[python-control-developers] [python-control/python-control] 178af3: add missing derivs for Bezier basis

[Richard M. <no...@gi...>]

  Branch: refs/heads/master
  Home:   https://github.com/python-control/python-control
  Commit: 178af364be409969ba5760c62159d40e6dc6490d
      https://github.com/python-control/python-control/commit/178af364be409969ba5760c62159d40e6dc6490d
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-02 (Tue, 02 Mar 2021)

  Changed paths:
    M control/flatsys/bezier.py
    M control/tests/flatsys_test.py

  Log Message:
  -----------
  add missing derivs for Bezier basis


  Commit: 8a9ab951d589b169f916d4527be906f2d8858804
      https://github.com/python-control/python-control/commit/8a9ab951d589b169f916d4527be906f2d8858804
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-06 (Sat, 06 Mar 2021)

  Changed paths:
    M .gitignore
    A benchmarks/flatsys_bench.py
    M benchmarks/optimal_bench.py
    M control/flatsys/flatsys.py
    M control/optimal.py
    M control/tests/flatsys_test.py
    M doc/flatsys.rst
    M examples/kincar-flatsys.py
    M examples/steering.ipynb

  Log Message:
  -----------
  initial implementation of optimization for flatsystems

This commit allows a cost function and constraints to be passed to the
flatsys point_to_point() function and when present will use sp.optimize to
find a trajectory.  Preliminary unit tests, benchmarks, docstrings and
documentation also in place.

Switched the order of arguments in point_to_point() so that Tf (or timepts)
now comes before the initial and final states, consistent with ordering
elsewhere in the package.

Make some small updates to optimal.py docstrings and argument names to make
things consistent with flatsys.


  Commit: 67a2169b78254d098888bb2b9c90f43a2ec9324f
      https://github.com/python-control/python-control/commit/67a2169b78254d098888bb2b9c90f43a2ec9324f
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-07 (Sun, 07 Mar 2021)

  Changed paths:
    M control/flatsys/bezier.py
    M control/flatsys/flatsys.py
    M control/iosys.py
    M control/optimal.py
    M control/tests/flatsys_test.py
    M doc/flatsys.rst
    M examples/steering.ipynb

  Log Message:
  -----------
  updated docs, unit tests, code fixes


  Commit: f02b1bebeaad3b3f8be778406569b7624fd9c760
      https://github.com/python-control/python-control/commit/f02b1bebeaad3b3f8be778406569b7624fd9c760
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-12 (Fri, 12 Mar 2021)

  Changed paths:
    M benchmarks/flatsys_bench.py
    M control/flatsys/flatsys.py
    M control/tests/flatsys_test.py
    M control/tests/optimal_test.py
    M examples/kincar-flatsys.py

  Log Message:
  -----------
  optimize via null space + updated testing

This commit changes the way that cost functions and constraints are handled
for flat system to carry out optimization only in the null space of the flat
system basis coefficients, eliminating the use of an equality constraint for
the terminal condition.


  Commit: c240e9b02329933c0267512ea91add3f1710582b
      https://github.com/python-control/python-control/commit/c240e9b02329933c0267512ea91add3f1710582b
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-12 (Fri, 12 Mar 2021)

  Changed paths:
    M control/flatsys/linflat.py

  Log Message:
  -----------
  fix legacy matrix issue in flatsys


  Commit: 1fe6e866becc076cc59866b334b99e8dd7d69ded
      https://github.com/python-control/python-control/commit/1fe6e866becc076cc59866b334b99e8dd7d69ded
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-12 (Fri, 12 Mar 2021)

  Changed paths:
    M control/flatsys/flatsys.py
    M control/tests/flatsys_test.py

  Log Message:
  -----------
  additional unit tests for code coverage


  Commit: 0c1d63867d1fe6da82f1a4b055b7f82fb12f0832
      https://github.com/python-control/python-control/commit/0c1d63867d1fe6da82f1a4b055b7f82fb12f0832
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-13 (Sat, 13 Mar 2021)

  Changed paths:
    M control/flatsys/flatsys.py
    M control/tests/flatsys_test.py
    M doc/flatsys.rst

  Log Message:
  -----------
  slight code refactoring to consolidate flag matrix computation


  Commit: c3c659638fb22bde11e40868f80f540060c50b40
      https://github.com/python-control/python-control/commit/c3c659638fb22bde11e40868f80f540060c50b40
  Author: Richard Murray <mu...@cd...>
  Date:   2021-03-19 (Fri, 19 Mar 2021)

  Changed paths:
    M .gitignore
    A benchmarks/flatsys_bench.py
    M benchmarks/optimal_bench.py
    M control/flatsys/bezier.py
    M control/flatsys/flatsys.py
    M control/flatsys/linflat.py
    M control/iosys.py
    M control/optimal.py
    M control/tests/flatsys_test.py
    M control/tests/optimal_test.py
    M doc/flatsys.rst
    M examples/kincar-flatsys.py
    M examples/steering.ipynb

  Log Message:
  -----------
  Merge pull request #569 from murrayrm/optimal_flatsys

Add optimization to flat systems trajectory generation


Compare: https://github.com/python-control/python-control/compare/22b99531589a...c3c659638fb2