimisation direction, either :min or :max.

`StateModel` [Struct]

CTModels.Components.StateModel Type

julia

struct StateModel <: CTModels.Components.AbstractStateModel

State model describing the structure of the state variable in an optimal control problem definition.

Fields

name::String: Display name for the state variable (e.g., "x").
components::Vector{String}: Names of individual state components (e.g., ["x₁", "x₂"]).

`StateModelSolution` [Struct]

CTModels.Components.StateModelSolution Type

julia

struct StateModelSolution{TS<:Function} <: CTModels.Components.AbstractStateModel

State model for a solved optimal control problem, including the state trajectory.

Fields

name::String: Display name for the state variable.
components::Vector{String}: Names of individual state components.
value::TS: A function t -> x(t) returning the state vector at time t.

`Time` [Abstract Type]

CTModels.Components.Time Type

Type alias for a (continuous) time.

julia

const Time = ctNumber

`Times` [Abstract Type]

CTModels.Components.Times Type

Type alias for a vector of times.

julia

const Times = AbstractVector{<:Time}

`TimesDisc` [Struct]

CTModels.Components.TimesDisc Type

Type alias for a grid of times, used to discretize the time interval given to solvers.

julia

const TimesDisc = Union{Times,StepRangeLen}

`TimesModel` [Struct]

CTModels.Components.TimesModel Type

julia

struct TimesModel{TI<:CTModels.Components.AbstractTimeModel, TF<:CTModels.Components.AbstractTimeModel} <: CTModels.Components.AbstractTimesModel

Combined model for initial and final times in an optimal control problem.

Fields

initial::TI: The initial time model (fixed or free).
final::TF: The final time model (fixed or free).
time_name::String: Display name for the time variable (e.g., "t").

`VariableModel` [Struct]

CTModels.Components.VariableModel Type

julia

struct VariableModel <: CTModels.Components.AbstractVariableModel

Variable model describing the structure of the optimisation variable.

Fields

name::String: Display name for the variable (e.g., "v").
components::Vector{String}: Names of individual variable components.

`VariableModelSolution` [Struct]

CTModels.Components.VariableModelSolution Type

julia

struct VariableModelSolution{TS<:Union{Real, AbstractVector{<:Real}}} <: CTModels.Components.AbstractVariableModel

Variable model for a solved optimal control problem, including the variable value.

Fields

name::String: Display name for the variable.
components::Vector{String}: Names of individual variable components.
value::TS: The optimisation variable value (scalar or vector).

`boundary_constraints_nl` [Function]

CTModels.Components.boundary_constraints_nl Function

julia

boundary_constraints_nl(
    model::CTModels.Components.ConstraintsModel{<:Tuple, TB<:Tuple}
) -> Tuple

Get the nonlinear boundary constraints from the model.

Returns

TB: Tuple of nonlinear boundary constraints (lb, f!, ub, labels).

julia

boundary_constraints_nl(ocp::CTModels.Models.Model) -> Tuple

Return the nonlinear boundary constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Function: The nonlinear boundary constraints function.

`components` [Function]

CTModels.Components.components Function

julia

components(
    model::CTModels.Components.StateModel
) -> Vector{String}

Get the component names of the state from the state model.

Returns

Vector{String}: The state component names.

julia

components(
    model::CTModels.Components.StateModelSolution
) -> Vector{String}

Get the component names of the state from the state model solution.

Returns

Vector{String}: The state component names.

julia

components(
    model::CTModels.Components.ControlModel
) -> Vector{String}

Get the names of the control components.

Returns

Vector{String}: The control component names.

julia

components(
    model::CTModels.Components.ControlModelSolution
) -> Vector{String}

Get the names of the control components from the solution.

Returns

Vector{String}: The control component names.

julia

components(
    _::CTModels.Components.EmptyControlModel
) -> Vector{String}

Return an empty vector since there are no control components defined.

Returns

Vector{String}: An empty vector.

julia

components(
    model::CTModels.Components.VariableModel
) -> Vector{String}

Return the names of the components of the variable.

Returns

Vector{String}: The variable component names.

julia

components(
    model::CTModels.Components.VariableModelSolution
) -> Vector{String}

Return the names of the components from the variable solution.

Returns

Vector{String}: The variable component names.

julia

components(
    _::CTModels.Components.EmptyVariableModel
) -> Vector{String}

Return an empty vector since there are no variable components defined.

