From 34d95df7f62def3d8321fde8f4919069ed8d0832 Mon Sep 17 00:00:00 2001
From: Pariterre <pariterre@hotmail.com>
Date: Thu, 9 Jan 2025 16:47:51 -0500
Subject: [PATCH] Added dummy non working example

---
 bioptim/examples/getting_started/race_car.py | 65 ++++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 bioptim/examples/getting_started/race_car.py

diff --git a/bioptim/examples/getting_started/race_car.py b/bioptim/examples/getting_started/race_car.py
new file mode 100644
index 000000000..4ef6e9995
--- /dev/null
+++ b/bioptim/examples/getting_started/race_car.py
@@ -0,0 +1,65 @@
+from casadi import *
+import l4casadi as l4c
+import torch
+
+
+class NeuralNetworkModel(torch.nn.Module):
+    def __init__(self, layer_node_count: tuple[int]):
+        super(NeuralNetworkModel, self).__init__()
+
+        # Initialize the layers of the neural network
+        self._size_in = layer_node_count[0]
+        self._size_out = layer_node_count[-1]
+        first_and_hidden_layers_node_count = layer_node_count[:-1]
+        layers = torch.nn.ModuleList()
+        for i in range(len(first_and_hidden_layers_node_count) - 1):
+            layers.append(
+                torch.nn.Linear(first_and_hidden_layers_node_count[i], first_and_hidden_layers_node_count[i + 1])
+            )
+        layers.append(torch.nn.Linear(first_and_hidden_layers_node_count[-1], layer_node_count[-1]))
+
+        self._forward_model = torch.nn.Sequential(*layers)
+        self._forward_model.to("cpu")
+
+        # Put the model in evaluation mode
+        self.eval()
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        output = torch.Tensor(x.shape[0], self._forward_model[-1].out_features)
+        for i, data in enumerate(x):
+            output[i, :] = self._forward_model(data)
+        return output.to("cpu")
+
+
+def main():
+    opti = Opti()  # Optimization problem
+    nx = nu = 1
+    hidden_layers = (10,)
+    N = 100  # number of control intervals
+
+    # ---- decision variables ---------
+    X = opti.variable(nx, N + 1)  # state trajectory
+    U = opti.variable(nu, N)  # control trajectory (throttle)
+
+    # ---- dynamic constraints --------
+    torch_model = NeuralNetworkModel(layer_node_count=(nx + nu, *hidden_layers, nx))
+    dynamic_model = l4c.L4CasADi(torch_model, device="cpu")
+    x_sym = MX.sym("x", nx, 1)
+    u_sym = MX.sym("u", nu, 1)
+    f = Function("qddot", [x_sym, u_sym], [dynamic_model(vertcat(x_sym, u_sym).T).T])
+
+    for k in range(N):  # loop over control intervals
+        # Runge-Kutta 1 integration
+        k1 = f(X[:, k], U[:, k])
+        opti.subject_to(X[:, k + 1] == k1)  # close the gaps
+
+    # ---- boundary conditions --------
+    opti.subject_to(X[0, 0] == 1)  # PROBLEM LIES HERE: PUTTING ANY VALUE BUT 0 WILL MAKE IPOPT FAILS
+
+    # ---- solve NLP              ------
+    opti.solver("ipopt")  # set numerical backend
+    opti.solve()  # actual solve
+
+
+if __name__ == "__main__":
+    main()