🤖 Format .jl files

Author: ocots

src/onepass.jl

@@ -698,9 +698,9 @@ function p_constraint_exa!(p, p_ocp, e1, e2, e3, c_type, label)
             e2 = replace_call(e2, p.x, p.t0, x0)
             e2 = replace_call(e2, p.x, p.tf, xf)
             e2 = subs2(e2, x0, p.x, 0)
-            e2 = subs(e2, x0, :([$(p.x)[$k, 0] for $k ∈ 1:$(p.dim_x)]))
+            e2 = subs(e2, x0, :([$(p.x)[$k, 0] for $k in 1:($(p.dim_x))]))
             e2 = subs2(e2, xf, p.x, :grid_size)
-            e2 = subs(e2, xf, :([$(p.x)[$k, grid_size] for $k ∈ 1:$(p.dim_x)]))
+            e2 = subs(e2, xf, :([$(p.x)[$k, grid_size] for $k in 1:($(p.dim_x))]))
             concat(code, :($pref.constraint($p_ocp, $e2; lcon=($e1[1]), ucon=($e3[1])))) # todo: e1/3[1] will be e1/3[k] when vectorised over dim
         end
         (:initial, rg) => begin
@@ -801,9 +801,9 @@ function p_constraint_exa!(p, p_ocp, e1, e2, e3, c_type, label)
             j = __symgen(:j)
             k = __symgen(:k)
             e2 = subs2(e2, xt, p.x, j)
-            e2 = subs(e2, xt, :([$(p.x)[$k, $j] for $k ∈ 1:$(p.dim_x)]))
+            e2 = subs(e2, xt, :([$(p.x)[$k, $j] for $k in 1:($(p.dim_x))]))
             e2 = subs2(e2, ut, p.u, j)
-            e2 = subs(e2, ut, :([$(p.u)[$k, $j] for $k ∈ 1:$(p.dim_u)]))
+            e2 = subs(e2, ut, :([$(p.u)[$k, $j] for $k in 1:($(p.dim_u))]))
             e2 = subs(e2, p.t, :($(p.t0) + $j * $(p.dt)))
             concat(
                 code,
@@ -904,31 +904,34 @@ function p_dynamics_coord_exa!(p, p_ocp, x, i, t, e)
     j12 = :($j1 + 0.5)
     k = __symgen(:k)
     ej1 = subs2(e, xt, p.x, j1)
-    ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)]))
+    ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k in 1:($(p.dim_x))]))
     ej1 = subs2(ej1, ut, p.u, j1)
-    ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
+    ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
     ej1 = subs(ej1, p.t, :($(p.t0) + $j1 * $(p.dt)))
     ej2 = subs2(e, xt, p.x, j2)
-    ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k ∈ 1:$(p.dim_x)]))
+    ej2 = subs(ej2, xt, :([$(p.x)[$k, $j2] for $k in 1:($(p.dim_x))]))
     ej2 = subs2(ej2, ut, p.u, j2)
-    ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k ∈ 1:$(p.dim_u)]))
+    ej2 = subs(ej2, ut, :([$(p.u)[$k, $j2] for $k in 1:($(p.dim_u))]))
     ej2 = subs(ej2, p.t, :($(p.t0) + $j2 * $(p.dt)))
     ej12 = subs2m(e, xt, p.x, j1)
-    ej12 = subs(ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k ∈ 1:$(p.dim_x)]))
+    ej12 = subs(
+        ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k in 1:($(p.dim_x))
+    ])
+    )
     ej12 = subs2(ej12, ut, p.u, j1)
-    ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
+    ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
     ej12 = subs(ej12, p.t, :($(p.t0) + $j12 * $(p.dt)))
     dxij = :($(p.x)[$i, $j2] - $(p.x)[$i, $j1])
     code = quote
         if scheme == :euler
-            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej1 for $j1 in 0:grid_size-1)
+            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1))
         elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
-            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej2 for $j1 in 0:grid_size-1)
+            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej2 for $j1 in 0:(grid_size - 1))
         elseif scheme == :midpoint
-            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej12 for $j1 in 0:grid_size-1)
+            $pref.constraint($p_ocp, $dxij - $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1))
         elseif scheme ∈ (:trapeze, :trapezoidal) # trapezoidal is deprecated
             $pref.constraint(
-                $p_ocp, $dxij - $(p.dt) * ($ej1 + $ej2) / 2 for $j1 in 0:grid_size-1
+                $p_ocp, $dxij - $(p.dt) * ($ej1 + $ej2) / 2 for $j1 in 0:(grid_size - 1)
             )
         else
             throw(
@@ -981,25 +984,28 @@ function p_lagrange_exa!(p, p_ocp, e, type)
     j12 = :($j1 + 0.5)
     k = __symgen(:k)
     ej1 = subs2(e, xt, p.x, j1)
-    ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k ∈ 1:$(p.dim_x)]))
+    ej1 = subs(ej1, xt, :([$(p.x)[$k, $j1] for $k in 1:($(p.dim_x))]))
     ej1 = subs2(ej1, ut, p.u, j1)
-    ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
+    ej1 = subs(ej1, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
     ej1 = subs(ej1, p.t, :($(p.t0) + $j1 * $(p.dt)))
     ej12 = subs2m(e, xt, p.x, j1)
-    ej12 = subs(ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k ∈ 1:$(p.dim_x)]))
+    ej12 = subs(
+        ej12, xt, :([(($(p.x)[$k, $j1] + $(p.x)[$k, $j1 + 1]) / 2) for $k in 1:($(p.dim_x))
+    ])
+    )
     ej12 = subs2(ej12, ut, p.u, j1)
-    ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k ∈ 1:$(p.dim_u)]))
+    ej12 = subs(ej12, ut, :([$(p.u)[$k, $j1] for $k in 1:($(p.dim_u))]))
     ej12 = subs(ej12, p.t, :($(p.t0) + $j12 * $(p.dt)))
     code = quote
         if scheme == :euler
-            $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 0:grid_size-1)
+            $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 0:(grid_size - 1))
         elseif scheme ∈ (:euler_implicit, :euler_b) # euler_b is deprecated
             $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:grid_size)
         elseif scheme == :midpoint
-            $pref.objective($p_ocp, $(p.dt) * $ej12 for $j1 in 0:grid_size-1)
+            $pref.objective($p_ocp, $(p.dt) * $ej12 for $j1 in 0:(grid_size - 1))
         elseif scheme ∈ (:trapeze, :trapezoidal) # trapezoidal is deprecated
             $pref.objective($p_ocp, $(p.dt) * $ej1 / 2 for $j1 in (0, grid_size))
-            $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:grid_size-1)
+            $pref.objective($p_ocp, $(p.dt) * $ej1 for $j1 in 1:(grid_size - 1))
         else
             throw(
                 "unknown numerical scheme: $scheme (possible choices are :euler, :euler_implicit, :midpoint, :trapeze)",
@@ -1049,9 +1055,9 @@ function p_mayer_exa!(p, p_ocp, e, type)
     e = replace_call(e, p.x, p.t0, x0)
     e = replace_call(e, p.x, p.tf, xf)
     e = subs2(e, x0, p.x, 0)
-    e = subs(e, x0, :([$(p.x)[$k, 0] for $k ∈ 1:$(p.dim_x)]))
+    e = subs(e, x0, :([$(p.x)[$k, 0] for $k in 1:($(p.dim_x))]))
     e = subs2(e, xf, p.x, :grid_size)
-    e = subs(e, xf, :([$(p.x)[$k, grid_size] for $k ∈ 1:$(p.dim_x)]))
+    e = subs(e, xf, :([$(p.x)[$k, grid_size] for $k in 1:($(p.dim_x))]))
     # now, x[i](t0) has been replaced by x[i, 0] and x[i](tf) by x[i, grid_size]
     code = :($pref.objective($p_ocp, $e))
     return __wrap(code, p.lnum, p.line)
@@ -1369,7 +1375,9 @@ function def_exa(e; log=false)
             $(p.box_u) # lvar and uvar for control
             $(p.box_v) # lvar and uvar for variable (after x and u for compatibility with CTDirect)
             $p_ocp = $pref.ExaCore(
-                base_type; backend=backend, minimize=($p.criterion == :min) # not $(p.xxxx) as this info is known statically
+                base_type;
+                backend=backend,
+                minimize=($p.criterion == :min), # not $(p.xxxx) as this info is known statically
             )
             $code
             $dyn_check

