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Merged
ocots merged 4 commits into from
Sep 15, 2025
Merged

Configurable problems #150

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325682c
parameters in common
ocots Sep 12, 2025
48e39ff
replaced N by grid_size
ocots Sep 15, 2025
47bd58f
parameters are shared
ocots Sep 15, 2025
7c212bf
review doc
ocots Sep 15, 2025
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7 changes: 5 additions & 2 deletions docs/make.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ repo_url = "github.com/control-toolbox/OptimalControlProblems.jl"
# ==============================
# --- Generate Problems Documentation ---
# ==============================
draft = true # If true, code blocks in markdown are not executed
draft = false # If true, code blocks in markdown are not executed
exclude_from_draft=Symbol[
# :beam # example: exclude beam from draft docs
]
Expand Down Expand Up @@ -135,7 +135,10 @@ with_problems_browser() do browser_file # generates the problems browser and rem
"Get a problem" => "tutorial-get.md",
"Solve a problem" => "tutorial-solve.md",
],
"Developers" => ["Add a problem" => "dev-add.md", "API" => "dev-api.md"],
"Developers" => [
"Add a problem" => "dev-add.md",
"API" => "dev-api.md",
],
],
plugins=[links],
)
Expand Down
100 changes: 66 additions & 34 deletions docs/problems.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,9 @@ function draft_meta(draft::Union{Bool,Nothing})
if isnothing(draft)
return ""
elseif draft
return """```@meta\nDraft = true\n```"""
return """```@meta\nDraft = true\n```\n"""
else
return """```@meta\nDraft = false\n```"""
return """```@meta\nDraft = false\n```\n"""
end
end

Expand All @@ -24,10 +24,19 @@ end
# -----------------------------------
function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Union{Bool,Nothing})

TITLE = uppercasefirst(replace(PROBLEM, "_" => " "))
TITLE = "[" * uppercasefirst(replace(PROBLEM, "_" => " ")) * "](@id description-$PROBLEM)"
DRAFT = draft_meta(draft)
LEFT_MARGIN = get_left_margin(Symbol(PROBLEM))

VARIABLE_COMPONENTS = isnothing(OptimalControlProblems.metadata(Symbol(PROBLEM))[:variable_name]) ? "" :
"""
The variable components are named:

```@example main
metadata(:$PROBLEM)[:variable_name]
```
"""

documentation=DRAFT * """
# $TITLE

Expand Down Expand Up @@ -67,6 +76,35 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni
nothing # hide
```

## Metadata

The state components are named:

```@example main
metadata(:$PROBLEM)[:state_name]
```

The control components are named:

```@example main
metadata(:$PROBLEM)[:control_name]
```

$VARIABLE_COMPONENTS

The default values of the parameters are:

```@example main
metadata(:$PROBLEM)[:parameters]
using Printf # hide
println("Parameter = Value") # hide
println("------------------") # hide
for e ∈ pairs(metadata(:$PROBLEM)[:parameters]) # hide
@printf("%6s = ", string(e.first)) # hide
@printf("%11.4e\\n", e.second) # hide
end # hide
```

## Initial guess

Before solving the problem, it is often useful to inspect the initial guess (sometimes called the first iterate). This guess is obtained by running the NLP solver with `max_iter = 0`, which evaluates the problem formulation without performing any optimisation steps.
Expand All @@ -85,8 +123,8 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni
# -----------------------------
# Extract dimensions from metadata
# -----------------------------
x_vars = metadata[problem][:state_name]
u_vars = metadata[problem][:control_name]
x_vars = metadata(problem)[:state_name]
u_vars = metadata(problem)[:control_name]
n_states = length(x_vars)
n_controls = length(u_vars)

Expand Down Expand Up @@ -179,14 +217,12 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni
Before solving, we can inspect the discretisation details of the problem. The table below reports the number of grid points, decision variables, and constraints associated with the chosen formulation.

```@example main
push!(data_pb,
(
Problem=:$PROBLEM,
Grid_Size=metadata[:$PROBLEM][:N],
Variables=get_nvar(nlp_model($PROBLEM(OptimalControlBackend()))),
Constraints=get_ncon(nlp_model($PROBLEM(OptimalControlBackend()))),
)
)
push!(data_pb,(
Problem=:$PROBLEM,
Grid_Size=metadata(:$PROBLEM)[:grid_size],
Variables=get_nvar(nlp_model($PROBLEM(OptimalControlBackend()))),
Constraints=get_ncon(nlp_model($PROBLEM(OptimalControlBackend()))),
))
data_pb # hide
```

Expand Down Expand Up @@ -236,24 +272,20 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni

```@example main
# from OptimalControl model
push!(data_re,
(
Model=:OptimalControl,
Flag=nlp_oc_sol.status,
Iterations=nlp_oc_sol.iter,
Objective=nlp_oc_sol.objective,
)
)
push!(data_re,(
Model=:OptimalControl,
Flag=nlp_oc_sol.status,
Iterations=nlp_oc_sol.iter,
Objective=nlp_oc_sol.objective,
))

# from JuMP model
push!(data_re,
(
Model=:JuMP,
Flag=termination_status(nlp_jp),
Iterations=barrier_iterations(nlp_jp),
Objective=objective_value(nlp_jp),
)
)
push!(data_re,(
Model=:JuMP,
Flag=termination_status(nlp_jp),
Iterations=barrier_iterations(nlp_jp),
Objective=objective_value(nlp_jp),
))
data_re # hide
```

Expand Down Expand Up @@ -294,9 +326,9 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni
v_jp = variable(problem, nlp_jp)
i_jp = iterations(problem, nlp_jp)

x_vars = metadata[problem][:state_name]
u_vars = metadata[problem][:control_name]
v_vars = metadata[problem][:variable_name]
x_vars = metadata(problem)[:state_name]
u_vars = metadata(problem)[:control_name]
v_vars = metadata(problem)[:variable_name]

println("┌─ ", string(problem))
println("│")
Expand Down Expand Up @@ -365,8 +397,8 @@ function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Uni
ocp_sol = build_ocp_solution(docp, nlp_oc_sol)

# dimensions
n = state_dimension(ocp_sol) # or length(metadata[:$PROBLEM][:state_name])
m = control_dimension(ocp_sol) # or length(metadata[:$PROBLEM][:control_name])
n = state_dimension(ocp_sol) # or length(metadata(:$PROBLEM)[:state_name])
m = control_dimension(ocp_sol) # or length(metadata(:$PROBLEM)[:control_name])

# from OptimalControl solution
plt = plot(
Expand Down
38 changes: 19 additions & 19 deletions docs/src/assets/Manifest.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,9 @@ uuid = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"
version = "0.8.13"

[[deps.ADTypes]]
git-tree-sha1 = "60665b326b75db6517939d0e1875850bc4a54368"
git-tree-sha1 = "27cecae79e5cc9935255f90c53bb831cc3c870d7"
uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
version = "1.17.0"
version = "1.18.0"

[deps.ADTypes.extensions]
ADTypesChainRulesCoreExt = "ChainRulesCore"
Expand Down Expand Up @@ -105,9 +105,9 @@ weakdeps = ["HTTP", "JSON"]

[[deps.CTDirect]]
deps = ["CTBase", "CTModels", "DocStringExtensions", "HSL", "MKL", "SparseArrays"]
git-tree-sha1 = "1b3aa9b9b9bbb32b90bed66d16998fcb89848c21"
git-tree-sha1 = "223310e80a2c0043c1b8f580349b05f0e79c58dc"
uuid = "790bbbee-bee9-49ee-8912-a9de031322d5"
version = "0.16.3"
version = "0.16.4"

[deps.CTDirect.extensions]
CTDirectExtADNLP = ["ADNLPModels"]
Expand Down Expand Up @@ -137,9 +137,9 @@ version = "0.8.8"

[[deps.CTModels]]
deps = ["CTBase", "DocStringExtensions", "Interpolations", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "RecipesBase"]
