def inv_map(self, sol: Solution) -> Solution:
qinv = np.ones_like(sol.t)
pinv = np.ones_like(sol.t)
for ii, t in enumerate(sol.t):
qinv[ii] = self.fn_q_inv(sol.y[ii], sol.dual[ii], sol.q[ii],
sol.dynamical_parameters, sol.const)
pinv[ii] = self.fn_p_inv(sol.y[ii], sol.dual[ii],
sol.dynamical_parameters, sol.const)
state = pinv
qval = qinv
if self.remove_parameter_dict['location'] == 'states':
sol.y = np.column_stack(
(sol.y[:, :self.remove_parameter_dict['index']], state,
sol.y[:, self.remove_parameter_dict['index']:]))
elif self.remove_parameter_dict['location'] == 'costates':
sol.dual = np.column_stack(
(sol.dual[:, :self.remove_parameter_dict['index']], state,
sol.dual[:, self.remove_parameter_dict['index']:]))
if self.remove_symmetry_dict['location'] == 'states':
sol.y = np.column_stack(
(sol.y[:, :self.remove_symmetry_dict['index']], qval,
sol.y[:, self.remove_symmetry_dict['index']:]))
elif self.remove_symmetry_dict['location'] == 'costates':
sol.dual = np.column_stack(
(sol.dual[:, :self.remove_symmetry_dict['index']], qval,
sol.dual[:, self.remove_symmetry_dict['index']:]))
sol.q = np.delete(sol.q, np.s_[-1], axis=1)
sol.dynamical_parameters = sol.dynamical_parameters[:-1]
return sol
def map(self, sol: Solution) -> Solution:
cval = self.fn_p(sol.y[0], sol.dual[0], sol.dynamical_parameters,
sol.const)
qval = np.ones_like(sol.t)
sol.dynamical_parameters = np.hstack((sol.dynamical_parameters, cval))
for ii, t in enumerate(sol.t):
qval[ii] = self.fn_q(sol.y[ii], sol.dual[ii],
sol.dynamical_parameters, sol.const)
if self.remove_parameter_dict['location'] == 'states':
sol.y = np.delete(sol.y,
np.s_[self.remove_parameter_dict['index']],
axis=1)
elif self.remove_parameter_dict['location'] == 'costates':
sol.dual = np.delete(sol.dual,
np.s_[self.remove_parameter_dict['index']],
axis=1)
if self.remove_symmetry_dict['location'] == 'states':
sol.y = np.delete(sol.y,
np.s_[self.remove_symmetry_dict['index']],
axis=1)
elif self.remove_symmetry_dict['location'] == 'costates':
sol.dual = np.delete(sol.dual,
np.s_[self.remove_symmetry_dict['index']],
axis=1)
sol.q = np.column_stack((sol.q, qval))
return sol
def inv_map(self, sol: Solution) -> Solution:
sol.dual = sol.y[:, self.costate_idxs]
sol.y = np.delete(sol.y, self.costate_idxs, axis=1)
sol.nondynamical_parameters = np.delete(sol.nondynamical_parameters,
self.constraint_adjoints_idxs)
return sol
def map(self,
sol: Solution,
control_costate: Union[float, np.ndarray] = 0.) -> Solution:
idx_u_list = []
for idx_u, (idx_y,
u) in enumerate(sorted(zip(self.control_idxs, sol.u.T))):
sol.y = np.insert(sol.y, idx_y, u, axis=1)
if isinstance(control_costate, Iterable):
if not isinstance(control_costate, np.ndarray):
control_costate = np.array(control_costate)
costate_insert = control_costate[idx_u] * np.ones_like(sol.t)
else:
costate_insert = control_costate * np.ones_like(sol.t)
sol.dual = np.insert(sol.dual, -1, costate_insert, axis=1)
if len(sol.dual_u) == 0:
sol.dual_u = np.array([costate_insert])
else:
sol.dual_u = np.insert(sol.dual_u, -1, costate_insert, axis=1)
idx_u_list.append(idx_u)
sol.u = np.delete(sol.u, idx_u_list, axis=1)
return sol
def inv_map(self, sol: Solution) -> Solution:
if self.ind_state_idx is None:
self.ind_state_idx = np.shape(sol.y)[1] - 1
sol.t = sol.y[:, self.ind_state_idx]
sol.y = np.delete(sol.y, self.ind_state_idx, axis=1)
sol.dual_t = sol.dual[:, self.ind_state_idx]
sol.dual = np.delete(sol.dual, self.ind_state_idx, axis=1)
return sol
def map(self, sol: Solution) -> Solution:
if self.ind_state_idx is None:
self.ind_state_idx = np.shape(sol.y)[1]
if len(sol.dual_t) == 0:
sol.dual_t = np.zeros_like(sol.t)
sol.y = np.insert(sol.y, self.ind_state_idx, sol.t, axis=1)
sol.dual = np.insert(sol.dual, self.ind_state_idx, sol.dual_t, axis=1)
return sol
