removed | operator to support python < 10

src/PyDiffGame/ContinuousPyDiffGame.py

@@ -4,7 +4,7 @@
 import numpy as np
 from scipy.integrate import odeint
 from numpy.linalg import eigvals, inv
-from typing import Sequence, Optional
+from typing import Sequence, Optional, Union
 
 from PyDiffGame.PyDiffGame import PyDiffGame
 from PyDiffGame.Objective import Objective
@@ -30,7 +30,7 @@ def __init__(self,
                  x_0: Optional[np.array] = None,
                  x_T: Optional[np.array] = None,
                  T_f: Optional[float] = None,
-                 P_f: Optional[Sequence[np.array] | np.array] = None,
+                 P_f: Optional[Union[Sequence[np.array], np.array]] = None,
                  show_legend: Optional[bool] = True,
                  state_variables_names: Optional[Sequence[str]] = None,
                  epsilon_x: Optional[float] = PyDiffGame._epsilon_x_default,

src/PyDiffGame/DiscretePyDiffGame.py

@@ -1,7 +1,7 @@
 import numpy as np
 import scipy as sp
-# import quadpy
-from typing import Sequence, Optional
+
+from typing import Sequence, Optional, Union
 
 from PyDiffGame.PyDiffGame import PyDiffGame
 from PyDiffGame.Objective import Objective
@@ -37,7 +37,7 @@ def __init__(self,
                  x_0: Optional[np.array] = None,
                  x_T: Optional[np.array] = None,
                  T_f: Optional[float] = None,
-                 P_f: Optional[Sequence[np.array] | np.array] = None,
+                 P_f: Optional[Union[Sequence[np.array], np.array]] = None,
                  show_legend: Optional[bool] = True,
                  state_variables_names: Optional[Sequence] = None,
                  epsilon_x: Optional[float] = PyDiffGame._epsilon_x_default,
@@ -132,12 +132,13 @@ def __discretize_game(self):
         """
 
         A_tilda = np.exp(self._A * self._delta)
-        e_AT = quadpy.quad(f=lambda T: np.array([np.exp(t * self._A) for t in T]).swapaxes(0, 2).swapaxes(0, 1),
-                           a=0,
-                           b=self._delta)[0]
+        e_AT = sp.integrate.quad(lambda T: np.array([
+            np.exp(t * self._A) for t in T]).swapaxes(0, 2).swapaxes(0, 1),
+                                 a=0,
+                                 b=self._delta)[0]
 
         self._A = A_tilda
-        B_tilda = e_AT
+        B_tilda = np.array(e_AT)
         self._Bs = [B_tilda @ B_i for B_i in self._Bs]
         self._Q = [Q_i * self._delta for Q_i in self._Q]
         self._R = [R_i / self._delta for R_i in self._Rs]

src/PyDiffGame/PyDiffGame.py

@@ -9,7 +9,7 @@
 import scipy as sp
 import sympy
 import warnings
-from typing import Callable, Final, ClassVar, Optional, Sequence
+from typing import Callable, Final, ClassVar, Optional, Sequence, Union
 from abc import ABC, abstractmethod
 
 from PyDiffGame.Objective import Objective, GameObjective, LQRObjective
@@ -122,7 +122,7 @@ def __init__(self,
                  x_0: Optional[np.array] = None,
                  x_T: Optional[np.array] = None,
                  T_f: Optional[float] = None,
-                 P_f: Optional[Sequence[np.array] | np.array] = None,
+                 P_f: Optional[Union[Sequence[np.array], np.array]] = None,
                  show_legend: Optional[bool] = True,
                  state_variables_names: Optional[Sequence[str]] = None,
                  epsilon_x: Optional[float] = _epsilon_x_default,
@@ -550,7 +550,7 @@ def plot_y(self,
                C: np.array,
                output_variables_names: Optional[Sequence[str]] = None,
                save_figure: Optional[bool] = False,
-               figure_path: Optional[str | Path] = _default_figures_filename,
+               figure_path: Optional[Union[str, Path]] = _default_figures_filename,
                figure_filename: Optional[str] = _default_figures_filename):
         """
         Plots an output vector y = C x^T wth respect to time
@@ -579,7 +579,7 @@ def plot_y(self,
 
