fixed_init

Nico77310 · Nico77310 · commit 5ba5fe753b58 · 2025-07-09T16:22:13.000+02:00
diff --git a/available_problems_cache.txt b/available_problems_cache.txt
@@ -1,3 +1 @@
 dielectrophoretic_particle
-jackson
-rocket
diff --git a/ext/JuMPModels/cart_pendulum.jl b/ext/JuMPModels/cart_pendulum.jl
@@ -21,13 +21,13 @@ function OptimalControlProblems.cart_pendulum(::JuMPBackend; nh::Int64=100)
     @variables(
         model,
         begin
-            0.0 <= tf
-            ddx
-            -max_x <= x[0:nh] <= max_x
-            -max_v <= dx[0:nh] <= max_v
-            theta[0:nh]
-            omega[0:nh]
-            -max_f <= Fex[0:nh] <= max_f
+            0.0 <= tf, (start = 0.1)
+            ddx, (start = 0.1)
+            -max_x <= x[0:nh] <= max_x, (start = 0.1)
+            -max_v <= dx[0:nh] <= max_v, (start = 0.1)
+            theta[0:nh], (start = 0.1)
+            omega[0:nh], (start = 0.1)
+            -max_f <= Fex[0:nh] <= max_f, (start = 0.1)
         end
     )
 
diff --git a/ext/JuMPModels/double_oscillator.jl b/ext/JuMPModels/double_oscillator.jl
@@ -19,11 +19,11 @@ function OptimalControlProblems.double_oscillator(::JuMPBackend; nh::Int=100)
     @variables(
         model,
         begin
-            x1[0:nh]
-            x2[0:nh]
-            x3[0:nh]
-            x4[0:nh]
-            -1.0 <= u[0:nh] <= 1.0
+            x1[0:nh], (start = 0.1)
+            x2[0:nh], (start = 0.1)
+            x3[0:nh], (start = 0.1)
+            x4[0:nh], (start = 0.1)
+            -1.0 <= u[0:nh] <= 1.0, (start = 0.1)
         end
     )
 
diff --git a/ext/JuMPModels/ducted_fan.jl b/ext/JuMPModels/ducted_fan.jl
@@ -14,14 +14,14 @@ function OptimalControlProblems.ducted_fan(::JuMPBackend; nh::Int=100)
 
     model = Model()
 
-    @variable(model, x1[0:nh])
-    @variable(model, v1[0:nh])
-    @variable(model, x2[0:nh])
-    @variable(model, v2[0:nh])
-    @variable(model, -deg2rad(30.0) <= α[0:nh] <= deg2rad(30.0)) # radian
-    @variable(model, vα[0:nh])
-    @variable(model, -5.0 <= u1[0:nh] <= 5.0) # [nh]
-    @variable(model, 0.0 <= u2[0:nh] <= 17.0) # [nh]
+    @variable(model, x1[0:nh], start = 0.1)
+    @variable(model, v1[0:nh], start = 0.1)
+    @variable(model, x2[0:nh], start = 0.1)
+    @variable(model, v2[0:nh], start = 0.1)
+    @variable(model, -deg2rad(30.0) <= α[0:nh] <= deg2rad(30.0), start = 0.1) # radian
+    @variable(model, vα[0:nh], start = 0.1)
+    @variable(model, -5.0 <= u1[0:nh] <= 5.0, start = 0.1) # [nh]
+    @variable(model, 0.0 <= u2[0:nh] <= 17.0, start = 0.1) # [nh]
     @variable(model, 0 <= tf, start = 1.0)
 
     @objective(model, Min, tf / nh * sum(2 * u1[t]^2 + u2[t]^2 for t in 0:nh) + μ * tf)
diff --git a/ext/JuMPModels/electrical_vehicle.jl b/ext/JuMPModels/electrical_vehicle.jl
@@ -18,9 +18,9 @@ function OptimalControlProblems.electrical_vehicle(::JuMPBackend; nh::Int=100)
 
     model = Model()
 
-    @variable(model, x[0:nh])
-    @variable(model, v[0:nh])
-    @variable(model, u[0:nh])
+    @variable(model, x[0:nh], start = 0.1)
+    @variable(model, v[0:nh], start = 0.1)
+    @variable(model, u[0:nh], start = 0.1)
 
     @objective(model, Min, sum(b1 * u[t] * v[t] + b2 * u[t]^2 for t in 0:nh))
 
