openscvx 0.5.3.dev28__tar.gz → 0.5.3.dev29__tar.gz

{openscvx-0.5.3.dev28/openscvx.egg-info → openscvx-0.5.3.dev29}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev28
+Version: 0.5.3.dev29
 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-0.5.3.dev29/examples/drone/multi_agent_circle_swap.py

@@ -0,0 +1,287 @@
+"""Multi-agent planar double integrator: circle swap with collision avoidance.
+
+Ten point-mass agents start evenly spaced on a circle and must reach the
+antipodal points (swap sides) while maintaining a minimum separation. Per-agent
+double-integrator dynamics are evaluated in parallel via ``ox.Vmap``.
+
+Compare with:
+  - ``obstacle_avoidance_vmap_2d.py`` (single agent, Vmap over obstacles)
+  - ``2d_obstacle_avoidance_batched_ic.py`` (batched initial conditions)
+"""
+
+import os
+import sys
+
+import numpy as np
+
+current_dir = os.path.dirname(os.path.abspath(__file__))
+grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.append(grandparent_dir)
+
+import openscvx as ox
+from openscvx import Problem
+
+# =============================================================================
+# Problem configuration
+# =============================================================================
+
+N_AGENTS = 20
+n = 5
+total_time = 5.0
+circle_radius = 5.0
+safe_distance = 0.25
+a_max = 5.0
+m = 1.0
+pos_bound = 12.0
+vel_bound = 8.0
+
+angles = np.linspace(0.0, 2.0 * np.pi, N_AGENTS, endpoint=False)
+initial_x = circle_radius * np.cos(angles)
+initial_y = circle_radius * np.sin(angles)
+final_x = -initial_x
+final_y = -initial_y
+
+# =============================================================================
+# States and controls (one row per agent; Vmap batches over axis 0)
+# =============================================================================
+
+pos_x = ox.State("pos_x", shape=(N_AGENTS,))
+pos_x.min = np.full(N_AGENTS, -pos_bound)
+pos_x.max = np.full(N_AGENTS, pos_bound)
+pos_x.initial = initial_x.tolist()
+pos_x.final = final_x.tolist()
+
+pos_y = ox.State("pos_y", shape=(N_AGENTS,))
+pos_y.min = np.full(N_AGENTS, -pos_bound)
+pos_y.max = np.full(N_AGENTS, pos_bound)
+pos_y.initial = initial_y.tolist()
+pos_y.final = final_y.tolist()
+
+vel_x = ox.State("vel_x", shape=(N_AGENTS,))
+vel_x.min = np.full(N_AGENTS, -vel_bound)
+vel_x.max = np.full(N_AGENTS, vel_bound)
+vel_x.initial = np.zeros(N_AGENTS).tolist()
+vel_x.final = [ox.Free(0.0)] * N_AGENTS
+
+vel_y = ox.State("vel_y", shape=(N_AGENTS,))
+vel_y.min = np.full(N_AGENTS, -vel_bound)
+vel_y.max = np.full(N_AGENTS, vel_bound)
+vel_y.initial = np.zeros(N_AGENTS).tolist()
+vel_y.final = [ox.Free(0.0)] * N_AGENTS
+
+force_x = ox.Control("force_x", shape=(N_AGENTS,), parameterization="ZOH")
+force_x.min = np.full(N_AGENTS, -a_max)
+force_x.max = np.full(N_AGENTS, a_max)
+
+force_y = ox.Control("force_y", shape=(N_AGENTS,), parameterization="ZOH")
+force_y.min = np.full(N_AGENTS, -a_max)
+force_y.max = np.full(N_AGENTS, a_max)
+
+states = [pos_x, pos_y, vel_x, vel_y]
+controls = [force_x, force_y]
+
+# =============================================================================
+# Vmapped double-integrator dynamics (one integrator per agent)
+# =============================================================================
+
+dynamics = {
+    "pos_x": ox.Vmap(lambda vx: vx, batch=vel_x),
+    "pos_y": ox.Vmap(lambda vy: vy, batch=vel_y),
+    "vel_x": ox.Vmap(lambda fx: (1.0 / m) * fx, batch=force_x),
+    "vel_y": ox.Vmap(lambda fy: (1.0 / m) * fy, batch=force_y),
+}
+
