docstrings as per #348, backend=numpy, additional state variables #384

Peter230655 · 2025-02-25T20:38:20Z

using backend='numpy' reduced running time on my PC from anout 13 sec to about 7 sec.
storing the solution in .csv, the accuracy of fmt='%.2f' may be too inaccurate. Here I needed fmt='%.12f'
added additional state variables to make it more realistic: at the final point, not only the speed of the load, but also its acceleration must be zero. So, I use $h_i = \dfrac{d^2}{dt^2}(\textrm{position}_i \textrm{of load})$ and set $h_i(t_f) = 0$

moorepants · 2025-02-26T05:23:22Z

examples-gallery/intermediate/plot_crane_moving_a_load.py

+----------
+
+- Show the use of ``opty's variable node time interval`` feature to solve a
+  relatively simple problem.


remove monospaced phrase

You mean remove the double backwards strokes?

moorepants · 2025-02-26T05:25:06Z

No thumbnail is showing:

Peter230655 · 2025-02-26T05:34:13Z

No thumbnail is showing:

Strange: when I do ...make html it shows a thumbnail - and it is the latest version, I can see that the backstrokes are removed.

moorepants · 2025-02-26T06:08:42Z

make html locally depends on the cached prior runs of make html. So it may not reflect a clean build.

Peter230655 · 2025-02-26T06:12:22Z

make html locally depends on the cached prior runs of make html. So it may not reflect a clean build.

Would this even be so if I turn off my PC and turn it back on?
Would it use cached version on a simulation even if I changed something in that simulation?
(I get the feel, if I changed something, it runs again...)

I forced it to run it: I changed the program so it could not use the solution given. It could tell it was recalculating, also the running time shown was much longer.
Still it seems I got a thumbnail

moorepants · 2025-02-26T06:51:26Z

Would this even be so if I turn off my PC and turn it back on?

No, that's not how it works.

When you run make html it creates a new directory: opty/docs/examples. You have to delete that directory to "clear the cache". Also running make clean deletes all other sphinx generated output. After both those things you can run make html again for a fresh build (will take time).

Peter230655 · 2025-02-26T07:09:48Z

Would this even be so if I turn off my PC and turn it back on?

No, that's not how it works.

When you run make html it creates a new directory: opty/docs/examples. You have to delete that directory to "clear the cache". Also running make clean deletes all other sphinx generated output. After both those things you can run make html again for a fresh build (will take time).

I did as you explained: deleted the directory opty/docs/examples and ran make clean.
Then I ran make html - and as you said, it may have run 20 min or so.
But again I got a thumbnail.
NB:
I did not change anything in the printing part of the code, EXCEPT I now use MathJaxRepr to print the eoms.

moorepants · 2025-02-26T07:13:22Z

The thumbnail does not show on readthedocs, so it has to be figured out.

Peter230655 · 2025-02-26T07:15:20Z

The thumbnail does not show on readthedocs, so it has to be figured out.

But how can I try things, if it shows with make html ?

moorepants · 2025-02-26T08:48:00Z

You can try lots of things, but I don't know the answer to every single reason things don't work. I search the internet and try things until enough clues come together to figure out what is going on. All I know at the moment is that the thumbnail does not display correctly when doing a clean build on read the docs and that is the mechanism we publish the official documentation website. Why that is different on your local computer, I don't know. Mostly because I don't have 100% information about what happens on your computer.

Peter230655 · 2025-02-26T09:20:52Z

My problem is: how can I test the effect of a change I make? I cannot push every change for you to see what has happened!
Can I do a build on read the docs without pushing it?
As regards searching the internet, I would not know what to search for.

moorepants · 2025-02-26T09:51:57Z

My problem is: how can I test the effect of a change I make? I cannot push every change for you to see what has happened!

Yes, you have to learn to debug on your own :)

Can I do a build on read the docs without pushing it?

No, it is a cloud service we use and you can only look at the error logs it produces.

As regards searching the internet, I would not know what to search for.

I don't know either, but I try until something works.

Peter230655 · 2025-02-26T15:25:05Z

My problem is: how can I test the effect of a change I make? I cannot push every change for you to see what has happened!

Yes, you have to learn to debug on your own :)

Can I do a build on read the docs without pushing it?

No, it is a cloud service we use and you can only look at the error logs it produces.

So a simulation may work with opty/docs make html, it may pass your 13 tests - and still not work right?

As regards searching the internet, I would not know what to search for.

I don't know either, but I try until something works.

moorepants · 2025-02-26T15:59:32Z

So a simulation may work with opty/docs make html, it may pass your 13 tests - and still not work right?

Yes.

moorepants · 2025-02-26T19:24:00Z

computation time summary:
    - ../examples-gallery/advanced/plot_car_around_pylons.py:                             89.45 sec   0.0 MB
    - ../examples-gallery/advanced/plot_ball_rolling_on_spinning_disc.py:                 71.70 sec   0.0 MB
    - ../examples-gallery/advanced/plot_park2004.py:                                      70.09 sec   0.0 MB
    - ../examples-gallery/advanced/plot_sit_to_stand.py:                                  69.38 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_drone.py:                                     67.70 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_parallel_park.py:                             63.32 sec   0.0 MB
    - ../examples-gallery/beginner/plot_sliding_block.py:                                 61.46 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_fixed_duration.py:              59.10 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_variable_duration.py:           55.38 sec   0.0 MB
    - ../examples-gallery/advanced/plot_one_legged_time_trial.py:                         45.35 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_mississippi_steamboat.py:                     44.22 sec   0.0 MB
    - ../examples-gallery/advanced/plot_human_gait.py:                                    41.11 sec   0.0 MB
    - ../examples-gallery/advanced/plot_particle_in_tube.py:                              40.50 sec   0.0 MB
    - ../examples-gallery/advanced/plot_car_in_garage.py:                                 31.28 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_countersteer.py:                              28.54 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_103_104.py:                              21.56 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_7.py:                                    20.48 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_50.py:                                   13.94 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_non_contiguous_parameter_identification.py:   10.77 sec   0.0 MB
    - ../examples-gallery/beginner/plot_vyasarayani.py:                                   10.24 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_crane_moving_a_load.py:                       10.22 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts2003.py:                                      9.84 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_two_link_pendulum_on_a_cart.py:                9.70 sec   0.0 MB
    - ../examples-gallery/advanced/model_park2004.py:                                      0.00 sec   0.0 MB

