Merge branch 'AtsushiSakai:master' into master

NightzDev · web-flow · commit 00485e0d6e19 · 2025-05-01T13:57:02.000-03:00
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -6,7 +6,7 @@ orbs:
 jobs:
   build_doc:
     docker:
-      - image: cimg/python:3.12
+      - image: cimg/python:3.13
     steps:
       - checkout
       - run:
diff --git a/.github/workflows/Linux_CI.yml b/.github/workflows/Linux_CI.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [ '3.12' ]
+        python-version: [ '3.13' ]
 
     name: Python ${{ matrix.python-version }} CI
 
diff --git a/.github/workflows/MacOS_CI.yml b/.github/workflows/MacOS_CI.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: macos-latest
     strategy:
       matrix:
-        python-version: [ '3.12' ]
+        python-version: [ '3.13' ]
     name: Python ${{ matrix.python-version }} CI
     steps:
       - uses: actions/checkout@v4
diff --git a/.github/workflows/Windows_CI.yml b/.github/workflows/Windows_CI.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: windows-latest
     strategy:
       matrix:
-        python-version: [ '3.12' ]
+        python-version: [ '3.13' ]
     name: Python ${{ matrix.python-version }} CI
     steps:
       - uses: actions/checkout@v4
diff --git a/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py b/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py
@@ -31,6 +31,7 @@
 W_DELTA_SIGMA = 1e-1  # difference in flight time
 W_NU = 1e5  # virtual control
 
+print(cvxpy.installed_solvers())
 solver = 'ECOS'
 verbose_solver = False
 
@@ -462,11 +463,11 @@ def __init__(self, m, K):
         # x_t+1 = A_*x_t+B_*U_t+C_*U_T+1*S_*sigma+zbar+nu
         constraints += [
             self.var['X'][:, k + 1] ==
-            cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x)) @
+            cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x), order='F') @
             self.var['X'][:, k] +
-            cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u)) @
+            cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u), order='F') @
             self.var['U'][:, k] +
-            cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u)) @
+            cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u), order='F') @
             self.var['U'][:, k + 1] +
             self.par['S_bar'][:, k] * self.var['sigma'] +
             self.par['z_bar'][:, k] +
@@ -536,7 +537,7 @@ def solve(self, **kwargs):
             with warnings.catch_warnings():  # For User warning from solver
                 warnings.simplefilter('ignore')
                 self.prob.solve(verbose=verbose_solver,
-                            solver=solver)
+                                solver=solver)
         except cvxpy.SolverError:
             error = True
 
diff --git a/InvertedPendulum/inverted_pendulum_mpc_control.py b/InvertedPendulum/inverted_pendulum_mpc_control.py
@@ -91,7 +91,7 @@ def mpc_control(x0):
     prob = cvxpy.Problem(cvxpy.Minimize(cost), constr)
 
     start = time.time()
-    prob.solve(verbose=False)
+    prob.solve(verbose=False, solver=cvxpy.CLARABEL)
     elapsed_time = time.time() - start
     print(f"calc time:{elapsed_time:.6f} [sec]")
 
diff --git a/README.md b/README.md
@@ -102,7 +102,7 @@ or this paper for more details:
 
 For running each sample code:
 
-- [Python 3.12.x](https://www.python.org/)
+- [Python 3.13.x](https://www.python.org/)
  
 - [NumPy](https://numpy.org/)
  
diff --git a/appveyor.yml b/appveyor.yml
@@ -8,7 +8,7 @@ environment:
     CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\appveyor\\run_with_env.cmd"
 
   matrix:
-     - PYTHON_DIR: C:\Python310-x64
+     - PYTHON_DIR: C:\Python313-x64
 
 branches:
   only:
diff --git a/docs/_static/img/source_link_1.png b/docs/_static/img/source_link_1.png
diff --git a/docs/_static/img/source_link_2.png b/docs/_static/img/source_link_2.png
diff --git a/docs/modules/0_getting_started/3_how_to_contribute_main.rst b/docs/modules/0_getting_started/3_how_to_contribute_main.rst
@@ -26,7 +26,7 @@ to understand the philosophies of this project.
 Check your Python version.
 ---------------------------
 
-We only accept a PR for Python 3.12.x or higher.
+We only accept a PR for Python 3.13.x or higher.
 
 We will not accept a PR for Python 2.x.
 
@@ -107,6 +107,18 @@ mathematics and the algorithm of the example.
 Documentations related codes should be in the python script as the header
 comments of the script or docstrings of each function.
 
+Also, each document should have a link to the code in Github.
+You can easily add the link by using the `.. autoclass::`, `.. autofunction::`, and `.. automodule` by Sphinx's `autodoc`_ module.
+
+Using this `autodoc`_ module, the generated documentations have the link to the code in Github like:
+
+.. image:: /_static/img/source_link_1.png
+
+When you click the link, you will jump to the source code in Github like:
+
+.. image:: /_static/img/source_link_2.png
+
+
 
 .. _`submit a pull request`:
 
@@ -210,5 +222,6 @@ Current Major Sponsors:
 .. _`1Password`: https://github.com/1Password/for-open-source
 .. _`matplotrecorder`: https://github.com/AtsushiSakai/matplotrecorder
 .. _`PythonRoboticsGifs`: https://github.com/AtsushiSakai/PythonRoboticsGifs
+.. _`autodoc`: https://www.sphinx-doc.org/en/master/usage/extensions/autodoc.html
 
 
diff --git a/requirements/environment.yml b/requirements/environment.yml
@@ -2,7 +2,7 @@ name: python_robotics
 channels:
   - conda-forge
 dependencies:
-  - python=3.12
+  - python=3.13
   - pip
   - scipy
   - numpy
diff --git a/requirements/requirements.txt b/requirements/requirements.txt
@@ -1,8 +1,9 @@
 numpy == 2.2.4
 scipy == 1.15.2
 matplotlib == 3.10.1
-cvxpy == 1.5.3
+cvxpy == 1.6.5
+ecos == 2.0.14
 pytest == 8.3.5 # For unit test
 pytest-xdist == 3.6.1 # For unit test
 mypy == 1.15.0 # For unit test
-ruff == 0.11.0 # For unit test
+ruff == 0.11.7 # For unit test
diff --git a/ruff.toml b/ruff.toml
@@ -5,8 +5,8 @@ ignore = ["E501", "E741", "E402"]
 exclude = [
 ]
 
-# Assume Python 3.11
-target-version = "py312"
+# Assume Python 3.13
+target-version = "py313"
 
 [per-file-ignores]
 
diff --git a/tests/conftest.py b/tests/conftest.py
@@ -10,4 +10,4 @@
 
 
 def run_this_test(file):
-    pytest.main([os.path.abspath(file)])
+    pytest.main(args=["-W", "error", "-Werror", "--pythonwarnings=error", os.path.abspath(file)])