Returns

Vector{String}: An empty vector.

`control` [Function]

CTModels.Components.control Function

Return the control model (on a CTModels.Models.Model) or the control trajectory function (on a CTModels.Solutions.Solution).

`control_constraints_box` [Function]

CTModels.Components.control_constraints_box Function

julia

control_constraints_box(
    model::CTModels.Components.ConstraintsModel{<:Tuple, <:Tuple, <:Tuple, TC<:Tuple}
) -> Tuple

Get the control box constraints from the model.

Returns

TC: Tuple of control box constraints (lb, ind, ub, labels, aliases).

julia

control_constraints_box(ocp::CTModels.Models.Model) -> Tuple

Return the box constraints on control.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on control.

`costate` [Function]

CTModels.Components.costate Function

Return the costate trajectory function from a CTModels.Solutions.Solution.

`criterion` [Function]

CTModels.Components.criterion Function

julia

criterion(
    model::CTModels.Components.MayerObjectiveModel
) -> Symbol

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

criterion(
    model::CTModels.Components.LagrangeObjectiveModel
) -> Symbol

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

criterion(
    model::CTModels.Components.BolzaObjectiveModel
) -> Symbol

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

criterion(ocp::CTModels.Models.Model) -> Symbol

Return the type of criterion (:min or :max).

Arguments

ocp::Model: The optimal control problem.

Returns

Symbol: The criterion type (:min or :max).

`ctNumber` [Abstract Type]

CTModels.Components.ctNumber Type

Type alias for a real number.

julia

const ctNumber = Real

`ctVector` [Abstract Type]

CTModels.Components.ctVector Type

Type alias for a vector of real numbers.

julia

const ctVector = AbstractVector{<:ctNumber}

`dim_boundary_constraints_nl` [Function]

CTModels.Components.dim_boundary_constraints_nl Function

julia

dim_boundary_constraints_nl(
    model::CTModels.Components.ConstraintsModel
) -> Int64

Return the dimension of nonlinear boundary constraints.

Returns

Dimension: The number of nonlinear boundary constraints.

julia

dim_boundary_constraints_nl(
    ocp::CTModels.Models.Model
) -> Int64

Return the dimension of the boundary constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of boundary constraints.

julia

dim_boundary_constraints_nl(
    sol::CTModels.Solutions.Solution
) -> Int64

Return the dimension of the boundary constraints.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The boundary constraints dimension.

`dim_control_constraints_box` [Function]

CTModels.Components.dim_control_constraints_box Function

julia

dim_control_constraints_box(
    model::CTModels.Components.ConstraintsModel
) -> Int64

Return the dimension of control box constraints.

Returns

Dimension: The number of control box constraints.

julia

dim_control_constraints_box(
    ocp::CTModels.Models.Model
) -> Int64

Return the dimension of box constraints on control.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on control.

`dim_path_constraints_nl` [Function]

CTModels.Components.dim_path_constraints_nl Function

julia

dim_path_constraints_nl(
    model::CTModels.Components.ConstraintsModel
) -> Int64

Return the dimension of nonlinear path constraints.

Returns

Dimension: The number of nonlinear path constraints.

julia

dim_path_constraints_nl(ocp::CTModels.Models.Model) -> Int64

Return the dimension of nonlinear path constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of nonlinear path constraints.

julia

dim_path_constraints_nl(
    sol::CTModels.Solutions.Solution
) -> Int64

Return the dimension of the path constraints.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The path constraints dimension.

`dim_state_constraints_box` [Function]

CTModels.Components.dim_state_constraints_box Function

julia

dim_state_constraints_box(
    model::CTModels.Components.ConstraintsModel
) -> Int64

Return the dimension of state box constraints.

Returns

Dimension: The number of state box constraints.

julia

dim_state_constraints_box(
    ocp::CTModels.Models.Model
) -> Int64

Return the dimension of box constraints on state.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on state.

`dim_variable_constraints_box` [Function]

CTModels.Components.dim_variable_constraints_box Function

julia

dim_variable_constraints_box(
    model::CTModels.Components.ConstraintsModel
) -> Int64

Return the dimension of variable box constraints.

Returns

Dimension: The number of variable box constraints.

julia

dim_variable_constraints_box(
    ocp::CTModels.Models.Model
) -> Int64

Return the dimension of box constraints on variable.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on variable.

