Variable

openscvx.backend.variable.Variable

Bases: Expr

A base class for variables in an optimal control problem.

The Variable class provides the fundamental structure for state and control variables, handling their shapes, bounds, and initial guesses. It supports operations like appending new variables and slicing.

Attributes:

Name	Type	Description
name	str	Name identifier for the variable
_shape	tuple	Shape of the variable vector
_min	ndarray	Minimum bounds for the variable
_max	ndarray	Maximum bounds for the variable
_guess	ndarray	Initial guess for the variable trajectory

guess property writable

Get the initial guess for the variable trajectory.

Returns:

Type	Description
	np.ndarray: Array of initial guesses for each variable at each time point

max property writable

Get the maximum bounds for the variable.

Returns:

Type	Description
	np.ndarray: Array of maximum values for each variable

min property writable

Get the minimum bounds for the variable.

Returns:

Type	Description
	np.ndarray: Array of minimum values for each variable

shape property

Get the shape of the variable.

Returns:

Name	Type	Description
tuple		Shape of the variable vector

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

Append another variable or create a new variable.

Parameters:

Name	Type	Description	Default
other	Variable	Another Variable object to append	None
min	float	Minimum bound for new variable. Defaults to -np.inf	-inf
max	float	Maximum bound for new variable. Defaults to np.inf	inf
guess	float	Initial guess for new variable. Defaults to 0.0	0.0