def setUp(self):
solver = 'SLSQP'
num_seg = 10
seg_ncn = 2
rel_lengths = 'lgl'
# Instantiate a problem and set it's root to an empty Trajectory
prob = Problem()
prob.add_traj(Trajectory("traj0"))
if solver == 'SNOPT' and pyOptSparseDriver is not None:
driver = pyOptSparseDriver()
driver.options['optimizer'] = solver
driver.opt_settings['Major iterations limit'] = 1000
driver.opt_settings['iSumm'] = 6
driver.opt_settings['Major step limit'] = 0.5
driver.opt_settings["Major feasibility tolerance"] = 1.0E-5
driver.opt_settings["Major optimality tolerance"] = 1.0E-5
driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
driver.opt_settings['Verify level'] = 3
else:
driver = ScipyOptimizer()
driver.options['tol'] = 1.0E-6
driver.options['disp'] = True
driver.options['maxiter'] = 500
prob.driver = driver
dynamic_controls = [{'name': 'theta', 'units': 'rad'},
{'name': 'psi', 'units': 'rad'}]
static_controls = [{'name': 'mass', 'units': 'kg'},
{'name': 'g', 'units': 'm/s/s'},
{'name': 'Cd', 'units': 'unitless'},
{'name': 'D_magnetic', 'units': 'N'},
{'name': 'R', 'units': 'J/(kg*K)'},
{'name': 'S', 'units': 'm**2'},
{'name': 'T_ambient', 'units': 'K'},
{'name': 'p_tube', 'units': 'Pa'}]
phase0 = CollocationPhase(name='phase0', rhs_class=MagnePlaneRHS,
num_seg=num_seg, seg_ncn=seg_ncn,
rel_lengths=rel_lengths,
dynamic_controls=dynamic_controls,
static_controls=static_controls)
prob.trajectories["traj0"].add_phase(phase0)
phase0.set_state_options('x', lower=0, upper=100,
ic_val=0, ic_fix=True,
fc_val=10, fc_fix=True,
scaler=10.0, defect_scaler=0.1)
phase0.set_state_options('y', lower=0, upper=0,
ic_val=0, ic_fix=True,
fc_val=0, fc_fix=True,
scaler=10.0, defect_scaler=0.1)
phase0.set_state_options('z', lower=-10, upper=10,
ic_val=-10, ic_fix=True,
fc_val=-5, fc_fix=True,
scaler=10.0, defect_scaler=0.1)
phase0.set_state_options('v', lower=0, upper=np.inf,
ic_val=0.0, ic_fix=True,
fc_val=10.0, fc_fix=False,
scaler=10.0, defect_scaler=0.1)
phase0.set_dynamic_control_options('theta', ic_val=-1.57, fc_val=0.2,
opt=True, lower=-1.58, upper=1.58,
scaler=0.01)
phase0.set_dynamic_control_options('psi', ic_val=0.0, fc_val=0.0,
opt=True, lower=0.0, upper=0.0,
scaler=0.01)
phase0.set_static_control_options(name='g', val=9.80665, opt=False)
phase0.set_static_control_options(name='mass', val=1200, opt=False)
phase0.set_static_control_options(name='Cd', val=0.0, opt=False)
phase0.set_static_control_options(name='S', val=0.0, opt=False)
phase0.set_static_control_options(name='p_tube', val=0.0, opt=False)
phase0.set_static_control_options(name='T_ambient', val=298.0,
opt=False)
phase0.set_static_control_options(name='R', val=287.0, opt=False)
