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Refactor 2 #16

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c847f20
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christianausb Apr 14, 2024
545beda
.
christianausb Apr 14, 2024
9260d69
.
christianausb Apr 14, 2024
95759af
auto convergence control for equality constraints
christianausb Apr 27, 2024
28e21ca
clean
christianausb Apr 27, 2024
705ce5e
.
christianausb Apr 28, 2024
10a7610
.
christianausb Apr 28, 2024
4015799
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christianausb Apr 28, 2024
64ab676
solver settings
christianausb May 5, 2024
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5,947 changes: 2,464 additions & 3,483 deletions examples/trajectory_optim_2integrator.ipynb
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73 changes: 35 additions & 38 deletions examples/trajectory_optim_cart_pendulum.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -45,12 +45,12 @@
},
{
"cell_type": "code",
"execution_count": 14,
"execution_count": 3,
"id": "29ba4f8d-620c-4c69-acf4-b8b710d9698d",
"metadata": {},
"outputs": [],
"source": [
"from jax_control_algorithms.trajectory_optimization import Solver, Functions, ProblemDefinition, constraint_geq, constraint_leq, unpack_res, generate_penalty_parameter_trace\n",
"from jax_control_algorithms.trajectory_optimization import Solver, Functions, ProblemDefinition, SolverSettings, constraint_geq, constraint_leq, unpack_res, generate_penalty_parameter_trace\n",
"from jax_control_algorithms.ui import manual_investigate, solve_and_plot\n",
"from jax_control_algorithms.common import rk4\n",
"\n",
Expand Down Expand Up @@ -298,7 +298,7 @@
},
{
"cell_type": "code",
"execution_count": 17,
"execution_count": 7,
"id": "7920d242-b26d-49a7-a630-9acfb06c6f2b",
"metadata": {
"tags": []
Expand All @@ -311,13 +311,15 @@
" 'u_max' : widgets.FloatSlider(min=0, max=100, step=0.01, value=100, description='u_max'),\n",
"}\n",
"\n",
"solver = Solver( partial(problem_def_cart_pendulum, n_steps = 50, dt=0.1) )\n",
"solver.solver_settings['max_float32_iterations'] = 0\n",
"\n",
"solver.solver_settings['max_iter_boundary_method'] = 100\n",
"solver.solver_settings['c_eq_init'] = 10000\n",
"solver.solver_settings['penalty_parameter_trace'] = generate_penalty_parameter_trace(t_start=0.5, t_final=1.0, n_steps=13)[0]\n",
"solver.solver_settings['lam'] = 1.6\n",
"solver = Solver(\n",
" partial(problem_def_cart_pendulum, n_steps = 50, dt=0.1),\n",
" solver_settings=SolverSettings(\n",
" max_iter_boundary_method=100,\n",
" c_eq_init=10000,\n",
" penalty_parameter_trace=generate_penalty_parameter_trace(t_start=0.5, t_final=1.0, n_steps=13)[0],\n",
" \n",
" ),\n",
")\n",
"\n",
"def set_theta_fn(solver, a, u_min, u_max):\n",
" solver.problem_definition.parameters['a'] = a\n",
Expand All @@ -327,7 +329,7 @@
},
{
"cell_type": "code",
"execution_count": 18,
"execution_count": 8,
"id": "62299d02-fe4b-47d1-ab9d-83f061ce2427",
"metadata": {
"tags": []
Expand All @@ -336,7 +338,7 @@
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},
Expand All @@ -350,7 +352,7 @@
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"version_major": 2,
"version_minor": 0
},
Expand All @@ -364,7 +366,7 @@
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"version_major": 2,
"version_minor": 0
},
Expand Down Expand Up @@ -448,7 +450,7 @@
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" <cc:Work>\n",
" <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
" <dc:date>2024-01-07T21:02:21.709627</dc:date>\n",
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" <dc:creator>\n",
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Expand Down Expand Up @@ -485,7 +487,7 @@
"L 214.457143 182.571429 \n",
"L 150.685714 182.571429 \n",
"z\n",
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"\" clip-path=\"url(#pf689b7f315)\" style=\"stroke: #000000; stroke-linejoin: miter\"/>\n",
" </g>\n",
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Expand All @@ -498,18 +500,18 @@
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"C 174.287841 356.263017 178.343333 357.942857 182.571429 357.942857 \n",
"z\n",
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"L 0 3.5 \n",
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" </g>\n",
" </g>\n",
" <g id=\"text_1\">\n",
Expand Down Expand Up @@ -546,7 +548,7 @@
" <g id=\"xtick_2\">\n",
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Expand Down Expand Up @@ -582,7 +584,7 @@
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" <use xlink:href=\"#m78a80aba27\" x=\"501.428571\" y=\"421.714286\" style=\"stroke: #000000; stroke-width: 0.8\"/>\n",
" </g>\n",
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Expand Down Expand Up @@ -738,17 +740,17 @@
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"L 182.571429 342 \n",
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"L 676.8 214.457143 \n",
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Expand Down Expand Up @@ -846,20 +848,7 @@
"metadata": {
"tags": []
},
"outputs": [
{
"ename": "BaseException",
"evalue": "Test cart_pendulum failed",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mBaseException\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[12], line 6\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m r[\u001b[38;5;241m1\u001b[39m]:\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mBaseException\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mTest \u001b[39m\u001b[38;5;124m'\u001b[39m \u001b[38;5;241m+\u001b[39m r[\u001b[38;5;241m0\u001b[39m] \u001b[38;5;241m+\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m failed\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[0;32m----> 6\u001b[0m \u001b[43mverify_test_results\u001b[49m\u001b[43m(\u001b[49m\u001b[43mtest_results\u001b[49m\u001b[43m)\u001b[49m\n",
"Cell \u001b[0;32mIn[12], line 4\u001b[0m, in \u001b[0;36mverify_test_results\u001b[0;34m(test_results)\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m r \u001b[38;5;129;01min\u001b[39;00m test_results:\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m r[\u001b[38;5;241m1\u001b[39m]:\n\u001b[0;32m----> 4\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mBaseException\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mTest \u001b[39m\u001b[38;5;124m'\u001b[39m \u001b[38;5;241m+\u001b[39m r[\u001b[38;5;241m0\u001b[39m] \u001b[38;5;241m+\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m failed\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
"\u001b[0;31mBaseException\u001b[0m: Test cart_pendulum failed"
]
}
],
"outputs": [],
"source": [
"def verify_test_results(test_results):\n",
" for r in test_results:\n",
Expand All @@ -876,6 +865,14 @@
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"id": "e8e93cad-4268-4f9a-9395-964850402d57",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
Expand Down
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