YAPSS: Yet Another Pseudo-Spectral Solver

YAPSS is a Python library for formulating and solving optimal-control problems with pseudospectral methods.

YAPSS provides:

Legendre-Gauss, Legendre-Gauss-Radau, and Legendre-Gauss-Lobatto collocation methods, using a computational approach based on the GPOPS-II algorithm of Patterson and Rao (2014)
Multiple differentiation approaches: automatic differentiation via CasADi, user-supplied derivatives, and central-difference numerical differentiation for problems not amenable to automatic differentiation
Multi-phase problems and segmented meshes
An interface designed to identify common formulation errors early
Worked examples as both Python scripts and Jupyter notebooks

Start here

Install YAPSS.
Work through the tutorial to define and solve a first problem.
Browse the examples for complete applications.

Installation

YAPSS requires Python 3.10 or later. Install it into a virtual environment with pip:

$ python -m venv yapss-env
$ source yapss-env/bin/activate
(yapss-env) $ python -m pip install --upgrade pip
(yapss-env) $ python -m pip install yapss

Alternatively, install it with Conda:

$ conda create -n yapss-env python=3.10
$ conda activate yapss-env
(yapss-env) $ conda install -c conda-forge yapss

Verify the Installation

Run the HS071 example, a small constrained optimization problem:

(yapss-env) $ python -m yapss.examples.hs071

YAPSS is installed correctly if the run finishes, and the output ends with

Objective value
f(x*) = 1.701402e+01

YAPSS solution is correct.

The value of the final digits of the objective may vary between platforms and solver versions.

Where to go next

New to YAPSS? Start with the tutorial.
Looking for a pattern to adapt? Browse the notebook examples or script examples.
Need API details? See the reference documentation in the navigation sidebar.
Want to contribute? Contributions are welcome! Read Contributing to YAPSS.

License

YAPSS is licensed under the MIT License. See the License page for more information.

Documentation

The documentation is available on Read the Docs.

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