git-tree-sha1 = "20872a1b453a9b7a94822cc00a22c6741f71cf68"
git-tree-sha1 = "13ff06553d6396590c0b09c9b9a5e0dee058af92"
uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
version = "0.6.5"
version = "0.6.6"

[deps.CTModels.extensions]
CTModelsJLD = "JLD2"
Expand Down Expand Up @@ -266,9 +266,9 @@ version = "1.16.0"

[[deps.DataFrames]]
deps = ["Compat", "DataAPI", "DataStructures", "Future", "InlineStrings", "InvertedIndices", "IteratorInterfaceExtensions", "LinearAlgebra", "Markdown", "Missings", "PooledArrays", "PrecompileTools", "PrettyTables", "Printf", "Random", "Reexport", "SentinelArrays", "SortingAlgorithms", "Statistics", "TableTraits", "Tables", "Unicode"]
git-tree-sha1 = "a37ac0840a1196cd00317b57e39d6586bf0fd6f6"
git-tree-sha1 = "c967271c27a95160e30432e011b58f42cd7501b5"
uuid = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
version = "1.7.1"
version = "1.8.0"

[[deps.DataStructures]]
deps = ["OrderedCollections"]
Expand Down Expand Up @@ -437,9 +437,9 @@ version = "1.11.0"

[[deps.FillArrays]]
deps = ["LinearAlgebra"]
git-tree-sha1 = "6a70198746448456524cb442b8af316927ff3e1a"
git-tree-sha1 = "173e4d8f14230a7523ae11b9a3fa9edb3e0efd78"
uuid = "1a297f60-69ca-5386-bcde-b61e274b549b"
version = "1.13.0"
version = "1.14.0"

[deps.FillArrays.extensions]
FillArraysPDMatsExt = "PDMats"
Expand Down Expand Up @@ -470,9 +470,9 @@ version = "1.3.7"

[[deps.ForwardDiff]]
deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"]
git-tree-sha1 = "f0090eb9f8e9d151563dd2300fc3ca3f76b90fe8"
git-tree-sha1 = "dc41303865a16274ecb8450c220021ce1e0cf05f"
uuid = "f6369f11-7733-5829-9624-2563aa707210"
version = "1.2.0"
version = "1.2.1"
weakdeps = ["StaticArrays"]

[deps.ForwardDiff.extensions]
Expand Down Expand Up @@ -550,9 +550,9 @@ version = "2.51.1+0"

[[deps.Glib_jll]]
deps = ["Artifacts", "GettextRuntime_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"]
git-tree-sha1 = "35fbd0cefb04a516104b8e183ce0df11b70a3f1a"
git-tree-sha1 = "50c11ffab2a3d50192a228c313f05b5b5dc5acb2"
uuid = "7746bdde-850d-59dc-9ae8-88ece973131d"
version = "2.84.3+0"
version = "2.86.0+0"

[[deps.Graphite2_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl"]
Expand Down Expand Up @@ -1171,10 +1171,10 @@ uuid = "21216c6a-2e73-6563-6e65-726566657250"
version = "1.5.0"

[[deps.PrettyTables]]
deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "Reexport", "StringManipulation", "Tables"]
git-tree-sha1 = "1101cd475833706e4d0e7b122218257178f48f34"
deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "REPL", "Reexport", "StringManipulation", "Tables"]
git-tree-sha1 = "86e787c2c5e29c1ff9d0b72227bcc29d7d39e14e"
uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
version = "2.4.0"
version = "3.0.8"

[[deps.Printf]]
deps = ["Unicode"]
Expand Down Expand Up @@ -1346,9 +1346,9 @@ version = "1.11.0"

[[deps.SparseConnectivityTracer]]
deps = ["ADTypes", "DocStringExtensions", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"]
git-tree-sha1 = "339efef69fda0cccf14c06a483561527e9169b8f"
git-tree-sha1 = "e49c106eb7c78f55cdfa39e8bddeda24e1e09fce"
uuid = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
version = "1.0.1"
version = "1.0.2"

[deps.SparseConnectivityTracer.extensions]
SparseConnectivityTracerLogExpFunctionsExt = "LogExpFunctions"
Expand Down
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