95 objective evaluation for complex objective

[frederikmuthers]

Pull Request

Description

Added functionality to clean up objectives in string format to make them compatible with the python eval functionality.

Type of Change

• added _replace_subexpression
• added _replace_ternary
• extended number of possible functions (probably excessive)
• made "casadi_functions" to be derived from "casadi_expressions"
• added exclusion of old notation from objective evaluation via legacy flag
• added dedicated example for testing of objective functions

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Pull request overview

Copilot reviewed 4 out of 4 changed files in this pull request and generated no new comments.

Suppressed comments (4)

examples/one_room_mpc/physical/simple_mpc_objective_testing.py:298

• if with_dashboard: is duplicated, creating an unnecessary nested conditional and indentation. This is likely accidental and makes the example harder to read.

    if with_dashboard:
        if with_dashboard:
            from agentlib_mpc.utils.analysis import load_mpc_stats

agentlib_mpc/data_structures/objective.py:28

• _replace_subexpressions() uses a regex that stops each @n=... definition at the first comma, so any subexpression containing commas (e.g., function calls like if_else(..., ..., ...)) will be truncated and inlined incorrectly, leading to invalid/wrong eval strings.

    # Extract all subexpression definitions using regex
    defs = dict(re.findall(r"(@\d+)=(.*?),\s*", expr_str))
    
    # Remove the definitions from the expression string
    clean_expr = re.sub(r"@\d+=.*?,\s*", "", expr_str)

examples/one_room_mpc/physical/simple_mpc_objective_testing.py:176

• This block assigns to condition repeatedly, so only the final assignment is actually used. This makes the example misleading (it looks like multiple cases are being tested, but they are dead code).

This issue also appears on line 296 of the same file.

        condition = self.time < self.switch.sym
        
        condition = self.time <= self.switch.sym
        condition = self.time >= self.switch.sym
        condition = self.time == self.switch.sym
        condition = self.time != self.switch.sym

examples/one_room_mpc/physical/simple_mpc_objective_testing.py:329

• Spelling: "Absoulute" should be "Absolute".

    print(f"Absoulute integral error: {aie_kh} Kh.")

[sarahleidolf]

1. Add new objective function to ci tests
2. If possible, reduce the computation time required to calculate the objective values