# Define constraints
ocp.constraints() \
.initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('theta-theta_0','rad') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m') \
.terminal('theta-theta_f','rad') \
.path('steering','delta - steeringLim','<',0.0,'rad^2')
# .path('gLoading','(D^2+L^2)/(mass*g0)','<',0.0,'m^2/s^2')
ocp.scale(m='x', s='x/V', rad=1, nd=1)
guess_maker = beluga.guess_generator('auto',
start=[0, 0, pi / 4],
direction='forward',
time_integrate=1.0,
costate_guess=0.0)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(2) \
.terminal('y', 1.0) \
.terminal('x', 1.0) \
.terminal('theta', pi/2)
continuation_steps.add_step('bisection') \
.num_cases(21) \
.terminal('y', 5.0) \
.terminal('x', 5.0) \
ocp.initial_constraint('h-h_0', 'm')
ocp.initial_constraint('theta', 'rad')
ocp.initial_constraint('v-v_0', 'm/s')
ocp.initial_constraint('gam-gam_0', 'rad')
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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[40000, 0, 2000, (-90)*pi/180],
direction='forward',
costate_guess=-0.1,
control_guess=[0],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
# Start by flying straight towards the ground
continuation_steps.add_step('bisection') \
.num_cases(5) \
.const('h_f', 0)
# Slowly turn up the density
continuation_steps.add_step('bisection') \
.num_cases(3) \
.const('rho0', 1.2)
derivative_method='fd',
max_error=20,
)
bvp_solver = beluga.bvp_algorithm('qcpi',
tolerance=1e-3,
max_iterations=500,
verbose=True,
max_error=20,
N=81)
guess_maker = beluga.guess_generator(
'auto',
start=[-.8, 0., -.1, -pi / 12.] + [-.8, .1, -.1, 0., 1.],
direction='forward',
costate_guess=[0., 0., 0., -0.] + [0., 0., 0., 0., 0.] + [0.] * 2,
control_guess=[0.00, .01, -0.00, .01] + [0.0, 0.0] * 2,
time_integrate=.1,
use_control_guess=True,
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.terminal('xbar', -0.6)\
.terminal('ybar', -.25) \
.terminal('zbar', 0.) \
.terminal('psi', +15*pi/180) \
.terminal('xbar2', -0.6)\
.terminal('ybar2', .25) \
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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator('auto',
start=[0, 0],
costate_guess=-0.1,
time_integrate=1.1,
control_guess=[0],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
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.initial_constraint('theta - theta_0', 'rad')
ocp.initial_constraint('v_r - v_r_0', 'L/s')
ocp.initial_constraint('v_theta - v_theta_0', 'L/s')
ocp.initial_constraint('m - m_0', 'M')
ocp.initial_constraint('t', 's')
ocp.terminal_constraint('v_r - v_r_f', 'L/s')
ocp.terminal_constraint('v_theta - sqrt(mu / r)', 'L/s')
ocp.terminal_constraint('t - t_f', 's')
ocp.scale(L='r', s='r/v_theta', M='m', rad=1)
bvp_solver_shooting = beluga.bvp_algorithm('Shooting', algorithm='Armijo')
bvp_solver_collocation = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator('auto',
start=[1, 0, 0, 1, 1],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(3) \
.const('v_r_f', 0)
continuation_steps.add_step('bisection') \
.num_cases(40) \
.const('t_f', 80)
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
sol_set_collocation = beluga.solve(
ocp.initial_constraint('y - y_0', 'm')
ocp.initial_constraint('v_x - v_x_0', 'm/s')
ocp.initial_constraint('v_y - v_y_0', 'm/s')
ocp.initial_constraint('mass - mass_0', 'kg')
ocp.initial_constraint('t', 's')
ocp.terminal_constraint('y - y_f', 'm')
ocp.terminal_constraint('v_x - sqrt(mu/(y_f+Re))', 'm/s')
ocp.terminal_constraint('v_y - v_y_f', 'm/s')
ocp.scale(m='y', s='y/v_x', kg='mass', newton='mass*v_x^2/y', rad=1)
bvp_solver = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0, 0, 0.01, 60880], # Starting values for states in order
costate_guess=-0.1,
