From 4169c6b945beb36cea0c9550e103ef96ac47f82d Mon Sep 17 00:00:00 2001 From: "Documenter.jl" Date: Fri, 26 Jul 2024 21:09:56 +0000 Subject: [PATCH] build based on f5574a5 --- stable | 2 +- v0.15 | 2 +- v0.15.16/.documenter-siteinfo.json | 1 + v0.15.16/api/index.html | 131 ++ v0.15.16/assets/DiffEqFlux.gif | Bin 0 -> 519332 bytes .../adaptive_control_nominal.png | Bin 0 -> 111933 bytes .../adaptive_control_plant.png | Bin 0 -> 71793 bytes .../adaptive_control_rohrs_nominal.png | Bin 0 -> 97092 bytes .../adaptive_control_rohrs_truth.png | Bin 0 -> 71466 bytes .../adaptive_control_truth.png | Bin 0 -> 104477 bytes v0.15.16/assets/coulomb_control.png | Bin 0 -> 66278 bytes v0.15.16/assets/documenter.js | 1050 +++++++++++++++++ v0.15.16/assets/simple_coulomb.png | Bin 0 -> 13823 bytes v0.15.16/assets/themes/documenter-dark.css | 7 + v0.15.16/assets/themes/documenter-light.css | 9 + v0.15.16/assets/themeswap.js | 84 ++ v0.15.16/assets/warner.js | 52 + v0.15.16/examples/DiffEqFlux/index.html | 49 + v0.15.16/examples/ODE_jac/index.html | 102 ++ v0.15.16/examples/adaptive_control/index.html | 154 +++ v0.15.16/examples/coulomb_control/index.html | 154 +++ v0.15.16/index.html | 2 + v0.15.16/indexing_behavior/index.html | 45 + v0.15.16/objects.inv | Bin 0 -> 1204 bytes v0.15.16/quickstart/index.html | 53 + v0.15.16/search_index.js | 3 + v0.15.16/siteinfo.js | 1 + v0.15.16/static_unpack/index.html | 20 + versions.js | 2 +- 29 files changed, 1920 insertions(+), 3 deletions(-) create mode 100644 v0.15.16/.documenter-siteinfo.json create mode 100644 v0.15.16/api/index.html create mode 100644 v0.15.16/assets/DiffEqFlux.gif create mode 100644 v0.15.16/assets/adaptive_control/adaptive_control_nominal.png create mode 100644 v0.15.16/assets/adaptive_control/adaptive_control_plant.png create mode 100644 v0.15.16/assets/adaptive_control/adaptive_control_rohrs_nominal.png create mode 100644 v0.15.16/assets/adaptive_control/adaptive_control_rohrs_truth.png create mode 100644 v0.15.16/assets/adaptive_control/adaptive_control_truth.png create mode 100644 v0.15.16/assets/coulomb_control.png create mode 100644 v0.15.16/assets/documenter.js create mode 100644 v0.15.16/assets/simple_coulomb.png create mode 100644 v0.15.16/assets/themes/documenter-dark.css create mode 100644 v0.15.16/assets/themes/documenter-light.css create mode 100644 v0.15.16/assets/themeswap.js create mode 100644 v0.15.16/assets/warner.js create mode 100644 v0.15.16/examples/DiffEqFlux/index.html create mode 100644 v0.15.16/examples/ODE_jac/index.html create mode 100644 v0.15.16/examples/adaptive_control/index.html create mode 100644 v0.15.16/examples/coulomb_control/index.html create mode 100644 v0.15.16/index.html create mode 100644 v0.15.16/indexing_behavior/index.html create mode 100644 v0.15.16/objects.inv create mode 100644 v0.15.16/quickstart/index.html create mode 100644 v0.15.16/search_index.js create mode 100644 v0.15.16/siteinfo.js create mode 100644 v0.15.16/static_unpack/index.html diff --git a/stable b/stable index 496bc26d..805c1733 120000 --- a/stable +++ b/stable @@ -1 +1 @@ -v0.15.15 \ No newline at end of file +v0.15.16 \ No newline at end of file diff --git a/v0.15 b/v0.15 index 496bc26d..805c1733 120000 --- a/v0.15 +++ b/v0.15 @@ -1 +1 @@ -v0.15.15 \ No newline at end of file +v0.15.16 \ No newline at end of file diff --git a/v0.15.16/.documenter-siteinfo.json b/v0.15.16/.documenter-siteinfo.json new file mode 100644 index 00000000..873009ca --- /dev/null +++ b/v0.15.16/.documenter-siteinfo.json @@ -0,0 +1 @@ +{"documenter":{"julia_version":"1.6.7","generation_timestamp":"2024-07-26T21:09:50","documenter_version":"1.3.0"}} \ No newline at end of file diff --git a/v0.15.16/api/index.html b/v0.15.16/api/index.html new file mode 100644 index 00000000..6f291a13 --- /dev/null +++ b/v0.15.16/api/index.html @@ -0,0 +1,131 @@ + +API · ComponentArrays.jl

API

ComponentArrays.Axis — Type
ax = Axis(nt::NamedTuple)

Gives named component access for ComponentArrays.

Examples

julia> using ComponentArrays
+
+julia> ax = Axis((a = 1, b = ViewAxis(2:7, PartitionedAxis(2, (a = 1, b = 2))), c = ViewAxis(8:10, (a = 1, b = 2:3))));
+
+julia> A = [100, 4, 1.3, 1, 1, 4.4, 0.4, 2, 1, 45];
+
+julia> ca = ComponentArray(A, ax)
+ComponentVector{Float64}(a = 100.0, b = [(a = 4.0, b = 1.3), (a = 1.0, b = 1.0), (a = 4.4, b = 0.4)], c = (a = 2.0, b = [1.0, 45.0]))
+
+julia> ca.a
+100.0
+
+julia> ca.b
+3-element LazyArray{ComponentVector{Float64,SubArray...}}:
+ ComponentVector{Float64,SubArray...}(a = 4.0, b = 1.3)
+ ComponentVector{Float64,SubArray...}(a = 1.0, b = 1.0)
+ ComponentVector{Float64,SubArray...}(a = 4.4, b = 0.4)
+
+julia> ca.c
+ComponentVector{Float64,SubArray...}(a = 2.0, b = [1.0, 45.0])
+
+julia> ca.c.b
+2-element view(::Vector{Float64}, 9:10) with eltype Float64:
+  1.0
+ 45.0
source
ComponentArrays.ComponentArray — Type
x = ComponentArray(nt::NamedTuple)
+x = ComponentArray(;kwargs...)
+x = ComponentArray(data::AbstractVector, ax)
+x = ComponentArray{T}(args...; kwargs...) where T

Array type that can be accessed like an arbitrary nested mutable struct.

Examples

julia> using ComponentArrays
+
+julia> x = ComponentArray(a=1, b=[2, 1, 4], c=(a=2, b=[1, 2]))
+ComponentVector{Int64}(a = 1, b = [2, 1, 4], c = (a = 2, b = [1, 2]))
+
+julia> x.c.a = 400; x
+ComponentVector{Int64}(a = 1, b = [2, 1, 4], c = (a = 400, b = [1, 2]))
+
+julia> x[5]
+400
+
+julia> collect(x)
+7-element Vector{Int64}:
+   1
+   2
+   1
+   4
+ 400
+   1
+   2
source
ComponentArrays.ComponentMatrix — Type
x = ComponentMatrix(data::AbstractMatrix, ax...)
+x = ComponentMatrix{T}(data::AbstractMatrix, ax...) where T

A ComponentMatrix is an alias for a two-dimensional ComponentArray.

source
ComponentArrays.ComponentVector — Type
x = ComponentVector(nt::NamedTuple)
+x = ComponentVector(;kwargs...)
+x = ComponentVector(data::AbstractVector, ax)
+x = ComponentVector{T}(args...; kwargs...) where T

A ComponentVector is an alias for a one-dimensional ComponentArray.

source
ComponentArrays.LazyArray — Type
LazyArray(gen::Base.Generator)

Wrapper around Base.Generator that also indexes like an array. This is needed to make ComponentArrays that hold arrays of ComponentArrays

source
ComponentArrays.ShapedAxis — Type
sa = ShapedAxis(shape)

Preserves higher-dimensional array components in ComponentArrays (matrix components, for example)

source
ComponentArrays.getaxes — Method
getaxes(x::ComponentArray)

Access .axes field of a ComponentArray. This is different than axes(x::ComponentArray), which returns the axes of the contained array.

Examples

julia> using ComponentArrays
+
+julia> ax = Axis(a=1:3, b=(4:6, (a=1, b=2:3)))
+Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3)))
+
+julia> A = zeros(6,6);
+
+julia> ca = ComponentArray(A, (ax, ax))
+6×6 ComponentMatrix{Float64} with axes Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))) × Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3)))
+ 0.0  0.0  0.0  0.0  0.0  0.0
+ 0.0  0.0  0.0  0.0  0.0  0.0
+ 0.0  0.0  0.0  0.0  0.0  0.0
+ 0.0  0.0  0.0  0.0  0.0  0.0
+ 0.0  0.0  0.0  0.0  0.0  0.0
+ 0.0  0.0  0.0  0.0  0.0  0.0
+
+julia> getaxes(ca)
+(Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))), Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))))
source
ComponentArrays.getdata — Method
getdata(x::ComponentArray)

Access .data field of a ComponentArray, which contains the array that ComponentArray wraps.

source
ComponentArrays.label2index — Method
label2index(x::ComponentVector, str::AbstractString)
+label2index(label_array, str::AbstractString)

Convert labels made by labels function to an array of flat indices of a ComponentVector.

Examples

julia> x = ComponentArray(a=5, b=[(a=(a=20,b=1), b=0), (a=(a=33,b=1), b=0)], c=(a=(a=2, b=[1,2]), b=[1. 2.; 5 6]))
+ComponentVector{Float64}(a = 5.0, b = [(a = (a = 20.0, b = 1.0), b = 0.0), (a = (a = 33.0, b = 1.0), b = 0.0)], c = (a = (a = 2.0, b = [1.0, 2.0]), b = [1.0 2.0; 5.0 6.0]))
+
+julia> ComponentArrays.labels(x)
+14-element Vector{String}:
+ "a"
+ "b[1].a.a"
+ "b[1].a.b"
+ "b[1].b"
+ "b[2].a.a"
+ "b[2].a.b"
+ "b[2].b"
+ "c.a.a"
+ "c.a.b[1]"
+ "c.a.b[2]"
+ "c.b[1,1]"
+ "c.b[2,1]"
+ "c.b[1,2]"
+ "c.b[2,2]"
+
+julia> ComponentArrays.label2index(x, "c.a")
+3-element Vector{Int64}:
+  8
+  9
+ 10
+
+julia> ComponentArrays.label2index(x, "b[1]")
+3-element Vector{Int64}:
+ 2
+ 3
+ 4

see also labels

source
ComponentArrays.labels — Method
labels(x::ComponentVector)

Get string labels for for each index of a ComponentVector. Useful for automatic plot legend labelling.

Examples

julia> x = ComponentArray(a=5, b=[(a=(a=20,b=1), b=0), (a=(a=33,b=1), b=0)], c=(a=(a=2, b=[1,2]), b=[1. 2.; 5 6]))
+ComponentVector{Float64}(a = 5.0, b = [(a = (a = 20.0, b = 1.0), b = 0.0), (a = (a = 33.0, b = 1.0), b = 0.0)], c = (a = (a = 2.0, b = [1.0, 2.0]), b = [1.0 2.0; 5.0 6.0]))
+
+julia> ComponentArrays.labels(x)
+14-element Vector{String}:
+ "a"
+ "b[1].a.a"
+ "b[1].a.b"
+ "b[1].b"
+ "b[2].a.a"
+ "b[2].a.b"
+ "b[2].b"
+ "c.a.a"
+ "c.a.b[1]"
+ "c.a.b[2]"
+ "c.b[1,1]"
+ "c.b[2,1]"
+ "c.b[1,2]"
+ "c.b[2,2]"

see also label2index

source
ComponentArrays.valkeys — Method
valkeys(x::ComponentVector)
+valkeys(x::AbstractAxis)

Returns Val-wrapped keys of ComponentVector for fast iteration over component keys. Also works directly on an AbstractAxis.

