\ No newline at end of file
diff --git a/class01/background_materials/math_basics.jl b/class01/background_materials/math_basics.jl
index 36bf58f..cf5abd9 100644
--- a/class01/background_materials/math_basics.jl
+++ b/class01/background_materials/math_basics.jl
@@ -1,5 +1,5 @@
### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
using Markdown
using InteractiveUtils
diff --git a/class01/background_materials/optimization_basics.html b/class01/background_materials/optimization_basics.html
new file mode 100644
index 0000000..5b11fe6
--- /dev/null
+++ b/class01/background_materials/optimization_basics.html
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/class01/background_materials/optimization_basics.jl b/class01/background_materials/optimization_basics.jl
index 513da66..9413ed1 100644
--- a/class01/background_materials/optimization_basics.jl
+++ b/class01/background_materials/optimization_basics.jl
@@ -1,5 +1,5 @@
### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
using Markdown
using InteractiveUtils
diff --git a/class01/background_materials/optimization_motivation.html b/class01/background_materials/optimization_motivation.html
new file mode 100644
index 0000000..a2a08a4
--- /dev/null
+++ b/class01/background_materials/optimization_motivation.html
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/class01/background_materials/optimization_motivation.jl b/class01/background_materials/optimization_motivation.jl
index cb1b0d5..d299a71 100644
--- a/class01/background_materials/optimization_motivation.jl
+++ b/class01/background_materials/optimization_motivation.jl
@@ -1,5 +1,5 @@
### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
using Markdown
using InteractiveUtils
@@ -9,7 +9,6 @@ begin
class_dir = dirname(@__DIR__)
import Pkg
Pkg.activate("..")
- Pkg.status()
end
# ╔═╡ 054eb7cf-cb60-41a0-9a87-215e36dcf53d
diff --git a/class01/class01_intro.html b/class01/class01_intro.html
new file mode 100644
index 0000000..cee7524
--- /dev/null
+++ b/class01/class01_intro.html
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/class01/class01_intro.jl b/class01/class01_intro.jl
index 781a102..5ef409d 100644
--- a/class01/class01_intro.jl
+++ b/class01/class01_intro.jl
@@ -1,5 +1,5 @@
### A Pluto.jl notebook ###
-# v0.20.13
+# v0.20.15
using Markdown
using InteractiveUtils
@@ -57,13 +57,13 @@ begin
MarkdownLiteral.@markdown(
"""
-[^cmu]: Zachary Manchester et al. Optimal Control and Reinforcement Learning at Carnegie Mellon University - [CMU 16-745]("https://optimalcontrol.ri.cmu.edu/")
+[^cmu]: Zachary Manchester et al. [Optimal Control and Reinforcement Learning at Carnegie Mellon University - CMU 16-745](https://optimalcontrol.ri.cmu.edu/)
-[^OptProx]: Van Hentenryck, P., 2024. Fusing Artificial Intelligence and Optimization with Trustworthy Optimization Proxies. Collections, 57(02).
+[^OptProx]: Van Hentenryck, P., 2024. [Fusing Artificial Intelligence and Optimization with Trustworthy Optimization Proxies](https://www.siam.org/publications/siam-news/articles/fusing-artificial-intelligence-and-optimization-with-trustworthy-optimization-proxies/). Collections, 57(02).
-[^ArmManip]: Guechi, E.H., Bouzoualegh, S., Zennir, Y. and Blažič, S., 2018. MPC control and LQ optimal control of a two-link robot arm: A comparative study. Machines, 6(3), p.37.
+[^ArmManip]: Guechi, E.H., Bouzoualegh, S., Zennir, Y. and Blažič, S., 2018. [MPC control and LQ optimal control of a two-link robot arm: A comparative study](https://www.mdpi.com/2075-1702/6/3/37). Machines, 6(3), p.37.
-[^ZachMIT]: Zachary Manchester talk at MIT - [MIT Robotics - Zac Manchester - Composable Optimization for Robotic Motion Planning and Control]("https://www.youtube.com/watch?v=eSleutHuc0w&ab_channel=MITRobotics").
+[^ZachMIT]: Zachary Manchester talk at MIT - [MIT Robotics - Zac Manchester - Composable Optimization for Robotic Motion Planning and Control](https://www.youtube.com/watch?v=eSleutHuc0w&ab_channel=MITRobotics).
