feat: support optimal control problems with zero-dimensional control by ocots · Pull Request #246 · control-toolbox/CTParser.jl

ocots · 2026-03-21T13:08:15Z

📖 Summary

This PR introduces support for non-controlled optimal control problems (zero-dimensional control) by removing the artificial requirement that control variables must be declared before dynamics and cost criteria. The change enables mathematically valid problems without control variables while maintaining logical declaration order consistency.

🎯 Key Changes

Parser Flexibility

Remove mandatory control validation in p_dynamics!, p_dynamics_coord!, p_lagrange!, and p_bolza! functions
Add reverse validation in p_control! to prevent declaring control after dynamics/cost are defined
Maintain declaration order logic while allowing autonomous problems

Technical Improvements

Enhanced replace_call function to handle Vector{Union{Nothing, Symbol}} efficiently
Skip Nothing symbols in replacement loops for better performance
Improved type stability for variable substitution in autonomous systems

Comprehensive Testing

Complete test suite for zero control dimension scenarios
Error handling validation for invalid control initialization attempts
Integration tests for solution building and serialization without control
Module isolation improvements in test runner configuration

🔄 Behavior Changes

✅ Now Supported

# Autonomous optimal control problems
CTParser.@def begin
    t ∈ [0, 1], time
    x ∈ R², state
    ẋ(t) = [x₂(t), -x₁(t)]  # No control required
    x₁(1)^2 → min
end

❌ Still Prevented

# Invalid declaration order
CTParser.@def begin
    t ∈ [0, 1], time
    x ∈ R², state
    ẋ(t) = [x₂(t), u(t)]     # Dynamics first
    u ∈ R, control            # Control after dynamics ❌
    x₁(1)^2 → min
end

🧪 Testing

27 test cases covering all zero-control scenarios
Error validation for improper control usage
Integration verification with solution building pipeline
Backwards compatibility maintained for existing control problems

📈 Impact

This change expands CTParser.jl's capability to handle the full spectrum of optimal control problems, from fully controlled to completely autonomous systems, while preserving the logical structure that prevents confusing mixed declaration patterns.

- Remove mandatory control declaration requirement in parser - Fix replace_call method signature for Vector{Union{Nothing, Symbol}} compatibility - Add comprehensive test suite for zero control dimension cases - Update test runner configuration for better module isolation This enables definition of autonomous optimal control problems without control variables, which was previously blocked by parser validation logic.

- Add check to avoid unnecessary has/subs calls on Nothing symbols - Use eachindex(x) instead of 1:length(x) for better performance - Skip processing of Nothing symbols in variable replacement loop This optimization improves performance when handling control variables that may be Nothing in autonomous optimal control problems.

- Add validation in p_control! to ensure control is declared before dynamics and cost - Control cannot be declared after dynamics (is_global_dyn or is_coord_dyn) - Control cannot be declared after cost criterion (criterion is set) - Maintains consistency while allowing autonomous problems (dynamics without control) This prevents mixed declaration patterns while preserving flexibility for zero-control problems.

- Remove duplicate test for initial_control with nothing - The functionality is already covered in the 'initial_guess without control' test - Streamline test suite by eliminating redundant test cases

- Add declaration order validation tests - Add coordinate dynamics without control tests - Add advanced cost criteria tests (Lagrange, Bolza) - Add constraints without control tests - All 24 tests now pass successfully This provides comprehensive coverage for autonomous optimal control problems and validates the new flexible declaration order logic.

- Add test for state initialization without control - Add test for variable initialization with zero control - Update get_model function to support variable parameter - All 27 tests now pass successfully Enhances test coverage for initialization scenarios in autonomous optimal control problems.

ocots · 2026-03-21T13:37:29Z

@jbcaillau Please review and merge.

github-actions · 2026-03-21T14:00:37Z

Breakage test results
Date: 2026-04-03 10:16:31

Name	Latest	Stable
OptimalControl	compat: v0.8.11-beta	compat: v0.8.11-beta

Update version number for release with zero control dimension support.

ocots · 2026-04-03T08:35:45Z

This

CTParser.jl/src/onepass.jl

Line 1426 in 4bd9932

$pref.solution(sol, $(p.u))

may be problematic.