Examples

julia> using ComponentArrays
+
+julia> ca = ComponentArray(a=1, b=[1,2,3], c=(a=4,))
+ComponentVector{Int64}(a = 1, b = [1, 2, 3], c = (a = 4))
+
+julia> [ca[k] for k in valkeys(ca)]
+3-element Array{Any,1}:
+ 1
+  [1, 2, 3]
+  ComponentVector{Int64,SubArray...}(a = 4)
+
+julia> sum(prod(ca[k]) for k in valkeys(ca))
+11
source
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.addClass("fa-chevron-down"); + + articleToggleTitle = "Collapse docstring"; + } + + $(this) + .find(".docstring-article-toggle-button") + .prop("title", articleToggleTitle); + $(this).siblings("section").slideToggle(); + }); +}); + +$(document).on("click", ".docs-article-toggle-button", function (event) { + let articleToggleTitle = "Expand docstring"; + let navArticleToggleTitle = "Expand all docstrings"; + let animationSpeed = event.noToggleAnimation ? 0 : 400; + + debounce(() => { + if (isExpanded) { + $(this).removeClass("fa-chevron-up").addClass("fa-chevron-down"); + $(".docstring-article-toggle-button") + .removeClass("fa-chevron-down") + .addClass("fa-chevron-right"); + + isExpanded = false; + + $(".docstring section").slideUp(animationSpeed); + } else { + $(this).removeClass("fa-chevron-down").addClass("fa-chevron-up"); + $(".docstring-article-toggle-button") + .removeClass("fa-chevron-right") + .addClass("fa-chevron-down"); + + isExpanded = true; + articleToggleTitle = "Collapse docstring"; + navArticleToggleTitle = "Collapse all docstrings"; + + $(".docstring section").slideDown(animationSpeed); + } + + $(this).prop("title", navArticleToggleTitle); + $(".docstring-article-toggle-button").prop("title", articleToggleTitle); + }); +}); + +function debounce(callback, timeout = 300) { + if (Date.now() - timer > timeout) { + callback(); + } + + clearTimeout(timer); + + timer = Date.now(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require([], function() { +function addCopyButtonCallbacks() { + for (const el of document.getElementsByTagName("pre")) { + const button = document.createElement("button"); + button.classList.add("copy-button", "fa-solid", "fa-copy"); + button.setAttribute("aria-label", "Copy this code block"); + button.setAttribute("title", "Copy"); + + el.appendChild(button); + + const success = function () { + button.classList.add("success", "fa-check"); + button.classList.remove("fa-copy"); + }; + + const failure = function () { + button.classList.add("error", "fa-xmark"); + button.classList.remove("fa-copy"); + }; + + button.addEventListener("click", function () { + copyToClipboard(el.innerText).then(success, failure); + + setTimeout(function () { + button.classList.add("fa-copy"); + button.classList.remove("success", "fa-check", "fa-xmark"); + }, 5000); + }); + } +} + +function copyToClipboard(text) { + // clipboard API is only available in secure contexts + if (window.navigator && window.navigator.clipboard) { + return window.navigator.clipboard.writeText(text); + } else { + return new Promise(function (resolve, reject) { + try { + const el = document.createElement("textarea"); + el.textContent = text; + el.style.position = "fixed"; + el.style.opacity = 0; + document.body.appendChild(el); + el.select(); + document.execCommand("copy"); + + resolve(); + } catch (err) { + reject(err); + } finally { + document.body.removeChild(el); + } + }); + } +} + +if (document.readyState === "loading") { + document.addEventListener("DOMContentLoaded", addCopyButtonCallbacks); +} else { + addCopyButtonCallbacks(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'headroom', 'headroom-jquery'], function($, Headroom) { + +// Manages the top navigation bar (hides it when the user starts scrolling down on the +// mobile). +window.Headroom = Headroom; // work around buggy module loading? +$(document).ready(function () { + $("#documenter .docs-navbar").headroom({ + tolerance: { up: 10, down: 10 }, + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +$(document).ready(function () { + let meta = $("div[data-docstringscollapsed]").data(); + + if (meta?.docstringscollapsed) { + $("#documenter-article-toggle-button").trigger({ + type: "click", + noToggleAnimation: true, + }); + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +/* +To get an in-depth about the thought process you can refer: https://hetarth02.hashnode.dev/series/gsoc + +PSEUDOCODE: + +Searching happens automatically as the user types or adjusts the selected filters. +To preserve responsiveness, as much as possible of the slow parts of the search are done +in a web worker. Searching and result generation are done in the worker, and filtering and +DOM updates are done in the main thread. The filters are in the main thread as they should +be very quick to apply. This lets filters be changed without re-searching with minisearch +(which is possible even if filtering is on the worker thread) and also lets filters be +changed _while_ the worker is searching and without message passing (neither of which are +possible if filtering is on the worker thread) + +SEARCH WORKER: + +Import minisearch + +Build index + +On message from main thread + run search + find the first 200 unique results from each category, and compute their divs for display + note that this is necessary and sufficient information for the main thread to find the + first 200 unique results from any given filter set + post results to main thread + +MAIN: + +Launch worker + +Declare nonconstant globals (worker_is_running, last_search_text, unfiltered_results) + +On text update + if worker is not running, launch_search() + +launch_search + set worker_is_running to true, set last_search_text to the search text + post the search query to worker + +on message from worker + if last_search_text is not the same as the text in the search field, + the latest search result is not reflective of the latest search query, so update again + launch_search() + otherwise + set worker_is_running to false + + regardless, display the new search results to the user + save the unfiltered_results as a global + update_search() + +on filter click + adjust the filter selection + update_search() + +update_search + apply search filters by looping through the unfiltered_results and finding the first 200 + unique results that match the filters + + Update the DOM +*/ + +/////// SEARCH WORKER /////// + +function worker_function(documenterSearchIndex, documenterBaseURL, filters) { + importScripts( + "https://cdn.jsdelivr.net/npm/minisearch@6.1.0/dist/umd/index.min.js" + ); + + let data = documenterSearchIndex.map((x, key) => { + x["id"] = key; // minisearch requires a unique for each object + return x; + }); + + // list below is the lunr 2.1.3 list minus the intersect with names(Base) + // (all, any, get, in, is, only, which) and (do, else, for, let, where, while, with) + // ideally we'd just filter the original list but it's not available as a variable + const stopWords = new Set([ + "a", + "able", + "about", + "across", + "after", + "almost", + "also", + "am", + "among", + "an", + "and", + "are", + "as", + "at", + "be", + "because", + "been", + "but", + "by", + "can", + "cannot", + "could", + "dear", + "did", + "does", + "either", + "ever", + "every", + "from", + "got", + "had", + "has", + "have", + "he", + "her", + "hers", + "him", + "his", + "how", + "however", + "i", + "if", + "into", + "it", + "its", + "just", + "least", + "like", + "likely", + "may", + "me", + "might", + "most", + "must", + "my", + "neither", + "no", + "nor", + "not", + "of", + "off", + "often", + "on", + "or", + "other", + "our", + "own", + "rather", + "said", + "say", + "says", + "she", + "should", + "since", + "so", + "some", + "than", + "that", + "the", + "their", + "them", + "then", + "there", + "these", + "they", + "this", + "tis", + "to", + "too", + "twas", + "us", + "wants", + "was", + "we", + "were", + "what", + "when", + "who", + "whom", + "why", + "will", + "would", + "yet", + "you", + "your", + ]); + + let index = new MiniSearch({ + fields: ["title", "text"], // fields to index for full-text search + storeFields: ["location", "title", "text", "category", "page"], // fields to return with results + processTerm: (term) => { + let word = stopWords.has(term) ? null : term; + if (word) { + // custom trimmer that doesn't strip @ and !, which are used in julia macro and function names + word = word + .replace(/^[^a-zA-Z0-9@!]+/, "") + .replace(/[^a-zA-Z0-9@!]+$/, ""); + + word = word.toLowerCase(); + } + + return word ?? null; + }, + // add . as a separator, because otherwise "title": "Documenter.Anchors.add!", would not + // find anything if searching for "add!", only for the entire qualification + tokenize: (string) => string.split(/[\s\-\.]+/), + // options which will be applied during the search + searchOptions: { + prefix: true, + boost: { title: 100 }, + fuzzy: 2, + }, + }); + + index.addAll(data); + + /** + * Used to map characters to HTML entities. + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + const htmlEscapes = { + "&": "&", + "<": "<", + ">": ">", + '"': """, + "'": "'", + }; + + /** + * Used to match HTML entities and HTML characters. + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + const reUnescapedHtml = /[&<>"']/g; + const reHasUnescapedHtml = RegExp(reUnescapedHtml.source); + + /** + * Escape function from lodash + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + function escape(string) { + return string && reHasUnescapedHtml.test(string) + ? string.replace(reUnescapedHtml, (chr) => htmlEscapes[chr]) + : string || ""; + } + + /** + * Make the result component given a minisearch result data object and the value + * of the search input as queryString. To view the result object structure, refer: + * https://lucaong.github.io/minisearch/modules/_minisearch_.html#searchresult + * + * @param {object} result + * @param {string} querystring + * @returns string + */ + function make_search_result(result, querystring) { + let search_divider = `

`; + let display_link = + result.location.slice(Math.max(0), Math.min(50, result.location.length)) + + (result.location.length > 30 ? "..." : ""); // To cut-off the link because it messes with the overflow of the whole div + + if (result.page !== "") { + display_link += ` (${result.page})`; + } + + let textindex = new RegExp(`${querystring}`, "i").exec(result.text); + let text = + textindex !== null + ? result.text.slice( + Math.max(textindex.index - 100, 0), + Math.min( + textindex.index + querystring.length + 100, + result.text.length + ) + ) + : ""; // cut-off text before and after from the match + + text = text.length ? escape(text) : ""; + + let display_result = text.length + ? "..." + + text.replace( + new RegExp(`${escape(querystring)}`, "i"), // For first occurrence + '$&' + ) + + "..." + : ""; // highlights the match + + let in_code = false; + if (!["page", "section"].includes(result.category.toLowerCase())) { + in_code = true; + } + + // We encode the full url to escape some special characters which can lead to broken links + let result_div = ` + +
+
${escape(result.title)}
+
${result.category}
+
+

+ ${display_result} +

+
+ ${display_link} +
+ + ${search_divider} + `; + + return result_div; + } + + self.onmessage = function (e) { + let query = e.data; + let results = index.search(query, { + filter: (result) => { + // Only return relevant results + return result.score >= 1; + }, + }); + + // Pre-filter to deduplicate and limit to 200 per category to the extent + // possible without knowing what the filters are. + let filtered_results = []; + let counts = {}; + for (let filter of filters) { + counts[filter] = 0; + } + let present = {}; + + for (let result of results) { + cat = result.category; + cnt = counts[cat]; + if (cnt < 200) { + id = cat + "---" + result.location; + if (present[id]) { + continue; + } + present[id] = true; + filtered_results.push({ + location: result.location, + category: cat, + div: make_search_result(result, query), + }); + } + } + + postMessage(filtered_results); + }; +} + +// `worker = Threads.@spawn worker_function(documenterSearchIndex)`, but in JavaScript! +const filters = [ + ...new Set(documenterSearchIndex["docs"].map((x) => x.category)), +]; +const worker_str = + "(" + + worker_function.toString() + + ")(" + + JSON.stringify(documenterSearchIndex["docs"]) + + "," + + JSON.stringify(documenterBaseURL) + + "," + + JSON.stringify(filters) + + ")"; +const worker_blob = new Blob([worker_str], { type: "text/javascript" }); +const worker = new Worker(URL.createObjectURL(worker_blob)); + +/////// SEARCH MAIN /////// + +// Whether the worker is currently handling a search. This is a boolean +// as the worker only ever handles 1 or 0 searches at a time. +var worker_is_running = false; + +// The last search text that was sent to the worker. This is used to determine +// if the worker should be launched again when it reports back results. +var last_search_text = ""; + +// The results of the last search. This, in combination with the state of the filters +// in the DOM, is used compute the results to display on calls to update_search. +var unfiltered_results = []; + +// Which filter is currently selected +var selected_filter = ""; + +$(document).on("input", ".documenter-search-input", function (event) { + if (!worker_is_running) { + launch_search(); + } +}); + +function launch_search() { + worker_is_running = true; + last_search_text = $(".documenter-search-input").val(); + worker.postMessage(last_search_text); +} + +worker.onmessage = function (e) { + if (last_search_text !== $(".documenter-search-input").val()) { + launch_search(); + } else { + worker_is_running = false; + } + + unfiltered_results = e.data; + update_search(); +}; + +$(document).on("click", ".search-filter", function () { + if ($(this).hasClass("search-filter-selected")) { + selected_filter = ""; + } else { + selected_filter = $(this).text().toLowerCase(); + } + + // This updates search results and toggles classes for UI: + update_search(); +}); + +/** + * Make/Update the search component + */ +function update_search() { + let querystring = $(".documenter-search-input").val(); + + if (querystring.trim()) { + if (selected_filter == "") { + results = unfiltered_results; + } else { + results = unfiltered_results.filter((result) => { + return selected_filter == result.category.toLowerCase(); + }); + } + + let search_result_container = ``; + let modal_filters = make_modal_body_filters(); + let search_divider = `
`; + + if (results.length) { + let links = []; + let count = 0; + let search_results = ""; + + for (var i = 0, n = results.length; i < n && count < 200; ++i) { + let result = results[i]; + if (result.location && !links.includes(result.location)) { + search_results += result.div; + count++; + links.push(result.location); + } + } + + if (count == 1) { + count_str = "1 result"; + } else if (count == 200) { + count_str = "200+ results"; + } else { + count_str = count + " results"; + } + let result_count = `
${count_str}
`; + + search_result_container = ` +
+ ${modal_filters} + ${search_divider} + ${result_count} +
+ ${search_results} +
+
+ `; + } else { + search_result_container = ` +
+ ${modal_filters} + ${search_divider} +
0 result(s)
+
+
No result found!
+ `; + } + + if ($(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").removeClass("is-justify-content-center"); + } + + $(".search-modal-card-body").html(search_result_container); + } else { + if (!$(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").addClass("is-justify-content-center"); + } + + $(".search-modal-card-body").html(` +
Type something to get started!
+ `); + } +} + +/** + * Make the modal filter html + * + * @returns string + */ +function make_modal_body_filters() { + let str = filters + .map((val) => { + if (selected_filter == val.toLowerCase()) { + return `${val}`; + } else { + return `${val}`; + } + }) + .join(""); + + return ` +
+ Filters: + ${str} +
`; +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Modal settings dialog +$(document).ready(function () { + var settings = $("#documenter-settings"); + $("#documenter-settings-button").click(function () { + settings.toggleClass("is-active"); + }); + // Close the dialog if X is clicked + $("#documenter-settings button.delete").click(function () { + settings.removeClass("is-active"); + }); + // Close dialog if ESC is pressed + $(document).keyup(function (e) { + if (e.keyCode == 27) settings.removeClass("is-active"); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +$(document).ready(function () { + let search_modal_header = ` +
+
+

