Private API

__constraint!(
    ocp_constraints::OrderedCollections.OrderedDict{Symbol, Tuple{Symbol, Union{Function, OrdinalRange{<:Int64}}, AbstractVector{<:Real}, AbstractVector{<:Real}}},
    type::Symbol,
    n::Int64,
    m::Int64,
    q::Int64;
    rg,
    f,
    lb,
    ub,
    label,
    codim_f
)

Add a constraint to a dictionary of constraints.

Arguments

• ocp_constraints: The dictionary of constraints to which the constraint will be added.
• type: The type of the constraint. It can be :state, :control, :variable, :boundary, or :path.
• n: The dimension of the state.
• m: The dimension of the control.
• q: The dimension of the variable.
• rg: The range of the constraint. It can be an integer or a range of integers.
• f: The function that defines the constraint. It must return a vector of the same dimension as the constraint.
• lb: The lower bound of the constraint. It can be a number or a vector.
• ub: The upper bound of the constraint. It can be a number or a vector.
• label: The label of the constraint. It must be unique in the dictionary of constraints.

Requirements

• The constraint must not be set before.
• The lower bound lb and the upper bound ub cannot be both nothing.
• The lower bound lb and the upper bound ub must have the same length, if both provided.

If rg and f are not provided then,

• type must be :state, :control, or :variable.
• lb and ub must be of dimension n, m, or q respectively, when provided.

If rg is provided, then:

• f must not be provided.
• type must be :state, :control, or :variable.
• rg must be a range of integers, and must be contained in 1:n, 1:m, or 1:q respectively.

If f is provided, then:

• rg must not be provided.
• type must be :boundary or :path.
• f must be a function that returns a vector of the same dimension as the constraint.
• lb and ub must be of the same dimension as the output of f, when provided.

Example

# Example of adding a state constraint
julia> ocp_constraints = Dict()
julia> __constraint!(ocp_constraints, :state, 3, 2, 1, lb=[0.0], ub=[1.0], label=:my_constraint)

as_range(::Nothing) -> Nothing

Return nothing unchanged.

as_range(r::Int) -> UnitRange{Int}

Convert a scalar integer to a single-element range r:r.

as_range(r::OrdinalRange{Int}) -> OrdinalRange{Int}

Return an ordinal range unchanged.

as_vector(::Nothing) -> Nothing

Return nothing unchanged.

as_vector(x::T) -> Vector{T} where {T<:ctNumber}

Wrap a scalar number into a single-element vector.

as_vector(x::Vector{T}) -> Vector{T} where {T<:ctNumber}

Return a vector unchanged.

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

Get the nonlinear boundary constraints from the model.

Arguments

• model: The constraints model from which to retrieve the boundary constraints.

Returns

• The nonlinear boundary constraints.

Example

# Example of retrieving nonlinear boundary constraints
julia> model = ConstraintsModel(...)
julia> boundary_constraints = boundary_constraints_nl(model)

boundary_constraints_nl(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.ConstraintsModel{<:Tuple, TB<:Tuple}}
) -> Any

Return the nonlinear boundary constraints.

constraint(
    model::CTModels.Model,
    label::Symbol
) -> Tuple{Symbol, Any, Any, Any}

Get a labelled constraint from the model. Returns a tuple of the form (type, f, lb, ub) where type is the type of the constraint, f is the function, lb is the lower bound and ub is the upper bound.

The function returns an exception if the label is not found in the model.

Arguments

• model: The model from which to retrieve the constraint.
• label: The label of the constraint to retrieve.

Returns

• Tuple: A tuple containing the type, function, lower bound, and upper bound of the constraint.

constraint!(
    ocp::CTModels.PreModel,
    type::Symbol;
    rg,
    f,
    lb,
    ub,
    label,
    codim_f
)

Add a constraint to a pre-model. See __constraint! for more details.

Arguments

• ocp: The pre-model to which the constraint will be added.
• type: The type of the constraint. It can be :state, :control, :variable, :boundary, or :path.
• rg: The range of the constraint. It can be an integer or a range of integers.
• f: The function that defines the constraint. It must return a vector of the same dimension as the constraint.
• lb: The lower bound of the constraint. It can be a number or a vector.
• ub: The upper bound of the constraint. It can be a number or a vector.
• label: The label of the constraint. It must be unique in the pre-model.

