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Tools for building symbolic representations of nonlinear systems and numerically integrating them
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vlsd/nlsymb
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====== nlsymb ====== nlsymb is a small collection of classes and functions that use and extend the tools of `numpy` and `sympy` for use with nonlinear dynamic systems that require somewhat intricate tensor algebra between symbolic object. An example use is:: #!/usr/bin/env python from nlsymb import aux from nlsymb import object_einsum from nlsymb import lqr with nlsymb.Timer(): ref = aux.trajectory('x', 'u') ref.addpoint(0, x=xinit, u=[1, 0]) ref.addpoint(2, x=[-6, -7, 0, 0], u=[0, 1]) ref.interpolate() print "reference x at time %f is %f " % (1.34, ref.x(1.34)) Installation ============ Not implemented yet. For now just clone the repo and manually copy things where they need to be or develop directly in this folder. TODO ==== Make sure that flat_optim.py works as advertised (fixed some typos but no time to check in depth). Also add a few benchmark trajectories for it, like constant reference and control variations. Write run_optim.py file that takes type of floor, initial point, reference trajectory and cost functions as parameters/reads them from a file.
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