Support f0 pss

.github/workflows/tests.yml

@@ -6,7 +6,7 @@ on:
 
 jobs:
   test_nosnoc:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
 
     steps:
     - uses: actions/checkout@v3
@@ -19,6 +19,7 @@ jobs:
         virtualenv --python=python3 env
         source env/bin/activate
         which python
+        pip install setuptools
         pip install -e .
         pip install -r requirements-test.txt
 
@@ -37,7 +38,7 @@ jobs:
 
     - name: Upload test results
       if: always()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: test-results
         path: test-results/

examples/motor_with_friction/motor_with_friction_ocp.py

@@ -10,8 +10,7 @@
 X0 = np.array([0, 0, 0, 0, 0])
 X_TARGET = np.array([0.01, 0, 0.01, 0, 0])
 
-
-def get_motor_with_friction_ocp_description():
+def get_motor_with_friction_ocp_description(USE_FO_DYNAMICS):
 
     # Parameters
     m1 = 1.03  # slide mass
@@ -52,11 +51,18 @@ def get_motor_with_friction_ocp_description():
     C1 = np.array([0, -F_R / m1, 0, 0, 0])  # v1 >0
     C2 = -C1  # v1<0
 
-    # switching dynamics with different friction froces
-    f_1 = A @ x + B @ u + C1
-    # v1>0
-    f_2 = A @ x + B @ u + C2
-    # v1<0
+    if USE_FO_DYNAMICS:
+        f_0 = A @ x + B @ u
+        f_1 = C1
+        # v1>0
+        f_2 = C2
+        # v1<0
+    else:
+        # switching dynamics with different friction froces
+        f_1 = A @ x + B @ u + C1
+        # v1>0
+        f_2 = A @ x + B @ u + C2
+        # v1<0
 
     # All modes
     F = [horzcat(f_1, f_2)]
@@ -71,8 +77,10 @@ def get_motor_with_friction_ocp_description():
 
     # Stage cost
     f_q = u**2
-
-    model = nosnoc.NosnocModel(x=x, F=F, S=S, c=c, x0=X0, u=u)
+    if USE_FO_DYNAMICS:
+        model = nosnoc.NosnocModel(x=x, f_0=f_0, F=F, S=S, c=c, x0=X0, u=u)
+    else:
+        model = nosnoc.NosnocModel(x=x, F=F, S=S, c=c, x0=X0, u=u)
     ocp = nosnoc.NosnocOcp(lbu=lbu, ubu=ubu, f_q=f_q, g_terminal=g_terminal)
 
     return model, ocp
@@ -98,7 +106,7 @@ def solve_ocp(opts=None):
     if opts is None:
         opts = get_default_options()
 
-    [model, ocp] = get_motor_with_friction_ocp_description()
+    [model, ocp] = get_motor_with_friction_ocp_description(USE_FO_DYNAMICS=True)
 
     opts.terminal_time = 0.08
 

nosnoc/model.py

@@ -27,6 +27,7 @@ class NosnocModel:
     :param x: state variables
     :param x0: initial state
     :param F: set of state equations for the different regions
+    :param f_0: part of rhs in the PSS that remains unchanged/smooth. default zero.
     :param c: set of region boundaries
     :param S: determination of the boundaries region connecting
         different state equations with each boundary zone
@@ -58,6 +59,7 @@ def __init__(self,
                  x: ca.SX,
                  x0: Optional[np.ndarray],
                  F: Optional[List[ca.SX]] = None,
+                 f_0: Optional[ca.SX] = None,
                  c: Optional[List[ca.SX]] = None,
                  S: Optional[List[np.ndarray]] = None,
                  g_Stewart: Optional[List[ca.SX]] = None,
@@ -82,6 +84,7 @@ def __init__(self,
         self.theta: List[ca.SX] = theta
         self.F: Optional[List[ca.SX]] = F
         self.f_x: List[ca.SX] = f_x
+        self.f_0: Optional[ca.SX] = f_0
         self.g_z: ca.SX = g_z
         self.c: List[ca.SX] = c
         self.S: List[np.ndarray] = S
@@ -272,7 +275,10 @@ def preprocess_model(self, opts: NosnocOpts):
             f_x = casadi_vertcat_list(self.f_x)
             z[0:sum(n_c_sys)] = casadi_vertcat_list(self.alpha)
         else:
-            f_x = ca.SX.zeros((n_x, 1))
+            if self.f_0 is None:
+                f_x = ca.SX.zeros((n_x, 1))
+            else:
+                f_x = self.f_0 # initalize f_x with base dynamics f_0
 
