232 preparing for inplace nlp

src/CTBase.jl

@@ -26,7 +26,7 @@ import ForwardDiff
 using Interpolations: linear_interpolation, Line, Interpolations # for default interpolation
 using MLStyle # pattern matching
 using Parameters # @with_kw: to have default values in struct
-using Printf # to print an Opt imalControlModel
+using Printf # to print an OptimalControlModel
 using DataStructures # OrderedDict for aliases
 using Unicode # unicode primitives
 using PrettyTables # to print a table
@@ -258,16 +258,12 @@ export OptimalControlModel
 export Model
 export __OCPModel # redirection to Model to avoid confusion with other Model functions from other packages. Due to @def macro
 export variable!,
-    time!,
-    constraint!,
-    dynamics!,
-    objective!,
-    state!,
-    control!,
-    remove_constraint!,
-    model_expression!
-export is_autonomous, is_fixed, is_time_independent, is_time_dependent, is_min, is_max
+    time!, constraint!, dynamics!, objective!, state!, control!, remove_constraint!, model_expression!
+export is_autonomous, is_fixed
+export is_time_independent, is_time_dependent
+export is_min, is_max
 export is_variable_dependent, is_variable_independent
+export is_in_place
 export nlp_constraints!, constraints, constraints_labels, constraint
 export has_free_final_time, has_free_initial_time, has_lagrange_cost, has_mayer_cost
 export dim_control_constraints, dim_state_constraints, dim_mixed_constraints, dim_path_constraints
@@ -320,4 +316,4 @@ export @def
 export ct_repl, ct_repl_update_model
 isdefined(Base, :active_repl) && ct_repl()
 
-end
+end

src/onepass.jl

@@ -210,16 +210,17 @@ p_variable!(p, ocp, v, q; components_names = nothing, log = false) = begin
         p.aliases[Symbol(v, ctupperscripts(i))] = :($v^$i)
     end # make: v¹, v²... if the variable is named v
     if (isnothing(components_names))
-        __wrap(:(variable!($ocp, $q, $vv)), p.lnum, p.line)
+        code = :( variable!($ocp, $q, $vv) )
     else
         qq == length(components_names.args) ||
             return __throw("the number of variable components must be $qq", p.lnum, p.line)
         for i ∈ 1:qq
             p.aliases[components_names.args[i]] = :($v[$i])
         end # aliases from names given by the user
         ss = QuoteNode(string.(components_names.args))
-        __wrap(:(variable!($ocp, $q, $vv, $ss)), p.lnum, p.line)
+        code = :( variable!($ocp, $q, $vv, $ss) )
     end
+    return __wrap(code, p.lnum, p.line) 
 end
 
