openscvx 2.dev1__tar.gz → 2.dev3__tar.gz

{openscvx-2.dev1 → openscvx-2.dev3}/.gitignore

@@ -215,3 +215,9 @@ material/*
 !material/overrides/
 !material/overrides/**
 src/
+
+# SPICE kernels for spacecrafts examples
+examples/spacecraft/ker/
+
+# Solver_data folder
+solver_data/

{openscvx-2.dev1/openscvx.egg-info → openscvx-2.dev3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 2.dev1
+Version: 2.dev3
 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-2.dev1 → openscvx-2.dev3}/examples/abstract/brachistochrone.py

@@ -84,16 +84,25 @@ problem = Problem(
     time=time,
     constraints=constraint_exprs,
     N=n,
-    licq_max=1e-8,
+    float_dtype="float64",
     algorithm={
         "autotuner": "ConstantProximalWeight",
         "lam_prox": 1e0,
-        "lam_cost": 1e-1,
+        "lam_cost": 6e-1,
+        # Tighter SCP stopping: reduces platform-dependent early exit vs analytical cycloid
+        "ep_tr": 1e-5,
+        "ep_vb": 1e-5,
+        "ep_vc": 1e-9,
+    },
+    solver={
+        "solver_args": {
+            "enforce_dpp": True,
+            "abstol": 1e-8,
+            "reltol": 1e-10,
+        },
     },
 )
 
-problem.settings.prp.dt = 0.01
-
 plotting_dict = {}
 
 if __name__ == "__main__":

{openscvx-2.dev1 → openscvx-2.dev3}/examples/rocket/6DoF_pdg.py

@@ -5,10 +5,6 @@
 This example was adapted from the SCvxGEN repository by Abhi Kamath, https://scvxgen.mintlify.app/introduction.
 """
 
-import jax
-
-jax.config.update("jax_enable_x64", True)
-
 import os
 import sys
 
@@ -28,34 +24,30 @@ from openscvx import Problem
 
 n = 5
 
-# Runtime-updatable constants (see problem.parameters["name"] after building the problem)
-gI = ox.Parameter("gI", value=1.0)
-l_arm = ox.Parameter("l", value=0.25)
-J_diag = ox.Parameter(
-    "J_diag",
-    shape=(3,),
-    value=np.array([0.168 * 2e-2, 0.168, 0.168]),
-)
+# Fixed physical and scenario constants
+gI = 1.0
+l_arm = 0.25
+J_diag = np.array([0.168 * 2e-2, 0.168, 0.168])
 J_mat = ox.Diag(J_diag)
 J_inv_mat = ox.Inv(ox.Diag(J_diag))
-g0 = ox.Parameter("g0", value=1.0)
-Isp = ox.Parameter("Isp", value=30.0)
-m_dry = ox.Parameter("m_dry", value=1.0)
-v_max = ox.Parameter("v_max", value=3.0)
-w_max = ox.Parameter("w_max", value=0.3752)
-del_max = ox.Parameter("del_max", value=20.0)
-theta_max = ox.Parameter("theta_max", value=75.0)
-T_min = ox.Parameter("T_min", value=1.5)
-T_max = ox.Parameter("T_max", value=6.5)
-gamma = ox.Parameter("gamma", value=75.0)
-beta = ox.Parameter("beta", value=0.01)
-c_ax = ox.Parameter("c_ax", value=0.5)
-c_ayz = ox.Parameter("c_ayz", value=1.0)
-S_a = ox.Parameter("S_a", value=0.5)
-rho = ox.Parameter("rho", value=1.0)
-l_p = ox.Parameter("l_p", value=0.05)
-initial_position = ox.Parameter("initial_position", shape=(3,), value=np.array([7.5, 4.5, 2.5]))
-final_position = ox.Parameter("final_position", shape=(2,), value=np.array([0.0, 0.0]))
+g0 = 1.0
+Isp = 30.0
+m_dry = 1.0
+v_max = 3.0
+w_max = 0.3752
+del_max = 20.0
+theta_max = 75.0
+T_min = 1.5
+T_max = 6.5
+gamma = 75.0
+beta = 0.01
+c_ax = 0.5
+c_ayz = 1.0
+S_a = 0.5
+rho = 1.0
+l_p = 0.05
+initial_position = np.array([7.5, 4.5, 2.5])
+final_position = np.array([0.0, 0.0])
 
 # Concat (not Stack): JAX lowering stacks scalars as (3,1); Diag needs a length-3 vector (3,).
 CA = ox.Diag(ox.Concat(c_ax, c_ayz, c_ayz))
@@ -72,15 +64,15 @@ position = ox.State("position", shape=(3,))
 position.max = [10.0, 10.0, 10.0]
 position.min = [-10.0, -10.0, -10.0]
 position.initial = [
-    ox.Free(float(initial_position.value[0])),
-    ox.Free(float(initial_position.value[1])),
-    ox.Free(float(initial_position.value[2])),
+    ox.Free(float(initial_position[0])),
+    ox.Free(float(initial_position[1])),
+    ox.Free(float(initial_position[2])),
 ]
 position.final = [ox.Free(0.0), ox.Free(0.0), 0.0]
 
 velocity = ox.State("velocity", shape=(3,))
-velocity.max = [v_max.value, v_max.value, v_max.value]
-velocity.min = [-v_max.value, -v_max.value, -v_max.value]
+velocity.max = [v_max, v_max, v_max]
+velocity.min = [-v_max, -v_max, -v_max]
 velocity.initial = [-0.5, -2.8, 0.0]
 velocity.final = [-0.1, 0.0, 0.0]
 