         if opts.pss_mode == PssMode.STEWART:
             for ii in range(n_sys):

requirements-test.txt

@@ -1,27 +1,4 @@
 # Additional test requirements
-pytest==7.3.0
-pytest-cov==4.0.0
-parameterized==0.9.0
-# Fixed version dependencies
-casadi>=3.6
-contourpy==1.0.7
-coverage==7.2.3
-cycler==0.11.0
-exceptiongroup==1.1.1
-fonttools==4.38.0
-importlib-resources==5.12.0
-iniconfig==2.0.0
-kiwisolver==1.4.4
-matplotlib==3.7.0
-numpy==1.24.2
-packaging==23.0
-Pillow==9.4.0
-pluggy==1.0.0
-pyparsing==3.0.9
-python-dateutil==2.8.2
-scipy==1.10.1
-setuptools-scm==7.1.0
-six==1.16.0
-tomli==2.0.1
-typing_extensions==4.5.0
-zipp==3.14.0
+pytest
+pytest-cov
+parameterized

setup.py

@@ -1,25 +1,31 @@
 from distutils.core import setup
 
-setup(name='nosnoc',
-   version='0.1',
-   python_requires='>=3.8',
-   description='Nonsmooth Numerical Optimal Control for Python',
-#    url='',
-   author='Jonathan Frey, Armin Nurkanovic',
-   # use_scm_version={
-   #   "fallback_version": "0.1-local",
-   #   "root": "../..",
-   #   "relative_to": __file__
-   # },
+setup(
+    name='nosnoc',
+    version='0.1',
+    python_requires='>=3.8',
+    description='Nonsmooth Numerical Optimal Control for Python',
+    #    url='',
+   author='Anton Pozharskiy, Jonathan Frey, Armin Nurkanovic',
+    # use_scm_version={
+    #   "fallback_version": "0.1-local",
+    #   "root": "../..",
+    #   "relative_to": __file__
+    # },
    license='BSD',
-#    packages = find_packages(),
-   include_package_data = True,
-   py_modules=[],
-   setup_requires=['setuptools_scm'],
-   install_requires=[
-      'numpy>=1.20.0,<2.0.0',
-      'scipy',
-      'casadi==3.6.3',
-      'matplotlib',
-   ]
+    packages = ["nosnoc"],
+    include_package_data = True,
+    py_modules=[],
+    setup_requires=['setuptools_scm'],
+    install_requires=[
+        'numpy>=1.20.0',
+        'scipy',
+        'casadi',
+        'matplotlib',
+    ],
+    tests_require=[
+        'pytest',
+        'pytest-cov',
+        'parametrized'
+        ]
 )

test/test_ocp.py

@@ -87,8 +87,8 @@ def test_combination(self, equidistant_control_grid, step_equilibration, irk_rep
         self.assertTrue(np.allclose(x_traj[-1][:2], X_TARGET, atol=1e-4), message)
         self.assertTrue(np.allclose(t_grid[-1], TERMINAL_TIME, atol=1e-6), message)
         self.assertTrue(np.allclose(t_grid[0], 0.0, atol=1e-6), message)
-        self.assertTrue(np.alltrue(u_traj < UBU), message)
-        self.assertTrue(np.alltrue(u_traj > LBU), message)
+        self.assertTrue(np.all(u_traj < UBU), message)
+        self.assertTrue(np.all(u_traj > LBU), message)
 
 
 if __name__ == "__main__":

test/test_parametric_ocp.py

@@ -11,7 +11,7 @@ def test_one_parametric_ocp(self):
         results_parametric = solve_paramteric_example(with_global_var=False)
 
         self.assertTrue(np.allclose(ref_results["w_sol"], results_parametric["w_sol"], atol=1e-6))
-        self.assertTrue(np.alltrue(ref_results["nlp_iter"] == results_parametric["nlp_iter"]))
+        self.assertTrue(np.all(ref_results["nlp_iter"] == results_parametric["nlp_iter"]))
         self.assertEqual(results_parametric["v_global"].shape, (1, 0))
         self.assertEqual(ref_results["v_global"].shape, (1, 0))