feat: Hamiltonian mechanics, backward reachability, audit fixes, ecosystem docs#147
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rororowyourboat merged 9 commits intomainfrom Mar 28, 2026
Merged
feat: Hamiltonian mechanics, backward reachability, audit fixes, ecosystem docs#147rororowyourboat merged 9 commits intomainfrom
rororowyourboat merged 9 commits intomainfrom
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added 9 commits
March 28, 2026 19:10
- Remove .hypothesis/ from tracking, add to .gitignore - Fix F841: remove unused r1 variable in test_float_tolerance - ogs/equilibrium.py: raise ValueError on unrecognized actions (was silently skipping → zero payoff) - ogs/equilibrium.py: validate payoff matrix completeness (raise on missing action profiles instead of silent zeros) - ogs/equilibrium.py: guard numpy import in extract_payoff_matrices - Add 3 tests for incomplete games (missing TC, typo action, missing player)
Pontryagin's Maximum Principle via symbolic differentiation: - HamiltonianSpec: Lagrangian, terminal cost, control bounds - derive_hamiltonian(): symbolic H = L + p^T f, costate dp/dt = -dH/dx, compiled augmented ODE for (x, p) integration via lambdify - derive_from_model(): convenience wrapper for SymbolicControlModel - verify_conservation(): check H = const along trajectories 10 new tests: 1D LQR, 2D harmonic, parameterized dynamics, missing equations, SymbolicControlModel integration, conservation verification, end-to-end ODE integration.
Root CLAUDE.md: - Update packages table from 8 to 14 packages - Update dependency graph to show full ecosystem - Add test commands for gds-continuous, gds-symbolic, gds-analysis, gds-owl New CLAUDE.md files (6): - gds-analysis, gds-symbolic, gds-viz, gds-owl, gds-psuu, gds-sim New docs/ pages (7): - docs/continuous/ (index + getting-started) - docs/symbolic/ (index + getting-started) - docs/analysis/ (index + getting-started) - docs/games/equilibrium.md mkdocs.yml: add nav entries for Continuous-Time, Symbolic Math, Analysis sections + equilibrium page under Games. Docs build passes (mkdocs build).
backward_reachability.py in gds-analysis: - backward_reachable_set(): integrates dynamics backward from target set boundary points using gds-continuous ODE engine. Returns trajectories with metadata. - extract_isochrones(): extracts level sets B(t) at requested times from backward trajectories, with time-matching tolerance. - BackwardReachableSet / Isochrone dataclasses for results. 9 tests: 1D decay, 2D harmonic (energy conservation), HC capture circle, custom t_eval, multiple targets, isochrone extraction at specific times, backward-increasing values, tolerance filtering. gds-continuous[scipy] + numpy as optional extras for gds-analysis.
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Summary
derive_hamiltonian()in gds-symbolic — Pontryagin's principle via SymPy symbolic differentiation, costate dynamics, conservation verification. 10 tests.backward_reachable_set()+extract_isochrones()in gds-analysis — backward ODE integration from target sets. 9 tests.extract_payoff_matrices()now raises on unrecognized actions and incomplete payoff matrices instead of silent zeros. 3 new tests..hypothesis/removed from tracking, added to.gitignore. F841 lint fix.Test plan