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CTBase.jl private functions

Index

Documentation

CTBase.DescVarArg — Constant

DescVarArg is a Vararg of symbols. DescVarArg is a type alias for a Vararg of symbols.

julia> const DescVarArg = Vararg{Symbol}

See also: Description.

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Base.show — Method
show(
    io::IO,
    _::MIME{Symbol("text/plain")},
    ocp::OptimalControlModel
)

Print the optimal control problem.

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Base.show — Method
show(
    io::IO,
    _::MIME{Symbol("text/plain")},
    sol::OptimalControlSolution
)

Prints the solution.

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Base.show — Method
show(
    io::IO,
    _::MIME{Symbol("text/plain")},
    descriptions::Tuple{Vararg{Tuple{Vararg{Symbol}}}}
)

Print a tuple of descriptions.

Example

julia> display( ( (:a, :b), (:b, :c) ) )
(:a, :b)
(:b, :c)
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CTBase.:⅋ — Method
⅋(
    X::VectorField{Autonomous, V<:VariableDependence},
    Y::VectorField{Autonomous, V<:VariableDependence}
) -> VectorField

"Directional derivative" of a vector field: internal and only used to compute efficiently the Lie bracket of two vector fields, autonomous case

Example

julia> X = VectorField(x -> [x[2], -x[1]])
julia> Y = VectorField(x -> [x[1], x[2]])
julia> CTBase.:(⅋)(X, Y)([1, 2])
[2, -1]
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CTBase.:⅋ — Method
⅋(
    X::VectorField{NonAutonomous, V<:VariableDependence},
    Y::VectorField{NonAutonomous, V<:VariableDependence}
) -> VectorField{NonAutonomous}

"Directional derivative" of a vector field: internal and only used to compute efficiently the Lie bracket of two vector fields, nonautonomous case

Example

julia> X = VectorField((t, x, v) -> [t + v[1] + v[2] + x[2], -x[1]], NonFixed, NonAutonomous)
julia> Y = VectorField((t, x, v) ->  [v[1] + v[2] + x[1], x[2]], NonFixed, NonAutonomous)
julia> CTBase.:(⅋)(X, Y)(1, [1, 2], [2, 3])
[8, -1]
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CTBase.__OptimalControlSolution — Method
__OptimalControlSolution(
    ocp::OptimalControlModel;
    state,
    control,
    objective,
    costate,
    time_grid,
    variable,
    iterations,
    stopping,
    message,
    success,
    infos,
    boundary_constraints,
    mult_boundary_constraints,
    variable_constraints,
    mult_variable_constraints,
    mult_variable_box_lower,
    mult_variable_box_upper,
    control_constraints,
    mult_control_constraints,
    state_constraints,
    mult_state_constraints,
    mixed_constraints,
    mult_mixed_constraints,
    mult_state_box_lower,
    mult_state_box_upper,
    mult_control_box_lower,
    mult_control_box_upper
) -> OptimalControlSolution

Constructor from an optimal control problem. Internal.

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CTBase.__callbacks — Method
__callbacks() -> Tuple{}

Used to set the default value of the callbacks argument. The default value is (), which means that no additional callback is given.

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CTBase.__check_all_set — Method
__check_all_set(
    ocp::OptimalControlModel
) -> Union{Nothing, Bool}

Check if the parameters of an ocp are set.

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CTBase.__check_control_set — Method
__check_control_set(ocp::OptimalControlModel) -> Bool

Throw UnauthorizedCall exception if the control of an ocp is not set.

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CTBase.__check_dependencies — Method
__check_dependencies(
    dependencies::Tuple{Vararg{DataType}}
) -> Bool

Throw IncorrectArgument exception if dependencies arguments are incorrect.

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CTBase.__check_is_time_set — Method
__check_is_time_set(ocp::OptimalControlModel) -> Bool

Throw UnauthorizedCall exception if the time of an ocp is not set.

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CTBase.__check_state_set — Method
__check_state_set(ocp::OptimalControlModel) -> Bool

Throw UnauthorizedCall exception if the state of an ocp is not set.

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CTBase.__check_variable_set — Method
__check_variable_set(
    ocp::OptimalControlModel{<:TimeDependence, NonFixed}
) -> Bool

Throw UnauthorizedCall exception if the variable of an ocp is not set.

