.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/state_switched.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_examples_state_switched.py>`
        to download the full example code.

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_examples_state_switched.py:


Optimal Transfer With State Trigger
===================================

.. GENERATED FROM PYTHON SOURCE LINES 5-72

.. code-block:: Python


    from time import perf_counter

    import matplotlib.pyplot as plt
    import numpy as np
    from _sgm_test_util import LTI_plot

    import condor as co


    class DblInt(co.ODESystem):
        A = np.array([[0, 1], [0, 0]])
        B = np.array([[0], [1]])

        x = state(shape=A.shape[0])
        mode = state()

        p1 = parameter()
        p2 = parameter()

        u = modal()

        dot[x] = A @ x + B * u


    class Accel(DblInt.Mode):
        condition = mode == 0.0
        action[u] = 1.0


    class Switch1(DblInt.Event):
        function = x[0] - p1
        update[mode] = 1.0


    class Decel(DblInt.Mode):
        condition = mode == 1.0
        action[u] = -1.0


    class Switch2(DblInt.Event):
        function = x[0] - p2
        # update[mode] = 2.
        terminate = True


    class Transfer(DblInt.TrajectoryAnalysis):
        initial[x] = [-9.0, 0.0]
        xd = [1.0, 2.0]
        Q = np.eye(2)
        cost = trajectory_output(((x - xd).T @ (x - xd)) / 2)
        tf = 20.0

        class Options:
            state_max_step_size = 0.25
            state_atol = 1e-15
            state_rtol = 1e-12
            adjoint_atol = 1e-15
            adjoint_rtol = 1e-12
            # state_solver = co.backend.implementations.TrajectoryAnalysis.Solver.CVODE
            # adjoint_solver = co.backend.implementations.TrajectoryAnalysis.Solver.CVODE


    p0 = -4.0, -1.0
    sim = Transfer(*p0)
    # sim.implementation.callback.jac_callback(sim.implementation.callback.p, [])








.. GENERATED FROM PYTHON SOURCE LINES 73-96

.. code-block:: Python



    class MinimumTime(co.OptimizationProblem):
        p1 = variable()
        p2 = variable()
        sim = Transfer(p1, p2)
        objective = sim.cost

        class Options:
            # exact_hessian = False
            __implementation__ = co.implementations.ScipyCG


    MinimumTime.set_initial(p1=p0[0], p2=p0[1])

    t_start = perf_counter()
    opt = MinimumTime()
    t_stop = perf_counter()

    print("time to run:", t_stop - t_start)
    print(opt.p1, opt.p2)
    print(opt._stats)





.. rst-class:: sphx-glr-script-out

 .. code-block:: none

    /opt/hostedtoolcache/Python/3.12.11/x64/lib/python3.12/site-packages/condor/implementations/iterative.py:481: RuntimeWarning: Method CG cannot handle bounds.
      min_out = minimize(
    time to run: 0.4649003979999975
    [-3.00000028] [1.00000242]
     message: Optimization terminated successfully.
     success: True
      status: 0
         fun: 4.044697431832216e-12
           x: [-3.000e+00  1.000e+00]
         nit: 15
         jac: [-1.494e-06  3.167e-06]
        nfev: 22
        njev: 22




.. GENERATED FROM PYTHON SOURCE LINES 97-100

.. code-block:: Python


    LTI_plot(opt.sim)




.. rst-class:: sphx-glr-horizontal


    *

      .. image-sg:: /examples/images/sphx_glr_state_switched_001.png
         :alt: Transfer TransferState.x
         :srcset: /examples/images/sphx_glr_state_switched_001.png
         :class: sphx-glr-multi-img

    *

      .. image-sg:: /examples/images/sphx_glr_state_switched_002.png
         :alt: Transfer TransferState.mode
         :srcset: /examples/images/sphx_glr_state_switched_002.png
         :class: sphx-glr-multi-img





.. GENERATED FROM PYTHON SOURCE LINES 101-103

.. code-block:: Python


    plt.show()








.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.720 seconds)


.. _sphx_glr_download_examples_state_switched.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: state_switched.ipynb <state_switched.ipynb>`

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: state_switched.py <state_switched.py>`

    .. container:: sphx-glr-download sphx-glr-download-zip

      :download:`Download zipped: state_switched.zip <state_switched.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_