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Optimal control results should include the final cost achieved #694

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murrayrm opened this issue Jan 26, 2022 · 4 comments · Fixed by #712
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Optimal control results should include the final cost achieved #694

murrayrm opened this issue Jan 26, 2022 · 4 comments · Fixed by #712
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@murrayrm
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enhancement
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0.9.2

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@murrayrm
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The the optimal control module (ct.optimal), it would be useful if the functions that compute an optimal trajectory returned the cost associated with the final trajectory that is returned, so that it doesn't have to be recomputed. (Perhaps also a function to compute the cost along a curve according to an arbitrary cost function.)
@ThomasGiavasopoulos
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ThomasGiavasopoulos commented Mar 2, 2022 •
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Is there currently an option to return the value of the cost associated with a final trajectory given a time horizon?

@murrayrm
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murrayrm commented Mar 3, 2022

The return object from ct.optimal.solve_ocp is a OptimizeResult object, so result.fun will get you the value of the function. Whoever handles this enhancement should change that to be something more meaningful (eg, result.cost as a property that maps to result.fun).

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FYI, I have added this to an upcoming PR.

@murrayrm murrayrm self-assigned this Mar 18, 2022
@murrayrm murrayrm added this to the 0.9.2 milestone Mar 19, 2022
@ThomasGiavasopoulos
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FYI, I have added this to an upcoming PR.

That sounds really useful. Hope that it gets added soon!

@murrayrm murrayrm mentioned this issue Mar 23, 2022
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@murrayrm murrayrm linked a pull request Mar 23, 2022 that will close this issue
Optimal control enhancements #712
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Optimal control enhancements murrayrm/python-control
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