# Set D_magnetic equal to the thrust value for now, no net forces
# on the pod except gravity.
phase0.set_static_control_options(name='D_magnetic', val=30000.0,
opt=False)
phase0.set_time_options(t0_val=0, t0_lower=0, t0_upper=0, tp_val=1.81,
tp_lower=0.5, tp_upper=10.0)
prob.trajectories["traj0"].add_objective(name="t", phase="phase0",
place="end", scaler=1.0)
# Do top-level FD
prob.root.deriv_options['type'] = 'fd'
self.prob = prob
def magneplane_brachistochrone(solver='SLSQP', num_seg=3, seg_ncn=3):
prob = Problem()
traj = prob.add_traj(Trajectory("traj0"))
if solver == 'SNOPT':
if pyOptSparseDriver is None:
raise ValueError('Requested SNOPT but pyoptsparse is not available')
driver=pyOptSparseDriver()
driver.options['optimizer'] = solver
driver.opt_settings['Major iterations limit'] = 1000
driver.opt_settings['iSumm'] = 6
driver.opt_settings['Major step limit'] = 0.5
driver.opt_settings["Major feasibility tolerance"] = 1.0E-6
driver.opt_settings["Major optimality tolerance"] = 1.0E-6
driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
driver.opt_settings['Verify level'] = 3
else:
driver=ScipyOptimizer()
driver.options['tol'] = 1.0E-6
driver.options['disp'] = True
driver.options['maxiter'] = 500
prob.driver = driver
dynamic_controls = [ {'name':'g','units':'m/s**2'},
{'name':'T','units':'N'},
{'name':'D','units':'N'},
{'name':'mass','units':'kg'},
{'name':'psi','units':'rad'},
{'name':'theta', 'units':'rad'},
{'name':'phi','units':'rad'} ]
phase0 = CollocationPhase(name='phase0',rhs_class=MagneplaneRHS,num_seg=num_seg,seg_ncn=seg_ncn,rel_lengths="equal",
dynamic_controls=dynamic_controls,static_controls=None)
traj.add_phase(phase0)
phase0.set_state_options('x', lower=0,upper=10,ic_val=0,ic_fix=True,fc_val=10,fc_fix=True,defect_scaler=0.1)
phase0.set_state_options('y', lower=0,upper=0,ic_val=0,ic_fix=True,fc_val=0,fc_fix=True,defect_scaler=0.1)
phase0.set_state_options('z', lower=-10,upper=0,ic_val=-10,ic_fix=True,fc_val=-5,fc_fix=True,defect_scaler=0.1)
phase0.set_state_options('v', lower=0, upper=np.inf,ic_val=0.0,ic_fix=True,fc_val=10.0,fc_fix=False,defect_scaler=0.1)
phase0.set_dynamic_control_options(name='psi', val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name='theta', val=phase0.node_space(-.46,-.46),opt=True,lower=-1.57,upper=1.57,scaler=1.0)
phase0.set_dynamic_control_options(name='phi', val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name='g', val=phase0.node_space(9.80665, 9.80665), opt=False)
phase0.set_dynamic_control_options(name='T', val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name='D', val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name='mass', val=phase0.node_space(1000.0, 1000.0), opt=False)
phase0.set_time_options(t0_val=0,t0_lower=0,t0_upper=0,tp_val=2.0,tp_lower=0.5,tp_upper=10.0)
traj.add_objective(name="t",phase="phase0",place="end",scaler=1.0)
return prob
def magneplane_brachistochrone(solver='SLSQP', num_seg=3, seg_ncn=3):
prob = Problem()
traj = prob.add_traj(Trajectory("traj0"))
if solver == 'SNOPT':
if pyOptSparseDriver is None:
raise ValueError(
'Requested SNOPT but pyoptsparse is not available')
driver = pyOptSparseDriver()
driver.options['optimizer'] = solver
driver.opt_settings['Major iterations limit'] = 1000
driver.opt_settings['iSumm'] = 6
driver.opt_settings['Major step limit'] = 0.5
driver.opt_settings["Major feasibility tolerance"] = 1.0E-6
driver.opt_settings["Major optimality tolerance"] = 1.0E-6
driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
driver.opt_settings['Verify level'] = 3
else:
driver = ScipyOptimizer()
driver.options['tol'] = 1.0E-6
driver.options['disp'] = True
driver.options['maxiter'] = 500
prob.driver = driver
dynamic_controls = [{
'name': 'g',
'units': 'm/s**2'
}, {
'name': 'T',
'units': 'N'
}, {
'name': 'D',
'units': 'N'
}, {
'name': 'mass',
'units': 'kg'
}, {
'name': 'psi',
'units': 'rad'
}, {
'name': 'theta',
'units': 'rad'
}, {
'name': 'phi',
'units': 'rad'
}]
phase0 = CollocationPhase(name='phase0',
rhs_class=MagneplaneRHS,
num_seg=num_seg,
seg_ncn=seg_ncn,
rel_lengths="equal",
