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{"documenter":{"julia_version":"1.10.4","generation_timestamp":"2024-06-21T13:33:35","documenter_version":"1.4.1"}}
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<!DOCTYPE html>
<html lang="en"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><title>API · CTDirect.jl</title><meta name="title" content="API · CTDirect.jl"/><meta property="og:title" content="API · CTDirect.jl"/><meta property="twitter:title" content="API · CTDirect.jl"/><meta name="description" content="Documentation for CTDirect.jl."/><meta property="og:description" content="Documentation for CTDirect.jl."/><meta property="twitter:description" content="Documentation for CTDirect.jl."/><script data-outdated-warner src="assets/warner.js"></script><link href="https://cdnjs.cloudflare.com/ajax/libs/lato-font/3.0.0/css/lato-font.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/juliamono/0.050/juliamono.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.2/css/fontawesome.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.2/css/solid.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.2/css/brands.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.16.8/katex.min.css" rel="stylesheet" type="text/css"/><script>documenterBaseURL="."</script><script src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.6/require.min.js" data-main="assets/documenter.js"></script><script src="search_index.js"></script><script src="siteinfo.js"></script><script src="../versions.js"></script><link class="docs-theme-link" rel="stylesheet" type="text/css" href="assets/themes/documenter-dark.css" data-theme-name="documenter-dark" data-theme-primary-dark/><link class="docs-theme-link" rel="stylesheet" type="text/css" href="assets/themes/documenter-light.css" data-theme-name="documenter-light" data-theme-primary/><script src="assets/themeswap.js"></script></head><body><div id="documenter"><nav class="docs-sidebar"><div class="docs-package-name"><span class="docs-autofit"><a href="index.html">CTDirect.jl</a></span></div><button class="docs-search-query input is-rounded is-small is-clickable my-2 mx-auto py-1 px-2" id="documenter-search-query">Search docs (Ctrl + /)</button><ul class="docs-menu"><li><a class="tocitem" href="index.html">Introduction</a></li><li><a class="tocitem" href="tutorial.html">Tutorial</a></li><li><a class="tocitem" href="continuation.html">Continuation</a></li><li class="is-active"><a class="tocitem" href="api.html">API</a><ul class="internal"><li><a class="tocitem" href="#Index"><span>Index</span></a></li><li><a class="tocitem" href="#Available-methods"><span>Available methods</span></a></li><li><a class="tocitem" href="#Documentation"><span>Documentation</span></a></li></ul></li><li><a class="tocitem" href="dev-api.html">Developers</a></li></ul><div class="docs-version-selector field has-addons"><div class="control"><span class="docs-label button is-static is-size-7">Version</span></div><div class="docs-selector control is-expanded"><div class="select is-fullwidth is-size-7"><select id="documenter-version-selector"></select></div></div></div></nav><div class="docs-main"><header class="docs-navbar"><a class="docs-sidebar-button docs-navbar-link fa-solid fa-bars is-hidden-desktop" id="documenter-sidebar-button" href="#"></a><nav class="breadcrumb"><ul class="is-hidden-mobile"><li class="is-active"><a href="api.html">API</a></li></ul><ul class="is-hidden-tablet"><li class="is-active"><a href="api.html">API</a></li></ul></nav><div class="docs-right"><a class="docs-navbar-link" href="https://github.com/control-toolbox/CTDirect.jl" title="View the repository on GitHub"><span class="docs-icon fa-brands"></span><span class="docs-label is-hidden-touch">GitHub</span></a><a class="docs-navbar-link" href="https://github.com/control-toolbox/CTDirect.jl/blob/main/docs/src/api.md" title="Edit source on GitHub"><span class="docs-icon fa-solid"></span></a><a class="docs-settings-button docs-navbar-link fa-solid fa-gear" id="documenter-settings-button" href="#" title="Settings"></a><a class="docs-article-toggle-button fa-solid fa-chevron-up" id="documenter-article-toggle-button" href="javascript:;" title="Collapse all docstrings"></a></div></header><article class="content" id="documenter-page"><h1 id="CTDirect-API"><a class="docs-heading-anchor" href="#CTDirect-API">CTDirect API</a><a id="CTDirect-API-1"></a><a class="docs-heading-anchor-permalink" href="#CTDirect-API" title="Permalink"></a></h1><h2 id="Index"><a class="docs-heading-anchor" href="#Index">Index</a><a id="Index-1"></a><a class="docs-heading-anchor-permalink" href="#Index" title="Permalink"></a></h2><ul><li><a href="api.html#CTDirect.OCPSolutionFromDOCP-Tuple{Any, Any}"><code>CTDirect.OCPSolutionFromDOCP</code></a></li><li><a href="api.html#CTDirect.available_methods-Tuple{}"><code>CTDirect.available_methods</code></a></li><li><a href="api.html#CTDirect.directTranscription-Tuple{OptimalControlModel, Vararg{Any}}"><code>CTDirect.directTranscription</code></a></li><li><a href="api.html#CTDirect.getNLP-Tuple{CTDirect.DOCP}"><code>CTDirect.getNLP</code></a></li><li><a href="api.html#CTDirect.is_solvable-Tuple{Any}"><code>CTDirect.is_solvable</code></a></li><li><a href="api.html#CTDirect.load_OCP_solution"><code>CTDirect.load_OCP_solution</code></a></li><li><a href="api.html#CTDirect.save_OCP_solution-Tuple{OptimalControlSolution}"><code>CTDirect.save_OCP_solution</code></a></li><li><a href="api.html#CTDirect.setDOCPInit-Tuple{CTDirect.DOCP, Any}"><code>CTDirect.setDOCPInit</code></a></li><li><a href="api.html#CTDirect.solve-Tuple{CTDirect.DOCP}"><code>CTDirect.solve</code></a></li><li><a href="api.html#CTDirect.solve-Tuple{OptimalControlModel, Vararg{Any}}"><code>CTDirect.solve</code></a></li></ul><h2 id="Available-methods"><a class="docs-heading-anchor" href="#Available-methods">Available methods</a><a id="Available-methods-1"></a><a class="docs-heading-anchor-permalink" href="#Available-methods" title="Permalink"></a></h2><pre><code class="language-julia hljs">using CTDirect