+ + + + +

+
+
+ +
+
+ `; + + let initial_search_body = ` +
Type something to get started!
+ `; + + let search_modal_footer = ` +
+ + Ctrl + + / to search + + esc to close +
+ `; + + $(document.body).append( + ` + + ` + ); + + document.querySelector(".docs-search-query").addEventListener("click", () => { + openModal(); + }); + + document + .querySelector(".close-search-modal") + .addEventListener("click", () => { + closeModal(); + }); + + $(document).on("click", ".search-result-link", function () { + closeModal(); + }); + + document.addEventListener("keydown", (event) => { + if ((event.ctrlKey || event.metaKey) && event.key === "/") { + openModal(); + } else if (event.key === "Escape") { + closeModal(); + } + + return false; + }); + + // Functions to open and close a modal + function openModal() { + let searchModal = document.querySelector("#search-modal"); + + searchModal.classList.add("is-active"); + document.querySelector(".documenter-search-input").focus(); + } + + function closeModal() { + let searchModal = document.querySelector("#search-modal"); + let initial_search_body = ` +
Type something to get started!
+ `; + + searchModal.classList.remove("is-active"); + document.querySelector(".documenter-search-input").blur(); + + if (!$(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").addClass("is-justify-content-center"); + } + + $(".documenter-search-input").val(""); + $(".search-modal-card-body").html(initial_search_body); + } + + document + .querySelector("#search-modal .modal-background") + .addEventListener("click", () => { + closeModal(); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Manages the showing and hiding of the sidebar. +$(document).ready(function () { + var sidebar = $("#documenter > .docs-sidebar"); + var sidebar_button = $("#documenter-sidebar-button"); + sidebar_button.click(function (ev) { + ev.preventDefault(); + sidebar.toggleClass("visible"); + if (sidebar.hasClass("visible")) { + // Makes sure that the current menu item is visible in the sidebar. + $("#documenter .docs-menu a.is-active").focus(); + } + }); + $("#documenter > .docs-main").bind("click", function (ev) { + if ($(ev.target).is(sidebar_button)) { + return; + } + if (sidebar.hasClass("visible")) { + sidebar.removeClass("visible"); + } + }); +}); + +// Resizes the package name / sitename in the sidebar if it is too wide. +// Inspired by: https://github.com/davatron5000/FitText.js +$(document).ready(function () { + e = $("#documenter .docs-autofit"); + function resize() { + var L = parseInt(e.css("max-width"), 10); + var L0 = e.width(); + if (L0 > L) { + var h0 = parseInt(e.css("font-size"), 10); + e.css("font-size", (L * h0) / L0); + // TODO: make sure it survives resizes? + } + } + // call once and then register events + resize(); + $(window).resize(resize); + $(window).on("orientationchange", resize); +}); + +// Scroll the navigation bar to the currently selected menu item +$(document).ready(function () { + var sidebar = $("#documenter .docs-menu").get(0); + var active = $("#documenter .docs-menu .is-active").get(0); + if (typeof active !== "undefined") { + sidebar.scrollTop = active.offsetTop - sidebar.offsetTop - 15; + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Theme picker setup +$(document).ready(function () { + // onchange callback + $("#documenter-themepicker").change(function themepick_callback(ev) { + var themename = $("#documenter-themepicker option:selected").attr("value"); + if (themename === "auto") { + // set_theme(window.matchMedia('(prefers-color-scheme: dark)').matches ? 'dark' : 'light'); + window.localStorage.removeItem("documenter-theme"); + } else { + // set_theme(themename); + window.localStorage.setItem("documenter-theme", themename); + } + // We re-use the global function from themeswap.js to actually do the swapping. + set_theme_from_local_storage(); + }); + + // Make sure that the themepicker displays the correct theme when the theme is retrieved + // from localStorage + if (typeof window.localStorage !== "undefined") { + var theme = window.localStorage.getItem("documenter-theme"); + if (theme !== null) { + $("#documenter-themepicker option").each(function (i, e) { + e.selected = e.value === theme; + }); + } + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// update the version selector with info from the siteinfo.js and ../versions.js files +$(document).ready(function () { + // If the version selector is disabled with DOCUMENTER_VERSION_SELECTOR_DISABLED in the + // siteinfo.js file, we just return immediately and not display the version selector. + if ( + typeof DOCUMENTER_VERSION_SELECTOR_DISABLED === "boolean" && + DOCUMENTER_VERSION_SELECTOR_DISABLED + ) { + return; + } + + var version_selector = $("#documenter .docs-version-selector"); + var version_selector_select = $("#documenter .docs-version-selector select"); + + version_selector_select.change(function (x) { + target_href = version_selector_select + .children("option:selected") + .get(0).value; + window.location.href = target_href; + }); + + // add the current version to the selector based on siteinfo.js, but only if the selector is empty + if ( + typeof DOCUMENTER_CURRENT_VERSION !== "undefined" && + $("#version-selector > option").length == 0 + ) { + var option = $( + "" + ); + version_selector_select.append(option); + } + + if (typeof DOC_VERSIONS !== "undefined") { + var existing_versions = version_selector_select.children("option"); + var existing_versions_texts = existing_versions.map(function (i, x) { + return x.text; + }); + DOC_VERSIONS.forEach(function (each) { + var version_url = documenterBaseURL + "/../" + each + "/"; + var existing_id = $.inArray(each, existing_versions_texts); + // if not already in the version selector, add it as a new option, + // otherwise update the old option with the URL and enable it + if (existing_id == -1) { + var option = $( + "" + ); + version_selector_select.append(option); + } else { + var option = existing_versions[existing_id]; + option.value = version_url; + option.disabled = false; + } + }); + } + + // only show the version selector if the selector has been populated + if (version_selector_select.children("option").length > 0) { + version_selector.toggleClass("visible"); + } +}); + +}) diff --git a/v0.15.16/assets/simple_coulomb.png b/v0.15.16/assets/simple_coulomb.png new file mode 100644 index 0000000000000000000000000000000000000000..e1b5e42d1112a32977e17111865c2614b11ce030 GIT binary patch literal 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kbd.button.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading:focus::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading.is-focused::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-dark.is-outlined[disabled],html.theme--documenter-dark .content kbd.button.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark.is-outlined,fieldset[disabled] html.theme--documenter-dark .content kbd.button.is-outlined{background-color:transparent;border-color:#282f2f;box-shadow:none;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined,html.theme--documenter-dark .content 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.button.is-warning.is-active{background-color:#946e00;border-color:transparent;color:#fff}html.theme--documenter-dark .button.is-warning[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-warning{background-color:#ad8100;border-color:#ad8100;box-shadow:none}html.theme--documenter-dark .button.is-warning.is-inverted{background-color:#fff;color:#ad8100}html.theme--documenter-dark .button.is-warning.is-inverted:hover,html.theme--documenter-dark .button.is-warning.is-inverted.is-hovered{background-color:#f2f2f2}html.theme--documenter-dark .button.is-warning.is-inverted[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-warning.is-inverted{background-color:#fff;border-color:transparent;box-shadow:none;color:#ad8100}html.theme--documenter-dark .button.is-warning.is-loading::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark 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.button.is-danger.is-light{background-color:#fdeeec;color:#ec311d}html.theme--documenter-dark .button.is-danger.is-light:hover,html.theme--documenter-dark .button.is-danger.is-light.is-hovered{background-color:#fce3e0;border-color:transparent;color:#ec311d}html.theme--documenter-dark .button.is-danger.is-light:active,html.theme--documenter-dark .button.is-danger.is-light.is-active{background-color:#fcd8d5;border-color:transparent;color:#ec311d}html.theme--documenter-dark .button.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button{font-size:.75rem}html.theme--documenter-dark .button.is-small:not(.is-rounded),html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button:not(.is-rounded){border-radius:3px}html.theme--documenter-dark .button.is-normal{font-size:1rem}html.theme--documenter-dark .button.is-medium{font-size:1.25rem}html.theme--documenter-dark .button.is-large{font-size:1.5rem}html.theme--documenter-dark 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.button{margin-bottom:0.5rem}html.theme--documenter-dark .buttons .button:not(:last-child):not(.is-fullwidth){margin-right:.5rem}html.theme--documenter-dark .buttons:last-child{margin-bottom:-0.5rem}html.theme--documenter-dark .buttons:not(:last-child){margin-bottom:1rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large){font-size:.75rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large):not(.is-rounded){border-radius:3px}html.theme--documenter-dark .buttons.are-medium .button:not(.is-small):not(.is-normal):not(.is-large){font-size:1.25rem}html.theme--documenter-dark .buttons.are-large .button:not(.is-small):not(.is-normal):not(.is-medium){font-size:1.5rem}html.theme--documenter-dark .buttons.has-addons .button:not(:first-child){border-bottom-left-radius:0;border-top-left-radius:0}html.theme--documenter-dark .buttons.has-addons 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h1,html.theme--documenter-dark .content h2,html.theme--documenter-dark .content h3,html.theme--documenter-dark .content h4,html.theme--documenter-dark .content h5,html.theme--documenter-dark .content h6{color:#f2f2f2;font-weight:600;line-height:1.125}html.theme--documenter-dark .content h1{font-size:2em;margin-bottom:0.5em}html.theme--documenter-dark .content h1:not(:first-child){margin-top:1em}html.theme--documenter-dark .content h2{font-size:1.75em;margin-bottom:0.5714em}html.theme--documenter-dark .content h2:not(:first-child){margin-top:1.1428em}html.theme--documenter-dark .content h3{font-size:1.5em;margin-bottom:0.6666em}html.theme--documenter-dark .content h3:not(:first-child){margin-top:1.3333em}html.theme--documenter-dark .content h4{font-size:1.25em;margin-bottom:0.8em}html.theme--documenter-dark .content h5{font-size:1.125em;margin-bottom:0.8888em}html.theme--documenter-dark .content h6{font-size:1em;margin-bottom:1em}html.theme--documenter-dark .content blockquote{background-color:#282f2f;border-left:5px solid #5e6d6f;padding:1.25em 1.5em}html.theme--documenter-dark .content ol{list-style-position:outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ol:not([type]){list-style-type:decimal}html.theme--documenter-dark .content ol.is-lower-alpha:not([type]){list-style-type:lower-alpha}html.theme--documenter-dark .content ol.is-lower-roman:not([type]){list-style-type:lower-roman}html.theme--documenter-dark .content ol.is-upper-alpha:not([type]){list-style-type:upper-alpha}html.theme--documenter-dark .content ol.is-upper-roman:not([type]){list-style-type:upper-roman}html.theme--documenter-dark .content ul{list-style:disc outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ul ul{list-style-type:circle;margin-top:0.5em}html.theme--documenter-dark .content ul ul ul{list-style-type:square}html.theme--documenter-dark .content dd{margin-left:2em}html.theme--documenter-dark .content figure{margin-left:2em;margin-right:2em;text-align:center}html.theme--documenter-dark .content figure:not(:first-child){margin-top:2em}html.theme--documenter-dark .content figure:not(:last-child){margin-bottom:2em}html.theme--documenter-dark .content figure img{display:inline-block}html.theme--documenter-dark .content figure figcaption{font-style:italic}html.theme--documenter-dark .content pre{-webkit-overflow-scrolling:touch;overflow-x:auto;padding:0;white-space:pre;word-wrap:normal}html.theme--documenter-dark .content sup,html.theme--documenter-dark .content sub{font-size:75%}html.theme--documenter-dark .content table{width:100%}html.theme--documenter-dark .content table td,html.theme--documenter-dark .content table th{border:1px solid #5e6d6f;border-width:0 0 1px;padding:0.5em 0.75em;vertical-align:top}html.theme--documenter-dark .content table th{color:#f2f2f2}html.theme--documenter-dark .content table th:not([align]){text-align:inherit}html.theme--documenter-dark .content table thead td,html.theme--documenter-dark .content table thead th{border-width:0 0 2px;color:#f2f2f2}html.theme--documenter-dark .content table tfoot td,html.theme--documenter-dark .content table tfoot th{border-width:2px 0 0;color:#f2f2f2}html.theme--documenter-dark .content table tbody tr:last-child td,html.theme--documenter-dark .content table tbody tr:last-child th{border-bottom-width:0}html.theme--documenter-dark .content .tabs li+li{margin-top:0}html.theme--documenter-dark .content.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.content{font-size:.75rem}html.theme--documenter-dark .content.is-normal{font-size:1rem}html.theme--documenter-dark .content.is-medium{font-size:1.25rem}html.theme--documenter-dark .content.is-large{font-size:1.5rem}html.theme--documenter-dark .icon{align-items:center;display:inline-flex;justify-content:center;height:1.5rem;width:1.5rem}html.theme--documenter-dark .icon.is-small,html.theme--documenter-dark #documenter 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#documenter .docs-sidebar .docs-logo>img img.is-rounded{border-radius:9999px}html.theme--documenter-dark .image.is-fullwidth,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-fullwidth{width:100%}html.theme--documenter-dark .image.is-square img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-square img,html.theme--documenter-dark .image.is-square .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-square .has-ratio,html.theme--documenter-dark .image.is-1by1 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by1 img,html.theme--documenter-dark .image.is-1by1 .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by1 .has-ratio,html.theme--documenter-dark .image.is-5by4 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-5by4 img,html.theme--documenter-dark .image.is-5by4 .has-ratio,html.theme--documenter-dark #documenter 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.docs-logo>img.is-5by4{padding-top:80%}html.theme--documenter-dark .image.is-4by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-4by3{padding-top:75%}html.theme--documenter-dark .image.is-3by2,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by2{padding-top:66.6666%}html.theme--documenter-dark .image.is-5by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-5by3{padding-top:60%}html.theme--documenter-dark .image.is-16by9,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-16by9{padding-top:56.25%}html.theme--documenter-dark .image.is-2by1,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by1{padding-top:50%}html.theme--documenter-dark .image.is-3by1,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by1{padding-top:33.3333%}html.theme--documenter-dark .image.is-4by5,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-4by5{padding-top:125%}html.theme--documenter-dark .image.is-3by4,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by4{padding-top:133.3333%}html.theme--documenter-dark .image.is-2by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by3{padding-top:150%}html.theme--documenter-dark .image.is-3by5,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by5{padding-top:166.6666%}html.theme--documenter-dark .image.is-9by16,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-9by16{padding-top:177.7777%}html.theme--documenter-dark .image.is-1by2,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by2{padding-top:200%}html.theme--documenter-dark .image.is-1by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by3{padding-top:300%}html.theme--documenter-dark .image.is-16x16,html.theme--documenter-dark #documenter .docs-sidebar 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Gets put into the tag.. +function set_theme_from_local_storage() { + // Initialize the theme to null, which means default + var theme = null; + // If the browser supports the localstorage and is not disabled then try to get the + // documenter theme + if (window.localStorage != null) { + // Get the user-picked theme from localStorage. May be `null`, which means the default + // theme. + theme = window.localStorage.getItem("documenter-theme"); + } + // Check if the users preference is for dark color scheme + var darkPreference = + window.matchMedia("(prefers-color-scheme: dark)").matches === true; + // Initialize a few variables for the loop: + // + // - active: will contain the index of the theme that should be active. Note that there + // is no guarantee that localStorage contains sane values. If `active` stays `null` + // we either could not find the theme or it is the default (primary) theme anyway. + // Either way, we then need to stick to the primary theme. + // + // - disabled: style sheets that should be disabled (i.e. all the theme style sheets + // that are not the currently active theme) + var active = null; + var disabled = []; + var primaryLightTheme = null; + var primaryDarkTheme = null; + for (var i = 0; i < document.styleSheets.length; i++) { + var ss = document.styleSheets[i]; + // The tag of each style sheet is expected to have a data-theme-name attribute + // which must contain the name of the theme. The names in localStorage much match this. + var themename = ss.ownerNode.getAttribute("data-theme-name"); + // attribute not set => non-theme stylesheet => ignore + if (themename === null) continue; + // To distinguish the default (primary) theme, it needs to have the data-theme-primary + // attribute set. + if (ss.ownerNode.getAttribute("data-theme-primary") !== null) { + primaryLightTheme = themename; + } + // Check if the theme is primary dark theme so that we could store its name in darkTheme + if (ss.ownerNode.getAttribute("data-theme-primary-dark") !== null) { + primaryDarkTheme = themename; + } + // If we find a matching theme (and it's not the default), we'll set active to non-null + if (themename === theme) active = i; + // Store the style sheets of inactive themes so that we could disable them + if (themename !== theme) disabled.push(ss); + } + var activeTheme = null; + if (active !== null) { + // If we did find an active theme, we'll (1) add the theme--$(theme) class to + document.getElementsByTagName("html")[0].className = "theme--" + theme; + activeTheme = theme; + } else { + // If we did _not_ find an active theme, then we need to fall back to the primary theme + // which can either be dark or light, depending on the user's OS preference. + var activeTheme = darkPreference ? primaryDarkTheme : primaryLightTheme; + // In case it somehow happens that the relevant primary theme was not found in the + // preceding loop, we abort without doing anything. + if (activeTheme === null) { + console.error("Unable to determine primary theme."); + return; + } + // When switching to the primary light theme, then we must not have a class name + // for the tag. 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The names in localStorage much match this. + var themename = ss.ownerNode.getAttribute("data-theme-name"); + // attribute not set => non-theme stylesheet => ignore + if (themename === null) continue; + // we'll disable all the stylesheets, except for the active one + ss.disabled = !(themename == activeTheme); + } +} +set_theme_from_local_storage(); diff --git a/v0.15.16/assets/warner.js b/v0.15.16/assets/warner.js new file mode 100644 index 00000000..3f6f5d00 --- /dev/null +++ b/v0.15.16/assets/warner.js @@ -0,0 +1,52 @@ +function maybeAddWarning() { + // DOCUMENTER_NEWEST is defined in versions.js, DOCUMENTER_CURRENT_VERSION and DOCUMENTER_STABLE + // in siteinfo.js. + // If either of these are undefined something went horribly wrong, so we abort. + if ( + window.DOCUMENTER_NEWEST === undefined || + window.DOCUMENTER_CURRENT_VERSION === undefined || + window.DOCUMENTER_STABLE === undefined + ) { + return; + } + + // Current version is not a version number, so we can't tell if it's the newest version. Abort. + if (!/v(\d+\.)*\d+/.test(window.DOCUMENTER_CURRENT_VERSION)) { + return; + } + + // Current version is newest version, so no need to add a warning. + if (window.DOCUMENTER_NEWEST === window.DOCUMENTER_CURRENT_VERSION) { + return; + } + + // Add a noindex meta tag (unless one exists) so that search engines don't index this version of the docs. + if (document.body.querySelector('meta[name="robots"]') === null) { + const meta = document.createElement("meta"); + meta.name = "robots"; + meta.content = "noindex"; + + document.getElementsByTagName("head")[0].appendChild(meta); + } + + const div = document.createElement("div"); + div.classList.add("outdated-warning-overlay"); + const closer = document.createElement("button"); + closer.classList.add("outdated-warning-closer", "delete"); + closer.addEventListener("click", function () { + document.body.removeChild(div); + }); + const href = window.documenterBaseURL + "/../" + window.DOCUMENTER_STABLE; + div.innerHTML = + 'This documentation is not for the latest stable release, but for either the development version or an older release.
Click here to go to the documentation for the latest stable release.'; + div.appendChild(closer); + document.body.appendChild(div); +} + +if (document.readyState === "loading") { + document.addEventListener("DOMContentLoaded", maybeAddWarning); +} else { + maybeAddWarning(); +} diff --git a/v0.15.16/examples/DiffEqFlux/index.html b/v0.15.16/examples/DiffEqFlux/index.html new file mode 100644 index 00000000..37461b17 --- /dev/null +++ b/v0.15.16/examples/DiffEqFlux/index.html @@ -0,0 +1,49 @@ + +Neural ODEs with DiffEqFlux · ComponentArrays.jl

Neural ODEs with DiffEqFlux

Let's see how easy it is to make dense neural ODE layers from scratch. Flux is used here just for the glorot_uniform function and the ADAM optimizer.