`dimension` [Function]

CTModels.Components.dimension Function

julia

dimension(model::CTModels.Components.StateModel) -> Int64

Get the dimension of the state from the state model.

Returns

Dimension: The state dimension (number of components).

julia

dimension(
    model::CTModels.Components.StateModelSolution
) -> Int64

Get the dimension of the state from the state model solution.

Returns

Dimension: The state dimension (number of components).

julia

dimension(model::CTModels.Components.ControlModel) -> Int64

Get the control input dimension.

Returns

Dimension: The control dimension (number of components).

julia

dimension(
    model::CTModels.Components.ControlModelSolution
) -> Int64

Get the control input dimension from the solution.

Returns

Dimension: The control dimension (number of components).

julia

dimension(_::CTModels.Components.EmptyControlModel) -> Int64

Return 0 since no control is defined.

Returns

Dimension: Zero.

julia

dimension(model::CTModels.Components.VariableModel) -> Int64

Return the dimension (number of components) of the variable.

Returns

Dimension: The variable dimension.

julia

dimension(
    model::CTModels.Components.VariableModelSolution
) -> Int64

Return the number of components in the variable solution.

Returns

Dimension: The variable dimension.

julia

dimension(
    _::CTModels.Components.EmptyVariableModel
) -> Int64

Return 0 since no variable is defined.

Returns

Dimension: Zero.

`expression` [Function]

CTModels.Components.expression Function

julia

expression(_::CTModels.Components.EmptyDefinition) -> Expr

Return an empty block expression for an CTModels.Components.EmptyDefinition.

Returns

Expr: An empty block expression :(begin end).

julia

expression(d::CTModels.Components.Definition) -> Expr

Return the symbolic expression wrapped by a CTModels.Components.Definition.

Returns

Expr: The symbolic expression defining the problem.

julia

expression(ocp::CTModels.Models.Model) -> Expr

Return the symbolic expression of the model definition.

Arguments

ocp::Model: The optimal control problem.

Returns

Expr: The symbolic expression of the model definition.

`final` [Function]

CTModels.Components.final Function

julia

final(
    model::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, TF<:CTModels.Components.AbstractTimeModel}
) -> CTModels.Components.AbstractTimeModel

Get the final time from the times model.

Returns

TF: The final time model (fixed or free).

`final_time` [Function]

CTModels.Components.final_time Function

julia

final_time(
    model::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, <:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Real

Get the final time from the times model, from a fixed final time model.

Returns

T: The fixed final time value.

julia

final_time(
    model::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FreeTimeModel},
    variable::AbstractArray{T<:Real, 1}
) -> Any

Get the final time from the times model, from a free final time model.

Arguments

model::TimesModel{<:AbstractTimeModel,FreeTimeModel}: The times model with free final time.
variable::AbstractVector{T}: The optimisation variable vector.

Returns

T: The final time value from the variable.

julia

final_time(_::CTModels.Models.AbstractModel) -> Any

Throw an error for unsupported final time access.

julia

final_time(
    _::CTModels.Models.AbstractModel,
    _::AbstractVector
) -> Any

Throw an error for unsupported final time access with variable.

julia

final_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FixedTimeModel{T<:Real}}}
) -> Any

Return the final time, for a fixed final time.

Arguments

ocp::Model: The optimal control problem with fixed final time.

Returns

T: The final time value.

julia

final_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FreeTimeModel}},
    variable::AbstractArray{T<:Real, 1}
) -> Any

Return the final time, for a free final time.

Arguments

ocp::Model: The optimal control problem with free final time.
variable::AbstractVector{T}: The variable vector.

Returns

T: The final time value.

julia

final_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FreeTimeModel}},
    variable::Real
) -> Real

Return the final time, for a free final time (scalar variable).

Arguments

ocp::Model: The optimal control problem with free final time.
variable::T: The variable scalar.

Returns

T: The final time value.

julia

final_time(sol::CTModels.Solutions.Solution) -> Real

Return the final time of the solution.

Arguments

sol::Solution: The optimal control solution.

Returns

Real: The final time.

`final_time_name` [Function]

CTModels.Components.final_time_name Function

julia

final_time_name(
    model::CTModels.Components.TimesModel
) -> String

Get the name of the final time from the times model.

