openscvx 0.4.1.dev147__tar.gz → 0.4.1.dev148__tar.gz

{openscvx-0.4.1.dev147/openscvx.egg-info → openscvx-0.4.1.dev148}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev147
+Version: 0.4.1.dev148
 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-0.4.1.dev147 → openscvx-0.4.1.dev148}/openscvx/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '0.4.1.dev147'
-__version_tuple__ = version_tuple = (0, 4, 1, 'dev147')
+__version__ = version = '0.4.1.dev148'
+__version_tuple__ = version_tuple = (0, 4, 1, 'dev148')
 
-__commit_id__ = commit_id = 'g50fc80214'
+__commit_id__ = commit_id = 'gd5d2d95f2'

{openscvx-0.4.1.dev147 → openscvx-0.4.1.dev148}/openscvx/propagation/post_processing.py

@@ -58,7 +58,11 @@ def propagate_trajectory_results(
 
     t = np.array(s_to_t(x, u, settings, discretizer)).squeeze()
 
+    # Build dense output times and always include the exact terminal time.
+    # This ensures trajectory[..., -1] corresponds to the true final state.
     t_full = np.arange(t[0], t[-1], settings.prp.dt)
+    if t_full.size == 0 or not np.isclose(t_full[-1], t[-1]):
+        t_full = np.concatenate([t_full, np.array([t[-1]])])
 
     tau_vals, u_full = t_to_tau(u, t_full, t, settings, discretizer)
 

{openscvx-0.4.1.dev147 → openscvx-0.4.1.dev148}/openscvx/propagation/propagation.py

@@ -247,8 +247,12 @@ def simulate_nonlinear_time(
         count = np.sum(mask)
 
         tau_cur = tau_vals[prev_count : prev_count + count]
-        tau_cur = np.concatenate([tau_cur, np.array([tau[k + 1]])])  # Always include final point
-        count += 1
+        # Ensure integration reaches the segment endpoint.
+        # If tau_cur already contains tau[k+1], avoid duplicating it.
+        append_endpoint = tau_cur.size == 0 or not np.isclose(tau_cur[-1], tau[k + 1])
+        if append_endpoint:
+            tau_cur = np.concatenate([tau_cur, np.array([tau[k + 1]])])
+            count += 1
 
         # Pad to fixed length
         pad_len = settings.prp.max_tau_len - count
@@ -281,11 +285,13 @@ def simulate_nonlinear_time(
             params,
         )
 
-        # Only store the valid portion (excluding the final point which becomes next x_0)
-        states[:, out_idx : out_idx + count - 1] = sol[: count - 1].T
-        out_idx += count - 1
+        # Store requested samples; exclude endpoint only when it was appended
+        # solely for continuity propagation to the next segment.
+        n_store = count - 1 if append_endpoint else count
+        states[:, out_idx : out_idx + n_store] = sol[:n_store].T
+        out_idx += n_store
         x_0 = sol[count - 1]  # Last value used as next x_0
 
-        prev_count += count - 1
+        prev_count += n_store
 
     return states.T

{openscvx-0.4.1.dev147 → openscvx-0.4.1.dev148/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev147
+Version: 0.4.1.dev148
 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