separate equality from inequality constraints

Author: ChrisRackauckas

src/systems/control/controlsystem.jl

@@ -164,5 +164,5 @@ function runge_kutta_discretize(sys::ControlSystem,dt,tspan;
     equalities = vcat(stages,updates,control_equality)
     opt_states = vcat(reduce(vcat,reduce(vcat,states_timeseries)),reduce(vcat,reduce(vcat,k_timeseries)),reduce(vcat,reduce(vcat,control_timeseries)))
 
-    OptimizationSystem(reduce(+,losses),opt_states,ps,constraints = equalities)
+    OptimizationSystem(reduce(+,losses),opt_states,ps,equality_constraints = equalities)
 end

src/systems/optimization/optimizationsystem.jl

@@ -25,7 +25,8 @@ struct OptimizationSystem <: AbstractSystem
     ps::Vector{Variable}
     pins::Vector{Variable}
     observed::Vector{Equation}
-    constraints::Vector{Equation}
+    equality_constraints::Vector{Equation}
+    inequality_constraints::Vector{Operation}
     """
     Name: the name of the system
     """
@@ -39,10 +40,11 @@ end
 function OptimizationSystem(op, states, ps;
                             pins = Variable[],
                             observed = Operation[],
-                            constraints = Equation[],
+                            equality_constraints = Equation[],
+                            inequality_constraints = Operation[],
                             name = gensym(:OptimizationSystem),
                             systems = OptimizationSystem[])
-    OptimizationSystem(op, convert.(Variable,states), convert.(Variable,ps), pins, observed, constraints, name, systems)
+    OptimizationSystem(op, convert.(Variable,states), convert.(Variable,ps), pins, observed, equality_constraints, inequality_constraints, name, systems)
 end
 
 function calculate_gradient(sys::OptimizationSystem)