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Lint fixes on benchmarks and examples/*.py #1135

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Merged
murrayrm merged 3 commits into from
Mar 8, 2025
+53 −76
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Lint fixes on benchmarks and examples/*.py #1135

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223c38f
Fix lint warnings in benchmarks/
roryyorke Mar 1, 2025
afd3fe3
Lint fixes to examples/*.py
roryyorke Mar 1, 2025
5653531
Merge remote-tracking branch 'upstream/main' into rory/lint-examples
roryyorke Mar 8, 2025
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Fix lint warnings in benchmarks/
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@roryyorke
roryyorke committed Mar 1, 2025
commit 223c38fa150e58dc6a0a738a2969b74426eeecd0
1 change: 0 additions & 1 deletion benchmarks/flatsys_bench.py
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Expand Up @@ -7,7 +7,6 @@

import numpy as np
import math
import control as ct
import control.flatsys as flat
import control.optimal as opt

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1 change: 0 additions & 1 deletion benchmarks/optestim_bench.py
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Expand Up @@ -6,7 +6,6 @@
# used for optimization-based estimation.

import numpy as np
import math
import control as ct
import control.optimal as opt

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8 changes: 0 additions & 8 deletions benchmarks/optimal_bench.py
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Expand Up @@ -6,7 +6,6 @@
# performance of the functions used for optimization-base control.

import numpy as np
import math
import control as ct
import control.flatsys as fs
import control.optimal as opt
Expand All @@ -21,7 +20,6 @@
'RK23': ('RK23', {}),
'RK23_sloppy': ('RK23', {'atol': 1e-4, 'rtol': 1e-2}),
'RK45': ('RK45', {}),
'RK45': ('RK45', {}),
'RK45_sloppy': ('RK45', {'atol': 1e-4, 'rtol': 1e-2}),
'LSODA': ('LSODA', {}),
}
Expand Down Expand Up @@ -129,9 +127,6 @@ def time_optimal_lq_methods(integrator_name, minimizer_name, method):
Tf = 10
timepts = np.linspace(0, Tf, 20)

# Create the basis function to use
basis = get_basis('poly', 12, Tf)

res = opt.solve_ocp(
sys, timepts, x0, traj_cost, constraints, terminal_cost=term_cost,
solve_ivp_method=integrator[0], solve_ivp_kwargs=integrator[1],
Expand Down Expand Up @@ -223,8 +218,6 @@ def time_discrete_aircraft_mpc(minimizer_name):
# compute the steady state values for a particular value of the input
ud = np.array([0.8, -0.3])
xd = np.linalg.inv(np.eye(5) - A) @ B @ ud
yd = C @ xd

# provide constraints on the system signals
constraints = [opt.input_range_constraint(sys, [-5, -6], [5, 6])]

Expand All @@ -234,7 +227,6 @@ def time_discrete_aircraft_mpc(minimizer_name):
cost = opt.quadratic_cost(model, Q, R, x0=xd, u0=ud)

# Set the time horizon and time points
Tf = 3
timepts = np.arange(0, 6) * 0.2

# Get the minimizer parameters to use
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2 changes: 1 addition & 1 deletion pyproject.toml
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Expand Up @@ -60,7 +60,7 @@ filterwarnings = [
[tool.ruff]

# TODO: expand to cover all code
include = ['control/**.py']
include = ['control/**.py', 'benchmarks/*.py']

[tool.ruff.lint]
select = [
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