Merge pull request #41 from ErikQQY/qqy/params

Add global trajectory parameters

docs/literate/man/params_in_struct.jl

@@ -0,0 +1,30 @@
+# # Add params in NamedTrajectory
+
+# NamedTrajectory.jl support passing parameters as a Tuple when construct a `NamedTrajectory`.
+
+using NamedTrajectories
+
+# First we need to define number of timesteps and timestep
+T = 10
+dt = 0.1
+
+# then build named tuple of components and data matrices.
+components = (
+    x = rand(3, T),
+    u = rand(2, T),
+    Δt = fill(dt, 1, T),
+)
+
+# we must specify a timestep and control variable for the trajectory.
+
+timestep = 0.1
+control = :u
+
+# some global params as a NamedTuple
+params = (
+    α = rand(1),
+    β = rand(1)
+)
+
+# we can now create a `NamedTrajectory` object with parameters specification.
+traj = NamedTrajectory(components; timestep=timestep, controls=control, params=params)

docs/make.jl

@@ -9,11 +9,13 @@ pages = [
     "Quickstart Guide" => "generated/quickstart.md",
     "Manual" => [
         "generated/man/constructors.md",
+         "generated/man/params_in_struct.md",
     #     "generated/man/retrieval.md",
     #     "generated/man/add_remove.md",
     #     "generated/man/updating.md",
     #     "generated/man/times.md",
     #     "generated/man/operations.md",
+
     ],
     "Plotting" => "generated/plotting.md",
     "Library" => "lib.md"

docs/src/generated/man/params_in_struct.md

@@ -0,0 +1,55 @@
+```@meta
+EditURL = "../../../literate/man/params_in_struct.jl"
+```
+
+# Add params in NamedTrajectory
+
+NamedTrajectory.jl support passing parameters as a Tuple when construct a `NamedTrajectory`.
+
+````@example params_in_struct
+using NamedTrajectories
+````
+
+First we need to define number of timesteps and timestep
+
+````@example params_in_struct
+T = 10
+dt = 0.1
+````
+
+then build named tuple of components and data matrices.
+
+````@example params_in_struct
+components = (
+    x = rand(3, T),
+    u = rand(2, T),
+    Δt = fill(dt, 1, T),
+)
+````
+
+we must specify a timestep and control variable for the trajectory.
+
+````@example params_in_struct
+timestep = 0.1
+control = :u
+````
+
+some global params as a NamedTuple
+
+````@example params_in_struct
+params = (
+    α = rand(1),
+    β = rand(1)
+)
+````
+
+we can now create a `NamedTrajectory` object with parameters specification.
+
+````@example params_in_struct
+traj = NamedTrajectory(components; timestep=timestep, controls=control, params=params)
+````
+
+---
+
+*This page was generated using [Literate.jl](https://github.com/fredrikekre/Literate.jl).*
+

src/struct_named_trajectory.jl

@@ -23,6 +23,7 @@ mutable struct NamedTrajectory{R <: Real}
     final::NamedTuple{fnames, <:Tuple{Vararg{AbstractVector{R}}}} where fnames
     goal::NamedTuple{gnames, <:Tuple{Vararg{AbstractVector{R}}}} where gnames
     components::NamedTuple{cnames, <:Tuple{Vararg{AbstractVector{Int}}}} where cnames
+    params::NamedTuple{pnames, <:Tuple{Vararg{AbstractVector{R}}}} where pnames
     names::Tuple{Vararg{Symbol}}
     state_names::Tuple{Vararg{Symbol}}
     control_names::Tuple{Vararg{Symbol}}
@@ -49,6 +50,7 @@ function NamedTrajectory(
     initial=(;),
     final=(;),
     goal=(;),
+    params=(;),
 ) where R <: Real
     controls = controls isa Symbol ? (controls,) : controls
 
@@ -167,6 +169,7 @@ function NamedTrajectory(
         final,
         goal,
         comps,
+        params,
         names,
         state_names,
         controls
@@ -221,6 +224,7 @@ function NamedTrajectory(
     initial=(;),
     final=(;),
     goal=(;),
+    params=(;),
 ) where R <: Real
     controls = (controls isa Symbol) ? (controls,) : controls
 
@@ -291,6 +295,7 @@ function NamedTrajectory(
         final,
         goal,
         components,
+        params,
         names,
         state_names,
         controls
@@ -328,6 +333,7 @@ function NamedTrajectory(
         Z.final,
         Z.goal,
         Z.components,
+        Z.params,
         Z.names,
         Z.state_names,
         Z.control_names
@@ -365,6 +371,7 @@ function NamedTrajectory(
         traj.final,
         traj.goal,
         traj.components,
+        traj.params,
         traj.names,
         traj.state_names,
         traj.control_names
@@ -416,6 +423,7 @@ function NamedTrajectory(
     initial = NamedTuple([(k => traj.initial[k]) for k ∈ keys(comps) if k ∈ keys(traj.initial)])
     final = NamedTuple([(k => traj.final[k]) for k ∈ keys(comps) if k ∈ keys(traj.final)])
     goal = NamedTuple([(k => traj.goal[k]) for k ∈ keys(comps) if k ∈ keys(traj.goal)])
+    params = NamedTuple([(k => traj.params[k]) for k ∈ keys(comps) if k ∈ keys(traj.params)])
 
     return NamedTrajectory(
         comps;
@@ -425,6 +433,7 @@ function NamedTrajectory(
         initial=initial,
         final=final,
         goal=goal,
+        params
     )
 
 end

test/test_constructor.jl

@@ -0,0 +1,28 @@
+"""
+test: struct_named_trajectory.jl
+"""
+
+@testset "testing constructor" begin
+    # define number of timesteps and timestep
+    T = 10
+    dt = 0.1
+
+    components = (
+    x = rand(3, T),
+    u = rand(2, T),
+    Δt = fill(dt, 1, T),
+    )
+
+    timestep = 0.1
+    control = :u
+
+    # some global params as a NamedTuple
+    params = (
+        α = rand(1),
+        β = rand(1)
+    )
+
+    traj = NamedTrajectory(components; timestep=timestep, controls=control, params=params)
+
+    @test traj.params == params
+end