Merge pull request #66 from control-toolbox/symbolics

Add a tutorial for using Symbolics.jl together with OptimalControl.jl

Author: abavoil

.github/workflows/CI.yml

@@ -6,10 +6,11 @@ on:
       - main
     tags: '*'
   pull_request:
+    types: [labeled, opened, synchronize, reopened]
 
 jobs:
   call:
-    if: ${{ ! contains(github.event.pull_request.labels.*.name, 'run ci') }}
+    if: contains(github.event.pull_request.labels.*.name, 'run ci')
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
     with:
       runs_on: '["ubuntu-latest"]'

.github/workflows/Documentation.yml

@@ -6,8 +6,9 @@ on:
       - main
     tags: '*'
   pull_request:
+    types: [labeled, opened, synchronize, reopened]
 
 jobs:
   call:
-    if: ${{ ! contains(github.event.pull_request.labels.*.name, 'run documentation') }}
+    if: contains(github.event.pull_request.labels.*.name, 'run documentation')
     uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main

.github/workflows/SpellCheck.yml

@@ -7,3 +7,5 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/spell-check.yml@main
+    with:
+      config-path: '_typos.toml'

_typos.toml

@@ -0,0 +1,12 @@
+[default]
+locale = "en"
+extend-ignore-re = [
+    "BA",
+]
+
+[files]
+extend-exclude = [
+    "*.json",
+    "*.toml",
+    "*.svg",
+]

docs/Project.toml

@@ -16,6 +16,7 @@ OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
+Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
 [compat]
 BenchmarkTools = "1"
@@ -35,4 +36,5 @@ OrdinaryDiffEq = "6"
 Plots = "1"
 Printf = "1"
 Suppressor = "0.2"
+Symbolics = "7"
 julia = "1.10"

docs/make.jl

@@ -48,7 +48,7 @@ repo_url = "github.com/control-toolbox/Tutorials.jl"
 Draft = false
 ```
 =#
-draft = true  # Draft mode: if true, @example blocks in markdown are not executed
+draft = false  # Draft mode: if true, @example blocks in markdown are not executed
 
 # ═══════════════════════════════════════════════════════════════════════════════
 # Build documentation
@@ -60,7 +60,10 @@ makedocs(;
     format=Documenter.HTML(;
         repolink="https://" * repo_url,
         prettyurls=false,
-        size_threshold_ignore=["tutorial-discretisation.md", "tutorial-nlp.md"],
+        example_size_threshold=1_000_000,
+        size_threshold_warn=1_000_000,
+        size_threshold=1_000_000,
+        # size_threshold_ignore=["tutorial-discretisation.md", "tutorial-nlp.md"],
         assets=[
             asset("https://control-toolbox.org/assets/css/documentation.css"),
             asset("https://control-toolbox.org/assets/js/documentation.js"),
@@ -82,6 +85,7 @@ makedocs(;
             "Linear–quadratic regulator" => "tutorial-lqr.md",
             "Minimal action" => "tutorial-mam.md",
             "Model Predictive Control" => "tutorial-mpc.md",
+            "Symbolics Mechanics" => "tutorial-symbolics.md",
         ],
     ],
     plugins=[links],

docs/src/assets/Project.toml

@@ -16,6 +16,7 @@ OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
+Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
 [compat]
 BenchmarkTools = "1"
@@ -35,4 +36,5 @@ OrdinaryDiffEq = "6"
 Plots = "1"
 Printf = "1"
 Suppressor = "0.2"
+Symbolics = "7"
 julia = "1.10"

docs/src/assets/cartpole_sketch.svg

@@ -1,9 +1,5 @@
 # [Discrete continuation](@id tutorial-continuation)
 
-```@meta
-Draft = false
-```
-
 By using the warm start option, it is easy to implement a basic discrete continuation method, in which a sequence of problems is solved by using each solution as the initial guess for the next problem. This approach typically leads to faster and more reliable convergence than solving each problem with the same initial guess and is particularly useful for problems that require a good initial guess to converge.
 
 ## Continuation on parametric OCP