Objective

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.criterion — Method

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

Return the criterion (:min or :max).

CTModels.criterion — Method

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

Return the criterion (:min or :max).

CTModels.criterion — Method

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

Return the criterion (:min or :max).

CTModels.has_lagrange_cost — Method

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

Return true.

CTModels.has_lagrange_cost — Method

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

Return true.

CTModels.has_lagrange_cost — Method

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

Return false.

CTModels.has_mayer_cost — Method

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

Return true.

CTModels.has_mayer_cost — Method

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

Return false.

CTModels.has_mayer_cost — Method

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

Return true.

CTModels.lagrange — Method

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

Return the Lagrange function.

CTModels.lagrange — Method

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

Return the Lagrange function.

CTModels.mayer — Method

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

Return the Mayer function.

CTModels.mayer — Method

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

Return the Mayer function.

CTModels.objective! — Function

objective!(ocp::CTModels.PreModel; ...)
objective!(
    ocp::CTModels.PreModel,
    criterion::Symbol;
    mayer,
    lagrange
)

Set the objective of the optimal control problem.

Arguments

ocp::PreModel: the optimal control problem.
criterion::Symbol: the type of criterion. Either :min or :max. Default is :min.
mayer::Union{Function, Nothing}: the Mayer function (inplace). Default is nothing.
lagrange::Union{Function, Nothing}: the Lagrange function (inplace). Default is nothing.

Note

The state, control and variable must be set before the objective.
The objective must not be set before.
At least one of the two functions must be given. Please provide a Mayer or a Lagrange function.

Examples

julia> function mayer(x0, xf, v)
           return x0[1] + xf[1] + v[1]
       end
julia> function lagrange(t, x, u, v)
           return x[1] + u[1] + v[1]
       end
julia> objective!(ocp, :min, mayer=mayer, lagrange=lagrange)