Merge pull request #159 from control-toolbox/auto-juliaformatter-pr

[AUTO] JuliaFormatter.jl run

Author: ocots

docs/browser.jl

@@ -669,11 +669,7 @@ function initProblemsTable() {
 </script>
 """
 
-const TABLE = (
-    presentation = TABLE_PRESENTATION,
-    style = TABLE_STYLE,
-    logic = TABLE_LOGIC,
-)
+const TABLE = (presentation=TABLE_PRESENTATION, style=TABLE_STYLE, logic=TABLE_LOGIC)
 
 # -------------------------------
 # Helpers
@@ -746,35 +742,40 @@ end
 function collect_problem_data(problem_sym::Symbol)
     ocp = ocp_model(eval(problem_sym)(OptimalControlBackend()))
 
-    cost = has_mayer_cost(ocp) && has_lagrange_cost(ocp) ? "Bolza" :
-           has_mayer_cost(ocp) ? "Mayer" : "Lagrange"
+    cost = if has_mayer_cost(ocp) && has_lagrange_cost(ocp)
+        "Bolza"
+    elseif has_mayer_cost(ocp)
+        "Mayer"
+    else
+        "Lagrange"
+    end
 
     final_time = has_fixed_final_time(ocp) ? "fixed" : "free"
 
     dims = (
-        x = CTModels.dim_state_constraints_box(ocp),
-        u = CTModels.dim_control_constraints_box(ocp),
-        v = CTModels.dim_variable_constraints_box(ocp),
-        c = CTModels.dim_path_constraints_nl(ocp),
-        b = CTModels.dim_boundary_constraints_nl(ocp),
+        x=CTModels.dim_state_constraints_box(ocp),
+        u=CTModels.dim_control_constraints_box(ocp),
+        v=CTModels.dim_variable_constraints_box(ocp),
+        c=CTModels.dim_path_constraints_nl(ocp),
+        b=CTModels.dim_boundary_constraints_nl(ocp),
     )
 
     total = sum_namedtuple(dims)
 
     return (
-        Problem = string(problem_sym),
-        State   = state_dimension(ocp),
-        Control = control_dimension(ocp),
-        Variable = variable_dimension(ocp),
-        Cost = cost,
-        FinalTime = final_time,
-        DimStateConstraint = dims.x,
-        DimControlConstraint = dims.u,
-        DimVariableConstraint = dims.v,
-        DimPathConstraint = dims.c,
-        DimBoundaryConstraint = dims.b,
-        TotalConstraints = total,
-        ConstraintButtonsHtml = generate_constraint_buttons_html(dims)
+        Problem=string(problem_sym),
+        State=state_dimension(ocp),
+        Control=control_dimension(ocp),
+        Variable=variable_dimension(ocp),
+        Cost=cost,
+        FinalTime=final_time,
+        DimStateConstraint=dims.x,
+        DimControlConstraint=dims.u,
+        DimVariableConstraint=dims.v,
+        DimPathConstraint=dims.c,
+        DimBoundaryConstraint=dims.b,
+        TotalConstraints=total,
+        ConstraintButtonsHtml=generate_constraint_buttons_html(dims),
     )
 end
 

