Merge pull request #115 from control-toolbox/114-bug-problem-with-variable-length

Fix bug variable scalar

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 = "0.3.7"
+version = "0.3.8"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
@@ -39,4 +39,4 @@ Parameters = "0.12"
 Plots = "1.40"
 PrettyTables = "2.4"
 RecipesBase = "1.3"
-julia = "1.10"
+julia = "1.10"

src/model.jl

@@ -449,6 +449,26 @@ end
 """
 $(TYPEDSIGNATURES)
 
+Get the initial time from the model, for a free initial time.
+"""
+function initial_time(
+    ocp::Model{
+        <:TimesModel{FreeTimeModel,<:AbstractTimeModel},
+        <:AbstractStateModel,
+        <:AbstractControlModel,
+        <:AbstractVariableModel,
+        <:Function,
+        <:AbstractObjectiveModel,
+        <:AbstractConstraintsModel,
+    },
+    variable::T,
+)::T where {T<:ctNumber}
+    return initial_time(times(ocp), [variable])
+end
+
+"""
+$(TYPEDSIGNATURES)
+
 Get the name of the initial time from the model.
 """
 function initial_time_name(ocp::Model)::String
@@ -532,6 +552,26 @@ end
 """
 $(TYPEDSIGNATURES)
 
+Get the final time from the model, for a free final time.
+"""
+function final_time(
+    ocp::Model{
+        <:TimesModel{<:AbstractTimeModel,FreeTimeModel},
+        <:AbstractStateModel,
+        <:AbstractControlModel,
+        <:AbstractVariableModel,
+        <:Function,
+        <:AbstractObjectiveModel,
+        <:AbstractConstraintsModel,
+    },
+    variable::T,
+)::T where {T<:ctNumber}
+    return final_time(times(ocp), [variable])
+end
+
+"""
+$(TYPEDSIGNATURES)
+
 Get the name of the final time from the model.
 """
 function final_time_name(ocp::Model)::String

test/extras/plot_variable.jl

@@ -0,0 +1,33 @@
+using CTDirect
+using NLPModelsIpopt
+using CTModels
+using Plots
+import CTParser: CTParser, @def
+
+CTParser.set_prefix(:CTModels); # code generated by @def is prefixed by CTModels (not by OptimalControl - the default)
+
+ocp = @def begin
+
+    tf ∈ R,          variable
+    t ∈ [0, tf],     time
+    x = (q, v) ∈ R², state
+    u ∈ R,           control
+
+    tf ≥ 0
+    -1 ≤ u(t) ≤ 1
+
+    q(0)  == -1
+    v(0)  == 0
+    q(tf) == 0
+    v(tf) == 0
+
+    1 ≤ v(t)+1 ≤ 1.8, (1)
+
+    ẋ(t) == [v(t), u(t)]
+
+    tf → min
+
+end
+
+sol = CTDirect.solve(ocp; print_level=4)
+plot(sol, ocp)