renamed solveDOCP and solveDirect to solve

src/CTDirect.jl

@@ -22,18 +22,18 @@ include("solution.jl")
 include("solve.jl")
 
 # export functions only for user
+export available_methods
 export is_solvable
+export solve
 export OptimalControlInit
 export directTranscription
 export getNLP
 export setDOCPInit
-export solveDOCP
-export solveDirect
 export OCPSolutionFromDOCP
 export initial_guess
 export DOCP_objective
 export DOCP_constraints!
-export available_methods
+
 
 # CTBase reexports
 export @def

src/solve.jl

@@ -56,7 +56,7 @@ $(TYPEDSIGNATURES)
 
 Solve a discretized optimal control problem
 """
-function solveDOCP(docp::DOCP;
+function solve(docp::DOCP;
     init=nothing,
     display::Bool=__display(),
     print_level::Integer=__print_level_ipopt(),
@@ -76,7 +76,7 @@ function solveDOCP(docp::DOCP;
 end
 
 
-function solveDirect(ocp::OptimalControlModel,
+function solve(ocp::OptimalControlModel,
     description...;
     init::OptimalControlInit=OptimalControlInit(),
     grid_size::Integer=__grid_size_direct(),
@@ -88,7 +88,7 @@ function solveDirect(ocp::OptimalControlModel,
     # build discretized OCP
     docp = directTranscription(ocp, description, init=init, grid_size=grid_size)
     # solve DOCP and retrieve OCP solution
-    ocp_solution = solveDOCP(docp; display=display, print_level=print_level, mu_strategy=mu_strategy, kwargs...)
+    ocp_solution = solve(docp; display=display, print_level=print_level, mu_strategy=mu_strategy, kwargs...)
 
     return ocp_solution
 end

test/suite/abstract_ocp.jl

@@ -17,7 +17,7 @@ println("Test: abstract OCP definition")
 end
 
 @testset verbose = true showtiming = true ":double_integrator :min_tf :abstract" begin
-    sol1 = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12)
+    sol1 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
     @test sol1.objective ≈ 2.0 rtol=1e-2
 end
 
@@ -43,6 +43,6 @@ end
 end
 
 @testset verbose = true showtiming = true ":double_integrator :min_tf :abstract :constr" begin
-    sol2 = solveDirect(ocp2, grid_size=100, print_level=0, tol=1e-12)
+    sol2 = solve(ocp2, grid_size=100, print_level=0, tol=1e-12)
     @test sol2.objective ≈ 5.46 rtol=1e-2
 end

test/suite/all_constraints_types.jl

@@ -51,6 +51,6 @@ end
 dynamics!(ocp, (x, u, v) -> FF0(x) + u*FF1(x) )
 
 @testset verbose = true showtiming = true ":goddard :max_rf :all_constraints" begin
-    sol1 = solveDirect(ocp, grid_size=100, print_level=0, tol=1e-8)
+    sol1 = solve(ocp, grid_size=100, print_level=0, tol=1e-8)
     @test sol1.objective ≈ 1.0125 rtol=1e-2
 end

test/suite/double_integrator.jl

@@ -16,7 +16,7 @@ dynamics!(ocp1, (x, u, v) ->  [x[2], u])
 objective!(ocp1, :mayer, (x0, xf, v) -> v)
 
 @testset verbose = true showtiming = true ":double_integrator :min_tf" begin
-    sol1 = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12)
+    sol1 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
     @test sol1.objective ≈ 2.0 rtol=1e-2
 end
 
@@ -35,7 +35,7 @@ dynamics!(ocp2, (x, u, v) ->  [x[2], u])
 objective!(ocp2, :lagrange, (x, u, v) -> 1)
 
 @testset verbose = true showtiming = true ":double_integrator :min_tf :lagrange" begin
-    sol2 = solveDirect(ocp2, grid_size=100, print_level=0, tol=1e-12)
+    sol2 = solve(ocp2, grid_size=100, print_level=0, tol=1e-12)
     @test sol2.objective ≈ 2.0 rtol=1e-2
 end
 
@@ -54,7 +54,7 @@ dynamics!(ocp3, (x, u, v) ->  [x[2], u[1]])
 objective!(ocp3, :mayer, (x0, xf, v) -> v[1])
 
 @testset verbose = true showtiming = true ":double_integrator :min_tf :vectorial" begin
-    sol3 = solveDirect(ocp3, grid_size=100, print_level=0, tol=1e-12)
+    sol3 = solve(ocp3, grid_size=100, print_level=0, tol=1e-12)
     @test sol3.objective ≈ 2.0 rtol=1e-2
 end
 
@@ -73,7 +73,7 @@ dynamics!(ocp4, (x, u, v) ->  [x[2], u])
 objective!(ocp4, :mayer, (x0, xf, v) -> v[1], :max)
 
 @testset verbose = true showtiming = true ":double_integrator :max_t0" begin
-    sol4 = solveDirect(ocp4, grid_size=100, print_level=0, tol=1e-12)
+    sol4 = solve(ocp4, grid_size=100, print_level=0, tol=1e-12)
     @test sol4.objective ≈ 8.0 rtol=1e-2
 end
 
@@ -89,6 +89,6 @@ dynamics!(ocp5, (x, u) ->  [x[2], -u[1] + u[2]])
 objective!(ocp5, :lagrange, (x, u) -> u[1]*u[1] + u[2]*u[2])
 
