# Define constraints
ocp.initial_constraint('h-h_0', 'm')
ocp.initial_constraint('theta', 'rad')
ocp.initial_constraint('v-v_0', 'm/s')
ocp.initial_constraint('t', 's')
ocp.terminal_constraint('h-h_f', 'm')
ocp.terminal_constraint('theta-theta_f', 'rad')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.BVPSolver('spbvp')
guess_maker = beluga.GuessGenerator('auto',
start=[50000, 0, 4000, -89 * pi / 180],
control_guess=[0],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step('bisection') \
.num_cases(101) \
.const('h_f', 0) \
.const('theta_f', 0.01*pi/180)
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('theta_f', 5.0*pi/180) \
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
ocp.initial_constraint('i + i_0', 'a')
ocp.initial_constraint('t', 's')
ocp.terminal_constraint('i - i_0', 'a')
ocp.terminal_constraint('t-1', 's')
ocp.path_constraint('u', 'v', lower='u_min', upper='u_max', activator='eps1', method='utm')
ocp.scale(a='i', v='u_max', s='1', H='L', o='L')
bvp_solver_indirect = beluga.BVPSolver('spbvp')
guess_maker_indirect = beluga.GuessGenerator(
'auto',
start=[-i_0/10],
direction='forward',
costate_guess=-0.1,
control_guess=[0],
use_control_guess=True,
time_integrate=0.1
)
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step('bisection') \
.num_cases(5) \
.const('i_0', i_0)
continuation_steps.add_step('bisection') \
activator='epsilon1',
method='utm')
ocp.path_constraint('u3',
'rad/s**2',
lower='u_min',
upper='u_max',
activator='epsilon1',
method='utm')
ocp.scale(rad=1, kg=1, s=1, m=1)
bvp_solver = beluga.BVPSolver('spbvp')
guess_maker = beluga.GuessGenerator('auto',
start=[w0[0], w0[1], w0[2]],
direction='forward',
costate_guess=0.1,
control_guess=[-0.1, -0.1, -0.1])
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.const('w1_f', 0) \
.const('w2_f', 0) \
.const('w3_f', 0)
continuation_steps.add_step('bisection') \
.num_cases(160, 'log') \
.const('epsilon1', 1e-6)
ocp.initial_constraint('v - v_0', '1')
ocp.initial_constraint('mass - mass_0', '1')
ocp.initial_constraint('t', 's')
ocp.terminal_constraint('v - v_f', '1')
ocp.terminal_constraint('mass - mass_f', '1')
ocp.path_constraint('thrust', '1', lower='T_min', upper='T_max', activator='eps', method='epstrig')
ocp.scale(m=1, s=1, kg=1, rad=1, nd=1)
bvp_solver = beluga.BVPSolver('spbvp')
guess_maker = beluga.GuessGenerator(
'auto',
start=[h_0, v_0, mass_0], # Starting values for states in order
costate_guess=-0.0001,
control_guess=[pi/3],
time_integrate=0.1,
)
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step() \
.num_cases(3) \
.const('v_f', 0)
continuation_steps.add_step() \
.num_cases(3, spacing='log') \
.const('mass_f', tar_mass_f)
continuation_steps.add_step() \
ocp.initial_constraint('x - x_0', 'ft')
ocp.initial_constraint('y - y_0', 'ft')
ocp.initial_constraint('s', 'ft')
ocp.terminal_constraint('x - x_f', 'ft')
ocp.terminal_constraint('y - y_f', 'ft')
ocp.terminal_constraint('s - s_f', 'ft')
ocp.scale(ft='s', rad=1)
bvp_solver = beluga.BVPSolver('spbvp')
guess_maker = beluga.GuessGenerator('auto',
start=[0, 0],
costate_guess=-0.1,
time_integrate=1.1,
control_guess=[0],
use_control_guess=True)
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step('bisection') \
.num_cases(6) \
.const('x_f', 1) \
.const('y_f', 0) \
.const('s_f', 1.1)
continuation_steps.add_step('bisection') \
.num_cases(6) \
.const('x_f', 1) \
.const('y_f', 0) \
ocp.path_constraint('bank',
'rad',
lower='-bmax',
upper='bmax',
activator='eps',
method='utm')
ocp.scale(ft='theta*re', s='theta*re/v', slug='mass', rad=1)
bvp_solver = beluga.BVPSolver('spbvp')
guess_maker = beluga.GuessGenerator('auto',
start=[(h_0 - h_f) * 0.5 + h_f, 1, 1,
v_0 * 0.25, gam_0, psi_0],
direction='forward',
costate_guess=[
-1.30487794e-07, -1.00000000e+00, 0,
-5.71719036e-06, -7.16743700e-03, 0.
],
control_guess=[18. / 180 * np.pi, 0],
time_integrate=25)
continuation_steps = beluga.ContinuationList()
continuation_steps.add_step('bisection') \
.num_cases(20) \
.const('theta_0', 0) \
.const('phi_0', 0) \
continuation_steps.add_step('bisection') \
.num_cases(201) \
.const('h_f', h_f) \