accommodating slack variables

src/methods_named_trajectory.jl

@@ -115,7 +115,7 @@ function add_component!(
     # check data against existing data
     @assert size(data, 2) == traj.T
     @assert name ∉ keys(traj.components)
-    @assert type ∈ (:state, :control)
+    @assert type ∈ (:state, :control, :slack)
 
 
     # update components
@@ -126,8 +126,14 @@ function add_component!(
 
     if type == :state
         comp_dict[:states] = vcat(comp_dict[:states], comp_dict[name])
-    else
+    elseif type == :control
         comp_dict[:controls] = vcat(comp_dict[:controls], comp_dict[name])
+    else
+        if :slacks ∉ keys(comp_dict)
+            comp_dict[:slacks] = comp_dict[name]
+        else
+            comp_dict[:slacks] = vcat(comp_dict[:slacks], comp_dict[name])
+        end
     end
 
     traj.components = NamedTuple(comp_dict)
@@ -143,9 +149,15 @@ function add_component!(
 
     if type == :state
         dim_dict[:states] += dim
-    else
+    elseif type == :control
         traj.control_names = (traj.control_names..., name)
         dim_dict[:controls] += dim
+    else
+        if :slacks ∉ keys(dim_dict)
+            dim_dict[:slacks] = dim
+        else
+            dim_dict[:slacks] += dim
+        end
     end
 
     traj.dims = NamedTuple(dim_dict)
@@ -172,7 +184,9 @@ Remove a component from the trajectory.
 """
 function remove_component(traj::NamedTrajectory, name::Symbol)
     @assert name ∈ traj.names
-    comps = NamedTuple([(key => data) for (key, data) ∈ pairs(components(traj)) if key != name])
+    comps = NamedTuple([
+        (key => data) for (key, data) ∈ pairs(components(traj)) if key != name
+    ])
     return NamedTrajectory(comps, traj)
 end
 
@@ -183,7 +197,9 @@ Remove a set of components from the trajectory.
 """
 function remove_components(traj::NamedTrajectory, names::Vector{Symbol})
     @assert all([name ∈ traj.names for name ∈ names])
-    comps = NamedTuple([(key => data) for (key, data) ∈ pairs(components(traj)) if !(key ∈ names)])
+    comps = NamedTuple([
+        (key => data) for (key, data) ∈ pairs(components(traj)) if !(key ∈ names)
+    ])
     return NamedTrajectory(comps, traj)
 end