scipplan 0.2.1a0__py2.py3-none-any.whl → 0.2.2a0__py2.py3-none-any.whl

scipplan/parse_model.py

@@ -204,7 +204,8 @@ class ParseModel:
                             else:
                                 aux_var: Variable = self.expressions.aux_vars[idx]
                     
-                            aux_vars.append(aux_var)
+                            if self.params.add_aux_vars is True:
+                                aux_vars.append(aux_var)
                             self.variables[aux_var.name] = aux_var.model_var
                             
                             expr1, expr2 = linearise(expr, aux_var)
@@ -280,4 +281,4 @@ if __name__ == "__main__":
 #     print(calc(
 # """
 # a + b + c >= 5 or a - b - c == 10
-# """))
+# """))

scipplan/scipplan.py

@@ -68,7 +68,8 @@ class SCIPPlan:
                 "zero_crossing_coefficient": zero_cross.coef,
                 "new_dt_val": zero_cross.new_dt_val,
                 "horizon": zero_cross.horizon,
-                "iteration": zero_cross.iteration
+                "iteration": zero_cross.iteration,
+                "constraint_idx": zero_cross.constraint_idx
             })
             
             if self.config.show_output is True:
@@ -80,19 +81,19 @@ class SCIPPlan:
             
             self.scip_model.freeTransform()
             
-            for idx, constraint in enumerate(self.plan.translations["temporal_constraints"]):
-                t = zero_cross.horizon
-                # aux_vars = self.plan.aux_vars["temporal_constraints"][idx][t]
-                aux_vars = const_gen_aux_vars[idx][t]
-                # Only add aux vars if there are no aux vars added for the secific constraint
-                params = self.plan.get_parser_params(horizon=t, add_aux_vars=aux_vars is None)
-                params.variables[self.config.dt_var] *= zero_cross.coef
-                exprs = PM(params).evaluate(constraint, aux_vars=aux_vars)
-                if const_gen_aux_vars[idx][t] is None:
-                    const_gen_aux_vars[idx][t] = exprs.aux_vars
-                    
-                for eqtn_idx, eqtn in enumerate(exprs):
-                    self.plan.model.addCons(eqtn, f"{constraint}_{idx}_{eqtn_idx}")
+            t = zero_cross.horizon
+            idx = zero_cross.constraint_idx
+            constraint = self.plan.translations["temporal_constraints"][idx]
+            aux_vars = self.plan.aux_vars["temporal_constraints"][idx][t]
+            # Only add aux vars if there are no aux vars added for the specific constraint
+            params = self.plan.get_parser_params(horizon=t, add_aux_vars=aux_vars is None)
+            params.variables[self.config.dt_var] *= zero_cross.coef
+            exprs = PM(params).evaluate(constraint, aux_vars=aux_vars)
+            if const_gen_aux_vars[idx][t] is None:
+                const_gen_aux_vars[idx][t] = exprs.aux_vars
+             
+            for eqtn_idx, eqtn in enumerate(exprs):
+                self.plan.model.addCons(eqtn, f"{constraint}_{idx}_{eqtn_idx}")
             
             iteration += 1
 
@@ -104,7 +105,7 @@ class SCIPPlan:
         for h in range(self.config.horizon):
             dt = self.scip_model.getVal(self.plan.variables[(self.config.dt_var, h)].model_var)
             
-            for constraint in self.plan.translations["temporal_constraints"]:
+            for idx, constraint in enumerate(self.plan.translations["temporal_constraints"]):
                 is_violated = False
                 
                 for time in iterate(0, dt, self.config.epsilon):
@@ -129,6 +130,7 @@ class SCIPPlan:
                         start=cross_interval[0],
                         end=cross_interval[1],
                         dt_interval=dt,
+                        constraint_idx = idx,
                     )
         
         return ZeroCrossing(is_violated=False)
@@ -213,4 +215,4 @@ def main():
     print(f"Total time: {solve_time:.3f}")
 
 if __name__ == "__main__":
-    main()
+    main()

scipplan/zero_crossing.py

@@ -11,6 +11,7 @@ class ZeroCrossing:
     dt_interval: float = None
     coef: float = field(init=False, default=None)
     new_dt_val: float = field(init=False, default=None)
+    constraint_idx: int = None
     
     def __post_init__(self):
         if self.is_violated is True:
@@ -25,4 +26,4 @@ class ZeroCrossing:
                     """))
             avg_interval = (self.start + self.end) / 2.0
             self.coef = avg_interval / self.dt_interval
-            self.new_dt_val = self.coef * self.dt_interval
+            self.new_dt_val = self.coef * self.dt_interval

