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WIP: Refactor #19

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b57f121
refactor WIP
baggepinnen Jun 6, 2019
568ddb4
more WIP
baggepinnen Jun 6, 2019
1978d43
more WIP
baggepinnen Jun 7, 2019
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63 changes: 61 additions & 2 deletions Manifest.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,32 @@
[[Base64]]
uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

[[CSTParser]]
deps = ["LibGit2", "Test", "Tokenize"]
git-tree-sha1 = "437c93bc191cd55957b3f8dee7794b6131997c56"
uuid = "00ebfdb7-1f24-5e51-bd34-a7502290713f"
version = "0.5.2"

[[Compat]]
deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
git-tree-sha1 = "84aa74986c5b9b898b0d1acaf3258741ee64754f"
uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
version = "2.1.0"

[[DataStructures]]
deps = ["InteractiveUtils", "OrderedCollections", "Random", "Serialization", "Test"]
git-tree-sha1 = "ca971f03e146cf144a9e2f2ce59674f5bf0e8038"
uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
version = "0.15.0"

[[Dates]]
deps = ["Printf"]
uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"

[[DelimitedFiles]]
deps = ["Mmap"]
uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"

[[Distributed]]
deps = ["Random", "Serialization", "Sockets"]
uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
Expand All @@ -17,6 +37,9 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
deps = ["Markdown"]
uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"

[[LibGit2]]
uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"

[[Libdl]]
uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"

Expand All @@ -33,22 +56,35 @@ version = "0.2.1"
[[Logging]]
uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"

[[MacroTools]]
deps = ["CSTParser", "Compat", "DataStructures", "Test"]
git-tree-sha1 = "daecd9e452f38297c686eba90dba2a6d5da52162"
uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
version = "0.5.0"

[[Markdown]]
deps = ["Base64"]
uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"

[[Mmap]]
uuid = "a63ad114-7e13-5084-954f-fe012c677804"

[[OrderedCollections]]
deps = ["Random", "Serialization", "Test"]
git-tree-sha1 = "85619a3f3e17bb4761fe1b1fd47f0e979f964d5b"
git-tree-sha1 = "c4c13474d23c60d20a67b217f1d7f22a40edf8f1"
uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
version = "1.0.2"
version = "1.1.0"

[[Parameters]]
deps = ["Markdown", "OrderedCollections", "REPL", "Test"]
git-tree-sha1 = "70bdbfb2bceabb15345c0b54be4544813b3444e4"
uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a"
version = "0.10.3"

[[Pkg]]
deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"]
uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"

[[Printf]]
deps = ["Unicode"]
uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
Expand All @@ -73,16 +109,29 @@ git-tree-sha1 = "f6fbf4ba64d295e146e49e021207993b6b48c7d1"
uuid = "ae029012-a4dd-5104-9daa-d747884805df"
version = "0.5.2"

[[SHA]]
uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"

[[Serialization]]
uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"

[[SharedArrays]]
deps = ["Distributed", "Mmap", "Random", "Serialization"]
uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"

[[Sockets]]
uuid = "6462fe0b-24de-5631-8697-dd941f90decc"

[[SparseArrays]]
deps = ["LinearAlgebra", "Random"]
uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"

[[StaticArrays]]
deps = ["LinearAlgebra", "Random", "Statistics"]
git-tree-sha1 = "db23bbf50064c582b6f2b9b043c8e7e98ea8c0c6"
uuid = "90137ffa-7385-5640-81b9-e52037218182"
version = "0.11.0"

[[Statistics]]
deps = ["LinearAlgebra", "SparseArrays"]
uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
Expand All @@ -91,6 +140,16 @@ uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

[[Tokenize]]
deps = ["Printf", "Test"]
git-tree-sha1 = "3e83f60b74911d3042d3550884ca2776386a02b8"
uuid = "0796e94c-ce3b-5d07-9a54-7f471281c624"
version = "0.5.3"

[[UUIDs]]
deps = ["Random", "SHA"]
uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"

[[Unicode]]
uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"