+# =============================================================================
+# Constraints
+# =============================================================================
+
+constraints = []
+for state in states:
+    constraints.extend(
+        [
+            ox.ctcs(state <= state.max),
+            ox.ctcs(state.min <= state),
+        ]
+    )
+
+for i in range(N_AGENTS):
+    for j in range(i + 1, N_AGENTS):
+        separation = ox.Concat(pos_x[i], pos_y[i]) - ox.Concat(pos_x[j], pos_y[j])
+        constraints.append(ox.ctcs(safe_distance <= ox.linalg.Norm(separation)))
+
+# =============================================================================
+# Initial guesses (straight-line swap per agent)
+# =============================================================================
+
+# Rotate each agent π radians around the circle (preserves pairwise spacing).
+t_vals = np.linspace(0.0, 1.0, n)
+pos_x.guess = np.zeros((n, N_AGENTS))
+pos_y.guess = np.zeros((n, N_AGENTS))
+for k, t in enumerate(t_vals):
+    angle = angles + np.pi * t
+    pos_x.guess[k] = circle_radius * np.cos(angle)
+    pos_y.guess[k] = circle_radius * np.sin(angle)
+vel_x.guess = np.zeros((n, N_AGENTS))
+vel_y.guess = np.zeros((n, N_AGENTS))
+force_x.guess = np.zeros((n, N_AGENTS))
+force_y.guess = np.zeros((n, N_AGENTS))
+
+# =============================================================================
+# Problem
+# =============================================================================
+
+time = ox.Time(
+    initial=0.0,
+    final=("minimize", total_time),
+    min=0.0,
+    max=total_time,
+)
+
+problem = Problem(
+    dynamics=dynamics,
+    states=states,
+    controls=controls,
+    time=time,
+    constraints=constraints,
+    N=n,
+    algorithm={"lam_prox": 2e0},
+    discretizer=ox.LinearizeDiscretizeSparse(),
+)
+
+
+def plot_multi_agent_circle_swap(
+    results,
+    *,
+    circle_radius=circle_radius,
+    safe_distance=safe_distance,
+    width: int = 720,
+    height: int = 720,
+):
+    """Plot all agent trajectories in the plane."""
+    import plotly.graph_objects as go
+
+    from openscvx.plotting.publication import LM_PLOTLY_FONT as _LM_PLOTLY_FONT
+    from openscvx.plotting.publication import LM_PLOTLY_TICK_FONT as _LM_PLOTLY_TICK_FONT
+
+    px = np.asarray(results.trajectory["pos_x"], dtype=np.float64)
+    py = np.asarray(results.trajectory["pos_y"], dtype=np.float64)
+    vx = np.asarray(results.trajectory.get("vel_x"), dtype=np.float64)
+    vy = np.asarray(results.trajectory.get("vel_y"), dtype=np.float64)
+    speed = np.hypot(vx, vy) if vx.size and vy.size else None
+
+    theta = np.linspace(0.0, 2.0 * np.pi, 200)
+    cx = circle_radius * np.cos(theta)
+    cy = circle_radius * np.sin(theta)
+
+    fig = go.Figure()
+
+    fig.add_trace(
+        go.Scatter(
+            x=cx,
+            y=cy,
+            mode="lines",
+            showlegend=False,
+            line={"color": "rgba(160, 160, 160, 0.55)", "width": 1, "dash": "dot"},
+        )
+    )
+    fig.add_trace(
+        go.Scatter(
+            x=-cx,
+            y=-cy,
+            mode="lines",
+            showlegend=False,
+            line={"color": "rgba(160, 160, 160, 0.35)", "width": 1, "dash": "dot"},
+        )
+    )
+
+    colors = [
+        "#1f77b4",
+        "#ff7f0e",
+        "#2ca02c",
+        "#d62728",
+        "#9467bd",
+        "#8c564b",
+        "#e377c2",
+        "#7f7f7f",
+        "#bcbd22",
+        "#17becf",
+    ]
+
+    for agent in range(N_AGENTS):
+        color = colors[agent % len(colors)]
