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Merge pull request #1 from pavelacamposp/feature/pre-commit
Add `pre-commit` to project
2 parents 0ce6e41 + 94f4baa commit 197c0bb

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‎.pre-commit-config.yaml‎

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---
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v5.0.0
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hooks:
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- id: trailing-whitespace
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- id: end-of-file-fixer
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- id: check-yaml
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- repo: local
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hooks:
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- id: mypy
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name: mypy
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entry: mypy
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require_serial: true
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language: system
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types: [python]
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.11.4
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hooks:
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- id: ruff
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args: [--fix]
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- id: ruff-format
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- repo: https://github.com/codespell-project/codespell
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rev: v2.4.1
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hooks:
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- id: codespell
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files: ^.*\.(py|c|cpp|h|m|md|rst|yml)$
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- repo: https://github.com/adrienverge/yamllint
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rev: v1.37.0
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hooks:
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- id: yamllint
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args: ["--strict"]
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exclude: ^\.github/workflows/

‎LICENSE-APACHE‎

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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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limitations under the License.

‎README.md‎

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# data_driven_quad_control
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# data_driven_quad_control

‎config/nonlinear_dd_mpc_params.yaml‎

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---
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# Nonlinear Data-Driven MPC Parameters
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nonlinear_dd_mpc_ext_out_incr_in:
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n: 2 # Estimated system order
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- [-1, 1]
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- [-1, 1]
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alpha_reg_type: 1 # Alpha regularization type:
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# - 0 = Approximated → Regularized w.r.t. an approximation
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# of alpha_Lin^sr(D_t).
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# - 1 = Previous → Regularized w.r.t. a previous optimal
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# alpha value to encourage stationary
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# behavior.
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# - 2 = Zero → Regularized w.r.t. zero.
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# Alpha regularization type:
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# - 0 = Approximated → Regularized w.r.t. an approximation
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# of alpha_Lin^sr(D_t).
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# - 1 = Previous → Regularized w.r.t. a previous optimal
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# alpha value to encourage stationary
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# behavior.
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# - 2 = Zero → Regularized w.r.t. zero.
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alpha_reg_type: 1
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# Nonlinear MPC parameters for alpha_reg_type = 0 (Approximated)
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lamb_alpha_s: null # Regularization parameter for alpha_s (optional)
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lamb_sigma_s: null # Regularization parameter for sigma_s (optional)
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y_r: [1.0, 1.0, 1.0] # System output setpoint
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ext_out_incr_in: true # Enables the following controller structure:
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# - true → Controller uses an extended output
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# representation (y_ext[k] = [y[k], u[k]])
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# and input increments where the control
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# input is updated incrementally as:
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# u[k] = u[k-1] + du[k-1].
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# - false → Standard controller operation. Direct
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# control input, without extensions.
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# Control system structure (Extendended Output and Input Increments):
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# - true → Controller uses an extended output
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# representation (y_ext[k] = [y[k], u[k]])
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# and input increments where the control
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# input is updated incrementally as:
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# u[k] = u[k-1] + du[k-1].
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# - false → Standard controller operation. Direct
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# control input, without extensions.
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ext_out_incr_in: true
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# Tracking cost value threshold
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update_cost_threshold: null
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n_n_mpc_step: true # Enable n-Step Data-Driven MPC:
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# - true = n-Step Data-Driven MPC
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# - false = 1-Step Data-Driven MPC
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# Enable n-Step Data-Driven MPC:
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# - true = n-Step Data-Driven MPC
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# - false = 1-Step Data-Driven MPC
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n_n_mpc_step: true
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nonlinear_dd_mpc_approx_1_step:
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n: 2 # Estimated system order
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- [-0.01, 0.01]
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- [-0.01, 0.01]
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alpha_reg_type: 1 # Alpha regularization type:
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# - 0 = Approximated → Regularized w.r.t. an approximation
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# of alpha_Lin^sr(D_t).
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# - 1 = Previous → Regularized w.r.t. a previous optimal
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# alpha value to encourage stationary
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# behavior.
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# - 2 = Zero → Regularized w.r.t. zero.
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# Alpha regularization type:
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# - 0 = Approximated → Regularized w.r.t. an approximation
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# of alpha_Lin^sr(D_t).
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# - 1 = Previous → Regularized w.r.t. a previous optimal
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# alpha value to encourage stationary
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# behavior.
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# - 2 = Zero → Regularized w.r.t. zero.
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alpha_reg_type: 1
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# Nonlinear MPC parameters for alpha_reg_type = 0 (Approximated)
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lamb_alpha_s: 1 # Regularization parameter for alpha_s (optional)
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lamb_sigma_s: 1.0e5 # Regularization parameter for sigma_s (optional)
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y_r: [1.0, 1.0, 1.0] # System output setpoint
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ext_out_incr_in: false # Enables the following controller structure:
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# - true → Controller uses an extended output
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# representation (y_ext[k] = [y[k], u[k]])
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# and input increments where the control
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# input is updated incrementally as:
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# u[k] = u[k-1] + du[k-1].
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# - false → Standard controller operation. Direct
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# control input, without extensions.
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# Control system structure (Extendended Output and Input Increments):
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# - true → Controller uses an extended output
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# representation (y_ext[k] = [y[k], u[k]])
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# and input increments where the control
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# input is updated incrementally as:
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# u[k] = u[k-1] + du[k-1].
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# - false → Standard controller operation. Direct
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# control input, without extensions.
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ext_out_incr_in: false
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# Tracking cost value threshold
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update_cost_threshold: null
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n_n_mpc_step: false # Enable n-Step Data-Driven MPC:
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# - true = n-Step Data-Driven MPC
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# - false = 1-Step Data-Driven MPC
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# Enable n-Step Data-Driven MPC:
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# - true = n-Step Data-Driven MPC
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# - false = 1-Step Data-Driven MPC
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n_n_mpc_step: false

