Problem

CTModels.Models.state_dimension Function

julia

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

Return the state dimension.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The state dimension.

julia

state_dimension(ocp::CTModels.Building.PreModel) -> Int64

Return the state dimension of the PreModel.

Arguments

ocp::PreModel: The pre-model to query.

Throws

Exceptions.PreconditionError: if the state has not been set yet.

julia

state_dimension(sol::CTModels.Solutions.Solution) -> Int64

Return the dimension of the state.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The state dimension.

CTModels.Models.state_name Function

julia

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

Return the name of the state.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The state name.

julia

state_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the state.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The state name.

CTModels.Models.state_components Function

julia

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

Return the names of the components of the state.

Arguments

ocp::Model: The optimal control problem.

Returns

Vector{String}: The state component names.

julia

state_components(
    sol::CTModels.Solutions.Solution
) -> Vector{String}

Return the names of the components of the state.

Arguments

sol::Solution: The optimal control solution.

Returns

Vector{String}: The state component names.

CTModels.Models.control_dimension Function

julia

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

Return the control dimension.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The control dimension.

julia

control_dimension(ocp::CTModels.Building.PreModel) -> Int64

Return the control dimension of the PreModel.

control defaults to CTModels.Components.EmptyControlModel (dimension 0), so — unlike state_dimension — no precondition on control having been set is required.

Arguments

ocp::PreModel: The pre-model to query.

julia

control_dimension(sol::CTModels.Solutions.Solution) -> Int64

Return the dimension of the control.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The control dimension.

CTModels.Models.control_name Function

julia

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

Return the name of the control.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The control name.

julia

control_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the control.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The control name.

CTModels.Models.control_components Function

julia

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

Return the names of the components of the control.

Arguments

ocp::Model: The optimal control problem.

Returns

Vector{String}: The control component names.

julia

control_components(
    sol::CTModels.Solutions.Solution
) -> Vector{String}

Return the names of the components of the control.

Arguments

sol::Solution: The optimal control solution.

Returns

Vector{String}: The control component names.

CTModels.Models.variable_dimension Function

julia

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

Return the variable dimension.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The variable dimension.

julia

variable_dimension(ocp::CTModels.Building.PreModel) -> Int64

Return the variable dimension of the PreModel.

variable defaults to CTModels.Components.EmptyVariableModel (dimension 0), so — unlike state_dimension — no precondition on variable having been set is required.

Arguments

ocp::PreModel: The pre-model to query.

julia

variable_dimension(
    sol::CTModels.Solutions.Solution
) -> Int64

Return the dimension of the variable.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The variable dimension.

CTModels.Models.variable_name Function

julia

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

Return the name of the variable.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The variable name.

julia

variable_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the variable.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The variable name.

CTModels.Models.variable_components Function

julia

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

Return the names of the components of the variable.

Arguments

ocp::Model: The optimal control problem.

Returns

Vector{String}: The variable component names.

julia

variable_components(
    sol::CTModels.Solutions.Solution
) -> Vector{String}

Return the names of the components of the variable.

Arguments

sol::Solution: The optimal control solution.

Returns

Vector{String}: The variable component names.

CTModels.Components.components Function

julia

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

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

Returns

Vector{String}: The state component names.

julia

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

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

Returns

Vector{String}: The state component names.

julia

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

Get the names of the control components.

Returns

Vector{String}: The control component names.

julia

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

Get the names of the control components from the solution.

Returns

Vector{String}: The control component names.

julia

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

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

Returns

Vector{String}: An empty vector.

julia

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

Return the names of the components of the variable.

Returns

Vector{String}: The variable component names.

julia

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

Return the names of the components from the variable solution.

Returns

Vector{String}: The variable component names.

julia

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

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

Returns

Vector{String}: An empty vector.

CTModels.Components.dimension Function

julia

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

Get the dimension of the state from the state model.

Returns

Dimension: The state dimension (number of components).

julia

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

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

Returns

Dimension: The state dimension (number of components).

julia

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

Get the control input dimension.