+        if speed is not None:
+            fig.add_trace(
+                go.Scatter(
+                    x=px[:, agent],
+                    y=py[:, agent],
+                    mode="lines+markers",
+                    name=f"agent {agent}",
+                    line={"color": color, "width": 1.5},
+                    marker={
+                        "color": speed[:, agent],
+                        "colorscale": "Viridis",
+                        "size": 4,
+                        "showscale": agent == 0,
+                        "colorbar": {
+                            "title": {"text": r"$\|v\|_2$", "font": _LM_PLOTLY_FONT},
+                            "tickfont": _LM_PLOTLY_TICK_FONT,
+                        },
+                    },
+                )
+            )
+        else:
+            fig.add_trace(
+                go.Scatter(
+                    x=px[:, agent],
+                    y=py[:, agent],
+                    mode="lines",
+                    name=f"agent {agent}",
+                    line={"color": color, "width": 1.5},
+                )
+            )
+
+        fig.add_trace(
+            go.Scatter(
+                x=[px[0, agent]],
+                y=[py[0, agent]],
+                mode="markers",
+                showlegend=False,
+                marker={"color": color, "size": 9, "symbol": "circle"},
+            )
+        )
+        fig.add_trace(
+            go.Scatter(
+                x=[px[-1, agent]],
+                y=[py[-1, agent]],
+                mode="markers",
+                showlegend=False,
+                marker={"color": color, "size": 9, "symbol": "x"},
+            )
+        )
+
+    fig.update_layout(
+        title=f"Multi-agent circle swap (d_min = {safe_distance:g})",
+        xaxis_title=r"$x$",
+        yaxis_title=r"$y$",
+        yaxis={"scaleanchor": "x", "scaleratio": 1},
+        template="simple_white",
+        paper_bgcolor="white",
+        plot_bgcolor="white",
+        font=_LM_PLOTLY_FONT,
+        autosize=False,
+        width=width,
+        height=height,
+        margin={"l": 60, "r": 90, "t": 48, "b": 60},
+        legend={"orientation": "h", "yanchor": "bottom", "y": 1.02, "x": 0.0},
+    )
+    fig.update_xaxes(title_font=_LM_PLOTLY_FONT, tickfont=_LM_PLOTLY_TICK_FONT)
+    fig.update_yaxes(title_font=_LM_PLOTLY_FONT, tickfont=_LM_PLOTLY_TICK_FONT)
+    return fig
+
+
+if __name__ == "__main__":
+    problem.initialize()
+    results = problem.solve()
+    results = problem.post_process()
+
+    fig = plot_multi_agent_circle_swap(results).show()

{openscvx-0.5.3.dev28 → openscvx-0.5.3.dev29}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '0.5.3.dev28'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev28')
+__version__ = version = '0.5.3.dev29'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev29')
 
-__commit_id__ = commit_id = 'ga8ce79961'
+__commit_id__ = commit_id = 'gbdd7166d1'

{openscvx-0.5.3.dev28 → openscvx-0.5.3.dev29/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev28
+Version: 0.5.3.dev29
 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-0.5.3.dev28 → openscvx-0.5.3.dev29}/openscvx.egg-info/SOURCES.txt

@@ -95,6 +95,7 @@ examples/drone/dr_vp_polytope.py
 examples/drone/drone_racing.py
 examples/drone/drone_racing_batched_gates.py
 examples/drone/logo.py
+examples/drone/multi_agent_circle_swap.py
 examples/drone/obstacle_avoidance.py
 examples/drone/obstacle_avoidance_nodal.py
 examples/drone/obstacle_avoidance_vmap.py