def inv_map(self, sol: Solution, retain_dual=True) -> Solution:
if not retain_dual:
sol.dual = empty_array
sol.nondynamical_parameters = empty_array
sol.cost = self.compute_cost(sol.t, sol.y, sol.q, sol.u,
sol.dynamical_parameters, sol.const)
return sol
def inv_map(self, sol: Solution) -> Solution:
sol.u = sol.y[:, self.control_idxs]
sol.y = np.delete(sol.y, self.control_idxs, axis=1)
sol.dual = np.delete(sol.dual, self.control_idxs, axis=1)
return sol
def solve(self, solinit, **kwargs):
solinit = copy.deepcopy(solinit)
nstates = solinit.y.shape[1]
nquads = 0
def return_nil(*_, **__):
return np.array([])
if solinit.q.size > 0:
nquads = solinit.q.shape[1]
else:
nquads = 0
self.quadrature_function = return_nil
ndyn = solinit.dynamical_parameters.size
nnondyn = solinit.nondynamical_parameters.size
empty_array = np.array([])
if nquads == 0:
# TODO: Try to vectorize
def _fun(t, y, params=empty_array, const=solinit.const):
return np.vstack([self.derivative_function(yi[:nstates], params[:ndyn], const) for yi in y.T]).T
def _bc(ya, yb, params=empty_array, const=solinit.const):
return self.boundarycondition_function(ya, yb, params[:ndyn], params[ndyn:ndyn + nnondyn], const)
else:
def _fun(t, y, params=empty_array, const=solinit.const):
y = y.T
o1 = np.vstack([self.derivative_function(yi[:nstates], params[:ndyn], const) for yi in y])
o2 = np.vstack([self.quadrature_function(yi[:nstates], params[:ndyn], const) for yi in y])
return np.hstack((o1, o2)).T
def _bc(ya, yb, params=np.array([]), const=solinit.const):
return self.boundarycondition_function(ya[:nstates], ya[nstates:nstates+nquads], yb[:nstates],
yb[nstates:nstates+nquads], params[:ndyn],
params[ndyn:ndyn+nnondyn], const)
if self.derivative_function_jac is not None:
def _fun_jac(t, y, params=np.array([]), const=solinit.const):
y = y.T
df_dy = np.zeros((y[0].size, y[0].size, t.size))
df_dp = np.zeros((y[0].size, ndyn+nnondyn, t.size))
for ii, yi in enumerate(y):
df_dy[:, :, ii], _df_dp = self.derivative_function_jac(yi, params[:ndyn], const)
if nstates > 1 and len(_df_dp.shape) == 1:
_df_dp = np.array([_df_dp]).T
df_dp[:, :, ii] = np.hstack((_df_dp, np.zeros((nstates, nnondyn))))
if ndyn + nnondyn == 0:
return df_dy
else:
return df_dy, df_dp
else:
_fun_jac = None
if self.boundarycondition_function_jac is not None:
if nquads > 0:
def _bc_jac(ya, yb, params=np.array([]), const=solinit.const):
dbc_dya, dbc_dyb, dbc_dp = \
self.boundarycondition_function_jac(ya[:nstates], ya[nstates:nstates+nquads], yb[:nstates],
yb[nstates:nstates+nquads], params[:ndyn],
params[ndyn:ndyn+nnondyn], const)
return dbc_dya, dbc_dyb, dbc_dp
else:
def _bc_jac(ya, yb, params=np.array([]), const=solinit.const):
dbc_dya, dbc_dyb, dbc_dp = \
self.boundarycondition_function_jac(ya, yb, params[:ndyn], params[ndyn:ndyn+nnondyn], const)
return dbc_dya, dbc_dyb, dbc_dp
else:
_bc_jac = None
if nquads > 0:
opt = solve_bvp(_fun, _bc, solinit.t, np.hstack((solinit.y, solinit.q)).T,
np.hstack((solinit.dynamical_parameters, solinit.nondynamical_parameters)),
max_nodes=self.max_nodes, fun_jac=_fun_jac, bc_jac=_bc_jac)
else:
opt = solve_bvp(_fun, _bc, solinit.t, solinit.y.T,
np.hstack((solinit.dynamical_parameters, solinit.nondynamical_parameters)),
max_nodes=self.max_nodes, fun_jac=_fun_jac, bc_jac=_bc_jac)
sol = Trajectory(solinit)
sol.t = opt['x']
sol.y = opt['y'].T[:, :nstates]
sol.q = opt['y'].T[:, nstates:nstates+nquads]
sol.dual = np.zeros_like(sol.y)
if opt['p'] is not None:
sol.dynamical_parameters = opt['p'][:ndyn]
sol.nondynamical_parameters = opt['p'][ndyn:ndyn+nnondyn]
else:
sol.dynamical_parameters = np.array([])
sol.nondynamical_parameters = np.array([])
sol.converged = opt['success']
out = BVPResult(sol=sol, success=opt['success'], message=opt['message'], rms_residuals=opt['rms_residuals'],
niter=opt['niter'])
return out
