Private API

This page lists non-exported (internal) symbols of CTModels.

From `CTModels`

`components`

CTModels.components — Function

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

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

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

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

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

Get the names of the control components.

Arguments

model::ControlModel: The control model.

Returns

Vector{String}: A list of control component names.

Example

julia> components(controlmodel)
["u₁", "u₂"]

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

Get the names of the control components from the solution.

Arguments

model::ControlModelSolution: The control model solution.

Returns

Vector{String}: A list of control component names.

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

Return the names of the components of the variable.

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

Return the names of the components from the variable solution.

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

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

`control!`

CTModels.control! — Function

control!(ocp::CTModels.PreModel, m::Int64)
control!(
    ocp::CTModels.PreModel,
    m::Int64,
    name::Union{String, Symbol}
)
control!(
    ocp::CTModels.PreModel,
    m::Int64,
    name::Union{String, Symbol},
    components_names::Array{T2<:Union{String, Symbol}, 1}
)

Define the control input for a given optimal control problem model.

This function sets the control dimension and optionally allows specifying the control name and the names of its components.

Note

This function should be called only once per model. Calling it again will raise an error.

Arguments

ocp::PreModel: The model to which the control will be added.
m::Dimension: The control input dimension (must be greater than 0).
name::Union{String,Symbol} (optional): The name of the control variable (default: "u").
components_names::Vector{<:Union{String,Symbol}} (optional): Names of the control components (default: automatically generated).

Examples

julia> control!(ocp, 1)
julia> control_dimension(ocp)
1
julia> control_components(ocp)
["u"]

julia> control!(ocp, 1, "v")
julia> control_components(ocp)
["v"]

julia> control!(ocp, 2)
julia> control_components(ocp)
["u₁", "u₂"]

julia> control!(ocp, 2, :v)
julia> control_components(ocp)
["v₁", "v₂"]

julia> control!(ocp, 2, "v", ["a", "b"])
julia> control_components(ocp)
["a", "b"]

`dimension`

CTModels.dimension — Function

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

Get the dimension of the state from the state model.

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

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

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

Get the control input dimension.

Arguments

model::ControlModel: The control model.

Returns

Dimension: The number of control components.

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

Get the control input dimension from the solution.

Arguments

model::ControlModelSolution: The control model solution.

Returns

Dimension: The number of control components.

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

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

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

Return the number of components in the variable solution.

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

Return 0 since no variable is defined.

`name`

CTModels.name — Function

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

Get the name of the state from the state model.

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

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

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

Get the name of the control variable.

Arguments

model::ControlModel: The control model.

Returns

String: The name of the control.

Example

julia> name(controlmodel)
"u"

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

Get the name of the control variable from the solution.

Arguments

model::ControlModelSolution: The control model solution.

Returns

String: The name of the control.

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

Return the name of the variable stored in the model.

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

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

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

Return an empty string, since no variable is defined.

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

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

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

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

`state!`

CTModels.state! — Function

state!(ocp::CTModels.PreModel, n::Int64)
state!(
    ocp::CTModels.PreModel,
    n::Int64,
    name::Union{String, Symbol}
)
state!(
    ocp::CTModels.PreModel,
    n::Int64,
    name::Union{String, Symbol},
    components_names::Array{T2<:Union{String, Symbol}, 1}
)

Define the state dimension and possibly the names of each component.

Note

You must use state! only once to set the state dimension.

Examples

julia> state!(ocp, 1)
julia> state_dimension(ocp)
1
julia> state_components(ocp)
["x"]

julia> state!(ocp, 1, "y")
julia> state_dimension(ocp)
1
julia> state_components(ocp)
["y"]

julia> state!(ocp, 2)
julia> state_dimension(ocp)
2
julia> state_components(ocp)
["x₁", "x₂"]

julia> state!(ocp, 2, :y)
julia> state_dimension(ocp)
2
julia> state_components(ocp)
["y₁", "y₂"]

julia> state!(ocp, 2, "y")
julia> state_dimension(ocp)
2
julia> state_components(ocp)
["y₁", "y₂"]

julia> state!(ocp, 2, "y", ["u", "v"])
julia> state_dimension(ocp)
2
julia> state_components(ocp)
["u", "v"]

julia> state!(ocp, 2, "y", [:u, :v])
julia> state_dimension(ocp)
2
julia> state_components(ocp)
["u", "v"]

`value`

CTModels.value — Function

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

Get the state function from the state model solution.

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

Get the control function associated with the solution.

Arguments

model::ControlModelSolution{TS}: The control model solution.

Returns

TS: A function giving the control value at a given time or state.

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

Return the value stored in the variable solution model.

`variable!`

CTModels.variable! — Function

variable!(ocp::CTModels.PreModel, q::Int64)
variable!(
    ocp::CTModels.PreModel,
    q::Int64,
    name::Union{String, Symbol}
)
variable!(
    ocp::CTModels.PreModel,
    q::Int64,
    name::Union{String, Symbol},
    components_names::Array{T2<:Union{String, Symbol}, 1}
)

Define a new variable in the optimal control problem ocp with dimension q.

This function registers a named variable (e.g. "state", "control", or other) to be used in the problem definition. You may optionally specify a name and individual component names.

Note

You can call variable! only once. It must be called before setting the objective or dynamics.

Arguments

ocp: The PreModel where the variable is registered.
q: The dimension of the variable (number of components).
name: A name for the variable (default: auto-generated from q).
components_names: A vector of strings or symbols for each component (default: ["v₁", "v₂", ...]).

Examples

julia> variable!(ocp, 1, "v")
julia> variable!(ocp, 2, "v", ["v₁", "v₂"])