Returns

Dimension: The control dimension (number of components).

julia

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

Get the control input dimension from the solution.

Returns

Dimension: The control dimension (number of components).

julia

dimension(_::CTModels.Components.EmptyControlModel) -> Int64

Return 0 since no control is defined.

Returns

Dimension: Zero.

julia

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

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

Returns

Dimension: The variable dimension.

julia

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

Return the number of components in the variable solution.

Returns

Dimension: The variable dimension.

julia

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

Return 0 since no variable is defined.

Returns

Dimension: Zero.

CTModels.Components.name Function

julia

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

Get the name of the state from the state model.

Returns

String: The state name.

julia

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

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

Returns

String: The state name.

julia

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

Get the name of the control variable.

Returns

String: The control name.

julia

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

Get the name of the control variable from the solution.

Returns

String: The control name.

julia

name(_::CTModels.Components.EmptyControlModel) -> String

Return an empty string, since no control is defined.

Returns

String: An empty string.

julia

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

Return the name of the variable stored in the model.

Returns

String: The variable name.

julia

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

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

Returns

String: The variable name.

julia

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

Return an empty string, since no variable is defined.

Returns

String: An empty string.

julia

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

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

Returns

String: The time name.

julia

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

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

Returns

String: The time name.

CTModels.Components.index Function

julia

index(model::CTModels.Components.FreeTimeModel) -> Int64

Get the index of the time variable from the free time model.

Returns

Int: The index into the optimisation variable.

CTModels.Components.expression Function

julia

expression(_::CTModels.Components.EmptyDefinition) -> Expr

Return an empty block expression for an CTModels.Components.EmptyDefinition.

Returns

Expr: An empty block expression :(begin end).

julia

expression(d::CTModels.Components.Definition) -> Expr

Return the symbolic expression wrapped by a CTModels.Components.Definition.

Returns

Expr: The symbolic expression defining the problem.

julia

expression(ocp::CTModels.Models.Model) -> Expr

Return the symbolic expression of the model definition.

Arguments

ocp::Model: The optimal control problem.

Returns

Expr: The symbolic expression of the model definition.

See also: CTModels.Models.definition.

CTModels.Components.criterion Function

julia

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

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

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

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

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

Return the criterion (:min or :max).

Returns

Symbol: The optimisation criterion (:min or :max).

julia

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

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

Arguments

ocp::Model: The optimal control problem.

Returns

Symbol: The criterion type (:min or :max).

CTModels.Components.initial_time Function

julia

initial_time(
    model::CTModels.Components.TimesModel{<:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Any

Get the initial time from the times model, from a fixed initial time model.

Returns

T: The fixed initial time value.

julia

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

Get the initial time from the times model, from a free initial time model.

Arguments

model::TimesModel{FreeTimeModel,<:AbstractTimeModel}: The times model with free initial time.
variable::AbstractVector{T}: The optimisation variable vector.

Returns

T: The initial time value from the variable.

julia

initial_time(_::CTModels.Models.AbstractModel) -> Any

Throw an error for unsupported initial time access.

julia

initial_time(
    _::CTModels.Models.AbstractModel,
    _::AbstractVector
) -> Any

Throw an error for unsupported initial time access with variable.

julia

initial_time(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel{CTModels.Components.FixedTimeModel{T<:Real}}}
) -> Any

Return the initial time, for a fixed initial time.

Arguments

ocp::Model: The optimal control problem with fixed initial time.

Returns

T: The initial time value.

julia

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

Return the initial time, for a free initial time.

Arguments

ocp::Model: The optimal control problem with free initial time.
variable::AbstractVector{T}: The variable vector.

Returns

T: The initial time value.

julia

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

Return the initial time, for a free initial time (scalar variable).

Arguments

ocp::Model: The optimal control problem with free initial time.
variable::T: The variable scalar.

