openscvx 0.3.1.dev4__tar.gz → 0.3.1.dev17__tar.gz

{openscvx-0.3.1.dev4/openscvx.egg-info → openscvx-0.3.1.dev17}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.1.dev4
+Version: 0.3.1.dev17
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Author-email: Chris Hayner and Griffin Norris <haynec@uw.edu>
 License: Apache Software License
@@ -266,15 +266,18 @@ Dependencies can then be installed using Conda or Pip
 
 ### Running Trajectory Optimization
 
-See `examples/params/` folder for several example trajectory optimization problems.
+See `examples/` folder for several example trajectory optimization problems grouped by application.
 To run a problem simply run any of the examples directly, for example:
 
 ```sh
-python3 examples/params/brachistochrone.py
+python3 examples/abstract/brachistochrone.py
 ```
+
+> **Note:** To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode (`pip install -e .`). See the [Local Development](#local-development) section above for detailed installation instructions.
+
 and adjust the plotting as needed.
 
-Check out the problem definitions inside `examples/params` to see how to define your own problems.
+Check out the problem definitions inside `examples/` to see how to define your own problems.
 
 ## Code Structure
 <img src="figures/oscvx_structure_full_dark.svg" width="1200"/>
@@ -285,10 +288,10 @@ Check out the problem definitions inside `examples/params` to see how to define
 - [X] Implement QOCOGen with CVPYGEN
 - [X] Non-Dilated Time Propagation
 - [X] Save and reload the compiled JAX code
+- [x] Unified Mathematical Interface
 - [ ] Auto-SCvx Weight Tuning
 - [ ] Compiled at the subproblem level with JAX
 - [ ] Single Shot propagation
-- [ ] Unified Mathematical Interface
 
 ## What is implemented
 

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/README.md

@@ -229,15 +229,18 @@ Dependencies can then be installed using Conda or Pip
 
 ### Running Trajectory Optimization
 
-See `examples/params/` folder for several example trajectory optimization problems.
+See `examples/` folder for several example trajectory optimization problems grouped by application.
 To run a problem simply run any of the examples directly, for example:
 
 ```sh
-python3 examples/params/brachistochrone.py
+python3 examples/abstract/brachistochrone.py
 ```
+
+> **Note:** To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode (`pip install -e .`). See the [Local Development](#local-development) section above for detailed installation instructions.
+
 and adjust the plotting as needed.
 
-Check out the problem definitions inside `examples/params` to see how to define your own problems.
+Check out the problem definitions inside `examples/` to see how to define your own problems.
 
 ## Code Structure
 <img src="figures/oscvx_structure_full_dark.svg" width="1200"/>
@@ -248,10 +251,10 @@ Check out the problem definitions inside `examples/params` to see how to define
 - [X] Implement QOCOGen with CVPYGEN
 - [X] Non-Dilated Time Propagation
 - [X] Save and reload the compiled JAX code
+- [x] Unified Mathematical Interface
 - [ ] Auto-SCvx Weight Tuning
 - [ ] Compiled at the subproblem level with JAX
 - [ ] Single Shot propagation
-- [ ] Unified Mathematical Interface
 
 ## What is implemented
 

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/abstract/3DoF_pdg.py

@@ -10,8 +10,16 @@ The problem includes:
 - Glideslope constraint for safe landing approach
 """
 
+import os
+import sys
+
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_control_norm, plot_xy_xz_yz
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/abstract/brachistochrone.py

@@ -10,9 +10,17 @@ trajectory generation with:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import (
     plot_brachistochrone_position,

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/car/dubins_car.py

@@ -11,9 +11,17 @@ circular obstacle. The problem includes:
 - Parameter updates for multiple scenarios
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_dubins_car
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/car/dubins_car_disjoint.py

@@ -10,9 +10,17 @@ using a smooth max approximation for the disjoint constraint. The problem includ
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_dubins_car_disjoint
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/car/dubins_car_stljax.py

@@ -10,9 +10,17 @@ using the stljax library for STL constraint formulation. The problem includes:
 - Requires: pip install stljax
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_dubins_car_disjoint
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/cinema_vp.py

@@ -10,10 +10,18 @@ aerial cinematography with viewpoint constraints. The problem includes:
 - Attitude planning to maintain visual coverage
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 import numpy.linalg as la
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/cinema_vp_realtime_base.py

@@ -10,10 +10,18 @@ The problem includes:
 - Configured for real-time re-optimization with moving targets
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 import numpy.linalg as la
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/dr_double_integrator.py

@@ -10,9 +10,17 @@ double integrator (point mass) dynamics instead of full 6-DOF dynamics. The prob
 - Loop closure constraint
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation_double_integrator
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/dr_vp.py

@@ -10,10 +10,18 @@ to maintain visual contact with reference targets. The problem includes:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 import numpy.linalg as la
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/dr_vp_nodal.py

@@ -10,10 +10,18 @@ constraints applied at all nodes. The problem includes:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 import numpy.linalg as la
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/dr_vp_polytope.py

@@ -11,10 +11,18 @@ gates with sensor visibility constraints. The problem includes:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 import numpy.linalg as la
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/drone_racing.py

@@ -9,9 +9,17 @@ racing through a series of gates in a specified order. The problem includes:
 - Loop closure (start equals end position)
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/obstacle_avoidance.py

@@ -10,9 +10,17 @@ The problem includes:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/obstacle_avoidance_nodal.py

