Model

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

CTModels.append_box_constraints! — Method

append_box_constraints!(
    inds,
    lbs,
    ubs,
    labels,
    rg,
    lb,
    ub,
    label
)

Appends box constraint data to the provided vectors.

Arguments

inds::Vector{Int}: Vector of indices to which the range rg will be appended.
lbs::Vector{<:Real}: Vector of lower bounds to which lb will be appended.
ubs::Vector{<:Real}: Vector of upper bounds to which ub will be appended.
labels::Vector{String}: Vector of labels to which the label will be repeated and appended.
rg::AbstractVector{Int}: Index range corresponding to the constraint variables.
lb::AbstractVector{<:Real}: Lower bounds associated with rg.
ub::AbstractVector{<:Real}: Upper bounds associated with rg.
label::String: Label describing the constraint block (e.g., "state", "control").

Notes

All input vectors (rg, lb, ub) must have the same length.
The function modifies the inds, lbs, ubs, and labels vectors in-place.

CTModels.boundary_constraints_nl — Method

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.

CTModels.build — Method

build(
    pre_ocp::CTModels.PreModel;
    build_examodel
) -> CTModels.Model{TD, var"#s182", var"#s1821", var"#s1822", var"#s1823", var"#s1824", var"#s1825", CTModels.ConstraintsModel{TP, TB, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}}, Nothing} where {TD<:CTModels.TimeDependence, var"#s182"<:CTModels.AbstractTimesModel, var"#s1821"<:CTModels.AbstractStateModel, var"#s1822"<:CTModels.AbstractControlModel, var"#s1823"<:CTModels.AbstractVariableModel, var"#s1824"<:Function, var"#s1825"<:CTModels.AbstractObjectiveModel, TP<:Tuple{Vector{Float64}, Any, Vector{Float64}, Vector{Symbol}}, TB<:Tuple{Vector{Float64}, Any, Vector{Float64}, Vector{Symbol}}}

Converts a mutable PreModel into an immutable Model.

This function finalizes a pre-defined optimal control problem (PreModel) by verifying that all necessary components (times, state, control, dynamics) are set. It then constructs a Model instance, incorporating optional components like objective and constraints if they are defined.

Arguments

pre_ocp::PreModel: The pre-defined optimal control problem to be finalized.

Returns

Model: A fully constructed model ready for solving.

Example

julia> pre_ocp = PreModel()
julia> times!(pre_ocp, 0.0, 1.0, 100)
julia> state!(pre_ocp, 2, "x", ["x1", "x2"])
julia> control!(pre_ocp, 1, "u", ["u1"])
julia> dynamics!(pre_ocp, (dx, t, x, u, v) -> dx .= x + u)
julia> model = build(pre_ocp)

CTModels.build — Method

build(
    constraints::OrderedCollections.OrderedDict{Symbol, Tuple{Symbol, Union{Function, OrdinalRange{<:Int64}}, AbstractVector{<:Real}, AbstractVector{<:Real}}}
) -> CTModels.ConstraintsModel{TP, TB, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}} where {TP<:Tuple{Vector{Float64}, Any, Vector{Float64}, Vector{Symbol}}, TB<:Tuple{Vector{Float64}, Any, Vector{Float64}, Vector{Symbol}}}

Constructs a ConstraintsModel from a dictionary of constraints.

This function processes a dictionary where each entry defines a constraint with its type, function or index range, lower and upper bounds, and label. It categorizes constraints into path, boundary, state, control, and variable constraints, assembling them into a structured ConstraintsModel.

Arguments

constraints::ConstraintsDictType: A dictionary mapping constraint labels to tuples of the form (type, function_or_range, lower_bound, upper_bound).

Returns

ConstraintsModel: A structured model encapsulating all provided constraints.

Example

julia> constraints = OrderedDict(
    :c1 => (:path, f1, [0.0], [1.0]),
    :c2 => (:state, 1:2, [-1.0, -1.0], [1.0, 1.0])
)
julia> model = build(constraints)

CTModels.constraints — Method

constraints(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.AbstractTimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, C<:CTModels.AbstractConstraintsModel}
) -> CTModels.AbstractConstraintsModel

Return the constraints struct.

CTModels.control — Method

control(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, T<:CTModels.AbstractControlModel}
) -> CTModels.AbstractControlModel

Return the control struct.

CTModels.control_components — Method

control_components(ocp::CTModels.Model) -> Vector{String}

Return the names of the components of the control.

CTModels.control_constraints_box — Method

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.

CTModels.control_dimension — Method

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

Return the control dimension.

CTModels.control_name — Method

control_name(ocp::CTModels.Model) -> String

Return the name of the control.

CTModels.criterion — Method

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

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

CTModels.dim_boundary_constraints_nl — Method

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

Return the dimension of the boundary constraints.