Here is an error I have:

ExpGrowth: Error During Test at /Users/ocots/Research/logiciels/dev/control-toolbox/OptimalControl/test/suite/solve/test_canonical.jl:221
  Got exception outside of a @test
  FieldError: type Nothing has no field `offset`; Nothing has no fields at all.
  Stacktrace:
    [1] getproperty
      @ ./Base_compiler.jl:54 [inlined]
    [2] solution(result::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}, x::Nothing)
      @ ExaModels ~/.julia/packages/ExaModels/IFdue/src/nlp.jl:1273
    [3] (::Main.TestCanonical.TestProblems.var"#ExponentialGrowth##32#ExponentialGrowth##33"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##34#ExponentialGrowth##35"{Int64, Type{Float64}, Vector{ExaModels.Constraint}, ExaModels.Variable{Tuple{Int64, UnitRange{Int64}}, Int64}, ExaModels.Variable{Tuple{Int64}, Int64}}})(sol::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}; val::Symbol)
      @ Main.TestCanonical.TestProblems ~/.julia/packages/CTParser/4zcBf/src/onepass.jl:1426
    [4] build_OCP_solution(docp::CTDirect.DOCP{CTDirect.Midpoint, CTModels.OCP.Model{CTModels.OCP.NonAutonomous, CTModels.OCP.TimesModel{CTModels.OCP.FixedTimeModel{Int64}, CTModels.OCP.FixedTimeModel{Int64}}, CTModels.OCP.StateModel, CTModels.OCP.EmptyControlModel, CTModels.OCP.VariableModel, CTModels.OCP.var"#dyn!#__build_dynamics_from_parts##0"{Vector{Tuple{UnitRange{Int64}, Function}}}, CTModels.OCP.LagrangeObjectiveModel{Main.TestCanonical.TestProblems.var"#fun##1088#ExponentialGrowth##3"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}, CTModels.OCP.ConstraintsModel{Tuple{Vector{Float64}, CTModels.OCP.var"#path_cons_nl!#build##1"{Tuple{}, Vector{Int64}, Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Main.TestCanonical.TestProblems.var"#fun##1076#ExponentialGrowth##1", Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}}, Main.TestCanonical.TestProblems.var"#ExponentialGrowth##4#ExponentialGrowth##5"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##6#ExponentialGrowth##7"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}}}, nlp_solution::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}, T::Vector{Float64}, objective::Float64, iterations::Int64, constraints_violation::Float64, message::String, status::Symbol, successful::Bool; exa_getter::Function)
      @ CTDirect ~/.julia/packages/CTDirect/HXHev/src/DOCP_data.jl:544
    [5] (::CTDirect.var"#build_exa_solution#build_exa_solution##0"{CTDirect.DOCP{CTDirect.Midpoint, CTModels.OCP.Model{CTModels.OCP.NonAutonomous, CTModels.OCP.TimesModel{CTModels.OCP.FixedTimeModel{Int64}, CTModels.OCP.FixedTimeModel{Int64}}, CTModels.OCP.StateModel, CTModels.OCP.EmptyControlModel, CTModels.OCP.VariableModel, CTModels.OCP.var"#dyn!#__build_dynamics_from_parts##0"{Vector{Tuple{UnitRange{Int64}, Function}}}, CTModels.OCP.LagrangeObjectiveModel{Main.TestCanonical.TestProblems.var"#fun##1088#ExponentialGrowth##3"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}, CTModels.OCP.ConstraintsModel{Tuple{Vector{Float64}, CTModels.OCP.var"#path_cons_nl!#build##1"{Tuple{}, Vector{Int64}, Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Main.TestCanonical.TestProblems.var"#fun##1076#ExponentialGrowth##1", Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}}, Main.TestCanonical.TestProblems.var"#ExponentialGrowth##4#ExponentialGrowth##5"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##6#ExponentialGrowth##7"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}}}})(nlp_solution::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any})
      @ CTDirect ~/.julia/packages/CTDirect/HXHev/src/collocation.jl:235

with this problem

    # observed data (analytical solution)
    data(t) = 2.0 * exp(0.5 * t)

    @def ocp begin
        p ∈ R, variable              # growth rate to estimate
        t ∈ [0, 10], time
        x ∈ R, state

        x(0) == 2.0

        ẋ(t) == p * x(t)