control_guess=[0],
use_control_guess=False)
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('eps', 1) \
.const('mass_0', 1.1702e5)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('rho_ref', 1.225)
# Define constraints
ocp.constraints() \
.initial('x', 'm') \
.initial('y', 'm') \
.initial('v', 'm/s') \
.initial('t', 's') \
.terminal('x-x_f', 'm') \
.terminal('y-y_f', 'm')
ocp.scale(m='y', s='y/v', kg=1, rad=1, nd=1)
bvp_solver = beluga.bvp_algorithm('Shooting')
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0, 0], # Starting values for states in order
costate_guess=-0.1,
control_guess=[-pi / 2],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.const('x_f', 10) \
.const('y_f', -10)
beluga.add_logger(logging_level=logging.DEBUG, display_level=logging.INFO)
sol_set = beluga.solve(ocp=ocp,
method='diffyg',
optim_options={'reduction': True},
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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator('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.init_continuation()
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) \
.terminal('x-x_f', 'm') \
.terminal('y-y_f', 'm')
ocp.scale(m='x', s='x/V', rad=1)
bvp_solver = beluga.bvp_algorithm(
'Shooting',
derivative_method='fd',
tolerance=1e-4
)
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0],
quad_guess=[-0.01],
costate_guess=[-0.01, -0.01],
param_guess=[0],
control_guess=[0],
use_control_guess=True,
direction='forward'
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(5) \
.const('x_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(5) \
.const('y_f', 10)
.initial('v - v_0', '1') \
.initial('m - m_0', '1') \
.path('thrust', '1', lower=0, upper=1, activator='eps', method='epstrig') \
.path('1/2 * d * v**2 * rho0 * exp(-h/H) * pi * (A/2)**2', '1', lower=-1, upper='drag_max', activator='eps2',
method='utm') \
.terminal('v - v_f', '1') \
.terminal('m - m_f', '1')
ocp.scale(m=1, s=1, kg=1, rad=1, nd=1)
bvp_solver = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[h_0 / meter, v_0 / meter * second,
m_0 / kilogram], # Starting values for states in order
costate_guess=-0.1,
control_guess=[pi / 3],
time_integrate=0.1,
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step() \
.num_cases(5) \
.const('v_f', 0)
continuation_steps.add_step() \
.num_cases(5) \
.const('m_f', 3.6e3/kilogram)
continuation_steps.add_step() \
ocp.initial_constraint('theta', 'rad')
ocp.initial_constraint('v-v_0', 'm/s')
ocp.initial_constraint('gam-gam_0', 'rad')
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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[h_0, 0., v_0, -45/180*np.pi],
direction='forward',
costate_guess=[-1e5, -0.01, -0.01, -0.01],
control_guess=[5/180*np.pi],
time_integrate=1
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.const('h_f', 0) \
.const('theta_f', 50e3/re)
continuation_steps.add_step('bisection') \
.num_cases(81) \
.const('theta_f', 300e3/re)
.terminal('theta-theta_f','rad') \
.path('heatRate','(qdot/qdotMax)','<',1.0,'nd',start_eps=1e-2) \
bvp_solver = beluga.bvp_algorithm('MultipleShooting',
derivative_method='fd',
tolerance=1e-4,
max_iterations=25,
verbose = True,
max_error=50
)
ocp.scale(m='h', s='h/v', kg='mass', rad=1, nd=1, W=1e7)
guess_maker = beluga.guess_generator('auto',
start=[80e3,0.0,4e3,-pi/2], # Starting values for states in order
direction='forward',
costate_guess = 0.1
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection').num_cases(41) \
.terminal('h', 15000.0) \
continuation_steps.add_step('bisection').num_cases(31) \
.initial('gam', -60*pi/180) \
.terminal('theta', 0.5*pi/180)
continuation_steps.add_step('bisection').num_cases(11) \
.initial('v',5e3)\
.terminal('theta', 1*pi/180)
