openscvx 0.3.2.dev235__tar.gz → 0.3.2.dev248__tar.gz

{openscvx-0.3.2.dev235/openscvx.egg-info → openscvx-0.3.2.dev248}/PKG-INFO

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.2.dev235
+Version: 0.3.2.dev248
 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
-Project-URL: Homepage, https://openscvx.github.io/openscvx/
+Project-URL: Homepage, https://haynec.github.io/openscvx/
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: Apache Software License
 Requires-Python: >=3.9

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/examples/arm/three_link_arm.py

@@ -205,10 +205,10 @@ problem = Problem(
 
 # Solver settings
 problem.settings.prp.dt = 0.01
-problem.settings.scp.w_tr = 1e1
-problem.settings.scp.lam_cost = 1e2
+problem.settings.scp.w_tr = 1e0
+problem.settings.scp.lam_cost = 1e0
 problem.settings.scp.lam_vc = 1e1
-problem.settings.scp.lam_vb = 1e2
+problem.settings.scp.lam_vb = 1e1
 
 if __name__ == "__main__":
     print("3-Link Arm Trajectory Optimization with Product of Exponentials FK")

{openscvx-0.3.2.dev235/examples/abstract → openscvx-0.3.2.dev248/examples/rocket}/3DoF_pdg.py

@@ -38,20 +38,23 @@ position.max = np.array([3000, 3000, 3000])
 position.min = np.array([-3000, -3000, 0])
 position.initial = np.array([2000, 0, 1500])
 position.final = np.array([0, 0, 0])
+position.guess = np.linspace(position.initial, position.final, n)
 
 velocity = ox.State("velocity", shape=(3,))  # 3D velocity [vx, vy, vz]
 velocity.max = np.array([v_max, v_max, v_max])
 velocity.min = np.array([-v_max, -v_max, -v_max])
 velocity.initial = np.array([80, 30, -75])
 velocity.final = np.array([0, 0, 0])
+velocity.guess = np.linspace(velocity.initial, velocity.final, n)
 
 mass = ox.State("mass", shape=(1,))  # Vehicle mass
 mass.max = np.array([1905])
 mass.min = np.array([1505])
 mass.initial = np.array([1905])
-mass.final = [("maximize", 1690)]
-mass.scaling_min = np.array([1690])
+mass.final = [("maximize", 1700)]
+mass.scaling_min = np.array([1700])
 # mass.scaling_max = np.array([1700])
+mass.guess = np.linspace(mass.initial, 1690, n).reshape(-1, 1)
 
 # Define control
 thrust = ox.Control("thrust", shape=(3,))  # Thrust force vector [Tx, Ty, Tz]
@@ -153,8 +156,8 @@ problem.settings.dis.dis_type = "ZOH"
 
 problem.settings.dis.solver = "Dopri8"
 
-problem.settings.cvx.solver = "CLARABEL"
-problem.settings.cvx.solver_args = {"enforce_dpp": True}
+# problem.settings.cvx.solver = "QOCO"
+# problem.settings.cvx.solver_args = {"enforce_dpp": True}
 
 
 plotting_dict = {

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/openscvx/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '0.3.2.dev235'
-__version_tuple__ = version_tuple = (0, 3, 2, 'dev235')
+__version__ = version = '0.3.2.dev248'
+__version_tuple__ = version_tuple = (0, 3, 2, 'dev248')
 
-__commit_id__ = commit_id = 'ga87310a79'
+__commit_id__ = commit_id = 'g784b8ffdc'

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/openscvx/discretization/discretization.py

@@ -18,6 +18,12 @@ def dVdt(
     n_u: int,
     N: int,
     dis_type: str,
+    S_x: np.ndarray,
+    c_x: np.ndarray,
+    S_u: np.ndarray,
+    c_u: np.ndarray,
+    inv_S_x: np.ndarray,
+    inv_S_u: np.ndarray,
     params: dict,
 ) -> jnp.ndarray:
     """Compute the time derivative of the augmented state vector.
@@ -42,6 +48,9 @@ def dVdt(
     Returns:
         jnp.ndarray: Time derivative of augmented state vector.
     """
+
+    # TODO Implement scaling of V vector
+
     # Define the nodes
     nodes = jnp.arange(0, N - 1)
 
@@ -102,6 +111,8 @@ def dVdt(
     )
     # fmt: on
 
+    # TODO Implement scaling of V vector
+
     return dVdt.reshape(-1)
 
 
@@ -159,6 +170,9 @@ def calculate_discretization(
     V0 = jnp.zeros((N - 1, i4))
     V0 = V0.at[:, :n_x].set(x[:-1].astype(float))
     V0 = V0.at[:, n_x : n_x + n_x * n_x].set(jnp.eye(n_x).reshape(1, -1).repeat(N - 1, axis=0))
+    V0 = V0.reshape(-1)
+
+    # TODO Implement scaling of V vector
 
