openscvx 0.4.1.dev166__tar.gz → 0.4.1.dev169__tar.gz

{openscvx-0.4.1.dev166/openscvx.egg-info → openscvx-0.4.1.dev169}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev166
+Version: 0.4.1.dev169
 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.dev166 → openscvx-0.4.1.dev169}/examples/plotting.py

@@ -657,9 +657,9 @@ def plot_dubins_car_disjoint(results: OptimizationResults, params: Config):
 
 def full_subject_traj_time(results: OptimizationResults, params: Config):
     x_full = results.x_full
-    x_nodes = results.x.guess
-    t_nodes = x_nodes[:, params.sim.time_slice]
-    t_full = results.t_full
+    x_nodes = results.x
+    t_nodes = results.nodes["time"]
+    t_full = results.trajectory["time"]
     subs_traj = []
     subs_traj_node = []
     subs_traj_sen = []

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '0.4.1.dev166'
-__version_tuple__ = version_tuple = (0, 4, 1, 'dev166')
+__version__ = version = '0.4.1.dev169'
+__version_tuple__ = version_tuple = (0, 4, 1, 'dev169')
 
-__commit_id__ = commit_id = 'ge92cae6a9'
+__commit_id__ = commit_id = 'gbc266779e'

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169}/openscvx/algorithms/__init__.py

@@ -129,6 +129,7 @@ class PenalizedTrustRegionConfig(BaseModel):
         return v
 
     k_max: int = 200
+    t_max: Optional[float] = None
     lam_prox: Union[float, Dict[str, Any]] = 1e-1
     lam_vc: Union[float, Dict[str, Any]] = 1e0
     lam_cost: Union[float, Dict[str, Any]] = 1e-2

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169}/openscvx/algorithms/base.py

@@ -718,6 +718,10 @@ class Algorithm(ABC):
     #: Maximum number of SCP iterations. Subclasses must set this in ``__init__``.
     k_max: int
 
+    #: Optional wall-clock time limit in seconds. ``None`` means no limit.
+    #: Subclasses must set this in ``__init__``.
+    t_max: Optional[float]
+
     @abstractmethod
     def initialize(
         self,

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169}/openscvx/algorithms/penalized_trust_region.py

@@ -87,6 +87,7 @@ class PenalizedTrustRegion(Algorithm):
         self,
         autotuner: "AutotuningBase" = None,
         k_max: int = 200,
+        t_max: float | None = None,
         lam_prox: Union[float, Dict[str, Union[float, list]]] = 1e-1,
         lam_vc: Union[float, Dict[str, Union[float, list]]] = 1e0,
         lam_cost: Union[float, Dict[str, float]] = 1e-2,
@@ -103,6 +104,8 @@ class PenalizedTrustRegion(Algorithm):
             autotuner: Weight adaptation strategy. Defaults to
                 :class:`AugmentedLagrangian` when ``None``.
             k_max: Maximum SCP iterations. Defaults to 200.
+            t_max: Wall-clock time limit in seconds. ``None`` (default)
+                disables the time limit.
             lam_prox: Trust region (proximal) weight. Either a float
                 (applied uniformly to all states and controls) or a dict
                 mapping state/control names to weights, e.g.
@@ -166,6 +169,7 @@ class PenalizedTrustRegion(Algorithm):
 
         # SCP convergence parameters
         self.k_max = k_max
+        self.t_max = t_max
         self.ep_tr = ep_tr
         self.ep_vb = ep_vb
         self.ep_vc = ep_vc

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169}/openscvx/problem.py

@@ -972,12 +972,18 @@ class Problem:
         }
 
     def solve(
-        self, max_iters: Optional[int] = None, continuous: bool = False
+        self,
+        max_iters: Optional[int] = None,
+        time_limit: Optional[float] = None,
+        continuous: bool = False,
     ) -> OptimizationResults:
         """Run the SCP algorithm until convergence or iteration limit.
 
         Args:
             max_iters: Maximum iterations (default: algorithm.k_max)
+            time_limit: Wall-clock time limit in seconds. Overrides
+                ``algorithm.t_max`` when provided. ``None`` (default) falls
+                back to ``algorithm.t_max``.
             continuous: If True, run all iterations regardless of convergence
 
         Returns:
@@ -1007,11 +1013,14 @@ class Problem:
             printing.header(self._columns)
 
         k_max = max_iters if max_iters is not None else self._algorithm.k_max
+        t_max = time_limit if time_limit is not None else self._algorithm.t_max
 
         while self._state.k <= k_max:
             result = self.step()
             if result["converged"] and not continuous:
                 break
+            if t_max is not None and (time.time() - t_0_while) >= t_max:
+                break
 
         t_f_while = time.time()
         self.timing_solve = t_f_while - t_0_while
@@ -1030,7 +1039,8 @@ class Problem:
         # Store solution state
         self._solution = copy.deepcopy(self._state)
 
-        return self._format_result(self._state, self._state.k <= k_max)
+        timed_out = t_max is not None and self.timing_solve >= t_max
+        return self._format_result(self._state, self._state.k <= k_max and not timed_out)
 
     def post_process(self) -> OptimizationResults:
         """Propagate solution through full nonlinear dynamics for high-fidelity trajectory.

{openscvx-0.4.1.dev166 → openscvx-0.4.1.dev169/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev166
+Version: 0.4.1.dev169
 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.dev166 → openscvx-0.4.1.dev169}/tests/test_brachistochrone.py

@@ -76,7 +76,7 @@ def _assert_brachistochrone_accuracy(comparison, problem, result):
         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 < 12.0, (
+    assert problem.timing_init < 15.0, (
         f"Initialization took {problem.timing_init:.2f}s (expected < 12s)"
     )
     assert problem.timing_solve < 1.2, f"Solve took {problem.timing_solve:.2f}s (expected < 1.2s)"