openscvx 0.1.2__py3-none-any.whl → 0.2.1.dev0__py3-none-any.whl

openscvx/utils.py

@@ -1,6 +1,56 @@
 import jax
 import jax.numpy as jnp
 import numpy as np
+import hashlib
+import ast
+import types
+import inspect
+import textwrap
+
+def stable_function_hash(funcs, n_discretization_nodes=None, dt=None, total_time=None, state_max=None, state_min=None, control_max=None, control_min=None):
+    hasher = hashlib.sha256()
+
+    for func in funcs:
+        try:
+            src = inspect.getsource(func)
+            src = textwrap.dedent(src)  # <<< Fix: remove extra indent
+            parsed = ast.parse(src)
+
+            # Remove docstrings from the AST
+            for node in ast.walk(parsed):
+                if isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef)) and ast.get_docstring(node):
+                    if isinstance(node.body[0], ast.Expr):
+                        node.body = node.body[1:]
+
+            normalized = ast.dump(parsed, annotate_fields=True, include_attributes=False)
+            hasher.update(normalized.encode())
+
+        except Exception as e:
+            raise ValueError(f"Could not hash function {func}: {e}")
+
+    # Add additional parameters to the hash
+    if n_discretization_nodes is not None:
+        hasher.update(f"n_nodes:{n_discretization_nodes}".encode())
+    
+    if dt is not None:
+        hasher.update(f"dt:{dt}".encode())
+    
+    if total_time is not None:
+        hasher.update(f"total_time:{total_time}".encode())
+    
+    if state_max is not None:
+        hasher.update(f"state_max:{state_max.tobytes()}".encode())
+    
+    if state_min is not None:
+        hasher.update(f"state_min:{state_min.tobytes()}".encode())
+    
+    if control_max is not None:
+        hasher.update(f"control_max:{control_max.tobytes()}".encode())
+    
+    if control_min is not None:
+        hasher.update(f"control_min:{control_min.tobytes()}".encode())
+
+    return hasher.hexdigest()
 
 
 def qdcm(q: jnp.ndarray) -> jnp.ndarray:

{openscvx-0.1.2.dist-info → openscvx-0.2.1.dev0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.1.2
+Version: 0.2.1.dev0
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Home-page: https://haynec.github.io/openscvx/
 Author: Chris Hayner and Griffin Norris
@@ -12,14 +12,23 @@ Requires-Python: >=3.9
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: cvxpy
-Requires-Dist: cvxpygen
 Requires-Dist: qoco
-Requires-Dist: qocogen
 Requires-Dist: numpy
 Requires-Dist: jax
 Requires-Dist: plotly
 Requires-Dist: termcolor
 Requires-Dist: diffrax
+Requires-Dist: absl-py
+Requires-Dist: flatbuffers
+Provides-Extra: gui
+Requires-Dist: pyqtgraph; extra == "gui"
+Requires-Dist: PyQt5; extra == "gui"
+Requires-Dist: scipy; extra == "gui"
+Requires-Dist: PyOpenGL; extra == "gui"
+Requires-Dist: PyOpenGL_accelerate; extra == "gui"
+Provides-Extra: cvxpygen
+Requires-Dist: cvxpygen; extra == "cvxpygen"
+Requires-Dist: qocogen; extra == "cvxpygen"
 Dynamic: license-file
 
 <a id="readme-top"></a>
@@ -33,7 +42,8 @@ Dynamic: license-file
 <p align="center">
     <a href="https://github.com//haynec/OpenSCvx/actions/workflows/ci.yml/badge.svg"><img src="https://github.com//haynec/OpenSCvx/actions/workflows/ci.yml/badge.svg"/></a>
     <a href="https://github.com//haynec/OpenSCvx/actions/workflows/nightly.yml/badge.svg"><img src="https://github.com//haynec/OpenSCvx/actions/workflows/nightly.yml/badge.svg"/></a>
-    <a href="https://github.com//haynec/OpenSCvx/actions/workflows/release.yml/badge.svg"><img src="https://github.com//haynec/OpenSCvx/actions/workflows/release.yml/badge.svg"/></a>
+    <a href="https://github.com/haynec/OpenSCvx/actions/workflows/release.yml?event=release"><img src="https://github.com/haynec/OpenSCvx/actions/workflows/release.yml/badge.svg?event=release"/>
+  </a>
 </p>
 