This example is taken from the DiffEqFlux documentation. 

using ComponentArrays
+using OrdinaryDiffEq
+using Plots
+using UnPack
+
+using DiffEqFlux: sciml_train
+using Flux: glorot_uniform, ADAM
+using Optim: LBFGS

First, let's set up the problem and create the truth data.

u0 = Float32[2.; 0.]
+datasize = 30
+tspan = (0.0f0, 1.5f0)
+
+function trueODEfunc(du, u, p, t)
+    true_A = [-0.1 2.0; -2.0 -0.1]
+    du .= ((u.^3)'true_A)'
+end
+
+t = range(tspan[1], tspan[2], length = datasize)
+prob = ODEProblem(trueODEfunc, u0, tspan)
+ode_data = Array(solve(prob, Tsit5(), saveat = t))

Next we'll make a function that creates dense neural layer components. It is similar to Flux.Dense, except it doesn't handle the activation function. We'll do that separately.

dense_layer(in, out) = ComponentArray{Float32}(W=glorot_uniform(out, in), b=zeros(out))

Our parameter vector will be a ComponentArray that holds the ODE initial conditions and the dense neural layers.

layers = (L1=dense_layer(2, 50), L2=dense_layer(50, 2))
+θ = ComponentArray(u=u0, p=layers)

We now have convenient struct-like access to the weights and biases of the layers for our neural ODE function while giving our optimizer something that acts like a flat array.

function dudt(u, p, t)
+    @unpack L1, L2 = p
+    return L2.W * tanh.(L1.W * u.^3 .+ L1.b) .+ L2.b
+end
+
+prob = ODEProblem(dudt, u0, tspan)
predict_n_ode(θ) = Array(solve(prob, Tsit5(), u0=θ.u, p=θ.p, saveat=t))
+
+function loss_n_ode(θ)
+    pred = predict_n_ode(θ)
+    loss = sum(abs2, ode_data .- pred)
+    return loss, pred
+end
+loss_n_ode(θ)

Let's set up a training observation callback and train!

cb = function (θ, loss, pred; doplot=false)
+    display(loss)
+    # plot current prediction against data
+    pl = scatter(t, ode_data[1,:], label = "data")
+    scatter!(pl, t, pred[1,:], label = "prediction")
+    display(plot(pl))
+    return false
+end
+cb(θ, loss_n_ode(θ)...)
+
+data = Iterators.repeated((), 1000)
+
+res1 = sciml_train(loss_n_ode, θ, ADAM(0.05); cb=cb, maxiters=100)
+cb(res1.minimizer, loss_n_ode(res1.minimizer)...; doplot=true)
+
+res2 = sciml_train(loss_n_ode, res1.minimizer, LBFGS(); cb=cb)
+cb(res2.minimizer, loss_n_ode(res2.minimizer)...; doplot=true)

diff --git a/v0.15.16/examples/ODE_jac/index.html b/v0.15.16/examples/ODE_jac/index.html new file mode 100644 index 00000000..568c62ee --- /dev/null +++ b/v0.15.16/examples/ODE_jac/index.html @@ -0,0 +1,102 @@ + +ODE with Jacobian · ComponentArrays.jl

ODE with Jacobian

This example shows how to use ComponentArrays for composing Jacobian update functions as well as ODE functions. For most practical purposes, it is generally easier to use automatic differentiation libraries like ForwardDiff.jl, ReverseDiff.jl, or Zygote.jl for calculating Jacobians. Although those libraries all work with ComponentArrays, this is a nice way to handle it if you already have derived analytical Jacobians.

Note using plain symbols to index into ComponentArrays is still pretty slow. For speed, all symbolic indices should be wrapped in a Val like D[Val(:x), Val(:y)].

using ComponentArrays
+using DifferentialEquations
+using Parameters: @unpack
+
+
+tspan = (0.0, 20.0)
+
+
+## Lorenz system
+function lorenz!(D, u, p, t; f=0.0)
+    @unpack σ, ρ, β = p
+    @unpack x, y, z = u
+    
+    D.x = σ*(y - x)
+    D.y = x*(ρ - z) - y - f
+    D.z = x*y - β*z
+    return nothing
+end
+function lorenz_jac!(D, u, p, t)
+    @unpack σ, ρ, β = p
+    @unpack x, y, z = u
+    
+    D[:x,:x] = -σ
+    D[:x,:y] = σ
+
+    D[:y,:x] = ρ
+    D[:y,:y] = -1
+    D[:y,:z] = -x
+
+    D[:z,:x] = y
+    D[:z,:y] = x
+    D[:z,:z] = -β
+    return nothing
+end
+
+lorenz_p = (σ=10.0, ρ=28.0, β=8/3)
+lorenz_ic = ComponentArray(x=0.0, y=0.0, z=0.0)
+lorenz_fun = ODEFunction(lorenz!, jac=lorenz_jac!)
+lorenz_prob = ODEProblem(lorenz_fun, lorenz_ic, tspan, lorenz_p)
+
+
+## Lotka-Volterra system
+function lotka!(D, u, p, t; f=0.0)
+    @unpack α, β, γ, δ = p
+    @unpack x, y = u
+    
+    D.x =  α*x - β*x*y + f
+    D.y = -γ*y + δ*x*y
+    return nothing
+end
+function lotka_jac!(D, u, p, t)
+    @unpack α, β, γ, δ = p
+    @unpack x, y = u
+    
+    D[:x,:x] = α - β*y
+    D[:x,:y] = -β*x
+
+    D[:y,:x] = δ*y
+    D[:y,:y] = -γ + δ*x
+    return nothing
+end
+
+lotka_p = (α=2/3, β=4/3, γ=1.0, δ=1.0)
+lotka_ic = ComponentArray(x=1.0, y=1.0)
+lotka_fun = ODEFunction(lotka!, jac=lotka_jac!)
+lotka_prob = ODEProblem(lotka_fun, lotka_ic, tspan, lotka_p)
+
+
+## Composed Lorenz and Lotka-Volterra system
+function composed!(D, u, p, t)
+    c = p.c #coupling parameter
+    @unpack lorenz, lotka = u
+    
+    lorenz!(D.lorenz, lorenz, p.lorenz, t, f=c*lotka.x)
+    lotka!(D.lotka, lotka, p.lotka, t, f=c*lorenz.x)
+    return nothing
+end
+function composed_jac!(D, u, p, t)
+    c = p.c
+    @unpack lorenz, lotka = u
+    
+    lorenz_jac!(@view(D[:lorenz,:lorenz]), lorenz, p.lorenz, t)
+    lotka_jac!(@view(D[:lotka,:lotka]), lotka, p.lotka, t)
+
+    @view(D[:lorenz,:lotka])[:y,:x] = -c
+    @view(D[:lotka,:lorenz])[:x,:x] = c
+    return nothing
+end
+
+comp_p = (lorenz=lorenz_p, lotka=lotka_p, c=0.01)
+comp_ic = ComponentArray(lorenz=lorenz_ic, lotka=lotka_ic)
+comp_fun = ODEFunction(composed!, jac=composed_jac!)
+comp_prob = ODEProblem(comp_fun, comp_ic, tspan, comp_p)
+
+
+## Solve problem
+# We can solve the composed system...
+comp_sol = solve(comp_prob, Rodas5())
+
+# ...or we can unit test one of the component systems
+lotka_sol = solve(lotka_prob, Rodas5())
diff --git a/v0.15.16/examples/adaptive_control/index.html b/v0.15.16/examples/adaptive_control/index.html new file mode 100644 index 00000000..8ac78934 --- /dev/null +++ b/v0.15.16/examples/adaptive_control/index.html @@ -0,0 +1,154 @@ + +Model Reference Adaptive Control · ComponentArrays.jl

Model Reference Adaptive Control

Motivation

Adaptive control is a good example of the type of problem that would be difficult to handle in a differential equations library without some sort of component system. We'll see how easy ComponentArrays make it to swap out subsystems, even when they have a different number of internal states.

This specific example will walk through a typical adaptive control problem with online parameter estimation. For offline parameter estimation, check out the DifferentialEquations.jl docs.

using ComponentArrays
+using ControlSystems
+using DifferentialEquations
+using UnPack
+using Plots

Helper Functions

These helper functions will eventually make it into a separate package aimed at simulating control systems problems. The idea is to make it easier to bring linear models from ControlSystems.jl into nonlinear simulations in DifferentialEquations.jl. For now, we'll just define everything we need here.

First, we need a way to apply inputs to the system through keyword arguments. These will help us pass in inputs as either values or functions of (x,p,t).

maybe_apply(f::Function, x, p, t) = f(x, p, t)
+maybe_apply(f, x, p, t) = f
+
+function apply_inputs(func; kwargs...)
+    simfun(dx, x, p, t) = func(dx, x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)
+    simfun(x, p, t) = func(x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)
+    return simfun
+end
+

Next, we need a way to create derivative functions from transfer functions. In ControlSystems.jl there is a function called simulator that does this, but the inputs must be applied from the start so we couldn't use it as a component function. Our version allows inputs to be passed through the keyword arguments and, as an added convenience, is in a transposed observer canonical form so our first element of x is also the output y (note that while this is true for our problem, it isn't always going to be the case).

SISO_simulator(P::TransferFunction) = SISO_simulator(ss(P))
+function SISO_simulator(P::AbstractStateSpace)
+    @unpack A, B, C, D = P
+
+    if size(D)!=(1,1)
+        error("This is not a SISO system")
+    end
+
+    # Put into transposed observer canonical form so the first element is also the y value
+    BB = reverse(vec(C))
+    CC = reverse(vec(B))'
+    DD = D[1,1]
+    
+    return function sim!(dx, x, p, t; u=0.0)
+        dx .= A*x + BB*u
+        return CC*x + DD*u
+    end
+end

Laplace Domain Model Specification

Using ControlSystems.jl we'll make a Laplace variable s.

s = tf("s")

We can build a reference model in the Laplace domain

am = 3
+bm = 3
+ref_model = bm / (s + am)
+ref_sim! = SISO_simulator(ref_model)

and our plant model as well. The nominal plant model structure is what is known to our adaptation law.

ap = 1
+bp = 2
+nominal_plant = bp / (s + ap)
+nominal_sim! = SISO_simulator(nominal_plant)

To test robustness to uncertainty, we'll also include unmodeled dynamics with an entirely different structure than our nominal plant model.

unmodeled_dynamics = 229/(s^2 + 30s + 229)
+truth_plant = nominal_plant * unmodeled_dynamics
+truth_sim! = SISO_simulator(truth_plant)

Let's do a quick sanity check to make sure our nominal and truth plant dynamics are about the same. We'll use the apply_inputs function to plot a step response and a sine response.

step_p = plot(solve(ODEProblem(apply_inputs(truth_sim!; u=1), truth_ic, (0.0, 10.0))); vars=1, label="truth model")
+plot!(step_p, solve(ODEProblem(apply_inputs(nominal_sim!; u=1), nominal_ic, (0.0, 10.0))); vars=1, label="nominal model")
+
+u = (x,p,t) -> sin(3t)
+sin_p = plot(solve(ODEProblem(apply_inputs(truth_sim!; u=u), truth_ic, (0.0, 10.0))); vars=1, label="truth model")
+plot!(sin_p, solve(ODEProblem(apply_inputs(nominal_sim!; u=u), nominal_ic, (0.0, 10.0))); vars=1, label="nominal model")
+
+plot(step_p, sin_p; layout=(2,1), size=(800, 800))

We'll make a first-order sensor as well so we can add noise to our measurement.

τ = 0.005
+sensor_plant = 1 / (τ*s + 1)
+sensor_sim! = SISO_simulator(sensor_plant)

Derivative Functions

Our control law assumes perfect knowledge of the parameters that are attached to the regressors (which are the reference input and the model output)

control(θ, w) = θ'w

We'll use a simple gradient descent adaptation law

function adapt!(Dθ, θ, γ, t; e, w)
+    Dθ .= -γ*e*w
+    return nothing
+end

Our feedback loop takes in the reference model output ym and the input signal r, calculates the control signal u, feeds that into the plant model, calculates the reference tracking error e, and finally updates feeds the reference tracking error and it's corresponding regressor vector to the adaptation law.

function feedback_sys!(D, vars, p, t; ym, r, n)
+    @unpack parameter_estimates, plant_model, sensor = vars
+    γ = p.gamma
+    regressor = [r, plant_model[1]]
+
+    u = control(parameter_estimates, regressor)
+    yp = p.plant_fun(D.plant_model, plant_model, (), t; u=u)
+    ŷ = sensor_sim!(D.sensor, sensor, (), t; u=yp[1]) + n
+    e = ŷ .- ym
+    regressor[2] = ŷ
+    adapt!(D.parameter_estimates, parameter_estimates, γ, t; e=e, w=regressor)
+    return yp
+end

Now the full system takes in an input signal r, feeds it through the reference model, and feeds the output of the reference model ym and the input signal to feedback_sys.

function system!(D, vars, p, t; r=0.0, n=0.0)
+    @unpack reference_model, feedback_loop = vars
+
+    ym = ref_sim!(D.reference_model, reference_model, (), t; u=r)
+    yp = feedback_sys!(D.feedback_loop, feedback_loop, p, t; ym=ym, r=r, n=n)
+    return yp
+end

Simulation Inputs

# Simulation time span
+tspan = (0.0, 30.0)
+
+# Input signal
+input_signal = (x,p,t) -> sin(3t)
+
+# Initial conditions
+ref_ic = zeros(1)
+nominal_ic = zeros(1)
+truth_ic = zeros(3)
+sensor_ic = zeros(1)
+θ_est_ic = ComponentArray(θr=0.0, θy=0.0)

Set Up Simulation

function simulate(plant_fun, plant_ic;
+                tspan=tspan,
+                input_signal=input_signal,
+                adapt_gain=1.5,
+                noise_param=nothing,
+                deterministic_noise=0.0)
+
+    noise(D, vars, p, t) = (D.feedback_loop.sensor[1] = noise_param)
+
+    # Truth control parameters
+    θ_truth = (r=bm/bp, y=(ap-am)/bp)
+
+    # Initial conditions
+    ic = ComponentArray(
+        reference_model = ref_ic,
+        feedback_loop = (
+            parameter_estimates = θ_est_ic,
+            sensor = sensor_ic,
+            plant_model = plant_ic,
+        ),
+    )
+
+    # Model parameters
+    p = (
+        gamma = adapt_gain,
+        plant_fun = plant_fun,
+    )
+
+    sim_fun = apply_inputs(system!; r=input_signal, n=deterministic_noise)
+
+    # We can also choose whether we want to include random noise in our model by switching between an ODE
+    # and an SDE problem.
+    if noise_param === nothing
+        prob = ODEProblem(sim_fun, ic, tspan, p, max_iters=2000)
+    else
+        prob = SDEProblem(sim_fun, noise, ic, tspan, p, max_iters=2000)
+    end
+
+
+    ## Solve!
+    sol = solve(prob)
+
+
+    ## Plot
+    # Reference model tracking
+    top = plot(
+        sol,
+        vars=["reference_model[1]", "feedback_loop.sensor"],
+        legend=:right,
+        title="Reference Model Tracking",
+    )
+
+    # Parameter estimate tracking
+    bottom = plot(sol, vars="feedback_loop.parameter_estimates")
+    plot!(
+        bottom,
+        [tspan...], [θ_truth.r θ_truth.y; θ_truth.r θ_truth.y],
+        labels=["θr truth" "θy truth"],
+        legend=:right,
+        title="Parameter Estimate Tracking",
+    )
+
+    # Combine both plots
+    plot(top, bottom, layout=(2,1), size=(800, 800))
+end

And now let's run the simulation and plot.

simulate(nominal_sim!, nominal_ic; noise_param=0.2)

Unmodeled Dynamics

Notice our parameter estimates are converging to a slightly different number than the truth values. This is because we didn't take the sensor dynamics into account in our adaptation law. Thankfully we are pretty robust to this. Let's push it a little further though. Remember our truth plant model with the extra unmodelled dynamics? Let's plot that one up now. Notice how easy it ComponentArrays make it to switch out the two simulations, despite the fact that the two plant models have a different number of states. 

simulate(truth_sim!, truth_ic; noise_param=0.2)

Even though our parameters aren't tracking what we think they should be, we are still tracking our reference model well. In real systems, there are always going to be unaccounted-for dynamics, so it's important that we are robust to that.