def test_planarhypersonic():
from math import pi
import beluga
ocp = beluga.OCP('planarHypersonic')
# Define independent variables
ocp.independent('t', 's')
# Define equations of motion
ocp.state('h', 'v*sin(gam)', 'm') \
.state('theta', 'v*cos(gam)/r', 'rad') \
.state('v', '-D/mass - mu*sin(gam)/r**2', 'm/s') \
.state('gam', 'L/(mass*v) + (v/r - mu/(v*r^2))*cos(gam)', 'rad')
# Define quantities used in the problem
ocp.quantity('rho', 'rho0*exp(-h/H)')
ocp.quantity('Cl', '(1.5658*alfa + -0.0000)')
ocp.quantity('Cd', '(1.6537*alfa^2 + 0.0612)')
ocp.quantity('D', '0.5*rho*v^2*Cd*Aref')
ocp.quantity('L', '0.5*rho*v^2*Cl*Aref')
ocp.quantity('r', 're+h')
# Define controls
ocp.control('alfa', 'rad')
# Define constants
ocp.constant('mu', 3.986e5 * 1e9,
'm^3/s^2') # Gravitational parameter, m^3/s^2
ocp.constant('rho0', 0.0001 * 1.2,
'kg/m^3') # Sea-level atmospheric density, kg/m^3
ocp.constant('H', 7500, 'm') # Scale height for atmosphere of Earth, m
ocp.constant('mass', 750 / 2.2046226, 'kg') # Mass of vehicle, kg
ocp.constant('re', 6378000, 'm') # Radius of planet, m
ocp.constant('Aref',
pi * (24 * .0254 / 2)**2,
'm^2') # Reference area of vehicle, m^2
ocp.constant('h_0', 80000, 'm')
ocp.constant('v_0', 4000, 'm/s')
ocp.constant('h_f', 80000, 'm')
ocp.constant('theta_f', 0, 'rad')
# Define costs
ocp.terminal_cost('-v^2', 'm^2/s^2')
# Define constraints
ocp.constraints() \
.initial('h-h_0', 'm') \
.initial('theta', 'rad') \
.initial('v-v_0', 'm/s') \
.terminal('h-h_f', 'm') \
.terminal('theta-theta_f', 'rad')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting',
algorithm='SLSQP',
tolerance=1e-6)
guess_maker = beluga.guess_generator(
'auto',
start=[80000, 0, 4000, -90 * pi / 180],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(11) \
.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)
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('rho0', 1.2)
sol = beluga.solve(ocp,
method='traditional',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker)
y0 = sol.y[0]
yf = sol.y[-1]
y0e = [
8.00000000e+04, 0.00000000e+00, 4.00000000e+03, 1.95069984e-02,
-1.68249327e+01, 1.21634197e+06, -2.83598229e+03, -6.15819100e-17
]
yfe = [
5.23214346e-04, 8.72664626e-02, 2.69147623e+03, -9.38246813e-01,
5.46455659e+02, 1.21634197e+06, -5.38295257e+03, 1.67911185e-01
]
tfe = 144.5678
assert sol.t.shape[0] == sol.y.shape[0]
assert sol.t.shape[0] == sol.u.shape[0]
assert sol.y.shape[1] == 8
assert sol.u.shape[1] == 1
assert abs((y0[0] - y0e[0]) / y0e[0]) < tol
assert abs((y0[1] - y0e[1])) < tol
assert abs((y0[2] - y0e[2]) / y0e[2]) < tol
assert abs((y0[3] - y0e[3]) / y0e[3]) < tol
assert abs((y0[4] - y0e[4]) / y0e[4]) < tol
assert abs((y0[5] - y0e[5]) / y0e[5]) < tol
assert abs((y0[6] - y0e[6]) / y0e[6]) < tol
assert abs((y0[7] - y0e[7])) < tol
assert abs((sol.t[-1] - tfe) / tfe) < tol
assert abs((yf[0] - yfe[0])) < tol
assert abs((yf[1] - yfe[1]) / yfe[1]) < tol
assert abs((yf[2] - yfe[2]) / yfe[2]) < tol
assert abs((yf[3] - yfe[3]) / yfe[3]) < tol
assert abs((yf[4] - yfe[4]) / yfe[4]) < tol
assert abs((yf[5] - yfe[5]) / yfe[5]) < tol
assert abs((yf[6] - yfe[6]) / yfe[6]) < tol
assert abs((yf[7] - yfe[7]) / yfe[7]) < tol
def test_zermelo_custom_functions():
import beluga
ocp = beluga.OCP('zermelos_problem')
def drift_x(x, y):
return 0
def drift_y(x, y):
return ((x - 5)**4 - 625) / 625
ocp.custom_function('drift_x', drift_x)
ocp.custom_function('drift_y', drift_y)
# Define independent variables
ocp.independent('t', 's')
# Define equations of motion
ocp.state('x', 'V*cos(theta) + epsilon*drift_x(x,y)', 'm') \
.state('y', 'V*sin(theta) + epsilon*drift_y(x,y)', 'm')
# Define controls
ocp.control('theta', 'rad')
# Define constants
ocp.constant('V', 10, 'm/s')