 <!-- PROJECT LOGO -->
@@ -44,6 +54,9 @@ Dynamic: license-file
 
 ### Installation
 
+<details>
+<summary>Stable</summary>
+
 To grab the latest stable release simply run
 
 ```sh
@@ -51,28 +64,27 @@ pip install openscvx
 ```
 
 to install OpenSCVx in your python environment.
+</details>
 
 <details>
-<summary>Install Development / Nightly Version</summary>
+<summary>Nightly</summary>
 
-If you want the pre-release version, you can install the latest `nightly` build with:
+For the latest development version (nightly), clone the repository and install in editable mode:
 
 ```sh
-python3 -m pip install --index-url https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple/ --pre --upgrade openscvx
-```
+# Clone the repo
+ git clone https://github.com/haynec/OpenSCvx.git
+ cd OpenSCvx
 
-This command will also upgrade an existing `nightly` install to the latest version
-Or if you want a specific pre-release version this can be installed with
-
-```sh
-python3 -m pip install --index-url https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple/ openscvx==1.2.3.dev45
+# Install in editable/development mode
+ pip install -e .
 ```
 
-where `1.2.3.dev45 => <major>.<minor>.<patch>.dev<XY>` corresponds to your exact version
-</details>
+This will install the code as a package and allow you to make local changes.
 
+</details>
 
-#### Dependencies
+### Dependencies
 
 The main packages are:
 
@@ -84,67 +96,132 @@ The main packages are:
 - `plotly` - is used for all visualizations
 
 These will be installed automatically, but can be installed via conda or pip if you are building from source.
+
+#### GUI Dependencies (Optional)
+
+For interactive 3D plotting and real-time visualization, additional packages are required:
+
+- `pyqtgraph` - is used for interactive 3D plotting and real-time visualization
+- `PyQt5` - provides the Qt5 GUI framework for pyqtgraph
+- `scipy` - is used for spatial transformations in plotting functions
+- `PyOpenGL` - provides OpenGL bindings for Python, required for 3D plotting
+- `PyOpenGL_accelerate` - (optional) speeds up PyOpenGL
+
+
+For local development:
+
+```sh
+pip install -e ".[gui]"
+```
+
+Or with conda:
+
+```sh
+conda env update -f environment.yml
+```
+
+The GUI features include:
+- Interactive 3D trajectory visualization with `plot_animation_pyqtgraph()`
+- SCP iteration animation with `plot_scp_animation_pyqtgraph()`
+- Camera view animation with `plot_camera_animation_pyqtgraph()`
+- Real-time optimization visualization in examples like `drone_racing_realtime.py`
+
+#### CVXPYGen Dependencies (Optional)
+
+For code generation and faster solver performance, CVXPYGen can be installed:
+
+- `cvxpygen` - enables code generation for faster solver performance
+- `qocogen` - custom solver backend for CVXPYGen (included with cvxpygen extras)
+
+To install with CVXPYGen support:
+
+```sh
+pip install openscvx[cvxpygen]
+```
+
+Or for both GUI and CVXPYGen:
+
+```sh
+pip install openscvx[gui,cvxpygen]
+```
+
+CVXPYGen features include:
+- Automatic C++ code generation for optimization problems
+- Faster solver performance through compiled code
+- Support for custom solver backends like QOCOGen
+
+### Local Development
+
+This git repository can be installed using https
+
+```sh
+git clone https://github.com/haynec/OpenSCvx.git
+```
+
+or ssh
+
+```sh
+git clone git@github.com:haynec/OpenSCvx.git
+```
+
+Dependencies can then be installed using Conda or Pip
+
 <details>
 <summary>Via Conda</summary>
 
