control.optimal.OptimalControlResult

class control.optimal.OptimalControlResult(ocp, res, return_states=True, print_summary=False, transpose=None, squeeze=None)

Bases: OptimizeResult

Result from solving an optimal control problem.

This class is a subclass of scipy.optimize.OptimizeResult with additional attributes associated with solving optimal control problems. It is used as the return type for optimal control problems.

Parameters

ocpOptimalControlProblem

Optimal control problem that generated this solution.

resscipy.minimize.OptimizeResult

Result of optimization.

print_summarybool, optional

If True (default), print a short summary of the computation.

squeezebool, optional

If True and if the system has a single output, return the system output as a 1D array rather than a 2D array. If False, return the system output as a 2D array even if the system is SISO. Default value set by config.defaults['control.squeeze_time_response'].

Attributes

inputsndarray

The optimal inputs associated with the optimal control problem.

statesndarray

If return_states was set to true, stores the state trajectory associated with the optimal input.

successbool

Whether or not the optimizer exited successful.

costfloat

Final cost of the return solution.

system_simulations, cost_evaluations, constraint_evaluations, eqconst_evaluationsint

Number of system simulations and evaluations of the cost function, (inequality) constraint function, and equality constraint function performed during the optimization.

cost_process_time, constraint_process_time, eqconst_process_timefloat

If logging was enabled, the amount of time spent evaluating the cost and constraint functions.

Methods

clear
copy
fromkeys	Create a new dictionary with keys from iterable and values set to value.
get	Return the value for key if key is in the dictionary, else default.
items
keys
pop	If the key is not found, return the default if given; otherwise, raise a KeyError.
popitem	Remove and return a (key, value) pair as a 2-tuple.
setdefault	Insert key with a value of default if key is not in the dictionary.
update	If E is present and has a .keys() method, then does: for k in E: D[k] = E[k] If E is present and lacks a .keys() method, then does: for k, v in E: D[k] = v In either case, this is followed by: for k in F: D[k] = F[k]
values

__class_getitem__()

See PEP 585

__contains__(key, /)

True if the dictionary has the specified key, else False.

__delattr__(key, /)

Delete self[key].

__delitem__(key, /)

Delete self[key].

__dir__()

Default dir() implementation.

__eq__(value, /)

Return self==value.

__ge__(value, /)

Return self>=value.

__getattribute__(name, /)

Return getattr(self, name).

__getitem__(key, /)

Return self[key].

__gt__(value, /)

Return self>value.

__hash__ = None

__ior__(value, /)

Return self|=value.

__iter__(/)

Implement iter(self).

__le__(value, /)

Return self<=value.

__len__(/)

Return len(self).

__lt__(value, /)

Return self<value.

__ne__(value, /)

Return self!=value.

__new__(*args, **kwargs)

__or__(value, /)

Return self|value.

__reversed__(/)

Return a reverse iterator over the dict keys.

__ror__(value, /)

Return value|self.

__setattr__(key, value, /)

Set self[key] to value.

__setitem__(key, value, /)

Set self[key] to value.

__sizeof__() → size of D in memory, in bytes

clear() → None.  Remove all items from D.

copy() → a shallow copy of D

fromkeys(iterable, value=None, /)

Create a new dictionary with keys from iterable and values set to value.

get(key, default=None, /)

Return the value for key if key is in the dictionary, else default.

items() → a set-like object providing a view on D's items

keys() → a set-like object providing a view on D's keys

pop(key, default=<unrepresentable>, /)

If the key is not found, return the default if given; otherwise, raise a KeyError.

popitem(/)

Remove and return a (key, value) pair as a 2-tuple.

Pairs are returned in LIFO (last-in, first-out) order. Raises KeyError if the dict is empty.

setdefault(key, default=None, /)

Insert key with a value of default if key is not in the dictionary.

Return the value for key if key is in the dictionary, else default.

update([E, ]**F) → None.  Update D from dict/iterable E and F.

If E is present and has a .keys() method, then does: for k in E: D[k] = E[k] If E is present and lacks a .keys() method, then does: for k, v in E: D[k] = v In either case, this is followed by: for k in F: D[k] = F[k]

values() → an object providing a view on D's values