Returns

String: The final time name.

julia

final_time_name(ocp::CTModels.Models.Model) -> String

Return the name of the final time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The final time name.

julia

final_time_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the final time.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The final time name.

`has_fixed_final_time` [Function]

CTModels.Components.has_fixed_final_time Function

julia

has_fixed_final_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, <:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Bool

Check if the final time is fixed. Return true.

Returns

Bool: true if the final time is fixed.

julia

has_fixed_final_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FreeTimeModel}
) -> Bool

Check if the final time is free. Return false.

Returns

Bool: false (final time is not fixed).

julia

has_fixed_final_time(ocp::CTModels.Models.Model) -> Bool

Check if the final time is fixed.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the final time is fixed, false otherwise.

julia

has_fixed_final_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the final time is fixed.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the final time is fixed, false otherwise.

`has_fixed_initial_time` [Function]

CTModels.Components.has_fixed_initial_time Function

julia

has_fixed_initial_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Bool

Check if the initial time is fixed. Return true.

Returns

Bool: true if the initial time is fixed.

julia

has_fixed_initial_time(
    _::CTModels.Components.TimesModel{CTModels.Components.FreeTimeModel}
) -> Bool

Check if the initial time is free. Return false.

Returns

Bool: false (initial time is not fixed).

julia

has_fixed_initial_time(ocp::CTModels.Models.Model) -> Bool

Check if the initial time is fixed.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the initial time is fixed, false otherwise.

julia

has_fixed_initial_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the initial time is fixed.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the initial time is fixed, false otherwise.

`has_free_final_time` [Function]

CTModels.Components.has_free_final_time Function

julia

has_free_final_time(
    times::CTModels.Components.TimesModel
) -> Bool

Check if the final time is free.

Returns

Bool: true if the final time is free.

julia

has_free_final_time(ocp::CTModels.Models.Model) -> Bool

Check if the final time is free.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the final time is free, false otherwise.

julia

has_free_final_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the final time is free.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the final time is free, false otherwise.

`has_free_initial_time` [Function]

CTModels.Components.has_free_initial_time Function

julia

has_free_initial_time(
    times::CTModels.Components.TimesModel
) -> Bool

Check if the initial time is free.

Returns

Bool: true if the initial time is free.

julia

has_free_initial_time(ocp::CTModels.Models.Model) -> Bool

Check if the initial time is free.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the initial time is free, false otherwise.

julia

has_free_initial_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the initial time is free.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the initial time is free, false otherwise.

`has_lagrange_cost` [Function]

CTModels.Components.has_lagrange_cost Function

julia

has_lagrange_cost(
    _::CTModels.Components.MayerObjectiveModel
) -> Bool

Return false.

Returns

Bool: false (Lagrange cost is not defined).

julia

has_lagrange_cost(
    _::CTModels.Components.LagrangeObjectiveModel
) -> Bool

Return true.

Returns

Bool: true (Lagrange cost is defined).

julia

has_lagrange_cost(
    _::CTModels.Components.BolzaObjectiveModel
) -> Bool

Return true.

Returns

Bool: true (Lagrange cost is defined).

julia

has_lagrange_cost(ocp::CTModels.Models.Model) -> Bool

Check if the model has a Lagrange cost.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the model has a Lagrange cost, false otherwise.

`has_mayer_cost` [Function]

CTModels.Components.has_mayer_cost Function

julia

has_mayer_cost(
    _::CTModels.Components.MayerObjectiveModel
) -> Bool

Return true.

Returns

Bool: true (Mayer cost is defined).

julia

has_mayer_cost(
    _::CTModels.Components.LagrangeObjectiveModel
) -> Bool

Return false.

Returns

Bool: false (Mayer cost is not defined).

julia

has_mayer_cost(
    _::CTModels.Components.BolzaObjectiveModel
) -> Bool

Return true.

Returns

Bool: true (Mayer cost is defined).

julia

has_mayer_cost(ocp::CTModels.Models.Model) -> Bool

Check if the model has a Mayer cost.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the model has a Mayer cost, false otherwise.

`index` [Function]

CTModels.Components.index Function

julia

index(model::CTModels.Components.FreeTimeModel) -> Int64

Get the index of the time variable from the free time model.

Returns

Int: The index into the optimisation variable.