-1. Clone the repo
-   ```sh
-   git clone https://github.com/haynec/OpenSCvx.git
-   ```
+1. Clone the repo using https or ssh
 2. Install environment packages (this will take about a minute or two):
    ```sh
    conda env create -f environment.yml
    ```
 3. Activate the environment:
    ```sh
-   conda activate los_guidance
+   conda activate openscvx
    ```
-
 </details>
 
 <details>
-<summary>Via Pip</summary>
+<summary>Via pip</summary>
 
-0. Prerequisites
+1. Prerequisites
    Python >= 3.9
-1. Clone the repo
+2. Clone the repo using https or ssh
+3. Create virtual environment (called `venv` here) and source it
    ```sh
-   git clone https://github.com/haynec/OpenSCvx.git
+   python3 -m venv venv
+   source venv/bin/activate
    ```
-2. Install environment packages:
+4. Install environment packages:
    ```sh
    pip install -r requirements.txt
    ```
+   
+   Or install with optional dependencies:
+   ```sh
+   pip install -e ".[gui,cvxpygen]"
+   ```
 </details>
 
 ### Running Trajectory Optimization
 
-See `examples/` folder for several example trajectory optimization problems.
-To run a problem simply run `examples/main.py` with:
+See `examples/params/` folder for several example trajectory optimization problems.
+To run a problem simply run any of the examples directly, for example:
 
 ```sh
-python3 examples/main.py
-```
-
-To change which example is run by `main` simply replace the `problem` import line:
-
-```python
-# other imports
-from examples.params.dr_vp import problem
-# rest of code
+python3 examples/params/brachistochrone.py
 ```
-
 and adjust the plotting as needed.
+
 Check out the problem definitions inside `examples/params` to see how to define your own problems.
 
 ## ToDos
 
 - [X] Standardized Vehicle and Constraint classes
 - [X] Implement QOCOGen with CVPYGEN
-- [X] Non-Dilated Time Propagation 
+- [X] Non-Dilated Time Propagation
+- [X] Save and reload the compiled JAX code
 - [ ] Auto-SCvx Weight Tuning
 - [ ] Compiled at the subproblem level with JAX
-- [ ] Save and reload the compiled JAX code
 - [ ] Single Shot propagation
 - [ ] Unified Mathematical Interface
 