diff --git a/ext/JuMPModels/moonlander.jl b/ext/JuMPModels/moonlander.jl
@@ -23,14 +23,14 @@ function OptimalControlProblems.moonlander(
     @variables(
         model,
         begin
-            0.0 <= step
+            0.0 <= step, (start = 0.1)
             # state variables
-            p1[k=0:nh]
-            p2[k=0:nh]
-            dp1[k=0:nh]
-            dp2[k=0:nh]
-            theta[k=0:nh]
-            dtheta[k=0:nh]
+            p1[k=0:nh], (start = 0.1)
+            p2[k=0:nh], (start = 0.1)
+            dp1[k=0:nh], (start = 0.1)
+            dp2[k=0:nh], (start = 0.1)
+            theta[k=0:nh], (start = 0.1)
+            dtheta[k=0:nh], (start = 0.1)
             # control variables
             0 <= F1[k=0:nh] <= max_thrust, (start = 5.0)
             0 <= F2[k=0:nh] <= max_thrust, (start = 5.0)
diff --git a/ext/JuMPModels/quadrotor.jl b/ext/JuMPModels/quadrotor.jl
@@ -22,17 +22,17 @@ function OptimalControlProblems.quadrotor(::JuMPBackend; nh::Int64=60)
     @variables(
         model,
         begin
-            0.0 <= tf
-            p1[0:nh]
-            p2[0:nh]
-            p3[0:nh]
-            v1[0:nh]
-            v2[0:nh]
-            v3[0:nh]
+            0.0 <= tf, (start = 0.1)
+            p1[0:nh], (start = 0.1)
+            p2[0:nh], (start = 0.1)
+            p3[0:nh], (start = 0.1)
+            v1[0:nh], (start = 0.1)
+            v2[0:nh], (start = 0.1)
+            v3[0:nh], (start = 0.1)
             atmin <= at[0:nh] <= atmax, (start = 10.0)
-            -pi / 2 <= ϕ[0:nh] <= pi / 2
-            -pi / 2 <= θ[0:nh] <= pi / 2
-            ψ[0:nh]
+            -pi / 2 <= ϕ[0:nh] <= pi / 2, (start = 0.1)
+            -pi / 2 <= θ[0:nh] <= pi / 2, (start = 0.1)
+            ψ[0:nh], (start = 0.1)
         end
     )
 
diff --git a/ext/JuMPModels/truck_trailer.jl b/ext/JuMPModels/truck_trailer.jl
@@ -40,16 +40,16 @@ function OptimalControlProblems.truck_trailer(
         model,
         begin
             # Final time
-            0.0 <= tf
+            0.0 <= tf, (start = 0.1)
             # State variables
-            x2[0:nh]
-            y2[0:nh]
+            x2[0:nh], (start = 0.1)
+            y2[0:nh], (start = 0.1)
             -pi / 2 <= theta0[0:nh] <= pi / 2, (start = 0.1)
             -pi / 2 <= theta1[0:nh] <= pi / 2, (start = 0.0)
             theta2[0:nh], (start = 0.0)
             # Control variables
             -0.2 * speedf <= v0[0:nh] <= 0.2 * speedf, (start = -0.2)
-            -pi / 6 <= delta0[0:nh] <= pi / 6
+            -pi / 6 <= delta0[0:nh] <= pi / 6, (start = 0.1)
         end
     )
 
diff --git a/ext/JuMPModels/vanderpol.jl b/ext/JuMPModels/vanderpol.jl
@@ -13,9 +13,9 @@ function OptimalControlProblems.vanderpol(::JuMPBackend; nh::Int=100)
     @variables(
         model,
         begin
-            x1[0:nh]
-            x2[0:nh]
-            u[0:nh]
+            x1[0:nh], (start = 0.1)
+            x2[0:nh], (start = 0.1)
+            u[0:nh], (start = 0.1)
             step[0:nh] == tf / nh
         end
     )
diff --git a/ext/OptimalControlModels/cart_pendulum.jl b/ext/OptimalControlModels/cart_pendulum.jl
@@ -90,7 +90,10 @@ function OptimalControlProblems.cart_pendulum(::OptimalControlBackend; nh::Int=1
     end
 
     # initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1, 0.1]  # [x1, dx, theta, omega]
+    uinit = [0.1]  # [Fex]
+    varinit = [0.1, 0.1]  # [tf, ddx]
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/double_oscillator.jl b/ext/OptimalControlModels/double_oscillator.jl
@@ -55,7 +55,9 @@ function OptimalControlProblems.double_oscillator(::OptimalControlBackend; nh::I
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1, 0.1]  # [x1, x2, x3, x4]
+    uinit = [0.1]  # [u]
+    init = (state=xinit, control=uinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/ducted_fan.jl b/ext/OptimalControlModels/ducted_fan.jl
@@ -77,7 +77,10 @@ function OptimalControlProblems.ducted_fan(::OptimalControlBackend; nh::Int=100)
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]  # [x1, v1, x2, v2, α, vα]
+    uinit = [0.1, 0.1]  # [u1, u2]
+    varinit = [1.0]  # [tf] 
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/electrical_vehicle.jl b/ext/OptimalControlModels/electrical_vehicle.jl
@@ -59,7 +59,9 @@ function OptimalControlProblems.electrical_vehicle(::OptimalControlBackend; nh::
     end
 
     ## Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1]  # [pos, v]
+    uinit = [0.1]  # [u]
+    init = (state=xinit, control=uinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/insurance.jl b/ext/OptimalControlModels/insurance.jl
@@ -71,7 +71,10 @@ function OptimalControlProblems.insurance(::OptimalControlBackend; nh::Int=100)
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1]  # [I, m, x3]
+    uinit = [0.1, 0.1, 0.1, 0.1, 0.1]  # [h, R, H, U, dUdR]
+    varinit = [0.1]  # [P]
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/jackson.jl b/ext/OptimalControlModels/jackson.jl
@@ -27,7 +27,9 @@ function OptimalControlProblems.jackson(::OptimalControlBackend; nh::Int=100, N:
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1]  # [a, b, x3]
+    uinit = [0.1]  # [u]
+    init = (state=xinit, control=uinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/moonlander.jl b/ext/OptimalControlModels/moonlander.jl
@@ -86,7 +86,10 @@ function OptimalControlProblems.moonlander(
     end
 
     # Initial guess
-    init = (control=[5.0, 5.0],)
+    xinit = t -> [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]  # [p1, p2, dp1, dp2, theta, dtheta]
+    uinit = [5.0, 5.0]  # [F1, F2] 
+    varinit = [0.1]  # [tf] 
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/quadrotor.jl b/ext/OptimalControlModels/quadrotor.jl
@@ -108,7 +108,10 @@ function OptimalControlProblems.quadrotor(::OptimalControlBackend; nh::Int=60)
     end
 
     # Initial guess
-    init = (control=[10, 0.0, 0.0, 0.0],)
+    xinit = t -> [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]  # [p1, p2, p3, v1, v2, v3, ϕ, θ]
+    uinit = [10.0, 0.1, 0.1, 0.1]  # [at, ϕ_dot, θ_dot, ψ] 
+    varinit = [0.1]  # [tf]
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/robbins.jl b/ext/OptimalControlModels/robbins.jl
@@ -21,7 +21,9 @@ function OptimalControlProblems.robbins(::OptimalControlBackend; nh::Int=100, N:
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1, 0.1]  # [x1, x2, x3]
+    uinit = [0.1]  # [u]
+    init = (state=xinit, control=uinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/truck_trailer.jl b/ext/OptimalControlModels/truck_trailer.jl
@@ -131,7 +131,10 @@ function OptimalControlProblems.truck_trailer(
     end
 
     # Initial guess
-    init = (state=[0, 0, 0.1, 0.0, 0.0, -0.2, 0],)
+    xinit = t -> [0.1, 0.1, 0.1, 0.0, 0.0, -0.2, 0.1]  # [x2, y2, theta0, theta1, theta2, v0, delta0]
+    uinit = [0.1, 0.1]  # [d_v0, d_delta0]
+    varinit = [0.1]  # [tf]
+    init = (state=xinit, control=uinit, variable=varinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/ext/OptimalControlModels/vanderpol.jl b/ext/OptimalControlModels/vanderpol.jl
@@ -18,7 +18,9 @@ function OptimalControlProblems.vanderpol(::OptimalControlBackend; nh::Int=100)
     end
 
     # Initial guess
-    init = ()
+    xinit = t -> [0.1, 0.1]  # [x1, x2]
+    uinit = [0.1]  # [u]
+    init = (state=xinit, control=uinit)
 
     # NLPModel + DOCP
     docp, nlp = direct_transcription(ocp; init=init, grid_size=nh)
diff --git a/test/figures/double_oscillator.png b/test/figures/double_oscillator.png
diff --git a/test/figures/ducted_fan.png b/test/figures/ducted_fan.png
diff --git a/test/figures/electrical_vehicle.png b/test/figures/electrical_vehicle.png
diff --git a/test/figures/quadrotor.png b/test/figures/quadrotor.png
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -25,7 +25,7 @@ functions_list = filter(
         isdefined(OptimalControlProblems, x) &&
             isa(getfield(OptimalControlProblems, x), Function) &&
             !startswith(string(x), "#") &&
-            !(x in [:eval, :include]),
+            !(x in [:eval, :include, :available_problems]),
     all_names,
 )
 
@@ -51,9 +51,7 @@ const verbose = true # print or not details during tests
         :aqua, 
         :JuMP,                  # convergence tests for JuMP models
         :OptimalControl,        # convergence tests for OptimalControl models
-        :comparison_solution,   # comparison between OptimalControl and JuMP in terms of solutions
-        :comparison_init,       # comparison between OptimalControl and JuMP in terms of init guess
-        :comparison_objective,  # comparison between OptimalControl and JuMP in terms of objective
+        :Comparison,            # comparison between OptimalControl and JuMP 
         )
         @testset "$(name)" verbose=verbose begin
             test_name = Symbol(:test_, name)
diff --git a/test/test_Comparison.jl b/test/test_Comparison.jl
diff --git a/test/test_comparison_init.jl b/test/test_comparison_init.jl
diff --git a/test/test_comparison_objective.jl b/test/test_comparison_objective.jl
diff --git a/test/test_comparison_solution.jl b/test/test_comparison_solution.jl

Original file line number	Diff line number	Diff line change
`@@ -1,3 +1 @@`
`1`	`1`	`dielectrophoretic_particle`
`2`		`-jackson`
`3`		`-rocket`