WIP - Onepass #132
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WIP - Onepass #132
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jbcaillau
reviewed
May 15, 2024
src/onepass.jl
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| :( $e2 ≥ $e1, $label ) => p_constraint!(p, ocp, e1 , e2, nothing, label; log) | ||
| # lagrange cost | ||
| :( ∫($e1) → min ) => p_lagrange!(p, ocp, e1, :min; log) | ||
| :( $e1 * ∫($e2) → min ) => p_lagrange!(p, ocp, :( $e1 * $e2 ), :min; log) |
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@ocots convenient but: this kind of expression only makes sense if e1 does not contain references to state or control (variable allowed, though). Otherwise we would allow something like
x(t) * ∫(u(t)) → min # nonsenseas equivalent to
∫(x(t) * u(t)) → min # ... becomes meaningful etc.
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@ocots I am taking care of the changes suggested in the review above before merging.
:( $e1 * ∫($e2) → min ) => p_lagrange!(p, ocp, :( $e1 * $e2 ), :min; log)Forbid Do we accept
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Add the use of square brackets: x = [y, z] ∈ R², stateDone! |
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I have added left multiplication and right division. |
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And restructured the tests for onepass. |
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J'ai fait quelques ajouts dans la définition de l'ocp en abstrait. J'espère ne pas avoir cassé les cohérences. En gros, on peut donner des labels directement aux variables, états et contrôles. Ces labels sont utilisés pour l'affichage de la solution. J'ai aussi ajouté la possibilité d'écrire un Lagrange (Bolza aussi):