From d4a8a59a506c2c13458d33627e765eb89fe3cf23 Mon Sep 17 00:00:00 2001
From: urpok23 <70227979+urpok23@users.noreply.github.com>
Date: Wed, 8 Nov 2023 20:53:59 +0300
Subject: [PATCH] vectorize cost calculation
---
control/optimal.py | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/control/optimal.py b/control/optimal.py
index 811c8e518..81372705c 100644
--- a/control/optimal.py
+++ b/control/optimal.py
@@ -319,11 +319,9 @@ def _cost_function(self, coeffs):
dt = np.diff(self.timepts)
# Integrate the cost
- # TODO: vectorize
- cost = 0
- for i in range(self.timepts.size-1):
- # Approximate the integral using trapezoidal rule
- cost += 0.5 * (costs[i] + costs[i+1]) * dt[i]
+ costs = np.array(costs)
+ # Approximate the integral using trapezoidal rule
+ cost = np.sum(0.5 * (costs[:-1] + costs[1:]) * dt)
else:
# Sum the integral cost over the time (second) indices
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