Insufficient Excitation and Rohr's Example

Readers familiar with adaptive control might have noticed that our plant model parameters weren't just arbitrarily chosen; they come from Rohr's well-known example of parameter drift for insufficient excitation. To see this in action, let's look at what happens when we feed our model a stationary input. We'll switch to the same purely deterministic noise model that Rohr used. The parameter adaptation gain is a best guess to match the original data.

simulate(nominal_sim!, nominal_ic;
+        input_signal = 2.0,
+        deterministic_noise = (x,p,t) -> 0.5sin(16.1t),
+        noise_param = nothing,
+        tspan = (0.0, 100.0),
+        adapt_gain = 3.35)

Interesting. If we were just looking at the model reference tracking, it would seem that everything is okay. The parameters are drifting within a space that keeps the reference tracking error small. This is pretty typical for "insufficiently excited" systems, i.e. systems whose input is either flat or at frequencies that are attenuated by the plant dynamics. Now let's see what happens with our truth model.

simulate(truth_sim!, truth_ic;
+           input_signal = 2.0,
+           deterministic_noise = (x,p,t) -> 0.5sin(16.1t),
+           noise_param = nothing,
+           tspan = (0.0, 72.9),
+           adapt_gain = 3.35)

Yikes! It looks like that parameter drift can lead to system instability. We won't go into the strategies to mitigate this problem here, but if you're interested, check out Slotine and Li's Applied Nonlinear Control.

diff --git a/v0.15.16/examples/coulomb_control/index.html b/v0.15.16/examples/coulomb_control/index.html new file mode 100644 index 00000000..ef2b990a --- /dev/null +++ b/v0.15.16/examples/coulomb_control/index.html @@ -0,0 +1,154 @@ + +Control of a sliding block · ComponentArrays.jl

Control of a sliding block

using ComponentArrays
+using DifferentialEquations
+using Interact: @manipulate
+using Parameters: @unpack
+using Plots

Problem Setup

const g = 9.80665
+
+maybe_apply(f::Function, x, p, t) = f(x, p, t)
+maybe_apply(f, x, p, t) = f
+
+# Applies functions of form f(x,p,t) to be applied and passed in as inputs
+function simulator(func; kwargs...)
+    simfun(dx, x, p, t) = func(dx, x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)
+    simfun(x, p, t) = func(x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)
+    return simfun
+end
+
+softsign(x) = tanh(1e3x)

Component Functions

A sliding block with two different friction models

# Sliding block with viscous friction
+function viscous_block!(D, vars, p, t; u=0.0)
+    @unpack m, c, k = p
+    @unpack v, x = vars
+
+    D.x = v
+    D.v = (-c*v + k*(u-x))/m
+    return x
+end
+
+# Sliding block with coulomb friction
+function coulomb_block!(D, vars, p, t; u=0.0)
+    @unpack m, μ, k = p
+    @unpack v, x = vars
+
+    D.x = v
+    a = -μ*g*softsign(v) + k*(u-x)/m
+    D.v = abs(a)<1e-3 && abs(v)<1e-3 ? -10v : a #deadzone to help the simulation
+    return x
+end

PID feedback control

function PID_controller!(D, vars, p, t; err=0.0, v=0.0)
+    @unpack kp, ki, kd = p
+    @unpack x = vars
+
+    D.x = ki*err
+    return x + kp*err + kd*v
+end
+
+function feedback_sys!(D, components, p, t; ref=0.0)
+    @unpack ctrl, plant = components
+
+    u = p.ctrl.fun(D.ctrl, ctrl, p.ctrl.params, t; err=ref-plant.x, v=-plant.v)
+    return p.plant.fun(D.plant, plant, p.plant.params, t; u=u)
+end
+
+step_input(;time=1.0, mag=1.0) = (x,p,t) -> t>time ? mag : 0
+sine_input(;mag=1.0, period=10.0) = (x,p,t) -> mag*sin(t*2π/period)
+
+# Equivalent viscous damping coefficient taken from:
+# https://engineering.purdue.edu/~deadams/ME563/lecture2010.pdf
+visc_equiv(μ, N, ω, mag) = 4*μ*N/(π*ω*mag)

Open-Loop Response

To see the open-loop response of the coulomb system, let's set the input to 5 and plot the results. 

const tspan = (0.0, 30.0)
+const m = 50.0
+const μ = 0.1
+const k = 50.0
+
+p = (m=m, μ=μ, k=k)
+ic = ComponentArray(v=0, x=0)
+
+ODEProblem(simulator(coulomb_block!, u=5), ic, tspan, p) |> solve |> plot

Closed-Loop Response

For the closed-loop response, let's make an interactive GUI. Since we are using ComponentArrays, we don't have to change anything about our plant model to incorporate it in the overall system simulation.

p = (
+    ctrl = (
+        params = (kp=13, ki=12, kd=5),
+        fun = PID_controller!,
+    ),
+    plant = (
+        params = plant_p,
+        fun = coulomb_block!,
+    ),
+)
+
+ic = ComponentArray(ctrl=(;x=0), plant=plant_ic)
+
+sol = ODEProblem(simulator(feedback_sys!, ref=10), ic, tspan, p) |> solve
+plot(sol, vars=3)
## Interactive GUI for switching out plant models and varying PID gains
+@manipulate for kp in 0:0.01:15,
+                ki in 0:0.01:15, 
+                kd in 0:0.01:15,
+                damping in Dict(
+                    "Coulomb" => coulomb_block!,
+                    "Viscous" => viscous_block!,
+                ),
+                reference in Dict(
+                    "Sine" => sine_input,
+                    "Step" => step_input,
+                ),
+                magnitude in 0:0.01:10, # pop-pop!
+                period in 1:0.01:30,
+                plot_v in false
+    
+    # Inputs
+    tspan = (0.0, 30.0)
+
+    ctrl_fun = PID_controller!
+    # plant_fun = coulomb_block!
+    
+    ref = if reference==sine_input
+        reference(period=period, mag=magnitude)
+        else
+        reference(mag=magnitude)
+    end
+    
+    m = 50.0
+    μ = 0.1
+    ω = 2π/period
+    c = 4*μ*m*g/(π*ω*magnitude) # Viscous equivalent damping
+    k = 50.0
+
+    plant_p = (m=m, μ=μ, c=c, k=k) # We'll just put everything for both models in here
+    ctrl_p = (kp=kp, ki=ki, kd=kd)
+
+    plant_ic = (v=0, x=0)
+    ctrl_ic = (;x=0)
+
+
+
+    # Set up and solve
+    sys_p = (
+        ctrl = (
+            params = ctrl_p,
+            fun = ctrl_fun,
+        ),
+        plant = (
+            params = plant_p,
+            fun = damping,
+        ),
+    )
+    sys_ic = ComponentArray(ctrl=ctrl_ic, plant=plant_ic)
+    sys_fun = ODEFunction(simulator(feedback_sys!, ref=ref), syms=[:u, :v, :x])
+    sys_prob = ODEProblem(sys_fun, sys_ic, tspan, sys_p)
+
+    sol = solve(sys_prob, Tsit5())
+
+
+    # Plot
+    t = tspan[1]:0.1:tspan[2]
+    lims = magnitude*[-1, 1]
+    plotvars = plot_v ? [3, 2] : [3]
+    strip = plot(t, ref.(0, 0, t), ylim=1.2lims, label="r(t)")
+    plot!(strip, sol, vars=plotvars)
+    phase = plot(ref.(0, 0, t), map(x->x.plant.x, sol(t).u),
+        xlim=lims,
+        ylim=1.2lims,
+        legend=false,
+        xlabel="r(t)",
+        ylabel="x(t)",
+    )
+    plot(strip, phase, layout=(2, 1), size=(700, 800))
+
+end

diff --git a/v0.15.16/index.html b/v0.15.16/index.html new file mode 100644 index 00000000..2f2fdd94 --- /dev/null +++ b/v0.15.16/index.html @@ -0,0 +1,2 @@ + +Home · ComponentArrays.jl

ComponentArrays.jl

The main export of this package is the ComponentArray type. "Components" of ComponentArrays are really just array blocks that can be accessed through a named index. The magic here is that this named indexing can create a new ComponentArray whose data is a view into the original, allowing for standalone models to be composed together by simple function composition. In essence, ComponentArrays allow you to do the things you would usually need a modeling language for, but without actually needing a modeling language. The main targets are for use in DifferentialEquations.jl and Optim.jl, but anything that requires flat vectors is fair game.

    diff --git a/v0.15.16/indexing_behavior/index.html b/v0.15.16/indexing_behavior/index.html new file mode 100644 index 00000000..71a1a7a4 --- /dev/null +++ b/v0.15.16/indexing_behavior/index.html @@ -0,0 +1,45 @@ + +Indexing Behavior · ComponentArrays.jl

    Indexing Behavior

    Views and slices

    ComponentArrays slice, rather than view, when indexing. This catches some people by surprise when they are trying to use indexing on ComponentVectors for dynamic field access. Let's look at an example. We'll make a ComponentVector with a nested structure.

    julia> using ComponentArrays
+
+julia> ca = ComponentArray(a=5, b=[4, 1])
+ComponentVector{Int64}(a = 5, b = [4, 1])

    Using dot notation, we can access and change properties as if ca was a regular struct or NamedTuple.

    julia> ca.b[1] = 99;
+
+julia> ca.a = 22;
+
+julia> ca
+ComponentVector{Int64}(a = 22, b = [99, 1])

    Now let's try with indexing:

    julia> ca[:b][1] = 0
+0
+
+julia> ca[:a] = 0
+
+julia> ca
+ComponentVector{Int64}(a = 0, b = [99, 1])

    We see that the a field changed but the b field didn't. When we did ca[:b], it sliced into ca, thus creating a copy that would not update the original when we went to set the first element to 0. On the other hand, since the update of the a field calls setindex! which updates in-place.

    If viewing, rather than slicing, is the desired behavior, use the @view macro or view function:

    julia> @view(ca[:b])[1] = 0
+
+julia> ca
+ComponentVector{Int64}(a = 0, b = [0, 1])

    Indexing with multiple symbols

    It is often useful to create a new ComponentArray with only select fields of an old one. For this reason, ComponentArrays can be indexed with multiple symbolic names:

    julia> ca = ComponentArray(a=5, b=[4, 1], c=(a=2, b=[6, 30.0]))
+ComponentVector{Float64}(a = 5.0, b = [4.0, 1.0], c = (a = 2.0, b = [6.0, 30.0]))
+
+julia> ca[(:c, :a)]
+ComponentVector{Float64}(c = (a = 2.0, b = [6.0, 30.0]), a = 5.0)
+
+julia> @view ca[(:c, :a)]
+ComponentVector{Float64,SubArray...}(c = (a = 2.0, b = [6.0, 30.0]), a = 5.0)

    We see here that the new ComponentArray has the order of the a and c fields switched according to the order they were indexed by.

    Multi-symbol indexing can be performed by passing either a Tuple or an Array of Symbols.

    julia> ca[[:c, :a]] == ca[(:c, :a)]
+true

    Retaining component labels through index operations

    Sometimes you might want to index into a ComponentArray without dropping the component name. Let's look at a new example with a more deeply nested structure:

    julia> ca = ComponentArray(a=5, b=[4, 1], c=(a=2, b=[6, 30]))
+ComponentVector{Int64}(a = 5, b = [4, 1], c = (a = 2, b = [6, 30]))

    If we wanted to get the b component while keeping the name, we can use the KeepIndex wrapper around our index:

    julia> ca[KeepIndex(:b)]
+ComponentVector{Int64}(b = [4, 1])

    Now instead of just returning a plain Vector, this returns a ComponentVector that keeps the b name. Of course, this is still compatible with views, so we could have done @view ca[KeepIndex(:b)] if we wanted to retain the view into the origianl.

    Similarly, we can use plain indexes like ranges or integers and they will keep the names of any components they capture:

    julia> ca[KeepIndex(1)]
+ComponentVector{Int64}(a = 5)
+
+julia> ca[KeepIndex(2:3)]
+ComponentVector{Int64}(b = [4, 1])
+
+julia> ca[KeepIndex(1:3)]
+ComponentVector{Int64}(a = 5, b = [4, 1])
+
+julia> ca[KeepIndex(2:end)]
+ComponentVector{Int64}(b = [4, 1], c = (a = 2, b = [6, 30]))

    But what if our range doesn't capture a full component? We can see below that using KeepIndex on the first five elements returns a ComponentVector with those elements but only the a and b names, since the c component wasn't fully captured. 

    julia> ca[KeepIndex(1:5)]
+5-element ComponentVector{Int64} with axis Axis(a = 1, b = 2:3):
+ 5
+ 4
+ 1
+ 2
+ 6
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    Quick Start

    General use

    The easiest way to construct 1-dimensional ComponentArrays is as if they were NamedTuples. In fact, a good way to think about them is as arbitrarily nested, mutable NamedTuples that can be passed through a solver.

    julia> c = (a=2, b=[1, 2]);
+
+julia> x = ComponentArray(a=1.0, b=[2, 1, 4], c=c)
+ComponentVector{Float64}(a = 1.0, b = [2.0, 1.0, 4.0], c = (a = 2.0, b = [1.0, 2.0]))
+
+julia> x.c.a = 400; x
+ComponentVector{Float64}(a = 1.0, b = [2.0, 1.0, 4.0], c = (a = 400.0, b = [1.0, 2.0]))
+
+julia> x[5]
+400.0
+
+julia> collect(x)
+7-element Array{Float64,1}:
+   1.0
+   2.0
+   1.0
+   4.0
+ 400.0
+   1.0
+   2.0
+
+julia> typeof(similar(x, Int32)) === typeof(ComponentVector{Int32}(a=1, b=[2, 1, 4], c=c))
+true

    ComponentArrays can be constructed from existing ComponentArrays (currently nested fields cannot be changed this way):

    julia> x = ComponentVector(a=1, b=2, c=3);
+
+julia> ComponentVector(x; a=11, new=42)
+ComponentVector{Int64}(a = 11, b = 2, c = 3, new = 42)

    Higher dimensional ComponentArrays can be created too, but it's a little messy at the moment. The nice thing for modeling is that dimension expansion through broadcasted operations can create higher-dimensional ComponentArrays automatically, so Jacobian cache arrays that are created internally with false .* x .* x' will be ComponentArrays with proper axes. Check out the ODE with Jacobian example in the examples folder to see how this looks in practice.