@@ -193,3 +270,14 @@ Please cite the following works if you use the repository,
       url={https://arxiv.org/abs/2404.16826}, 
 }
 ```
+
+```tex
+@misc{chari2025qoco,
+  title = {QOCO: A Quadratic Objective Conic Optimizer with Custom Solver Generation},
+  author = {Chari, Govind M and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  year = {2025},
+  eprint = {2503.12658},
+  archiveprefix = {arXiv},
+  primaryclass = {math.OC},
+}
+```

openscvx-0.2.1.dev0.dist-info/RECORD

@@ -0,0 +1,27 @@
+openscvx/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+openscvx/_version.py,sha256=_2des7n12lftUvjY9UJSeK1IayWVPlmV2Doo-FT0ZAE,524
+openscvx/config.py,sha256=BsMAZUWCBUMl43nvakQ2OOdf2iszsFv9VP27J4xDXEs,16106
+openscvx/discretization.py,sha256=FBpJKoVTXYAxeE6PvaekbRFbLWeKY6EJfl214ib2tX8,7908
+openscvx/dynamics.py,sha256=TQosmwDXpWvR22-ZL2JawDDjVkyoL-DN45Xuv7ecCnc,6417
+openscvx/integrators.py,sha256=uDXWyLen30L10Cf4GFEwhY0qru0wOB9Y9eU6Z0nvIH4,8290
+openscvx/io.py,sha256=1OTM2oqMHQamaY48uEQMfNb0qJAwNmxHkgYCaKsnEOA,9755
+openscvx/ocp.py,sha256=HAM1qLAAQS0Pjx4KTJRhrRnwzEYWBxe2QKUip8AqDms,8345
+openscvx/plotting.py,sha256=Rq9mCBTcQwDdh5m7tE9Xp1qGnQ2V42Balp-d_JhOuCI,22276
+openscvx/post_processing.py,sha256=lbLQ4ZHGbSTmaMVw9RWDckxIzskOeRw7W-s4W9c1UXE,2573
+openscvx/propagation.py,sha256=Pm3HHEwMmpGrN1VEkzISuYvIIJG7VarDQXzlwbhPOEo,7945
+openscvx/ptr.py,sha256=LbUrKvZabOKYbmkh1Q-vr4R38QY2E38k366PA0WrZ2U,7050
+openscvx/results.py,sha256=h7cEd8IXlxFSB3RHCXxV6VTeXB8wSse9R42d7S_gu0M,4618
+openscvx/trajoptproblem.py,sha256=aBuZ4Wt7eBq2QT8XieZ5-94IZjpeZcPQW3J5nhp4CI0,24434
+openscvx/utils.py,sha256=CEd_kjh-MUhRInZjoxogUjMddU5ExJ-IAOXq_Hn4KGY,4166
+openscvx/augmentation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+openscvx/augmentation/ctcs.py,sha256=m1jdALXSqHq3WD6lCBAUI7FR0Sfs8aCYr66h0EwE4z4,1707
+openscvx/augmentation/dynamics_augmentation.py,sha256=4lEeSRl3LJxvcclwGSI1Yp21kc_oKoIVga08uzaKXE0,4702
+openscvx/constraints/__init__.py,sha256=J3_UyJMUVYzvhjfyBM_m9WIRDlHQV7Q4CiI-TzRapAs,165
+openscvx/constraints/ctcs.py,sha256=-VJZE8O0xq8n9mzSiDNikax-xo6CpWJtjwMbAPzu1-8,10121
+openscvx/constraints/nodal.py,sha256=qT_U8Go0n0rzv4MupwQYGL8H5P8ShA7ZGATJ7IHnIqU,8185
+openscvx/constraints/violation.py,sha256=curg7R6ER4YtKzdqmd1tgS2kWICGon5ab_Y4YGbeibw,2875
+openscvx-0.2.1.dev0.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+openscvx-0.2.1.dev0.dist-info/METADATA,sha256=d7eEmSOH_jP9tB9uKqD_eGFXeaFDP5pJ5c9Gnnw_B4g,9057
+openscvx-0.2.1.dev0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+openscvx-0.2.1.dev0.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
+openscvx-0.2.1.dev0.dist-info/RECORD,,

{openscvx-0.1.2.dist-info → openscvx-0.2.1.dev0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.4.0)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

openscvx/constraints/boundary.py

@@ -1,49 +0,0 @@
-from dataclasses import dataclass, field
-from typing import Union, Sequence
-import jax.numpy as jnp
-
-ALLOWED_TYPES = {"Fix", "Free", "Minimize", "Maximize"}
-
-@dataclass
-class BoundaryConstraint:
-    value: jnp.ndarray
-    types: list[str] = field(init=False)
-
-    def __post_init__(self):
-        self.types = ["Fix"] * len(self.value)
-
-    def __getitem__(self, key):
-        return self.value[key]
-
-    def __setitem__(self, key, val):
