PyDiffGame 0.1.1__tar.gz → 0.1.2__tar.gz

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Files changed (52) hide show
  1. pydiffgame-0.1.2/.github/workflows/python-publish.yml +70 -0
  2. pydiffgame-0.1.2/CITATIONS.bib +23 -0
  3. pydiffgame-0.1.2/CODE_OF_CONDUCT.md +128 -0
  4. pydiffgame-0.1.2/CONTRIBUTING.md +18 -0
  5. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/LICENSE +1 -1
  6. {PyDiffGame-0.1.1/src/PyDiffGame.egg-info → pydiffgame-0.1.2}/PKG-INFO +46 -35
  7. PyDiffGame-0.1.1/PKG-INFO → pydiffgame-0.1.2/README.md +39 -42
  8. pydiffgame-0.1.2/_config.yml +10 -0
  9. {PyDiffGame-0.1.1 → pydiffgame-0.1.2/docs}/README.md +11 -13
  10. pydiffgame-0.1.2/images/Logo_ISTRC_Green_English.png +0 -0
  11. pydiffgame-0.1.2/images/logo.png +0 -0
  12. pydiffgame-0.1.2/images/logo_abc.png +0 -0
  13. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/pyproject.toml +13 -5
  14. pydiffgame-0.1.2/requirements.txt +6 -0
  15. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/ContinuousPyDiffGame.py +2 -2
  16. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/DiscretePyDiffGame.py +8 -9
  17. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/PyDiffGame.py +19 -12
  18. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/PyDiffGameLQRComparison.py +9 -10
  19. pydiffgame-0.1.2/src/PyDiffGame/examples/InvertedPendulumComparison.py +257 -0
  20. pydiffgame-0.1.2/src/PyDiffGame/examples/MassesWithSpringsComparison.py +218 -0
  21. pydiffgame-0.1.2/src/PyDiffGame/examples/PVTOL.py +222 -0
  22. pydiffgame-0.1.2/src/PyDiffGame/examples/PVTOLComparison.py +111 -0
  23. pydiffgame-0.1.2/src/PyDiffGame/examples/QuadRotorControl.py +548 -0
  24. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/2/2-players_large_1.png +0 -0
  25. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/2/2-players_large_2.png +0 -0
  26. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/2/LQR_large_1.png +0 -0
  27. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/2/LQR_large_2.png +0 -0
  28. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/2/two_masses_tikz.png +0 -0
  29. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/4/4-players_large_1.png +0 -0
  30. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/4/4-players_large_2.png +0 -0
  31. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/4/LQR_large_1.png +0 -0
  32. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/4/LQR_large_2.png +0 -0
  33. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/8/8-players_large_1.png +0 -0
  34. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/8/8-players_large_2.png +0 -0
  35. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/8/LQR_large_1.png +0 -0
  36. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/8/LQR_large_2.png +0 -0
  37. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL/PVTOL1.png +0 -0
  38. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL/PVTOL10.png +0 -0
  39. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL/PVTOL100.png +0 -0
  40. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL/PVTOL1000.png +0 -0
  41. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL0001.png +0 -0
  42. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL001.png +0 -0
  43. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL01.png +0 -0
  44. pydiffgame-0.1.2/src/PyDiffGame/examples/figures/PVTOL1.png +0 -0
  45. PyDiffGame-0.1.1/setup.cfg +0 -4
  46. PyDiffGame-0.1.1/setup.py +0 -26
  47. PyDiffGame-0.1.1/src/PyDiffGame.egg-info/SOURCES.txt +0 -15
  48. PyDiffGame-0.1.1/src/PyDiffGame.egg-info/dependency_links.txt +0 -1
  49. PyDiffGame-0.1.1/src/PyDiffGame.egg-info/top_level.txt +0 -1
  50. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/LQR.py +0 -0
  51. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/Objective.py +0 -0
  52. {PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/__init__.py +0 -0
pydiffgame-0.1.2/.github/workflows/python-publish.yml ADDED
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+ # This workflow will upload a Python Package to PyPI when a release is created
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+ # For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#publishing-to-package-registries
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+
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+ # This workflow uses actions that are not certified by GitHub.
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+ # They are provided by a third-party and are governed by
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+ # separate terms of service, privacy policy, and support
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+ # documentation.
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+
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+ name: Upload Python Package
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+
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+ on:
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+ release:
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+ types: [published]
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+
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+ permissions:
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+ contents: read
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+
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+ jobs:
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+ release-build:
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+ runs-on: ubuntu-latest
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+
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+ steps:
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+ - uses: actions/checkout@v4
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+
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+ - uses: actions/setup-python@v5
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+ with:
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+ python-version: "3.10"
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+
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+ - name: Build release distributions
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+ run: |
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+ # NOTE: put your own distribution build steps here.
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+ python -m pip install build
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+ python -m build
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+
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+ - name: Upload distributions
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+ uses: actions/upload-artifact@v4
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+ with:
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+ name: release-dists
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+ path: dist/