Returns

T: The initial time value.

julia

initial_time(sol::CTModels.Solutions.Solution) -> Real

Return the initial time of the solution.

Arguments

sol::Solution: The optimal control solution.

Returns

Real: The initial time.

CTModels.Components.final_time Function

julia

final_time(
    model::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, <:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Any

Get the final time from the times model, from a fixed final time model.

Returns

T: The fixed final time value.

julia

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

Get the final time from the times model, from a free final time model.

Arguments

model::TimesModel{<:AbstractTimeModel,FreeTimeModel}: The times model with free final time.
variable::AbstractVector{T}: The optimisation variable vector.

Returns

T: The final time value from the variable.

julia

final_time(_::CTModels.Models.AbstractModel) -> Any

Throw an error for unsupported final time access.

julia

final_time(
    _::CTModels.Models.AbstractModel,
    _::AbstractVector
) -> Any

Throw an error for unsupported final time access with variable.

julia

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

Return the final time, for a fixed final time.

Arguments

ocp::Model: The optimal control problem with fixed final time.

Returns

T: The final time value.

julia

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

Return the final time, for a free final time.

Arguments

ocp::Model: The optimal control problem with free final time.
variable::AbstractVector{T}: The variable vector.

Returns

T: The final time value.

julia

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

Return the final time, for a free final time (scalar variable).

Arguments

ocp::Model: The optimal control problem with free final time.
variable::T: The variable scalar.

Returns

T: The final time value.

julia

final_time(sol::CTModels.Solutions.Solution) -> Real

Return the final time of the solution.

Arguments

sol::Solution: The optimal control solution.

Returns

Real: The final time.

CTModels.Components.times Function

Return the CTModels.Components.AbstractTimesModel from a CTModels.Models.Model.

CTModels.Components.time_name Function

julia

time_name(model::CTModels.Components.TimesModel) -> String

Get the name of the time variable from the times model.

Returns

String: The time variable name.

julia

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

Return the name of the time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The time name.

julia

time_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the time component.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The time component name.

CTModels.Components.initial_time_name Function

julia

initial_time_name(
    model::CTModels.Components.TimesModel
) -> String

Get the name of the initial time from the times model.

Returns

String: The initial time name.

julia

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

Return the name of the initial time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The initial time name.

julia

initial_time_name(
    sol::CTModels.Solutions.Solution
) -> String

Return the name of the initial time.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The initial time name.

CTModels.Components.final_time_name Function

julia

final_time_name(
    model::CTModels.Components.TimesModel
) -> String

Get the name of the final time from the times model.

Returns

String: The final time name.

julia

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

Return the name of the final time.

Arguments

ocp::Model: The optimal control problem.

Returns

String: The final time name.

julia

final_time_name(sol::CTModels.Solutions.Solution) -> String

Return the name of the final time.

Arguments

sol::Solution: The optimal control solution.

Returns

String: The final time name.

CTModels.Components.has_fixed_initial_time Function

julia

has_fixed_initial_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Bool

Check if the initial time is fixed. Return true.

Returns

Bool: true if the initial time is fixed.

julia

has_fixed_initial_time(
    _::CTModels.Components.TimesModel{CTModels.Components.FreeTimeModel}
) -> Bool

Check if the initial time is free. Return false.

Returns

Bool: false (initial time is not fixed).

julia

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

Check if the initial time is fixed.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the initial time is fixed, false otherwise.

julia

has_fixed_initial_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the initial time is fixed.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the initial time is fixed, false otherwise.

CTModels.Components.has_free_initial_time Function

julia

has_free_initial_time(
    times::CTModels.Components.TimesModel
) -> Bool

Check if the initial time is free.

Returns

Bool: true if the initial time is free.

julia

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

Check if the initial time is free.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the initial time is free, false otherwise.

julia

has_free_initial_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the initial time is free.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the initial time is free, false otherwise.

CTModels.Components.has_fixed_final_time Function

julia

has_fixed_final_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, <:CTModels.Components.FixedTimeModel{T<:Real}}
) -> Bool

Check if the final time is fixed. Return true.

