Merge pull request #137 from control-toolbox/103-dev-range-linear-constraint-dimension-check

codim_f

Author: ocots

Project.toml

@@ -1,7 +1,7 @@
 name = "CTModels"
 uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
 authors = ["Olivier Cots <olivier.cots@toulouse-inp.fr>"]
-version = "0.3.9"
+version = "0.4.0"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"

src/constraints.jl

@@ -54,11 +54,12 @@ function __constraint!(
     n::Dimension,
     m::Dimension,
     q::Dimension;
-    rg::Union{OrdinalRange{<:Int},Nothing}=nothing,
+    rg::Union{Int,OrdinalRange{Int},Nothing}=nothing,
     f::Union{Function,Nothing}=nothing,
-    lb::Union{ctVector,Nothing}=nothing,
-    ub::Union{ctVector,Nothing}=nothing,
+    lb::Union{ctNumber,ctVector,Nothing}=nothing,
+    ub::Union{ctNumber,ctVector,Nothing}=nothing,
     label::Symbol=__constraint_label(),
+    codim_f::Union{Dimension,Nothing}=nothing,
 )
 
     # checkings: the constraint must not be set before
@@ -153,6 +154,14 @@ function __constraint!(
         end
 
         (::Nothing, ::Function, ::ctVector, ::ctVector) => begin
+            # ensure that codim_f has same length as lb if codim_f is not nothing
+            if codim_f !== nothing
+                @ensure(
+                    length(lb) == codim_f,
+                    CTBase.IncorrectArgument("The length of `lb` and `ub` must match codim_f = $codim_f.")
+                )
+            end
+
             # set the constraint
             if type ∈ [:boundary, :path]
                 ocp_constraints[label] = (type, f, lb, ub)
@@ -203,6 +212,7 @@ function constraint!(
     lb::Union{ctNumber,ctVector,Nothing}=nothing,
     ub::Union{ctNumber,ctVector,Nothing}=nothing,
     label::Symbol=__constraint_label(),
+    codim_f::Union{Dimension,Nothing}=nothing,
 )
 
     # checkings: times, state and control must be set before adding constraints
@@ -238,6 +248,7 @@ function constraint!(
         lb=as_vector(lb),
         ub=as_vector(ub),
         label=label,
+        codim_f=codim_f,
     )
 end
 

test/Project.toml

@@ -1,22 +1,16 @@
 [deps]
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
-CTDirect = "790bbbee-bee9-49ee-8912-a9de031322d5"
-CTParser = "32681960-a1b1-40db-9bff-a1ca817385d1"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
-NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Aqua = "0.8"
 CTBase = "0.16"
-CTDirect = "0.14"
-CTParser = "0.3"
 JLD2 = "0.5"
 JSON3 = "1"
-NLPModelsIpopt = "0.10"
 Plots = "1.40"
 Test = "1"
 julia = "1.10"

test/runtests.jl

@@ -1,16 +1,16 @@
 using Test
 using Aqua
 using CTBase
-using CTDirect
 using CTModels
-using NLPModelsIpopt
 
-import CTParser: CTParser, @def
-CTParser.prefix!(:CTModels); # code generated by @def is prefixed by CTModels (not by OptimalControl - the default)
+#using CTDirect
+#using NLPModelsIpopt
+#import CTParser: CTParser, @def
+#CTParser.prefix!(:CTModels); # code generated by @def is prefixed by CTModels (not by OptimalControl - the default)
 
 #
 include("solution_example.jl")
-include("solution_example_path_constraints.jl")
+#include("solution_example_path_constraints.jl")
 
 #
 @testset verbose = true showtiming = true "CTModels tests" begin
@@ -26,11 +26,11 @@ include("solution_example_path_constraints.jl")
         :constraints,
         :model,
         :ocp,
-        # :plot,
         :init,
-        # :export_import,
         :utils,
         :solution,
+        # :plot,
+        # :export_import,
     )
         @testset "$(name)" begin
             test_name = Symbol(:test_, name)

test/test_constraints.jl

@@ -50,6 +50,11 @@ function test_constraints()
         ocp_set, :state, lb=[0, 1], ub=[0, 1, 2]
     )
 
+    # x(1) == [0, 0, 1] must raise an error if x is of dimension 2
+    @test_throws CTBase.IncorrectArgument CTModels.constraint!(
+        ocp_set, :boundary, lb=[0, 0, 1], ub=[0, 1, 2], codim_f=2
+    )    
+
     # if no range nor function is provided, lb and ub must have the right length:
     # depending on state, control, or variable
     @test_throws CTBase.IncorrectArgument CTModels.constraint!(