`initial` [Function]

CTModels.Components.initial Function

julia

initial(
    model::CTModels.Components.TimesModel{TI<:CTModels.Components.AbstractTimeModel}
) -> CTModels.Components.AbstractTimeModel

Get the initial time from the times model.

Returns

TI: The initial time model (fixed or free).

`initial_time` [Function]

CTModels.Components.initial_time Function

julia

initial_time(
    model::CTModels.Components.TimesModel{<:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Real

Get the initial time from the times model, from a fixed initial time model.

Returns

T: The fixed initial time value.

julia

initial_time(
    model::CTModels.Components.TimesModel{CTModels.Components.FreeTimeModel},
    variable::AbstractArray{T<:Real, 1}
) -> Any

Get the initial time from the times model, from a free initial time model.

Arguments

model::TimesModel{FreeTimeModel,<:AbstractTimeModel}: The times model with free initial time.
variable::AbstractVector{T}: The optimisation variable vector.

Returns

T: The initial time value from the variable.

julia

initial_time(_::CTModels.Models.AbstractModel) -> Any

Throw an error for unsupported initial time access.

julia

initial_time(
    _::CTModels.Models.AbstractModel,
    _::AbstractVector
) -> Any

Throw an error for unsupported initial time access with variable.

julia

initial_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{CTModels.Components.FixedTimeModel{T<:Real}}}
) -> Any

Return the initial time, for a fixed initial time.

Arguments

ocp::Model: The optimal control problem with fixed initial time.

Returns

T: The initial time value.

julia

initial_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{CTModels.Components.FreeTimeModel}},
    variable::AbstractArray{T<:Real, 1}
) -> Any

Return the initial time, for a free initial time.

Arguments

ocp::Model: The optimal control problem with free initial time.
variable::AbstractVector{T}: The variable vector.

Returns

T: The initial time value.

julia

initial_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{CTModels.Components.FreeTimeModel}},
    variable::Real
) -> Real

Return the initial time, for a free initial time (scalar variable).

Arguments

ocp::Model: The optimal control problem with free initial time.
variable::T: The variable scalar.

Returns

T: The initial time value.

julia

initial_time(sol::CTModels.Solutions.Solution) -> Real

Return the initial time of the solution.

Arguments

sol::Solution: The optimal control solution.

Returns

Real: The initial time.

`initial_time_name` [Function]

CTModels.Components.initial_time_name Function

julia

initial_time_name(
    model::CTModels.Components.TimesModel
) -> String

Get the name of the initial time from the times model.

Returns

String: The initial time name.

julia

initial_time_name(ocp::CTModels.Models.Model) -> String

Return the name of the initial time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The initial time name.

julia

initial_time_name(
    sol::CTModels.Solutions.Solution
) -> String

Return the name of the initial time.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The initial time name.

`interpolation` [Function]

CTModels.Components.interpolation Function

julia

interpolation(
    model::CTModels.Components.ControlModelSolution
) -> Symbol

Get the interpolation type for the control.

Returns

Symbol: The interpolation type (:constant or :linear).

`is_final_time_fixed` [Function]

CTModels.Components.is_final_time_fixed Function

Alias for has_fixed_final_time.

`is_final_time_free` [Function]

CTModels.Components.is_final_time_free Function

Alias for has_free_final_time.

`is_initial_time_fixed` [Function]

CTModels.Components.is_initial_time_fixed Function

Alias for has_fixed_initial_time.

`is_initial_time_free` [Function]

CTModels.Components.is_initial_time_free Function

Alias for has_free_initial_time.

`is_lagrange_cost_defined` [Function]

CTModels.Components.is_lagrange_cost_defined Function

Alias for has_lagrange_cost.

`is_mayer_cost_defined` [Function]

CTModels.Components.is_mayer_cost_defined Function

Alias for has_mayer_cost.

`lagrange` [Function]

CTModels.Components.lagrange Function

julia

lagrange(
    model::CTModels.Components.LagrangeObjectiveModel{L<:Function}
) -> Function

Return the Lagrange function.

Returns

L: The Lagrange integrand (t, x, u, v) -> f⁰(t, x, u, v).

julia

lagrange(
    model::CTModels.Components.BolzaObjectiveModel{<:Function, L<:Function}
) -> Function

Return the Lagrange function.

