Merge pull request #339 from do-mpc/develop

v4.5.0

.github/workflows/pythontest.yml

@@ -0,0 +1,26 @@
+name: Test Python Package
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.9"]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+      - name: Test
+        run: |
+          cd testing
+          python -m unittest

.gitignore

@@ -26,3 +26,5 @@ testing/results/test_save.pkl
 examples/**/*.pkl
 documentation/source/example_gallery/**/*.pkl
 testing/sample_results/*.pkl
+
+testing/model.pkl

.travis.yml

@@ -1,6 +1,6 @@
 language: python
 python:
-  - "3.6"      # current default Python on Travis CI
+  - "3.9" 
 # command to install dependencies
 install:
   - pip install -r requirements.txt

do_mpc/__init__.py

@@ -20,13 +20,67 @@
 #   You should have received a copy of the GNU General Public License
 #   along with do-mpc.  If not, see <http://www.gnu.org/licenses/>.
 
-import do_mpc.tools
-import do_mpc.model
-import do_mpc.controller
-import do_mpc.estimator
-import do_mpc.optimizer
-import do_mpc.simulator
-import do_mpc.graphics
-import do_mpc.sampling
-
-from .version import __version__
+"""
+Find below a table of all **do-mpc** modules.
+Classes and functions of each module are shown on their respective page.
+
+The core modules are used to create the **do-mpc** control loop (click on elements to open documentation page):
+
+.. graphviz::
+    :name: control_loop
+    :caption: **do-mpc** control loop and interconnection of classes.
+    :align: center
+
+    digraph G {
+        graph [fontname = "Monaco"];
+        node [fontname = "Monaco", fontcolor="#404040", color="#bdbdbd"];
+        edge [fontname = "Monaco", color="#707070"];
+
+        Model [label="Model", href="../api/do_mpc.model.Model.html#model", target="_top", shape=box, style=filled]
+        MPC [href="../api/do_mpc.controller.MPC.html#mpc", target="_top", shape=box, style=filled]
+        Simulator [href="../api/do_mpc.simulator.Simulator.html#simulator", target="_top", shape=box, style=filled]
+        MHE [href="../api/do_mpc.estimator.MHE.html#mhe", target="_top", shape=box, style=filled]
+        Data_MPC [label="MPCData", href="../api/do_mpc.data.MPCData.html#mpcdata", target="_top", shape=box, style=filled]
+        Data_Sim [label="Data", href="../api/do_mpc.data.Data.html#data", target="_top", shape=box, style=filled]
+        Data_MHE [label="Data", href="../api/do_mpc.data.Data.html#data", target="_top", shape=box, style=filled]
+        Graphics [label="Graphics", href="../api/do_mpc.graphics.Graphics.html#graphics", target="_top", shape=box, style=filled]
+
+        Model -> MPC;
+        Model -> Simulator;
+        Model -> MHE;
+
+        Model [shape=box, style=filled]
+
+        subgraph cluster_loop {{
+            rankdir=TB;
+            rank=same;
+            MPC -> Simulator [label="inputs"];
+            Simulator -> MHE [label="meas."];
+            MHE -> MPC [label="states"];
+        }}
+
+        MPC -> Data_MPC;
+        Simulator -> Data_Sim;
+        MHE -> Data_MHE;
+
+        Data_MPC -> Graphics;
+        Data_Sim -> Graphics;
+        Data_MHE -> Graphics;
+
+
+    }
+"""
+
+from . import tools
+from . import model
+from . import optimizer
+from . import controller
+from . import estimator
+from . import simulator
+from . import graphics
+from . import sampling
+from . import data
+from . import graphics
+from . import sysid
+
+from ._version import __version__

do_mpc/_version.py

@@ -0,0 +1 @@
+__version__ = '4.5.0'

do_mpc/controller/__init__.py

@@ -0,0 +1,7 @@
+
+"""
+Controller for dynamic systems.
+"""
+
+from ._mpc import MPC
+from ._lqr import LQR