Returns

Bool: true if the final time is fixed.

julia

has_fixed_final_time(
    _::CTModels.Components.TimesModel{<:CTModels.Components.AbstractTimeModel, CTModels.Components.FreeTimeModel}
) -> Bool

Check if the final time is free. Return false.

Returns

Bool: false (final time is not fixed).

julia

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

Check if the final time is fixed.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the final time is fixed, false otherwise.

julia

has_fixed_final_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the final time is fixed.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the final time is fixed, false otherwise.

CTModels.Components.has_free_final_time Function

julia

has_free_final_time(
    times::CTModels.Components.TimesModel
) -> Bool

Check if the final time is free.

Returns

Bool: true if the final time is free.

julia

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

Check if the final time is free.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the final time is free, false otherwise.

julia

has_free_final_time(
    sol::CTModels.Solutions.Solution
) -> Bool

Check if the final time is free.

Arguments

sol::Solution: The optimal control solution.

Returns

Bool: true if the final time is free, false otherwise.

CTModels.Components.is_initial_time_fixed Function

Alias for has_fixed_initial_time.

CTModels.Components.is_initial_time_free Function

Alias for has_free_initial_time.

CTModels.Components.is_final_time_fixed Function

Alias for has_fixed_final_time.

CTModels.Components.is_final_time_free Function

Alias for has_free_final_time.

CTModels.Models.dynamics Function

julia

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

Return the dynamics.

Arguments

ocp::Model: The optimal control problem.

Returns

D: The dynamics function.

CTModels.Components.mayer Function

julia

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

Return the Mayer function.

Returns

M: The Mayer cost function (x0, xf, v) -> g(x0, xf, v).

julia

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

Return the Mayer function.

Returns

M: The Mayer cost function.

julia

mayer(_::CTModels.Models.AbstractModel) -> Any

Throw an error when accessing Mayer cost on a model without one.

julia

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

Return the Mayer cost.

Arguments

ocp::Model: The optimal control problem with Mayer objective.

Returns

M: The Mayer cost function.

julia

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

Return the Mayer cost.

Arguments

ocp::Model: The optimal control problem with Bolza objective (Mayer + Lagrange).

Returns

M: The Mayer cost function.

CTModels.Components.lagrange Function

julia

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

Return the Lagrange function.

Returns

L: The Lagrange integrand (t, x, u, v) -> f⁰(t, x, u, v).

julia

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

Return the Lagrange function.

Returns

L: The Lagrange integrand.

julia

lagrange(_::CTModels.Models.AbstractModel) -> Function

Throw an error when accessing Lagrange cost on a model without one.

julia

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

Return the Lagrange cost.

Arguments

ocp::Model: The optimal control problem with Lagrange objective.

Returns

L: The Lagrange cost function.

julia

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

Return the Lagrange cost.

Arguments

ocp::Model: The optimal control problem with Bolza objective (Mayer + Lagrange).

Returns

L: The Lagrange cost function.

CTModels.Components.has_mayer_cost Function

julia

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

Return true.

Returns

Bool: true (Mayer cost is defined).

julia

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

Return false.

Returns

Bool: false (Mayer cost is not defined).

julia

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

Return true.

Returns

Bool: true (Mayer cost is defined).

julia

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

Check if the model has a Mayer cost.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the model has a Mayer cost, false otherwise.

CTModels.Components.has_lagrange_cost Function

julia

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

Return false.

Returns

Bool: false (Lagrange cost is not defined).

julia

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

Return true.

Returns

Bool: true (Lagrange cost is defined).

julia

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

Return true.

Returns

Bool: true (Lagrange cost is defined).

julia

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

Check if the model has a Lagrange cost.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the model has a Lagrange cost, false otherwise.

CTModels.Components.is_mayer_cost_defined Function

Alias for has_mayer_cost.