Returns

L: The Lagrange integrand.

julia

lagrange(_::CTModels.Models.AbstractModel) -> Function

Throw an error when accessing Lagrange cost on a model without one.

julia

lagrange(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.AbstractTimesModel, <:CTModels.Components.AbstractStateModel, <:CTModels.Components.AbstractControlModel, <:CTModels.Components.AbstractVariableModel, <:Function, CTModels.Components.LagrangeObjectiveModel{L<:Function}}
) -> Function

Return the Lagrange cost.

Arguments

ocp::Model: The optimal control problem with Lagrange objective.

Returns

L: The Lagrange cost function.

julia

lagrange(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.AbstractTimesModel, <:CTModels.Components.AbstractStateModel, <:CTModels.Components.AbstractControlModel, <:CTModels.Components.AbstractVariableModel, <:Function, <:CTModels.Components.BolzaObjectiveModel{<:Function, L<:Function}}
) -> Any

Return the Lagrange cost.

Arguments

ocp::Model: The optimal control problem with Bolza objective (Mayer + Lagrange).

Returns

L: The Lagrange cost function.

`mayer` [Function]

CTModels.Components.mayer Function

julia

mayer(
    model::CTModels.Components.MayerObjectiveModel{M<:Function}
) -> Function

Return the Mayer function.

Returns

M: The Mayer cost function (x0, xf, v) -> g(x0, xf, v).

julia

mayer(
    model::CTModels.Components.BolzaObjectiveModel{M<:Function}
) -> Function

Return the Mayer function.

Returns

M: The Mayer cost function.

julia

mayer(_::CTModels.Models.AbstractModel) -> Any

Throw an error when accessing Mayer cost on a model without one.

julia

mayer(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.AbstractTimesModel, <:CTModels.Components.AbstractStateModel, <:CTModels.Components.AbstractControlModel, <:CTModels.Components.AbstractVariableModel, <:Function, <:CTModels.Components.MayerObjectiveModel{M<:Function}}
) -> Any

Return the Mayer cost.

Arguments

ocp::Model: The optimal control problem with Mayer objective.

Returns

M: The Mayer cost function.

julia

mayer(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.AbstractTimesModel, <:CTModels.Components.AbstractStateModel, <:CTModels.Components.AbstractControlModel, <:CTModels.Components.AbstractVariableModel, <:Function, <:CTModels.Components.BolzaObjectiveModel{M<:Function}}
) -> Any

Return the Mayer cost.

Arguments

ocp::Model: The optimal control problem with Bolza objective (Mayer + Lagrange).

Returns

M: The Mayer cost function.

`name` [Function]

CTModels.Components.name Function

julia

name(model::CTModels.Components.StateModel) -> String

Get the name of the state from the state model.

Returns

String: The state name.

julia

name(
    model::CTModels.Components.StateModelSolution
) -> String

Get the name of the state from the state model solution.

Returns

String: The state name.

julia

name(model::CTModels.Components.ControlModel) -> String

Get the name of the control variable.

Returns

String: The control name.

julia

name(
    model::CTModels.Components.ControlModelSolution
) -> String

Get the name of the control variable from the solution.

Returns

String: The control name.

julia

name(_::CTModels.Components.EmptyControlModel) -> String

Return an empty string, since no control is defined.

Returns

String: An empty string.

julia

name(model::CTModels.Components.VariableModel) -> String

Return the name of the variable stored in the model.

Returns

String: The variable name.

julia

name(
    model::CTModels.Components.VariableModelSolution
) -> String

Return the name of the variable stored in the model solution.

Returns

String: The variable name.

julia

name(_::CTModels.Components.EmptyVariableModel) -> String

Return an empty string, since no variable is defined.

Returns

String: An empty string.

julia

name(model::CTModels.Components.FixedTimeModel) -> String

Get the name of the time from the fixed time model.

Returns

String: The time name.

julia

name(model::CTModels.Components.FreeTimeModel) -> String

Get the name of the time from the free time model.

Returns

String: The time name.

`objective` [Function]

CTModels.Components.objective Function

Return the objective model (on a CTModels.Models.Model) or the objective value (on a CTModels.Solutions.Solution).

`path_constraints_nl` [Function]

CTModels.Components.path_constraints_nl Function

julia

path_constraints_nl(
    model::CTModels.Components.ConstraintsModel{TP<:Tuple}
) -> Tuple

Get the nonlinear path constraints from the model.

