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[AUTO] JuliaFormatter.jl run #202

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56 changes: 32 additions & 24 deletions src/onepass.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -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=($e3[1])))) # todo: e1/3[1] will be e1/3[k] when vectorised over dim
end
(:initial, rg) => begin
Expand Down Expand Up @@ -801,9 +801,9 @@ function p_constraint_exa!(p, p_ocp, e1, e2, e3, c_type, label)
j = __symgen(:j)
k = __symgen(:k)
e2 = subs2(e2, xt, p.x, j)
e2 = subs(e2, xt, :([$(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 * $(p.dt)))
concat(
code,
Expand Down Expand Up @@ -904,31 +904,34 @@ function p_dynamics_coord_exa!(p, p_ocp, x, i, t, e)
j12 = :($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 $j1 in 0:(grid_size - 1)
)
else
throw(
Expand Down Expand Up @@ -981,25 +984,28 @@ function p_lagrange_exa!(p, p_ocp, e, type)
j12 = :($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: $scheme (possible choices are :euler, :euler_implicit, :midpoint, :trapeze)",
Expand Down Expand Up @@ -1049,9 +1055,9 @@ function p_mayer_exa!(p, p_ocp, e, type)
e = replace_call(e, p.x, p.t0, x0)
e = replace_call(e, p.x, p.tf, xf)
e = subs2(e, x0, p.x, 0)
e = subs(e, x0, :([$(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)
Expand Down Expand Up @@ -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
$dyn_check
Expand Down
29 changes: 17 additions & 12 deletions src/utils.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -122,16 +122,19 @@ julia> subs2(subs2(e, :x0, :x, 0), :xf, :x, :N)
:(x0 * (2 * x[3, N]))
```
"""
function subs2(e, x, y, j; k = __symgen(:k))
foo(x, y, j) = (h, args...) -> begin
f = Expr(h, args...)
@match f begin
:($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

"""
Expand Down Expand Up @@ -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
Expand Down
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