available_methods()</code></pre><pre class="documenter-example-output"><code class="nohighlight hljs ansi">(:adnlp, :ipopt)</code></pre><h2 id="Documentation"><a class="docs-heading-anchor" href="#Documentation">Documentation</a><a id="Documentation-1"></a><a class="docs-heading-anchor-permalink" href="#Documentation" title="Permalink"></a></h2><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.OCPSolutionFromDOCP-Tuple{Any, Any}" href="#CTDirect.OCPSolutionFromDOCP-Tuple{Any, Any}"><code>CTDirect.OCPSolutionFromDOCP</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">OCPSolutionFromDOCP(
docp,
docp_solution_ipopt
) -&gt; OptimalControlSolution
</code></pre><p>Build OCP functional solution from DOCP vector solution (given as a GenericExecutionStats)</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solution.jl#L1">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.available_methods-Tuple{}" href="#CTDirect.available_methods-Tuple{}"><code>CTDirect.available_methods</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">available_methods() -&gt; Tuple{Tuple{Vararg{Symbol}}}
</code></pre><p>Return the list of available methods to solve the optimal control problem.</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L7">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.directTranscription-Tuple{OptimalControlModel, Vararg{Any}}" href="#CTDirect.directTranscription-Tuple{OptimalControlModel, Vararg{Any}}"><code>CTDirect.directTranscription</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">directTranscription(
ocp::OptimalControlModel,
description...;
init,
grid_size,
time_grid
) -&gt; CTDirect.DOCP
</code></pre><p>Discretize an optimal control problem into a nonlinear optimization problem (ie direct transcription)</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L17">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.getNLP-Tuple{CTDirect.DOCP}" href="#CTDirect.getNLP-Tuple{CTDirect.DOCP}"><code>CTDirect.getNLP</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">getNLP(docp::CTDirect.DOCP) -&gt; Any
</code></pre><p>Extract the NLP problem from the DOCP</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L49">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.is_solvable-Tuple{Any}" href="#CTDirect.is_solvable-Tuple{Any}"><code>CTDirect.is_solvable</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">is_solvable(ocp) -&gt; Bool
</code></pre><p>Check if an OCP is solvable by the method <a href="api.html#CTDirect.solve-Tuple{CTDirect.DOCP}"><code>solve</code></a>.</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/problem.jl#L111">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.load_OCP_solution" href="#CTDirect.load_OCP_solution"><code>CTDirect.load_OCP_solution</code></a> — <span class="docstring-category">Function</span></header><section><div><pre><code class="language-julia hljs">load_OCP_solution(; ...) -&gt; Any
load_OCP_solution(filename_prefix; format) -&gt; Any
</code></pre><p>Load OCP solution in JLD2/JSON format</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/utils.jl#L311">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.save_OCP_solution-Tuple{OptimalControlSolution}" href="#CTDirect.save_OCP_solution-Tuple{OptimalControlSolution}"><code>CTDirect.save_OCP_solution</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">save_OCP_solution(
sol::OptimalControlSolution;
filename_prefix,
format
)
</code></pre><p>Save OCP solution in JLD2/JSON format</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/utils.jl#L293">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.setDOCPInit-Tuple{CTDirect.DOCP, Any}" href="#CTDirect.setDOCPInit-Tuple{CTDirect.DOCP, Any}"><code>CTDirect.setDOCPInit</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">setDOCPInit(docp::CTDirect.DOCP, init) -&gt; Any
</code></pre><p>Extract the NLP problem from the DOCP</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L59">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.solve-Tuple{CTDirect.DOCP}" href="#CTDirect.solve-Tuple{CTDirect.DOCP}"><code>CTDirect.solve</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">solve(
docp::CTDirect.DOCP;
init,
display,
print_level,
mu_strategy,
linear_solver,
kwargs...
) -&gt; SolverCore.GenericExecutionStats
</code></pre><p>Solve a discretized optimal control problem DOCP</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L72">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTDirect.solve-Tuple{OptimalControlModel, Vararg{Any}}" href="#CTDirect.solve-Tuple{OptimalControlModel, Vararg{Any}}"><code>CTDirect.solve</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs">solve(
ocp::OptimalControlModel,
description...;
init,
grid_size,
time_grid,
display,
print_level,
mu_strategy,
linear_solver,
kwargs...
) -&gt; OptimalControlSolution
</code></pre><p>Solve an optimal control problem OCP by direct method</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTDirect.jl/blob/6e3339eaa446bbf01e6d377bedc937e0286d5cb4/src/solve.jl#L112">source</a></section></article></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="continuation.html">« Continuation</a><a class="docs-footer-nextpage" href="dev-api.html">Developers »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Friday 21 June 2024 13:33">Friday 21 June 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
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