Constraints

Index

Warning

In the examples in the documentation below, the methods are not prefixed by the module name even if they are private.

julia> using CTModels
julia> x = 1
julia> private_fun(x) # throw an error

must be replaced by

julia> using CTModels
julia> x = 1
julia> CTModels.private_fun(x)

However, if the method is reexported by another package, then, there is no need of prefixing.

julia> module OptimalControl
           import CTModels: private_fun
           export private_fun
       end
julia> using OptimalControl
julia> x = 1
julia> private_fun(x)

Documentation

Base.isempty — Method

isempty(model::CTModels.ConstraintsModel) -> Bool

Return if the constraints model is empty or not.

Arguments

model: The constraints model to check for emptiness.

Returns

Bool: Returns true if the model has no constraints, false otherwise.

Example

# Example of checking if a constraints model is empty
julia> model = ConstraintsModel(...)
julia> isempty(model)  # Returns true if there are no constraints

CTModels.__constraint! — Method

__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)

CTModels.boundary_constraints_nl — Method

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)

CTModels.constraint! — Method

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)

CTModels.constraint — Method

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.

CTModels.control_constraints_box — Method

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)

CTModels.dim_boundary_constraints_nl — Method

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)

CTModels.dim_control_constraints_box — Method

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)

CTModels.dim_path_constraints_nl — Method

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)

CTModels.dim_state_constraints_box — Method

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)

CTModels.dim_variable_constraints_box — Method

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)

CTModels.path_constraints_nl — Method

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)

CTModels.state_constraints_box — Method

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)

CTModels.variable_constraints_box — Method

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)