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mpc_python_learn
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feat: 第一次提交

master
邱棚 2024-10-22 17:12:23 +08:00
parent fbd5f792d7
commit 6f4e6647ab
10 changed files with 113 additions and 20 deletions
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8
.idea/.gitignore vendored Normal file
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@ -0,0 +1,8 @@
# Default ignored files
/shelf/
/workspace.xml
# Editor-based HTTP Client requests
/httpRequests/
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml

15
.idea/inspectionProfiles/Project_Default.xml Normal file
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<component name="InspectionProjectProfileManager">
<profile version="1.0">
<option name="myName" value="Project Default" />
<inspection_tool class="PyCompatibilityInspection" enabled="true" level="WARNING" enabled_by_default="true">
<option name="ourVersions">
<value>
<list size="2">
<item index="0" class="java.lang.String" itemvalue="3.9" />
<item index="1" class="java.lang.String" itemvalue="3.11" />
</list>
</value>
</option>
</inspection_tool>
</profile>
</component>

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.idea/inspectionProfiles/profiles_settings.xml Normal file
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<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

10
.idea/misc.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="Black">
<option name="sdkName" value="Python 3.12 (mpc_python12)" />
</component>
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12 (mpc_python12)" project-jdk-type="Python SDK" />
<component name="PythonCompatibilityInspectionAdvertiser">
<option name="version" value="3" />
</component>
</project>

8
.idea/modules.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/mpc_python.iml" filepath="$PROJECT_DIR$/.idea/mpc_python.iml" />
</modules>
</component>
</project>

14
.idea/mpc_python.iml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$">
<excludeFolder url="file://$MODULE_DIR$/venv" />
</content>
<orderEntry type="jdk" jdkName="Python 3.12 (mpc_python12)" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
<component name="PyDocumentationSettings">
<option name="format" value="PLAIN" />
<option name="myDocStringFormat" value="Plain" />
</component>
</module>

6
.idea/vcs.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
</component>
</project>

4
README.md
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@ -9,12 +9,12 @@ This mainly uses **[CVXPY](https://www.cvxpy.org/)** as a framework. This repo c
* To run the pybullet demo:
```bash
python3 mpc_demo_pybullet.py
python3 ./mpc_pybullet_demo/mpc_demo_pybullet.py
```
* To run the simulation-less demo (simpler demo that does not use pybullet, useful for debugging):
```bash
python3 mpc_demo_pybullet.py
python3 ./mpc_pybullet_demo/mpc_demo_nosim.py
```
In both cases the script will promt the user for `enter` before starting the demo.

54
notebooks/1.0-lti-system-modelling.ipynb
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@ -11,9 +11,22 @@
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"execution_count": 2,
"metadata": {
"ExecuteTime": {
"end_time": "2024-10-22T08:05:56.118290Z",
"start_time": "2024-10-22T08:05:46.550696Z"
}
},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"Matplotlib is building the font cache; this may take a moment.\n"
]
}
],
"source": [
"import numpy as np\n",
"from scipy.integrate import odeint\n",
@ -177,8 +190,13 @@
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"execution_count": 3,
"metadata": {
"ExecuteTime": {
"end_time": "2024-10-22T08:06:14.547915Z",
"start_time": "2024-10-22T08:06:14.544585Z"
}
},
"outputs": [],
"source": [
"# Define process model\n",
@ -220,15 +238,23 @@
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"execution_count": 4,
"metadata": {
"ExecuteTime": {
"end_time": "2024-10-22T08:06:17.956990Z",
"start_time": "2024-10-22T08:06:17.847071Z"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"CPU times: user 3.39 ms, sys: 0 ns, total: 3.39 ms\n",
"Wall time: 2.79 ms\n"
"ename": "NameError",
"evalue": "name 'M' is not defined",
"output_type": "error",
"traceback": [
"\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
"\u001B[0;31mNameError\u001B[0m Traceback (most recent call last)",
"File \u001B[0;32m<timed exec>:1\u001B[0m\n",
"\u001B[0;31mNameError\u001B[0m: name 'M' is not defined"
]
}
],
@ -443,9 +469,9 @@
],
"metadata": {
"kernelspec": {
"display_name": "Python [conda env:.conda-jupyter] *",
"name": "python3",
"language": "python",
"name": "conda-env-.conda-jupyter-py"
"display_name": "Python 3 (ipykernel)"
},
"language_info": {
"codemirror_mode": {

8
requirements.txt
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@ -1,6 +1,6 @@
pybullet==2.7.2
cvxpy==1.0.28
pybullet>=2.7.2
cvxpy>=1.0.28
dccp
numpy>=1.22
osqp==0.6.1
scipy==1.10.0
osqp>=0.6.1
scipy>=1.10.0