    julia> x2 = x .* x'
+7×7 ComponentMatrix{Float64} with axes Axis(a = 1, b = 2:4, c = ViewAxis(5:7, Axis(a = 1, b = 2:3))) × Axis(a = 1, b = 2:4, c = ViewAxis(5:7, Axis(a = 1, b = 2:3)))
+   1.0    2.0    1.0     4.0     400.0    1.0    2.0
+   2.0    4.0    2.0     8.0     800.0    2.0    4.0
+   1.0    2.0    1.0     4.0     400.0    1.0    2.0
+   4.0    8.0    4.0    16.0    1600.0    4.0    8.0
+ 400.0  800.0  400.0  1600.0  160000.0  400.0  800.0
+   1.0    2.0    1.0     4.0     400.0    1.0    2.0
+   2.0    4.0    2.0     8.0     800.0    2.0    4.0
+
+julia> x2[:c,:c]
+3×3 ComponentMatrix{Float64,SubArray...} with axes Axis(a = 1, b = 2:3) × Axis(a = 1, b = 2:3)
+ 160000.0  400.0  800.0
+    400.0    1.0    2.0
+    800.0    2.0    4.0
+
+julia> x2[:a,:a]
+ 1.0
+
+julia> x2[:a,:c]
+ComponentVector{Float64,SubArray...}(a = 400.0, b = [1.0, 2.0])
+
+julia> x2[:b,:c]
+3×3 ComponentMatrix{Float64,SubArray...} with axes FlatAxis() × Axis(a = 1, b = 2:3)
+  800.0  2.0  4.0
+  400.0  1.0  2.0
+ 1600.0  4.0  8.0
    diff --git a/v0.15.16/search_index.js b/v0.15.16/search_index.js new file mode 100644 index 00000000..b88ed4b8 --- /dev/null +++ b/v0.15.16/search_index.js @@ -0,0 +1,3 @@ +var documenterSearchIndex = {"docs": +[{"location":"indexing_behavior/#Indexing-Behavior","page":"Indexing Behavior","title":"Indexing Behavior","text":"","category":"section"},{"location":"indexing_behavior/#Views-and-slices","page":"Indexing Behavior","title":"Views and slices","text":"","category":"section"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"ComponentArrays slice, rather than view, when indexing. This catches some people by surprise when they are trying to use indexing on ComponentVectors for dynamic field access. Let's look at an example. We'll make a ComponentVector with a nested structure.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> using ComponentArrays\n\njulia> ca = ComponentArray(a=5, b=[4, 1])\nComponentVector{Int64}(a = 5, b = [4, 1])","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Using dot notation, we can access and change properties as if ca was a regular struct or NamedTuple.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca.b[1] = 99;\n\njulia> ca.a = 22;\n\njulia> ca\nComponentVector{Int64}(a = 22, b = [99, 1])","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Now let's try with indexing:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca[:b][1] = 0\n0\n\njulia> ca[:a] = 0\n\njulia> ca\nComponentVector{Int64}(a = 0, b = [99, 1])","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"We see that the a field changed but the b field didn't. When we did ca[:b], it sliced into ca, thus creating a copy that would not update the original when we went to set the first element to 0. On the other hand, since the update of the a field calls setindex! which updates in-place.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"If viewing, rather than slicing, is the desired behavior, use the @view macro or view function:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> @view(ca[:b])[1] = 0\n\njulia> ca\nComponentVector{Int64}(a = 0, b = [0, 1])","category":"page"},{"location":"indexing_behavior/#Indexing-with-multiple-symbols","page":"Indexing Behavior","title":"Indexing with multiple symbols","text":"","category":"section"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"It is often useful to create a new ComponentArray with only select fields of an old one. For this reason, ComponentArrays can be indexed with multiple symbolic names:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca = ComponentArray(a=5, b=[4, 1], c=(a=2, b=[6, 30.0]))\nComponentVector{Float64}(a = 5.0, b = [4.0, 1.0], c = (a = 2.0, b = [6.0, 30.0]))\n\njulia> ca[(:c, :a)]\nComponentVector{Float64}(c = (a = 2.0, b = [6.0, 30.0]), a = 5.0)\n\njulia> @view ca[(:c, :a)]\nComponentVector{Float64,SubArray...}(c = (a = 2.0, b = [6.0, 30.0]), a = 5.0)","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"We see here that the new ComponentArray has the order of the a and c fields switched according to the order they were indexed by.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Multi-symbol indexing can be performed by passing either a Tuple or an Array of Symbols.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca[[:c, :a]] == ca[(:c, :a)]\ntrue","category":"page"},{"location":"indexing_behavior/#Retaining-component-labels-through-index-operations","page":"Indexing Behavior","title":"Retaining component labels through index operations","text":"","category":"section"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Sometimes you might want to index into a ComponentArray without dropping the component name. Let's look at a new example with a more deeply nested structure:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca = ComponentArray(a=5, b=[4, 1], c=(a=2, b=[6, 30]))\nComponentVector{Int64}(a = 5, b = [4, 1], c = (a = 2, b = [6, 30]))","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"If we wanted to get the b component while keeping the name, we can use the KeepIndex wrapper around our index:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca[KeepIndex(:b)]\nComponentVector{Int64}(b = [4, 1])","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Now instead of just returning a plain Vector, this returns a ComponentVector that keeps the b name. Of course, this is still compatible with views, so we could have done @view ca[KeepIndex(:b)] if we wanted to retain the view into the origianl.","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"Similarly, we can use plain indexes like ranges or integers and they will keep the names of any components they capture:","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca[KeepIndex(1)]\nComponentVector{Int64}(a = 5)\n\njulia> ca[KeepIndex(2:3)]\nComponentVector{Int64}(b = [4, 1])\n\njulia> ca[KeepIndex(1:3)]\nComponentVector{Int64}(a = 5, b = [4, 1])\n\njulia> ca[KeepIndex(2:end)]\nComponentVector{Int64}(b = [4, 1], c = (a = 2, b = [6, 30]))","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"But what if our range doesn't capture a full component? We can see below that using KeepIndex on the first five elements returns a ComponentVector with those elements but only the a and b names, since the c component wasn't fully captured. ","category":"page"},{"location":"indexing_behavior/","page":"Indexing Behavior","title":"Indexing Behavior","text":"julia> ca[KeepIndex(1:5)]\n5-element ComponentVector{Int64} with axis Axis(a = 1, b = 2:3):\n 5\n 4\n 1\n 2\n 6","category":"page"},{"location":"api/#API","page":"API","title":"API","text":"","category":"section"},{"location":"api/","page":"API","title":"API","text":"Modules = [ComponentArrays]","category":"page"},{"location":"api/#ComponentArrays.Axis","page":"API","title":"ComponentArrays.Axis","text":"ax = Axis(nt::NamedTuple)\n\nGives named component access for ComponentArrays.\n\nExamples\n\njulia> using ComponentArrays\n\njulia> ax = Axis((a = 1, b = ViewAxis(2:7, PartitionedAxis(2, (a = 1, b = 2))), c = ViewAxis(8:10, (a = 1, b = 2:3))));\n\njulia> A = [100, 4, 1.3, 1, 1, 4.4, 0.4, 2, 1, 45];\n\njulia> ca = ComponentArray(A, ax)\nComponentVector{Float64}(a = 100.0, b = [(a = 4.0, b = 1.3), (a = 1.0, b = 1.0), (a = 4.4, b = 0.4)], c = (a = 2.0, b = [1.0, 45.0]))\n\njulia> ca.a\n100.0\n\njulia> ca.b\n3-element LazyArray{ComponentVector{Float64,SubArray...}}:\n ComponentVector{Float64,SubArray...}(a = 4.0, b = 1.3)\n ComponentVector{Float64,SubArray...}(a = 1.0, b = 1.0)\n ComponentVector{Float64,SubArray...}(a = 4.4, b = 0.4)\n\njulia> ca.c\nComponentVector{Float64,SubArray...}(a = 2.0, b = [1.0, 45.0])\n\njulia> ca.c.b\n2-element view(::Vector{Float64}, 9:10) with eltype Float64:\n 1.0\n 45.0\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.ComponentArray","page":"API","title":"ComponentArrays.ComponentArray","text":"x = ComponentArray(nt::NamedTuple)\nx = ComponentArray(;kwargs...)\nx = ComponentArray(data::AbstractVector, ax)\nx = ComponentArray{T}(args...; kwargs...) where T\n\nArray type that can be accessed like an arbitrary nested mutable struct.\n\nExamples\n\njulia> using ComponentArrays\n\njulia> x = ComponentArray(a=1, b=[2, 1, 4], c=(a=2, b=[1, 2]))\nComponentVector{Int64}(a = 1, b = [2, 1, 4], c = (a = 2, b = [1, 2]))\n\njulia> x.c.a = 400; x\nComponentVector{Int64}(a = 1, b = [2, 1, 4], c = (a = 400, b = [1, 2]))\n\njulia> x[5]\n400\n\njulia> collect(x)\n7-element Vector{Int64}:\n 1\n 2\n 1\n 4\n 400\n 1\n 2\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.ComponentMatrix","page":"API","title":"ComponentArrays.ComponentMatrix","text":"x = ComponentMatrix(data::AbstractMatrix, ax...)\nx = ComponentMatrix{T}(data::AbstractMatrix, ax...) where T\n\nA ComponentMatrix is an alias for a two-dimensional ComponentArray.\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.ComponentVector","page":"API","title":"ComponentArrays.ComponentVector","text":"x = ComponentVector(nt::NamedTuple)\nx = ComponentVector(;kwargs...)\nx = ComponentVector(data::AbstractVector, ax)\nx = ComponentVector{T}(args...; kwargs...) where T\n\nA ComponentVector is an alias for a one-dimensional ComponentArray.\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.KeepIndex","page":"API","title":"ComponentArrays.KeepIndex","text":"KeepIndex(idx)\n\nTag an index of a ComponentArray to retain it's Axis through indexing\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.LazyArray","page":"API","title":"ComponentArrays.LazyArray","text":"LazyArray(gen::Base.Generator)\n\nWrapper around Base.Generator that also indexes like an array. This is needed to make ComponentArrays that hold arrays of ComponentArrays\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.PartitionedAxis","page":"API","title":"ComponentArrays.PartitionedAxis","text":"pa = PartitionedAxis(partition_size, index_map)\n\nAxis for creating arrays of ComponentArrays\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.ShapedAxis","page":"API","title":"ComponentArrays.ShapedAxis","text":"sa = ShapedAxis(shape)\n\nPreserves higher-dimensional array components in ComponentArrays (matrix components, for example)\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.ViewAxis","page":"API","title":"ComponentArrays.ViewAxis","text":"va = ViewAxis(parent_index, index_map)\n\nAxis for creating arrays of ComponentArrays\n\n\n\n\n\n","category":"type"},{"location":"api/#ComponentArrays.getaxes-Tuple{ComponentArray}","page":"API","title":"ComponentArrays.getaxes","text":"getaxes(x::ComponentArray)\n\nAccess .axes field of a ComponentArray. This is different than axes(x::ComponentArray), which returns the axes of the contained array.\n\nExamples\n\njulia> using ComponentArrays\n\njulia> ax = Axis(a=1:3, b=(4:6, (a=1, b=2:3)))\nAxis(a = 1:3, b = (4:6, (a = 1, b = 2:3)))\n\njulia> A = zeros(6,6);\n\njulia> ca = ComponentArray(A, (ax, ax))\n6×6 ComponentMatrix{Float64} with axes Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))) × Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3)))\n 0.0 0.0 0.0 0.0 0.0 0.0\n 0.0 0.0 0.0 0.0 0.0 0.0\n 0.0 0.0 0.0 0.0 0.0 0.0\n 0.0 0.0 0.0 0.0 0.0 0.0\n 0.0 0.0 0.0 0.0 0.0 0.0\n 0.0 0.0 0.0 0.0 0.0 0.0\n\njulia> getaxes(ca)\n(Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))), Axis(a = 1:3, b = (4:6, (a = 1, b = 2:3))))\n\n\n\n\n\n","category":"method"},{"location":"api/#ComponentArrays.getdata-Tuple{ComponentArray}","page":"API","title":"ComponentArrays.getdata","text":"getdata(x::ComponentArray)\n\nAccess .data field of a ComponentArray, which contains the array that ComponentArray wraps.\n\n\n\n\n\n","category":"method"},{"location":"api/#ComponentArrays.label2index-Tuple{ComponentVector{T, A, Axes} where {T, A, Axes}, Any}","page":"API","title":"ComponentArrays.label2index","text":"label2index(x::ComponentVector, str::AbstractString)\nlabel2index(label_array, str::AbstractString)\n\nConvert labels made by labels function to an array of flat indices of a ComponentVector.\n\nExamples\n\njulia> x = ComponentArray(a=5, b=[(a=(a=20,b=1), b=0), (a=(a=33,b=1), b=0)], c=(a=(a=2, b=[1,2]), b=[1. 2.; 5 6]))\nComponentVector{Float64}(a = 5.0, b = [(a = (a = 20.0, b = 1.0), b = 0.0), (a = (a = 33.0, b = 1.0), b = 0.0)], c = (a = (a = 2.0, b = [1.0, 2.0]), b = [1.0 2.0; 5.0 6.0]))\n\njulia> ComponentArrays.labels(x)\n14-element Vector{String}:\n \"a\"\n \"b[1].a.a\"\n \"b[1].a.b\"\n \"b[1].b\"\n \"b[2].a.a\"\n \"b[2].a.b\"\n \"b[2].b\"\n \"c.a.a\"\n \"c.a.b[1]\"\n \"c.a.b[2]\"\n \"c.b[1,1]\"\n \"c.b[2,1]\"\n \"c.b[1,2]\"\n \"c.b[2,2]\"\n\njulia> ComponentArrays.label2index(x, \"c.a\")\n3-element Vector{Int64}:\n 8\n 9\n 10\n\njulia> ComponentArrays.label2index(x, \"b[1]\")\n3-element Vector{Int64}:\n 2\n 3\n 4\n\nsee also labels\n\n\n\n\n\n","category":"method"},{"location":"api/#ComponentArrays.labels-Tuple{ComponentVector{T, A, Axes} where {T, A, Axes}}","page":"API","title":"ComponentArrays.labels","text":"labels(x::ComponentVector)\n\nGet string labels for for each index of a ComponentVector. Useful for automatic plot legend labelling.\n\nExamples\n\njulia> x = ComponentArray(a=5, b=[(a=(a=20,b=1), b=0), (a=(a=33,b=1), b=0)], c=(a=(a=2, b=[1,2]), b=[1. 2.; 5 6]))\nComponentVector{Float64}(a = 5.0, b = [(a = (a = 20.0, b = 1.0), b = 0.0), (a = (a = 33.0, b = 1.0), b = 0.0)], c = (a = (a = 2.0, b = [1.0, 2.0]), b = [1.0 2.0; 5.0 6.0]))\n\njulia> ComponentArrays.labels(x)\n14-element Vector{String}:\n \"a\"\n \"b[1].a.a\"\n \"b[1].a.b\"\n \"b[1].b\"\n \"b[2].a.a\"\n \"b[2].a.b\"\n \"b[2].b\"\n \"c.a.a\"\n \"c.a.b[1]\"\n \"c.a.b[2]\"\n \"c.b[1,1]\"\n \"c.b[2,1]\"\n \"c.b[1,2]\"\n \"c.b[2,2]\"\n\nsee also label2index\n\n\n\n\n\n","category":"method"},{"location":"api/#ComponentArrays.valkeys-Tuple{AbstractAxis}","page":"API","title":"ComponentArrays.valkeys","text":"valkeys(x::ComponentVector)\nvalkeys(x::AbstractAxis)\n\nReturns Val-wrapped keys of ComponentVector for fast iteration over component keys. Also works directly on an AbstractAxis.\n\nExamples\n\njulia> using ComponentArrays\n\njulia> ca = ComponentArray(a=1, b=[1,2,3], c=(a=4,))\nComponentVector{Int64}(a = 1, b = [1, 2, 3], c = (a = 4))\n\njulia> [ca[k] for k in valkeys(ca)]\n3-element Array{Any,1}:\n 1\n [1, 2, 3]\n ComponentVector{Int64,SubArray...}(a = 4)\n\njulia> sum(prod(ca[k]) for k in valkeys(ca))\n11\n\n\n\n\n\n","category":"method"},{"location":"examples/adaptive_control/#Model-Reference-Adaptive-Control","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"","category":"section"},{"location":"examples/adaptive_control/#Motivation","page":"Model Reference Adaptive Control","title":"Motivation","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Adaptive control is a good example of the type of problem that would be difficult to handle in a differential equations library without some sort of component system. We'll see how easy ComponentArrays make it to swap out subsystems, even when they have a different number of internal states.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"This specific example will walk through a typical adaptive control problem with online parameter estimation. For offline parameter estimation, check out the DifferentialEquations.jl docs.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"using ComponentArrays\nusing ControlSystems\nusing DifferentialEquations\nusing UnPack\nusing Plots","category":"page"},{"location":"examples/adaptive_control/#Helper-Functions","page":"Model Reference Adaptive Control","title":"Helper Functions","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"These helper functions will eventually make it into a separate package aimed at simulating control systems problems. The idea is to make it easier to bring linear models from ControlSystems.jl into nonlinear simulations in DifferentialEquations.jl. For now, we'll just define everything we need here.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"First, we need a way to apply inputs to the system through keyword arguments. These will help us pass in inputs as either values or functions of (x,p,t).","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"maybe_apply(f::Function, x, p, t) = f(x, p, t)\nmaybe_apply(f, x, p, t) = f\n\nfunction apply_inputs(func; kwargs...)\n simfun(dx, x, p, t) = func(dx, x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)\n simfun(x, p, t) = func(x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)\n return simfun\nend\n","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Next, we need a way to create derivative functions from transfer functions. In ControlSystems.jl there is a function called simulator that does this, but the inputs must be applied from the start so we couldn't use it as a component function. Our version allows inputs to be passed through the keyword arguments and, as an added convenience, is in a transposed observer canonical form so our first element of x is also the output y (note that while this is true for our problem, it isn't always going to be the case).","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"SISO_simulator(P::TransferFunction) = SISO_simulator(ss(P))\nfunction SISO_simulator(P::AbstractStateSpace)\n @unpack A, B, C, D = P\n\n if size(D)!=(1,1)\n error(\"This is not a SISO system\")\n end\n\n # Put into transposed observer canonical form so the first element is also the y value\n BB = reverse(vec(C))\n CC = reverse(vec(B))'\n DD = D[1,1]\n \n return function sim!(dx, x, p, t; u=0.0)\n dx .= A*x + BB*u\n return CC*x + DD*u\n end\nend","category":"page"},{"location":"examples/adaptive_control/#Laplace-Domain-Model-Specification","page":"Model Reference Adaptive Control","title":"Laplace Domain Model Specification","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Using ControlSystems.jl we'll make a Laplace variable s.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"s = tf(\"s\")","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"We can build a reference model in the Laplace domain","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"am = 3\nbm = 3\nref_model = bm / (s + am)\nref_sim! = SISO_simulator(ref_model)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"and our plant model as well. The nominal plant model structure is what is known to our adaptation law.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"ap = 1\nbp = 2\nnominal_plant = bp / (s + ap)\nnominal_sim! = SISO_simulator(nominal_plant)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"To test robustness to uncertainty, we'll also include unmodeled dynamics with an entirely different structure than our nominal plant model.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"unmodeled_dynamics = 229/(s^2 + 30s + 229)\ntruth_plant = nominal_plant * unmodeled_dynamics\ntruth_sim! = SISO_simulator(truth_plant)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Let's do a quick sanity check to make sure our nominal and truth plant dynamics are about the same. We'll use the apply_inputs function to plot a step response and a sine response.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"step_p = plot(solve(ODEProblem(apply_inputs(truth_sim!; u=1), truth_ic, (0.0, 10.0))); vars=1, label=\"truth model\")\nplot!(step_p, solve(ODEProblem(apply_inputs(nominal_sim!; u=1), nominal_ic, (0.0, 10.0))); vars=1, label=\"nominal model\")\n\nu = (x,p,t) -> sin(3t)\nsin_p = plot(solve(ODEProblem(apply_inputs(truth_sim!; u=u), truth_ic, (0.0, 10.0))); vars=1, label=\"truth model\")\nplot!(sin_p, solve(ODEProblem(apply_inputs(nominal_sim!; u=u), nominal_ic, (0.0, 10.0))); vars=1, label=\"nominal model\")\n\nplot(step_p, sin_p; layout=(2,1), size=(800, 800))","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"(Image: )","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"We'll make a first-order sensor as well so we can add noise to our measurement.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"τ = 0.005\nsensor_plant = 1 / (τ*s + 1)\nsensor_sim! = SISO_simulator(sensor_plant)","category":"page"},{"location":"examples/adaptive_control/#Derivative-Functions","page":"Model Reference Adaptive Control","title":"Derivative Functions","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Our control law assumes perfect knowledge of the parameters that are attached to the regressors (which are the reference input and the model output)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"control(θ, w) = θ'w","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"We'll use a simple gradient descent adaptation law","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"function adapt!(Dθ, θ, γ, t; e, w)\n Dθ .= -γ*e*w\n return nothing\nend","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Our feedback loop takes in the reference model output ym and the input signal r, calculates the control signal u, feeds that into the plant model, calculates the reference tracking error e, and finally updates feeds the reference tracking error and it's corresponding regressor vector to the adaptation law.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"function feedback_sys!(D, vars, p, t; ym, r, n)\n @unpack parameter_estimates, plant_model, sensor = vars\n γ = p.gamma\n regressor = [r, plant_model[1]]\n\n u = control(parameter_estimates, regressor)\n yp = p.plant_fun(D.plant_model, plant_model, (), t; u=u)\n ŷ = sensor_sim!(D.sensor, sensor, (), t; u=yp[1]) + n\n e = ŷ .- ym\n regressor[2] = ŷ\n adapt!(D.parameter_estimates, parameter_estimates, γ, t; e=e, w=regressor)\n return yp\nend","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Now the full system takes in an input signal r, feeds it through the reference model, and feeds the output of the reference model ym and the input signal to feedback_sys.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"function system!(D, vars, p, t; r=0.0, n=0.0)\n @unpack reference_model, feedback_loop = vars\n\n ym = ref_sim!(D.reference_model, reference_model, (), t; u=r)\n yp = feedback_sys!(D.feedback_loop, feedback_loop, p, t; ym=ym, r=r, n=n)\n return yp\nend","category":"page"},{"location":"examples/adaptive_control/#Simulation-Inputs","page":"Model Reference Adaptive Control","title":"Simulation Inputs","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"# Simulation time span\ntspan = (0.0, 30.0)\n\n# Input signal\ninput_signal = (x,p,t) -> sin(3t)\n\n# Initial conditions\nref_ic = zeros(1)\nnominal_ic = zeros(1)\ntruth_ic = zeros(3)\nsensor_ic = zeros(1)\nθ_est_ic = ComponentArray(θr=0.0, θy=0.0)","category":"page"},{"location":"examples/adaptive_control/#Set-Up-Simulation","page":"Model Reference Adaptive Control","title":"Set Up Simulation","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"function simulate(plant_fun, plant_ic;\n tspan=tspan,\n input_signal=input_signal,\n adapt_gain=1.5,\n noise_param=nothing,\n deterministic_noise=0.0)\n\n noise(D, vars, p, t) = (D.feedback_loop.sensor[1] = noise_param)\n\n # Truth control parameters\n θ_truth = (r=bm/bp, y=(ap-am)/bp)\n\n # Initial conditions\n ic = ComponentArray(\n reference_model = ref_ic,\n feedback_loop = (\n parameter_estimates = θ_est_ic,\n sensor = sensor_ic,\n plant_model = plant_ic,\n ),\n )\n\n # Model parameters\n p = (\n gamma = adapt_gain,\n plant_fun = plant_fun,\n )\n\n sim_fun = apply_inputs(system!; r=input_signal, n=deterministic_noise)\n\n # We can also choose whether we want to include random noise in our model by switching between an ODE\n # and an SDE problem.\n if noise_param === nothing\n prob = ODEProblem(sim_fun, ic, tspan, p, max_iters=2000)\n else\n prob = SDEProblem(sim_fun, noise, ic, tspan, p, max_iters=2000)\n end\n\n\n ## Solve!