scipplan 0.1.0a3__tar.gz → 0.1.1a0__tar.gz

{scipplan-0.1.0a3/scipplan.egg-info → scipplan-0.1.1a0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: scipplan
-Version: 0.1.0a3
+Version: 0.1.1a0
 Summary: Metric Hybrid Factored Planning in Nonlinear Domains with Constraint Generation in Python.
 Author: Ari Gestetner, Buser Say
 Author-email: ari.gestetner@monash.edu, buser.say@monash.edu
@@ -121,13 +121,17 @@ state_continuous: Location_x
 state_continuous: Location_y
 state_continuous: Speed_x
 state_continuous: Speed_y
+global_boolean: aux_1
 ```
-where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - sign like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
+where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - symbol like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
 Additionally a variable for Dt has to be defined and has to be the same as the dt_var in the config object so if you would like to use a different variable name for Dt (e.g. dt) please also ensure you add it to the config via the `--dt-var` tag or the `dt_var` parameter.  
+The variable type `global` is used when you would like a non state variable to be equal over every time step over the horizon (e.g. if $v_t$ is a variable at time $t$ and $H$ is the horizon, then $v_1 = v_2 = \dots = v_{H+1}$).  
+
 The available variable types are
 - state
 - action
 - auxiliary
+- global
 
 The available value types are 
 - continuos

{scipplan-0.1.0a3 → scipplan-0.1.1a0}/README.md

@@ -102,13 +102,17 @@ state_continuous: Location_x
 state_continuous: Location_y
 state_continuous: Speed_x
 state_continuous: Speed_y
+global_boolean: aux_1
 ```
-where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - sign like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
+where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - symbol like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
 Additionally a variable for Dt has to be defined and has to be the same as the dt_var in the config object so if you would like to use a different variable name for Dt (e.g. dt) please also ensure you add it to the config via the `--dt-var` tag or the `dt_var` parameter.  
+The variable type `global` is used when you would like a non state variable to be equal over every time step over the horizon (e.g. if $v_t$ is a variable at time $t$ and $H$ is the horizon, then $v_1 = v_2 = \dots = v_{H+1}$).  
+
 The available variable types are
 - state
 - action
 - auxiliary
+- global
 
 The available value types are 
 - continuos

{scipplan-0.1.0a3 → scipplan-0.1.1a0}/scipplan/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "0.1.0alpha3"
+__version__ = "0.1.1alpha0"
 print(f"SCIPPlan Version: {__version__}")
 __release__ = "v0.1.0"
 __author__ = "Ari Gestetner, Buser Say"

{scipplan-0.1.0a3 → scipplan-0.1.1a0}/scipplan/plan_model.py

@@ -95,12 +95,17 @@ class PlanModel:
                 
                 self.var_names.add(name)
                 
-                for t in range(self.config.horizon):
-                    variables[(name, t)] = Variable.create_var(self.model, name, vtype, t, self.constants)
-                    var_type = variables[(name, t)].var_type
-                if var_type is VarType.STATE:
-                    variables[(name, self.config.horizon)] = Variable.create_var(self.model, name, vtype, self.config.horizon, self.constants)
-                    
+                if vtype.startswith("global"):
+                    var = Variable.create_var(self.model, name, vtype, "global", self.constants)
+                    for t in range(self.config.horizon + 1):
+                        variables[(name, t)] = var
+                else:
+                    for t in range(self.config.horizon):
+                        variables[(name, t)] = Variable.create_var(self.model, name, vtype, t, self.constants)
+                        var_type = variables[(name, t)].var_type
+                    if var_type is VarType.STATE:
+                        variables[(name, self.config.horizon)] = Variable.create_var(self.model, name, vtype, self.config.horizon, self.constants)
+
         return variables
                 
          

{scipplan-0.1.0a3 → scipplan-0.1.1a0/scipplan.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: scipplan
-Version: 0.1.0a3
+Version: 0.1.1a0
 Summary: Metric Hybrid Factored Planning in Nonlinear Domains with Constraint Generation in Python.
 Author: Ari Gestetner, Buser Say
 Author-email: ari.gestetner@monash.edu, buser.say@monash.edu
@@ -121,13 +121,17 @@ state_continuous: Location_x
 state_continuous: Location_y
 state_continuous: Speed_x
 state_continuous: Speed_y
+global_boolean: aux_1
 ```
-where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - sign like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
+where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - symbol like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
 Additionally a variable for Dt has to be defined and has to be the same as the dt_var in the config object so if you would like to use a different variable name for Dt (e.g. dt) please also ensure you add it to the config via the `--dt-var` tag or the `dt_var` parameter.  
+The variable type `global` is used when you would like a non state variable to be equal over every time step over the horizon (e.g. if $v_t$ is a variable at time $t$ and $H$ is the horizon, then $v_1 = v_2 = \dots = v_{H+1}$).  
+
 The available variable types are
 - state
 - action
 - auxiliary
+- global
 
 The available value types are 
 - continuos