drop DataInteprolations

Author: vyudu

Project.toml

@@ -31,7 +31,6 @@ FunctionWrappers = "069b7b12-0de2-55c6-9aab-29f3d0a68a2e"
 FunctionWrappersWrappers = "77dc65aa-8811-40c2-897b-53d922fa7daf"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
-Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 JuliaFormatter = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
 JumpProcesses = "ccbc3e58-028d-4f4c-8cd5-9ae44345cda5"
 Latexify = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
@@ -67,17 +66,14 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665"
 CasADi = "c49709b8-5c63-11e9-2fb2-69db5844192f"
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
 DeepDiffs = "ab62b9b5-e342-54a8-a765-a90f495de1a6"
-DiffEqDevTools = "f3b72e0c-5b89-59e1-b016-84e28bfd966d"
 FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac"
 InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57"
-JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
 LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
 
 [extensions]
 MTKBifurcationKitExt = "BifurcationKit"
-MTKCasADiDynamicOptExt = ["CasADi", "DataInterpolations"]
+MTKCasADiDynamicOptExt = "CasADi"
 MTKChainRulesCoreExt = "ChainRulesCore"
 MTKDeepDiffsExt = "DeepDiffs"
 MTKFMIExt = "FMI"
@@ -104,7 +100,6 @@ DeepDiffs = "1"
 DelayDiffEq = "5.50"
 DiffEqBase = "6.170.1"
 DiffEqCallbacks = "2.16, 3, 4"
-DiffEqDevTools = "2.48.0"
 DiffEqNoiseProcess = "5"
 DiffRules = "0.1, 1.0"
 DifferentiationInterface = "0.6.47"

ext/MTKCasADiDynamicOptExt.jl

@@ -20,17 +20,32 @@ struct CasADiDynamicOptProblem{uType, tType, isinplace, P, F, K} <:
     end
 end
 
+# Default linear interpolation for MX objects, likely to change down the line when we support interpolation with the collocation polynomial.
+struct MXLinearInterpolation
+    u::MX
+    t::Vector{Float64}
+    dt::Float64
+end
+
 struct CasADiModel
     opti::Opti
-    U::AbstractInterpolation
-    V::AbstractInterpolation
+    U::MXLinearInterpolation
+    V::MXLinearInterpolation
     tₛ::Union{Number, MX}
 end
 
+function (M::MXLinearInterpolation)(τ) 
+    nt = (τ - M.t) / M.dt
+    i = 1 + floor(Int, nt)
+    Δ = nt - i + 1
+
+    (i > length(M.t) || i < 1) && error("Cannot extrapolate past the tspan.")
+    M.u[i] + Δ*(M.u[i + 1] - M.u[i])
+end
+
 function MTK.CasADiDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap;
         dt = nothing,
         steps = nothing,
-        interpolation_method::AbstractInterpolation = LinearInterpolation,
         guesses = Dict(), kwargs...) 
     MTK.warn_overdetermined(sys, u0map)
     _u0map = has_alg_eqs(sys) ? u0map : merge(Dict(u0map), Dict(guesses))
@@ -39,10 +54,10 @@ function MTK.CasADiDynamicOptProblem(sys::ODESystem, u0map, tspan, pmap;
 
     pmap = Dict{Any, Any}(pmap)
     steps, is_free_t = MTK.process_tspan(tspan, dt, steps)
-    model = init_model()
+    model = init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t)
 end
 
-function init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t = false, interp_type::AbstractInterpolation)
+function init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t = false)
     ctrls = MTK.unbound_inputs(sys)
     states = unknowns(sys)
     opti = CasADi.Opti()
@@ -61,8 +76,8 @@ function init_model(sys, tspan, steps, u0map, pmap, u0; is_free_t = false, inter
     U = CasADi.variable!(opti, length(states), steps)
     V = CasADi.variable!(opti, length(ctrls), steps)
 
-    U_interp = interp_type(Matrix(U), tsteps)
-    V_interp = interp_type(Matrix(V), tsteps)
+    U_interp = MXLinearInterpolation(U, tsteps, tsteps[2]-tsteps[1])
+    V_interp = MXLinearInterpolation(V, tsteps, tsteps[2]-tsteps[1])
 
     CasADiModel(opti, U_interp, V_interp, tₛ)
 end
@@ -220,9 +235,8 @@ function add_solve_constraints!(prob, tableau; is_free_t)
     end
 end
 
-
 """
-    solve(prob::CasADiDynamicOptProblem, casadi_solver, ode_solver; plugin_options, solver_options) 
+    solve(prob::CasADiDynamicOptProblem, casadi_solver, ode_solver; plugin_options, solver_options, silent)
 
 `plugin_options` and `solver_options` get propagated to the Opti object in CasADi.
 """
@@ -247,7 +261,6 @@ function DiffEqBase.solve(prob::CasADiDynamicOptProblem, solver::Union{String, S
     catch ErrorException
         value_getter = x -> CasADi.debug_value(opti, x)
         failed = true
-        continue
     end
 
     ts = value_getter(tₛ) * U.t
@@ -270,5 +283,4 @@ function DiffEqBase.solve(prob::CasADiDynamicOptProblem, solver::Union{String, S
 
     DynamicOptSolution(cmodel, sol, input_sol)
 end
-
 end

test/downstream/jump_control.jl

@@ -5,7 +5,8 @@ using SimpleDiffEq
 using OrdinaryDiffEqSDIRK, OrdinaryDiffEqVerner, OrdinaryDiffEqTsit5, OrdinaryDiffEqFIRK
 using Ipopt
 using DataInterpolations
-include("../dynamic_opt_systems.jl")
+using CasADi
+
 const M = ModelingToolkit
 
 @testset "ODE Solution, no cost" begin