\n sol = solve(prob)\n\n\n ## Plot\n # Reference model tracking\n top = plot(\n sol,\n vars=[\"reference_model[1]\", \"feedback_loop.sensor\"],\n legend=:right,\n title=\"Reference Model Tracking\",\n )\n\n # Parameter estimate tracking\n bottom = plot(sol, vars=\"feedback_loop.parameter_estimates\")\n plot!(\n bottom,\n [tspan...], [θ_truth.r θ_truth.y; θ_truth.r θ_truth.y],\n labels=[\"θr truth\" \"θy truth\"],\n legend=:right,\n title=\"Parameter Estimate Tracking\",\n )\n\n # Combine both plots\n plot(top, bottom, layout=(2,1), size=(800, 800))\nend","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"And now let's run the simulation and plot.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"simulate(nominal_sim!, nominal_ic; noise_param=0.2)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"(Image: )","category":"page"},{"location":"examples/adaptive_control/#Unmodeled-Dynamics","page":"Model Reference Adaptive Control","title":"Unmodeled Dynamics","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Notice our parameter estimates are converging to a slightly different number than the truth values. This is because we didn't take the sensor dynamics into account in our adaptation law. Thankfully we are pretty robust to this. Let's push it a little further though. Remember our truth plant model with the extra unmodelled dynamics? Let's plot that one up now. Notice how easy it ComponentArrays make it to switch out the two simulations, despite the fact that the two plant models have a different number of states. ","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"simulate(truth_sim!, truth_ic; noise_param=0.2)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"(Image: )","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Even though our parameters aren't tracking what we think they should be, we are still tracking our reference model well. In real systems, there are always going to be unaccounted-for dynamics, so it's important that we are robust to that.","category":"page"},{"location":"examples/adaptive_control/#Insufficient-Excitation-and-Rohr's-Example","page":"Model Reference Adaptive Control","title":"Insufficient Excitation and Rohr's Example","text":"","category":"section"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Readers familiar with adaptive control might have noticed that our plant model parameters weren't just arbitrarily chosen; they come from Rohr's well-known example of parameter drift for insufficient excitation. To see this in action, let's look at what happens when we feed our model a stationary input. We'll switch to the same purely deterministic noise model that Rohr used. The parameter adaptation gain is a best guess to match the original data.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"simulate(nominal_sim!, nominal_ic;\n input_signal = 2.0,\n deterministic_noise = (x,p,t) -> 0.5sin(16.1t),\n noise_param = nothing,\n tspan = (0.0, 100.0),\n adapt_gain = 3.35)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"(Image: )","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Interesting. If we were just looking at the model reference tracking, it would seem that everything is okay. The parameters are drifting within a space that keeps the reference tracking error small. This is pretty typical for \"insufficiently excited\" systems, i.e. systems whose input is either flat or at frequencies that are attenuated by the plant dynamics. Now let's see what happens with our truth model.","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"simulate(truth_sim!, truth_ic;\n input_signal = 2.0,\n deterministic_noise = (x,p,t) -> 0.5sin(16.1t),\n noise_param = nothing,\n tspan = (0.0, 72.9),\n adapt_gain = 3.35)","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"(Image: )","category":"page"},{"location":"examples/adaptive_control/","page":"Model Reference Adaptive Control","title":"Model Reference Adaptive Control","text":"Yikes! It looks like that parameter drift can lead to system instability. We won't go into the strategies to mitigate this problem here, but if you're interested, check out Slotine and Li's Applied Nonlinear Control.","category":"page"},{"location":"quickstart/#Quick-Start","page":"Quick Start","title":"Quick Start","text":"","category":"section"},{"location":"quickstart/#General-use","page":"Quick Start","title":"General use","text":"","category":"section"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"The easiest way to construct 1-dimensional ComponentArrays is as if they were NamedTuples. In fact, a good way to think about them is as arbitrarily nested, mutable NamedTuples that can be passed through a solver.","category":"page"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"julia> c = (a=2, b=[1, 2]);\n\njulia> x = ComponentArray(a=1.0, b=[2, 1, 4], c=c)\nComponentVector{Float64}(a = 1.0, b = [2.0, 1.0, 4.0], c = (a = 2.0, b = [1.0, 2.0]))\n\njulia> x.c.a = 400; x\nComponentVector{Float64}(a = 1.0, b = [2.0, 1.0, 4.0], c = (a = 400.0, b = [1.0, 2.0]))\n\njulia> x[5]\n400.0\n\njulia> collect(x)\n7-element Array{Float64,1}:\n 1.0\n 2.0\n 1.0\n 4.0\n 400.0\n 1.0\n 2.0\n\njulia> typeof(similar(x, Int32)) === typeof(ComponentVector{Int32}(a=1, b=[2, 1, 4], c=c))\ntrue","category":"page"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"ComponentArrays can be constructed from existing ComponentArrays (currently nested fields cannot be changed this way):","category":"page"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"julia> x = ComponentVector(a=1, b=2, c=3);\n\njulia> ComponentVector(x; a=11, new=42)\nComponentVector{Int64}(a = 11, b = 2, c = 3, new = 42)","category":"page"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"Higher dimensional ComponentArrays can be created too, but it's a little messy at the moment. The nice thing for modeling is that dimension expansion through broadcasted operations can create higher-dimensional ComponentArrays automatically, so Jacobian cache arrays that are created internally with false .* x .* x' will be ComponentArrays with proper axes. Check out the ODE with Jacobian example in the examples folder to see how this looks in practice.","category":"page"},{"location":"quickstart/","page":"Quick Start","title":"Quick Start","text":"julia> x2 = x .* x'\n7×7 ComponentMatrix{Float64} with axes Axis(a = 1, b = 2:4, c = ViewAxis(5:7, Axis(a = 1, b = 2:3))) × Axis(a = 1, b = 2:4, c = ViewAxis(5:7, Axis(a = 1, b = 2:3)))\n 1.0 2.0 1.0 4.0 400.0 1.0 2.0\n 2.0 4.0 2.0 8.0 800.0 2.0 4.0\n 1.0 2.0 1.0 4.0 400.0 1.0 2.0\n 4.0 8.0 4.0 16.0 1600.0 4.0 8.0\n 400.0 800.0 400.0 1600.0 160000.0 400.0 800.0\n 1.0 2.0 1.0 4.0 400.0 1.0 2.0\n 2.0 4.0 2.0 8.0 800.0 2.0 4.0\n\njulia> x2[:c,:c]\n3×3 ComponentMatrix{Float64,SubArray...} with axes Axis(a = 1, b = 2:3) × Axis(a = 1, b = 2:3)\n 160000.0 400.0 800.0\n 400.0 1.0 2.0\n 800.0 2.0 4.0\n\njulia> x2[:a,:a]\n 1.0\n\njulia> x2[:a,:c]\nComponentVector{Float64,SubArray...}(a = 400.0, b = [1.0, 2.0])\n\njulia> x2[:b,:c]\n3×3 ComponentMatrix{Float64,SubArray...} with axes FlatAxis() × Axis(a = 1, b = 2:3)\n 800.0 2.0 4.0\n 400.0 1.0 2.0\n 1600.0 4.0 8.0","category":"page"},{"location":"examples/coulomb_control/#Control-of-a-sliding-block","page":"Control of a sliding block","title":"Control of a sliding block","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"using ComponentArrays\nusing DifferentialEquations\nusing Interact: @manipulate\nusing Parameters: @unpack\nusing Plots","category":"page"},{"location":"examples/coulomb_control/#Problem-Setup","page":"Control of a sliding block","title":"Problem Setup","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"const g = 9.80665\n\nmaybe_apply(f::Function, x, p, t) = f(x, p, t)\nmaybe_apply(f, x, p, t) = f\n\n# Applies functions of form f(x,p,t) to be applied and passed in as inputs\nfunction simulator(func; kwargs...)\n simfun(dx, x, p, t) = func(dx, x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)\n simfun(x, p, t) = func(x, p, t; map(f->maybe_apply(f, x, p, t), (;kwargs...))...)\n return simfun\nend\n\nsoftsign(x) = tanh(1e3x)","category":"page"},{"location":"examples/coulomb_control/#Component-Functions","page":"Control of a sliding block","title":"Component Functions","text":"","category":"section"},{"location":"examples/coulomb_control/#A-sliding-block-with-two-different-friction-models","page":"Control of a sliding block","title":"A sliding block with two different friction models","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"# Sliding block with viscous friction\nfunction viscous_block!(D, vars, p, t; u=0.0)\n @unpack m, c, k = p\n @unpack v, x = vars\n\n D.x = v\n D.v = (-c*v + k*(u-x))/m\n return x\nend\n\n# Sliding block with coulomb friction\nfunction coulomb_block!(D, vars, p, t; u=0.0)\n @unpack m, μ, k = p\n @unpack v, x = vars\n\n D.x = v\n a = -μ*g*softsign(v) + k*(u-x)/m\n D.v = abs(a)<1e-3 && abs(v)<1e-3 ? -10v : a #deadzone to help the simulation\n return x\nend","category":"page"},{"location":"examples/coulomb_control/#PID-feedback-control","page":"Control of a sliding block","title":"PID feedback control","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"function PID_controller!(D, vars, p, t; err=0.0, v=0.0)\n @unpack kp, ki, kd = p\n @unpack x = vars\n\n D.x = ki*err\n return x + kp*err + kd*v\nend\n\nfunction feedback_sys!(D, components, p, t; ref=0.0)\n @unpack ctrl, plant = components\n\n u = p.ctrl.fun(D.ctrl, ctrl, p.ctrl.params, t; err=ref-plant.x, v=-plant.v)\n return p.plant.fun(D.plant, plant, p.plant.params, t; u=u)\nend\n\nstep_input(;time=1.0, mag=1.0) = (x,p,t) -> t>time ? mag : 0\nsine_input(;mag=1.0, period=10.0) = (x,p,t) -> mag*sin(t*2π/period)\n\n# Equivalent viscous damping coefficient taken from:\n# https://engineering.purdue.edu/~deadams/ME563/lecture2010.pdf\nvisc_equiv(μ, N, ω, mag) = 4*μ*N/(π*ω*mag)","category":"page"},{"location":"examples/coulomb_control/#Open-Loop-Response","page":"Control of a sliding block","title":"Open-Loop Response","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"To see the open-loop response of the coulomb system, let's set the input to 5 and plot the results. ","category":"page"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"const tspan = (0.0, 30.0)\nconst m = 50.0\nconst μ = 0.1\nconst k = 50.0\n\np = (m=m, μ=μ, k=k)\nic = ComponentArray(v=0, x=0)\n\nODEProblem(simulator(coulomb_block!, u=5), ic, tspan, p) |> solve |> plot","category":"page"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"(Image: )","category":"page"},{"location":"examples/coulomb_control/#Closed-Loop-Response","page":"Control of a sliding block","title":"Closed-Loop Response","text":"","category":"section"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"For the closed-loop response, let's make an interactive GUI. Since we are using ComponentArrays, we don't have to change anything about our plant model to incorporate it in the overall system simulation.","category":"page"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"p = (\n ctrl = (\n params = (kp=13, ki=12, kd=5),\n fun = PID_controller!,\n ),\n plant = (\n params = plant_p,\n fun = coulomb_block!,\n ),\n)\n\nic = ComponentArray(ctrl=(;x=0), plant=plant_ic)\n\nsol = ODEProblem(simulator(feedback_sys!, ref=10), ic, tspan, p) |> solve\nplot(sol, vars=3)","category":"page"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"## Interactive GUI for switching out plant models and varying PID gains\n@manipulate for kp in 0:0.01:15,\n ki in 0:0.01:15, \n kd in 0:0.01:15,\n damping in Dict(\n \"Coulomb\" => coulomb_block!,\n \"Viscous\" => viscous_block!,\n ),\n reference in Dict(\n \"Sine\" => sine_input,\n \"Step\" => step_input,\n ),\n magnitude in 0:0.01:10, # pop-pop!\n period in 1:0.01:30,\n plot_v in false\n \n # Inputs\n tspan = (0.0, 30.0)\n\n ctrl_fun = PID_controller!\n # plant_fun = coulomb_block!\n \n ref = if reference==sine_input\n reference(period=period, mag=magnitude)\n else\n reference(mag=magnitude)\n end\n \n m = 50.0\n μ = 0.1\n ω = 2π/period\n c = 4*μ*m*g/(π*ω*magnitude) # Viscous equivalent damping\n k = 50.0\n\n plant_p = (m=m, μ=μ, c=c, k=k) # We'll just put everything for both models in here\n ctrl_p = (kp=kp, ki=ki, kd=kd)\n\n plant_ic = (v=0, x=0)\n ctrl_ic = (;x=0)\n\n\n\n # Set up and solve\n sys_p = (\n ctrl = (\n params = ctrl_p,\n fun = ctrl_fun,\n ),\n plant = (\n params = plant_p,\n fun = damping,\n ),\n )\n sys_ic = ComponentArray(ctrl=ctrl_ic, plant=plant_ic)\n sys_fun = ODEFunction(simulator(feedback_sys!, ref=ref), syms=[:u, :v, :x])\n sys_prob = ODEProblem(sys_fun, sys_ic, tspan, sys_p)\n\n sol = solve(sys_prob, Tsit5())\n\n\n # Plot\n t = tspan[1]:0.1:tspan[2]\n lims = magnitude*[-1, 1]\n plotvars = plot_v ? [3, 2] : [3]\n strip = plot(t, ref.(0, 0, t), ylim=1.2lims, label=\"r(t)\")\n plot!(strip, sol, vars=plotvars)\n phase = plot(ref.(0, 0, t), map(x->x.plant.x, sol(t).u),\n xlim=lims,\n ylim=1.2lims,\n legend=false,\n xlabel=\"r(t)\",\n ylabel=\"x(t)\",\n )\n plot(strip, phase, layout=(2, 1), size=(700, 800))\n\nend","category":"page"},{"location":"examples/coulomb_control/","page":"Control of a sliding block","title":"Control of a sliding block","text":"(Image: )","category":"page"},{"location":"examples/DiffEqFlux/#Neural-ODEs-with-DiffEqFlux","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"","category":"section"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"Let's see how easy it is to make dense neural ODE layers from scratch. Flux is used here just for the glorot_uniform function and the ADAM optimizer.","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"This example is taken from the DiffEqFlux documentation. ","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"using ComponentArrays\nusing OrdinaryDiffEq\nusing Plots\nusing UnPack\n\nusing DiffEqFlux: sciml_train\nusing Flux: glorot_uniform, ADAM\nusing Optim: LBFGS","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"First, let's set up the problem and create the truth data.","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"u0 = Float32[2.; 0.]\ndatasize = 30\ntspan = (0.0f0, 1.5f0)\n\nfunction trueODEfunc(du, u, p, t)\n true_A = [-0.1 2.0; -2.0 -0.1]\n du .= ((u.^3)'true_A)'\nend\n\nt = range(tspan[1], tspan[2], length = datasize)\nprob = ODEProblem(trueODEfunc, u0, tspan)\node_data = Array(solve(prob, Tsit5(), saveat = t))","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"Next we'll make a function that creates dense neural layer components. It is similar to Flux.Dense, except it doesn't handle the activation function. We'll do that separately.","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"dense_layer(in, out) = ComponentArray{Float32}(W=glorot_uniform(out, in), b=zeros(out))","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"Our parameter vector will be a ComponentArray that holds the ODE initial conditions and the dense neural layers.","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"layers = (L1=dense_layer(2, 50), L2=dense_layer(50, 2))\nθ = ComponentArray(u=u0, p=layers)","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"We now have convenient struct-like access to the weights and biases of the layers for our neural ODE function while giving our optimizer something that acts like a flat array.","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"function dudt(u, p, t)\n @unpack L1, L2 = p\n return L2.W * tanh.(L1.W * u.^3 .+ L1.b) .+ L2.b\nend\n\nprob = ODEProblem(dudt, u0, tspan)","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"predict_n_ode(θ) = Array(solve(prob, Tsit5(), u0=θ.u, p=θ.p, saveat=t))\n\nfunction loss_n_ode(θ)\n pred = predict_n_ode(θ)\n loss = sum(abs2, ode_data .- pred)\n return loss, pred\nend\nloss_n_ode(θ)","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"Let's set up a training observation callback and train!","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"cb = function (θ, loss, pred; doplot=false)\n display(loss)\n # plot current prediction against data\n pl = scatter(t, ode_data[1,:], label = \"data\")\n scatter!(pl, t, pred[1,:], label = \"prediction\")\n display(plot(pl))\n return false\nend\ncb(θ, loss_n_ode(θ)...)\n\ndata = Iterators.repeated((), 1000)\n\nres1 = sciml_train(loss_n_ode, θ, ADAM(0.05); cb=cb, maxiters=100)\ncb(res1.minimizer, loss_n_ode(res1.minimizer)...; doplot=true)\n\nres2 = sciml_train(loss_n_ode, res1.minimizer, LBFGS(); cb=cb)\ncb(res2.minimizer, loss_n_ode(res2.minimizer)...; doplot=true)","category":"page"},{"location":"examples/DiffEqFlux/","page":"Neural ODEs with DiffEqFlux","title":"Neural ODEs with DiffEqFlux","text":"(Image: )","category":"page"},{"location":"examples/ODE_jac/#ODE-with-Jacobian","page":"ODE with Jacobian","title":"ODE with Jacobian","text":"","category":"section"},{"location":"examples/ODE_jac/","page":"ODE with Jacobian","title":"ODE with Jacobian","text":"This example shows how to use ComponentArrays for composing Jacobian update functions as well as ODE functions. For most practical purposes, it is generally easier to use automatic differentiation libraries like ForwardDiff.jl, ReverseDiff.jl, or Zygote.jl for calculating Jacobians. Although those libraries all work with ComponentArrays, this is a nice way to handle it if you already have derived analytical Jacobians.","category":"page"},{"location":"examples/ODE_jac/","page":"ODE with Jacobian","title":"ODE with Jacobian","text":"Note using plain symbols to index into ComponentArrays is still pretty slow. For speed, all symbolic indices should be wrapped in a Val like D[Val(:x), Val(:y)].","category":"page"},{"location":"examples/ODE_jac/","page":"ODE with Jacobian","title":"ODE with Jacobian","text":"using ComponentArrays\nusing DifferentialEquations\nusing Parameters: @unpack\n\n\ntspan = (0.0, 20.0)\n\n\n## Lorenz system\nfunction lorenz!(D, u, p, t; f=0.0)\n @unpack σ, ρ, β = p\n @unpack x, y, z = u\n \n D.x = σ*(y - x)\n D.y = x*(ρ - z) - y - f\n D.z = x*y - β*z\n return nothing\nend\nfunction lorenz_jac!(D, u, p, t)\n @unpack σ, ρ, β = p\n @unpack x, y, z = u\n \n D[:x,:x] = -σ\n D[:x,:y] = σ\n\n D[:y,:x] = ρ\n D[:y,:y] = -1\n D[:y,:z] = -x\n\n D[:z,:x] = y\n D[:z,:y] = x\n D[:z,:z] = -β\n return nothing\nend\n\nlorenz_p = (σ=10.0, ρ=28.0, β=8/3)\nlorenz_ic = ComponentArray(x=0.0, y=0.0, z=0.0)\nlorenz_fun = ODEFunction(lorenz!, jac=lorenz_jac!)\nlorenz_prob = ODEProblem(lorenz_fun, lorenz_ic, tspan, lorenz_p)\n\n\n## Lotka-Volterra system\nfunction lotka!(D, u, p, t; f=0.0)\n @unpack α, β, γ, δ = p\n @unpack x, y = u\n \n D.x = α*x - β*x*y + f\n D.y = -γ*y + δ*x*y\n return nothing\nend\nfunction lotka_jac!(D, u, p, t)\n @unpack α, β, γ, δ = p\n @unpack x, y = u\n \n D[:x,:x] = α - β*y\n D[:x,:y] = -β*x\n\n D[:y,:x] = δ*y\n D[:y,:y] = -γ + δ*x\n return nothing\nend\n\nlotka_p = (α=2/3, β=4/3, γ=1.0, δ=1.0)\nlotka_ic = ComponentArray(x=1.0, y=1.0)\nlotka_fun = ODEFunction(lotka!, jac=lotka_jac!)\nlotka_prob = ODEProblem(lotka_fun, lotka_ic, tspan, lotka_p)\n\n\n## Composed Lorenz and Lotka-Volterra system\nfunction composed!(D, u, p, t)\n c = p.c #coupling parameter\n @unpack lorenz, lotka = u\n \n lorenz!(D.lorenz, lorenz, p.lorenz, t, f=c*lotka.x)\n lotka!(D.lotka, lotka, p.lotka, t, f=c*lorenz.x)\n return nothing\nend\nfunction composed_jac!(D, u, p, t)\n c = p.c\n @unpack lorenz, lotka = u\n \n lorenz_jac!(@view(D[:lorenz,:lorenz]), lorenz, p.lorenz, t)\n lotka_jac!(@view(D[:lotka,:lotka]), lotka, p.lotka, t)\n\n @view(D[:lorenz,:lotka])[:y,:x] = -c\n @view(D[:lotka,:lorenz])[:x,:x] = c\n return nothing\nend\n\ncomp_p = (lorenz=lorenz_p, lotka=lotka_p, c=0.01)\ncomp_ic = ComponentArray(lorenz=lorenz_ic, lotka=lotka_ic)\ncomp_fun = ODEFunction(composed!, jac=composed_jac!)\ncomp_prob = ODEProblem(comp_fun, comp_ic, tspan, comp_p)\n\n\n## Solve problem\n# We can solve the composed system...\ncomp_sol = solve(comp_prob, Rodas5())\n\n# ...or we can unit test one of the component systems\nlotka_sol = solve(lotka_prob, Rodas5())","category":"page"},{"location":"static_unpack/#Unpacking-to-StaticArrays","page":"Unpacking to StaticArrays","title":"Unpacking to StaticArrays","text":"","category":"section"},{"location":"static_unpack/","page":"Unpacking to StaticArrays","title":"Unpacking to StaticArrays","text":"Often ComponentArrays will hold vector or matrix components for which the user will want to unpack and operate on. If these arrays are small (for example, 3-vectors of positions and velocities), it is usually useful to convert them to SArrays from StaticArrays.jl before doing operations on them to avoid heap allocations. For this reason, we export a @static_unpack macro that works similarly to @unpack from UnPack.jl, except it converts all plain arrays to SArrays. Anything that isn't a plain array (for example, scalars or inner ComponentArrays) will be unpacked as usual.","category":"page"},{"location":"static_unpack/#Example","page":"Unpacking to StaticArrays","title":"Example","text":"","category":"section"},{"location":"static_unpack/","page":"Unpacking to StaticArrays","title":"Unpacking to StaticArrays","text":"julia> x = ComponentVector(a=5, b=[4, 1], c = [1 2; 3 4], d=(e=2, f=[6, 30.0]));\n\njulia> @static_unpack a, b, c, d = x;\n\njulia> a\n5.0\n\njulia> b\n2-element SVector{2, Float64} with indices SOneTo(2):\n 4.0\n 1.0\n\njulia> c\n2×2 SMatrix{2, 2, Float64, 4} with indices SOneTo(2)×SOneTo(2):\n 1.0 2.0\n 3.0 4.0\n\njulia> d\nComponentVector{Float64,SubArray...}(e = 2.0, f = [6.0, 30.0])","category":"page"},{"location":"static_unpack/#Why-not-just-have-static-ComponentArrays?","page":"Unpacking to StaticArrays","title":"Why not just have static ComponentArrays?","text":"","category":"section"},{"location":"static_unpack/","page":"Unpacking to StaticArrays","title":"Unpacking to StaticArrays","text":"Most of the places ComponentVectors are used, the top-level ComponentVector is too large to be efficiently backed by a SVector. Typically you only need the inner components to be SVectors for fast operations (for example, simulating rigid body dynamics where states and derivatives are mostly 3-vectors that need to undergo rotations and translations).","category":"page"},{"location":"static_unpack/","page":"Unpacking to StaticArrays","title":"Unpacking to StaticArrays","text":"Also, just from experience, immutable ComponentArrays tend to be really clunky to work with.","category":"page"},{"location":"#ComponentArrays.jl","page":"Home","title":"ComponentArrays.jl","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"The main export of this package is the ComponentArray type. \"Components\" of ComponentArrays are really just array blocks that can be accessed through a named index. The magic here is that this named indexing can create a new ComponentArray whose data is a view into the original, allowing for standalone models to be composed together by simple function composition. In essence, ComponentArrays allow you to do the things you would usually need a modeling language for, but without actually needing a modeling language. The main targets are for use in DifferentialEquations.jl and Optim.jl, but anything that requires flat vectors is fair game.","category":"page"},{"location":"","page":"Home","title":"Home","text":"Pages = [\"examples/example1.md\"]\nDepth = 2","category":"page"}] +} diff --git a/v0.15.16/siteinfo.js b/v0.15.16/siteinfo.js new file mode 100644 index 00000000..6ff0c94f --- /dev/null +++ b/v0.15.16/siteinfo.js @@ -0,0 +1 @@ +var DOCUMENTER_CURRENT_VERSION = "v0.15.16"; diff --git a/v0.15.16/static_unpack/index.html b/v0.15.16/static_unpack/index.html new file mode 100644 index 00000000..983e5189 --- /dev/null +++ b/v0.15.16/static_unpack/index.html @@ -0,0 +1,20 @@ + +Unpacking to StaticArrays · ComponentArrays.jl

