def test_parametrize_control_time_dependent_polynomial(model):
model.tau = SX.sym('tau')
model.create_control('u', 3)
# Test parametrize by a time dependent polynomial
u_par = SX.sym("u_par", 3, 2)
u_expr = model.tau * u_par[:, 0] + (1 - model.tau) * u_par[:, 1]
model.parametrize_control(model.u, u_expr, vec(u_par))
assert is_equal(model.u_par, vec(u_par))
assert is_equal(model.u_expr, u_expr, 30)
for ind in range(model.n_u):
assert is_equal(model._parametrized_controls[ind], model.u[ind])
def test_parametrize_control_list_input(model):
model.tau = SX.sym('tau')
model.create_control('u', 3)
# Test for list inputs, parametrize by a time dependent polynomial
u_par = SX.sym("u_par", 3, 2)
u_expr = model.tau * u_par[:, 0] + (1 - model.tau) * u_par[:, 1]
model.parametrize_control(
[model.u[ind] for ind in range(model.n_u)],
[u_expr[ind] for ind in range(model.n_u)],
[vec(u_par)[ind] for ind in range(u_par.numel())],
)
assert is_equal(model.u_par, vec(u_par))
assert is_equal(model.u_expr, u_expr, 30)
for ind in range(model.n_u):
assert is_equal(model._parametrized_controls[ind], model.u[ind])
def create_state(self, name="x", size=1):
"""
Create a new state with the name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new state will be vectorized (casadi.vec) to be
included in the state vector (model.x).
:param name: str
:param size: int|tuple
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_x = SX.sym(name, size)
new_x_0 = SX.sym(name + "_0_sym", size)
self.include_state(vec(new_x), ode=None, x_0=vec(new_x_0))
return new_x
def create_theta(self, name="theta", size=1):
"""
Create a new parameter name "name" and size "size"
:param name: str
:param size: int
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_theta = SX.sym(name, size)
self.include_theta(vec(new_theta))
return new_theta
def create_control(self, name="u", size=1):
"""
Create a new control variable name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new control variable will be vectorized (casadi.vec)
to be included in the control vector (model.u).
:param name: str
:param size: int
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_u = SX.sym(name, size)
self.include_control(vec(new_u))
return new_u
def create_algebraic_variable(self, name="y", size=1):
"""
Create a new algebraic variable with the name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new algebraic variable will be vectorized (casadi.vec)
to be included in the algebraic vector (model.y).
:param str name:
:param int||tuple size:
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_y = SX.sym(name, size)
self.include_algebraic(vec(new_y))
return new_y