Merge pull request #118 from control-toolbox/117-bug-flow-and-jumps

Put some manual tests in test/extras

Author: ocots

test/extras/Project.toml

@@ -0,0 +1,7 @@
+[deps]
+CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
+CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
+CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
+CTParser = "32681960-a1b1-40db-9bff-a1ca817385d1"
+OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"

test/extras/jump_state_constraint.jl

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+using Revise
+using Pkg
+Pkg.activate("./test/extras/")
+
+#Pkg.develop(url="/Users/ocots/Research/logiciels/dev/control-toolbox/CTFlows")
+#Pkg.add("CTParser")
+#Pkg.add("CTModels")
+#Pkg.add("CTBase")
+#Pkg.add("OrdinaryDiffEq")
+#Pkg.add("Plots")
+
+using CTBase
+using CTModels
+import CTParser: CTParser, @def
+import CTFlows: CTFlows, Flow, *
+using OrdinaryDiffEq
+using Plots
+
+t0=0
+tf=1
+x0=[0, 1]
+l = 1/9
+@def ocp begin
+    t ∈ [ t0, tf ], time
+    x ∈ R², state
+    u ∈ R, control
+    x(t0) == x0
+    x(tf) == [0, -1]
+    x₁(t) ≤ l,                      (x_con)
+    ẋ(t) == [x₂(t), u(t)]
+    0.5∫(u(t)^2) → min
+end
+
+t1 = 3l
+t2 = 1 - 3l
+p0 = [-18, -6]
+
+fs = Flow(ocp, 
+    (x, p) -> p[2]      # control along regular arc
+    )
+fc = Flow(ocp, 
+    (x, p) -> 0,        # control along boundary arc
+    (x, u) -> l-x[1],   # state constraint
+    (x, p) -> 0         # Lagrange multiplier
+    )
+
+ν = 18  # jump value of p1 at t1 and t2
+
+f = fs * (t1, [ν, 0], fc) * (t2, [ν, 0], fs)
+
+xf, pf = f(t0, x0, p0, tf) # xf should be [0, -1]
+
+flow_sol = f((t0, tf), x0, p0)
+
+plot(flow_sol)