     # Choose integrator
     integrator_args = dict(
@@ -171,6 +185,12 @@ def calculate_discretization(
         n_u=n_u,
         N=N,
         dis_type=settings.dis.dis_type,
+        S_x=settings.sim.S_x,
+        c_x=settings.sim.c_x,
+        S_u=settings.sim.S_u,
+        c_u=settings.sim.c_u,
+        inv_S_x=settings.sim.inv_S_x,
+        inv_S_u=settings.sim.inv_S_u,
         params=params,  # Pass params as single dict
     )
 
@@ -183,7 +203,7 @@ def calculate_discretization(
         sol = solve_ivp_rk45(
             dVdt_wrapped,
             1.0 / (N - 1),
-            V0.reshape(-1),
+            V0,
             args=(),
             is_not_compiled=settings.dev.debug,
         )
@@ -191,7 +211,7 @@ def calculate_discretization(
         sol = solve_ivp_diffrax(
             dVdt_wrapped,
             1.0 / (N - 1),
-            V0.reshape(-1),
+            V0,
             solver_name=settings.dis.solver,
             rtol=settings.dis.rtol,
             atol=settings.dis.atol,

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/openscvx/solvers/cvxpy.py

@@ -55,9 +55,9 @@ def optimal_control_problem(settings: Config, lowered: "LoweredProblem"):
     grad_g_X_cross = ocp_vars.grad_g_X_cross
     grad_g_U_cross = ocp_vars.grad_g_U_cross
     nu_vb_cross = ocp_vars.nu_vb_cross
-    S_x = ocp_vars.S_x
+    inv_S_x = ocp_vars.inv_S_x
     c_x = ocp_vars.c_x
-    S_u = ocp_vars.S_u
+    inv_S_u = ocp_vars.inv_S_u
     c_u = ocp_vars.c_u
     x_nonscaled = ocp_vars.x_nonscaled
     u_nonscaled = ocp_vars.u_nonscaled
@@ -128,38 +128,52 @@ def optimal_control_problem(settings: Config, lowered: "LoweredProblem"):
             cost -= lam_cost * x_nonscaled[-1][i]
 
     if settings.scp.uniform_time_grid:
+        S_u_inv_td = inv_S_u[settings.sim.time_dilation_slice, settings.sim.time_dilation_slice]
+        c_u_td = c_u[settings.sim.time_dilation_slice]
         constr += [
-            u_nonscaled[i][settings.sim.time_dilation_slice]
-            == u_nonscaled[i - 1][settings.sim.time_dilation_slice]
+            S_u_inv_td @ (u_nonscaled[i][settings.sim.time_dilation_slice] - c_u_td)
+            == S_u_inv_td @ (u_nonscaled[i - 1][settings.sim.time_dilation_slice] - c_u_td)
             for i in range(1, settings.scp.n)
         ]
 
     constr += [
-        (x[i] - np.linalg.inv(S_x) @ (x_bar[i] - c_x) - dx[i]) == 0 for i in range(settings.scp.n)
+        (x[i] - inv_S_x @ (x_bar[i] - c_x) - dx[i]) == 0 for i in range(settings.scp.n)
     ]  # State Error
     constr += [
-        (u[i] - np.linalg.inv(S_u) @ (u_bar[i] - c_u) - du[i]) == 0 for i in range(settings.scp.n)
+        (u[i] - inv_S_u @ (u_bar[i] - c_u) - du[i]) == 0 for i in range(settings.scp.n)
     ]  # Control Error
 
     constr += [
-        x_nonscaled[i]
-        == A_d[i - 1] @ dx_nonscaled[i - 1]
-        + B_d[i - 1] @ du_nonscaled[i - 1]
-        + C_d[i - 1] @ du_nonscaled[i]
-        + x_prop[i - 1]
-        + nu[i - 1]
+        inv_S_x @ (x_nonscaled[i] - c_x)
+        == inv_S_x
+        @ (
+            A_d[i - 1] @ dx_nonscaled[i - 1]
+            + B_d[i - 1] @ du_nonscaled[i - 1]
+            + C_d[i - 1] @ du_nonscaled[i]
+            + x_prop[i - 1]
+            + nu[i - 1]
+            - c_x
+        )
         for i in range(1, settings.scp.n)
     ]  # Dynamics Constraint
 