ocp.constant('epsilon', 0.001, '1')
ocp.constant('x_f', 0, 'm')
ocp.constant('y_f', 0, 'm')
# Define costs
ocp.path_cost('1', '1')
# Define constraints
ocp.constraints() \
.initial('x', 'm') \
.initial('y', 'm') \
.terminal('x-x_f', 'm') \
.terminal('y-y_f', 'm')
ocp.scale(m='x', s='x/V', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting',
derivative_method='fd',
tolerance=1e-4,
max_error=100,
max_iterations=100)
guess_maker = beluga.guess_generator('auto',
start=[0, 0],
control_guess=[0],
use_control_guess=True,
direction='forward')
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('x_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('y_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('epsilon', 1)
sol = beluga.solve(ocp,
method='icrm',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker)
from beluga.ivpsol import Trajectory
assert isinstance(sol, Trajectory)
.initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('theta-theta_0','rad') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m') \
.terminal('theta-theta_f','rad') \
.path('steering','delta','<>','steeringLim','rad', start_eps=1) \
.path('accLimit','a','<>',1.0,'m/s^2',start_eps=1)
# ocp.scale(m='x', s='x/V', rad=1, nd=1)
ocp.scale(m=1, s=1, rad=1, nd=1)
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0, 0.1, pi / 4],
direction='forward',
time_integrate=1.0,
costate_guess=-0.01,
control_guess=[0.1, 0.0, 0.1, 0.1, 0.1, 0.1],
use_control_guess=False)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(51) \
.terminal('y', 5.0) \
.terminal('x', 5.0) \
.terminal('theta', pi/4)
continuation_steps.add_step('bisection') \
.num_cases(51) \
.terminal('y1', 0.0) \
method='utm')
ocp.path_constraint('bank',
'rad',
lower='-bmax',
upper='bmax',
activator='eps',
method='utm')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0, 100, 200, -80 * pi / 180, 0 * pi / 180],
direction='reverse',
costate_guess=-0.00001,
time_integrate=0.1,
control_guess=[0, 0])
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('v_0', 200) \
.const('h_0', 1000) \
.const('gam_f', gam_f)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('phi_0', 0) \
ocp.initial_constraint('t', 's')
ocp.initial_constraint('x', 'ft')
ocp.initial_constraint('y', 'ft')
ocp.initial_constraint('v', 'ft/s')
ocp.terminal_constraint('x - x_f', 'ft')
ocp.terminal_constraint('y-y_f', 'ft')
ocp.scale(ft='y', s='y/v', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting')
guess_maker = beluga.guess_generator('auto',
start=[0, 0, 0],
costate_guess=-0.1,
control_guess=[-3.14159 / 2],
use_control_guess=True,
time_integrate=0.1)
beluga.add_logger(display_level=logging.INFO)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.const('x_f', 10) \
.const('y_f', -10)
sol_set = beluga.solve(ocp=ocp,
method='indirect',
bvp_algorithm=bvp_solver,
def test_planarhypersonic():
from math import pi
import beluga
ocp = beluga.OCP('planarHypersonic')
# Define independent variables
ocp.independent('t', 's')
# Define equations of motion
ocp.state('h', 'v*sin(gam)', 'm') \
.state('theta', 'v*cos(gam)/r', 'rad') \
.state('v', '-D/mass - mu*sin(gam)/r**2', 'm/s') \
.state('gam', 'L/(mass*v) + (v/r - mu/(v*r^2))*cos(gam)', 'rad')
# Define quantities used in the problem
ocp.quantity('rho', 'rho0*exp(-h/H)')
ocp.quantity('Cl', '(1.5658*alfa + -0.0000)')
ocp.quantity('Cd', '(1.6537*alfa^2 + 0.0612)')
ocp.quantity('D', '0.5*rho*v^2*Cd*Aref')
ocp.quantity('L', '0.5*rho*v^2*Cl*Aref')
ocp.quantity('r', 're+h')
# Define controls
ocp.control('alfa', 'rad')
# Define constants
ocp.constant('mu', 3.986e5 * 1e9, 'm^3/s^2') # Gravitational parameter, m^3/s^2
ocp.constant('rho0', 0.0001 * 1.2, 'kg/m^3') # Sea-level atmospheric density, kg/m^3
