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Add workflows for release and main branch testing (#35)
* Use absolute URLs for `README.md` media files Replace relative media file paths with absolute URLs from the GitHub repository (raw.githubusercontent) to correctly render media files in external platforms like PyPI. * Standardize package version format to `X.Y.Z` Update the project version from `1.1` to `1.1.0` to align with standard Python package versioning. * Remove unused requirements files to avoid redundancy * Add "Test Main" workflow for main branch testing This workflow tests the main branch across the supported python versions of the project (3.10, 3.11, 3.12) to ensure compatibility and that the main branch is ready for releases. * Extend Python classifiers to align with tested versions * Add release workflow for PyPI publishing and GH release * Bump project version to `1.2.0`
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‎.github/workflows/release.yml‎

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name: Release
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on:
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push:
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tags:
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- "[0-9]+.[0-9]+.[0-9]+"
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env:
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PACKAGE_NAME: "direct-data-driven-mpc"
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TAG_NAME: ${{ github.ref_name }}
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PYTHON_VERSION: '3.12'
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jobs:
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verify_tag:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Verify tag matches pyproject.toml version
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id: release
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run: |
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TAG_VERSION=$TAG_NAME
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PYPROJECT_VERSION=$(sed -nE 's/^version\s*=\s*"([^"]+)"/\1/p' pyproject.toml)
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echo "Tag version: $TAG_VERSION"
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echo "pyproject.toml version: $PYPROJECT_VERSION"
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if [ "$TAG_VERSION" != "$PYPROJECT_VERSION" ]; then
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echo "Tag does not match pyproject.toml version."
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exit 1
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else
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echo "Tag matches pyproject.toml version."
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fi
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- name: Verify tag points to latest main commit
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run: |
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git fetch origin main
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LATEST_MAIN_SHA=$(git rev-parse origin/main)
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echo "Tag commit SHA: $GITHUB_SHA"
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echo "Latest main commit SHA: $LATEST_MAIN_SHA"
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if [ "$GITHUB_SHA" != "$LATEST_MAIN_SHA" ]; then
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echo "Tag does not point to the latest main commit."
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exit 1
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else
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echo "Tag points to the latest main commit."
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fi
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check_pypi:
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needs: verify_tag
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runs-on: ubuntu-latest
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steps:
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- name: Fetch information from PyPI
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run: |
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response=$(curl -s https://pypi.org/pypi/${{ env.PACKAGE_NAME }}/json || echo "{}")
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latest_previous_version=$(echo $response | jq --raw-output "select(.releases != null) | .releases | keys_unsorted | last")
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if [ -z "$latest_previous_version" ]; then
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echo "Package not found on PyPI."
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latest_previous_version="0.0.0"
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fi
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echo "Latest version on PyPI: $latest_previous_version"
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echo "latest_previous_version=$latest_previous_version" >> $GITHUB_ENV
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- name: Compare versions and exit if not newer
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run: |
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NEW_VERSION=$TAG_NAME
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LATEST_VERSION=$latest_previous_version
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HIGHEST_VERSION=$(printf '%s\n' "$LATEST_VERSION" "$NEW_VERSION" | sort -rV | head -n 1)
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if [[ "$HIGHEST_VERSION" != "$NEW_VERSION" || "$NEW_VERSION" = "$LATEST_VERSION" ]]; then
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echo "The new version $NEW_VERSION is not greater than the latest version $LATEST_VERSION on PyPI."
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exit 1
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else
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echo "The new version $NEW_VERSION is greater than the latest version $LATEST_VERSION on PyPI."
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fi
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build:
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needs: check_pypi
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: ${{ env.PYTHON_VERSION }}
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- name: Upgrade pip and install build dependencies
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run: |
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python -m pip install --upgrade pip
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pip install build
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- name: Install project package in editable mode
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run: |
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pip install -e .
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- name: Build source and wheel distribution
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run: |
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python -m build
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- name: Upload artifacts
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uses: actions/upload-artifact@v4
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with:
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name: dist
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path: dist/
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pypi_publish:
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needs: build
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runs-on: ubuntu-latest
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environment:
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name: release
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permissions:
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id-token: write
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steps:
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- name: Download artifacts
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uses: actions/download-artifact@v4
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with:
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name: dist
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path: dist/
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- name: Publish distribution to PyPI
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uses: pypa/gh-action-pypi-publish@release/v1
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github_release:
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needs: pypi_publish
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runs-on: ubuntu-latest
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permissions:
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contents: write
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Download artifacts
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uses: actions/download-artifact@v4
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with:
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name: dist
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path: dist/
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- name: Create GitHub Release
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uses: softprops/action-gh-release@v2
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with:
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generate_release_notes: true
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files: dist/*