        ∫((x(t) - data(t))^2) → min  # fit to observed data
    end

We need to test this.

codecov · 2026-04-03T08:57:27Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.20%. Comparing base (7a41466) to head (1871282).
⚠️ Report is 9 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #246      +/-   ##
==========================================
- Coverage   98.21%   98.20%   -0.01%     
==========================================
  Files           4        4              
  Lines        1062     1060       -2     
==========================================
- Hits         1043     1041       -2     
  Misses         19       19

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ocots · 2026-04-03T09:45:34Z

This

CTParser.jl/src/onepass.jl

Line 1426 in 4bd9932

$pref.solution(sol, $(p.u))

may be problematic.

Here is an error I have:

ExpGrowth: Error During Test at /Users/ocots/Research/logiciels/dev/control-toolbox/OptimalControl/test/suite/solve/test_canonical.jl:221
  Got exception outside of a @test
  FieldError: type Nothing has no field `offset`; Nothing has no fields at all.
  Stacktrace:
    [1] getproperty
      @ ./Base_compiler.jl:54 [inlined]
    [2] solution(result::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}, x::Nothing)
      @ ExaModels ~/.julia/packages/ExaModels/IFdue/src/nlp.jl:1273
    [3] (::Main.TestCanonical.TestProblems.var"#ExponentialGrowth##32#ExponentialGrowth##33"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##34#ExponentialGrowth##35"{Int64, Type{Float64}, Vector{ExaModels.Constraint}, ExaModels.Variable{Tuple{Int64, UnitRange{Int64}}, Int64}, ExaModels.Variable{Tuple{Int64}, Int64}}})(sol::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}; val::Symbol)
      @ Main.TestCanonical.TestProblems ~/.julia/packages/CTParser/4zcBf/src/onepass.jl:1426
    [4] build_OCP_solution(docp::CTDirect.DOCP{CTDirect.Midpoint, CTModels.OCP.Model{CTModels.OCP.NonAutonomous, CTModels.OCP.TimesModel{CTModels.OCP.FixedTimeModel{Int64}, CTModels.OCP.FixedTimeModel{Int64}}, CTModels.OCP.StateModel, CTModels.OCP.EmptyControlModel, CTModels.OCP.VariableModel, CTModels.OCP.var"#dyn!#__build_dynamics_from_parts##0"{Vector{Tuple{UnitRange{Int64}, Function}}}, CTModels.OCP.LagrangeObjectiveModel{Main.TestCanonical.TestProblems.var"#fun##1088#ExponentialGrowth##3"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}, CTModels.OCP.ConstraintsModel{Tuple{Vector{Float64}, CTModels.OCP.var"#path_cons_nl!#build##1"{Tuple{}, Vector{Int64}, Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Main.TestCanonical.TestProblems.var"#fun##1076#ExponentialGrowth##1", Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}}, Main.TestCanonical.TestProblems.var"#ExponentialGrowth##4#ExponentialGrowth##5"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##6#ExponentialGrowth##7"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}}}, nlp_solution::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any}, T::Vector{Float64}, objective::Float64, iterations::Int64, constraints_violation::Float64, message::String, status::Symbol, successful::Bool; exa_getter::Function)
      @ CTDirect ~/.julia/packages/CTDirect/HXHev/src/DOCP_data.jl:544
    [5] (::CTDirect.var"#build_exa_solution#build_exa_solution##0"{CTDirect.DOCP{CTDirect.Midpoint, CTModels.OCP.Model{CTModels.OCP.NonAutonomous, CTModels.OCP.TimesModel{CTModels.OCP.FixedTimeModel{Int64}, CTModels.OCP.FixedTimeModel{Int64}}, CTModels.OCP.StateModel, CTModels.OCP.EmptyControlModel, CTModels.OCP.VariableModel, CTModels.OCP.var"#dyn!#__build_dynamics_from_parts##0"{Vector{Tuple{UnitRange{Int64}, Function}}}, CTModels.OCP.LagrangeObjectiveModel{Main.TestCanonical.TestProblems.var"#fun##1088#ExponentialGrowth##3"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}, CTModels.OCP.ConstraintsModel{Tuple{Vector{Float64}, CTModels.OCP.var"#path_cons_nl!#build##1"{Tuple{}, Vector{Int64}, Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Main.TestCanonical.TestProblems.var"#fun##1076#ExponentialGrowth##1", Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}, Tuple{Vector{Float64}, Vector{Int64}, Vector{Float64}, Vector{Symbol}}}, Main.TestCanonical.TestProblems.var"#ExponentialGrowth##4#ExponentialGrowth##5"{Main.TestCanonical.TestProblems.var"#ExponentialGrowth##6#ExponentialGrowth##7"{Main.TestCanonical.TestProblems.var"#data#ExponentialGrowth##0"}}}}})(nlp_solution::SolverCore.GenericExecutionStats{Float64, Vector{Float64}, Vector{Float64}, Any})
      @ CTDirect ~/.julia/packages/CTDirect/HXHev/src/collocation.jl:235

