Merge pull request #143 from control-toolbox/141-dev-change-to-concrete-type

Replace ctNumber by concrete type

Author: ocots

src/model.jl

@@ -49,31 +49,34 @@ model = build_constraints(constraints)
 ```
 """
 function build_constraints(constraints::ConstraintsDictType)::ConstraintsModel
+
+    LocalNumber = Float64
+
     path_cons_nl_f = Vector{Function}() # nonlinear path constraints
     path_cons_nl_dim = Vector{Int}()
-    path_cons_nl_lb = Vector{ctNumber}()
-    path_cons_nl_ub = Vector{ctNumber}()
+    path_cons_nl_lb = Vector{LocalNumber}()
+    path_cons_nl_ub = Vector{LocalNumber}()
     path_cons_nl_labels = Vector{Symbol}()
 
     boundary_cons_nl_f = Vector{Function}() # nonlinear boundary constraints
     boundary_cons_nl_dim = Vector{Int}()
-    boundary_cons_nl_lb = Vector{ctNumber}()
-    boundary_cons_nl_ub = Vector{ctNumber}()
+    boundary_cons_nl_lb = Vector{LocalNumber}()
+    boundary_cons_nl_ub = Vector{LocalNumber}()
     boundary_cons_nl_labels = Vector{Symbol}()
 
     state_cons_box_ind = Vector{Int}() # state range
-    state_cons_box_lb = Vector{ctNumber}()
-    state_cons_box_ub = Vector{ctNumber}()
+    state_cons_box_lb = Vector{LocalNumber}()
+    state_cons_box_ub = Vector{LocalNumber}()
     state_cons_box_labels = Vector{Symbol}()
 
     control_cons_box_ind = Vector{Int}() # control range
-    control_cons_box_lb = Vector{ctNumber}()
-    control_cons_box_ub = Vector{ctNumber}()
+    control_cons_box_lb = Vector{LocalNumber}()
+    control_cons_box_ub = Vector{LocalNumber}()
     control_cons_box_labels = Vector{Symbol}()
 
     variable_cons_box_ind = Vector{Int}() # variable range
-    variable_cons_box_lb = Vector{ctNumber}()
-    variable_cons_box_ub = Vector{ctNumber}()
+    variable_cons_box_lb = Vector{LocalNumber}()
+    variable_cons_box_ub = Vector{LocalNumber}()
     variable_cons_box_labels = Vector{Symbol}()
 
     for (label, c) in constraints

test/extras/dynamics.jl

@@ -0,0 +1,29 @@
+using CTModels
+
+partial_dyn_1!(r, t, x, u, v) = (@views r[1] .= x[1] + 2u[2])
+partial_dyn_2!(r, t, x, u, v) = (@views r[1] .= 2x[3])
+partial_dyn_3!(r, t, x, u, v) = (@views r[1] .= x[1] + u[2])
+
+x = [1, 2, 3]
+u = [-1, 2]
+
+parts = [
+    (1:1, partial_dyn_1!),
+    (2:2, partial_dyn_2!),
+    (3:3, partial_dyn_3!),
+]
+
+dyn! = CTModels.__build_dynamics_from_parts(parts)
+
+r = zeros(3)
+dyn!(r, 0, x, u, nothing)
+
+r - [x[1] + 2u[2], 2x[3], x[1] + u[2]]
+
+###
+
+r[1:1] .= 0
+
+
+x = [1, 2, 3]
+x[1] = 10