CTModels.Components.is_lagrange_cost_defined Function

Alias for has_lagrange_cost.

CTModels.Models.constraint Function

julia

constraint(
    model::CTModels.Models.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::Model: The optimal control problem.
label::Symbol: The constraint label.

Returns

Tuple: A tuple of the form (type, f, lb, ub).

CTModels.Models.constraints Function

julia

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

Return the constraints struct.

Arguments

ocp::Model: The optimal control problem.

Returns

C: The constraints model.

CTModels.Components.path_constraints_nl Function

julia

path_constraints_nl(
    model::CTModels.Components.ConstraintsModel{TP<:Tuple}
) -> Tuple

Get the nonlinear path constraints from the model.

Returns

TP: Tuple of nonlinear path constraints (lb, f!, ub, labels).

julia

path_constraints_nl(ocp::CTModels.Models.Model) -> Tuple

Return the nonlinear path constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Function: The nonlinear path constraints function.

CTModels.Components.boundary_constraints_nl Function

julia

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

Get the nonlinear boundary constraints from the model.

Returns

TB: Tuple of nonlinear boundary constraints (lb, f!, ub, labels).

julia

boundary_constraints_nl(ocp::CTModels.Models.Model) -> Tuple

Return the nonlinear boundary constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Function: The nonlinear boundary constraints function.

CTModels.Components.state_constraints_box Function

julia

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

Get the state box constraints from the model.

Returns

TS: Tuple of state box constraints (lb, ind, ub, labels, aliases).

julia

state_constraints_box(ocp::CTModels.Models.Model) -> Tuple

Return the box constraints on state.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on state.

CTModels.Components.control_constraints_box Function

julia

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

Get the control box constraints from the model.

Returns

TC: Tuple of control box constraints (lb, ind, ub, labels, aliases).

julia

control_constraints_box(ocp::CTModels.Models.Model) -> Tuple

Return the box constraints on control.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on control.

CTModels.Components.variable_constraints_box Function

julia

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

Get the variable box constraints from the model.

Returns

TV: Tuple of variable box constraints (lb, ind, ub, labels, aliases).

julia

variable_constraints_box(
    ocp::CTModels.Models.Model
) -> Tuple

Return the box constraints on variable.

Arguments

ocp::Model: The optimal control problem.

Returns

BoxConstraints: The box constraints on variable.

CTModels.Components.dim_path_constraints_nl Function

julia

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

Return the dimension of nonlinear path constraints.

Returns

Dimension: The number of nonlinear path constraints.

julia

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

Return the dimension of nonlinear path constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of nonlinear path constraints.

julia

dim_path_constraints_nl(
    sol::CTModels.Solutions.Solution
) -> Int64

Return the dimension of the path constraints.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The path constraints dimension.

CTModels.Components.dim_boundary_constraints_nl Function

julia

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

Return the dimension of nonlinear boundary constraints.

Returns

Dimension: The number of nonlinear boundary constraints.

julia

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

Return the dimension of the boundary constraints.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of boundary constraints.

julia

dim_boundary_constraints_nl(
    sol::CTModels.Solutions.Solution
) -> Int64

Return the dimension of the boundary constraints.

Arguments

sol::Solution: The optimal control solution.

Returns

Dimension: The boundary constraints dimension.

CTModels.Components.dim_state_constraints_box Function

julia

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

Return the dimension of state box constraints.

Returns

Dimension: The number of state box constraints.

julia

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

Return the dimension of box constraints on state.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on state.

CTModels.Components.dim_control_constraints_box Function

julia

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

Return the dimension of control box constraints.

Returns

Dimension: The number of control box constraints.

julia

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

Return the dimension of box constraints on control.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on control.

CTModels.Components.dim_variable_constraints_box Function

julia

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

Return the dimension of variable box constraints.

Returns

Dimension: The number of variable box constraints.

julia

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

Return the dimension of box constraints on variable.

Arguments

ocp::Model: The optimal control problem.

Returns

Dimension: The dimension of box constraints on variable.

