scipplan 0.2.1a0__tar.gz → 0.2.2a0__tar.gz

{scipplan-0.2.1a0/scipplan.egg-info → scipplan-0.2.2a0}/PKG-INFO

@@ -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/scipplan/__init__.py

@@ -0,0 +1,5 @@
+__version__ = "0.2.2alpha0"
+print(f"SCIPPlan Version: {__version__}")
+__release__ = "v0.2.2a0"
+__author__ = "Ari Gestetner, Buser Say"
+__email__ = "ari.gestetner@monash.edu, buser.say@monash.edu"

{scipplan-0.2.1a0 → scipplan-0.2.2a0}/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-0.2.1a0 → scipplan-0.2.2a0}/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-0.2.1a0 → scipplan-0.2.2a0}/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 → scipplan-0.2.2a0/scipplan.egg-info}/PKG-INFO

@@ -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/scipplan.egg-info/top_level.txt

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

{scipplan-0.2.1a0 → scipplan-0.2.2a0}/setup.py

@@ -1,6 +1,6 @@
 import scipplan
 
-from setuptools import setup, find_packages
+from setuptools import setup, find_namespace_packages
 
 def readme():
     with open("README.md") as f:
@@ -15,7 +15,7 @@ setup(
     license="MIT License",
     author=scipplan.__author__,
     author_email=scipplan.__email__,
-    packages=find_packages(),  # Automatically find all packages
+    packages=find_namespace_packages(),  # Automatically find all packages
     include_package_data=True,
     package_data={
         # "": ["translation/*.txt"], 

scipplan-0.2.1a0/scipplan/__init__.py

@@ -1,5 +0,0 @@
-__version__ = "0.2.1alpha0"
-print(f"SCIPPlan Version: {__version__}")
-__release__ = "v0.2.1a0"
-__author__ = "Ari Gestetner, Buser Say"
-__email__ = "ari.gestetner@monash.edu, buser.say@monash.edu"

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

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