Example

# Example of adding a control constraint to a pre-model
julia> ocp = PreModel()
julia> constraint!(ocp, :control, rg=1:2, lb=[0.0], ub=[1.0], label=:control_constraint)

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

Get the control box constraints from the model.

Arguments

• model: The constraints model from which to retrieve the control box constraints.

Returns

• The control box constraints.

Example

# Example of retrieving control box constraints
julia> model = ConstraintsModel(...)
julia> control_constraints = control_constraints_box(model)

control_constraints_box(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.ConstraintsModel{<:Tuple, <:Tuple, <:Tuple, TC<:Tuple}}
) -> Any

Return the box constraints on control.

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

Return the dimension of nonlinear boundary constraints.

Arguments

• model: The constraints model from which to retrieve the dimension of boundary constraints.

Returns

• Dimension: The dimension of the nonlinear boundary constraints.

Example

# Example of getting the dimension of nonlinear boundary constraints
julia> model = ConstraintsModel(...)
julia> dim_boundary = dim_boundary_constraints_nl(model)

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

Return the dimension of the boundary constraints.

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

Return the dimension of control box constraints.

Arguments

• model: The constraints model from which to retrieve the dimension of control box constraints.

Returns

• Dimension: The dimension of the control box constraints.

Example

julia> # Example of getting the dimension of control box constraints
julia> model = ConstraintsModel(...)
julia> dim_control = dim_control_constraints_box(model)

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

Return the dimension of box constraints on control.

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

Return the dimension of nonlinear path constraints.

Arguments

• model: The constraints model from which to retrieve the dimension of path constraints.

Returns

• Dimension: The dimension of the nonlinear path constraints.

Example

# Example of getting the dimension of nonlinear path constraints
julia> model = ConstraintsModel(...)
julia> dim_path = dim_path_constraints_nl(model)

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

Return the dimension of nonlinear path constraints.

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

Return the dimension of state box constraints.

Arguments

• model: The constraints model from which to retrieve the dimension of state box constraints.

Returns

• Dimension: The dimension of the state box constraints.

Example

julia> # Example of getting the dimension of state box constraints
julia> model = ConstraintsModel(...)
julia> dim_state = dim_state_constraints_box(model)

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

Return the dimension of box constraints on state.

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

Return the dimension of variable box constraints.

Arguments

• model: The constraints model from which to retrieve the dimension of variable box constraints.

Returns

• Dimension: The dimension of the variable box constraints.

Example

julia> # Example of getting the dimension of variable box constraints
julia> model = ConstraintsModel(...)
julia> dim_variable = dim_variable_constraints_box(model)

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

Return the dimension of box constraints on variable.

discretize(constraint::Function, grid::Vector{T}) -> Vector where {T<:ctNumber}

Discretise a constraint function over a time grid.

discretize(::Nothing, grid::Vector{T}) -> Nothing where {T<:ctNumber}

Return nothing when discretising a missing constraint.

path_constraints_nl(
    model::CTModels.ConstraintsModel{TP}
) -> Any

Get the nonlinear path constraints from the model.

Arguments

• model: The constraints model from which to retrieve the path constraints.

Returns

• The nonlinear path constraints.

Example

# Example of retrieving nonlinear path constraints
julia> model = ConstraintsModel(...)
julia> path_constraints = path_constraints_nl(model)

path_constraints_nl(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.ConstraintsModel{TP<:Tuple}}
) -> Any

Return the nonlinear path constraints.

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

Get the state box constraints from the model.

Arguments

• model: The constraints model from which to retrieve the state box constraints.

Returns

• The state box constraints.

Example

# Example of retrieving state box constraints
julia> model = ConstraintsModel(...)
julia> state_constraints = state_constraints_box(model)

state_constraints_box(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.ConstraintsModel{<:Tuple, <:Tuple, TS<:Tuple}}
) -> Any

Return the box constraints on state.

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

Get the variable box constraints from the model.

Arguments

• model: The constraints model from which to retrieve the variable box constraints.

Returns

• The variable box constraints.

Example

# Example of retrieving variable box constraints
julia> model = ConstraintsModel(...)
julia> variable_constraints = variable_constraints_box(model)

variable_constraints_box(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.ConstraintsModel{<:Tuple, <:Tuple, <:Tuple, <:Tuple, TV<:Tuple}}
) -> Any

Return the box constraints on variable.