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Show args and kwargs in Problem init explicitly #130

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Feb 28, 2024
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Show args and kwargs in Problem init explicitly #130

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17 changes: 13 additions & 4 deletions opty/direct_collocation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,12 @@ class Problem(cyipopt.Problem):
INF = 10e19

@_doc_inherit
def __init__(self, obj, obj_grad, *args, **kwargs):
def __init__(self, obj, obj_grad, equations_of_motion, state_symbols,
num_collocation_nodes, node_time_interval,
known_parameter_map={}, known_trajectory_map={},
instance_constraints=None, time_symbol=None, tmp_dir=None,
integration_method='backward euler', parallel=False,
bounds=None):
"""

Parameters
Expand All @@ -110,10 +115,14 @@ def __init__(self, obj, obj_grad, *args, **kwargs):

"""

self.bounds = kwargs.pop('bounds', None)

self.collocator = ConstraintCollocator(*args, **kwargs)
self.collocator = ConstraintCollocator(
equations_of_motion, state_symbols, num_collocation_nodes,
node_time_interval, known_parameter_map, known_trajectory_map,
instance_constraints, time_symbol, tmp_dir, integration_method,
parallel
)
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self.bounds = bounds
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self.obj = obj
self.obj_grad = obj_grad
self.con = self.collocator.generate_constraint_function()
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