Update docs.

Signed-off-by: James Goppert <james.goppert@gmail.com>

Author: jgoppert

README.md

@@ -78,12 +78,13 @@ model = model.simulate(0.0, 10.0, 0.01)
 # Output:
 #   Final position: -0.529209
 #   Final velocity: 0.323980
-#   Access via: model.trajectory.x.x[0, -1] (position)
-#              model.trajectory.x.v[0, -1] (velocity)
+#   Access via: model.trajectory.x.x[-1] (final position)
+#              model.trajectory.x.v[-1] (final velocity)
+#              model.trajectory.x.x (full position trajectory, shape: n_steps)
 #
 # To compute outputs during simulation (optional, costs performance):
 #   model = model.simulate(0.0, 10.0, 0.01, compute_output=True)
-#   model.trajectory.y.position[0, :] # output trajectory
+#   model.trajectory.y.position # output trajectory
 ```
 
 ## Documentation

cyecca/dynamics/composition.py

@@ -240,6 +240,29 @@ def to_path_string(sig):
                 self._input_connections[target_model] = {}
             self._input_connections[target_model][target_str] = source_str
 
+    def get_connections(self, target_model: str = None):
+        """Get input connections for a submodel.
+        
+        Args:
+            target_model: Name of the target submodel. If None, returns all connections.
+            
+        Returns:
+            dict: Dictionary mapping target signals to source signals.
+                  If target_model is None, returns nested dict {model: {target: source}}.
+                  
+        Example:
+            >>> parent.connect("child2.u.u", "child1.y.y")  # doctest: +SKIP
+            >>> parent.get_connections("child2")  # doctest: +SKIP
+            {'child2.u.u': 'child1.y.y'}
+        """
+        if not hasattr(self, "_input_connections"):
+            return {} if target_model is None else {}
+        
+        if target_model is None:
+            return dict(self._input_connections)
+        
+        return dict(self._input_connections.get(target_model, {}))
+
     def build_composed(self, integrator: str = "rk4", integrator_options: dict = None):
         """Build a composed model from added submodels.
 

cyecca/dynamics/core.py

@@ -191,7 +191,7 @@ class Trajectory(Generic[TStateTrajectory, TDiscreteStateTrajectory, TDiscreteVa
     -------
     >>> model = model.simulate(0, 10, 0.01)  # doctest: +SKIP
     >>> traj = model.trajectory  # doctest: +SKIP
-    >>> plt.plot(traj.t, traj.x.p)  # Plot all position components  # doctest: +SKIP
+    >>> plt.plot(traj.t, traj.x.p)  # Plot all position components (n_steps, dim)  # doctest: +SKIP
     """
 
     t: np.ndarray = field(default_factory=lambda: np.array([]))
@@ -1251,7 +1251,7 @@ def trajectory(self) -> Trajectory:
         Example
         -------
         >>> model = model.simulate(0, 10, 0.01)  # doctest: +SKIP
-        >>> plt.plot(model.trajectory.t, model.trajectory.x.p[0, :])  # doctest: +SKIP
+        >>> plt.plot(model.trajectory.t, model.trajectory.x.p)  # doctest: +SKIP
         """
         if not hasattr(self, '_trajectory'):
             if hasattr(self, '_sim_history'):

docs/user_guide/modeling.rst

@@ -106,7 +106,14 @@ Example: Bouncing ball with restitution coefficient
    f_m = ca.vertcat(x.h, -0.8 * x.v)
    
    model.build(f_x=f_x, f_c=f_c, f_m=f_m)
-   result = model.simulate(0, 10, 0.01, detect_events=True)
+   model = model.simulate(0, 10, 0.01, detect_events=True)
+   
+   # Access results via trajectory attribute
+   traj = model.trajectory
+   # traj.t - time points
+   # traj.x.h - height trajectory
+   # traj.x.v - velocity trajectory
+   # traj.z.bounces - discrete state trajectory
 
 Linearization & Analysis
 ------------------------

docs/user_guide/quickstart.rst

@@ -53,12 +53,13 @@ Build a simple mass-spring-damper system:
    model.build(f_x=f_x, integrator='rk4')
    
    # Simulate (uses default initial conditions from States/Inputs/Params)
-   result = model.simulate(t0=0.0, tf=10.0, dt=0.01)
+   model = model.simulate(t0=0.0, tf=10.0, dt=0.01)
    
-   # Plot results
+   # Plot results - access via trajectory attribute
    import matplotlib.pyplot as plt
-   plt.plot(result['t'], result['x'][0, :], label='position')
-   plt.plot(result['t'], result['x'][1, :], label='velocity')
+   traj = model.trajectory
+   plt.plot(traj.t, traj.x.x, label='position')  # shape: (n_steps,)
+   plt.plot(traj.t, traj.x.v, label='velocity')  # shape: (n_steps,)
    plt.legend()
    plt.show()
 

test/test_dynamics.py

@@ -754,9 +754,10 @@ class Outputs:
         # Test connection API using string paths
         parent.connect("child2.u.u", "child1.y.y")
 
-        # Verify connection was stored
-        assert "child2" in parent._input_connections
-        assert "child2.u.u" in parent._input_connections["child2"]
+        # Verify connection was stored using public API
+        connections = parent.get_connections("child2")
+        assert "child2.u.u" in connections
+        assert connections["child2.u.u"] == "child1.y.y"
 
 
 class TestIntegrators: