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Merged
pull merged 2 commits into from
May 1, 2025
Merged

[pull] master from AtsushiSakai:master #19

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af0442d
build(deps): update cvxpy version from 1.5.3 to 1.6.5 in requirements…
AtsushiSakai May 1, 2025
1f729cb
build(deps): bump ruff from 0.11.6 to 0.11.7 in /requirements (#1205)
dependabot[bot] May 1, 2025
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9 changes: 5 additions & 4 deletions AerialNavigation/rocket_powered_landing/rocket_powered_landing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
W_DELTA_SIGMA = 1e-1 # difference in flight time
W_NU = 1e5 # virtual control

print(cvxpy.installed_solvers())
solver = 'ECOS'
verbose_solver = False

Expand Down Expand Up @@ -462,11 +463,11 @@ def __init__(self, m, K):
# x_t+1 = A_*x_t+B_*U_t+C_*U_T+1*S_*sigma+zbar+nu
constraints += [
self.var['X'][:, k + 1] ==
cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x)) @
cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x), order='F') @
self.var['X'][:, k] +
cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u)) @
cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u), order='F') @
self.var['U'][:, k] +
cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u)) @
cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u), order='F') @
self.var['U'][:, k + 1] +
self.par['S_bar'][:, k] * self.var['sigma'] +
self.par['z_bar'][:, k] +
Expand Down Expand Up @@ -536,7 +537,7 @@ def solve(self, **kwargs):
with warnings.catch_warnings(): # For User warning from solver
warnings.simplefilter('ignore')
self.prob.solve(verbose=verbose_solver,
solver=solver)
solver=solver)
except cvxpy.SolverError:
error = True

Expand Down
2 changes: 1 addition & 1 deletion InvertedPendulum/inverted_pendulum_mpc_control.py
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Expand Up @@ -91,7 +91,7 @@ def mpc_control(x0):
prob = cvxpy.Problem(cvxpy.Minimize(cost), constr)

start = time.time()
prob.solve(verbose=False)
prob.solve(verbose=False, solver=cvxpy.CLARABEL)
elapsed_time = time.time() - start
print(f"calc time:{elapsed_time:.6f} [sec]")

Expand Down
5 changes: 3 additions & 2 deletions requirements/requirements.txt
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@@ -1,8 +1,9 @@
numpy == 2.2.4
scipy == 1.15.2
matplotlib == 3.10.1
cvxpy == 1.5.3
cvxpy == 1.6.5
ecos == 2.0.14
pytest == 8.3.5 # For unit test
pytest-xdist == 3.6.1 # For unit test
mypy == 1.15.0 # For unit test
ruff == 0.11.6 # For unit test
ruff == 0.11.7 # For unit test
2 changes: 1 addition & 1 deletion tests/conftest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,4 +10,4 @@


def run_this_test(file):
pytest.main([os.path.abspath(file)])
pytest.main(args=["-W", "error", "-Werror", "--pythonwarnings=error", os.path.abspath(file)])
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