"""
)
@@ -211,7 +211,9 @@ md"[^OptProx]"
"""
# ╔═╡ 45275d44-e268-43cb-8156-feecd916a6da
-@htl """
+# ╠═╡ skip_as_script = true
+#=╠═╡
+Foldable(md"#### LearningToOptimize Project", @htl """
-"""
+""")
+ ╠═╡ =#
# ╔═╡ c08f511e-b91d-4d17-a286-96469c31568a
md"## Example: Robotic Arm Manipulation"
@@ -481,7 +484,7 @@ md"State $x$ is everything you need to define to determine the how your system w
md"### Example: Pendulum"
# ╔═╡ baa3993c-96b0-474e-b5b4-f9eaea642a49
-function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing)
+function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing, _ylims=(-5, 5))
θ = deg2rad(θ_deg)
pivot = Point2f(0, 0)
mass = Point2f(-L*sin(θ), -L*cos(θ)) # rod tip
@@ -495,11 +498,9 @@ function pendulum(θ_deg = 60; L = 4, fsize = (520, 450), _xlims=nothing)
xgridvisible = false,
ygridvisible = false)
hidespines!(ax)
-
- _y = -L*cos(θ)
- if _y > 0
- ylims!(ax, (-1, _y + 1))
- end
+ if !isnothing(_ylims)
+ ylims!(ax, _ylims)
+ end
if !isnothing(_xlims)
xlims!(ax, _xlims)
@@ -585,7 +586,7 @@ x \in S^{1} \times \mathbb{R} & \text{Cylinder}
""")
# ╔═╡ 4d598933-05a9-44fa-b5a7-f7e1c7afb094
-md"## Control--Afine Systems
+md"## Control--Affine Systems
Non--linear Systems of the form:
```math
@@ -594,7 +595,7 @@ Non--linear Systems of the form:
$\implies$ Non--linear in the state but affine in the input/control.
-Control--Afine Systems are common in many mechanical systems.
+Control--Affine Systems are common in many mechanical systems.
"
diff --git a/docs/make.jl b/docs/make.jl
index 272ece5..c96fe1e 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -1,5 +1,5 @@
using Documenter
-using Pluto
+# using Pluto
include("definitions.jl")
@@ -7,10 +7,10 @@ repo_dir = dirname(@__DIR__)
build_dir = joinpath(repo_dir, "docs", "build")
plutos = [
- joinpath(repo_dir, "class01", "background_materials", "math_basics.jl"),
- joinpath(repo_dir, "class01", "background_materials", "optimization_basics.jl"),
- joinpath(repo_dir, "class01", "background_materials", "optimization_motivation.jl"),
- joinpath(repo_dir, "class01", "class01_intro.jl"),
+ joinpath(repo_dir, "class01", "background_materials", "math_basics.html"),
+ joinpath(repo_dir, "class01", "background_materials", "optimization_basics.html"),
+ joinpath(repo_dir, "class01", "background_materials", "optimization_motivation.html"),
+ joinpath(repo_dir, "class01", "class01_intro.html"),
]
if !isdir(build_dir)
@@ -39,20 +39,33 @@ makedocs(
],
)
-rm(joinpath(repo_dir, "docs", "src", "class01"), force=true)
-
-s = Pluto.ServerSession();
for pluto in plutos
- nb = Pluto.SessionActions.open(s, pluto; run_async=false)
- html_contents = Pluto.generate_html(nb; binder_url_js="undefined")
filename = replace(pluto, repo_dir => build_dir)
- html_path = replace(filename, r"\.jl$" => ".html")
- mkpath(dirname(html_path))
- open(html_path, "w") do f
- write(f, html_contents)
- end
+ mkpath(dirname(filename))
+ cp(pluto, filename, force=true)
end
+rm(joinpath(repo_dir, "docs", "src", "class01"), force=true)
+
+# In case we want to generate HTML from Pluto notebooks in CI
+# plutos = [
+# joinpath(repo_dir, "class01", "background_materials", "math_basics.jl"),
+# joinpath(repo_dir, "class01", "background_materials", "optimization_basics.jl"),
+# joinpath(repo_dir, "class01", "background_materials", "optimization_motivation.jl"),
+# joinpath(repo_dir, "class01", "class01_intro.jl"),
+# ]
+# s = Pluto.ServerSession();
+# for pluto in plutos
+# nb = Pluto.SessionActions.open(s, pluto; run_async=false)
+# html_contents = Pluto.generate_html(nb; binder_url_js="undefined")
+# filename = replace(pluto, repo_dir => build_dir)
+# html_path = replace(filename, r"\.jl$" => ".html")
+# mkpath(dirname(html_path))
+# open(html_path, "w") do f
+# write(f, html_contents)
+# end
+# end
+
# Documenter can also automatically deploy documentation to gh-pages.
# See "Hosting Documentation" and deploydocs() in the Documenter manual
# for more information.