docs/make.jl

@@ -112,7 +112,6 @@ Draft = false
 ```
 =#
 with_problems_browser() do browser_file # generates the problems browser and remove it at the end
-
     makedocs(;
         draft=draft,
         #remotes=nothing,
@@ -129,20 +128,19 @@ with_problems_browser() do browser_file # generates the problems browser and rem
         ),
         pages=[
             "Getting Started" => "index.md",
-            "Problems" =>
-                ["problems-introduction.md", browser_file, "List of the problems" => PROBLEMS_PAGES],
+            "Problems" => [
+                "problems-introduction.md",
+                browser_file,
+                "List of the problems" => PROBLEMS_PAGES,
+            ],
             "Tutorials" => [
                 "Get a problem" => "tutorial-get.md",
                 "Solve a problem" => "tutorial-solve.md",
             ],
-            "Developers" => [
-                "Add a problem" => "dev-add.md", 
-                "API" => "dev-api.md",
-            ],
+            "Developers" => ["Add a problem" => "dev-add.md", "API" => "dev-api.md"],
         ],
         plugins=[links],
     )
-
 end
 
 # ==============================

docs/problems.jl

@@ -22,9 +22,11 @@ end
 # -----------------------------------
 # Generate documentation for a problem
 # -----------------------------------
-function generate_documentation(PROBLEM::String, DESCRIPTION::String; draft::Union{Bool,Nothing})
-
-    TITLE = "[" * uppercasefirst(replace(PROBLEM, "_" => " ")) * "](@id description-$PROBLEM)"
+function generate_documentation(
+    PROBLEM::String, DESCRIPTION::String; draft::Union{Bool,Nothing}
+)
+    TITLE =
+        "[" * uppercasefirst(replace(PROBLEM, "_" => " ")) * "](@id description-$PROBLEM)"
     DRAFT = draft_meta(draft)
     LEFT_MARGIN = get_left_margin(Symbol(PROBLEM))
 
@@ -420,9 +422,9 @@ end
 # -----------------------------------
 # Generate documentation for all problems
 # -----------------------------------
-function generate_documentation_problems(; draft::Union{Bool,Nothing}=nothing,
-                                         exclude_from_draft::Vector{Symbol}=Symbol[])
-
+function generate_documentation_problems(;
+    draft::Union{Bool,Nothing}=nothing, exclude_from_draft::Vector{Symbol}=Symbol[]
+)
     problems_list = problems()
     problems_pages = map(p -> joinpath("problems", string(p) * ".md"), problems_list)
 
@@ -433,7 +435,9 @@ function generate_documentation_problems(; draft::Union{Bool,Nothing}=nothing,
     mkpath(joinpath(problems_dir, "assets"))
 
     for problem in problems_list
-        description = read(joinpath(@__DIR__, "..", "ext", "Descriptions", string(problem) * ".md"), String)
+        description = read(
+            joinpath(@__DIR__, "..", "ext", "Descriptions", string(problem) * ".md"), String
+        )
         draft_problem = problem ∈ exclude_from_draft ? false : draft
         contents = generate_documentation(string(problem), description; draft=draft_problem)
 
@@ -442,4 +446,4 @@ function generate_documentation_problems(; draft::Union{Bool,Nothing}=nothing,
     end
 
     return problems_pages
-end
+end

ext/JuMPModels.jl

@@ -2,14 +2,14 @@ module JuMPModels
 
 using OptimalControlProblems
 using JuMP
-import CTModels: 
-    CTModels, 
-    time_grid, 
-    state, 
-    control, 
-    costate, 
-    iterations, 
-    control_components, 
+import CTModels:
+    CTModels,
+    time_grid,
+    state,
+    control,
+    costate,
+    iterations,
+    control_components,
     control_dimension,
     state_components,
     state_dimension,
@@ -49,7 +49,6 @@ julia> costate_components(model)
 """
 costate_components(model::JuMP.GenericModel) = model[:costate_components]
 
-
 """
 $(TYPEDSIGNATURES)
 
@@ -72,7 +71,6 @@ julia> OptimalControlProblems.state_components(model)
 """
 OptimalControlProblems.state_components(model::JuMP.GenericModel) = model[:state_components]
 
-
 """
 $(TYPEDSIGNATURES)
 
@@ -93,8 +91,9 @@ julia> OptimalControlProblems.control_components(model)
 ["Fex"]
 ```
 """
-OptimalControlProblems.control_components(model::JuMP.GenericModel) = model[:control_components]
-
+function OptimalControlProblems.control_components(model::JuMP.GenericModel)
+    model[:control_components]
+end
 
 """
 $(TYPEDSIGNATURES)
@@ -116,8 +115,9 @@ julia> OptimalControlProblems.variable_components(model)
 ["tf", "ddx"]
 ```
 """
-OptimalControlProblems.variable_components(model::JuMP.GenericModel) = model[:variable_components]
-
+function OptimalControlProblems.variable_components(model::JuMP.GenericModel)
+    model[:variable_components]
+end
 
 """
 $(TYPEDSIGNATURES)
@@ -139,11 +139,10 @@ julia> OptimalControlProblems.state_dimension(model)
 4
 ```
 """
-function OptimalControlProblems.state_dimension(model::JuMP.GenericModel) 
+function OptimalControlProblems.state_dimension(model::JuMP.GenericModel)
     return length(model[:state_components])
 end
 
-
 """
 $(TYPEDSIGNATURES)
 
@@ -164,11 +163,10 @@ julia> OptimalControlProblems.control_dimension(model)
 1
 ```
 """
-function OptimalControlProblems.control_dimension(model::JuMP.GenericModel) 
+function OptimalControlProblems.control_dimension(model::JuMP.GenericModel)
     return length(model[:control_components])
 end
 
-
 """
 $(TYPEDSIGNATURES)
 
@@ -189,7 +187,7 @@ julia> OptimalControlProblems.variable_dimension(model)
 2
 ```
 """
-function OptimalControlProblems.variable_dimension(model::JuMP.GenericModel) 
+function OptimalControlProblems.variable_dimension(model::JuMP.GenericModel)
     return length(model[:variable_components])
 end
 
@@ -338,7 +336,7 @@ julia> p(0.75)
 function OptimalControlProblems.costate(model::JuMP.GenericModel)
 