{scipplan-0.2.1a0.dist-info → scipplan-0.2.2a0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: scipplan
-Version: 0.2.1a0
+Version: 0.2.2a0
 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

scipplan-0.2.2a0.dist-info/RECORD

@@ -0,0 +1,28 @@
+build/lib/scipplan/__init__.py,sha256=6tjLoCc3ID0D6ilf2H0cTgot-fHu_HzeXfo5MAyfYLc,196
+build/lib/scipplan/config.py,sha256=Ojs_pdjhwRuANPJcGyb3m5mMGqbTZkHuNvppd_Wd4FQ,5615
+build/lib/scipplan/helpers.py,sha256=YmS0HPQymsO5_e3jK7WQ-hBRZnxoZtewLhuzubw5sR4,975
+build/lib/scipplan/parse_model.py,sha256=yGYGY0ZfBC8OPfX3i2kbyDKrsJ94duDm_RlxlbzNaZ4,11206
+build/lib/scipplan/plan_model.py,sha256=Pz2RaYFcx1ZV6BQmr-ikUKAiQ8LqNhA0DPhdT8Ls6u8,14373
+build/lib/scipplan/scipplan.py,sha256=aO4r0vaNWHgnZq1Pf9Y86t33OYBQD4O9pRAOZNR2ods,8724
+build/lib/scipplan/variables.py,sha256=3sxY3zQuxsa5z2fTFjv4zOSb9GarzojZ4W4kIx9FX68,2561
+build/lib/scipplan/zero_crossing.py,sha256=0auSm3-3993tyFVtq4gGeF4wScbkyGxfNw6pG2dsAvs,1075
+scipplan/__init__.py,sha256=6tjLoCc3ID0D6ilf2H0cTgot-fHu_HzeXfo5MAyfYLc,196
+scipplan/config.py,sha256=Ojs_pdjhwRuANPJcGyb3m5mMGqbTZkHuNvppd_Wd4FQ,5615
+scipplan/helpers.py,sha256=YmS0HPQymsO5_e3jK7WQ-hBRZnxoZtewLhuzubw5sR4,975
+scipplan/parse_model.py,sha256=yGYGY0ZfBC8OPfX3i2kbyDKrsJ94duDm_RlxlbzNaZ4,11206
+scipplan/plan_model.py,sha256=Pz2RaYFcx1ZV6BQmr-ikUKAiQ8LqNhA0DPhdT8Ls6u8,14373
+scipplan/scipplan.py,sha256=aO4r0vaNWHgnZq1Pf9Y86t33OYBQD4O9pRAOZNR2ods,8724
+scipplan/variables.py,sha256=3sxY3zQuxsa5z2fTFjv4zOSb9GarzojZ4W4kIx9FX68,2561
+scipplan/zero_crossing.py,sha256=0auSm3-3993tyFVtq4gGeF4wScbkyGxfNw6pG2dsAvs,1075
+scipplan/translation/odes_navigation_1.txt,sha256=Uv13eTSTvURb6TtY7rq-otlpJMS8cQDYSyaO3X2_SRs,1015
+scipplan/translation/odes_navigation_2.txt,sha256=DcbpXv-q0NP8Tx10YKqD6425esblgPNlTxchkyWMJAc,1192
+scipplan/translation/odes_navigation_3.txt,sha256=ZFTyFEiL1KP0yxOCOzOSoXz9dXulRmtXDBnfZqaVbaE,1370
+scipplan/translation/solutions_navigation_1.txt,sha256=5iLPRtJXqfAXi0QG-3WPtKn8t0pH4-E2AtNp8-7k1CQ,1542
+scipplan/translation/solutions_navigation_2.txt,sha256=b1c74m54iRCcZoe8uqquUQyn6HtRTiFqIA8ss2mZUdg,1895
+scipplan/translation/solutions_navigation_3.txt,sha256=Jv3bzMt84LVyR1DSVJ5B8Ky9id_khZ1PxZ1s3QPKpk8,2249
+scipplan-0.2.2a0.dist-info/LICENSE,sha256=KLZVolgtGLnK2b-INKXXO7wOneDlgmIUP6WC4R5wRC4,1053
+scipplan-0.2.2a0.dist-info/METADATA,sha256=-UKhTY5lscjt3a_VpgcSOM2cx89cZTMO-Ys_K6L6QgU,5818
+scipplan-0.2.2a0.dist-info/WHEEL,sha256=Kh9pAotZVRFj97E15yTA4iADqXdQfIVTHcNaZTjxeGM,110
+scipplan-0.2.2a0.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
+scipplan-0.2.2a0.dist-info/top_level.txt,sha256=zE5zfBzLJlVjWUD5VuiQ5YPY7HtvU7uuw9hHKX9XaMo,41
+scipplan-0.2.2a0.dist-info/RECORD,,