     @_post_convergence
     def __save_figure(self,
-                      figure_path: Optional[str | Path] = _default_figures_filename,
+                      figure_path: Optional[Union[str, Path]] = _default_figures_filename,
                       figure_filename: Optional[str] = _default_figures_filename):
         """
         Saves the current figure
@@ -1157,7 +1157,7 @@ def __call__(self,
                  M: Optional[np.array] = None,
                  output_variables_names: Optional[Sequence[str]] = None,
                  save_figure: Optional[bool] = False,
-                 figure_path: Optional[str | Path] = _default_figures_path,
+                 figure_path: Optional[Union[str, Path]] = _default_figures_path,
                  figure_filename: Optional[str] = _default_figures_filename,
                  print_characteristic_polynomials: Optional[bool] = False,
                  print_eigenvalues: Optional[bool] = False):

src/PyDiffGame/PyDiffGameLQRComparison.py

@@ -6,7 +6,7 @@
 from concurrent.futures import ProcessPoolExecutor
 
 import inspect
-from typing import Sequence, Any, Optional, Callable
+from typing import Sequence, Any, Optional, Callable, Union
 from abc import ABC
 
 from PyDiffGame.PyDiffGame import PyDiffGame
@@ -34,9 +34,9 @@ class PyDiffGameLQRComparison(ABC, Callable, Sequence):
     def __init__(self,
                  args: dict[str, Any],
                  games_objectives: Sequence[Sequence[GameObjective]],
-                 M: np.array,
+                 M: np.array = None,
                  continuous: bool = True):
-        GameClass = ContinuousPyDiffGame if continuous else DiscretePyDiffGame
+        game_class = ContinuousPyDiffGame if continuous else DiscretePyDiffGame
 
         self.__args = args
         self.__verify_input()
@@ -46,7 +46,7 @@ def __init__(self,
         self.__M = M
 
         for i, game_i_objectives in enumerate(games_objectives):
-            game_i = GameClass(**self.__args | {'objectives': [o for o in game_i_objectives]})
+            game_i = game_class(**self.__args | {'objectives': [o for o in game_i_objectives]})
             self._games[i] = game_i
 
             if game_i.is_LQR():
@@ -109,8 +109,9 @@ def __call__(self,
                  plot_Mx: Optional[bool] = False,
                  output_variables_names: Optional[Sequence[str]] = None,
                  save_figure: Optional[bool] = False,
-                 figure_path: Optional[str | Path] = PyDiffGame.default_figures_path,
-                 figure_filename: Optional[str | Callable[[PyDiffGame], str]] = PyDiffGame.default_figures_filename,
+                 figure_path: Optional[Union[str, Path]] = PyDiffGame.default_figures_path,
+                 figure_filename: Optional[Union[str, Callable[[PyDiffGame], str]]] =
+                 PyDiffGame.default_figures_filename,
                  run_animations: Optional[bool] = True,
                  print_characteristic_polynomials: Optional[bool] = False,
                  print_eigenvalues: Optional[bool] = False):
@@ -133,7 +134,7 @@ def __call__(self,
                 self.__run_animation(i=i)
 
     @staticmethod
-    def run_multiprocess(multiprocess_worker_function: Callable[[Any], None],
+    def run_multiprocess(multiprocess_worker_function: Callable,
                          values: Sequence[Sequence]):
         t_start = time()
         combos = list(itertools.product(*values))

src/PyDiffGame/examples/InvertedPendulumComparison.py

@@ -235,9 +235,8 @@ def multiprocess_worker_function(x_T: float,
                                    epsilon_P=epsilon_P)  # game class
     is_max_lqr = \
         inverted_pendulum_comparison(plot_state_spaces=False,
-                                     run_animations=False,
-                                     non_linear_costs=True,
-                                     agnostic_costs=True)
+                                     run_animations=False
+                                     )
 
     # inverted_pendulum_comparison.plot_two_state_spaces(non_linear=True)
     return int(is_max_lqr)

src/PyDiffGame/examples/MassesWithSpringsComparison.py

@@ -1,5 +1,5 @@
 import numpy as np
-from typing import Sequence, Optional
+from typing import Sequence, Optional, Union
 
 from PyDiffGame.PyDiffGame import PyDiffGame
 from PyDiffGame.PyDiffGameLQRComparison import PyDiffGameLQRComparison
@@ -11,7 +11,7 @@ def __init__(self,
                  N: int,
                  m: float,
                  k: float,
-                 q: float | Sequence[float] | Sequence[Sequence[float]],
+                 q: Union[float, Sequence[float], Sequence[Sequence[float]]],
                  r: float,
                  Ms: Optional[Sequence[np.array]] = None,
                  x_0: Optional[np.array] = None,