[Bug] Error matrix formulation #546
Description
@jbcaillau This code produces an error:
julia> x0 = [ 0
1 ]
2-element Vector{Int64}:
0
1
julia> A = [ 0 1
-1 0 ]
2×2 Matrix{Int64}:
0 1
-1 0
julia> B = [ 0
1 ]
2-element Vector{Int64}:
0
1
julia> Q = [ 1 0
0 1 ]
2×2 Matrix{Int64}:
1 0
0 1
julia> R = 1
1
julia> tf = 3
3
julia> ocp = @def begin
t ∈ [0, tf], time
x ∈ R², state
u ∈ R, control
x(0) == x0
ẋ(t) == A * x(t) + B * u(t)
0.5∫( x(t)' * Q * x(t) + u(t)' * R * u(t) ) → min
end
t ∈ [0, tf], time
x ∈ R², state
u ∈ R, control
x(0) == x0
ẋ(t) == A * x(t) + B * u(t)
0.5 * ∫((x(t))' * Q * x(t) + (u(t))' * R * u(t)) → min
The optimal control problem is of the form:
minimize J(x, u) = ∫ f⁰(t, x(t), u(t)) dt, over [0, 3]
subject to
ẋ(t) = f(t, x(t), u(t)), t in [0, 3] a.e.,
ϕ₋ ≤ ϕ(x(0), x(3)) ≤ ϕ₊,
where x(t) ∈ R² and u(t) ∈ R.
Declarations (* required):
╭────────┬────────┬──────────┬──────────┬───────────┬────────────┬─────────────╮
│ times* │ state* │ control* │ variable │ dynamics* │ objective* │ constraints │
├────────┼────────┼──────────┼──────────┼───────────┼────────────┼─────────────┤
│ V │ V │ V │ X │ V │ V │ V │
╰────────┴────────┴──────────┴──────────┴───────────┴────────────┴─────────────╯
julia> solve(ocp)
ERROR: Cannot determine ordering of Dual tags ForwardDiff.Tag{ReverseDiff.var"#131#134"{typeof(+), ForwardDiff.Dual{ForwardDiff.Tag{ADNLPModels.var"#ψ#72"{CTDirect.var"#14#16"{CTDirect.DOCP{CTDirect.Trapeze, Model{CTModels.TimesModel{CTModels.FixedTimeModel{Int64}, CTModels.FixedTimeModel{Int64}}, CTModels.StateModel, CTModels.ControlModel, CTModels.EmptyVariableModel, Main.var"Main".var"##484#5", CTModels.LagrangeObjectiveModel{Main.var"Main".var"##488#6"}, CTModels.ConstraintsModel{Tuple{Vector{Real}, CTModels.var"#path_cons_nl!#106"{Int64, Vector{Int64}, Tuple{}}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Main.var"Main".var"##478#4", Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}}}}}}, Float64}, Float64, 1}}, ForwardDiff.Dual{ForwardDiff.Tag{ADNLPModels.var"#ψ#72"{CTDirect.var"#14#16"{CTDirect.DOCP{CTDirect.Trapeze, Model{CTModels.TimesModel{CTModels.FixedTimeModel{Int64}, CTModels.FixedTimeModel{Int64}}, CTModels.StateModel, CTModels.ControlModel, CTModels.EmptyVariableModel, Main.var"Main".var"##484#5", CTModels.LagrangeObjectiveModel{Main.var"Main".var"##488#6"}, CTModels.ConstraintsModel{Tuple{Vector{Real}, CTModels.var"#path_cons_nl!#106"{Int64, Vector{Int64}, Tuple{}}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Main.var"Main".var"##478#4", Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}}}}}}, Float64}, Float64, 1}} and ForwardDiff.Tag{ADNLPModels.var"#ψ#72"{CTDirect.var"#14#16"{CTDirect.DOCP{CTDirect.Trapeze, Model{CTModels.TimesModel{CTModels.FixedTimeModel{Int64}, CTModels.FixedTimeModel{Int64}}, CTModels.StateModel, CTModels.ControlModel, CTModels.EmptyVariableModel, Main.var"Main".var"##484#5", CTModels.LagrangeObjectiveModel{Main.var"Main".var"##488#6"}, CTModels.ConstraintsModel{Tuple{Vector{Real}, CTModels.var"#path_cons_nl!#106"{Int64, Vector{Int64}, Tuple{}}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Main.var"Main".var"##478#4", Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}, Tuple{Vector{Real}, Vector{Int64}, Vector{Real}, Vector{Symbol}}}}}}}, Float64}