-        self.value = self.value.at[key].set(val)
-
-    @property
-    def type(self):
-        constraint = self
-        class TypeProxy:
-            def __getitem__(self, key):
-                return constraint.types[key]
-
-            def __setitem__(self, key, val: Union[str, Sequence[str]]):
-                indices = range(*key.indices(len(constraint.types))) if isinstance(key, slice) else [key]
-                values = [val] * len(indices) if isinstance(val, str) else val
-
-                if len(values) != len(indices):
-                    raise ValueError("Mismatch between indices and values length")
-
-                for idx, v in zip(indices, values):
-                    if v not in ALLOWED_TYPES:
-                        raise ValueError(f"Invalid type: {v}, must be one of {ALLOWED_TYPES}")
-                    constraint.types[idx] = v
-
-            def __len__(self):
-                return len(constraint.types)
-
-            def __repr__(self):
-                return repr(constraint.types)
-
-        return TypeProxy()
-
-def boundary(arr: jnp.ndarray):
-    return BoundaryConstraint(arr)

openscvx-0.1.2.dist-info/RECORD

@@ -1,27 +0,0 @@
-openscvx/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-openscvx/_version.py,sha256=bSmADqydH8nBu-J4lG8UVuR7hnU_zcwhnSav2oQ0W0A,511
-openscvx/config.py,sha256=8Cl5O0ekf9MGNDTEeMHsp1C4XvY9NfJQkxd80lvnafM,10296
-openscvx/discretization.py,sha256=YF3mEeyYHgyTWQVNQsqpi1Mv72zDLyNfaMJSWqxj34c,4745
-openscvx/dynamics.py,sha256=X9sPpxUGGbdsnvQzgyrb_939N9ctBSsWVyI1eXtOKpc,1118
-openscvx/integrators.py,sha256=msIS-1Ehj-9TJLHfoCMs3vdyZ8NXz-TM0RII6aqRf4E,3821
-openscvx/io.py,sha256=fOvNWQWAegcN1gejeToaNbXenP5H5bAifNU8edJvdk4,4127
-openscvx/ocp.py,sha256=L_509EQiMsI6s5gBYlYyxKaHEzzRdpo-XAMjliCU3Rc,7544
-openscvx/plotting.py,sha256=fCvWJV4qWMhVyJlh18s12S_5xhj6EviF-_FuP0tWjx4,31207
-openscvx/post_processing.py,sha256=TP1gi4TVlDS2HHpdqaIPCqfM5o4w7a7RCMU3Pu3czHw,1024
-openscvx/propagation.py,sha256=XNezQnAM-NXb9L7aHUgKQOBn0CNUPeGGDL3_BbGoODU,3758
-openscvx/ptr.py,sha256=itDTR6RQUphnU226jaeRaAKuia-6v8U3MqAdw5-BYOk,5268
-openscvx/trajoptproblem.py,sha256=3yufy-egU7m0NV834TH8csY1HJqM90Is7VYw0gQe3pk,11996
-openscvx/utils.py,sha256=zmkKyto8Jowe_RAdOe8K0w6gzOu4JfxmX1RUL-3OFlY,2408
-openscvx/augmentation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-openscvx/augmentation/ctcs.py,sha256=m1jdALXSqHq3WD6lCBAUI7FR0Sfs8aCYr66h0EwE4z4,1707
-openscvx/augmentation/dynamics_augmentation.py,sha256=7PL-mMfSmIIfMiXjdbXTolxOgUFSolzKpLu8WAmD384,4271
-openscvx/constraints/__init__.py,sha256=OOUcYEVoDWOSY50s2TbjpDjl3dRR3U04gRxmOyjbddY,258
-openscvx/constraints/boundary.py,sha256=yEhEnkKJ5f8NUeTksigEJjgBeE_YyuG_PJb_DWxg0L4,1541
-openscvx/constraints/ctcs.py,sha256=V763033aV82nAu7y4653KsAs11A7RpUysR_oUcnLfko,2572
-openscvx/constraints/nodal.py,sha256=YCS0cwUurA2OTQcHBb1EQqLxNt_w3MX8Nj8FH3GYClo,1726
-openscvx/constraints/violation.py,sha256=aIdDhHd-UndT0XB2QeuwLBKSNSAUWVkha_GeHOw9cQg,2362
-openscvx-0.1.2.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-openscvx-0.1.2.dist-info/METADATA,sha256=MDHeKrpE_3FKRiQD5fVKVzNBWerOvcY0vfapGSRTlbk,6911
-openscvx-0.1.2.dist-info/WHEEL,sha256=DnLRTWE75wApRYVsjgc6wsVswC54sMSJhAEd4xhDpBk,91
-openscvx-0.1.2.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
-openscvx-0.1.2.dist-info/RECORD,,