ocp.constant('H', 7500, 'm') # Scale height for atmosphere of Earth, m
ocp.constant('mass', 750 / 2.2046226, 'kg') # Mass of vehicle, kg
ocp.constant('re', 6378000, 'm') # Radius of planet, m
ocp.constant('Aref', pi * (24 * .0254 / 2) ** 2, 'm^2') # Reference area of vehicle, m^2
# Define costs
ocp.terminal_cost('-v^2', 'm^2/s^2')
# Define constraints
ocp.constraints() \
.initial('h-h_0', 'm') \
.initial('theta-theta_0', 'rad') \
.initial('v-v_0', 'm/s') \
.terminal('h-h_f', 'm') \
.terminal('theta-theta_f', 'rad')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting')
guess_maker = beluga.guess_generator('auto', start=[80000, 0, 4000, -90 * pi / 180], direction='forward', costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(11) \
.terminal('h', 0) \
.terminal('theta', 0.01 * pi / 180)
continuation_steps.add_step('bisection') \
.num_cases(11) \
.terminal('theta', 5.0 * pi / 180)
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('rho0', 1.2)
sol = beluga.solve(ocp, method='traditional', bvp_algorithm=bvp_solver, steps=continuation_steps, guess_generator=guess_maker)
y0 = sol.y[0]
yf = sol.y[-1]
y0e = [80000, 0, 4000, 0.0195, -16.8243, 1212433.8085, -2836.0620, 0]
yfe = [0, 0.0873, 2691.4733, -0.9383, 546.4540, 1212433.8085, -5382.9467, 0.1840]
tfe = 144.5677
assert sol.t.shape[0] == sol.y.shape[0]
assert sol.t.shape[0] == sol.u.shape[0]
assert sol.y.shape[1] == 8
assert sol.u.shape[1] == 1
assert abs((y0[0] - y0e[0]) / y0e[0]) < tol
assert abs((y0[1] - y0e[1])) < tol
assert abs((y0[2] - y0e[2]) / y0e[2]) < tol
assert abs((y0[3] - y0e[3]) / y0e[3]) < tol
assert abs((y0[4] - y0e[4]) / y0e[4]) < tol
assert abs((y0[5] - y0e[5]) / y0e[5]) < tol
assert abs((y0[6] - y0e[6]) / y0e[6]) < tol
assert abs((y0[7] - y0e[7])) < tol
assert abs((sol.t[-1] - tfe) / tfe) < tol
assert abs((yf[0] - yfe[0])) < tol
assert abs((yf[1] - yfe[1]) / yfe[1]) < tol
assert abs((yf[2] - yfe[2]) / yfe[2]) < tol
assert abs((yf[3] - yfe[3]) / yfe[3]) < tol
assert abs((yf[4] - yfe[4]) / yfe[4]) < tol
assert abs((yf[5] - yfe[5]) / yfe[5]) < tol
assert abs((yf[6] - yfe[6]) / yfe[6]) < tol
assert abs((yf[7] - yfe[7]) / yfe[7]) < tol
'MultipleShooting',
tolerance=1e-4,
max_iterations=50,
verbose=True,
)
# bvp_solver = beluga.bvp_algorithm('SingleShooting',
# derivative_method='fd',
# tolerance=1e-4,
# max_iterations=50,
# verbose = True,
# )
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0, 1], # Starting values for states in order
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(11) \
.terminal('x', 5) \
.terminal('y',-5)
beluga.solve(ocp,
method='icrm',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker)
def test_brachistochrone_shooting():
from math import pi
import beluga
from beluga.ivpsol import Trajectory
from beluga.bvpsol import Solution
ocp = beluga.OCP('brachisto')
# Define independent variables
ocp.independent('t', 's')
# Define equations of motion
ocp.state('x', 'v*cos(theta)', 'm') \
.state('y', 'v*sin(theta)', 'm') \
.state('v', 'g*sin(theta)', 'm/s')
# Define controls
ocp.control('theta', 'rad')
# Define constants
ocp.constant('g', -9.81, 'm/s^2')
# Define costs
ocp.path_cost('1', '1')
# Define constraints
ocp.constraints() \
.initial('x-x_0', 'm') \
.initial('y-y_0', 'm') \
.initial('v-v_0', 'm/s') \
.terminal('x-x_f', 'm') \
.terminal('y-y_f', 'm')
ocp.scale(m='y', s='y/v', kg=1, rad=1)
shooting_solver = beluga.bvp_algorithm('Shooting')
guess_maker = beluga.guess_generator('auto', start=[0, 0, 0], direction='forward', costate_guess=-0.1, control_guess = [-pi/2], use_control_guess=True)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(21) \
.terminal('x', 10) \
.terminal('y', -10)
sol = beluga.solve(ocp, method='icrm', bvp_algorithm=shooting_solver, steps=continuation_steps,
