sleipnirgroup-jormungandr 0.1.1.dev111__tar.gz → 0.1.1.dev113__tar.gz

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: sleipnirgroup-jormungandr
-Version: 0.1.1.dev111
+Version: 0.1.1.dev113
 Summary: A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method.
 License: Copyright (c) Sleipnir contributors
         

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/autodiff/hessian_test.py

@@ -187,10 +187,7 @@ def test_sum_of_squares():
     for i in range(4):
         x[i].set_value(0.0)
 
-    J = 0.0
-    for i in range(4):
-        J += (r[i] - x[i]) * (r[i] - x[i])
-
+    J = sum((r[i] - x[i]) * (r[i] - x[i]) for i in range(4))
     H = Hessian(J, x)
 
     expected_H = np.diag([2.0] * 4)

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/arm_on_elevator_problem_test.py

@@ -84,12 +84,13 @@ def test_arm_on_elevator_problem():
         problem.subject_to(heights <= END_EFFECTOR_MAX_HEIGHT)
 
     # Cost function
-    J = 0.0
-    for k in range(N + 1):
-        J += (ELEVATOR_END_HEIGHT - elevator[0, k]) ** 2 + (
-            ARM_END_ANGLE - arm[0, k]
-        ) ** 2
-    problem.minimize(J)
+    problem.minimize(
+        sum(
+            (ELEVATOR_END_HEIGHT - elevator[0, k]) ** 2
+            + (ARM_END_ANGLE - arm[0, k]) ** 2
+            for k in range(N + 1)
+        )
+    )
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.LINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/cart_pole_ocp_test.py

@@ -73,10 +73,7 @@ def test_cart_pole_ocp():
     U = problem.U()
 
     # Minimize sum squared inputs
-    J = 0.0
-    for k in range(N):
-        J += U[:, k : k + 1].T @ U[:, k : k + 1]
-    problem.minimize(J)
+    problem.minimize(sum(U[:, k : k + 1].T @ U[:, k : k + 1] for k in range(N)))
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.NONLINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/cart_pole_problem_test.py

@@ -62,10 +62,7 @@ def test_cart_pole_problem():
         )
 
     # Minimize sum squared inputs
-    J = 0.0
-    for k in range(N):
-        J += U[:, k : k + 1].T @ U[:, k : k + 1]
-    problem.minimize(J)
+    problem.minimize(sum(U[:, k : k + 1].T @ U[:, k : k + 1] for k in range(N)))
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.NONLINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/differential_drive_problem_test.py

@@ -60,10 +60,12 @@ def test_differential_drive_problem():
         )
 
     # Minimize sum squared states and inputs
-    J = 0.0
-    for k in range(N):
-        J += X[:, k : k + 1].T @ X[:, k : k + 1] + U[:, k : k + 1].T @ U[:, k : k + 1]
-    problem.minimize(J)
+    problem.minimize(
+        sum(
+            X[:, k : k + 1].T @ X[:, k : k + 1] + U[:, k : k + 1].T @ U[:, k : k + 1]
+            for k in range(N)
+        )
+    )
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.NONLINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/double_integrator_problem_test.py

@@ -48,10 +48,7 @@ def test_double_integrator_problem():
     problem.subject_to(U <= 1)
 
     # Cost function - minimize position error
-    J = 0.0
-    for k in range(N + 1):
-        J += (r - X[0, k]) ** 2
-    problem.minimize(J)
+    problem.minimize(sum((r - X[0, k]) ** 2 for k in range(N + 1)))
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.LINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/jormungandr/test/optimization/flywheel_problem_test.py

@@ -39,10 +39,9 @@ def test_flywheel_problem():
 
     # Cost function - minimize error
     r = np.array([[10.0]])
-    J = 0.0
-    for k in range(N + 1):
-        J += (r - X[:, k : k + 1]).T @ (r - X[:, k : k + 1])
-    problem.minimize(J)
+    problem.minimize(
+        sum((r - X[:, k : k + 1]).T @ (r - X[:, k : k + 1]) for k in range(N + 1))
+    )
 
     assert problem.cost_function_type() == ExpressionType.QUADRATIC
     assert problem.equality_constraint_type() == ExpressionType.LINEAR

{sleipnirgroup_jormungandr-0.1.1.dev111 → sleipnirgroup_jormungandr-0.1.1.dev113}/pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "sleipnirgroup-jormungandr"
 description = "A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method."
-version = "0.1.1.dev111"
+version = "0.1.1.dev113"
 readme = "README.md"
 requires-python = ">=3.11"
 dependencies = [ "matplotlib", "numpy", "scipy" ]