Make args and kwargs in Problem explicit (so default values are shown)

[Peter230655]

This is optional, as I read the docs. midpoint and backward euler are available. Which one is the default value? (I would assume, that the default method is normally better)

Thanks!

[moorepants]

The default is backward euler.

[moorepants]

It is clear here:

opty.direct_collocation.ConstraintCollocator(equations_of_motion, state_symbols, num_collocation_nodes, node_time_interval, known_parameter_map={}, known_trajectory_map={}, instance_constraints=None, time_symbol=None, tmp_dir=None, integration_method='backward euler', parallel=False)

But we don't expose that in Problem:

class opty.direct_collocation.Problem(obj, obj_grad, *args, **kwargs)

[Peter230655]

Thanks!! I must admit, that I have no idea what _opty.direct_collocation.ConstraintCollocator(equations_of_motion, state_symbols, num_collocation_nodes, node_time_interval, known_parameter_map={}, known_trajectory_map={}, instance_constraints=None, time_symbol=None, tmp_dir=None, integrationmethod='backward euler', parallel=False)

means.

[moorepants]

Reopening because it would be better to have all the args and kwargs be explicit in Problem.

[moorepants]

opty.direct_collocation.ConstraintCollocator(equations_of_motion, state_symbols, num_collocation_nodes, node_time_interval, known_parameter_map={}, known_trajectory_map={}, instance_constraints=None, time_symbol=None, tmp_dir=None, integration_method='backward euler', parallel=False)

Is the signature for the ConstraintCollocator class. It shows what arguments and keyword arguments it accepts and for the keyword arguments it shows what the default values are.

[Peter230655]

I am ignorant in these things: What is the ConstraintCollocator class? Maybe too complicated to expalin to me.

[moorepants]

It is explained in the documentation: https://opty.readthedocs.io/en/latest/api.html#opty.direct_collocation.ConstraintCollocator

[Peter230655]

Even printed out on my desk, but I never looked at it, as in the examples only Problem was used. I need to learn more about the basic structure of things like opty.