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CTBase.__constraint_label — Method
__constraint_label() -> Symbol

Used to set the default value of the label of a constraint. A unique value is given to each constraint using the gensym function and prefixing by :unamed.

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CTBase.__control_components_names — Method
__control_components_names(m::Integer, name::String) -> Any

Used to set the default value of the names of the controls. The default value is ["u"] for a one dimensional control, and ["u₁", "u₂", ...] for a multi dimensional control.

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CTBase.__control_name — Method
__control_name() -> String

Used to set the default value of the names of the control. The default value is "u".

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CTBase.__criterion_type — Method
__criterion_type() -> Symbol

Used to set the default value of the type of criterion. Either :min or :max. The default value is :min. The other possible criterion type is :max.

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CTBase.__display — Method
__display() -> Bool

Used to set the default value of the display argument. The default value is true, which means that the output is printed during resolution.

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CTBase.__fun_time_dependence — Method
__fun_time_dependence() -> Type{Autonomous}

Used to set the default value of the time dependence of the functions.

The default value is Autonomous, which means that the functions are considered time independent. The other possible time dependence is NonAutonomous, which means that the functions are considered time dependent.

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CTBase.__fun_variable_dependence — Method
__fun_variable_dependence() -> Type{Fixed}

Used to set the default value of the variable dependence of the functions.

The default value is Fixed, which means that the functions are considered variable independent. The other possible variable dependence is NonFixed, which means that the functions are considered variable dependent.

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CTBase.__get_AD_backend — Method
__get_AD_backend(

) -> ADTypes.AutoForwardDiff{nothing, Nothing}

Used to set the default value of Automatic Differentiation backend.

The default value is AutoForwardDiff(), that is the ForwardDiff package is used by default.

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CTBase.__init_interpolation — Method
__init_interpolation() -> CTBase.var"#7#8"

Used to set the default interpolation function used for initialisation. The default value is Interpolations.linear_interpolation, which means that the initial guess is linearly interpolated.

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CTBase.__ocp_init — Method
__ocp_init()

Used to set the default initial guess. The default value is nothing.

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CTBase.__ocp_time_dependence — Method
__ocp_time_dependence() -> Type{Autonomous}

Used to set the default value of the time dependence of the Optimal Control Problem. The default value is Autonomous, which means that the Optimal Control Problem is considered time independent. The other possible time dependence is NonAutonomous, which means that all the functions used to define the Optimal Control Problem are considered time dependent.

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CTBase.__ocp_variable_dependence — Method
__ocp_variable_dependence() -> Type{Fixed}

Used to set the default value of the variable dependence of the Optimal Control Problem. The default value is Fixed, which means that the Optimal Control Problem is considered variable independent. The other possible variable dependence is NonFixed, which means that all the functions used to define the Optimal Control Problem are considered variable dependent.

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CTBase.__state_components_names — Method
__state_components_names(n::Integer, name::String) -> Any

Used to set the default value of the names of the states. The default value is ["x"] for a one dimensional state, and ["x₁", "x₂", ...] for a multi dimensional state.

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CTBase.__state_name — Method
__state_name() -> String

Used to set the default value of the name of the state. The default value is "x".

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CTBase.__time_name — Method
__time_name() -> String

Used to set the default value of the name of the time. The default value is t.

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CTBase.__variable_components_names — Method
__variable_components_names(q::Integer, name::String) -> Any

Used to set the default value of the names of the variables. The default value is ["v"] for a one dimensional variable, and ["v₁", "v₂", ...] for a multi dimensional variable.

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CTBase.__variable_name — Method
__variable_name() -> String

Used to set the default value of the names of the variables. The default value is "v".

