Merge pull request #66 from control-toolbox/65-dev-builder-solution

add builder solution with functions

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 = "0.2.2"
+version = "0.2.3"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"

src/solution.jl

@@ -36,10 +36,10 @@ Build a solution from the optimal control problem, the time grid, the state, con
 function build_solution(
     ocp::Model,
     T::Vector{Float64},
-    X::Matrix{Float64},
-    U::Matrix{Float64},
+    X::TX,
+    U::TU,
     v::Vector{Float64},
-    P::Matrix{Float64};
+    P::TP;
     objective::Float64,
     iterations::Int,
     constraints_violation::Float64,
@@ -56,7 +56,11 @@ function build_solution(
     control_constraints_ub_dual::Matrix{Float64}=zeros(0, 0),
     variable_constraints_lb_dual::Vector{Float64}=zeros(0),
     variable_constraints_ub_dual::Vector{Float64}=zeros(0),
-)
+) where { 
+    TX <: Union{Matrix{Float64}, Function},
+    TU <: Union{Matrix{Float64}, Function},
+    TP <: Union{Matrix{Float64}, Function},
+    }
 
     # get dimensions
     dim_x = state_dimension(ocp)
@@ -75,9 +79,10 @@ function build_solution(
     end
 
     # variables: remove additional state for lagrange objective
-    x = ctinterpolate(T, matrix2vec(X[:, 1:dim_x], 1))
-    p = ctinterpolate(T[1:(end - 1)], matrix2vec(P[:, 1:dim_x], 1))
-    u = ctinterpolate(T, matrix2vec(U[:, 1:dim_u], 1))
+    x = TX <: Function ? X : ctinterpolate(T, matrix2vec(X[:, 1:dim_x], 1))
+    p = TU <: Function ? P : 
+        length(T) == 2 ? t -> P[1, 1:dim_x] : ctinterpolate(T[1:(end - 1)], matrix2vec(P[:, 1:dim_x], 1))
+    u = TP <: Function ? U : ctinterpolate(T, matrix2vec(U[:, 1:dim_u], 1))
 
     # force scalar output when dimension is 1
     fx = (dim_x == 1) ? deepcopy(t -> x(t)[1]) : deepcopy(t -> x(t))

test/extras/plot_manual.jl

@@ -1,6 +1,8 @@
 using CTModels
 using Plots
 
+FUN=true
+
 # create a pre-model
 pre_ocp = CTModels.PreModel()
 
@@ -66,21 +68,21 @@ function x(t)
         b + β * (t - t0) - α * (t - t0)^2 / 2.0,
     ]
 end
-X = vcat([x(t)' for t in T]...)
+X = FUN ? x : vcat([x(t)' for t in T]...)
 
 # costate: P Matrix{Float64}
 P = zeros(N, 2)
 function p(t)
     return [α, -α * (t - t0) + β]
 end
-P = vcat([p(t)' for t in T[1:(end - 1)]]...)
+P = FUN ? p : vcat([p(t)' for t in T[1:(end - 1)]]...)
 
 # control: U Matrix{Float64}
 U = zeros(N, 1)
 function u(t)
     return [p(t)[2]]
 end
-U = vcat([u(t)' for t in T]...)
+U = FUN ? u : vcat([u(t)' for t in T]...)
 
 # variable: v Vector{Float64}
 v = Float64[]

test/solution_example.jl

@@ -1,4 +1,4 @@
-function solution_example()
+function solution_example(;fun=false)
 
     # create a pre-model
     pre_ocp = CTModels.PreModel()
@@ -84,21 +84,21 @@ function solution_example()
             b + β * (t - t0) - α * (t - t0)^2 / 2.0,
         ]
     end
-    X = vcat([x(t)' for t in T]...)
+    X = fun ? x : vcat([x(t)' for t in T]...)
 
     # costate: P Matrix{Float64}
     P = zeros(N, 2)
     function p(t)
         return [α, -α * (t - t0) + β]
     end
-    P = vcat([p(t)' for t in T[1:(end - 1)]]...)
+    P = fun ? p : vcat([p(t)' for t in T[1:(end - 1)]]...)
 
     # control: U Matrix{Float64}
     U = zeros(N, 1)
     function u(t)
         return [p(t)[2]]
     end
-    U = vcat([u(t)' for t in T]...)
+    U = fun ? u : vcat([u(t)' for t in T]...)
 
     # variable: v Vector{Float64}
     v = Float64[]

test/solution_test.jld2

@@ -1,4 +1,6 @@
 function test_export_import()
+
+    #
     ocp, sol = solution_example()
 
     # JSON
@@ -14,4 +16,22 @@ function test_export_import()
         ocp; filename_prefix="solution_test", format=:JLD
     )
     @test sol.objective == sol_reloaded.objective
+
+    #
+    ocp, sol = solution_example(fun=true)
+
+    # JSON
+    CTModels.export_ocp_solution(sol; filename_prefix="solution_test", format=:JSON)
+    sol_reloaded = CTModels.import_ocp_solution(
+        ocp; filename_prefix="solution_test", format=:JSON
+    )
+    @test sol.objective == sol_reloaded.objective
+
+    # JLD
+    CTModels.export_ocp_solution(sol; filename_prefix="solution_test", format=:JLD)
+    sol_reloaded = CTModels.import_ocp_solution(
+        ocp; filename_prefix="solution_test", format=:JLD
+    )
+    @test sol.objective == sol_reloaded.objective
+
 end