Optimization Results

openscvx.results.OptimizationResults dataclass

Structured container for optimization results from the Successive Convexification (SCP) solver.

This class provides a type-safe and organized way to store and access optimization results, replacing the previous dictionary-based approach. It includes core optimization data, iteration history for convergence analysis, post-processing results, and flexible storage for plotting and application-specific data.

Attributes:

Name	Type	Description
converged	bool	Whether the optimization successfully converged
t_final	float	Final time of the optimized trajectory
u	Control	Optimized control trajectory at discretization nodes
x	State	Optimized state trajectory at discretization nodes
x_history	list[ndarray]	State trajectories from each SCP iteration
u_history	list[ndarray]	Control trajectories from each SCP iteration
discretization_history	list[ndarray]	Time discretization from each iteration
J_tr_history	list[ndarray]	Trust region cost history
J_vb_history	list[ndarray]	Virtual buffer cost history
J_vc_history	list[ndarray]	Virtual control cost history
t_full	Optional[ndarray]	Full time grid for interpolated trajectory
x_full	Optional[ndarray]	Interpolated state trajectory on full time grid
u_full	Optional[ndarray]	Interpolated control trajectory on full time grid
cost	Optional[float]	Total cost of the optimized trajectory
ctcs_violation	Optional[ndarray]	Continuous-time constraint violations
plotting_data	dict[str, Any]	Flexible storage for plotting and application data

get(key: str, default: Any = None) -> Any

Get a value from the results, similar to dict.get().

Parameters:

Name	Type	Description	Default
key	str	The key to look up	required
default	Any	Default value if key is not found	None

Returns:

Type	Description
Any	The value associated with the key, or default if not found

to_dict() -> dict[str, Any]

Convert the results to a dictionary for backward compatibility.

Returns:

Type	Description
dict[str, Any]	Dictionary representation of the results

update(other: dict[str, Any])

Update the results with additional data from a dictionary.

Parameters:

Name	Type	Description	Default
other	dict[str, Any]	Dictionary containing additional data	required

update_plotting_data(**kwargs)

Update the plotting data with additional information.

Parameters:

Name	Type	Description	Default
**kwargs		Key-value pairs to add to plotting_data	{}