scipplan-0.2.2a0.dist-info/top_level.txt

@@ -0,0 +1,5 @@
+build
+dist
+output
+scipplan
+visualisation

scipplan-0.2.1a0.dist-info/RECORD

@@ -1,20 +0,0 @@
-scipplan/__init__.py,sha256=ouJVzwoTiWQv-wEqrnAqqH3BShu0S-bpc2JLlYDHcsk,195
-scipplan/config.py,sha256=Ojs_pdjhwRuANPJcGyb3m5mMGqbTZkHuNvppd_Wd4FQ,5615
-scipplan/helpers.py,sha256=YmS0HPQymsO5_e3jK7WQ-hBRZnxoZtewLhuzubw5sR4,975
-scipplan/parse_model.py,sha256=CI_38xmaiVr8DuOi3UdNrVqWHTdW6qm_5luwLZxIk9I,11136
-scipplan/plan_model.py,sha256=Pz2RaYFcx1ZV6BQmr-ikUKAiQ8LqNhA0DPhdT8Ls6u8,14373
-scipplan/scipplan.py,sha256=Ykz_L0f2dyX4-EQB1iCH-QR3waVUwxKzgskdQeUP9nE,8675
-scipplan/variables.py,sha256=3sxY3zQuxsa5z2fTFjv4zOSb9GarzojZ4W4kIx9FX68,2561
-scipplan/zero_crossing.py,sha256=kGyJsWZLLXqLW1p3LPDlPC34rTkFF8daDzqgbEcaXus,1043
-scipplan/translation/odes_navigation_1.txt,sha256=Uv13eTSTvURb6TtY7rq-otlpJMS8cQDYSyaO3X2_SRs,1015
-scipplan/translation/odes_navigation_2.txt,sha256=DcbpXv-q0NP8Tx10YKqD6425esblgPNlTxchkyWMJAc,1192
-scipplan/translation/odes_navigation_3.txt,sha256=ZFTyFEiL1KP0yxOCOzOSoXz9dXulRmtXDBnfZqaVbaE,1370
-scipplan/translation/solutions_navigation_1.txt,sha256=5iLPRtJXqfAXi0QG-3WPtKn8t0pH4-E2AtNp8-7k1CQ,1542
-scipplan/translation/solutions_navigation_2.txt,sha256=b1c74m54iRCcZoe8uqquUQyn6HtRTiFqIA8ss2mZUdg,1895
-scipplan/translation/solutions_navigation_3.txt,sha256=Jv3bzMt84LVyR1DSVJ5B8Ky9id_khZ1PxZ1s3QPKpk8,2249
-scipplan-0.2.1a0.dist-info/LICENSE,sha256=KLZVolgtGLnK2b-INKXXO7wOneDlgmIUP6WC4R5wRC4,1053
-scipplan-0.2.1a0.dist-info/METADATA,sha256=m7v1qFgcpUHPisS9edhi0dUat1JZCmi61-qgh-hZ7MI,5818
-scipplan-0.2.1a0.dist-info/WHEEL,sha256=Kh9pAotZVRFj97E15yTA4iADqXdQfIVTHcNaZTjxeGM,110
-scipplan-0.2.1a0.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
-scipplan-0.2.1a0.dist-info/top_level.txt,sha256=xO2FLRn7YQ-C25E8lagIEbik5T5FTr-Ta5bdiZezEPY,9
-scipplan-0.2.1a0.dist-info/RECORD,,

scipplan-0.2.1a0.dist-info/top_level.txt

@@ -1 +0,0 @@
-scipplan