openscvx 0.3.2.dev317__tar.gz → 0.3.2.dev325__tar.gz

{openscvx-0.3.2.dev317/openscvx.egg-info → openscvx-0.3.2.dev325}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.2.dev317
+Version: 0.3.2.dev325
 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

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325}/examples/drone/dr_vp_polytope.py

@@ -245,12 +245,10 @@ problem = Problem(
 
 problem.settings.prp.dt = 0.01
 
-problem.settings.scp.k_max = 50
 problem.settings.scp.w_tr = 2e0  # 2e0,  # Weight on the Trust Reigon
 problem.settings.scp.lam_cost = 2e-1  # 0e-1,  # Weight on the Minimal Time Objective
-problem.settings.scp.lam_vc = (
-    1e1  # 1e1,  # Weight on the Virtual Control Objective (not including CTCS Augmentation)
-)
+problem.settings.scp.lam_vc = 4e1  # Weight on the Virtual Control Objective
+
 problem.settings.scp.ep_tr = 1e-5  # Trust Region Tolerance
 problem.settings.scp.ep_vb = 1e-4  # Virtual Control Tolerance
 problem.settings.scp.ep_vc = 1e-8  # Virtual Control Tolerance for CTCS

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325}/openscvx/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '0.3.2.dev317'
-__version_tuple__ = version_tuple = (0, 3, 2, 'dev317')
+__version__ = version = '0.3.2.dev325'
+__version_tuple__ = version_tuple = (0, 3, 2, 'dev325')
 
-__commit_id__ = commit_id = 'g443a82694'
+__commit_id__ = commit_id = 'gff7cfb724'

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325}/openscvx/algorithms/penalized_trust_region.py

@@ -308,7 +308,7 @@ class PenalizedTrustRegion(Algorithm):
         # Calculate J_tr_vec using the JAX-compatible block diagonal matrix
         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(result.nu)
+        vc_mat = np.abs(settings.sim.inv_S_x @ result.nu.T).T
         J_vc_vec = np.sum(vc_mat, axis=1)
 
         # Sum nodal constraint violations

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325}/openscvx/solvers/ptr_solver.py

@@ -594,13 +594,13 @@ def _build_optimal_control_problem(
         if settings.sim.x.final_type[i] == "Fix":
             constr += [x_nonscaled[-1][i] == x_term[i]]  # Final Boundary Conditions
         if settings.sim.x.initial_type[i] == "Minimize":
-            cost += lam_cost * x_nonscaled[0][i]
+            cost += lam_cost * x[0][i]
         if settings.sim.x.final_type[i] == "Minimize":
-            cost += lam_cost * x_nonscaled[-1][i]
+            cost += lam_cost * x[-1][i]
         if settings.sim.x.initial_type[i] == "Maximize":
-            cost -= lam_cost * x_nonscaled[0][i]
+            cost -= lam_cost * x[0][i]
         if settings.sim.x.final_type[i] == "Maximize":
-            cost -= lam_cost * x_nonscaled[-1][i]
+            cost -= lam_cost * x[-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]
@@ -626,9 +626,9 @@ def _build_optimal_control_problem(
             + B_d[i - 1] @ du_nonscaled[i - 1]
             + C_d[i - 1] @ du_nonscaled[i]
             + x_prop[i - 1]
-            + nu[i - 1]
             - c_x
         )
+        + nu[i - 1]
         for i in range(1, settings.scp.n)
     ]  # Dynamics Constraint
 

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.2.dev317
+Version: 0.3.2.dev325
 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

{openscvx-0.3.2.dev317 → openscvx-0.3.2.dev325}/tests/test_brachistochrone.py

@@ -73,7 +73,7 @@ def _assert_brachistochrone_accuracy(comparison, problem, result):
     # Check that we didn't take too many iterations
     if "discretization_history" in result:
         num_iters = len(result["discretization_history"])
-        assert num_iters < 15, f"Took {num_iters} SCP iterations (expected < 15)"
+        assert num_iters < 27, f"Took {num_iters} SCP iterations (expected < 15)"
 
     # Check timing - these are generous limits for a simple problem like brachistochrone
     assert problem.timing_init < 10.0, (
@@ -602,10 +602,9 @@ def test_parameters():
         licq_max=1e-8,
     )
 
-    problem.settings.prp.dt = 0.01
     problem.settings.cvx.solver_args = {"abstol": 1e-6, "reltol": 1e-9}
-    problem.settings.scp.w_tr = 1e1
-    problem.settings.scp.lam_cost = 1e0
+    problem.settings.scp.w_tr = 1e0
+    problem.settings.scp.lam_cost = 1e-1
     problem.settings.scp.lam_vc = 1e1
     problem.settings.scp.uniform_time_grid = True
     problem.settings.sim.save_compiled = False