simplified boundary functions

JuDO-dev · May 31, 2024 · e6a50fb · e6a50fb
1 parent 0be8c04
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diff --git a/docs/Project.toml b/docs/Project.toml
@@ -1,3 +1,4 @@
 [deps]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+DocumenterInterLinks = "d12716ef-a0f6-4df4-a9f1-a5a34e75c656"
 DynOptInterface = "6c38235a-427b-4736-80fa-cf75909744ec"
diff --git a/docs/src/reference/abstractions.md b/docs/src/reference/abstractions.md
@@ -15,8 +15,8 @@ The following are sub-types of [`AbstractDynamicFunction`](@ref):
     * ``t_i \mapsto \dot{y}_j(t_i) - a(y(t_i), t_i, x)`` [`ExplicitDifferentialFunction`](@ref)
     * ``t_i \mapsto r(\dot{y}(t_i), y(t_i), t_i, x)`` [`NonlinearDifferentialFunction`](@ref)
 * [`AbstractBoundaryFunction`](@ref)
-    * ``t_i^0, t_i^f`` [`DomainInitial`](@ref), [`DomainFinal`](@ref)
-    * ``y_j(t_i^0), y_j(t_i^f)`` [`DynamicVariableInitial`](@ref), [`DynamicVariableFinal`](@ref)
+    * ``a(y(t_i^0), t_i^0, x)`` [`Initial`](@ref)
+    * ``a(y(t_i^f), t_i^f, x)`` [`Final`](@ref)
     * ``b(y(t^0), y(t^f), t^0, t^f, x)`` [`NonlinearBoundaryFunction`](@ref)
 * ``\int_{t_i^0}^{t_i^f} a(y(t_i), t_i, x) \mathrm{d}t_i`` [`IntegralFunction`](@ref)
 * ``b(y(t_i^0), y(t_i^f), t_i^0, t_i^f, x) + \int_{t_i^0}^{t_i^f} a(y(t_i), t_i, x) \mathrm{d}t_i`` [`BolzaFunction`](@ref)

diff --git a/docs/src/reference/boundary_functions.md b/docs/src/reference/boundary_functions.md
@@ -5,9 +5,7 @@ CurrentModule = DynOptInterface
 # Boundary Functions
 
 ```@docs
-DomainInitial
-DomainFinal
-DynamicVariableInitial
-DynamicVariableFinal
+Initial
+Final
 NonlinearBoundaryFunction
 ```
diff --git a/src/DynOptInterface.jl b/src/DynOptInterface.jl
@@ -9,7 +9,6 @@ include("algebraic_functions.jl")
 include("differential_functions.jl")
 include("boundary_functions.jl")
 include("integral_functions.jl")
-include("print.jl")
 
 
 end
diff --git a/src/algebraic_functions.jl b/src/algebraic_functions.jl
@@ -14,14 +14,56 @@ Each node in `args` can be one of the following:
 * Another [`NonlinearAlgebraicFunction`](@ref)
 """
 struct NonlinearAlgebraicFunction <: AbstractAlgebraicFunction
-    domain::DomainIndex
     head::Symbol
     args::Vector{Any}
+    t_i::DomainIndex
 
-    #=function NonlinearAlgebraicFunction(head::Symbol, args::AbstractVector)
+    function NonlinearAlgebraicFunction(head::Symbol, args::AbstractVector, t_i::DomainIndex)
+        for arg in args
+            if arg isa Real || arg isa MOI.VariableIndex
+                continue
+            elseif arg isa DomainIndex
+                arg.value == t_i.value ? continue : error("Different domains not allowed.")
 
-        # Check that all dynamic functions share the same domain index
+            elseif arg isa DynamicVariableIndex || arg isa NonlinearAlgebraicFunction
+                arg.t_i.value == t_i.value ? continue : error("Different domains not allowed.")
 