guess_generator=guess_maker)
assert isinstance(sol, Trajectory)
assert isinstance(sol, Solution)
assert sol.t.shape[0] == sol.y.shape[0]
assert sol.t.shape[0] == sol.u.shape[0]
assert sol.y.shape[1] == 7
assert sol.u.shape[1] == 1
y0 = sol.y[0]
yf = sol.y[-1]
assert abs(y0[0] - 0) < tol
assert abs(y0[1] - 0) < tol
assert abs(y0[2] - 0) < tol
assert abs(y0[3] + 0.0667) < tol
assert abs(y0[4] - 0.0255) < tol
assert abs(y0[5] + 0.1019) < tol
assert abs(sol.t[-1] - 1.8433) < tol
assert abs(yf[0] - 10) < tol
assert abs(yf[1] + 10) < tol
assert abs(yf[2] - 14.0071) < tol
assert abs(yf[3] + 0.0667) < tol
assert abs(yf[4] - 0.0255) < tol
assert abs(yf[5] - 0) < tol
assert abs(y0[3] - yf[3]) < tol
assert abs(y0[4] - yf[4]) < tol
sol = beluga.solve(ocp, method='traditional', bvp_algorithm=shooting_solver, steps=continuation_steps, guess_generator=guess_maker)
y0 = sol.y[0]
yf = sol.y[-1]
assert sol.t.shape[0] == sol.y.shape[0]
assert sol.t.shape[0] == sol.u.shape[0]
assert sol.y.shape[1] == 6
assert sol.u.shape[1] == 1
assert abs(y0[0] - 0) < tol
assert abs(y0[1] - 0) < tol
assert abs(y0[2] - 0) < tol
assert abs(y0[3] + 0.0667) < tol
assert abs(y0[4] - 0.0255) < tol
assert abs(y0[5] + 0.1019) < tol
assert abs(sol.t[-1] - 1.8433) < tol
assert abs(yf[0] - 10) < tol
assert abs(yf[1] + 10) < tol
assert abs(yf[2] - 14.0071) < tol
assert abs(yf[3] + 0.0667) < tol
assert abs(yf[4] - 0.0255) < tol
assert abs(yf[5] - 0) < tol
assert abs(y0[3] - yf[3]) < tol
assert abs(y0[4] - yf[4]) < tol
.initial('gam-gam_0', 'rad') \
.initial('t', 's') \
.terminal('h-h_f', 'm') \
.terminal('theta-theta_f', 'rad')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting',
algorithm='Armijo',
derivative_method='fd',
tolerance=1e-6,
max_iterations=100,
max_error=100)
guess_maker = beluga.guess_generator('auto',
start=[40000, 0, 4000, (-90) * pi / 180],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
# Start by flying straight towards the ground
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('h_f', 0)
# Slowly turn up the density
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('rho0', 1.2)
# Move downrange out a tad
ocp.path_constraint('u',
'rad',
lower='CLmin',
upper='CLmax',
activator='eps',
method='utm')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'auto',
start=[0, 905, 13.2275675, -1.28750052],
direction='forward',
control_guess=[0.9],
use_control_guess=True,
costate_guess=[-.1, -1, -1, 0],
time_integrate=3,
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('y_f', 900) \
.const('vx_f', 13.2275675) \
.const('vy_f', -1.28750052)
continuation_steps.add_step('bisection') \
.num_cases(20) \
ocp.terminal_constraint('w1 - w1_f', 'rad/s')
ocp.terminal_constraint('w2 - w2_f', 'rad/s')
ocp.terminal_constraint('w3 - w3_f', 'rad/s')
ocp.path_constraint('u1', 'rad/s**2', lower='u_min', upper='u_max', activator='epsilon1', method='utm')
ocp.path_constraint('u2', 'rad/s**2', lower='u_min', upper='u_max', 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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator(
'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.init_continuation()
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.constant('phi_f', 0, 'rad')
ocp.scale(m='h', s='h/v', kg='mass', rad=1)
bvp_solver = beluga.bvp_algorithm('Shooting',
derivative_method='fd',
tolerance=1e-4,
max_iterations=100,
max_error=400,
algorithm='SLSQP')
guess_maker = beluga.guess_generator(
'auto',
start=[40000, 0, 0, 2000, -(90 - 10) * pi / 180, 0],
direction='forward',
costate_guess=-0.1,
control_guess=[0.0, 0.0],
use_control_guess=True,
time_integrate=0.5,
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection').num_cases(21) \
.const('h_f', 0) \
.const('theta_f', 6945.9 / 6378000)