 p_alias!(p, ocp, a, e; log = false) = begin
@@ -231,7 +232,8 @@ p_alias!(p, ocp, a, e; log = false) = begin
         p.aliases[Symbol(a, ctupperscripts(i))] = :($a^$i)
     end
     p.aliases[a] = e
-    __wrap(:(LineNumberNode(0, "alias: " * string($aa) * " = " * string($ee))), p.lnum, p.line)
+    code = :( LineNumberNode(0, "alias: " * string($aa) * " = " * string($ee)) )
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_time!(p, ocp, t, t0, tf; log = false) = begin
@@ -273,7 +275,7 @@ p_time!(p, ocp, t, t0, tf; log = false) = begin
             _ => return __throw("bad time declaration", p.lnum, p.line)
         end
     end
-    __wrap(code, p.lnum, p.line)
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_state!(p, ocp, x, n; components_names = nothing, log = false) = begin
@@ -293,16 +295,17 @@ p_state!(p, ocp, x, n; components_names = nothing, log = false) = begin
     end # make: x¹, x²... if the state is named x
     p.aliases[Symbol(Unicode.normalize(string(x, "̇")))] = :(∂($x))
     if (isnothing(components_names))
-        __wrap(:(state!($ocp, $n, $xx)), p.lnum, p.line)
+        code = :( state!($ocp, $n, $xx) )
     else
         nn == length(components_names.args) ||
             return __throw("the number of state components must be $nn", p.lnum, p.line)
         for i ∈ 1:nn
             p.aliases[components_names.args[i]] = :($x[$i])
         end # aliases from names given by the user
         ss = QuoteNode(string.(components_names.args))
-        __wrap(:(state!($ocp, $n, $xx, $ss)), p.lnum, p.line)
+        code = :( state!($ocp, $n, $xx, $ss) )
     end
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_control!(p, ocp, u, m; components_names = nothing, log = false) = begin
@@ -321,16 +324,17 @@ p_control!(p, ocp, u, m; components_names = nothing, log = false) = begin
         p.aliases[Symbol(u, ctupperscripts(i))] = :($u^$i)
     end # make: u¹, u²... if the control is named u
     if (isnothing(components_names))
-        __wrap(:(control!($ocp, $m, $uu)), p.lnum, p.line)
+        code = :( control!($ocp, $m, $uu) )
     else
         mm == length(components_names.args) ||
             return __throw("the number of control components must be $mm", p.lnum, p.line)
         for i ∈ 1:mm
             p.aliases[components_names.args[i]] = :($u[$i])
         end # aliases from names given by the user
         ss = QuoteNode(string.(components_names.args))
-        __wrap(:(control!($ocp, $m, $uu, $ss)), p.lnum, p.line)
+        code = :( control!($ocp, $m, $uu, $ss) )
     end
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_constraint!(p, ocp, e1, e2, e3, label = gensym(); log = false) = begin
@@ -426,7 +430,7 @@ p_constraint!(p, ocp, e1, e2, e3, label = gensym(); log = false) = begin
         end
         _ => return __throw("bad constraint declaration", p.lnum, p.line)
     end
-    __wrap(code, p.lnum, p.line)
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_dynamics!(p, ocp, x, t, e, label = nothing; log = false) = begin
@@ -443,16 +447,14 @@ p_dynamics!(p, ocp, x, t, e, label = nothing; log = false) = begin
     e = replace_call(e, [p.x, p.u], p.t, [xt, ut])
     p.t_dep = p.t_dep || has(e, t)
     gs = gensym()
-    args = []
-    __t_dep(p) && push!(args, p.t)
-    push!(args, xt, ut)
-    __v_dep(p) && push!(args, p.v)
-    __wrap(quote
+    args = [ ]; __t_dep(p) && push!(args, p.t); push!(args, xt, ut); __v_dep(p) && push!(args, p.v)
+    code = quote
         function $gs($(args...))
             $e
         end
         dynamics!($ocp, $gs)
-    end, p.lnum, p.line)
+    end
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_lagrange!(p, ocp, e, type; log = false) = begin
@@ -466,16 +468,14 @@ p_lagrange!(p, ocp, e, type; log = false) = begin
     p.t_dep = p.t_dep || has(e, p.t)
     ttype = QuoteNode(type)
     gs = gensym()
-    args = []
-    __t_dep(p) && push!(args, p.t)
-    push!(args, xt, ut)
-    __v_dep(p) && push!(args, p.v)
-    __wrap(quote
+    args = [ ]; __t_dep(p) && push!(args, p.t); push!(args, xt, ut); __v_dep(p) && push!(args, p.v)
+    code = quote
         function $gs($(args...))
             $e
         end
         objective!($ocp, :lagrange, $gs, $ttype)
-    end, p.lnum, p.line)
+    end
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_mayer!(p, ocp, e, type; log = false) = begin
@@ -494,14 +494,14 @@ p_mayer!(p, ocp, e, type; log = false) = begin
     e = replace_call(e, p.x, p.t0, x0)
     e = replace_call(e, p.x, p.tf, xf)
     ttype = QuoteNode(type)
-    args = [x0, xf]
-    __v_dep(p) && push!(args, p.v)
-    __wrap(quote
+    args = [ x0, xf ]; __v_dep(p) && push!(args, p.v)
+    code = quote
         function $gs($(args...))
             $e
         end
         objective!($ocp, :mayer, $gs, $ttype)
-    end, p.lnum, p.line)
+    end
+    return __wrap(code, p.lnum, p.line)
 end
 
 p_bolza!(p, ocp, e1, e2, type; log = false) = begin
@@ -528,15 +528,16 @@ p_bolza!(p, ocp, e1, e2, type; log = false) = begin
     push!(args2, xt, ut)
     __v_dep(p) && push!(args2, p.v)
     ttype = QuoteNode(type)
-    __wrap(quote
+    code = quote
         function $gs1($(args1...))
             $e1
         end
         function $gs2($(args2...))
             $e2
         end
         objective!($ocp, :bolza, $gs1, $gs2, $ttype)
-    end, p.lnum, p.line)
+    end
+    return __wrap(code, p.lnum, p.line)
 end
 
 """
@@ -627,4 +628,4 @@ macro def(ocp, e, log = false)
     catch ex
         :(throw($ex)) # can be caught by user
     end
-end
+end