-        return new(head, convert(Vector{Any}, args))
-    end=#
+            else
+                error("Unsupported object: $arg")
+            end
+        end
+        return new(head, convert(Vector{Any}, args), t_i)
+    end
+end
+
+function _nonlinear_to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    nlf::NLF,
+) where {NLF}
+    io, stack, is_open = IOBuffer(), Any[nlf], true
+    while !isempty(stack)
+        arg = pop!(stack)
+        if !is_open && arg != ')'
+            print(io, ", ")
+        end
+        if arg isa NLF
+            print(io, arg.head, "(")
+            push!(stack, ')')
+            for i in length(arg.args):-1:1
+                push!(stack, arg.args[i])
+            end
+        elseif arg isa Char
+            print(io, arg)
+        else
+            print(io, MOI.Utilities._to_string(options, model, arg))
+        end
+        is_open = arg isa NLF
+    end
+    seekstart(io)
+    return read(io, String)
+end
+
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    naf::NonlinearAlgebraicFunction,
+)
+    return _nonlinear_to_string(options, model, naf)
 end
diff --git a/src/boundary_functions.jl b/src/boundary_functions.jl
@@ -1,70 +1,95 @@
 """
-    DomainInitial <: AbstractBoundaryFunction
+    Initial{AF<:AbstractAlgebraicFunction} <: AbstractBoundaryFunction
 
 ```math
-t_i^0
+a(y(t_i^0), t_i^0, x)
 ```
-Represents the initial point of a [`DomainIndex`](@ref).
+Represents the evaluation of an [`AbstractAlgebraicFunction`](@ref) at the initial 
+point of its domain. Common cases are:
+* ``t_i^0`` `Initial{DomainIndex}`
+* ``y_j(t_i^0)`` `Initial{DynamicVariableIndex}`
 """
-struct DomainInitial <: AbstractBoundaryFunction
-    index::DomainIndex
+struct Initial{AF<:AbstractAlgebraicFunction} <: AbstractBoundaryFunction
+    evaluand::AF
 end
 
-"""
-    DomainFinal <: AbstractBoundaryFunction
-
-```math
-t_i^f
-```
-Represents the final point of a [`DomainIndex`](@ref).
-"""
-struct DomainFinal <: AbstractBoundaryFunction
-    index::DomainIndex
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    initial::Initial,
+)
+    return string(
+        "Initial(", 
+        MOI.Utilities._to_string(options, model, initial.evaluand),
+        ")",
+    )
 end
 