dynamic_controls=dynamic_controls,
static_controls=None)
traj.add_phase(phase0)
phase0.set_state_options('x',
lower=0,
upper=10,
ic_val=0,
ic_fix=True,
fc_val=10,
fc_fix=True,
defect_scaler=0.1)
phase0.set_state_options('y',
lower=0,
upper=0,
ic_val=0,
ic_fix=True,
fc_val=0,
fc_fix=True,
defect_scaler=0.1)
phase0.set_state_options('z',
lower=-10,
upper=0,
ic_val=-10,
ic_fix=True,
fc_val=-5,
fc_fix=True,
defect_scaler=0.1)
phase0.set_state_options('v',
lower=0,
upper=np.inf,
ic_val=0.0,
ic_fix=True,
fc_val=10.0,
fc_fix=False,
defect_scaler=0.1)
phase0.set_dynamic_control_options(name='psi',
val=phase0.node_space(0.0, 0.0),
opt=False)
phase0.set_dynamic_control_options(name='theta',
val=phase0.node_space(-.46, -.46),
opt=True,
lower=-1.57,
upper=1.57,
scaler=1.0)
phase0.set_dynamic_control_options(name='phi',
val=phase0.node_space(0.0, 0.0),
opt=False)
phase0.set_dynamic_control_options(name='g',
val=phase0.node_space(9.80665, 9.80665),
opt=False)
phase0.set_dynamic_control_options(name='T',
val=phase0.node_space(0.0, 0.0),
opt=False)
phase0.set_dynamic_control_options(name='D',
val=phase0.node_space(0.0, 0.0),
opt=False)
phase0.set_dynamic_control_options(name='mass',
val=phase0.node_space(1000.0, 1000.0),
opt=False)
phase0.set_time_options(t0_val=0,
t0_lower=0,
t0_upper=0,
tp_val=2.0,
tp_lower=0.5,
tp_upper=10.0)
traj.add_objective(name="t", phase="phase0", place="end", scaler=1.0)
return prob
def setUp(self):
solver = 'SLSQP'
num_seg = 10
seg_ncn = 2
rel_lengths = 'lgl'
# Instantiate a problem and set it's root to an empty Trajectory
prob = Problem()
prob.add_traj(Trajectory("traj0"))
if solver == 'SNOPT' and pyOptSparseDriver is not None:
driver = pyOptSparseDriver()
driver.options['optimizer'] = solver
driver.opt_settings['Major iterations limit'] = 1000
driver.opt_settings['iSumm'] = 6
driver.opt_settings['Major step limit'] = 0.5
driver.opt_settings["Major feasibility tolerance"] = 1.0E-5
driver.opt_settings["Major optimality tolerance"] = 1.0E-5
driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
driver.opt_settings['Verify level'] = 3
else:
driver = ScipyOptimizer()
driver.options['tol'] = 1.0E-6
driver.options['disp'] = True
driver.options['maxiter'] = 500
prob.driver = driver
dynamic_controls = [{
'name': 'theta',
'units': 'rad'
}, {
'name': 'psi',
'units': 'rad'
}]
static_controls = [{
'name': 'mass',
'units': 'kg'
}, {
'name': 'g',
'units': 'm/s/s'
}, {
'name': 'Cd',
'units': 'unitless'
}, {
'name': 'D_magnetic',
'units': 'N'
}, {
'name': 'R',
'units': 'J/(kg*K)'
}, {
'name': 'S',
'units': 'm**2'
}, {
'name': 'T_ambient',
'units': 'K'
}, {
'name': 'p_tube',
'units': 'Pa'
}]
phase0 = CollocationPhase(name='phase0',
rhs_class=MagnePlaneRHS,
num_seg=num_seg,
seg_ncn=seg_ncn,
rel_lengths=rel_lengths,
dynamic_controls=dynamic_controls,
static_controls=static_controls)
prob.trajectories["traj0"].add_phase(phase0)
phase0.set_state_options('x',
lower=0,
upper=100,
ic_val=0,
ic_fix=True,
fc_val=10,
fc_fix=True,
scaler=10.0,
defect_scaler=0.1)
phase0.set_state_options('y',
lower=0,
upper=0,
ic_val=0,
ic_fix=True,
fc_val=0,
fc_fix=True,
scaler=10.0,
defect_scaler=0.1)
phase0.set_state_options('z',
lower=-10,
upper=10,
ic_val=-10,
ic_fix=True,
fc_val=-5,
fc_fix=True,
scaler=10.0,
defect_scaler=0.1)
phase0.set_state_options('v',
lower=0,
upper=np.inf,
ic_val=0.0,
ic_fix=True,
fc_val=10.0,
fc_fix=False,
scaler=10.0,
defect_scaler=0.1)
phase0.set_dynamic_control_options('theta',
ic_val=-1.57,
fc_val=0.2,
opt=True,
lower=-1.58,
upper=1.58,
scaler=0.01)
phase0.set_dynamic_control_options('psi',
ic_val=0.0,
fc_val=0.0,
opt=True,
lower=0.0,
upper=0.0,
scaler=0.01)
phase0.set_static_control_options(name='g', val=9.80665, opt=False)
phase0.set_static_control_options(name='mass', val=1200, opt=False)
phase0.set_static_control_options(name='Cd', val=0.0, opt=False)
phase0.set_static_control_options(name='S', val=0.0, opt=False)
phase0.set_static_control_options(name='p_tube', val=0.0, opt=False)
phase0.set_static_control_options(name='T_ambient',
val=298.0,
opt=False)
phase0.set_static_control_options(name='R', val=287.0, opt=False)
