openscvx 0.3.2.dev170__py3-none-any.whl

openscvx/symbolic/expr/__init__.py

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+"""Symbolic expression package for trajectory optimization.
+
+This package provides a comprehensive symbolic expression system for building
+optimization problems in openscvx. It implements an Abstract Syntax Tree (AST)
+framework that allows you to write optimization problems using natural mathematical
+notation.
+
+Example:
+    Import the package through the main openscvx module::
+
+        import openscvx as ox
+
+        # Create symbolic variables
+        x = ox.Variable("x", shape=(3,))
+        u = ox.Control("u", shape=(2,))
+
+        # Build expressions
+        cost = ox.Norm(x - [1, 2, 3])**2 + 0.1 * ox.Norm(u)**2
+        constraint = x[0] <= 5.0
+
+Module Organization:
+    The package is organized into the following modules:
+
+    Core Expressions (expr.py):
+        Base classes and utilities including `Expr`, `Leaf`, `Parameter`, `Constant`,
+        and helper functions `to_expr` and `traverse`.
+
+    Arithmetic Operations (arithmetic.py):
+        Fundamental arithmetic operations including `Add`, `Sub`, `Mul`, `Div`,
+        `MatMul`, `Neg`, and `Power`.
+
+    Array Operations (array.py):
+        Array manipulation operations including `Index`, `Concat`, `Stack`, `Hstack`,
+        and `Vstack` for indexing, slicing, and combining arrays.
+
+    Constraints (constraint.py):
+        Constraint types including `Constraint`, `Equality`, `Inequality`,
+        `NodalConstraint`, and `CTCS` (Continuous-Time Constraint Satisfaction).
+
+    Optimization Variables (variable.py, state.py, control.py):
+        `Variable` for general optimization variables, `State` for time-varying state
+        in trajectory problems, and `Control` for control inputs.
+
+    Mathematical Functions (math.py):
+        Trigonometric functions (`Sin`, `Cos`), exponential functions (`Exp`, `Log`,
+        `Sqrt`, `Square`), and nonlinear functions (`PositivePart`, `Huber`,
+        `SmoothReLU`, `Max`).
+
+    Linear Algebra (linalg.py):
+        Matrix operations (`Transpose`, `Diag`) and reductions (`Sum`, `Norm`).
+
+    Spatial Operations (spatial.py):
+        6-DOF operations for aerospace and robotics including `QDCM` (Quaternion to
+        Direction Cosine Matrix), `SSMP` (4×4 skew-symmetric matrix for quaternion
+        dynamics), and `SSM` (3×3 skew-symmetric matrix for cross products).
+
+    Lie Algebra Operations (lie.py):
+        Lie algebra operations for rigid body dynamics. Built-in operators include
+        `AdjointDual` (coadjoint for Coriolis/centrifugal forces) and `Adjoint`
+        (Lie bracket). jaxlie-backed operators (requires `pip install openscvx[lie]`)
+        include `SO3Exp`, `SO3Log`, `SE3Exp`, and `SE3Log` for exponential and
+        logarithm maps on rotation and rigid transformation groups.
+
+    Constraint Specifications (constraint.py):
+        `NodalConstraint` for enforcing constraints at discrete nodes and `CTCS` for
+        continuous-time constraint satisfaction.
+
+    Signal Temporal Logic (stl.py):
+        `Or` for logical disjunction in task specifications.
+"""
+
+# Arithmetic operations
+from .arithmetic import Add, Div, MatMul, Mul, Neg, Power, Sub
+
+# Array operations
+from .array import Block, Concat, Hstack, Index, Stack, Vstack
+
+# Specialized constraints
+from .constraint import (
+    CTCS,
+    Constraint,
+    CrossNodeConstraint,
+    Equality,
+    Inequality,
+    NodalConstraint,
+    ctcs,
+)
+
+# Control
+from .control import Control
+
+# Core base classes and fundamental operations
+from .expr import (
+    Constant,
+    Expr,
+    Leaf,
+    NodeReference,
+    Parameter,
+    to_expr,
+    traverse,
+)
+
+# Lie algebra operations
+from .lie import (
+    Adjoint,
+    AdjointDual,
+    SE3Adjoint,
+    SE3AdjointDual,
+    SE3Exp,
+    SE3Log,
+    SO3Exp,
+    SO3Log,
+)
+
+# Linear algebra operations
+from .linalg import Diag, Norm, Sum, Transpose
+
+# Mathematical functions
+from .math import (
+    Abs,
+    Cos,
+    Exp,
+    Huber,
+    Log,
+    LogSumExp,
+    Max,
+    PositivePart,
+    Sin,
+    SmoothReLU,
+    Sqrt,
+    Square,
+    Tan,
+)
+
+# Spatial/3D operations
+from .spatial import QDCM, SSM, SSMP
+
+# State
+from .state import BoundaryType, Fixed, Free, Maximize, Minimize, State
+
+# STL operations
+from .stl import Or
+
+# Variable
+from .variable import Variable
+
+__all__ = [
+    # Core base classes and fundamental operations
+    "Expr",
+    "Leaf",
+    "NodeReference",
+    "Parameter",
+    "to_expr",
+    "traverse",
+    "Add",
+    "Sub",
+    "Mul",
+    "Div",
+    "MatMul",
+    "Neg",
+    "Power",
+    "Sum",
+    "Index",
+    "Concat",
+    "Constant",
+    "Constraint",
+    "Equality",
+    "Inequality",
+    # Variable
+    "Variable",
+    # State
+    "State",
+    "BoundaryType",
+    "Free",
+    "Fixed",
+    "Minimize",
+    "Maximize",
+    # Control
+    "Control",
+    # Mathematical functions
+    "Sin",
+    "Cos",
+    "Tan",
+    "Sqrt",
+    "Abs",
+    "PositivePart",
+    "Square",
+    "Huber",
+    "SmoothReLU",
+    "Exp",
+    "Log",
+    "LogSumExp",
+    "Max",
+    # Linear algebra operations
+    "Transpose",
+    "Stack",
+    "Hstack",
+    "Vstack",
+    "Block",
+    "Norm",
+    "Diag",
+    # Spatial/3D operations
+    "QDCM",
+    "SSMP",
+    "SSM",
+    # Lie algebra operations
+    "AdjointDual",
+    "Adjoint",
+    "SE3Adjoint",
+    "SE3AdjointDual",
+    "SO3Exp",
+    "SO3Log",
+    "SE3Exp",
+    "SE3Log",
+    # Specialized constraints
+    "NodalConstraint",
+    "CrossNodeConstraint",
+    "CTCS",
+    "ctcs",
+    # STL operations
+    "Or",
+]