 """
-    DynamicVariableInitial <: AbstractBoundaryFunction
+    Final{AF<:AbstractAlgebraicFunction} <: AbstractBoundaryFunction
 
 ```math
-y_j(t_i^0)
-```    
-Represents a [`DynamicVariableIndex`](@ref) evaluated at the initial point of its [`DomainIndex`](@ref)
+a(y(t_i^f), t_i^f, x)
+```
+Represents the evaluation of an [`AbstractAlgebraicFunction`](@ref) at the final 
+point of its domain. Common cases are:
+* ``t_i^f`` `Final{DomainIndex}`
+* ``y_j(t_i^f)`` `Final{DynamicVariableIndex}`
 """
-struct DynamicVariableInitial <: AbstractBoundaryFunction
-    variable_index::DynamicVariableIndex
+struct Final{AF<:AbstractAlgebraicFunction} <: AbstractBoundaryFunction
+    evaluand::AF
 end
 
-"""
-    DynamicVariableFinal <: AbstractBoundaryFunction
-
-```math
-y_j(t_i^f)
-```
-Represents a [`DynamicVariableIndex`](@ref) evaluated at the final point of its [`DomainIndex`](@ref)
-"""
-struct DynamicVariableFinal <: AbstractBoundaryFunction
-    variable_index::DynamicVariableIndex
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    final::Final,
+)
+    return string(
+        "Final(",
+        MOI.Utilities._to_string(options, model, final.evaluand),
+        ")",
+    )
 end
 
+const _NONLINEAR_BOUNDARY_TYPES = Union{
+    Real,
+    MOI.VariableIndex,
+    Initial{DomainIndex},
+    Final{DomainIndex},
+    Initial{DynamicVariableIndex},
+    Final{DynamicVariableIndex},
+}
+
 """
     NonlinearBoundaryFunction <: AbstractBoundaryFunction
     
 ```math
-b(y_j(t^0), y_j(t^f), t^0, t^f, x)
+b(y(t^0), y(t^f), t^0, t^f, x)
 ```
 Similar to [`MathOptInterface.ScalarNonlinearFunction`](@extref), 
 
 Each node in `args` can be one of the following:
 * A constant value of type `T<:Real`
 * A [`MathOptInterface.VariableIndex`](@extref)
-* A [`DomainInitial`](@ref)
-* A [`DomainFinal`](@ref)
-* A [`DynamicVariableInitial`](@ref)
-* A [`DynamicVariableFinal`](@ref)
+* An `Initial{DomainIndex}`
+* A `Final{DomainIndex}`
+* An `Initial{DynamicVariableIndex}`
+* A `Final{DynamicVariableIndex}`
 * Another [`NonlinearBoundaryFunction`](@ref)
 """
 struct NonlinearBoundaryFunction <: AbstractBoundaryFunction
     head::Symbol
     args::Vector{Any}
-    # Inner constructor to enforce rules
+
+    function NonlinearBoundaryFunction(head::Symbol, args::AbstractVector)
+        for arg in args
+            if !(arg isa _NONLINEAR_BOUNDARY_TYPES)
+                error("Unsupported object: $arg")
+            end
+        end
+        return new(head, convert(Vector{Any}, args), t_i)
+    end
+end
+
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    nbf::NonlinearBoundaryFunction,
+)
+    return _nonlinear_to_string(options, model, nbf)
 end
diff --git a/src/differential_functions.jl b/src/differential_functions.jl
@@ -7,7 +7,13 @@ t_i \\mapsto \\dot{y}_j(t_i)
 A derivative
 """
 struct DynamicVariableDerivative <: AbstractDifferentialFunction
-    variable_index::DynamicVariableIndex
+    y_j::DynamicVariableIndex
+end
+
+function MOI.Utilities._to_string(::MOI.Utilities._PrintOptions, ::MOI.ModelLike,
+    derivative::DynamicVariableDerivative,
+)
+    return string("ẏ[", derivative.y_j.value, "]")
 end
 
 """
@@ -22,6 +28,17 @@ struct ExplicitDifferentialFunction{AF<:AbstractAlgebraicFunction} <: AbstractDi
     algebraic_function::AF
 end
 
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    edf::ExplicitDifferentialFunction,
+)
+    return string(
+        MOI.Utilities._to_string(options, model, edf.derivative),
+        " - (",
+        MOI.Utilities._to_string(options, model, edf.algebraic_function),
+        ")",
+    )
+end
+
 """
     NonlinearDifferentialFunction <: AbstractDifferentialFunction
 
@@ -39,8 +56,33 @@ Each node in `args` can be one of the following:
 * Another [`NonlinearDifferentialFunction`](@ref)
 """
 struct NonlinearDifferentialFunction <: AbstractDifferentialFunction
-    domain::DomainIndex
     head::Symbol
     args::Vector{Any}
-    # Inner constructor to enforce rules
+    t_i::DomainIndex
+
+    function NonlinearDifferentialFunction(head::Symbol, args::AbstractVector, t_i::DomainIndex)
+        for arg in args
+            if arg isa Real || arg isa MOI.VariableIndex
+                continue
+            elseif arg isa DomainIndex
+                arg.value == t_i.value ? continue : error("Different domains not allowed.")
+
+            elseif arg isa DynamicVariableIndex || arg isa NonlinearDifferentialFunction
+                arg.t_i.value == t_i.value ? continue : error("Different domains not allowed.")
+
+            elseif arg isa DynamicVariableDerivative
+                arg.y_j.t_i.value == t_i.value ? continue : error("Different domains not allowed.")
+
+            else
+                error("Unsupported object: $arg")
+            end
+        end
+        return new(head, convert(Vector{Any}, args), t_i)
+    end
+end
+
+function MOI.Utilities._to_string(options::MOI.Utilities._PrintOptions, model::MOI.ModelLike,
+    ndf::NonlinearDifferentialFunction,
+)
+    return _nonlinear_to_string(options, model, ndf)
 end
diff --git a/src/domains.jl b/src/domains.jl
@@ -1,15 +1,21 @@
 """
-    DomainIndex <: AbstractDynamicFunction
+    DomainIndex <: AbstractAlgebraicFunction
 
