Add tests by ocots · Pull Request #139 · control-toolbox/OptimalControlProblems.jl

ocots · 2025-09-08T19:32:05Z

Need to add the comparison between the exa problems and the others in test_init, test_solution and test_quick.

…adges

Update README with latest ABOUT.md, INSTALL.md, CONTRIBUTING.md and badges

…ocumentation-of-the-problems Update descriptions of the problems

ocots · 2025-09-09T09:00:55Z

@jbcaillau I have updated the unit tests. Now all the problems "_s" are tested and compared to JuMP.

But, I haven't checked yet that all the tests pass except for:

    :bioreactor,
    :cart_pendulum,
    :dielectrophoretic_particle,
    :moonlander,

ocots · 2025-09-09T12:21:31Z

Testing init

@jbcaillau @PierreMartinon For :glider, even if we set tfinit=1, we get in the tests:

┌─ glider (init)
│
├─ Iterations
│      → JP: 0  OC: 0  OS: 0
├─ Variables
│      → JP: 2506  OC: 2506  PASS
│      → JP: 2506  OS: 2506  PASS
├─ Constraints
│      → JP: 2007  OC: 2007  PASS
│      → JP: 2007  OS: 2007  PASS
├─ Final time
│      → JP: 1.000e+00  OC: 1.000e+00  r_err=0.000e+00  a_err=0.000e+00  bound=1.000e-06  PASS
│      → JP: 1.000e+00  OS: 7.000e-01  r_err=3.529e-01  a_err=3.000e-01  bound=1.000e-06  FAIL
├─ Grid length
│      → JP: 501  OC: 501  PASS
│      → JP: 501  OS: 501  PASS
├─ Objective
│      → JP: -1.323e+01  OC: -1.323e+01  r_err=-0.000e+00  a_err=0.000e+00  bound=1.000e-06  PASS
│      → JP: -1.323e+01  OS: -1.323e+01  r_err=-0.000e+00  a_err=0.000e+00  bound=1.000e-06  PASS
└─

Note that I have set :madnlp and :exa for glider_s.

Note

It works with :madnlp and :adnlp.

ocots · 2025-09-10T08:56:31Z

I have printed the time grid and the variable in the build solution:

