openscvx 2.dev3__tar.gz → 2.dev4__tar.gz

{openscvx-2.dev3/openscvx.egg-info → openscvx-2.dev4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 2.dev3
+Version: 2.dev4
 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.dev4/examples/abstract/hypersensitive.py

@@ -0,0 +1,121 @@
+import os
+import sys
+
+import jax
+
+# use float64
+jax.config.update("jax_enable_x64", True)
+
+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.plotting import plot_controls, plot_states
+
+n = 40
+time_final = 1000.0
+time_dilation_min = 1e-4
+time_dilation_max = 1e4
+
+x = ox.State("x", shape=(1,))
+x.min = [0]
+x.max = [50]
+x.scaling_max = [1.5]
+x.scaling_min = [0.0]
+x.initial = [1.5]
+x.final = [1]
+x.guess = np.linspace(0.0, 0.0, n).reshape(-1, 1)
+
+cost = ox.State("cost", shape=(1,))
+cost.min = [0]
+cost.max = [100]
+cost.scaling_max = [1e0]
+cost.initial = [0]
+cost.final = [ox.Minimize(0.0)]
+cost.guess = np.linspace(0, 0, n).reshape(-1, 1)
+
+u = ox.Control("u", shape=(1,))
+u.min = [-50]
+u.max = [50]
+u.scaling_max = [1.0]
+u.scaling_min = [-0.5]
+u.guess = np.linspace(0.0, 0.0, n).reshape(-1, 1)
+
+# Cosine time-grid guess: denser nodes near the endpoints.
+s_uniform = np.linspace(0.0, 1.0, n)
+node_grid = 0.5 * (1.0 - np.cos(np.pi * s_uniform))
+time_guess = (time_final * node_grid).reshape(-1, 1)
+
+dtdtau_guess = np.gradient(time_guess[:, 0], s_uniform)
+dtdtau_guess = np.clip(dtdtau_guess, time_dilation_min, time_dilation_max)
+
+time = ox.Time(
+    initial=0.0,
+    final=time_final,
+    min=0.0,
+    max=time_final,
+    guess=time_guess,
+    time_dilation_min=time_dilation_min,
+    time_dilation_max=time_dilation_max,
+    time_dilation_guess=dtdtau_guess.reshape(-1, 1),
+    uniform_time_grid=False,
+)
+
+
+dynamics = {
+    "x": -x + u,
+    "cost": 0.5 * (x**2 + u**2),
+}
+
+states = [x, cost]
+controls = [u]
+constraints = []
+for state in states:
+    constraints.extend(
+        [ox.ctcs(state <= state.max, penalty="huber"), ox.ctcs(state.min <= state, penalty="huber")]
+    )
+
+problem = ox.Problem(
+    dynamics=dynamics,
+    states=states,
+    controls=controls,
+    constraints=constraints,
+    N=n,
+    time=time,
+    licq_max=1e-8,
+    algorithm={
+        "lam_prox": 1e0,
+        "lam_cost": {"cost": 3e0},
+        "lam_vc": 4e0,
+        "autotuner": ox.AugmentedLagrangian(ep=1e-1),
+    },
+    discretizer={
+        "dis_type": "ZOH",
+        "ode_solver": "Dopri8",
+        "diffrax_kwargs": {"atol": 1e-12, "rtol": 1e-12},
+    },
+    float_dtype="float64",
+)
+
+problem.settings.prp.atol = 1e-12
+problem.settings.prp.rtol = 1e-12
+
+
+def _show_plot(fig):
+    try:
+        fig.show()
+    except PermissionError as exc:
+        print(f"Skipping plot display: {exc}")
+
+
+if __name__ == "__main__":
+    problem.initialize()
+    problem.solve()
+    results = problem.post_process()
+
+    _show_plot(plot_states(results))
+    _show_plot(plot_controls(results))
+    # plot_scp_iterations(results).show()

{openscvx-2.dev3 → openscvx-2.dev4}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '2.dev3'
-__version_tuple__ = version_tuple = (2, 'dev3')
+__version__ = version = '2.dev4'
+__version_tuple__ = version_tuple = (2, 'dev4')
 
-__commit_id__ = commit_id = 'g10f857b91'
+__commit_id__ = commit_id = 'g85f47e152'

{openscvx-2.dev3 → openscvx-2.dev4/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 2.dev3
+Version: 2.dev4
 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.dev3 → openscvx-2.dev4}/openscvx.egg-info/SOURCES.txt

@@ -54,6 +54,7 @@ examples/_viser_embed_export.py
 examples/plotting.py
 examples/plotting_viser.py
 examples/abstract/brachistochrone.py
+examples/abstract/hypersensitive.py
 examples/abstract/impulsive.py
 examples/abstract/stl_integer_variable.py
 examples/abstract/stl_or.py