Returns

TP: Tuple of nonlinear path constraints (lb, f!, ub, labels).

julia

path_constraints_nl(ocp::CTModels.Models.Model) -> Tuple

Return the nonlinear path constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Function: The nonlinear path constraints function.

`state` [Function]

CTModels.Components.state Function

Return the state model (on a CTModels.Models.Model) or the state trajectory function (on a CTModels.Solutions.Solution).

`state_constraints_box` [Function]

CTModels.Components.state_constraints_box Function

julia

state_constraints_box(
    model::CTModels.Components.ConstraintsModel{<:Tuple, <:Tuple, TS<:Tuple}
) -> Tuple

Get the state box constraints from the model.

Returns

TS: Tuple of state box constraints (lb, ind, ub, labels, aliases).

julia

state_constraints_box(ocp::CTModels.Models.Model) -> Tuple

Return the box constraints on state.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on state.

`time_grid` [Function]

CTModels.Components.time_grid Function

Return the time grid for a component from a CTModels.Solutions.Solution.

`time_name` [Function]

CTModels.Components.time_name Function

julia

time_name(model::CTModels.Components.TimesModel) -> String

Get the name of the time variable from the times model.

Returns

String: The time variable name.

julia

time_name(ocp::CTModels.Models.Model) -> String

Return the name of the time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The time name.

julia

time_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the time component.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The time component name.

`times` [Function]

CTModels.Components.times Function

Return the CTModels.Components.AbstractTimesModel from a CTModels.Models.Model.

`value` [Function]

CTModels.Components.value Function

julia

value(
    model::CTModels.Components.StateModelSolution{TS<:Function}
) -> Function

Get the state function from the state model solution.

Returns

TS: A function t -> x(t) returning the state vector at time t.

julia

value(
    model::CTModels.Components.ControlModelSolution{TS<:Function}
) -> Function

Get the control function associated with the solution.

Returns

TS: A function t -> u(t) returning the control vector at time t.

julia

value(
    model::CTModels.Components.VariableModelSolution{TS<:Union{Real, AbstractVector{<:Real}}}
) -> Union{Real, AbstractVector{<:Real}}

Return the value stored in the variable solution model.

Returns

TS: The optimisation variable value (scalar or vector).

`variable` [Function]

CTModels.Components.variable Function

Return the variable model (on a CTModels.Models.Model) or the variable value (on a CTModels.Solutions.Solution).

`variable_constraints_box` [Function]

CTModels.Components.variable_constraints_box Function

julia

variable_constraints_box(
    model::CTModels.Components.ConstraintsModel{<:Tuple, <:Tuple, <:Tuple, <:Tuple, TV<:Tuple}
) -> Tuple

Get the variable box constraints from the model.

Returns

TV: Tuple of variable box constraints (lb, ind, ub, labels, aliases).

julia

variable_constraints_box(
    ocp::CTModels.Models.Model
) -> Tuple

Return the box constraints on variable.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on variable.

