CTFlows.jl private functions

makeH(
    f::Dynamics,
    u::ControlLaw,
    f⁰::Lagrange,
    p⁰::Real,
    s::Real,
    g::MixedConstraint,
    μ::Multiplier
) -> CTFlows.var"#H#42"{Dynamics{TF, TD, VD}, ControlLaw{TF1, TD1, VD1}, Lagrange{TF2, TD2, VD2}, var"#s182", var"#s1821", MixedConstraint{TF3, TD3, VD3}, Multiplier{TF4, TD4, VD4}} where {TF<:Function, TD<:TimeDependence, VD<:VariableDependence, TF1<:Function, TD1<:TimeDependence, VD1<:VariableDependence, TF2<:Function, TD2<:TimeDependence, VD2<:VariableDependence, var"#s182"<:Real, var"#s1821"<:Real, TF3<:Function, TD3<:TimeDependence, VD3<:VariableDependence, TF4<:Function, TD4<:TimeDependence, VD4<:VariableDependence}

Constructs the Hamiltonian:

H(t, x, p) = p ⋅ f(t, x, u(t, x, p)) + s p⁰ f⁰(t, x, u(t, x, p)) + μ(t, x, p) ⋅ g(t, x, u(t, x, p))

makeH(
    f::Dynamics,
    u::ControlLaw,
    f⁰::Lagrange,
    p⁰::Real,
    s::Real
) -> CTFlows.var"#H#40"{Dynamics{TF, TD, VD}, ControlLaw{TF1, TD1, VD1}, Lagrange{TF2, TD2, VD2}, <:Real, <:Real} where {TF<:Function, TD<:TimeDependence, VD<:VariableDependence, TF1<:Function, TD1<:TimeDependence, VD1<:VariableDependence, TF2<:Function, TD2<:TimeDependence, VD2<:VariableDependence}

Constructs the Hamiltonian:

H(t, x, p) = p ⋅ f(t, x, u(t, x, p)) + s p⁰ f⁰(t, x, u(t, x, p))

makeH(
    f::Dynamics,
    u::ControlLaw,
    g::MixedConstraint,
    μ::Multiplier
) -> CTFlows.var"#H#41"{Dynamics{TF, TD, VD}, ControlLaw{TF1, TD1, VD1}, MixedConstraint{TF2, TD2, VD2}, Multiplier{TF3, TD3, VD3}} where {TF<:Function, TD<:TimeDependence, VD<:VariableDependence, TF1<:Function, TD1<:TimeDependence, VD1<:VariableDependence, TF2<:Function, TD2<:TimeDependence, VD2<:VariableDependence, TF3<:Function, TD3<:TimeDependence, VD3<:VariableDependence}

Constructs the Hamiltonian:

H(t, x, p) = p ⋅ f(t, x, u(t, x, p)) + μ(t, x, p) ⋅ g(t, x, u(t, x, p))

makeH(
    f::Dynamics,
    u::ControlLaw
) -> CTFlows.var"#38#39"{Dynamics{TF, TD, VD}, ControlLaw{TF1, TD1, VD1}} where {TF<:Function, TD<:TimeDependence, VD<:VariableDependence, TF1<:Function, TD1<:TimeDependence, VD1<:VariableDependence}

Constructs the Hamiltonian:

H(t, x, p) = p f(t, x, u(t, x, p))