@@ -9,9 +9,17 @@ obstacle avoidance constraints applied at specific nodes. The problem includes:
 - Minimal time objective
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/examples/drone/obstacle_avoidance_realtime_base.py

@@ -10,9 +10,17 @@ The problem includes:
 - Configured for real-time re-optimization
 """
 
+import os
+import sys
+
 import jax.numpy as jnp
 import numpy as np
 
+# Add grandparent directory to path to import examples.plotting
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
 import openscvx as ox
 from examples.plotting import plot_animation
 from openscvx import Problem

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/openscvx/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '0.3.1.dev4'
-__version_tuple__ = version_tuple = (0, 3, 1, 'dev4')
+__version__ = version = '0.3.1.dev17'
+__version_tuple__ = version_tuple = (0, 3, 1, 'dev17')
 
-__commit_id__ = commit_id = 'gfe2df476c'
+__commit_id__ = commit_id = 'g63cc16df8'

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/openscvx/algorithms/optimization_results.py

@@ -66,6 +66,8 @@ class OptimizationResults:
     J_tr_history: list[np.ndarray] = field(default_factory=list)
     J_vb_history: list[np.ndarray] = field(default_factory=list)
     J_vc_history: list[np.ndarray] = field(default_factory=list)
+    TR_history: list[np.ndarray] = field(default_factory=list)
+    VC_history: list[np.ndarray] = field(default_factory=list)
 
     @property
     def x(self) -> np.ndarray:

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/openscvx/algorithms/ptr.py

@@ -101,6 +101,8 @@ def format_result(problem, state: "SolverState", converged: bool) -> Optimizatio
         J_tr_history=state.J_tr,
         J_vb_history=state.J_vb,
         J_vc_history=state.J_vc,
+        TR_history=state.TR_history,
+        VC_history=state.VC_history,
     )
 
 
@@ -142,6 +144,8 @@ def PTR_step(
         V_multi_shoot,
         subprop_time,
         dis_time,
+        vc_mat,
+        tr_mat,
     ) = PTR_subproblem(
         params.items(),
         cpg_solve,
@@ -157,6 +161,8 @@ def PTR_step(
     state.V_history.append(V_multi_shoot)
     state.X.append(x_sol)
     state.U.append(u_sol)
+    state.VC_history.append(vc_mat)
+    state.TR_history.append(tr_mat)
 
     state.J_tr = np.sum(np.array(J_tr_vec))
     state.J_vb = np.sum(np.array(J_vb_vec))
@@ -300,14 +306,10 @@ def PTR_subproblem(
     )
 
     # Calculate J_tr_vec using the JAX-compatible block diagonal matrix
-    J_tr_vec = (
-        la.norm(
-            inv_block_diag @ np.hstack((x_new_guess - state.x, u_new_guess - state.u)).T,
-            axis=0,
-        )
-        ** 2
-    )
-    J_vc_vec = np.sum(np.abs(prob.var_dict["nu"].value), axis=1)
+    tr_mat = inv_block_diag @ np.hstack((x_new_guess - state.x, u_new_guess - state.u)).T
+    J_tr_vec = la.norm(tr_mat, axis=0) ** 2
+    vc_mat = np.abs(prob.var_dict["nu"].value)
+    J_vc_vec = np.sum(vc_mat, axis=1)
 
     id_ncvx = 0
     J_vb_vec = 0
@@ -336,4 +338,6 @@ def PTR_subproblem(
         V_multi_shoot,
         subprop_time,
         dis_time,
+        vc_mat,
+        abs(tr_mat),
     )

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/openscvx/algorithms/solver_state.py

@@ -59,6 +59,8 @@ class SolverState:
     X: List[np.ndarray] = field(default_factory=list)
     U: List[np.ndarray] = field(default_factory=list)
     V_history: List[np.ndarray] = field(default_factory=list)
+    VC_history: List[np.ndarray] = field(default_factory=list)
+    TR_history: List[np.ndarray] = field(default_factory=list)
 
     @property
     def x(self) -> np.ndarray:
@@ -225,4 +227,6 @@ class SolverState:
             X=[settings.sim.x.guess.copy()],
             U=[settings.sim.u.guess.copy()],
             V_history=[],
+            VC_history=[],
+            TR_history=[],
         )

{openscvx-0.3.1.dev4 → openscvx-0.3.1.dev17}/openscvx/plotting/__init__.py

@@ -13,34 +13,16 @@ violations, and creating animations of the optimization process.
 """
 
 from .plotting import (
-    frame_args,
-    full_subject_traj_time,
-    plot_constraint_violation,
     plot_control,
-    plot_initial_guess,
-    plot_losses,
-    plot_scp_animation,
+    plot_scp_iteration_animation,
     plot_state,
-    qdcm,
-    save_gate_parameters,
-    scp_traj_interp,
 )
 
 __all__ = [
     # Core plotting functions
     "plot_state",
     "plot_control",
-    "plot_constraint_violation",
-    "plot_losses",
-    "plot_scp_animation",
-    "plot_initial_guess",
-    # Trajectory utilities
-    "full_subject_traj_time",
-    "scp_traj_interp",
-    # Helper functions
-    "qdcm",
-    "save_gate_parameters",
-    "frame_args",
+    "plot_scp_iteration_animation",
 ]
 
 # Mark module as unstable/deprecated