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: 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 inv_map(self, sol: Solution) -> Solution: sol = copy.deepcopy(sol) if self.delta_ind_idx is None: self.delta_ind_idx = np.shape(sol.dynamical_parameters)[0] - 1 sol.t = sol.t * sol.dynamical_parameters[self.delta_ind_idx] sol.dynamical_parameters = np.delete(sol.dynamical_parameters, self.delta_ind_idx) return sol
def map(self, sol: Solution) -> Solution: sol = copy.deepcopy(sol) if self.delta_ind_idx is None: self.delta_ind_idx = np.shape(sol.dynamical_parameters)[0] delta_t = sol.t[-1] - sol.t[0] sol.dynamical_parameters = np.insert(sol.dynamical_parameters, self.delta_ind_idx, delta_t) sol.t = (sol.t - sol.t[0]) / delta_t return sol
def test_spbvp_3(): # This problem contains a parameter, but it is not explicit in the BCs. # Since time is buried in the ODEs, this tests if the BVP solver calculates # sensitivities with respect to parameters. def odefun(_, p, __): return 1 * p[0] def bcfun(y0, yf, _, __, ___): return y0[0] - 0, yf[0] - 2 algo = SPBVP(odefun, None, bcfun) solinit = Trajectory() solinit.t = np.linspace(0, 1, 4) solinit.y = np.array([[0], [0], [0], [0]]) solinit.dynamical_parameters = np.array([1]) solinit.const = np.array([]) out = algo.solve(solinit)['sol'] assert abs(out.dynamical_parameters - 2) < tol
def scale_sol(sol: Trajectory, scale_factors, inv=False): sol = copy.deepcopy(sol) if inv: op = np.multiply else: op = np.divide sol.t = op(sol.t, scale_factors[0]) sol.y = op(sol.y, scale_factors[1]) sol.q = op(sol.q, scale_factors[2]) if sol.u.size > 0: sol.u = op(sol.u, scale_factors[3]) sol.dynamical_parameters = op(sol.dynamical_parameters, scale_factors[4]) sol.nondynamical_parameters = op(sol.nondynamical_parameters, scale_factors[5]) sol.const = op(sol.const, scale_factors[6]) 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