     # time grid
-    T = CTModels.time_grid( model)
+    T = CTModels.time_grid(model)
     N = length(T) - 1
 
     # get dimension

ext/JuMPModels/beam.jl

@@ -28,10 +28,11 @@ julia> model = OptimalControlProblems.beam(JuMPBackend(); N=100)
 - Problem formulation available at: https://github.com/control-toolbox/bocop/tree/main/bocop
 """
 function OptimalControlProblems.beam(
-    ::JuMPBackend, args...; 
-    grid_size::Int=grid_size_data(:beam), 
-    parameters::Union{Nothing, NamedTuple}=nothing, 
-    kwargs...
+    ::JuMPBackend,
+    args...;
+    grid_size::Int=grid_size_data(:beam),
+    parameters::Union{Nothing,NamedTuple}=nothing,
+    kwargs...,
 )
 
     # parameters
@@ -62,9 +63,9 @@ function OptimalControlProblems.beam(
     @variables(
         model,
         begin
-            x₁_l ≤ x₁[0:N] ≤ x₁_u,    (start = 0.05)
-            x₂[0:N],                  (start = 0.1)
-            u[0:N],                   (start = 0.1)
+            x₁_l ≤ x₁[0:N] ≤ x₁_u, (start = 0.05)
+            x₂[0:N], (start = 0.1)
+            u[0:N], (start = 0.1)
         end
     )
 

ext/JuMPModels/bioreactor.jl

@@ -31,10 +31,11 @@ julia> model = OptimalControlProblems.bioreactor(JuMPBackend(); N=100)
 - [control-toolbox/bocop](https://github.com/control-toolbox/bocop/tree/main/bocop)
 """
 function OptimalControlProblems.bioreactor(
-    ::JuMPBackend, args...; 
-    grid_size::Int=grid_size_data(:bioreactor), 
-    parameters::Union{Nothing, NamedTuple}=nothing, 
-    kwargs...
+    ::JuMPBackend,
+    args...;
+    grid_size::Int=grid_size_data(:bioreactor),
+    parameters::Union{Nothing,NamedTuple}=nothing,
+    kwargs...,
 )
 
     # parameters

ext/JuMPModels/cart_pendulum.jl

@@ -28,9 +28,11 @@ julia> model = OptimalControlProblems.cart_pendulum(JuMPBackend(); N=200)
 - [Cart–Pendulum Optimal Control Problem](https://arxiv.org/pdf/2303.16746)
 """
 function OptimalControlProblems.cart_pendulum(
-    ::JuMPBackend, args...; grid_size::Int=grid_size_data(:cart_pendulum), 
-    parameters::Union{Nothing, NamedTuple}=nothing,
-    kwargs...
+    ::JuMPBackend,
+    args...;
+    grid_size::Int=grid_size_data(:cart_pendulum),
+    parameters::Union{Nothing,NamedTuple}=nothing,
+    kwargs...,
 )
 
     # parameters
@@ -47,13 +49,13 @@ function OptimalControlProblems.cart_pendulum(
     x_u = params[:x_u]
     v_l = params[:v_l]
     v_u = params[:v_u]
-    tf_l  = params[:tf_l]
+    tf_l = params[:tf_l]
     x_t0 = params[:x_t0]
     θ_t0 = params[:θ_t0]
     ω_t0 = params[:ω_t0]
     θ_tf = params[:θ_tf]
     ω_tf = params[:ω_tf]
-    
+
     # model
     model = JuMP.Model(args...; kwargs...)
 
@@ -71,13 +73,13 @@ function OptimalControlProblems.cart_pendulum(
     @variables(
         model,
         begin
-            tf ≥ tf_l,                      (start = 1.0)
-            ddx,                            (start = 0.1)
-            x_l ≤ x[0:N] ≤ x_u,             (start = 0.1)
-            v_l ≤ v[0:N] ≤ v_u,             (start = 0.1)
-            θ[0:N],                         (start = 0.1)
-            ω[0:N],                         (start = 0.1)
-            Fex_l ≤ Fex[0:N] ≤ Fex_u,       (start = 0.1)
+            tf ≥ tf_l, (start = 1.0)
+            ddx, (start = 0.1)
+            x_l ≤ x[0:N] ≤ x_u, (start = 0.1)
+            v_l ≤ v[0:N] ≤ v_u, (start = 0.1)
+            θ[0:N], (start = 0.1)
+            ω[0:N], (start = 0.1)
+            Fex_l ≤ Fex[0:N] ≤ Fex_u, (start = 0.1)
         end
     )
 
@@ -116,7 +118,8 @@ function OptimalControlProblems.cart_pendulum(
             dx[i = 0:N], v[i]
             dv[i = 0:N], -1 / J * c[i]
             dθ[i = 0:N], ω[i]
-            dω[i = 0:N], 1 / (I + 0.25 * m * L^2) * 0.5 * L * m * (-dv[i] * cos(θ[i]) - g * sin(θ[i]))
+            dω[i = 0:N],
+            1 / (I + 0.25 * m * L^2) * 0.5 * L * m * (-dv[i] * cos(θ[i]) - g * sin(θ[i]))
         end
     )