Merge pull request #28 from control-toolbox/27-dev-remove-exponent-aliases

removed exponent aliases for variable, state and control; not yet for…

Author: ocots

src/onepass.jl

@@ -224,9 +224,9 @@ function p_alias!(p, p_ocp, a, e; log=false)
     a isa Symbol || return __throw("forbidden alias name: $a", p.lnum, p.line)
     aa = QuoteNode(a)
     ee = QuoteNode(e)
-    for i in 1:9
-        p.aliases[Symbol(a, CTBase.ctupperscripts(i))] = :($a^$i)
-    end
+    #for i in 1:9
+    #    p.aliases[Symbol(a, CTBase.ctupperscripts(i))] = :($a^$i) # todo: remove? (cf. such aliases now removed for variable, state and control)
+    #end
     p.aliases[a] = e
     code = :(LineNumberNode(0, "alias: " * string($aa) * " = " * string($ee)))
     return __wrap(code, p.lnum, p.line)
@@ -246,13 +246,10 @@ function p_variable!(p, p_ocp, v, q; components_names=nothing, log=false)
     qq = q isa Int ? q : 9
     for i in 1:qq
         p.aliases[Symbol(v, CTBase.ctindices(i))] = :($v[$i])
-    end # make: v₁, v₂... if the variable is named v
+    end # make v₁, v₂... if the variable is named v
     for i in 1:qq
         p.aliases[Symbol(v, i)] = :($v[$i])
-    end # make: v1, v2... if the variable is named v
-    for i in 1:9
-        p.aliases[Symbol(v, CTBase.ctupperscripts(i))] = :($v^$i)
-    end # make: v¹, v²... if the variable is named v
+    end # make v1, v2... if the variable is named v
     if (isnothing(components_names))
         code = :($prefix.variable!($p_ocp, $q, $vv))
     else
@@ -326,13 +323,10 @@ function p_state!(p, p_ocp, x, n; components_names=nothing, log=false)
     nn = n isa Int ? n : 9
     for i in 1:nn
         p.aliases[Symbol(x, CTBase.ctindices(i))] = :($x[$i])
-    end # Make x₁, x₂... if the state is named x
+    end # make x₁, x₂... if the state is named x
     for i in 1:nn
         p.aliases[Symbol(x, i)] = :($x[$i])
-    end # Make x1, x2... if the state is named x
-    for i in 1:9
-        p.aliases[Symbol(x, CTBase.ctupperscripts(i))] = :($x^$i)
-    end # Make x¹, x²... if the state is named x
+    end # make x1, x2... if the state is named x
     if (isnothing(components_names))
         code = :($prefix.state!($p_ocp, $n, $xx))
     else
@@ -362,13 +356,10 @@ function p_control!(p, p_ocp, u, m; components_names=nothing, log=false)
     mm = m isa Int ? m : 9
     for i in 1:mm
         p.aliases[Symbol(u, CTBase.ctindices(i))] = :($u[$i])
-    end # make: u₁, u₂... if the control is named u
+    end # make u₁, u₂... if the control is named u
     for i in 1:mm
         p.aliases[Symbol(u, i)] = :($u[$i])
-    end # make: u1, u2... if the control is named u
-    for i in 1:9
-        p.aliases[Symbol(u, CTBase.ctupperscripts(i))] = :($u^$i)
-    end # make: u¹, u²... if the control is named u
+    end # make u1, u2... if the control is named u
     if (isnothing(components_names))
         code = :($prefix.control!($p_ocp, $m, $uu))
     else

test/test_onepass.jl

@@ -749,7 +749,7 @@ function test_onepass()
             r = y₃
             v = y₄
             aa = y₁
-            ẏ(s) == [aa(s), r²(s) + w(s) + z₁, 0, 0]
+            ẏ(s) == [aa(s), r(s)^2 + w(s) + z₁, 0, 0]
             0 => min # generic (untested)
         end
         z = [5, 6]
@@ -780,8 +780,8 @@ function test_onepass()
             w ∈ R, control
             r = y₃
             v = y₄
-            aa = y₁(s) + v³ + z₂
-            ẏ(s) == [aa(s) + w(s)^2, r²(s), 0, 0]
+            aa = y₁(s) + v^3 + z₂
+            ẏ(s) == [aa(s) + w(s)^2, r(s)^2, 0, 0]
             0 => min # generic (untested)
         end
         z = [5, 6]
@@ -798,8 +798,8 @@ function test_onepass()
             w ∈ R, control
             r = y₃
             v = y₄
-            aa = y₁(0) + v³ + z₂
-            ẏ(__t) == [aa(__t) + (w^2)(__t), r²(__t), 0, 0]
+            aa = y₁(0) + v^3 + z₂
+            ẏ(__t) == [aa(__t) + (w^2)(__t), r(__t)^2, 0, 0]
             aa(0) + y₂(z₁) → min
         end
         z = [5, 6]
@@ -823,7 +823,7 @@ function test_onepass()
             u ∈ R, control
             r = x₁
             v = x₂
-            w = r¹ + 2v³
+            w = r + 2v^3
             r(0) + w(tf) - tf^2 == 0, (1)
             derivative(x)(t) == x(t) # generic (untested)
             0 => min # generic (untested)
@@ -2548,8 +2548,8 @@ function test_onepass()
             w ∈ R, control
             r = y₃
             v = y₄
-            aa = y₁(s) + v³ + z₂
-            ẏ(s) == [aa(s) + (w^2)(s), r²(s), 0, 0]
+            aa = y₁(s) + v^3 + z₂
+            ẏ(s) == [aa(s) + (w^2)(s), r(s)^2, 0, 0]
             r(0) + v(z₁) + z₂ → min
         end
         z = [5, 6]
@@ -2567,7 +2567,7 @@ function test_onepass()
             w ∈ R, control
             r = y₃
             v = y₄
-            aa = y₁ + v³ + z₂
+            aa = y₁ + v^3 + z₂
             aa(0) + y₂(z₁) → min
             derivative(y)(s) == y(s) # generic (untested)
         end
@@ -2583,8 +2583,8 @@ function test_onepass()
             w ∈ R, control
             r = y₃
             v = y₄
-            aa = y₁(__t) + v³ + z₂
-            ẏ(__t) == [aa(__t) + (w^2)(__t), r²(__t), 0, 0]
+            aa = y₁(__t) + v^3 + z₂
+            ẏ(__t) == [aa(__t) + (w^2)(__t), r(__t)^2, 0, 0]
             aa(0) + y₂(z₁) → min
         end
         z = [5, 6]
@@ -2805,4 +2805,4 @@ function test_onepass()
         @test __dynamics(o)(0, x, u, z) == [x[2], x[1]^2 + z[1]]
         @test lagrange(o)(0, x, u, z) == u[1]^2 + z[1] * x[1]
     end
-end
+end