Merge pull request #193 from moorepants/namespace

Added __all__ from direct_collocation and utils to package namespace.

examples-gallery/plot_betts2003.py

@@ -10,12 +10,10 @@
 
 """
 
-from collections import OrderedDict
-
 import numpy as np
 import sympy as sym
 import matplotlib.pyplot as plt
-from opty.direct_collocation import Problem
+from opty import Problem
 
 duration = 1.0
 num_nodes = 100
@@ -39,7 +37,7 @@
 
 # %%
 # Specify the known system parameters.
-par_map = OrderedDict()
+par_map = {}
 par_map[mu] = 60.0
 
 # %%
@@ -101,7 +99,7 @@ def obj_grad(free):
 
 # %%
 # Plot results
-fig_y1, axes_y1 = plt.subplots(3, 1)
+fig_y1, axes_y1 = plt.subplots(3, 1, layout='constrained')
 
 legend = ['measured', 'initial guess', 'direct collocation solution']
 
@@ -134,8 +132,6 @@ def obj_grad(free):
 axes_y2[2].set_title('Solution Constraint Violations')
 axes_y2[2].plot(prob.con(solution)[num_nodes - 1:])
 
-plt.tight_layout()
-
 # %%
 prob.plot_constraint_violations(solution)
 

examples-gallery/plot_drone.py

@@ -32,8 +32,7 @@
 import sympy as sm
 import sympy.physics.mechanics as me
 import numpy as np
-from opty.direct_collocation import Problem
-from opty.utils import create_objective_function, parse_free
+from opty import Problem, create_objective_function, parse_free
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 

examples-gallery/plot_one_legged_time_trial.py

@@ -15,8 +15,7 @@
    This example requires SymPy >= 1.13.
 
 """
-from opty.direct_collocation import Problem
-from opty.utils import parse_free
+from opty import Problem, parse_free
 from scipy.optimize import fsolve
 import matplotlib.animation as animation
 import matplotlib.pyplot as plt

examples-gallery/plot_parallel_park.py

@@ -33,8 +33,7 @@
 import numpy as np
 import sympy as sm
 import sympy.physics.mechanics as me
-from opty.direct_collocation import Problem
-from opty.utils import create_objective_function, parse_free
+from opty import Problem, create_objective_function, parse_free
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 

examples-gallery/plot_pendulum_swing_up_fixed_duration.py

@@ -10,8 +10,7 @@
 
 import numpy as np
 import sympy as sm
-from opty.direct_collocation import Problem
-from opty.utils import create_objective_function
+from opty import Problem, create_objective_function
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 

examples-gallery/plot_pendulum_swing_up_variable_duration.py

@@ -10,7 +10,7 @@
 
 import numpy as np
 import sympy as sm
-from opty.direct_collocation import Problem
+from opty import Problem
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 

examples-gallery/plot_two_link_pendulum_on_a_cart.py

@@ -36,7 +36,7 @@
 import numpy as np
 import sympy as sm
 import sympy.physics.mechanics as me
-from opty.direct_collocation import Problem
+from opty import Problem
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
 from matplotlib import patches

examples/park2004/park2004.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 from scipy.integrate import odeint
-from opty.direct_collocation import Problem
+from opty import Problem
 from opty.utils import sum_of_sines
 
 from model import PlanarStandingHumanOnMovingPlatform

examples/vyasarayani2011.py

@@ -31,7 +31,7 @@
 import sympy as sym
 from scipy.integrate import odeint
 import matplotlib.pyplot as plt
-from opty.direct_collocation import Problem
+from opty import Problem
 from opty.utils import building_docs
 
 

opty/__init__.py

@@ -1,3 +1,5 @@
 #!/usr/bin/env python
 
 from .version import __version__
+from .direct_collocation import *
+from .utils import *

opty/utils.py

@@ -29,6 +29,11 @@
                                     import_kwargs={'fromlist': ['']},
                                     catch=(RuntimeError,))
 
+__all__ = [
+    'parse_free',
+    'create_objective_function',
+]
+
 
 def _forward_jacobian(expr, wrt):