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docs: restore macro-free worked problems on functional-api.md (E7) #938

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ocots merged 1 commit into from
Sep 1, 2026
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docs: restore macro-free worked problems on functional-api.md (E7) #938

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8 changes: 4 additions & 4 deletions docs/src-literate/guided-tour.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ control!(pre, 1)

function f_energy!(dx, t, x, u, v)
dx[1] = x[2]
dx[2] = u[1]
dx[2] = u # scalar control: `u`, not `u[1]`
return nothing
end
dynamics!(pre, f_energy!)
Expand All @@ -132,7 +132,7 @@ constraint!(
f=boundary_energy!, lb=zeros(4), ub=zeros(4), label=:endpoint,
)

lagrange_energy(t, x, u, v) = 0.5 * u[1]^2
lagrange_energy(t, x, u, v) = 0.5 * u^2
objective!(pre, :min; lagrange=lagrange_energy)

time_dependence!(pre; autonomous=true)
Expand All @@ -151,9 +151,9 @@ definition(ocp) # the macro records the full DSL expression
has_abstract_definition(ocp_func) # false: no symbolic definition

#md # !!! warning "Two things to keep in mind"
#md # - In the functional API, callbacks are **always vector-valued**: even when the control is scalar, one writes `u[1]` — not `u` — inside `f_energy!` or `lagrange_energy`.
#md # - A dimension-1 `x`, `u` or `v` reaches a callback as a **scalar** — write `u`, not `u[1]` — exactly as on a solution and in `@def`. The one exception is the in-place output buffer (`dx` here, `val` for constraints): always a vector, written by index. See [Shapes in callbacks](@ref modelling-functional-api-shapes).
#md # - The functional API currently works only with the `:adnlp` modeler; it does **not** support the `:exa` modeler needed for GPU solving — one more reason to prefer `@def` when GPU execution is contemplated (more in the GPU section).
#nb # **Two things to keep in mind:** (1) in the functional API, callbacks are always vector-valued — even when the control is scalar, one writes `u[1]` — not `u` — inside `f_energy!` or `lagrange_energy`; (2) the functional API currently works only with the `:adnlp` modeler, **not** `:exa` (needed for GPU solving) — one more reason to prefer `@def` when GPU execution is contemplated (more in the GPU section).
#nb # **Two things to keep in mind:** (1) a dimension-1 `x`, `u` or `v` reaches a callback as a scalar — write `u`, not `u[1]` — while the in-place output buffer (`dx`, `val`) is always a vector written by index; (2) the functional API currently works only with the `:adnlp` modeler, **not** `:exa` (needed for GPU solving) — one more reason to prefer `@def` when GPU execution is contemplated (more in the GPU section).

#src ============================================================================
# ## First solve, initial guess, and the costate
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