‎pyproject.toml‎

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[build-system]
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requires = ["setuptools >= 77.0.3"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "data_driven_quad_control"
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version = "0.1.0"
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authors = [
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{ name = "Pável A. Campos-Peña", email = "pcamposp@uni.pe" }
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]
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description = "Data-driven control for drones in Genesis: data-driven MPC and reinforcement learning"
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readme = {file = "README.md", content-type = "text/markdown"}
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requires-python = ">=3.10.0"
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dependencies = [
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"genesis_world >=0.2.1",
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"numpy >=2.2.4",
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"torch >=2.6.0",
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]
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license = "MIT AND Apache-2.0"
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license-files = ["LICEN[CS]E*"]
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keywords = ["drone", "control-systems", "data-driven", "reinforcement-learning"]
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classifiers = [
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"Programming Language :: Python :: 3",
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"License :: OSI Approved :: MIT License",
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"License :: OSI Approved :: Apache Software License",
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"Operating System :: OS Independent",
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]
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[project.urls]
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Homepage = "https://github.com/pavelacamposp/data_driven_quad_control.git"
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[tool.setuptools]
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package-dir = {"" = "src"}
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[tool.ruff]
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line-length = 79
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extend-exclude = ["__pycache__"]
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[tool.ruff.lint]
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extend-select = ["I", "D", "B", "C4", "E", "F", "W"]
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ignore = [
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"D100",
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"D101",
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"D102",
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"D103",
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"D104",
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"D105",
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"D106",
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"D107",
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"D203",
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"D212",
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]
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[tool.mypy]
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ignore_missing_imports = true
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disallow_untyped_defs = true
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strict_optional = true
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warn_unused_ignores = true
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disable_error_code = ["type-arg"]

‎requirements-dev.txt‎

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git+https://github.com/pavelacamposp/direct_data_driven_mpc.git
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genesis_world==0.2.1
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numpy==2.2.4
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torch==2.6.0
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pre-commit
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ruff
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mypy

‎requirements.txt‎

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git+https://github.com/pavelacamposp/direct_data_driven_mpc.git
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genesis_world==0.2.1
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numpy==2.2.4
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torch==2.6.0

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