with this problem

    # observed data (analytical solution)
    data(t) = 2.0 * exp(0.5 * t)

    @def ocp begin
        p ∈ R, variable              # growth rate to estimate
        t ∈ [0, 10], time
        x ∈ R, state

        x(0) == 2.0

        ẋ(t) == p * x(t)

        ∫((x(t) - data(t))^2) → min  # fit to observed data
    end

We need to test this.

Should be solved by next commit.

- Add isnothing checks in onepass.jl getter for control, control_l, control_u - Add comprehensive test for getter function without control - Prevent FieldError when dim_u is nothing - Bump version to 0.8.12-beta

ocots · 2026-04-03T11:17:39Z

Désolé @jbcaillau je merge et fais une nouvelle release.

ocots requested a review from jbcaillau March 21, 2026 13:08

github-actions bot assigned jbcaillau Mar 21, 2026

ocots added 5 commits March 21, 2026 14:12

test: remove redundant initial_control test case

211f4fa

- Remove duplicate test for initial_control with nothing - The functionality is already covered in the 'initial_guess without control' test - Streamline test suite by eliminating redundant test cases

ocots mentioned this pull request Mar 25, 2026

[General] Release 2.0 control-toolbox/OptimalControl.jl#734

Open

18 tasks

bump: version 0.8.11-beta

4bd9932

Update version number for release with zero control dimension support.

ocots marked this pull request as draft April 3, 2026 08:35

Fix getter for problems without control

1871282

- Add isnothing checks in onepass.jl getter for control, control_l, control_u - Add comprehensive test for getter function without control - Prevent FieldError when dim_u is nothing - Bump version to 0.8.12-beta

ocots marked this pull request as ready for review April 3, 2026 11:17

ocots merged commit 30c7801 into main Apr 3, 2026
19 checks passed

ocots deleted the dim-zero-control branch April 3, 2026 11:17

ocots mentioned this pull request Apr 3, 2026

[General] Release #249

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feat: support optimal control problems with zero-dimensional control#246

feat: support optimal control problems with zero-dimensional control#246
ocots merged 8 commits intomainfrom
dim-zero-control

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📖 Summary

🎯 Key Changes

Parser Flexibility

Technical Improvements

Comprehensive Testing

🔄 Behavior Changes

✅ Now Supported

❌ Still Prevented

🧪 Testing

📈 Impact

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ocots commented Mar 21, 2026

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