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CTBase.buildFunctionalInit — Method
buildFunctionalInit(data, time, dim) -> CTBase.var"#211#212"

Build functional initialization: general interpolation case

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CTBase.buildFunctionalInit — Method
buildFunctionalInit(
    data::Function,
    time,
    dim
) -> CTBase.var"#213#214"{<:Function}

Build functional initialization: function case

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CTBase.buildFunctionalInit — Method
buildFunctionalInit(
    data::Nothing,
    time,
    dim
) -> CTBase.var"#211#212"

Build functional initialization: default case

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CTBase.buildFunctionalInit — Method
buildFunctionalInit(
    data::Union{Real, AbstractVector{<:Real}},
    time,
    dim
) -> Any

Build functional initialization: constant / 1D interpolation

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CTBase.checkDim — Method
checkDim(actual_dim, target_dim)

Check if actual dimension is equal to target dimension, error otherwise

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CTBase.expand — Method
expand(x::Matrix{<:Real}) -> Vector{<:Real}

Return expand(matrix2vec(x, 1))

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CTBase.expand — Method
expand(x::Vector{<:Vector{<:Real}}) -> Vector{<:Real}

Equivalent to vec2vec(x)

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CTBase.expr_it — Method
expr_it(e, _Expr, f) -> Any

Expr iterator: apply _Expr to nodes and f to leaves of the AST.

Example

julia> id(e) = expr_it(e, Expr, x -> x)
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CTBase.has — Method
has(e, x, t) -> Union{Missing, Bool}

Return true if e contains a (...x...)(t) call.

Example

julia> e = :( ∫( x[1](t)^2 + 2*u(t) ) → min )
:(∫((x[1])(t) ^ 2 + 2 * u(t)) → min)

julia> has(e, :x, :t)
true

julia> has(e, :u, :t)
true
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CTBase.has — Method
has(e, e1) -> Union{Missing, Bool}

Return true if e contains e1.

Example

julia> e = :( ∫( x[1](t)^2 + 2*u(t) ) → min )
:(∫((x[1])(t) ^ 2 + 2 * u(t)) → min)

julia> has(e, 2)
true

julia> has(e, :x)
true

julia> has(e, :min)
true

julia> has(e, :( x[1](t)^2 ))
true

julia> !has(e, :( x[1](t)^3 ))
true

julia> !has(e, 3)
true

julia> !has(e, :max)
true

julia> has(:x, :x)
true

julia> !has(:x, 2)
true

julia> !has(:x, :y)
true
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CTBase.matrix2vec — Function
matrix2vec(x::Matrix{<:Real}) -> Vector{<:Vector{<:Real}}
matrix2vec(
    x::Matrix{<:Real},
    dim::Integer
) -> Vector{<:Vector{<:Real}}

Transforms x to a Vector{<:Vector{<:ctNumber}}.

Note. dim ∈ {1, 2} is the dimension along which the matrix is transformed.

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CTBase.parse! — Method
parse!(p, ocp, e; log) -> Union{Expr, LineNumberNode}

Parse the expression e and update the ParsingInfo structure p.

Example

parse!(p, :ocp, :(v ∈ R, variable))
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CTBase.subs — Method
subs(e, e1::Union{Real, Symbol}, e2) -> Any

Substitute expression e1 by expression e2 in expression e.

Examples

julia> e = :( ∫( r(t)^2 + 2u₁(t)) → min )
:(∫(r(t) ^ 2 + 2 * u₁(t)) → min)

julia> subs(e, :r, :( x[1] ))
:(∫((x[1])(t) ^ 2 + 2 * u₁(t)) → min)

julia> e = :( ∫( u₁(t)^2 + 2u₂(t)) → min )
:(∫(u₁(t) ^ 2 + 2 * u₂(t)) → min)

julia> for i ∈ 1:2
       e = subs(e, Symbol(:u, Char(8320+i)), :( u[$i] ))
       end; e
:(∫((u[1])(t) ^ 2 + 2 * (u[2])(t)) → min)

julia> t = :t; t0 = 0; tf = :tf; x = :x; u = :u;

julia> e = :( x[1](0) * 2x(tf) - x[2](tf) * 2x(0) )
:((x[1])(0) * (2 * x(tf)) - (x[2])(tf) * (2 * x(0)))

julia> x0 = Symbol(x, 0); subs(e, :( $x[1]($(t0)) ), :( $x0[1] ))
:(x0[1] * (2 * x(tf)) - (x[2])(tf) * (2 * x(0)))
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CTBase.vec2vec — Method
vec2vec(
    x::Vector{<:Real},
    n::Integer
) -> Vector{<:Vector{<:Real}}

Transforms x to a Vector{<:Vector{<:ctNumber}}.

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CTBase.vec2vec — Method
vec2vec(x::Vector{<:Vector{<:Real}}) -> Vector{<:Real}

Transforms x to a Vector{<:ctNumber}.

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