sleipnirgroup-jormungandr 0.6.5.dev1__tar.gz → 0.6.5.dev3__tar.gz

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.5.dev1
+Version: 0.6.5.dev3
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/include/sleipnir/optimization/solver/interior_point.hpp

@@ -467,7 +467,7 @@ ExitStatus interior_point(
     kkt_matrix_decomp_profiler.stop();
     ScopedProfiler kkt_system_solve_profiler{kkt_system_solve_prof};
 
-    auto compute_step = [&](Step& step) {
+    auto compute_step = [&](Step& step, const DenseVector& c_i_minus_s) {
       // p = [ pˣ]
       //     [−pʸ]
       DenseVector p = solver.solve(rhs);
@@ -475,11 +475,11 @@ ExitStatus interior_point(
       step.p_y = -p.segment(x.rows(), y.rows());
 
       // pˢ = cᵢ − s + Aᵢpˣ
-      // pᶻ = −Σcᵢ + μS⁻¹e − ΣAᵢpˣ
-      step.p_s = c_i - s + A_i * step.p_x;
-      step.p_z = -Σ * c_i + μ * s.cwiseInverse() - Σ * A_i * step.p_x;
+      // pᶻ = μS⁻¹e − z − Σpˢ
+      step.p_s = c_i_minus_s + A_i * step.p_x;
+      step.p_z = μ * s.cwiseInverse() - z - Σ * step.p_s;
     };
-    compute_step(step);
+    compute_step(step, c_i - s);
 
     kkt_system_solve_profiler.stop();
     ScopedProfiler line_search_profiler{line_search_prof};
@@ -556,6 +556,7 @@ ExitStatus interior_point(
         Scalar α_soc = α;
         Scalar α_z_soc = α_z;
         DenseVector c_e_soc = c_e;
+        DenseVector c_i_minus_s_soc = c_i - s;
 
         Scalar soc_constraint_violation = next_constraint_violation;
 
@@ -589,15 +590,23 @@ ExitStatus interior_point(
 
           // Rebuild Newton-KKT rhs with updated constraint values.
           //
-          // rhs = −[∇f − Aₑᵀy − Aᵢᵀ(−Σcᵢ + μS⁻¹e + z)]
-          //        [              cₑˢᵒᶜ              ]
+          // rhs = −[∇f − Aₑᵀy − Aᵢᵀ(μS⁻¹e − Σ(cᵢ − s)ˢᵒᶜ)]
+          //        [               cₑˢᵒᶜ                 ]
           //
-          // where cₑˢᵒᶜ = αc(xₖ) + c(xₖ + αpₖˣ)
+          // where
+          //
+          // cₑˢᵒᶜ = αˢᵒᶜcₑ(xₖ) + cₑ(xₖ + αˢᵒᶜpˣˢᵒᶜ)
+          // (cᵢ − s)ˢᵒᶜ = αˢᵒᶜ(cᵢ(xₖ) − sₖ) + cᵢ(xₖ + αˢᵒᶜpˣˢᵒᶜ)
+          //                                 − (sₖ + αˢᵒᶜpˢˢᵒᶜ).
           c_e_soc = α_soc * c_e_soc + trial_c_e;
-          rhs.bottomRows(y.rows()) = -c_e_soc;
+          c_i_minus_s_soc = α_soc * c_i_minus_s_soc + trial_c_i - trial_s;
+          rhs.segment(0, x.rows()) =
+              -g + A_e.transpose() * y +
+              A_i.transpose() * (μ * s.cwiseInverse() - Σ * c_i_minus_s_soc);
+          rhs.segment(x.rows(), y.rows()) = -c_e_soc;
 
           // Solve the Newton-KKT system
-          compute_step(soc_step);
+          compute_step(soc_step, c_i_minus_s_soc);
 
           // αˢᵒᶜ = max(α ∈ (0, 1] : sₖ + αpₖˢ ≥ (1−τⱼ)sₖ)
           // αₖᶻˢᵒᶜ = max(α ∈ (0, 1] : zₖ + αpₖᶻ ≥ (1−τⱼ)zₖ)

sleipnirgroup_jormungandr-0.6.5.dev3/python/src/sleipnir/__init__.py

@@ -0,0 +1,5 @@
+"""Reverse mode autodiff library and NLP solver DSL"""
+
+from ._sleipnir import *
+
+__version__ = "0.6.5.dev3"

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/src/sleipnir/autodiff/__init__.py

@@ -1,6 +1,6 @@
 import scipy.sparse
 
-from .._sleipnir.autodiff import *  # noqa: F403
+from .._sleipnir.autodiff import *
 
 
 def spy(mat: scipy.sparse.csc_matrix):

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/src/sleipnir/optimization/__init__.py