# Set D_magnetic equal to the thrust value for now, no net forces
# on the pod except gravity.
phase0.set_static_control_options(name='D_magnetic',
val=30000.0,
opt=False)
phase0.set_time_options(t0_val=0,
t0_lower=0,
t0_upper=0,
tp_val=1.81,
tp_lower=0.5,
tp_upper=10.0)
prob.trajectories["traj0"].add_objective(name="t",
phase="phase0",
place="end",
scaler=1.0)
# Do top-level FD
prob.root.deriv_options['type'] = 'fd'
self.prob = prob
def magneplane_brachistochrone(solver="SLSQP", num_seg=3, seg_ncn=3):
prob = Problem()
traj = prob.add_traj(Trajectory("traj0"))
if solver == "SNOPT":
if pyOptSparseDriver is None:
raise ValueError("Requested SNOPT but pyoptsparse is not available")
driver = pyOptSparseDriver()
driver.options["optimizer"] = solver
driver.opt_settings["Major iterations limit"] = 1000
driver.opt_settings["iSumm"] = 6
driver.opt_settings["Major step limit"] = 0.5
driver.opt_settings["Major feasibility tolerance"] = 1.0e-6
driver.opt_settings["Major optimality tolerance"] = 1.0e-6
driver.opt_settings["Minor feasibility tolerance"] = 1.0e-4
driver.opt_settings["Verify level"] = 3
else:
driver = ScipyOptimizer()
driver.options["tol"] = 1.0e-6
driver.options["disp"] = True
driver.options["maxiter"] = 500
prob.driver = driver
dynamic_controls = [
{"name": "g", "units": "m/s**2"},
{"name": "T", "units": "N"},
{"name": "D", "units": "N"},
{"name": "mass", "units": "kg"},
{"name": "psi", "units": "rad"},
{"name": "theta", "units": "rad"},
{"name": "phi", "units": "rad"},
]
phase0 = CollocationPhase(
name="phase0",
rhs_class=MagneplaneRHS,
num_seg=num_seg,
seg_ncn=seg_ncn,
rel_lengths="equal",
dynamic_controls=dynamic_controls,
static_controls=None,
)
traj.add_phase(phase0)
phase0.set_state_options("x", lower=0, upper=10, ic_val=0, ic_fix=True, fc_val=10, fc_fix=True, defect_scaler=0.1)
phase0.set_state_options("y", lower=0, upper=0, ic_val=0, ic_fix=True, fc_val=0, fc_fix=True, defect_scaler=0.1)
phase0.set_state_options(
"z", lower=-10, upper=0, ic_val=-10, ic_fix=True, fc_val=-5, fc_fix=True, defect_scaler=0.1
)
phase0.set_state_options(
"v", lower=0, upper=np.inf, ic_val=0.0, ic_fix=True, fc_val=10.0, fc_fix=False, defect_scaler=0.1
)
phase0.set_dynamic_control_options(name="psi", val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(
name="theta", val=phase0.node_space(-0.46, -0.46), opt=True, lower=-1.57, upper=1.57, scaler=1.0
)
phase0.set_dynamic_control_options(name="phi", val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name="g", val=phase0.node_space(9.80665, 9.80665), opt=False)
phase0.set_dynamic_control_options(name="T", val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name="D", val=phase0.node_space(0.0, 0.0), opt=False)
phase0.set_dynamic_control_options(name="mass", val=phase0.node_space(1000.0, 1000.0), opt=False)
phase0.set_time_options(t0_val=0, t0_lower=0, t0_upper=0, tp_val=2.0, tp_lower=0.5, tp_upper=10.0)
traj.add_objective(name="t", phase="phase0", place="end", scaler=1.0)
return prob