Fields and Elements¶

Fields and elements for use with model templates

class condor.fields.Direction(*values)¶: Enum used to indicate the direction of an element relative to a model

class condor.fields.FieldValues¶

Base class for Field dataclasses

asdict()¶: call the dataclasses module asdict() function on this field datacalss

flatten()¶: turn the bound values of this field instance into a single symbol – may be numeric or in the backend representation (symbol class)

classmethod wrap(values)¶: turn a single symbol into a bound field dataclasss

class condor.fields.Field(direction=None, name='', model=None, inherit_from=None, model_name='')¶

Base field

Model templates have field instances added to them which are parents of elements used in models.

How to create a new Field type:

Subclass BaseElement as needed. Will automatically try to find NameElement for NameField, or provide as element_class kwarg in subclass definition
Update _init_kwargs to define kwargs that should get passed during inheritance from Model templates to user models
Until a better API is designed & implemented, instance attributes created during __init__ should start with a _ so setattr on AssignedField can filter it
Use create_element to create elements, passing **kwargs to element dataclass as much as possible to keep DRY

bind(name, model)¶: Bind an existing Field instance to a model

bind_dataclass()¶: Bind dataclass module and name in an attempt to make pickle-able

prepare(cls_dict)¶: Hook to pass reference of class dictionary to field to allow automatic name extraction and assignment

inherit(model_name, field_type_name, **kwargs)¶: copy and re-assign name – used in ModelType.__prepare__ before model is available

list_of(field_name)¶: Create a list of a particular element attribute for all elements in field

get(*args, **kwargs)¶

Get a list of field elements where every field matches kwargs

If only one, return element without list wrapper.

flat_index(of_element)¶: Helper to get the starting index of an element

create_element(**kwargs)¶: Create an element

create_dataclass()¶: Create the dataclass for this model and field with the current elements

dataclass_of(attr='backend_repr')¶: construct a dataclass of the field where values are the attr of each element

flatten(attr='backend_repr')¶: flatten the values into a single 1D array

wrap(values)¶: wrap a flattened array into the elements of appropriate shape

class condor.fields.FrontendElementData(field_type: condor.fields.Field, backend_repr: casadi.casadi.MX, name: str = '')¶

class condor.fields.BaseElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: condor.fields.Field, backend_repr: casadi.casadi.MX, name: str = '')¶

class condor.fields.FreeElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '')¶

class condor.fields.FreeField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

Field that generates a symbol assigned to a class attribute during model definition.

create_from(other, **aliases)¶

Get or create elements based on another field

Elements from other are created on this field unless it already exists or is supplied in aliases.

Parameters:

other (Field) – Other field to get elements from
**aliases – Name-element aliases to use in place of elements of other

Returns:

elem_map – Dictionary mapping element names to elements

Return type:

dict

element_class¶: alias of FreeElement

class condor.fields.FreeAssignedField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of FreeElement

class condor.fields.WithDefaultElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '', default: float = 0.0)¶

Element with an optional default value

default: float = 0.0¶: default value

class condor.fields.WithDefaultField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of WithDefaultElement

class condor.fields.BoundedElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '', upper_bound: float = inf, lower_bound: float = -inf)¶

Element with upper and lower bounds

upper_bound: float = inf¶: upper bound

lower_bound: float = -inf¶: lower bound

class condor.fields.InitializedElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '', upper_bound: float = inf, lower_bound: float = -inf, initializer: float = 0.0, warm_start: bool = True)¶

Element with an initial value

initializer: float = 0.0¶: initial value or expression depending on other existing elements

warm_start: bool = True¶: whether the initial value should come from the implementation/solver

class condor.fields.InitializedField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of InitializedElement

class condor.fields.BoundedAssignmentField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of BoundedElement

class condor.fields.TrajectoryOutputElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '', terminal_term: BaseElement = 0.0, integrand: BaseElement = 0.0)¶

Element with terminal and integrand terms for trajectory analysis

terminal_term: BaseElement = 0.0¶: expression for the terminal term

integrand: BaseElement = 0.0¶: expression for the integrand term

class condor.fields.TrajectoryOutputField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of TrajectoryOutputElement

class condor.fields.DependentElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '')¶

class condor.fields.AssignedElement(shape: tuple, symmetric: bool, diagonal: bool, field_type: condor.fields.Field, backend_repr: casadi.casadi.MX, name: str = '')¶

class condor.fields.AssignedField(direction=None, name='', model=None, inherit_from=None, model_name='')¶

element_class¶: alias of AssignedElement

class condor.fields.MatchedElementMixin(match: condor.fields.BaseElement)¶

class condor.fields.MatchedElement(match: BaseElement, shape: tuple, symmetric: bool, diagonal: bool, field_type: Field, backend_repr: MX, name: str = '')¶: Element matched with another element of another field

class condor.fields.MatchedField(matched_to=None, default_factory=<function <lambda>>, **kwargs)¶

element_class¶: alias of MatchedElement

dataclass_of(on_field=None)¶: construct a dataclass of the field where values are the attr of each element

flatten(on_field=None)¶

flatten matches to the on_field, defaults tot he match.

on_field is used to override which field instance’s dataclass gets filled in; this is currently used during TrajectoryAnalysis construction which creates its own copies of the matching fields