    Unpacking to StaticArrays

    Often ComponentArrays will hold vector or matrix components for which the user will want to unpack and operate on. If these arrays are small (for example, 3-vectors of positions and velocities), it is usually useful to convert them to SArrays from StaticArrays.jl before doing operations on them to avoid heap allocations. For this reason, we export a @static_unpack macro that works similarly to @unpack from UnPack.jl, except it converts all plain arrays to SArrays. Anything that isn't a plain array (for example, scalars or inner ComponentArrays) will be unpacked as usual.

    Example

    julia> x = ComponentVector(a=5, b=[4, 1], c = [1 2; 3 4], d=(e=2, f=[6, 30.0]));
+
+julia> @static_unpack a, b, c, d = x;
+
+julia> a
+5.0
+
+julia> b
+2-element SVector{2, Float64} with indices SOneTo(2):
+ 4.0
+ 1.0
+
+julia> c
+2×2 SMatrix{2, 2, Float64, 4} with indices SOneTo(2)×SOneTo(2):
+ 1.0  2.0
+ 3.0  4.0
+
+julia> d
+ComponentVector{Float64,SubArray...}(e = 2.0, f = [6.0, 30.0])

    Why not just have static ComponentArrays?

    Most of the places ComponentVectors are used, the top-level ComponentVector is too large to be efficiently backed by a SVector. Typically you only need the inner components to be SVectors for fast operations (for example, simulating rigid body dynamics where states and derivatives are mostly 3-vectors that need to undergo rotations and translations).

    Also, just from experience, immutable ComponentArrays tend to be really clunky to work with.

    diff --git a/versions.js b/versions.js index 68d1395e..a0fbce91 100644 --- a/versions.js +++ b/versions.js @@ -16,5 +16,5 @@ var DOC_VERSIONS = [ "v0.1", "dev", ]; -var DOCUMENTER_NEWEST = "v0.15.15"; +var DOCUMENTER_NEWEST = "v0.15.16"; var DOCUMENTER_STABLE = "stable";