Peter230655 · 2025-02-26T19:39:02Z

computation time summary:
    - ../examples-gallery/advanced/plot_car_around_pylons.py:                             89.45 sec   0.0 MB
    - ../examples-gallery/advanced/plot_ball_rolling_on_spinning_disc.py:                 71.70 sec   0.0 MB
    - ../examples-gallery/advanced/plot_park2004.py:                                      70.09 sec   0.0 MB
    - ../examples-gallery/advanced/plot_sit_to_stand.py:                                  69.38 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_drone.py:                                     67.70 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_parallel_park.py:                             63.32 sec   0.0 MB
    - ../examples-gallery/beginner/plot_sliding_block.py:                                 61.46 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_fixed_duration.py:              59.10 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_variable_duration.py:           55.38 sec   0.0 MB
    - ../examples-gallery/advanced/plot_one_legged_time_trial.py:                         45.35 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_mississippi_steamboat.py:                     44.22 sec   0.0 MB
    - ../examples-gallery/advanced/plot_human_gait.py:                                    41.11 sec   0.0 MB
    - ../examples-gallery/advanced/plot_particle_in_tube.py:                              40.50 sec   0.0 MB
    - ../examples-gallery/advanced/plot_car_in_garage.py:                                 31.28 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_countersteer.py:                              28.54 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_103_104.py:                              21.56 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_7.py:                                    20.48 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_50.py:                                   13.94 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_non_contiguous_parameter_identification.py:   10.77 sec   0.0 MB
    - ../examples-gallery/beginner/plot_vyasarayani.py:                                   10.24 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_crane_moving_a_load.py:                       10.22 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts2003.py:                                      9.84 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_two_link_pendulum_on_a_cart.py:                9.70 sec   0.0 MB
    - ../examples-gallery/advanced/model_park2004.py:                                      0.00 sec   0.0 MB

Looks line using the solution to skip solve(...) and backend='numpy' has seriously reduced running times.

Peter230655 · 2025-02-26T19:39:30Z

computation time summary:
    - ../examples-gallery/advanced/plot_car_around_pylons.py:                             89.45 sec   0.0 MB
    - ../examples-gallery/advanced/plot_ball_rolling_on_spinning_disc.py:                 71.70 sec   0.0 MB
    - ../examples-gallery/advanced/plot_park2004.py:                                      70.09 sec   0.0 MB
    - ../examples-gallery/advanced/plot_sit_to_stand.py:                                  69.38 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_drone.py:                                     67.70 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_parallel_park.py:                             63.32 sec   0.0 MB
    - ../examples-gallery/beginner/plot_sliding_block.py:                                 61.46 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_fixed_duration.py:              59.10 sec   0.0 MB
    - ../examples-gallery/beginner/plot_pendulum_swing_up_variable_duration.py:           55.38 sec   0.0 MB
    - ../examples-gallery/advanced/plot_one_legged_time_trial.py:                         45.35 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_mississippi_steamboat.py:                     44.22 sec   0.0 MB
    - ../examples-gallery/advanced/plot_human_gait.py:                                    41.11 sec   0.0 MB
    - ../examples-gallery/advanced/plot_particle_in_tube.py:                              40.50 sec   0.0 MB
    - ../examples-gallery/advanced/plot_car_in_garage.py:                                 31.28 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_countersteer.py:                              28.54 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_103_104.py:                              21.56 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_7.py:                                    20.48 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts_10_50.py:                                   13.94 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_non_contiguous_parameter_identification.py:   10.77 sec   0.0 MB
    - ../examples-gallery/beginner/plot_vyasarayani.py:                                   10.24 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_crane_moving_a_load.py:                       10.22 sec   0.0 MB
    - ../examples-gallery/beginner/plot_betts2003.py:                                      9.84 sec   0.0 MB
    - ../examples-gallery/intermediate/plot_two_link_pendulum_on_a_cart.py:                9.70 sec   0.0 MB
    - ../examples-gallery/advanced/model_park2004.py:                                      0.00 sec   0.0 MB

Looks line using the solution to skip solve(...) and backend='numpy' has seriously reduced running times.

docstrings as per csu-hmc#348, backend=numpy, additional state variables

97b1b77

moorepants reviewed Feb 26, 2025

View reviewed changes

remove back strokes

1d19d0a

removed MathJaxRepr, maybe this affected thumbnail?

47b7287

Peter230655 added 2 commits February 26, 2025 19:09

Merge branch 'master' into crane-moving-load

7c10015

moved thumbnail above the animation

35de299

moorepants merged commit 96aef31 into csu-hmc:master Feb 26, 2025
13 checks passed

Peter230655 deleted the crane-moving-load branch February 26, 2025 19:36

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docstrings as per #348, backend=numpy, additional state variables #384

docstrings as per #348, backend=numpy, additional state variables #384

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docstrings as per #348, backend=numpy, additional state variables #384

docstrings as per #348, backend=numpy, additional state variables #384

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