Expand Down
2 changes: 2 additions & 0 deletions Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,11 @@ version = "0.4.0"
[deps]
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
LinearTimeVaryingModelsBase = "5e7a79f3-ee03-5374-bd42-db9a52b6e959"
MacroTools = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
Requires = "ae029012-a4dd-5104-9daa-d747884805df"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
ValueHistories = "98cad3c8-aec3-5f06-8e41-884608649ab7"
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22 changes: 13 additions & 9 deletions src/DifferentialDynamicProgramming.jl
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Original file line number Diff line number Diff line change
@@ -1,31 +1,35 @@
module DifferentialDynamicProgramming
using LinearTimeVaryingModelsBase, Requires, ValueHistories, LinearAlgebra, Statistics, Printf
using LinearTimeVaryingModelsBase, Requires, ValueHistories, LinearAlgebra, Statistics, Printf, StaticArrays
using MacroTools: @capture, postwalk, prewalk
const DEBUG = false # Set this flag to true in order to print debug messages


export QPTrace, boxQP, demoQP, iLQG,iLQGkl, demo_linear, demo_linear_kl, demo_pendcart, GaussianPolicy

export QPTrace, boxQP, demoQP, iLQG,iLQGkl, demo_linear, demo_linear_kl, demo_pendcart, GaussianPolicy, tosvec

tosvec(x::AbstractMatrix{<:Number}) = reinterpret(SVector{size(x,1),eltype(x)}, x)[:]
tosvec(x::AbstractVector{<:Number}) = SVector{length(x),eltype(x)}(x)
tosmat(x::AbstractMatrix{<:Number}) = SMatrix{size(x,1),size(x,2),eltype(x)}(x)
eye(n) = Matrix{Float64}(I,n,n)
Base.strides(::SArray{Tuple{i,j}}) where {i,j} = (1,i)

function __init__()
@require Plots="91a5bcdd-55d7-5caf-9e0b-520d859cae80" begin
@eval LinearAlgebra.adjoint(x::String) = x
@eval function plotstuff_linear(x,u,cost,totalcost)
p = Plots.plot(layout=(2,2))
Plots.plot!(p,x', title="State Trajectories", xlabel="Time step",legend=false, subplot=1, show=false)
Plots.plot!(p,cost,c=:black,linewidth=3, title="Cost", xlabel="Time step", subplot=2, show=false)
Plots.plot!(p,u',title="Control signals", xlabel="Time step", subplot=3, show=false)
Plots.plot!(p,reduce(hcat,x)', title="State Trajectories", xlabel="Time step",legend=false, subplot=1, show=false)
Plots.hline!(p,cost,c=:black,linewidth=3, title="Cost", xlabel="Time step", subplot=2, show=false)
Plots.plot!(p,reduce(hcat,u)',title="Control signals", xlabel="Time step", subplot=3, show=false)
Plots.plot!(p,totalcost,title="Total cost", xlabel="Iteration", subplot=4, show=false)
Plots.gui()
end
@eval function plotstuff_pendcart(x00, u00, x,u,cost00,cost,otrace)
cp = Plots.plot(layout=(1,3))
sp = Plots.plot(x00',title=["\$x_$(i)\$" for i=1:size(x00,1)]', lab="Simulation", layout=(2,2))
Plots.plot!(sp,x', title=["\$x_$(i)\$" for i=1:size(x00,1)]', lab="Optimized", xlabel="Time step", legend=true)
sp = Plots.plot(reduce(hcat,x00)',title=["\$x_$(i)\$" for i=1:length(x00[1])]', lab="Simulation", layout=(2,2))
Plots.plot!(sp,reduce(hcat,x)', title=["\$x_$(i)\$" for i=1:length(x00[1])]', lab="Optimized", xlabel="Time step", legend=true)

Plots.plot!(cp,cost00, title="Cost", lab="Simulation", subplot=2)
Plots.plot!(cp,u', legend=true, title="Control signal",lab="Optimized", subplot=1)
Plots.plot!(cp,reduce(hcat,u)', legend=true, title="Control signal",lab="Optimized", subplot=1)
Plots.plot!(cp,cost[2:end], legend=true, title="Cost",lab="Optimized", xlabel="Time step", subplot=2, yscale=:log10)
iters = sum(cost .> 0)
filter!(x->x>0,cost)
Expand Down
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