src/utils.jl

@@ -122,16 +122,19 @@ julia> subs2(subs2(e, :x0, :x, 0), :xf, :x, :N)
 :(x0 * (2 * x[3, N]))
 ```
 """
-function subs2(e, x, y, j; k = __symgen(:k))
-    foo(x, y, j) = (h, args...) -> begin
-        f = Expr(h, args...)
-        @match f begin
-            :($xx[$rg]) && if ((xx == x) && is_range(rg)) end => :([$y[$k, $j] for $k ∈ $rg])
-            :($xx[$i]) && if (xx == x) end => :($y[$i, $j])
-            _ => f
+function subs2(e, x, y, j; k=__symgen(:k))
+    foo(x, y, j) =
+        (h, args...) -> begin
+            f = Expr(h, args...)
+            @match f begin
+                :($xx[$rg]) && if ((xx == x) && is_range(rg))
+                end => :([$y[$k, $j] for $k in $rg])
+                :($xx[$i]) && if (xx == x)
+                end => :($y[$i, $j])
+                _ => f
+            end
         end
-    end
-    expr_it(e, foo(x, y, j), x -> x) 
+    expr_it(e, foo(x, y, j), x -> x)
 end
 
 """
@@ -195,13 +198,15 @@ julia> subs2m(e, :x0, :x, 0)
 :([((x[k, 0] + x[k, 0 + 1]) / 2) for k ∈ 1:3])
 ```
 """
-function subs2m(e, x, y, j; k = __symgen(:k))
+function subs2m(e, x, y, j; k=__symgen(:k))
     foo(x, y, j) =
         (h, args...) -> begin
             f = Expr(h, args...)
             @match f begin
-                :($xx[$rg]) && if ((xx == x) && is_range(rg)) end => :([($y[$k, $j] + $y[$k, $j + 1]) / 2 for $k ∈ $rg])
-                :($xx[$i]) && if (xx == x) end => :(($y[$i, $j] + $y[$i, $j + 1]) / 2)
+                :($xx[$rg]) && if ((xx == x) && is_range(rg))
+                end => :([($y[$k, $j] + $y[$k, $j + 1]) / 2 for $k in $rg])
+                :($xx[$i]) && if (xx == x)
+                end => :(($y[$i, $j] + $y[$i, $j + 1]) / 2)
                 _ => f
             end
         end