Here we show how to use Python interfaces. First, run cartpole.ipynb, hexacopter.ipynb, mobilerobot.ipynb, or pendubot.ipynb in the project root directory and install Python interfaces. Second, set PYTHONPATH according to the generated messages in the notebooks. Then you can run examples, e.g., via

python3 cartpole.py

Documentation

Python API is very similar to the C++ API.
Please refere to the C++ API documentation https://mayataka.github.io/autogenu-jupyter/ as well as the following tips of the API conversions between C++ and Python.

Tips of API conversions between C++ and Python

Horizon

C++ Horizon documentation

	C++	Python
Include	#include "cgmres/horizon.hpp"	import cgmres.common
Constructor	const double Tf = ...; const double alpha = ...; cgmres::Horizon horizon(Tf, alpha);	horizon = cgmres.common.Horizon(Tf=..., alpha=...)
Shallow copy	auto& other = horizon;	other = horizon
Deep copy	auto other = horizon;	other = horizon.clone()
Methods	const double t = ...; const double T = horizon.T(t);	T = horizon.T(t=...)
Print out	std::cout << horizon << std::endl;	print(horizon)

SolverSettings

C++ SolverSettings documentation

	C++	Python
Include	#include "cgmres/solver_settings.hpp"	import cgmres.common
Constructor	cgmres::SolverSettings settings;	settings = cgmres.common.SolverSettings()
Shallow copy	auto& other = settings;	other = settings
Deep copy	auto other = settings;	other = settings.clone()
Scalar member variables	settings.max_iter = ...;	settings.max_iter = ...
Print out	std::cout << settings << std::endl;	print(settings)

OCP (OCP_cartpole as an example)

C++ OCP_cartpole documentation

	C++	Python
Include	#include "ocp.hpp"	import cgmres.cartpole
Constructor	cgmres::OCP_cartpole ocp;	ocp = cgmres.cartpole.OCP()
Shallow copy	auto& other = ocp;	other = ocp
Deep copy	auto other = ocp;	other = ocp.clone()
Scalar member variables	ocp.g = 9.80665;	ocp.g = 9.80665
Array member variables	ocp.q = std::array<double, 4>({2.5, 10, 0.1, 0.1});	ocp.q = np.array([2.5, 10, 0.1, 0.1])
Static member variables	const int nx = cgmres::OCP_cartpole::nx;	nx = cgmres.cartpole.OCP.nx
Member functions	const double t = ...; const cgmres::VectorX x = ...; const cgmres::VectorX u = ...; cgmres::VectorX dx = ...; ocp.eval_f(t, x, u, dx);	t = ... x = np.array([...]) u = np.array([...]) dx = ocp.eval_f(t, x, u)
Print out	std::cout << ocp << std::endl;	print(ocp)

ZeroHorizonOCPSolver (OCP_cartpole as an example)

C++ ZeroHorizonOCPSolver documentation

	C++	Python
Include	#include "cgmres/zero_horizon_ocp_solver.hpp" #include "ocp.hpp"	import cgmres.common import cgmres.cartpole
Constructor	cgmres::OCP_cartpole ocp; constexpr int kmax = ...; cgmres::SolverSettings settings; settings.max_iter = ...; cgmres::ZeroHorizonOCPSolver<cgmres::OCP_cartpole, kmax> solver(ocp, settings);	ocp = cgmres.cartpole.OCP() settins = cgmres.common.SolverSettings() settings.max_iter = ... solver = cgmres.cartpole.ZeroHorizonOCPSolver(ocp, settings)
Shallow copy	auto& other = solver;	other = solver
Deep copy	auto other = solver;	other = solver.clone()
Member functions	const double t = ...; const cgmres::VectorX x = ...; solver.solve(t, x);	t = ... x = np.array([...]) solver.solve(t, x)
Setter functions	const cgmres::VectorX u = ...; solver.set_u(u);	u = np.array([...]) solver.set_u(u)
Getter functions	const auto& uopt = solver.uopt();	uopt = solver.uopt
Print out	std::cout << solver << std::endl;	print(solver)

MultipleShootingCGMRESSolver (OCP_cartpole as an example)

C++ MultipleShootingCGMRESSolver documentation

	C++	Python
Include	#include "cgmres/multiple_shooting_cgmres_solver.hpp" #include "ocp.hpp"	import cgmres.common import cgmres.cartpole
Constructor	cgmres::OCP_cartpole ocp; constexpr int N = ...; constexpr int kmax = ...; cgmres::SolverSettings settings; settings.sampling_time = ...; cgmres::Horizon horizon(...); cgmres::MultipleShootingCGMRESSolver<cgmres::OCP_cartpole, N, kmax> mpc(ocp, horizon, settings);	ocp = cgmres.cartpole.OCP() settings = cgmres.common.SolverSettings() settings.sampling_time = ... horizon = cgmres.common.Horizon(Tf=..., alpha=...) mpc = cgmres.cartpole.MultipleShootingCGMRESSolver(ocp, horizon, settings)
Shallow copy	auto& other = mpc;	other = mpc
Deep copy	auto other = mpc;	other = mpc.clone()
Member functions	const double t = ...; const cgmres::VectorX x = ...; mpc.update(t, x);	t = ... x = np.array([...]) mpc.update(t, x)
Setter functions	const cgmres::VectorX u = ...; mpc.set_u(u);	u = np.array([...]) mpc.set_u(u)
Getter functions	const auto& uopt0 = solver.uopt()[0];	uopt0 = solver.uopt[0]
Print out	std::cout << mpc << std::endl;	print(mpc)