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+
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+ pypi-publish:
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+ runs-on: ubuntu-latest
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+ needs:
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+ - release-build
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+ permissions:
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+ # IMPORTANT: this permission is mandatory for trusted publishing
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+ id-token: write
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+
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+ # Dedicated environments with protections for publishing are strongly recommended.
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+ # For more information, see: https://docs.github.com/en/actions/deployment/targeting-different-environments/using-environments-for-deployment#deployment-protection-rules
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+ environment:
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+ name: pypi
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+ # OPTIONAL: uncomment and update to include your PyPI project URL in the deployment status:
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+ url: https://pypi.org/project/PyDiffGame/
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+ #
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+ # ALTERNATIVE: if your GitHub Release name is the PyPI project version string
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+ # ALTERNATIVE: exactly, uncomment the following line instead:
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+ # url: https://pypi.org/project/YOURPROJECT/${{ github.event.release.name }}
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+
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+ steps:
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+ - name: Retrieve release distributions
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+ uses: actions/download-artifact@v4
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+ with:
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+ name: release-dists
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+ path: dist/
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+
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+ - name: Publish release distributions to PyPI
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+ uses: pypa/gh-action-pypi-publish@release/v1
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+ with:
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+ packages-dir: dist/
pydiffgame-0.1.2/CITATIONS.bib ADDED
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+ @software{pydiffgame_package,
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+ author = {Kricheli, Joshua Shay and Sadon, Aviran},
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+ title = {{PyDiffGame}},
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+ howpublished = {\url{https://krichelj.github.io/PyDiffGame/}},
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+ year = {2021},
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+ }
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+
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+ @inproceedings{pydiffgame_paper,
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+ author={Kricheli, Joshua Shay and Sadon, Aviran and Arogeti, Shai and Regev, Shimon and Weiss, Gera},
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+ booktitle={29th Mediterranean Conference on Control and Automation (MED 2021)},
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+ title={{Composition of Dynamic Control Objectives Based on Differential Games}},
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+ year={2021},
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+ volume={},
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+ number={},
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+ pages={298-304},
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+ doi={10.1109/MED51440.2021.9480269}}
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+
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+ @mastersthesis{kricheli2022differential,
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+ title={{Differential Games for Compositional Handling of Competing Control Tasks}},
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+ author={Kricheli, Joshua Shay},
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+ year={2022},
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+ school={Ben-Gurion University of the Negev}
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+ }
pydiffgame-0.1.2/CODE_OF_CONDUCT.md ADDED
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+ enforcement ladder](https://github.com/mozilla/diversity).
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pydiffgame-0.1.2/CONTRIBUTING.md ADDED
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+ # Contribution Guidelines
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+
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+ This repo is part of a research conducted at Ben Gurion University,
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+ and is thus open source. We would love to receive your input!
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+
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+ Please ensure your pull request adheres to the following guidelines:
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+
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+ - Search previous suggestions before making a new one, as yours may be a duplicate.
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+ - Make sure your link is useful before submitting.
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+ - Make an individual pull request for each suggestion.
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+ - New categories or improvements to the existing categorization are welcome.
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+ - Check your spelling and grammar.
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+ - Make sure your text editor is set to remove trailing whitespace.
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+ - The pull request and commit should have a useful title.
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+
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+ Thank you for your suggestions!
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+
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+ Joshua Shay Kricheli
{PyDiffGame-0.1.1 → pydiffgame-0.1.2}/LICENSE RENAMED
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  MIT License
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2
 