CTModels.Models.definition Function

julia

definition(
    ocp::CTModels.Models.Model{<:CTBase.Traits.TimeDependence, <:CTModels.Components.TimesModel, <:CTModels.Components.AbstractStateModel, <:CTModels.Components.AbstractControlModel, <:CTModels.Components.AbstractVariableModel, <:Function, <:CTModels.Components.AbstractObjectiveModel, <:CTModels.Components.AbstractConstraintsModel, D<:CTModels.Components.AbstractDefinition}
) -> CTModels.Components.AbstractDefinition

Return the model definition.

Arguments

ocp::Model: The optimal control problem.

Returns

D: The model definition.

CTModels.Models.has_abstract_definition Function

julia

has_abstract_definition(ocp::CTModels.Models.Model) -> Bool

Check whether the problem has an abstract definition.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the problem has an abstract definition, false otherwise.

CTModels.Models.is_abstractly_defined Function

julia

is_abstractly_defined(ocp::CTModels.Models.Model) -> Bool

Check whether the problem is abstractly defined.

Arguments

ocp::Model: The optimal control problem.

Returns

Bool: true if the problem is abstractly defined, false otherwise.

CTBase.Traits.is_autonomous Function

julia

is_autonomous(obj) -> Bool

Return true if the object is autonomous (time-independent).

Checks that the object has the time-dependence trait, then returns true if time_dependence(obj) is Autonomous.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object is autonomous.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support time-dependence queries.
CTBase.Exceptions.NotImplemented: If time_dependence is not implemented for the object type.

CTBase.Traits.is_nonautonomous Function

julia

is_nonautonomous(obj) -> Bool

Return true if the object is non-autonomous (time-dependent).

Checks that the object has the time-dependence trait, then returns true if time_dependence(obj) is NonAutonomous.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object is non-autonomous.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support time-dependence queries.
CTBase.Exceptions.NotImplemented: If time_dependence is not implemented for the object type.

CTBase.Traits.is_variable Function

julia

is_variable(obj) -> Bool

Return true if the object depends on variable parameters.

Checks that the object has the variable-dependence trait, then returns true if variable_dependence(obj) is NonFixed.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object depends on variable parameters.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support variable-dependence queries.
CTBase.Exceptions.NotImplemented: If variable_dependence is not implemented for the object type.

CTBase.Traits.is_nonvariable Function

julia

is_nonvariable(obj) -> Bool

Return true if the object does not depend on variable parameters.

Checks that the object has the variable-dependence trait, then returns true if variable_dependence(obj) is Fixed.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object does not depend on variable parameters.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support variable-dependence queries.
CTBase.Exceptions.NotImplemented: If variable_dependence is not implemented for the object type.

CTBase.Traits.has_variable Function

julia

has_variable(obj) -> Bool

Return true if the object depends on variable parameters.

Checks that the object has the variable-dependence trait, then returns true if variable_dependence(obj) is NonFixed.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object depends on variable parameters.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support variable-dependence queries.
CTBase.Exceptions.NotImplemented: If variable_dependence is not implemented for the object type.

CTBase.Traits.has_control Function

julia

has_control(obj) -> Bool

Return true if the object has a control input.

Checks that the object has the control-dependence trait, then returns true if control_dependence(obj) is WithControl.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object has a control input.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support control-dependence queries.
CTBase.Exceptions.NotImplemented: If control_dependence is not implemented for the object type.

CTBase.Traits.is_control_free Function

julia

is_control_free(obj) -> Bool

Return true if the object is control-free (has no control input).

Checks that the object has the control-dependence trait, then returns true if control_dependence(obj) is ControlFree.

Arguments

obj::Any: The object to check.

Returns

Bool: true if the object has no control input.

Throws

CTBase.Exceptions.IncorrectArgument: If the object does not support control-dependence queries.
CTBase.Exceptions.NotImplemented: If control_dependence is not implemented for the object type.

Problem ​

Problem