BUILD SOLUTION: glider

time grid: [0.0, 0.002, 0.004, 0.006, 0.008, 0.01, 0.012, 0.014, 0.016, 0.018, 0.02, 0.022, 0.024, 0.026, 0.028, 0.03, 0.032, 0.034, 0.036, 0.038, 0.04, 0.042, 0.044, 0.046, 0.048, 0.05, 0.052, 0.054, 0.056, 0.058, 0.06, 0.062, 0.064, 0.066, 0.068, 0.07, 0.072, 0.074, 0.076, 0.078, 0.08, 0.082, 0.084, 0.086, 0.088, 0.09, 0.092, 0.094, 0.096, 0.098, 0.1, 0.102, 0.104, 0.106, 0.108, 0.11, 0.112, 0.114, 0.116, 0.118, 0.12, 0.122, 0.124, 0.126, 0.128, 0.13, 0.132, 0.134, 0.136, 0.138, 0.14, 0.142, 0.144, 0.146, 0.148, 0.15, 0.152, 0.154, 0.156, 0.158, 0.16, 0.162, 0.164, 0.166, 0.168, 0.17, 0.172, 0.174, 0.176, 0.178, 0.18, 0.182, 0.184, 0.186, 0.188, 0.19, 0.192, 0.194, 0.196, 0.198, 0.2, 0.202, 0.204, 0.206, 0.208, 0.21, 0.212, 0.214, 0.216, 0.218, 0.22, 0.222, 0.224, 0.226, 0.228, 0.23, 0.232, 0.234, 0.236, 0.238, 0.24, 0.242, 0.244, 0.246, 0.248, 0.25, 0.252, 0.254, 0.256, 0.258, 0.26, 0.262, 0.264, 0.266, 0.268, 0.27, 0.272, 0.274, 0.276, 0.278, 0.28, 0.282, 0.284, 0.286, 0.288, 0.29, 0.292, 0.294, 0.296, 0.298, 0.3, 0.302, 0.304, 0.306, 0.308, 0.31, 0.312, 0.314, 0.316, 0.318, 0.32, 0.322, 0.324, 0.326, 0.328, 0.33, 0.332, 0.334, 0.336, 0.338, 0.34, 0.342, 0.344, 0.346, 0.348, 0.35, 0.352, 0.354, 0.356, 0.358, 0.36, 0.362, 0.364, 0.366, 0.368, 0.37, 0.372, 0.374, 0.376, 0.378, 0.38, 0.382, 0.384, 0.386, 0.388, 0.39, 0.392, 0.394, 0.396, 0.398, 0.4, 0.402, 0.404, 0.406, 0.408, 0.41, 0.412, 0.414, 0.416, 0.418, 0.42, 0.422, 0.424, 0.426, 0.428, 0.43, 0.432, 0.434, 0.436, 0.438, 0.44, 0.442, 0.444, 0.446, 0.448, 0.45, 0.452, 0.454, 0.456, 0.458, 0.46, 0.462, 0.464, 0.466, 0.468, 0.47, 0.472, 0.474, 0.476, 0.478, 0.48, 0.482, 0.484, 0.486, 0.488, 0.49, 0.492, 0.494, 0.496, 0.498, 0.5, 0.502, 0.504, 0.506, 0.508, 0.51, 0.512, 0.514, 0.516, 0.518, 0.52, 0.522, 0.524, 0.526, 0.528, 0.53, 0.532, 0.534, 0.536, 0.538, 0.54, 0.542, 0.544, 0.546, 0.548, 0.55, 0.552, 0.554, 0.556, 0.558, 0.56, 0.562, 0.564, 0.566, 0.568, 0.57, 0.572, 0.574, 0.576, 0.578, 0.58, 0.582, 0.584, 0.586, 0.588, 0.59, 0.592, 0.594, 0.596, 0.598, 0.6, 0.602, 0.604, 0.606, 0.608, 0.61, 0.612, 0.614, 0.616, 0.618, 0.62, 0.622, 0.624, 0.626, 0.628, 0.63, 0.632, 0.634, 0.636, 0.638, 0.64, 0.642, 0.644, 0.646, 0.648, 0.65, 0.652, 0.654, 0.656, 0.658, 0.66, 0.662, 0.664, 0.666, 0.668, 0.67, 0.672, 0.674, 0.676, 0.678, 0.68, 0.682, 0.684, 0.686, 0.688, 0.69, 0.692, 0.694, 0.696, 0.698, 0.7, 0.702, 0.704, 0.706, 0.708, 0.71, 0.712, 0.714, 0.716, 0.718, 0.72, 0.722, 0.724, 0.726, 0.728, 0.73, 0.732, 0.734, 0.736, 0.738, 0.74, 0.742, 0.744, 0.746, 0.748, 0.75, 0.752, 0.754, 0.756, 0.758, 0.76, 0.762, 0.764, 0.766, 0.768, 0.77, 0.772, 0.774, 0.776, 0.778, 0.78, 0.782, 0.784, 0.786, 0.788, 0.79, 0.792, 0.794, 0.796, 0.798, 0.8, 0.802, 0.804, 0.806, 0.808, 0.81, 0.812, 0.814, 0.816, 0.818, 0.82, 0.822, 0.824, 0.826, 0.828, 0.83, 0.832, 0.834, 0.836, 0.838, 0.84, 0.842, 0.844, 0.846, 0.848, 0.85, 0.852, 0.854, 0.856, 0.858, 0.86, 0.862, 0.864, 0.866, 0.868, 0.87, 0.872, 0.874, 0.876, 0.878, 0.88, 0.882, 0.884, 0.886, 0.888, 0.89, 0.892, 0.894, 0.896, 0.898, 0.9, 0.902, 0.904, 0.906, 0.908, 0.91, 0.912, 0.914, 0.916, 0.918, 0.92, 0.922, 0.924, 0.926, 0.928, 0.93, 0.932, 0.934, 0.936, 0.938, 0.94, 0.942, 0.944, 0.946, 0.948, 0.95, 0.952, 0.954, 0.956, 0.958, 0.96, 0.962, 0.964, 0.966, 0.968, 0.97, 0.972, 0.974, 0.976, 0.978, 0.98, 0.982, 0.984, 0.986, 0.988, 0.99, 0.992, 0.994, 0.996, 0.998, 1.0]
variable: [1.0]

