Merge pull request #173 from control-toolbox/172-error-when-using-euler_implicit-with-examodels

- bug fix euler_implicit
- updated goddard test: max r(tf) -> min -r(tf) waiting for fix of max case (check modeller) on exa on GPU

Author: jbcaillau

Project.toml

@@ -1,7 +1,7 @@
 name = "CTParser"
 uuid = "32681960-a1b1-40db-9bff-a1ca817385d1"
 authors = ["Jean-Baptiste Caillau <jean-baptiste.caillau@univ-cotedazur.fr>"]
-version = "0.7.1"
+version = "0.7.2"
 
 [deps]
 CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"

src/onepass.jl

@@ -838,7 +838,7 @@ function p_dynamics_coord_exa!(p, p_ocp, x, i, t, e)
     code = quote
         if scheme == :euler
             $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1))
-        elseif scheme == :euler_b
+        elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
             $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej2 for $j1 in 0:(grid_size - 1))
         elseif scheme == :midpoint
             $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1))
@@ -848,7 +848,7 @@ function p_dynamics_coord_exa!(p, p_ocp, x, i, t, e)
             )
         else
             throw(
-                "unknown numerical scheme: $scheme (possible choices are :euler, :euler_b, :midpoint, :trapeze)",
+                "unknown numerical scheme: $scheme (possible choices are :euler, :euler_implicit, :midpoint, :trapeze)",
             ) # (vs. __throw) since raised at runtime (and __wrap-ped)
         end
     end
@@ -904,7 +904,7 @@ function p_lagrange_exa!(p, p_ocp, e, type)
     code = quote
         if scheme == :euler
             $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1))
-        elseif scheme == :euler_b
+        elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
             $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:grid_size)
         elseif scheme == :midpoint
             $pref.objective($p_ocp, $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1))
@@ -913,7 +913,7 @@ function p_lagrange_exa!(p, p_ocp, e, type)
             $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:(grid_size - 1))
         else
             throw(
-                "unknown numerical scheme: $scheme (possible choices are :euler, :euler_b, :midpoint, :trapeze)",
+                "unknown numerical scheme: $scheme (possible choices are :euler, :euler_implicit, :midpoint, :trapeze)",
             ) # (vs. __throw) since raised at runtime (and __wrap-ped)
         end
     end

test/runtests.jl

@@ -58,7 +58,7 @@ end
 
 @testset verbose = true showtiming = true "CTParser tests" begin
     for name in (:aqua, :utils, :prefix, :onepass_fun, :onepass_exa)
-        #for name ∈ (:onepass_exa,) # debug
+    #for name ∈ (:onepass_exa,)
         @testset "$(name)" begin
             test_name = Symbol(:test_, name)
             include("$(test_name).jl")

test/test_onepass_exa.jl

@@ -34,12 +34,12 @@ end
 
 function test_onepass_exa()
     __test_onepass_exa(; scheme=:euler)
-    __test_onepass_exa(; scheme=:euler_b)
+    __test_onepass_exa(; scheme=:euler_implicit)
     __test_onepass_exa(; scheme=:midpoint)
     __test_onepass_exa(; scheme=:trapeze)
     if CUDA.functional()
         __test_onepass_exa(CUDABackend(); scheme=:euler)
-        __test_onepass_exa(CUDABackend(); scheme=:euler_b)
+        __test_onepass_exa(CUDABackend(); scheme=:euler_implicit)
         __test_onepass_exa(CUDABackend(); scheme=:midpoint)
         __test_onepass_exa(CUDABackend(); scheme=:trapeze)
     else
@@ -48,7 +48,7 @@ function test_onepass_exa()
 end
 
 function __test_onepass_exa(
-    backend=nothing; scheme=CTParser.__default_scheme_exa(), tolerance=1e-8
+    backend=nothing; scheme=CTParser.__default_scheme_exa(), tolerance=1e-8, kwargs...
 )
     backend_name = isnothing(backend) ? "CPU" : "GPU"
 
@@ -768,11 +768,11 @@ function __test_onepass_exa(
 
         @test discretise_exa(o; backend=backend, scheme=scheme) isa ExaModels.ExaModel
         m, _ = discretise_exa_full(o; backend=backend, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 6 atol = 1e-2
         N = 1000
         m, _ = discretise_exa_full(o; backend=backend, grid_size=N, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 6 atol = 1e-3
     end
 
@@ -793,7 +793,7 @@ function __test_onepass_exa(
         end
         N = 1000
         m, getter = discretise_exa_full(o; backend=backend, grid_size=N, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test size(getter(s; val=:state)) == (3, N + 1)
         @test size(getter(s; val=:control)) == (1, N + 1)
         @test size(getter(s; val=:variable)) == (0,)
@@ -826,7 +826,7 @@ function __test_onepass_exa(
         end
         N = 1000
         m, getter = discretise_exa_full(o; backend=backend, grid_size=N, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test size(getter(s; val=:state)) == (3, N + 1)
         @test size(getter(s; val=:control)) == (2, N + 1)
         @test size(getter(s; val=:variable)) == (4,)
@@ -856,10 +856,10 @@ function __test_onepass_exa(
 
         m, _ = discretise_exa_full(o; backend=backend, scheme=scheme)
         @test m isa ExaModels.ExaModel
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 6 atol = 1e-2
         m, _ = discretise_exa_full(o; backend=backend, grid_size=1000, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 6 atol = 1e-3
     end
 
@@ -881,10 +881,10 @@ function __test_onepass_exa(
 
         m, _ = discretise_exa_full(o; backend=backend, scheme=scheme)
         @test m isa ExaModels.ExaModel
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 2 * 6 atol = 1e-2
         m, _ = discretise_exa_full(o; backend=backend, grid_size=1000, scheme=scheme)
-        s = madnlp(m; tol=tolerance)
+        s = madnlp(m; tol=tolerance, kwargs...)
         @test s.objective ≈ 2 * 6 atol = 1e-3
     end
 
@@ -919,7 +919,7 @@ function __test_onepass_exa(
             -Cd * v(t)^2 * exp(-β * (r(t) - 1)) / m(t) - 1 / r(t)^2 + u(t) * Tmax / m(t)
             ∂(m)(t) == -b * Tmax * u(t)
 
-            r(tf) → max
+            -r(tf) → min # todo: also add max when issue with GPU solved
         end
 
         tfs = 0.18761155665063417
@@ -948,8 +948,8 @@ function __test_onepass_exa(
         m, _ = discretise_exa_full(
             o; backend=backend, grid_size=N, init=(tfs, xs, us), scheme=scheme
         )
-        s = madnlp(m; tol=tolerance)
-        __atol = scheme ∈ (:euler, :euler_b) ? 1e-3 : 1e-5
+        s = madnlp(m; tol=tolerance, kwargs...)
+        __atol = scheme ∈ (:euler, :euler_implicit) ? 1e-3 : 1e-5
         @test s.objective ≈ -1.0125736217178989e+00 atol = __atol
     end
 
@@ -1002,7 +1002,7 @@ function __test_onepass_exa(
         N = 100
         m, _ = discretise_exa_full(o; grid_size=N, backend=backend, scheme=scheme)
         @test m isa ExaModels.ExaModel
-        sol = madnlp(m; tol=tolerance)
+        sol = madnlp(m; tol=tolerance, kwargs...)
         @test sol.status == MadNLP.SOLVE_SUCCEEDED
     end
 end