Add problem tests

src/problem.jl

@@ -247,18 +247,6 @@ num_constraints(prob::Problem) = get_constraints(prob).p
 @inline get_initial_state(prob::Problem) = prob.x0
 
 
-"""
-    change_integration(prob::Problem, Q<:QuadratureRule)
-
-Change dynamics integration for the problem. Returns a new problem.
-"""
-change_integration(prob::Problem, ::Type{Q}) where Q<:QuadratureRule =
-    Problem{Q}(prob)
-
-function Problem{Q}(p::Problem) where Q
-    Problem{Q}(p.model, p.obj, p.constraints, p.x0, p.xf, p.Z, p.N, p.t0, p.tf)
-end
-
 """
 	rollout!(::Problem)
 

test/problems_tests.jl

@@ -182,4 +182,23 @@ prob = Problem(dmodels, obj, x0, tf, xf=xf, constraints=copy(conSet))
 @test prob.model === dmodels
 
 dmodels2 = [copy(dmodel) for k = 1:N]
-@test_throws AssertionError Problem(dmodels2, obj, x0, tf, xf=xf, constraints=copy(conSet))
+@test_throws AssertionError Problem(dmodels2, obj, x0, tf, xf=xf, constraints=copy(conSet))
+
+## Check dims
+nx,nu,N = RD.dims(prob)
+@test nx == fill(n,N)
+@test nu == fill(m,N)
+
+@test RD.state_dim(prob,1) == n
+@test RD.control_dim(prob,1) == m
+
+## Misc
+@test TO.is_constrained(prob) == false
+@test isnan(cost(prob))
+rollout!(prob)
+@test !isnan(cost(prob))
+@test TO.get_model(prob) isa Vector{<:RD.DiscreteDynamics}
+
+@test TO.set_initial_time!(prob, 1.0) == 1.0 + tf
+@test prob.Z[1].t == 1.0
+@test prob.Z[end].t == 1.0 + tf