fix(data): OpenLoop is unconditionally non-autonomous - #523
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is_autonomous stripped the time argument uniformly across all three control-law kinds; for OpenLoop that made the default build a zero-argument u(), so OpenLoop(t -> 0.0) silently constructed a law that only failed with a bare MethodError once a flow was integrated, not at construction. Autonomy is a property of the OCP, not of the control, so OpenLoop's natural call is now always u(t) (or u(t, v)). is_autonomous is kept as a misuse-detector keyword only (warns, no effect); the typed constructor rejects the (OpenLoopFeedback, Autonomous) combination outright. Fixes #515. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
is_autonomouscurrently strips the time argument uniformly across all three control-law kinds.For
OpenLoop, sincetis the only possible argument, the default (is_autonomous=true) built a zero-argument natural callu(), soOpenLoop(t -> 0.0)silently constructed a law that only failed with a bareMethodErroronce a flow was later integrated — not at construction.Autonomy is a property of the OCP, not of the control — an open-loop control for an autonomous OCP can still depend on time.
OpenLoop's natural call is now unconditionallyu(t)(oru(t, v)).OpenLoop'sTimeDependenceis fixed toTraits.NonAutonomous. This is not hidden:Traits.time_dependence/Traits.is_autonomouson anOpenLoopcontrol law still answer normally — alwaysNonAutonomous/false.is_autonomousis kept inOpenLoop's signature purely as a misuse detector, defaulting to theCTBase.Core.NotProvidedsentinel. Passing it explicitly (true/false) emits an@warnand has no effect.ControlLaw(f, Traits.OpenLoopFeedback, Traits.Autonomous, VD)now raisesExceptions.IncorrectArgumentinstead of silently building an uncallable law.ClosedLoop/DynClosedLoopare unaffected —is_autonomousremains a real choice for those.Base.showforOpenLoopdrops the now-meaningless time-dependence label.Version bumped to
0.28.9-beta;CHANGELOG.mdandBREAKING.mdupdated with migration notes.Fixes #515.
Test plan
test/suite/data/test_control_law.jl— updated for the new contract (nois_autonomousonOpenLoop, alwaysu(t)), plus new coverage for the misuse-warning (Test.@test_logs) and the rejected typed-constructor combo.test/suite/data/test_composed_hamiltonian.jl,test/suite/data/test_composed_vector_field.jl— updated zero-argOpenLoopclosures tot -> ....docs/src/guide/data.md,docs/src/guide/traits.md— narrative + executed examples updated.🤖 Generated with Claude Code