@@ -1,6 +1,6 @@
 import concurrent.futures
 
-from .._sleipnir.optimization import *  # noqa: F403
+from .._sleipnir.optimization import *
 
 
 def multistart(solve, initial_guesses):
@@ -30,10 +30,4 @@ def multistart(solve, initial_guesses):
         ]
 
     # Prioritize successful solve, otherwise prioritize solution with lower cost
-    return min(
-        results,
-        key=lambda x: (
-            int(x[0] != ExitStatus.SUCCESS),  # noqa: F405
-            x[1],
-        ),
-    )
+    return min(results, key=lambda x: (int(x[0] != ExitStatus.SUCCESS), x[1]))

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/autodiff/gradient_test.py

@@ -2,7 +2,7 @@ import math
 
 import numpy as np
 import pytest
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import Gradient, Variable, VariableMatrix
 
 

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/autodiff/hessian_test.py

@@ -4,7 +4,7 @@ from functools import reduce
 
 import numpy as np
 import pytest
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import Gradient, Hessian, Jacobian, Variable, VariableMatrix
 
 

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/autodiff/variable_matrix_test.py

@@ -1,5 +1,5 @@
 import numpy as np
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import VariableMatrix
 
 

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/arm_on_elevator_problem_test.py

@@ -1,7 +1,7 @@
 import math
 
 import numpy as np
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import ExpressionType
 from sleipnir.optimization import ExitStatus, Problem, bounds
 

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/cart_pole_util.py

@@ -1,7 +1,7 @@
 import math
 
 import numpy as np
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import Variable, VariableMatrix
 
 # https://underactuated.mit.edu/acrobot.html#cart_pole
@@ -30,7 +30,7 @@ from sleipnir.autodiff import Variable, VariableMatrix
 
 m_c = 5.0  # Cart mass (kg)
 m_p = 0.5  # Pole mass (kg)
-l = 0.5  # Pole length (m)  # noqa: E741
+l = 0.5  # Pole length (m)
 g = 9.806  # Acceleration due to gravity (m/s²)
 
 

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/differential_drive_util.py

@@ -1,7 +1,7 @@
 import math
 
 import numpy as np
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import VariableMatrix
 
 # x = [x, y, heading, left velocity, right velocity]ᵀ

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/flywheel_ocp_test.py

@@ -108,21 +108,21 @@ def flywheel_test(
     assert problem.X().value(0, N) == pytest.approx(r, abs=2e-6)
 
     # Log states for offline viewing
-    with open(f"{test_name} states.csv", "w") as f:
-        f.write("Time (s),Velocity (rad/s)\n")
+    with open(f"{test_name} states.csv", "w") as file:
+        file.write("Time (s),Velocity (rad/s)\n")
 
         for k in range(N + 1):
-            f.write(f"{k * dt},{problem.X().value(0, k)}\n")
+            file.write(f"{k * dt},{problem.X().value(0, k)}\n")
 
     # Log inputs for offline viewing
-    with open(f"{test_name} inputs.csv", "w") as f:
-        f.write("Time (s),Voltage (V)\n")
+    with open(f"{test_name} inputs.csv", "w") as file:
+        file.write("Time (s),Voltage (V)\n")
 
         for k in range(N + 1):
             if k < N:
-                f.write(f"{k * dt},{problem.U().value(0, k)}\n")
+                file.write(f"{k * dt},{problem.U().value(0, k)}\n")
             else:
-                f.write(f"{k * dt},0.0\n")
+                file.write(f"{k * dt},0.0\n")
 
 
 def test_flywheel_explicit_ocp():

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/multistart_test.py

@@ -1,5 +1,5 @@
 import pytest
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.optimization import ExitStatus, Problem, multistart
 
 
@@ -30,7 +30,7 @@ def mishras_bird_function_solve(input: DecisionVariables):
 
 
 def test_mishras_bird_function():
-    status, cost, variables = multistart(
+    status, _cost, variables = multistart(
         mishras_bird_function_solve,
         [DecisionVariables(-3, -8), DecisionVariables(-3, -1.5)],
     )

{sleipnirgroup_jormungandr-0.6.5.dev1 → sleipnirgroup_jormungandr-0.6.5.dev3}/python/test/optimization/nonlinear_problem_test.py

@@ -1,6 +1,6 @@
 import numpy as np
 import pytest
-import sleipnir.autodiff as autodiff
+from sleipnir import autodiff
 from sleipnir.autodiff import ExpressionType
 from sleipnir.optimization import ExitStatus, Problem, bounds
 

sleipnirgroup_jormungandr-0.6.5.dev1/python/src/sleipnir/__init__.py

@@ -1,5 +0,0 @@
-"""Reverse mode autodiff library and NLP solver DSL"""
-
-from ._sleipnir import *  # noqa: F403
-
-__version__ = "0.6.5.dev1"