Control

openscvx.backend.control.Control

Bases: Variable

A class representing the control variables in an optimal control problem.

The Control class extends Variable to handle control-specific properties and supports both true and augmented control dimensions. It provides methods for appending new control variables and accessing subsets of the control vector.

Attributes:

Name	Type	Description
name	str	Name of the control variable.
shape	tuple	Shape of the control variable array.
min	ndarray	Minimum bounds for the control variables. Shape: (n_controls,).
max	ndarray	Maximum bounds for the control variables. Shape: (n_controls,).
guess	ndarray	Used to initialize SCP and contains the current SCP solution for the control trajectory. Shape: (n_nodes, n_controls).
_true_dim	int	True dimensionality of the control variables.
_true_slice	slice	Slice for accessing true control variables.
_augmented_slice	slice	Slice for accessing augmented control variables.

Notes

Attributes prefixed with underscore (_) are for internal use only and should not be accessed directly.

Example

control = Control("thrust", (3,))
control.min = [-1, -1, 0]
control.max = [1, 1, 10]
control.guess = np.repeat([[0, 0, 10]], 5, axis=0)

augmented property

Get the augmented control variables.

Returns:

Name	Type	Description
Control		A new Control object containing only the augmented control variables

true property

Get the true control variables (excluding augmented controls).

Returns:

Name	Type	Description
Control		A new Control object containing only the true control variables

_update_slices()

Update the slice objects for true and augmented controls.

append(other=None, *, min=-np.inf, max=np.inf, guess=0.0, augmented=False)

Append another control or create a new control variable.

Parameters:

Name	Type	Description	Default
other	Control	Another Control object to append	None
min	float	Minimum bound for new control. Defaults to -np.inf	-inf
max	float	Maximum bound for new control. Defaults to np.inf	inf
guess	float	Initial guess for new control. Defaults to 0.0	0.0
augmented	bool	Whether the new control is augmented. Defaults to False	False