BUILD SOLUTION: glider_s

time grid: [0.0, 0.0014, 0.0028, 0.0042, 0.0056, 0.006999999999999999, 0.0084, 0.0098, 0.0112, 0.012599999999999998, 0.013999999999999999, 0.015399999999999999, 0.0168, 0.018199999999999997, 0.0196, 0.020999999999999998, 0.0224, 0.0238, 0.025199999999999997, 0.0266, 0.027999999999999997, 0.0294, 0.030799999999999998, 0.0322, 0.0336, 0.034999999999999996, 0.036399999999999995, 0.0378, 0.0392, 0.0406, 0.041999999999999996, 0.043399999999999994, 0.0448, 0.0462, 0.0476, 0.049, 0.05039999999999999, 0.05179999999999999, 0.0532, 0.054599999999999996, 0.055999999999999994, 0.0574, 0.0588, 0.06019999999999999, 0.061599999999999995, 0.063, 0.0644, 0.0658, 0.0672, 0.0686, 0.06999999999999999, 0.07139999999999999, 0.07279999999999999, 0.07419999999999999, 0.0756, 0.077, 0.0784, 0.0798, 0.0812, 0.08259999999999999, 0.08399999999999999, 0.08539999999999999, 0.08679999999999999, 0.0882, 0.0896, 0.091, 0.0924, 0.0938, 0.0952, 0.0966, 0.098, 0.09939999999999999, 0.10079999999999999, 0.10219999999999999, 0.10359999999999998, 0.105, 0.1064, 0.10779999999999999, 0.10919999999999999, 0.11059999999999999, 0.11199999999999999, 0.1134, 0.1148, 0.1162, 0.1176, 0.119, 0.12039999999999998, 0.12179999999999998, 0.12319999999999999, 0.12459999999999999, 0.126, 0.12739999999999999, 0.1288, 0.13019999999999998, 0.1316, 0.13299999999999998, 0.1344, 0.1358, 0.1372, 0.1386, 0.13999999999999999, 0.1414, 0.14279999999999998, 0.1442, 0.14559999999999998, 0.147, 0.14839999999999998, 0.1498, 0.1512, 0.15259999999999999, 0.154, 0.15539999999999998, 0.1568, 0.1582, 0.1596, 0.161, 0.1624, 0.1638, 0.16519999999999999, 0.16659999999999997, 0.16799999999999998, 0.1694, 0.17079999999999998, 0.1722, 0.17359999999999998, 0.175, 0.1764, 0.17779999999999999, 0.1792, 0.18059999999999998, 0.182, 0.1834, 0.1848, 0.1862, 0.1876, 0.189, 0.1904, 0.1918, 0.1932, 0.1946, 0.196, 0.19739999999999996, 0.19879999999999998, 0.20019999999999996, 0.20159999999999997, 0.20299999999999999, 0.20439999999999997, 0.20579999999999998, 0.20719999999999997, 0.20859999999999998, 0.21, 0.21139999999999998, 0.2128, 0.21419999999999997, 0.21559999999999999, 0.217, 0.21839999999999998, 0.2198, 0.22119999999999998, 0.2226, 0.22399999999999998, 0.2254, 0.2268, 0.2282, 0.2296, 0.23099999999999998, 0.2324, 0.2338, 0.2352, 0.2366, 0.238, 0.2394, 0.24079999999999996, 0.24219999999999997, 0.24359999999999996, 0.24499999999999997, 0.24639999999999998, 0.24779999999999996, 0.24919999999999998, 0.2506, 0.252, 0.25339999999999996, 0.25479999999999997, 0.2562, 0.2576, 0.259, 0.26039999999999996, 0.2618, 0.2632, 0.2646, 0.26599999999999996, 0.26739999999999997, 0.2688, 0.2702, 0.2716, 0.27299999999999996, 0.2744, 0.2758, 0.2772, 0.2786, 0.27999999999999997, 0.2814, 0.2828, 0.2842, 0.28559999999999997, 0.287, 0.2884, 0.28979999999999995, 0.29119999999999996, 0.29259999999999997, 0.294, 0.2954, 0.29679999999999995, 0.29819999999999997, 0.2996, 0.301, 0.3024, 0.30379999999999996, 0.30519999999999997, 0.3066, 0.308, 0.3094, 0.31079999999999997, 0.3122, 0.3136, 0.315, 0.3164, 0.31779999999999997, 0.3192, 0.3206, 0.322, 0.3234, 0.3248, 0.3262, 0.3276, 0.32899999999999996, 0.33039999999999997, 0.3318, 0.33319999999999994, 0.33459999999999995, 0.33599999999999997, 0.3374, 0.3388, 0.34019999999999995, 0.34159999999999996, 