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- Copyright (c) 2021-2022 Joshua Shay Kricheli, Dr. Aviran Sadon, Dr. Shai Arogeti and Prof. Gera Weiss
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+ Copyright (c) 2021-2024 Joshua Shay Kricheli, Dr. Aviran Sadon, Dr. Shai Arogeti and Prof. Gera Weiss
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  Permission is hereby granted, free of charge, to any person obtaining a copy
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  of this software and associated documentation files (the "Software"), to deal
{PyDiffGame-0.1.1/src/PyDiffGame.egg-info → pydiffgame-0.1.2}/PKG-INFO RENAMED
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- Metadata-Version: 2.1
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+ Metadata-Version: 2.4
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  Name: PyDiffGame
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- Version: 0.1.1
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+ Version: 0.1.2
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  Summary: PyDiffGame is a Python implementation of a Nash Equilibrium solution to Differential Games, based on a reduction of Game Hamilton-Bellman-Jacobi (GHJB) equations to Game Algebraic and Differential Riccati equations, associated with Multi-Objective Dynamical Control Systems
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- Home-page: https://shaykricheli.com/PyDiffGame/
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- Author: Dr. Aviran Sadon, Joshua Shay Kricheli and Prof. Gera Weiss
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- Author-email: Joshua Shay Kricheli <skricheli2@gmail.com>
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- Project-URL: Homepage, https://shaykricheli.com/PyDiffGame/
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+ Project-URL: Homepage, https://krichelj.github.io/PyDiffGame/
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  Project-URL: Bug Tracker, https://github.com/krichelj/PyDiffGame/issues
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- Classifier: Programming Language :: Python :: 3
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+ Author-email: Joshua Shay Kricheli <skricheli2@gmail.com>
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+ License-File: LICENSE
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  Classifier: License :: OSI Approved :: MIT License
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  Classifier: Operating System :: OS Independent
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- Requires-Python: >=3.7
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+ Classifier: Programming Language :: Python :: 3
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+ Requires-Python: >=3.10
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  Description-Content-Type: text/markdown
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- License-File: LICENSE
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  <p align="center">
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  <img alt="Logo" src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo.png"/>
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  </p>
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+ [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) [![Upload Python Package](https://github.com/krichelj/PyDiffGame/actions/workflows/python-publish.yml/badge.svg)](https://github.com/krichelj/PyDiffGame/actions/workflows/python-publish.yml) [![pages-build-deployment](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment)
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+
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+
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  * [What is this?](#what-is-this)
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- * [Local Installation](#local-installation)
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+ * [Installation](#installation)
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  * [Input Parameters](#input-parameters)
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  * [Tutorial](#tutorial)
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+ * [Authors](#authors)
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  * [Acknowledgments](#acknowledgments)
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  # What is this?
@@ -36,16 +38,7 @@ The method relies on the formulation given in:
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  ([IEEE](https://ieeexplore.ieee.org/document/9480269) |
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  [Research Gate](https://www.researchgate.net/publication/353452024_Composition_of_Dynamic_Control_Objectives_Based_on_Differential_Games))
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- If you use this work, please cite our paper:
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- ```
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- @conference{med_paper,
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- author={Kricheli, Joshua Shay and Sadon, Aviran and Arogeti, Shai and Regev, Shimon and Weiss, Gera},
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- booktitle={29th Mediterranean Conference on Control and Automation (MED)},
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- title={{Composition of Dynamic Control Objectives Based on Differential Games}},
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- year={2021},
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- pages={298-304},
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- doi={10.1109/MED51440.2021.9480269}}
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- ```
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+ The package was tested for Python >= 3.10.
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  # Installation
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  * `A` : `np.array` of shape $(n,n)$
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  >System dynamics matrix
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- * `B` : `np.array` of shape( $n,\sum_{i=1}^N m_i$ ), optional
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+ * `B` : `np.array` of shape $(n, m_1 + ... + m_N)$, optional
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  >Input matrix for all virtual control objectives
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  * `Bs` : `Sequence` of `np.array` objects of len $(N)$, each array $B_i$ of shape $(n,m_i)$, optional
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  >Input matrices for each virtual control objective
@@ -246,7 +239,6 @@ masses_with_springs(plot_state_spaces=True,
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  save_figure=True)
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  ```
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- Refer
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  This will result in the following plot that compares the two systems performance for a differential game vs an LQR:
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  <p align="center">
@@ -268,28 +260,47 @@ we have:
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  <img align=top src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/src/PyDiffGame/examples/figures/2/LQR_large_2.png" width="400" height="300"/>
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  </p>
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+ # Authors
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+
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+ If you use this work, please cite our paper:
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+ ```
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+ @inproceedings{pydiffgame_paper,
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+ author={Kricheli, Joshua Shay and Sadon, Aviran and Arogeti, Shai and Regev, Shimon and Weiss, Gera},
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+ booktitle={29th Mediterranean Conference on Control and Automation (MED 2021)},
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+ title={{Composition of Dynamic Control Objectives Based on Differential Games}},
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+ year={2021},
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+ volume={},
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+ number={},
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+ pages={298-304},
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+ doi={10.1109/MED51440.2021.9480269}}
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+ ```
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+
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+ Further details can be found in the [citation document](CITATIONS.bib).
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  # Acknowledgments
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- This research was supported in part by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
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- This research was also supported by The Israeli Smart Transportation Research Center (ISTRC) by The Technion and Bar-Ilan Universities, Israel.
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+ This research was supported in part by the Leona M. and Harry B. Helmsley Charitable Trust through the '_Agricultural, Biological and Cognitive Robotics Initiative_' ('ABC') and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
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+ This research was also supported by The '_Israeli Smart Transportation Research Center_' ('ISTRC') by The Technion and Bar-Ilan Universities, Israel.
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  <p align="center">
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- <a href="https://istrc.net.technion.ac.il/">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/Logo_ISTRC_Green_English.png" width="180" alt=""/>
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- </a>
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- &emsp;
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- &emsp;
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- &emsp;
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+ <a href="https://istrc.net.technion.ac.il/">
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+ <img src="https://github.com/krichelj/PyDiffGame/blob/master/images/Logo_ISTRC_Green_English.png?raw=true" width="233" alt=""/>
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+ </a>
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  &emsp;
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  <a href="https://in.bgu.ac.il/en/Pages/default.aspx">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/BGU-logo-round.png" width="150" alt=""/>
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+ <picture>
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+ <source media="(prefers-color-scheme: dark)" srcset="https://encrypted-tbn0.gstatic.com/images?q=tbn:ANd9GcTZ8GbtJiX8lNUygX7-inRBuWESK438jWbRjQ&s">
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+ <source media="(prefers-color-scheme: light)" srcset="https://tamrur.bgu.ac.il/restore/BGU.sig.png">
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+ <img alt="BGU Logo" src="https://tamrur.bgu.ac.il/restore/BGU.sig.png" width="233" class="bgu-logo-dark">
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+ </picture>
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  &emsp;
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- &emsp;
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo_abc.png" width="180" alt=""/>
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+ <a href="https://helmsleytrust.org/">
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+ <picture>
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+ <source media="(prefers-color-scheme: dark)" srcset="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-white.png">
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+ <source media="(prefers-color-scheme: light)" srcset="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-blue.png">
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+ <img alt="Helmsley Charitable Trust" src="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-blue.png" width="233">
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+ </picture>
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PyDiffGame-0.1.1/PKG-INFO → pydiffgame-0.1.2/README.md RENAMED
@@ -1,27 +1,15 @@
1
- Metadata-Version: 2.1
2
- Name: PyDiffGame
3
- Version: 0.1.1
4
- Summary: PyDiffGame is a Python implementation of a Nash Equilibrium solution to Differential Games, based on a reduction of Game Hamilton-Bellman-Jacobi (GHJB) equations to Game Algebraic and Differential Riccati equations, associated with Multi-Objective Dynamical Control Systems
5
- Home-page: https://shaykricheli.com/PyDiffGame/
6
- Author: Dr. Aviran Sadon, Joshua Shay Kricheli and Prof. Gera Weiss
7
- Author-email: Joshua Shay Kricheli <skricheli2@gmail.com>
8
- Project-URL: Homepage, https://shaykricheli.com/PyDiffGame/
9
- Project-URL: Bug Tracker, https://github.com/krichelj/PyDiffGame/issues
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- Classifier: Programming Language :: Python :: 3
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- Classifier: License :: OSI Approved :: MIT License
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- Classifier: Operating System :: OS Independent
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- Requires-Python: >=3.7
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- Description-Content-Type: text/markdown
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- License-File: LICENSE
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-
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  <p align="center">
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  <img alt="Logo" src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo.png"/>
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  </p>
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4
 