-    constr += [u_nonscaled[i] <= settings.sim.u.max for i in range(settings.scp.n)]
     constr += [
-        u_nonscaled[i] >= settings.sim.u.min for i in range(settings.scp.n)
+        inv_S_u @ (u_nonscaled[i] - c_u) <= inv_S_u @ (settings.sim.u.max - c_u)
+        for i in range(settings.scp.n)
+    ]
+    constr += [
+        inv_S_u @ (u_nonscaled[i] - c_u) >= inv_S_u @ (settings.sim.u.min - c_u)
+        for i in range(settings.scp.n)
     ]  # Control Constraints
 
     # TODO: (norrisg) formalize this
-    constr += [x_nonscaled[i][:] <= settings.sim.x.max for i in range(settings.scp.n)]
     constr += [
-        x_nonscaled[i][:] >= settings.sim.x.min for i in range(settings.scp.n)
+        inv_S_x @ (x_nonscaled[i][:] - c_x) <= inv_S_x @ (settings.sim.x.max - c_x)
+        for i in range(settings.scp.n)
+    ]
+    constr += [
+        inv_S_x @ (x_nonscaled[i][:] - c_x) >= inv_S_x @ (settings.sim.x.min - c_x)
+        for i in range(settings.scp.n)
     ]  # State Constraints (Also implemented in CTCS but included for numerical stability)
 
     ########
@@ -219,7 +233,10 @@ def optimal_control_problem(settings: Config, lowered: "LoweredProblem"):
                 overwrite = input("Solver directory already exists. Overwrite? (y/n): ")
                 if overwrite.lower() == "y":
                     cpg.generate_code(
-                        prob, solver=settings.cvx.solver, code_dir="solver", wrapper=True
+                        prob,
+                        solver=settings.cvx.solver,
+                        code_dir="solver",
+                        wrapper=True,
                     )
                 else:
                     pass

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248/openscvx.egg-info}/PKG-INFO

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.2.dev235
+Version: 0.3.2.dev248
 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
-Project-URL: Homepage, https://openscvx.github.io/openscvx/
+Project-URL: Homepage, https://haynec.github.io/openscvx/
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: OSI Approved :: Apache Software License
 Requires-Python: >=3.9

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/openscvx.egg-info/SOURCES.txt

@@ -49,7 +49,6 @@ docs/assets/images/problem_class_light.png
 docs/javascripts/mathjax.js
 examples/plotting.py
 examples/plotting_viser.py
-examples/abstract/3DoF_pdg.py
 examples/abstract/brachistochrone.py
 examples/arm/three_link_arm.py
 examples/car/dubins_car.py
@@ -70,6 +69,7 @@ examples/realtime/cinema_vp_realtime.py
 examples/realtime/drone_racing_realtime.py
 examples/realtime/dubins_car_realtime.py
 examples/realtime/obstacle_avoidance_realtime.py
+examples/rocket/3DoF_pdg.py
 examples/spacecraft/proxops_cw.py
 figures/ctlos_cine.gif
 figures/ctlos_dr.gif

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/pyproject.toml

@@ -31,7 +31,7 @@ dependencies = [
 ]
 
 [project.urls]
-Homepage = "https://openscvx.github.io/openscvx/"
+Homepage = "https://haynec.github.io/openscvx/"
 
 [project.optional-dependencies]
 gui = [

{openscvx-0.3.2.dev235 → openscvx-0.3.2.dev248}/tests/test_discretization.py

@@ -19,6 +19,12 @@ def settings():
     p.sim = Dummy()
     p.sim.n_states = 2
     p.sim.n_controls = 1
+    p.sim.S_x = jnp.eye(p.sim.n_states)
+    p.sim.c_x = jnp.zeros(p.sim.n_states)
+    p.sim.S_u = jnp.eye(p.sim.n_controls)
+    p.sim.c_u = jnp.zeros(p.sim.n_controls)
+    p.sim.inv_S_x = jnp.eye(p.sim.n_states)
+    p.sim.inv_S_u = jnp.eye(p.sim.n_controls)
     p.scp = Dummy()
     p.scp.n = 5
     p.dis = Dummy()
@@ -100,7 +106,24 @@ def test_jit_dVdt_compiles(settings):
     # bind out the Python callables & settings
     def wrapped(tau_, V_):
         return dVdt(
-            tau_, V_, u_cur, u_next, state_dot, A, B, n_x, n_u, N, settings.dis.dis_type, {}
+            tau_,
+            V_,
+            u_cur,
+            u_next,
+            state_dot,
+            A,
+            B,
+            n_x,
+            n_u,
+            N,
+            settings.dis.dis_type,
+            {},
+            settings.sim.S_x,
+            settings.sim.c_x,
+            settings.sim.S_u,
+            settings.sim.c_u,
+            settings.sim.inv_S_x,
+            settings.sim.inv_S_u,
         )
 
     # now JIT only over (tau_, V_)