0.34299999999999997, 0.3444, 0.3458, 0.34719999999999995, 0.34859999999999997, 0.35, 0.3514, 0.3528, 0.35419999999999996, 0.35559999999999997, 0.357, 0.3584, 0.3598, 0.36119999999999997, 0.3626, 0.364, 0.3654, 0.3668, 0.36819999999999997, 0.3696, 0.371, 0.3724, 0.3738, 0.3752, 0.3766, 0.378, 0.3794, 0.3808, 0.3822, 0.3836, 0.385, 0.3864, 0.38780000000000003, 0.3892, 0.3906, 0.392, 0.3934, 0.39479999999999993, 0.39619999999999994, 0.39759999999999995, 0.39899999999999997, 0.4003999999999999, 0.40179999999999993, 0.40319999999999995, 0.40459999999999996, 0.40599999999999997, 0.40739999999999993, 0.40879999999999994, 0.41019999999999995, 0.41159999999999997, 0.413, 0.41439999999999994, 0.41579999999999995, 0.41719999999999996, 0.41859999999999997, 0.42, 0.42139999999999994, 0.42279999999999995, 0.42419999999999997, 0.4256, 0.427, 0.42839999999999995, 0.42979999999999996, 0.43119999999999997, 0.4326, 0.434, 0.43539999999999995, 0.43679999999999997, 0.4382, 0.4396, 0.44099999999999995, 0.44239999999999996, 0.4438, 0.4452, 0.4466, 0.44799999999999995, 0.44939999999999997, 0.4508, 0.4522, 0.4536, 0.45499999999999996, 0.4564, 0.4578, 0.4592, 0.4606, 0.46199999999999997, 0.4634, 0.4648, 0.4662, 0.4676, 0.469, 0.4704, 0.4718, 0.4732, 0.4746, 0.476, 0.4774, 0.4788, 0.4802, 0.4815999999999999, 0.48299999999999993, 0.48439999999999994, 0.48579999999999995, 0.4871999999999999, 0.4885999999999999, 0.48999999999999994, 0.49139999999999995, 0.49279999999999996, 0.4941999999999999, 0.49559999999999993, 0.49699999999999994, 0.49839999999999995, 0.49979999999999997, 0.5012, 0.5025999999999999, 0.504, 0.5054, 0.5067999999999999, 0.5082, 0.5095999999999999, 0.511, 0.5124, 0.5137999999999999, 0.5152, 0.5166, 0.518, 0.5194, 0.5207999999999999, 0.5222, 0.5236, 0.5249999999999999, 0.5264, 0.5277999999999999, 0.5292, 0.5306, 0.5319999999999999, 0.5334, 0.5347999999999999, 0.5362, 0.5376, 0.5389999999999999, 0.5404, 0.5418, 0.5432, 0.5446, 0.5459999999999999, 0.5474, 0.5488, 0.5502, 0.5516, 0.5529999999999999, 0.5544, 0.5558, 0.5572, 0.5586, 0.5599999999999999, 0.5614, 0.5628, 0.5642, 0.5656, 0.567, 0.5684, 0.5698, 0.5711999999999999, 0.5725999999999999, 0.574, 0.5753999999999999, 0.5768, 0.5781999999999999, 0.5795999999999999, 0.581, 0.5823999999999999, 0.5838, 0.5851999999999999, 0.5865999999999999, 0.588, 0.5893999999999999, 0.5908, 0.5922, 0.5935999999999999, 0.595, 0.5963999999999999, 0.5978, 0.5992, 0.6005999999999999, 0.602, 0.6033999999999999, 0.6048, 0.6062, 0.6075999999999999, 0.609, 0.6103999999999999, 0.6118, 0.6132, 0.6145999999999999, 0.616, 0.6174, 0.6188, 0.6202, 0.6215999999999999, 0.623, 0.6244, 0.6258, 0.6272, 0.6285999999999999, 0.63, 0.6314, 0.6328, 0.6342, 0.6355999999999999, 0.637, 0.6384, 0.6398, 0.6412, 0.6426, 0.644, 0.6454, 0.6468, 0.6482, 0.6496, 0.651, 0.6524, 0.6538, 0.6552, 0.6566, 0.6579999999999999, 0.6593999999999999, 0.6607999999999999, 0.6621999999999999, 0.6636, 0.6649999999999999, 0.6663999999999999, 0.6678, 0.6691999999999999, 0.6706, 0.6719999999999999, 0.6733999999999999, 0.6748, 0.6761999999999999, 0.6776, 0.6789999999999999, 0.6803999999999999, 0.6818, 0.6831999999999999, 0.6846, 0.6859999999999999, 0.6873999999999999, 0.6888, 0.6901999999999999, 0.6916, 0.693, 0.6943999999999999, 0.6958, 0.6971999999999999, 0.6986, 0.7]
variable: [1.0]

