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Handle scalar timeresp in solve_flat_ocp #1111

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Merged
merged 3 commits into from
Feb 1, 2025
Merged

Handle scalar timeresp in solve_flat_ocp #1111

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52ab45e
Add test for scalar `timepts` arg in `solve_flat_ocp`
roryyorke Feb 1, 2025
b7eeb79
Handle scalar `timepts` arg in `solve_flat_ocp`
roryyorke Feb 1, 2025
a05b9d5
Use assert_array_equal to compare results in scalar timeresp test
roryyorke Feb 1, 2025
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3 changes: 1 addition & 2 deletions control/flatsys/flatsys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -721,8 +721,7 @@ def solve_flat_ocp(

# Process final time
timepts = np.atleast_1d(timepts)
Tf = timepts[-1]
T0 = timepts[0] if len(timepts) > 1 else T0
T0 = timepts[0] if len(timepts) > 1 else 0

# Process keyword arguments
if trajectory_constraints is None:
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23 changes: 23 additions & 0 deletions control/tests/flatsys_test.py
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Expand Up @@ -452,6 +452,29 @@ def test_flat_solve_ocp(self, basis):
np.testing.assert_almost_equal(x_const, x_nlconst)
np.testing.assert_almost_equal(u_const, u_nlconst)

def test_solve_flat_ocp_scalar_timepts(self):
# scalar timepts gives expected result
f = fs.LinearFlatSystem(ct.ss(ct.tf([1],[1,1])))

def terminal_cost(x, u):
return (x-5).dot(x-5)+u.dot(u)

traj1 = fs.solve_flat_ocp(f, [0, 1], x0=[23],
terminal_cost=terminal_cost)

traj2 = fs.solve_flat_ocp(f, 1, x0=[23],
terminal_cost=terminal_cost)

teval = np.linspace(0, 1, 101)

r1 = traj1.response(teval)
r2 = traj2.response(teval)

np.testing.assert_array_equal(r1.x, r2.x)
np.testing.assert_array_equal(r1.y, r2.y)
np.testing.assert_array_equal(r1.u, r2.u)


def test_bezier_basis(self):
bezier = fs.BezierFamily(4)
time = np.linspace(0, 1, 100)
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