‎.github/workflows/test_main.yml‎

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---
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name: Test Main
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref_name }}
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cancel-in-progress: true
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on:
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push:
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branches: ["main"]
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jobs:
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unit_tests:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python_container:
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- version: "3.10"
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image: "python:3.10-slim-bullseye"
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- version: "3.11"
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image: "python:3.11-slim-bullseye"
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- version: "3.12"
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image: "python:3.12-slim-bullseye"
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container:
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image: ${{ matrix.python_container.image }}
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Install ffmpeg
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run: |
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apt-get update && \
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until apt-get install -y ffmpeg; do \
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echo "Retrying ffmpeg installation..."; \
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sleep 5; \
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done
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install --default-timeout=60 --retries=5 -r requirements-ci.txt
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- name: Install project package in editable mode
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run: |
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pip install -e .
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- name: Run unit tests
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run: |
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pytest --maxfail=2 --disable-warnings -m "not integration"
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integration_tests:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python_container:
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- version: "3.10"
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image: "python:3.10-slim-bullseye"
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- version: "3.11"
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image: "python:3.11-slim-bullseye"
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- version: "3.12"
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image: "python:3.12-slim-bullseye"
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test_type: [lti_integration, nonlinear_integration]
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container:
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image: ${{ matrix.python_container.image }}
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Install ffmpeg
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run: |
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apt-get update && \
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until apt-get install -y ffmpeg; do \
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echo "Retrying ffmpeg installation..."; \
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sleep 5; \
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done
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install --default-timeout=60 --retries=5 -r requirements-ci.txt
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- name: Install project package in editable mode
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run: |
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pip install -e .
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- name: Run integration test - ${{ matrix.test_type }}
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run: |
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pytest --disable-warnings -m "${{ matrix.test_type }}"

‎README.md‎

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<th width="50%">Nonlinear Data-Driven MPC</th>
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</tr>
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<tr>
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<td><img src="docs/resources/robust_dd_mpc_anim.gif" alt="Robust Data-Driven MPC Animation"></td>
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<td><img src="docs/resources/nonlinear_dd_mpc_anim.gif" alt="Nonlinear Data-Driven MPC Animation"></td>
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<td><img src="https://raw.githubusercontent.com/pavelacamposp/direct-data-driven-mpc/main/docs/resources/robust_dd_mpc_anim.gif" alt="Robust Data-Driven MPC Animation"></td>
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<td><img src="https://raw.githubusercontent.com/pavelacamposp/direct-data-driven-mpc/main/docs/resources/nonlinear_dd_mpc_anim.gif" alt="Nonlinear Data-Driven MPC Animation"></td>
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</tr>
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<tr>
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<td>Robust controller applied to an LTI system.</td>
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|LTI Data-Driven MPC|Nonlinear Data-Driven MPC|
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|-|-|
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|<img src="docs/resources/robust_dd_mpc_reproduction.png" alt="Robust Data-Driven MPC Animation">|<img src="docs/resources/nonlinear_dd_mpc_reproduction.png" alt="Nonlinear Data-Driven MPC Animation">|
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|<img src="https://raw.githubusercontent.com/pavelacamposp/direct-data-driven-mpc/main/docs/resources/robust_dd_mpc_reproduction.png" alt="Robust Data-Driven MPC Animation">|<img src="https://raw.githubusercontent.com/pavelacamposp/direct-data-driven-mpc/main/docs/resources/nonlinear_dd_mpc_reproduction.png" alt="Nonlinear Data-Driven MPC Animation">|
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|Reproduction of results from [[1]](#1)|Reproduction of results from [[2]](#2)|
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## Code Structure

‎pyproject.toml‎

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[project]
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name = "direct-data-driven-mpc"
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version = "1.1"
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version = "1.2.0"
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authors = [
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{ name = "Pável A. Campos-Peña", email = "pcamposp@uni.pe" }
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]
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]
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classifiers = [
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"Programming Language :: Python :: 3",
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"Programming Language :: Python :: 3.10",
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"Operating System :: OS Independent",
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]
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‎requirements-dev.txt‎

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‎requirements.txt‎

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