@@ -91,17 +83,17 @@ attitude.initial = [ox.Free(0.0), ox.Free(0.0), ox.Free(0.0), ox.Free(1.0)]
 attitude.final = [0.0, 0.0, 0.0, 1.0]
 
 angular_velocity = ox.State("angular_velocity", shape=(3,))
-angular_velocity.max = [w_max.value, w_max.value, w_max.value]
-angular_velocity.min = [-w_max.value, -w_max.value, -w_max.value]
+angular_velocity.max = [w_max, w_max, w_max]
+angular_velocity.min = [-w_max, -w_max, -w_max]
 angular_velocity.initial = [1e-8, 0.0, 0.0]
 angular_velocity.final = [1e-8, 0.0, 0.0]
 
 thrust = ox.Control("thrust", shape=(3,))
-thrust.max = [T_max.value, T_max.value, T_max.value]
-thrust.min = [-T_max.value, -T_max.value, -T_max.value]
+thrust.max = [T_max, T_max, T_max]
+thrust.min = [-T_max, -T_max, -T_max]
 thrust.guess = np.linspace(
-    np.array([gI.value * mass.initial[0], 0, 0]),
-    np.array([gI.value * m_dry.value, 0, 0]),
+    np.array([gI * mass.initial[0], 0, 0]),
+    np.array([gI * m_dry, 0, 0]),
     n,
 ).reshape(-1, 3)
 
@@ -169,15 +161,26 @@ constraint_exprs.append((position[0:2] == final_position).convex().at([n - 1]))
 
 constraint_exprs.append(ox.ctcs(1.0 * (mass - m_dry) >= 0))
 constraint_exprs.append(
-    ox.ctcs(0.1 * ox.linalg.Norm(position[1:]) - ox.Tan(gamma * np.pi / 180.0) * position[0] <= 0)
+    ox.ctcs(
+        0.1 * ox.linalg.Norm(position[1:])
+        - ox.Tan(ox.Constant(np.array(gamma * np.pi / 180.0))) * position[0]
+        <= 0
+    )
 )
 constraint_exprs.append(ox.ctcs(0.1 * ox.linalg.Norm(velocity) ** 2 - v_max**2 <= 0))
 constraint_exprs.append(
-    ox.ctcs(1.0 * ox.Cos(theta_max * np.pi / 180.0) - 1.0 + 2.0 * (q2**2 + q3**2) <= 0)
+    ox.ctcs(
+        1.0 * ox.Cos(ox.Constant(np.array(theta_max * np.pi / 180.0))) - 1.0 + 2.0 * (q2**2 + q3**2)
+        <= 0
+    )
 )
 constraint_exprs.append(ox.ctcs(1.0 * ox.linalg.Norm(angular_velocity) ** 2 - w_max**2 <= 0))
 constraint_exprs.append(
-    ox.ctcs(0.1 * ox.linalg.Norm(thrust) - thrust[0] / ox.Cos(del_max * np.pi / 180.0) <= 0)
+    ox.ctcs(
+        0.1 * ox.linalg.Norm(thrust)
+        - thrust[0] / ox.Cos(ox.Constant(np.array(del_max * np.pi / 180.0)))
+        <= 0
+    )
 )
 constraint_exprs.append(ox.ctcs(0.1 * ox.linalg.Norm(thrust) ** 2 - T_max**2 <= 0))
 constraint_exprs.append(ox.ctcs(0.1 * T_min**2 - ox.linalg.Norm(thrust) ** 2 <= 0))
@@ -194,6 +197,8 @@ time = ox.Time(
     time_dilation_max=2.0 * t_final_guess,
 )
 
+import diffrax as dfx  # noqa: F401
+
 problem = Problem(
     N=n,
     states=states,
@@ -210,10 +215,17 @@ problem = Problem(
         "ep_tr": 5e-3,
         "ep_vc": 1e-6,
     },
+    discretizer={
+        "diffrax_kwargs": {"stepsize_controller": dfx.StepTo(np.linspace(0.0, 1 / (n - 1), 3))}
+    },
+    solver={
+        "cvxpygen": True,
+        "cvx_solver": "qocogen",
+        "solver_args": {},
+    },
 )
 
-problem.solver.solver_args = {"abstol": 1e-7, "reltol": 1e-7}
-
+problem.settings.dev.printing = False
 
 if __name__ == "__main__":
     problem.initialize()