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rebase cleanup

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2 files changed

-12

lines changed

control
- optimal.py
- tests
  - optimal_test.py

2 files changed

-12

lines changed

`‎control/optimal.py`

Lines changed: 4 additions & 11 deletions

Original file line number	Diff line number	Diff line change
`@@ -16,8 +16,9 @@`
`16`	`16`	`importlogging`
`17`	`17`	`importtime`
`18`	`18`
`19`		`-from .timerespimportTimeResponseData`
`20`	`19`	`from .importconfig`
	`20`	`+from .exceptionimportControlNotImplemented`
	`21`	`+from .timerespimportTimeResponseData`
`21`	`22`
`22`	`23`	`__all__= ['find_optimal_input']`
`23`	`24`
`@@ -155,11 +156,7 @@ def __init__(`
`155`	`156`
`156`	`157`	`# Make sure all input arguments got parsed`
`157`	`158`	`ifkwargs:`
`158`		`-raiseTypeError("unknown parameters %s"%kwargs)`
`159`		`-`
`160`		`-iflen(kwargs)>0:`
`161`		`-raiseValueError(`
`162`		`-f'unrecognized keyword(s):{list(kwargs.keys())}')`
	`159`	`+raiseTypeError("unrecognized keyword(s): ",str(kwargs))`
`163`	`160`
`164`	`161`	`# Process trajectory constraints`
`165`	`162`	`ifisinstance(trajectory_constraints,tuple):`
`@@ -997,16 +994,12 @@ def solve_ocp(`
`997`	`994`	`# Process keyword arguments`
`998`	`995`	`iftrajectory_constraintsisNone:`
`999`	`996`	`# Backwards compatibility`
`1000`		`-trajectory_constraints=kwargs.pop('constraints',None)`
	`997`	`+trajectory_constraints=kwargs.pop('constraints',[])`
`1001`	`998`
`1002`	`999`	# Allow 'return_x` as a synonym for 'return_states'
`1003`	`1000`	`return_states=ct.config._get_param(`
`1004`	`1001`	`'optimal','return_x',kwargs,return_states,pop=True)`
`1005`	`1002`
`1006`		`-# Process terminal constraints keyword`
`1007`		`-ifconstraintsisNone:`
`1008`		`-constraints=kwargs.pop('trajectory_constraints', [])`
`1009`		`-`
`1010`	`1003`	`# Process (legacy) method keyword`
`1011`	`1004`	`ifkwargs.get('method'):`
`1012`	`1005`	`ifkwargs.get('minimize_method'):`

`‎control/tests/optimal_test.py`

Lines changed: 1 addition & 1 deletion

Original file line number	Diff line number	Diff line change
`@@ -455,7 +455,7 @@ def test_ocp_argument_errors():`
`455`	`455`	`sys,time,x0,cost,constraints,initial_guess=np.zeros((4,1,1)))`
`456`	`456`
`457`	`457`	`# Unrecognized arguments`
`458`		`-withpytest.raises(ValueError,match="unrecognized keyword"):`
	`458`	`+withpytest.raises(TypeError,match="unrecognized keyword"):`
`459`	`459`	`res=opt.solve_ocp(`
`460`	`460`	`sys,time,x0,cost,constraints,terminal_constraint=None)`
`461`	`461`

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`‎control/optimal.py`

`‎control/tests/optimal_test.py`

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