CTModels.dim_control_constraints_box — Method

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

Return the dimension of box constraints on control.

CTModels.dim_path_constraints_nl — Method

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

Return the dimension of nonlinear path constraints.

CTModels.dim_state_constraints_box — Method

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

Return the dimension of box constraints on state.

CTModels.dim_variable_constraints_box — Method

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

Return the dimension of box constraints on variable.

CTModels.dynamics — Method

dynamics(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.AbstractTimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, D<:Function}
) -> Function

Return the dynamics.

CTModels.final_time — Method

final_time(
    ocp::CTModels.AbstractModel,
    variable::AbstractVector
) -> Any

CTModels.final_time — Method

final_time(ocp::CTModels.AbstractModel) -> Real

CTModels.final_time — Method

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

Return the final time, for a fixed final time.

CTModels.final_time — Method

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

Return the final time, for a free final time.

CTModels.final_time — Method

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

Return the final time, for a free final time.

CTModels.final_time_name — Method

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

Return the name of the final time.

CTModels.get_build_examodel — Method

get_build_examodel(
    _::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.AbstractTimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.AbstractConstraintsModel, <:Nothing}
)

Return an error (UnauthorizedCall) since the model is not built with the :exa backend.

CTModels.get_build_examodel — Method

get_build_examodel(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.AbstractTimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, <:CTModels.AbstractObjectiveModel, <:CTModels.AbstractConstraintsModel, BE<:Function}
) -> Function

Return the build_examodel.

CTModels.has_fixed_final_time — Method

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

Check if the final time is fixed.

CTModels.has_fixed_initial_time — Method

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

Check if the initial time is fixed.

CTModels.has_free_final_time — Method

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

Check if the final time is free.

CTModels.has_free_initial_time — Method

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

Check if the initial time is free.

CTModels.has_lagrange_cost — Method

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

Check if the model has a Lagrange cost.

CTModels.has_mayer_cost — Method

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

Check if the model has a Mayer cost.

CTModels.initial_time — Method

initial_time(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel{CTModels.FixedTimeModel{T<:Real}}}
) -> Real

Return the initial time, for a fixed initial time.

CTModels.initial_time — Method

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

Return the initial time, for a free initial time.

CTModels.initial_time — Method

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

Return the initial time, for a free initial time.

CTModels.initial_time_name — Method

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

Return the name of the initial time.

CTModels.is_autonomous — Method

is_autonomous(
    _::CTModels.Model{CTModels.Autonomous, <:CTModels.TimesModel}
) -> Bool

Return true.

CTModels.is_autonomous — Method

is_autonomous(
    _::CTModels.Model{CTModels.NonAutonomous, <:CTModels.TimesModel}
) -> Bool

Return true.

CTModels.isempty_constraints — Method

isempty_constraints(ocp::CTModels.Model) -> Bool

Return true if the model has constraints or false if not.

CTModels.lagrange — Method

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

Return the Lagrange cost.

CTModels.lagrange — Method

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

Return the Lagrange cost.

CTModels.mayer — Method

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

Return the Mayer cost.

CTModels.mayer — Method

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

Return the Mayer cost.

CTModels.objective — Method

objective(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.AbstractTimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, <:CTModels.AbstractVariableModel, <:Function, O<:CTModels.AbstractObjectiveModel}
) -> CTModels.AbstractObjectiveModel

Return the objective struct.

CTModels.path_constraints_nl — Method

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.

CTModels.state — Method

state(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, T<:CTModels.AbstractStateModel}
) -> CTModels.AbstractStateModel

Return the state struct.

CTModels.state_components — Method

state_components(ocp::CTModels.Model) -> Vector{String}

Return the names of the components of the state.

CTModels.state_constraints_box — Method

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.

CTModels.state_dimension — Method

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

Return the state dimension.

CTModels.state_name — Method

state_name(ocp::CTModels.Model) -> String

Return the name of the state.

CTModels.time_name — Method

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

Return the name of the time.

CTModels.times — Method

times(
    ocp::CTModels.Model{<:CTModels.TimeDependence, T<:CTModels.TimesModel}
) -> CTModels.TimesModel

Return the times struct.

CTModels.variable — Method

variable(
    ocp::CTModels.Model{<:CTModels.TimeDependence, <:CTModels.TimesModel, <:CTModels.AbstractStateModel, <:CTModels.AbstractControlModel, T<:CTModels.AbstractVariableModel}
) -> CTModels.AbstractVariableModel

Return the variable struct.

CTModels.variable_components — Method

variable_components(ocp::CTModels.Model) -> Vector{String}

Return the names of the components of the variable.

CTModels.variable_constraints_box — Method

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.

CTModels.variable_dimension — Method

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

Return the variable dimension.

CTModels.variable_name — Method

variable_name(ocp::CTModels.Model) -> String

Return the name of the variable.