 ```math
 t_i
 ```
 A type-safe wrapper for `Int64` for use in referencing domains.
 """
-struct DomainIndex <: AbstractDynamicFunction
+struct DomainIndex <: AbstractAlgebraicFunction
     value::Int64
 end
 
+function MOI.Utilities._to_string(::MOI.Utilities._PrintOptions, ::MOI.ModelLike,
+    t_i::DomainIndex
+)
+    return string("t[", t_i.value, "]")
+end
+
 """
     supports_domain(model::MOI.ModelLike)
 
@@ -42,33 +48,8 @@ MOI.operation_name(::AddDomainNotAllowed) = "Adding a domain"
 """
     add_domain(model::MOI.ModelLike)
 
-Add a domain to the model, returning a [`DomainIndex`](@ref). An
+Add a domain to `model`, returning a [`DomainIndex`](@ref). An
 [`AddDomainNotAllowed`](@ref) is thrown if a domain cannot be added
 to the `model` in its current state.
 """
-add_domain(::MOI.ModelLike) = throw(AddDomainNotAllowed(""))
-
-#=
-
-
-# Parameters
-@parameter(model, t_0)
-
-# Design Variables
-@variable(model, 1.0 ≤ t_f ≤ 2.0)
-
-# Time Domains
-@domain(model, t ∈ [0.0, t_f])
-add_domain()::Tuple{DomainIndex, ConstraintIndex, ConstraintIndex}
-# start(t) ∈ EqualTo
-# final(t) ∈ Interval
-
-# Algebraic Variables
-@algebraic(model, u(t))
-add_algebraic()::AlgebraicVariableIndex()
-
-# Differential Variable
-@differential(model, y(t))
-add_differential()::DynamicVariableIndex()
-
-=#
+add_domain(::MOI.ModelLike) = throw(AddDomainNotAllowed(""))
diff --git a/src/dynamic_variables.jl b/src/dynamic_variables.jl
@@ -8,7 +8,13 @@ A type-safe wrapper for `Int64` for use in referencing dynamic variables.
 """
 struct DynamicVariableIndex <: AbstractAlgebraicFunction
     value::Int64
-    domain::DomainIndex
+    t_i::DomainIndex
+end
+
+function MOI.Utilities._to_string(::MOI.Utilities._PrintOptions, ::MOI.ModelLike,
+    y_j::DynamicVariableIndex
+)
+    return string("y[", y_j.value, "]")
 end
 
 """
@@ -41,8 +47,10 @@ end
 MOI.operation_name(::AddDynamicVariableNotAllowed) = "Adding a dynamic variable"
 
 """
-    add_dynamic_variable(::MOI.ModelLike)
+    add_dynamic_variable(model::MOI.ModelLike)
 
-Add
+Add a dynamic variable to `model`, returning a [`DynamicVariableIndex`](@ref). An 
+[`AddDynamicVariableNotAllowed`](@ref) is thrown if a dynamic variable cannot be added
+to `model` in its current state.
 """
 add_dynamic_variable(::MOI.ModelLike) = throw(AddDynamicVariableNotAllowed(""))