5
+ [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) [![Upload Python Package](https://github.com/krichelj/PyDiffGame/actions/workflows/python-publish.yml/badge.svg)](https://github.com/krichelj/PyDiffGame/actions/workflows/python-publish.yml) [![pages-build-deployment](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment)
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+
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+
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  * [What is this?](#what-is-this)
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- * [Local Installation](#local-installation)
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+ * [Installation](#installation)
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  * [Input Parameters](#input-parameters)
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11
  * [Tutorial](#tutorial)
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+ * [Authors](#authors)
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13
  * [Acknowledgments](#acknowledgments)
26
14
 
27
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  # What is this?
@@ -36,16 +24,7 @@ The method relies on the formulation given in:
36
24
  ([IEEE](https://ieeexplore.ieee.org/document/9480269) |
37
25
  [Research Gate](https://www.researchgate.net/publication/353452024_Composition_of_Dynamic_Control_Objectives_Based_on_Differential_Games))
38
26
 
39
- If you use this work, please cite our paper:
40
- ```
41
- @conference{med_paper,
42
- author={Kricheli, Joshua Shay and Sadon, Aviran and Arogeti, Shai and Regev, Shimon and Weiss, Gera},
43
- booktitle={29th Mediterranean Conference on Control and Automation (MED)},
44
- title={{Composition of Dynamic Control Objectives Based on Differential Games}},
45
- year={2021},
46
- pages={298-304},
47
- doi={10.1109/MED51440.2021.9480269}}
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- ```
27
+ The package was tested for Python >= 3.10.
49
28
 
50
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  # Installation
51
30
 
@@ -63,7 +42,7 @@ The input parameters to instantiate a `PyDiffGame` object are:
63
42
 
64
43
  * `A` : `np.array` of shape $(n,n)$
65
44
  >System dynamics matrix
66
- * `B` : `np.array` of shape( $n,\sum_{i=1}^N m_i$ ), optional
45
+ * `B` : `np.array` of shape $(n, m_1 + ... + m_N)$, optional
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  >Input matrix for all virtual control objectives
68
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  * `Bs` : `Sequence` of `np.array` objects of len $(N)$, each array $B_i$ of shape $(n,m_i)$, optional
69
48
  >Input matrices for each virtual control objective
@@ -246,7 +225,6 @@ masses_with_springs(plot_state_spaces=True,
246
225
  save_figure=True)
247
226
  ```
248
227
 
249
- Refer
250
228
  This will result in the following plot that compares the two systems performance for a differential game vs an LQR:
251
229
 
252
230
  <p align="center">
@@ -268,28 +246,47 @@ we have:
268
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  <img align=top src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/src/PyDiffGame/examples/figures/2/LQR_large_2.png" width="400" height="300"/>
269
247
  </p>
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248
 
249
+ # Authors
250
+
251
+ If you use this work, please cite our paper:
252
+ ```
253
+ @inproceedings{pydiffgame_paper,
254
+ author={Kricheli, Joshua Shay and Sadon, Aviran and Arogeti, Shai and Regev, Shimon and Weiss, Gera},
255
+ booktitle={29th Mediterranean Conference on Control and Automation (MED 2021)},
256
+ title={{Composition of Dynamic Control Objectives Based on Differential Games}},
257
+ year={2021},
258
+ volume={},
259
+ number={},
260
+ pages={298-304},
261
+ doi={10.1109/MED51440.2021.9480269}}
262
+ ```
263
+
264
+ Further details can be found in the [citation document](CITATIONS.bib).
271
265
 