Public API ​

From CTModels.Components ​

CTModels.Components [Module] ​

AbstractConstraintsModel [Abstract Type] ​

AbstractControlModel [Abstract Type] ​

AbstractDefinition [Abstract Type] ​

AbstractObjectiveModel [Abstract Type] ​

AbstractStateModel [Abstract Type] ​

AbstractTimeModel [Abstract Type] ​

AbstractTimesModel [Abstract Type] ​

AbstractVariableModel [Abstract Type] ​

BolzaObjectiveModel [Struct] ​

ConstraintsDictType [Struct] ​

ConstraintsModel [Struct] ​

ControlModel [Struct] ​

ControlModelSolution [Struct] ​

Definition [Struct] ​

Dimension [Struct] ​

EmptyControlModel [Struct] ​

EmptyDefinition [Struct] ​

EmptyVariableModel [Struct] ​

FixedTimeModel [Struct] ​

FreeTimeModel [Struct] ​

LagrangeObjectiveModel [Struct] ​

MayerObjectiveModel [Struct] ​

StateModel [Struct] ​

StateModelSolution [Struct] ​

Time [Abstract Type] ​

Times [Abstract Type] ​

TimesDisc [Struct] ​

TimesModel [Struct] ​

VariableModel [Struct] ​

VariableModelSolution [Struct] ​

boundary_constraints_nl [Function] ​

components [Function] ​

control [Function] ​

control_constraints_box [Function] ​

costate [Function] ​

criterion [Function] ​

ctNumber [Abstract Type] ​

ctVector [Abstract Type] ​

dim_boundary_constraints_nl [Function] ​

dim_control_constraints_box [Function] ​

dim_path_constraints_nl [Function] ​

dim_state_constraints_box [Function] ​

dim_variable_constraints_box [Function] ​

dimension [Function] ​

expression [Function] ​

final [Function] ​

final_time [Function] ​

final_time_name [Function] ​

has_fixed_final_time [Function] ​

has_fixed_initial_time [Function] ​

has_free_final_time [Function] ​

has_free_initial_time [Function] ​

has_lagrange_cost [Function] ​

has_mayer_cost [Function] ​

index [Function] ​

initial [Function] ​

initial_time [Function] ​

initial_time_name [Function] ​

interpolation [Function] ​

is_final_time_fixed [Function] ​

is_final_time_free [Function] ​

is_initial_time_fixed [Function] ​

is_initial_time_free [Function] ​

is_lagrange_cost_defined [Function] ​

is_mayer_cost_defined [Function] ​

lagrange [Function] ​

mayer [Function] ​

name [Function] ​

objective [Function] ​

path_constraints_nl [Function] ​

state [Function] ​

state_constraints_box [Function] ​

time_grid [Function] ​

time_name [Function] ​

times [Function] ​

value [Function] ​

variable [Function] ​

Public API

From `CTModels.Components`

`CTModels.Components` [Module]

`AbstractConstraintsModel` [Abstract Type]

`AbstractControlModel` [Abstract Type]

`AbstractDefinition` [Abstract Type]

`AbstractObjectiveModel` [Abstract Type]

`AbstractStateModel` [Abstract Type]

`AbstractTimeModel` [Abstract Type]

`AbstractTimesModel` [Abstract Type]

`AbstractVariableModel` [Abstract Type]

`BolzaObjectiveModel` [Struct]

`ConstraintsDictType` [Struct]

`ConstraintsModel` [Struct]

`ControlModel` [Struct]

`ControlModelSolution` [Struct]

`Definition` [Struct]

`Dimension` [Struct]

`EmptyControlModel` [Struct]

`EmptyDefinition` [Struct]

`EmptyVariableModel` [Struct]

`FixedTimeModel` [Struct]

`FreeTimeModel` [Struct]

`LagrangeObjectiveModel` [Struct]

`MayerObjectiveModel` [Struct]

`StateModel` [Struct]

`StateModelSolution` [Struct]

`Time` [Abstract Type]

`Times` [Abstract Type]

`TimesDisc` [Struct]

`TimesModel` [Struct]

`VariableModel` [Struct]

`VariableModelSolution` [Struct]

`boundary_constraints_nl` [Function]

`components` [Function]

`control` [Function]

`control_constraints_box` [Function]

`costate` [Function]

`criterion` [Function]

`ctNumber` [Abstract Type]

`ctVector` [Abstract Type]

`dim_boundary_constraints_nl` [Function]

`dim_control_constraints_box` [Function]

`dim_path_constraints_nl` [Function]

`dim_state_constraints_box` [Function]

`dim_variable_constraints_box` [Function]

`dimension` [Function]

`expression` [Function]

`final` [Function]

`final_time` [Function]

`final_time_name` [Function]

`has_fixed_final_time` [Function]

`has_fixed_initial_time` [Function]

`has_free_final_time` [Function]

`has_free_initial_time` [Function]

`has_lagrange_cost` [Function]

`has_mayer_cost` [Function]

`index` [Function]

`initial` [Function]

`initial_time` [Function]

`initial_time_name` [Function]

`interpolation` [Function]

`is_final_time_fixed` [Function]

`is_final_time_free` [Function]

`is_initial_time_fixed` [Function]

`is_initial_time_free` [Function]

`is_lagrange_cost_defined` [Function]

`is_mayer_cost_defined` [Function]

`lagrange` [Function]

`mayer` [Function]

`name` [Function]

`objective` [Function]

`path_constraints_nl` [Function]

`state` [Function]

`state_constraints_box` [Function]

`time_grid` [Function]

`time_name` [Function]

`times` [Function]

`value` [Function]

`variable` [Function]