Adding generate_control_jacobian function

Author: cadojo

src/ModelingToolkit.jl

@@ -167,7 +167,7 @@ export structural_simplify
 export DiscreteSystem, DiscreteProblem
 
 export calculate_jacobian, generate_jacobian, generate_function
-export calculate_control_jacobian
+export calculate_control_jacobian, generate_control_jacobian
 export calculate_tgrad, generate_tgrad
 export calculate_gradient, generate_gradient
 export calculate_factorized_W, generate_factorized_W

src/systems/abstractsystem.jl

@@ -152,7 +152,7 @@ for prop in [
              :iv
              :states
              :ps
-             :ctrl
+             :ctrls
              :defaults
              :observed
              :tgrad
@@ -315,6 +315,7 @@ end
 
 namespace_variables(sys::AbstractSystem) = states(sys, states(sys))
 namespace_parameters(sys::AbstractSystem) = parameters(sys, parameters(sys))
+namespace_controls(sys::AbstractSystem) = controls(sys, controls(sys))
 
 function namespace_defaults(sys)
     defs = defaults(sys)
@@ -358,17 +359,19 @@ function states(sys::AbstractSystem)
     systems = get_systems(sys)
     unique(isempty(systems) ?
            sts :
-           [sts;reduce(vcat,namespace_variables.(systems))])
+           [sts; reduce(vcat,namespace_variables.(systems))])
 end
 
 function parameters(sys::AbstractSystem)
     ps = get_ps(sys)
     systems = get_systems(sys)
-    isempty(systems) ? ps : [ps;reduce(vcat,namespace_parameters.(systems))]
+    isempty(systems) ? ps : [ps; reduce(vcat,namespace_parameters.(systems))]
 end
 
 function controls(sys::AbstractSystem)
-    get_ctrl(flatten(sys))
+    ctrls = get_ctrls(sys)
+    systems = get_systems(sys)
+    isempty(systems) ? ctrls : [ctrls; reduce(vcat,namespace_controls.(systems))]
 end
 
 function observed(sys::AbstractSystem)

src/systems/control/controlsystem.jl

@@ -1,6 +1,6 @@
 abstract type AbstractControlSystem <: AbstractSystem end
 
-function namespace_controls(sys::AbstractSystem)
+function namespace_controls(sys::AbstractControlSystem)
     [rename(x,renamespace(nameof(sys),nameof(x))) for x in controls(sys)]
 end
 

src/systems/diffeqs/abstractodesystem.jl

@@ -72,6 +72,12 @@ function generate_jacobian(sys::AbstractODESystem, dvs = states(sys), ps = param
     return build_function(jac, dvs, ps, get_iv(sys); kwargs...)
 end
 
+function generate_control_jacobian(sys::AbstractODESystem, dvs = states(sys), ps = parameters(sys);
+                                   simplify=false, sparse = false, kwargs...)
+    jac = calculate_control_jacobian(sys;simplify=simplify,sparse=sparse)
+    return build_function(jac, dvs, ps, get_iv(sys); kwargs...)
+end
+
 """
 ```julia
 generate_linearization(sys::ODESystem, dvs = states(sys), ps = parameters(sys), ctrls = controls(sys), point = defaults(sys), expression = Val{true}; sparse = false, kwargs...)

src/systems/diffeqs/odesystem.jl

@@ -31,7 +31,7 @@ struct ODESystem <: AbstractODESystem
     states::Vector
     """Parameter variables. Must not contain the independent variable."""
     ps::Vector
-    ctrl::Vector
+    ctrls::Vector
     observed::Vector{Equation}
     """
     Time-derivative matrix. Note: this field will not be defined until
@@ -115,13 +115,14 @@ function ODESystem(
 
     tgrad = RefValue(Vector{Num}(undef, 0))
     jac = RefValue{Any}(Matrix{Num}(undef, 0, 0))
+    ctrl_jac = RefValue{Any}(Matrix{Num}(undef, 0, 0))
     Wfact   = RefValue(Matrix{Num}(undef, 0, 0))
     Wfact_t = RefValue(Matrix{Num}(undef, 0, 0))
     sysnames = nameof.(systems)
     if length(unique(sysnames)) != length(sysnames)
         throw(ArgumentError("System names must be unique."))
     end
-    ODESystem(deqs, iv′, dvs′, ps′, ctrl′, observed, tgrad, jac, Wfact, Wfact_t, name, systems, defaults, nothing, connection_type)
+    ODESystem(deqs, iv′, dvs′, ps′, ctrl′, observed, tgrad, jac, ctrl_jac, Wfact, Wfact_t, name, systems, defaults, nothing, connection_type)
 end
 
 vars(x::Sym) = Set([x])