272
266
  # Acknowledgments
273
267
 
274
- This research was supported in part by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
275
- This research was also supported by The Israeli Smart Transportation Research Center (ISTRC) by The Technion and Bar-Ilan Universities, Israel.
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+ This research was supported in part by the Leona M. and Harry B. Helmsley Charitable Trust through the '_Agricultural, Biological and Cognitive Robotics Initiative_' ('ABC') and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
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+ This research was also supported by The '_Israeli Smart Transportation Research Center_' ('ISTRC') by The Technion and Bar-Ilan Universities, Israel.
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  <p align="center">
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- <a href="https://istrc.net.technion.ac.il/">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/Logo_ISTRC_Green_English.png" width="180" alt=""/>
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- </a>
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- &emsp;
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- &emsp;
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- &emsp;
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+ <a href="https://istrc.net.technion.ac.il/">
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+ <img src="https://github.com/krichelj/PyDiffGame/blob/master/images/Logo_ISTRC_Green_English.png?raw=true" width="233" alt=""/>
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+ </a>
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/BGU-logo-round.png" width="150" alt=""/>
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+ <picture>
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+ <source media="(prefers-color-scheme: dark)" srcset="https://encrypted-tbn0.gstatic.com/images?q=tbn:ANd9GcTZ8GbtJiX8lNUygX7-inRBuWESK438jWbRjQ&s">
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+ <source media="(prefers-color-scheme: light)" srcset="https://tamrur.bgu.ac.il/restore/BGU.sig.png">
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+ <img alt="BGU Logo" src="https://tamrur.bgu.ac.il/restore/BGU.sig.png" width="233" class="bgu-logo-dark">
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+ </picture>
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  &emsp;
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  &emsp;
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- &emsp;
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- &emsp;
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- <a href="https://in.bgu.ac.il/en/robotics/Pages/default.aspx">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo_abc.png" width="180" alt=""/>
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+ <a href="https://helmsleytrust.org/">
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+ <picture>
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+ <source media="(prefers-color-scheme: dark)" srcset="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-white.png">
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+ <source media="(prefers-color-scheme: light)" srcset="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-blue.png">
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+ <img alt="Helmsley Charitable Trust" src="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-blue.png" width="233">
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+ </picture>
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  </a>
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  </p>
pydiffgame-0.1.2/_config.yml ADDED
@@ -0,0 +1,10 @@
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+ plugins:
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+ - jekyll-relative-links
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+ relative_links:
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+ enabled: true
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+ collections: true
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+ include:
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+ - CONTRIBUTING.md
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+ - README.md
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+ - CODE_OF_CONDUCT.md
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+ - LICENSE
{PyDiffGame-0.1.1 → pydiffgame-0.1.2/docs}/README.md RENAMED
@@ -2,6 +2,9 @@
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  <img alt="Logo" src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo.png"/>
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  </p>
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+ [![pages-build-deployment](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/krichelj/PyDiffGame/actions/workflows/pages/pages-build-deployment)
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+ [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
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+
5
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  * [What is this?](#what-is-this)
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  * [Local Installation](#local-installation)
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  * [Input Parameters](#input-parameters)
@@ -47,7 +50,7 @@ The input parameters to instantiate a `PyDiffGame` object are:
47
50
 
48
51
  * `A` : `np.array` of shape $(n,n)$
49
52
  >System dynamics matrix
50
- * `B` : `np.array` of shape( $n,\sum_{i=1}^N m_i$ ), optional
53
+ * `B` : `np.array` of shape $(n, m_1 + ... + m_N)$, optional
51
54
  >Input matrix for all virtual control objectives
52
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  * `Bs` : `Sequence` of `np.array` objects of len $(N)$, each array $B_i$ of shape $(n,m_i)$, optional
53
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  >Input matrices for each virtual control objective
@@ -255,25 +258,20 @@ we have:
255
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256
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  # Acknowledgments
257
260
 
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- This research was supported in part by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
261
+ This research was supported in part by the Leona M. and Harry B. Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative and by the Marcus Endowment Fund both at Ben-Gurion University of the Negev, Israel.
259
262
  This research was also supported by The Israeli Smart Transportation Research Center (ISTRC) by The Technion and Bar-Ilan Universities, Israel.
260
263
 