Clearly, the time grid is not reconstructed well.

…-problems Configurable problems

ocots and others added 18 commits September 6, 2025 18:48

Create UpdateReadme.yml

4d372ef

Update UpdateReadme.yml

bae514a

Create README.template.md

a369778

Update README.template.md

6f6a81b

Update README with latest ABOUT.md, INSTALL.md, CONTRIBUTING.md and b…

57da0da

…adges

Merge pull request #138 from control-toolbox/update-readme-1757179308

12dd33b

Update README with latest ABOUT.md, INSTALL.md, CONTRIBUTING.md and badges

review all the doc

40f1250

add browser

7bb8a34

add browser for problems

2c7b2f1

finalise browser

d47adbd

foo

067cb0b

fix bug

c1a1596

not responsive

0ad42de

before refactoring buttons

f4b668b

foo

bae80ea

fix

5c4f40b

Merge pull request #133 from control-toolbox/110-general-review-the-d…

559ad8a

…ocumentation-of-the-problems Update descriptions of the problems

Merge branch 'main' into 88-dev-adding-models-for-exa-olivier

a43cd71

github-actions bot assigned ocots Sep 8, 2025

ocots mentioned this pull request Sep 8, 2025

88 dev adding models for exa #137

Merged

quick beam

0d3fa6e

ocots marked this pull request as draft September 8, 2025 20:12

test quick, init, solution: updated

f2a167e

test kwargs updated

c2e47b7

ocots added 4 commits September 9, 2025 14:24

foo

4b3ca05

up browser filtering

7bcf138

foo

c28e4b4

up compat

5a9b582

ocots added 2 commits September 10, 2025 07:49

up compat

693ceee

steering no NaN in xf

e60f484

ocots mentioned this pull request Sep 10, 2025

[Bug] wrong plot for exa and variable time control-toolbox/CTDirect.jl#490

Closed

ocots added 2 commits September 11, 2025 22:47

before adding red mode for constraint buttons

b7aca08

add choose negative

2430104

jbcaillau approved these changes Sep 12, 2025

View reviewed changes

ocots added 7 commits September 12, 2025 16:43

parameters in common

325682c

replaced N by grid_size

48e39ff

parameters are shared

47bd58f

review doc

7c212bf

Merge pull request #150 from control-toolbox/135-general-configurable…

ad25bbc

…-problems Configurable problems

review cart pendulum

fe14f54

all pass except 4 broken tests

dc31c6c

ocots marked this pull request as ready for review September 15, 2025 15:30

ocots merged commit b80b7de into 88-dev-adding-models-for-exa Sep 15, 2025
1 of 3 checks passed

ocots deleted the 88-dev-adding-models-for-exa-olivier branch September 15, 2025 15:30

ocots mentioned this pull request Sep 25, 2025

[General] Release #158

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add tests#139

Add tests#139
ocots merged 36 commits into88-dev-adding-models-for-exafrom
88-dev-adding-models-for-exa-olivier

ocots commented Sep 8, 2025

Uh oh!

ocots commented Sep 9, 2025 •

edited

Loading

Uh oh!

ocots commented Sep 9, 2025 •

edited

Loading

Uh oh!

ocots commented Sep 10, 2025

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

Conversation

ocots commented Sep 8, 2025

Uh oh!

ocots commented Sep 9, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

ocots commented Sep 9, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Testing init

Uh oh!

ocots commented Sep 10, 2025

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

ocots commented Sep 9, 2025 •

edited

Loading

ocots commented Sep 9, 2025 •

edited

Loading