# Isn't h_f 0 a no-op?
continuation_steps.add_step('bisection').num_cases(3) \
.const('theta_f', 2 ** -14 * pi / 180)
.initial('t', 's') \
.terminal('x-x_f', 'm') \
.terminal('y-y_f', 'm')
ocp.scale(m='x', s='x/V', rad=1)
bvp_solver = beluga.bvp_algorithm(
'Shooting',
derivative_method='fd',
tolerance=1e-4
)
guess_maker = beluga.guess_generator(
'auto',
start=[0, 0],
control_guess=[0],
use_control_guess=True,
direction='forward'
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('x_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('y_f', 10)
continuation_steps.add_step('bisection') \
ocp_indirect.path_constraint('u',
'rad',
lower='-2',
upper='2',
activator='epsilon1',
method='epstrig')
ocp_indirect.terminal_constraint('t - 1', 'nd')
ocp_indirect.scale(rad=1, nd=1)
bvp_solver_indirect = beluga.bvp_algorithm('spbvp')
guess_maker_indirect = beluga.guess_generator('auto',
start=[3, 5],
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.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(40, 'log') \
.const('epsilon1', 2e-4)
sol_set_indirect = beluga.solve(ocp=ocp_indirect,
method='indirect',
optim_options={
ocp.scale(m=1, s=1, kg=1, rad=1, nd=1)
# ocp.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=30, verbose = True, cached=False)
bvp_solver = beluga.bvp_algorithm('MultipleShooting',
derivative_method='fd',
tolerance=1e-3,
max_iterations=1000,
verbose = True,
max_error=200
)
guess_maker = beluga.guess_generator('auto',
start=[0,.01], # Starting values for states in order
direction='forward',
costate_guess = -0.1,
time_integrate = 1 ## REQUIRED BECAUSE OF FIXED FINAL TIME
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection', max_divisions=30).num_cases(5) \
.terminal('x',0) \
.initial('v',1) \
.terminal('v', -1)
continuation_steps.add_step('activate_constraint', name='xlim')
continuation_steps.add_step('bisection') \
.num_cases(11) \
.constraint('xlim', 0.0, index=1)
# 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.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator('auto',
start=[50000, 0, 4000, -89 * pi / 180],
control_guess=[0],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
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('l - 0', 'm')
ocp.terminal_constraint('r', 'm')
ocp.terminal_constraint('l - 2', 'm')
ocp.path_constraint('u',
'm/s',
lower='-5',
upper='5',
method='utm',
activator='eps1')
ocp.scale(m='x', rad=1)
guess_maker = beluga.guess_generator(
'ones',
start=[1.0], # Starting values for states in order
costate_guess=0.1,
control_guess=[0.35],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10, 'log') \
.const('eps1', 2e-1)
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
bvp_solver = beluga.bvp_algorithm('spbvp')
beluga.solve(ocp=ocp,
method='indirect',
derivative_method='fd',
max_error=20,
)
bvp_solver = beluga.bvp_algorithm('qcpi',
tolerance=1e-3,
max_iterations=300,
verbose=True,
max_error=20,
N=141)
guess_maker = beluga.guess_generator(
'auto',
start=[-.8, 0., -.1, -pi / 12.] + [-.8, .1, -.1, 0., 1.],
direction='forward',
costate_guess=[0., 0., 0., -0.] + [0., 0., 0., 0., 0.] + [0.] * 2,
control_guess=[0.00, .01, -0.00, .01] + [0.0, 0.0] * 2,
time_integrate=.1,
use_control_guess=True,
)
continuation_steps = beluga.init_continuation()
#
# continuation_steps.add_step('bisection') \
# .num_cases(101) \
# .terminal('xbar', -0.)\
# .terminal('ybar', .0) \
# .terminal('zbar', 0.) \
# .terminal('psi', +0*pi/180) \
# .terminal('xbar2', -0.)\
# .terminal('ybar2', .0) \
