ocp.bound('mass',(1,1),timestep=0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("mass",1)
ocp.guess("thrust",0)
# lookup states/actions/outputs/params
thrust4 = ocp.lookup('thrust',timestep=4)
thrust4 = ocp('thrust',timestep=4)
# can specify index of collocation point
posvel4_2 = ocp('posvel',timestep=4, degIdx=2)
# add nonlinear constraint
ocp.constrain(thrust4, '<=', posvel4_2**2)
# fix objective and setup solver
obj = sum([ocp('thrust',timestep=k)**2
for k in range(ocp.nk)])
ocp.setObjective(obj)
# ocp.setObjective(ocp.lookup('integral vel*vel',timestep=-1))
callback = rawe.telemetry.startTelemetry(
ocp, callbacks=[
(rawe.telemetry.trajectoryCallback(toProto, Trajectory), 'rocket trajectory')
])
solverOptions = [ ("tol",1e-9) ]
ocp.setupSolver(solverOpts=solverOptions,
callback=callback)
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.guess("abspos",0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("force",0)
# add slacks
for k in range(N):
for j in range(ocp.deg+1):
pos = ocp('pos', timestep=k, degIdx=j)
abspos = ocp('abspos',timestep=k, degIdx=j)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
pos = ocp('pos', timestep=N, degIdx=0)
abspos = ocp('abspos',timestep=N, degIdx=0)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
# fix objective and setup solver
# L1 parts
obj = 0
for k in range(N):
for j in range(ocp.deg+1):
obj += ocp('abspos',timestep=k,degIdx=j)
obj += ocp('abspos',timestep=N,degIdx=0)
# L2 parts
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.guess("abspos",0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("force",0)
# add slacks
for k in range(N):
for j in range(ocp.deg+1):
pos = ocp('pos', timestep=k, degIdx=j)
abspos = ocp('abspos',timestep=k, degIdx=j)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
pos = ocp('pos', timestep=N, degIdx=0)
abspos = ocp('abspos',timestep=N, degIdx=0)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
# fix objective and setup solver
# L1 parts
obj = 0
for k in range(N):
for j in range(ocp.deg+1):
obj += ocp('abspos',timestep=k,degIdx=j)
obj += ocp('abspos',timestep=N,degIdx=0)
# L2 parts
