Merge pull request #164 from moorepants/cycling-leg

One-legged Cycling Time Trial Example

.github/workflows/docs.yml

@@ -31,5 +31,7 @@ jobs:
           python-version: ${{ matrix.python-version }}
       - name: Build Docs
         run: |
+          # TODO : Remove when SymPy 1.13 comes out.
+          python -m pip install --no-deps git+https://github.com/sympy/sympy.git
           cd docs
           make html

docs/conf.py

@@ -97,6 +97,8 @@
     'examples_dirs': os.path.join(REPO_DIR, 'examples-gallery'),
     'gallery_dirs': 'examples',
     'matplotlib_animations': True,
+    'copyfile_regex': r'.*\.svg',
+    'remove_config_comments': True,
 }
 
 # -- Options for HTML output ----------------------------------------------

examples-gallery/plot_drone.py

@@ -211,7 +211,10 @@
 initial_guess[2*num_nodes:3*num_nodes] = xyz_guess
 initial_guess[-4*num_nodes:] = 10.0  # constant thrust
 
-prob.plot_trajectories(initial_guess)
+fig, axes = plt.subplots(18, 1, sharex=True,
+                         figsize=(6.4, 0.8*18),
+                         layout='compressed')
+prob.plot_trajectories(initial_guess, axes=axes)
 
 # %%
 # Find an optimal solution.
@@ -221,11 +224,16 @@
 
 # %%
 # Plot the optimal state and input trajectories.
-prob.plot_trajectories(solution)
+fig, axes = plt.subplots(18, 1, sharex=True,
+                         figsize=(6.4, 0.8*18),
+                         layout='compressed')
+prob.plot_trajectories(solution, axes=axes)
 
 # %%
 # Plot the constraint violations.
-prob.plot_constraint_violations(solution)
+fig, axes = plt.subplots(2, figsize=(12.8, 9.6),
+                         layout='constrained')
+prob.plot_constraint_violations(solution, axes=axes)
 
 # %%
 # Plot the objective function as a function of optimizer iteration.