 @testset verbose = true showtiming = true ":double_integrator :min_energy" begin
-    sol5 = solveDirect(ocp5, grid_size=50, print_level=0, tol=1e-12)
+    sol5 = solve(ocp5, grid_size=50, print_level=0, tol=1e-12)
     @test sol5.objective ≈ 9.6e-2 rtol=1e-2
 end

test/suite/initial_guess.jl

@@ -47,11 +47,11 @@ function F1(x)
     return [ 0, Tmax/m, -b*Tmax ]
 end
 dynamics!(ocp, (x, u, v) -> F0(x) + u*F1(x) )
-sol0 = solveDirect(ocp, print_level=0)
+sol0 = solve(ocp, print_level=0)
 
 # default init
 @testset verbose = true showtiming = true ":default_init" begin
-    sol = solveDirect(ocp, print_level=0)
+    sol = solve(ocp, print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 
@@ -61,31 +61,31 @@ u_const = 0.5
 v_init = 0.15
 
 @testset verbose = true showtiming = true ":constant_init_x" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_const))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_u" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(u_init=u_const))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_const))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_v" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(v_init=v_init))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(v_init=v_init))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_xu" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_xv" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, v_init=v_init))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, v_init=v_init))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_uv" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(u_init=u_const, v_init=v_init))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_const, v_init=v_init))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":constant_init_xuv" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 
@@ -94,57 +94,57 @@ x_func = t->[1+t^2, sqrt(t), 1-t]
 u_func = t->(cos(t)+1)*0.5
 
 @testset verbose = true showtiming = true ":functional_init_x" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_func))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":functional_init_u" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(u_init=u_func))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_func))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":functional_init_xu" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_func))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_func))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":mixed_init" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_const))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_const))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 
 # warm start
 @testset verbose = true showtiming = true ":warm_start" begin
-    sol = solveDirect(ocp, print_level=0, init=OptimalControlInit(sol0))
+    sol = solve(ocp, print_level=0, init=OptimalControlInit(sol0))
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 
 # set initial guess in DOCP
 docp = directTranscription(ocp)
 @testset verbose = true showtiming = true ":DOCPInit_constant" begin
     setDOCPInit(docp, OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init))
-    sol = solveDOCP(docp, print_level=0)
+    sol = solve(docp, print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":DOCPInit_mixed" begin
     setDOCPInit(docp, OptimalControlInit(x_init=x_func, u_init=u_const))
-    sol = solveDOCP(docp, print_level=0)
+    sol = solve(docp, print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 @testset verbose = true showtiming = true ":DOCPInit_warm_start" begin
     setDOCPInit(docp, OptimalControlInit(sol0))
-    sol = solveDOCP(docp, print_level=0)
+    sol = solve(docp, print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
 
-# pass initial guess to solveDOCP
+# pass initial guess to solve
 setDOCPInit(docp, OptimalControlInit()) # reset init in docp
-@testset verbose = true showtiming = true ":solveDOCP_constant_init" begin
-    sol = solveDOCP(docp, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init), print_level=0)
+@testset verbose = true showtiming = true ":solve_constant_init" begin
+    sol = solve(docp, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init), print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
-@testset verbose = true showtiming = true ":solveDOCP_mixed_init" begin
-    sol = solveDOCP(docp, init=OptimalControlInit(x_init=x_func, u_init=u_const), print_level=0)
+@testset verbose = true showtiming = true ":solve_mixed_init" begin
+    sol = solve(docp, init=OptimalControlInit(x_init=x_func, u_init=u_const), print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end
-@testset verbose = true showtiming = true ":solveDOCP_warm_start" begin
-    sol = solveDOCP(docp, init=OptimalControlInit(sol0), print_level=0)
+@testset verbose = true showtiming = true ":solve_warm_start" begin
+    sol = solve(docp, init=OptimalControlInit(sol0), print_level=0)
     @test sol.objective ≈ 1.0125 rtol=1e-2
 end

test/suite/simple_integrator.jl

@@ -14,21 +14,21 @@ objective!(ocp1, :lagrange, (x, u) -> u^2)
 
 # with default initial guess (ie 0.1)
 @testset verbose = true showtiming = true ":simple_integrator :min_tf" begin
-    sol1 = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12)
+    sol1 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
     @test sol1.objective ≈ 0.313 rtol=1e-2
 end
 
 # with initial guess (using both vector and scalar syntax, no optimization variables)
 @testset verbose = true showtiming = true ":simple_integrator :min_tf :init_constant" begin
     init_constant = OptimalControlInit(x_init=[-0.5], u_init=0)
-    sol2 = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12, init=init_constant)
+    sol2 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12, init=init_constant)
     @test sol2.objective ≈ 0.313 rtol=1e-2
 end
 
 # with initial guess from solution
-sol = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12)
+sol = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
 @testset verbose = true showtiming = true ":simple_integrator :min_tf :init_sol" begin
     init_sol = OptimalControlInit(sol)
-    sol3 = solveDirect(ocp1, grid_size=100, print_level=0, tol=1e-12, init=init_sol)
+    sol3 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12, init=init_sol)
     @test sol3.objective ≈ 0.313 rtol=1e-2
 end

test/test_basic.jl

@@ -12,7 +12,7 @@ objective!(ocp, :lagrange, (x, u) -> u^2)
 
 # all-in-one solve call
 println("Test simple integrator: all in one solve call")
-sol = solveDirect(ocp, grid_size=100, print_level=5, tol=1e-12)
+sol = solve(ocp, grid_size=100, print_level=5, tol=1e-12)
 println("Expected Objective 0.313, found ", sol.objective)
 
 # split calls
@@ -21,5 +21,5 @@ println("Direct transcription")
 docp = directTranscription(ocp, grid_size=100)
 nlp = getNLP(docp)
 println("Solve discretized problem and retrieve solution")
-sol = solveDOCP(docp, print_level=5, tol=1e-12)
+sol = solve(docp, print_level=5, tol=1e-12)
 println("Expected Objective 0.313, found ", sol.objective)