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  <p align="center">
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- <a href="https://istrc.net.technion.ac.il/">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/Logo_ISTRC_Green_English.png" width="180" alt=""/>
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- </a>
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- &emsp;
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- &emsp;
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- &emsp;
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+ <a href="https://istrc.net.technion.ac.il/">
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+ <img src="https://github.com/krichelj/PyDiffGame/blob/master/images/Logo_ISTRC_Green_English.png?raw=true" width="233" alt=""/>
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+ </a>
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  <a href="https://in.bgu.ac.il/en/Pages/default.aspx">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/BGU-logo-round.png" width="150" alt=""/>
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+ <img alt="BGU Logo" src="https://tamrur.bgu.ac.il/restore/BGU.sig.png" width="233">
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  &emsp;
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- <a href="https://in.bgu.ac.il/en/robotics/Pages/default.aspx">
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- <img src="https://raw.githubusercontent.com/krichelj/PyDiffGame/master/images/logo_abc.png" width="180" alt=""/>
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+ <a href="https://helmsleytrust.org/">
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+ <img alt="Helmsley Charitable Trust" src="https://helmsleytrust.org/wp-content/themes/helmsley/assets/img/helmsley-charitable-trust-logo-blue.png" width="233">
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pydiffgame-0.1.2/images/logo.png ADDED
Binary file
pydiffgame-0.1.2/images/logo_abc.png ADDED
Binary file
{PyDiffGame-0.1.1 → pydiffgame-0.1.2}/pyproject.toml RENAMED
@@ -1,12 +1,16 @@
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+ [build-system]
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+ requires = ["hatchling"]
3
+ build-backend = "hatchling.build"
4
+
1
5
  [project]
2
6
  name = "PyDiffGame"
3
- version = "0.1.1"
7
+ version = "0.1.2"
4
8
  authors = [
5
- { name="Joshua Shay Kricheli", email="skricheli2@gmail.com" },
9
+ { name="Joshua Shay Kricheli", email="skricheli2@gmail.com" }
6
10
  ]
7
11
  description = "PyDiffGame is a Python implementation of a Nash Equilibrium solution to Differential Games, based on a reduction of Game Hamilton-Bellman-Jacobi (GHJB) equations to Game Algebraic and Differential Riccati equations, associated with Multi-Objective Dynamical Control Systems"
8
12
  readme = "README.md"
9
- requires-python = ">=3.7"
13
+ requires-python = ">=3.10"
10
14
  classifiers = [
11
15
  "Programming Language :: Python :: 3",
12
16
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@@ -14,5 +18,9 @@ classifiers = [
14
18
  ]
15
19
 
16
20
  [project.urls]
17
- "Homepage" = "https://shaykricheli.com/PyDiffGame/"
18
- "Bug Tracker" = "https://github.com/krichelj/PyDiffGame/issues"
21
+ "Homepage" = "https://krichelj.github.io/PyDiffGame/"
22
+ "Bug Tracker" = "https://github.com/krichelj/PyDiffGame/issues"
23
+
24
+ # Specify where your source code is located
25
+ [tool.hatch.build.targets.wheel]
26
+ packages = ["src/PyDiffGame"] # Replace with the actual path to your package
pydiffgame-0.1.2/requirements.txt ADDED
@@ -0,0 +1,6 @@
1
+ matplotlib>=3.7.0
2
+ numpy>=1.24.2
3
+ scipy>=1.8.0
4
+ setuptools>=61.0
5
+ tqdm>=4.63.0
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+ sympy~=1.11.1
{PyDiffGame-0.1.1 → pydiffgame-0.1.2}/src/PyDiffGame/ContinuousPyDiffGame.py RENAMED
@@ -4,7 +4,7 @@ import sys
4
4
  import numpy as np
5
5
  from scipy.integrate import odeint
6
6
  from numpy.linalg import eigvals, inv
7
- from typing import Sequence, Optional
7
+ from typing import Sequence, Optional, Union
8
8
 
9
9
  from PyDiffGame.PyDiffGame import PyDiffGame
10
10
  from PyDiffGame.Objective import Objective
@@ -30,7 +30,7 @@ class ContinuousPyDiffGame(PyDiffGame):
30
30
  x_0: Optional[np.array] = None,
31
31
  x_T: Optional[np.array] = None,
32
32
  T_f: Optional[float] = None,
33
- P_f: Optional[Sequence[np.array] | np.array] = None,
33
+ P_f: Optional[Union[Sequence[np.array], np.array]] = None,
34
34
  show_legend: Optional[bool] = True,
35
35
  state_variables_names: Optional[Sequence[str]] = None,
36
36
  epsilon_x: Optional[float] = PyDiffGame._epsilon_x_default,