feat(core): add c3 plus

.github/workflows/coverage.yml

@@ -53,27 +53,27 @@ jobs:
           key: ${{ steps.c3-cov-cache-restore.outputs.cache-primary-key }}
           path: ~/.cache/bazel
       - run: echo "🍏 This job's status is ${{ job.status }}."
-  # Deploy job
-  deploy:
-    # Add a dependency to the build job
-    needs: coverage
-    if: ${{ github.event_name == 'push' }}
+  # Deploy job [Not currently enabled]
+  # deploy:
+  #   # Add a dependency to the build job
+  #   needs: coverage
+  #   if: ${{ github.event_name == 'push' }}
 
-    # Grant GITHUB_TOKEN the permissions required to make a Pages deployment
-    permissions:
-      pages: write      # to deploy to Pages
-      id-token: write   # to verify the deployment originates from an appropriate source
+  #   # Grant GITHUB_TOKEN the permissions required to make a Pages deployment
+  #   permissions:
+  #     pages: write      # to deploy to Pages
+  #     id-token: write   # to verify the deployment originates from an appropriate source
 
-    # Deploy to the github-pages environment
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
+  #   # Deploy to the github-pages environment
+  #   environment:
+  #     name: github-pages
+  #     url: ${{ steps.deployment.outputs.page_url }}
 
-    # Specify runner + deployment step
-    runs-on: ubuntu-latest
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4 # or specific "vX.X.X" version tag for this action
-        with:
-          artifact_name: noble-code-coverage-report
+  #   # Specify runner + deployment step
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - name: Deploy to GitHub Pages
+  #       id: deployment
+  #       uses: actions/deploy-pages@v4 # or specific "vX.X.X" version tag for this action
+  #       with:
+  #         artifact_name: noble-code-coverage-report

bindings/pyc3/c3_py.cc

@@ -154,7 +154,7 @@ PYBIND11_MODULE(c3, m) {
            py::arg("dt"))
       .def(py::init<const LCS&>(), py::arg("other"))
       .def("Simulate", &LCS::Simulate, py::arg("x_init"), py::arg("u"),
-           "Simulate the system for one step")
+           py::arg("regularized") = false, "Simulate the system for one step")
       .def("A", &LCS::A, py::return_value_policy::copy)
       .def("B", &LCS::B, py::return_value_policy::copy)
       .def("D", &LCS::D, py::return_value_policy::copy)

core/BUILD.bazel

@@ -34,6 +34,7 @@ cc_library(
     srcs = [
         "c3.cc",
         "c3_qp.cc",
+        "c3_plus.cc",
     ] + select({
         "//tools:with_gurobi": [
             ":c3_miqp.cc",
@@ -46,6 +47,7 @@ cc_library(
         "c3.h",
         "c3_miqp.h",
         "c3_qp.h",
+        "c3_plus.h",
     ],
     data = [
         ":default_solver_options",
@@ -82,6 +84,9 @@ cc_library(
     hdrs = [
         "test/c3_cartpole_problem.hpp",
     ],
+    deps = [
+        ":core",
+    ],
     data = [
         ":test_data",
     ]