Merge pull request #81 from control-toolbox/53-dev-plot-a-solution

53 dev plot a solution

Author: ocots

Project.toml

@@ -10,6 +10,7 @@ Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078"
 MacroTools = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
+OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
@@ -33,6 +34,7 @@ JSON3 = "1.14"
 LinearAlgebra = "1"
 MLStyle = "0.4"
 MacroTools = "0.5"
+OrderedCollections = "1.8.0"
 Parameters = "0.12"
 Plots = "1.40"
 PrettyTables = "2.4"

docs/Project.toml

@@ -3,3 +3,4 @@ Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 
 [compat]
 Documenter = "1"
+julia = "1.10"

ext/CTModelsJLD.jl

@@ -1,6 +1,5 @@
 module CTModelsJLD
 
-using CTBase
 using CTModels
 using DocStringExtensions
 using JLD2

ext/CTModelsJSON.jl

@@ -1,6 +1,5 @@
 module CTModelsJSON
 
-using CTBase
 using CTModels
 using DocStringExtensions
 
@@ -28,7 +27,6 @@ function CTModels.export_ocp_solution(
         "message" => CTModels.message(sol),
         "stopping" => CTModels.stopping(sol),
         "success" => CTModels.success(sol),
-        "path_constraints" => CTModels.discretize(CTModels.path_constraints(sol), T),
         "path_constraints_dual" =>
             CTModels.discretize(CTModels.path_constraints_dual(sol), T),
         "state_constraints_lb_dual" =>
@@ -39,7 +37,6 @@ function CTModels.export_ocp_solution(
             CTModels.discretize(CTModels.control_constraints_lb_dual(sol), T),
         "control_constraints_ub_dual" =>
             CTModels.discretize(CTModels.control_constraints_ub_dual(sol), T),
-        "boundary_constraints" => CTModels.boundary_constraints(sol),            # ctVector or Nothing
         "boundary_constraints_dual" => CTModels.boundary_constraints_dual(sol),       # ctVector or Nothing
         "variable_constraints_lb_dual" => CTModels.variable_constraints_lb_dual(sol),    # ctVector or Nothing
         "variable_constraints_ub_dual" => CTModels.variable_constraints_ub_dual(sol),    # ctVector or Nothing
@@ -81,15 +78,7 @@ function CTModels.import_ocp_solution(
         P = Matrix{Float64}(reduce(hcat, P)')
     end
 
-    # get path constraints (and dual): convert to matrix
-    path_constraints = if isnothing(blob["path_constraints"])
-        nothing
-    else
-        stack(blob["path_constraints"]; dims=1)
-    end
-    if path_constraints isa Vector # if path_constraints is a Vector, convert it to a Matrix
-        path_constraints = Matrix{Float64}(reduce(hcat, path_constraints)')
-    end
+    # get dual path constraints: convert to matrix
     path_constraints_dual = if isnothing(blob["path_constraints_dual"])
         nothing
     else
@@ -143,8 +132,7 @@ function CTModels.import_ocp_solution(
         )
     end
 
-    # get boundary constraints (and dual): no conversion needed
-    boundary_constraints = blob["boundary_constraints"]
+    # get dual of boundary constraints: no conversion needed
     boundary_constraints_dual = blob["boundary_constraints_dual"]
 
     # get variable constraints dual: no conversion needed
@@ -165,13 +153,11 @@ function CTModels.import_ocp_solution(
         message=blob.message,
         stopping=Symbol(blob.stopping),
         success=blob.success,
-        path_constraints=path_constraints,
         path_constraints_dual=path_constraints_dual,
         state_constraints_lb_dual=state_constraints_lb_dual,
         state_constraints_ub_dual=state_constraints_ub_dual,
         control_constraints_lb_dual=control_constraints_lb_dual,
         control_constraints_ub_dual=control_constraints_ub_dual,
-        boundary_constraints=boundary_constraints,
         boundary_constraints_dual=boundary_constraints_dual,
         variable_constraints_lb_dual=variable_constraints_lb_dual,
         variable_constraints_ub_dual=variable_constraints_ub_dual,

ext/default.jl

@@ -27,17 +27,45 @@ $(TYPEDSIGNATURES)
 
 Used to set the default value of the plot size.
 """
-function __size_plot(sol::CTModels.Solution, control::Symbol)
-    n = CTModels.state_dimension(sol)
-    m = @match control begin
-        :components => CTModels.control_dimension(sol)
-        :norm => 1
-        :all => CTModels.control_dimension(sol) + 1
-        _ => throw(
-            CTBase.IncorrectArgument(
-                "No such choice for control. Use :components, :norm or :all"
-            ),
-        )
+function __size_plot(
+    sol::CTModels.Solution,
+    model::Union{CTModels.Model, Nothing},
+    control::Symbol,
+    layout::Symbol
+)
+    if layout === :group
+        if control === :all
+            return (600, 560)
+        else
+            return (600, 280)
+        end
+    else
+        n = CTModels.state_dimension(sol)
+        l = @match control begin
+            :components => CTModels.control_dimension(sol)
+            :norm => 1
+            :all => CTModels.control_dimension(sol) + 1
+            _ => throw(
+                CTBase.IncorrectArgument(
+                    "No such choice for control. Use :components, :norm or :all"
+                ),
+            )
+        end
+        nc = model === nothing ? 0 : CTModels.dim_path_constraints_nl(model)
+        return (600, 140 * (n + l + nc))
     end
-    return (600, 140 * (n + m))
 end
+
+"""
+$(TYPEDSIGNATURES)
+
+Default style for the plot. Must be an empty tuple.
+"""
+__plot_style() = ()
+
+"""
+$(TYPEDSIGNATURES)
+
+Default suffix label for the plot. Must be an empty string.
+"""
+__plot_label_suffix() = ""