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add variable bounds on the torque #543

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add variable bounds on the torque #543

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26db17c
add variable bounds on the torque
Peter230655 Apr 14, 2026
5bd53be
change adjustable bounds to variable bounds
Peter230655 Apr 14, 2026
11e1824
improved code as per suggestion
Peter230655 Apr 14, 2026
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13 changes: 10 additions & 3 deletions examples-gallery/beginner/plot_pendulum_swing_up_fixed_duration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
---------

- Show the use of opty with likely the simplest example possible.
- Show how to use variable bounds.


Introduction
Expand Down Expand Up @@ -84,8 +85,14 @@
)

# %%
# Limit the torque to a maximum magnitude.
bounds = {T(t): (-2.0, 2.0)}
# Limit the torque using variable bounds.
third = int(num_nodes/3)
low_T = np.full(num_nodes, -3.0)
low_T[third: 2*third] = -1.0
hi_T = np.full(num_nodes, 3.0)
hi_T[third: 2*third] = 1.0

bounds = {T(t): (low_T, hi_T)}

# %%
# Create an optimization problem.
Expand All @@ -111,7 +118,7 @@

# %%
# Plot the optimal state and input trajectories.
_ = prob.plot_trajectories(solution)
_ = prob.plot_trajectories(solution, show_bounds=True)

# %%
# Plot the constraint violations.
Expand Down
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