openscvx 0.4.1.dev61__tar.gz → 0.4.1.dev63__tar.gz

{openscvx-0.4.1.dev61/openscvx.egg-info → openscvx-0.4.1.dev63}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev61
+Version: 0.4.1.dev63
 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.dev61 → openscvx-0.4.1.dev63}/openscvx/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '0.4.1.dev61'
-__version_tuple__ = version_tuple = (0, 4, 1, 'dev61')
+__version__ = version = '0.4.1.dev63'
+__version_tuple__ = version_tuple = (0, 4, 1, 'dev63')
 
-__commit_id__ = commit_id = 'gf97d8cf97'
+__commit_id__ = commit_id = 'g80650c4e0'

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/expert/byof.py

@@ -92,6 +92,8 @@ from typing import TYPE_CHECKING, Any, Callable, List, Literal, Tuple, TypedDict
 
 if TYPE_CHECKING:
     from jax import Array as JaxArray
+
+    from openscvx.symbolic.expr.expr import Parameter
 else:
     JaxArray = Any
 
@@ -252,6 +254,10 @@ class ByofSpec(TypedDict, total=False):
         state/control vectors.
 
     Attributes:
+        parameters: List of :class:`~openscvx.symbolic.expr.expr.Parameter` objects that
+            are only used inside byof functions (not in any symbolic expression). Parameters
+            already referenced in symbolic dynamics or constraints are collected automatically
+            and do not need to be listed here. Duplicates are ignored.
         dynamics: Raw JAX functions for state derivatives. Maps state names to functions
             with signature ``(x, u, node, params) -> xdot_component``. States here should
             NOT appear in symbolic dynamics dict. You can mix: some states symbolic,
@@ -283,12 +289,16 @@ class ByofSpec(TypedDict, total=False):
             velocity = ox.State("velocity", shape=(1,))
             theta = ox.Control("theta", shape=(1,))
 
+            # Parameters used by byof functions
+            g = ox.Parameter("g", shape=(), value=9.81)
+
             # Custom dynamics for one state using .slice property
             def custom_velocity_dynamics(x, u, node, params):
                 # Use .slice property for clean indexing
                 return params["g"] * jnp.cos(u[theta.slice][0])
 
             byof: ByofSpec = {
+                "parameters": [g],
                 "dynamics": {
                     "velocity": custom_velocity_dynamics,
                 },
@@ -320,6 +330,7 @@ class ByofSpec(TypedDict, total=False):
             }
     """
 
+    parameters: List["Parameter"]
     dynamics: dict[str, DynamicsFunction]
     nodal_constraints: List[NodalConstraintSpec]
     cross_nodal_constraints: List[CrossNodalConstraintFunction]

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/expert/validation.py

@@ -19,6 +19,7 @@ def validate_byof(
     n_x: int,
     n_u: int,
     N: int = None,
+    parameters: dict = None,
 ) -> None:
     """Validate byof function signatures and shapes.
 
@@ -45,16 +46,29 @@ def validate_byof(
     import jax.numpy as jnp
 
     # Validate byof keys
-    valid_keys = {"dynamics", "nodal_constraints", "cross_nodal_constraints", "ctcs_constraints"}
+    valid_keys = {
+        "parameters",
+        "dynamics",
+        "nodal_constraints",
+        "cross_nodal_constraints",
+        "ctcs_constraints",
+    }
     invalid_keys = set(byof.keys()) - valid_keys
     if invalid_keys:
         raise ValueError(f"Unknown byof keys: {invalid_keys}. Valid keys: {valid_keys}")
 
+    # Validate byof parameters
+    from openscvx.symbolic.expr.expr import Parameter
+
+    for i, param in enumerate(byof.get("parameters", [])):
+        if not isinstance(param, Parameter):
+            raise TypeError(f"byof parameters[{i}] must be a Parameter object, got {type(param)}")
+
     # Create dummy inputs for testing
     dummy_x = jnp.zeros(n_x)
     dummy_u = jnp.zeros(n_u)
     dummy_node = 0
-    dummy_params = {}
+    dummy_params = dict(parameters) if parameters else {}
 
     # Validate dynamics functions
     byof_dynamics = byof.get("dynamics", {})

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/problem.py

@@ -180,7 +180,7 @@ class Problem:
                 for control in self.symbolic.controls
             )
 
-            validate_byof(byof, self.symbolic.states, n_x, n_u, N)
+            validate_byof(byof, self.symbolic.states, n_x, n_u, N, self.symbolic.parameters)
 
         # Store byof for cache hashing
         self._byof = byof

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/symbolic/builder.py

@@ -281,6 +281,12 @@ def preprocess_symbolic_problem(
     for constraint in constraints.unsorted:
         traverse(constraint, collect_param_values)
 
+    # Collect from byof parameters
+    if byof is not None:
+        for param in byof.get("parameters", []):
+            if param.name not in parameters:
+                parameters[param.name] = param.value
+
     # ==================== PHASE 4: Constraint Separation & Augmentation ====================
 
     # Sort and separate constraints by type (drains unsorted -> fills categories)

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/symbolic/expr/lie/se3.py

@@ -14,7 +14,6 @@ Note:
 
 from typing import Tuple, Union
 
-import jaxlie  # noqa: F401 - validates jaxlie is installed
 import numpy as np
 
 from ..expr import Expr, to_expr

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63}/openscvx/symbolic/expr/lie/so3.py

@@ -8,7 +8,6 @@ Requires jaxlie: pip install openscvx[lie]
 
 from typing import Tuple, Union
 
-import jaxlie  # noqa: F401 - validates jaxlie is installed
 import numpy as np
 
 from ..expr import Expr, to_expr

{openscvx-0.4.1.dev61 → openscvx-0.4.1.dev63/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.4.1.dev61
+Version: 0.4.1.dev63
 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