check for unused keywords in OptimalControlProblem

murrayrm · murrayrm · commit 395dbbba75d1 · 2022-01-25T07:11:37.000-08:00
diff --git a/control/optimal.py b/control/optimal.py
@@ -134,6 +134,10 @@ def __init__(
         self.minimize_kwargs['options'] = kwargs.pop('minimize_options', {})
         self.minimize_kwargs.update(kwargs.pop('minimize_kwargs', {}))
 
+        if len(kwargs) > 0:
+            raise ValueError(
+                f'unrecognized keyword(s): {list(kwargs.keys())}')
+
         # Process trajectory constraints
         if isinstance(trajectory_constraints, tuple):
             self.trajectory_constraints = [trajectory_constraints]
diff --git a/control/tests/optimal_test.py b/control/tests/optimal_test.py
@@ -436,6 +436,11 @@ def test_ocp_argument_errors():
         res = opt.solve_ocp(
             sys, time, x0, cost, constraints, initial_guess=np.zeros((4,1,1)))
 
+    # Unrecognized arguments
+    with pytest.raises(ValueError, match="unrecognized keyword"):
+        res = opt.solve_ocp(
+            sys, time, x0, cost, constraints, terminal_constraint=None)
+
 
 def test_optimal_basis_simple():
     sys = ct.ss2io(ct.ss([[1, 1], [0, 1]], [[1], [0.5]], np.eye(2), 0, 1))
