def test_di_integrator_pure_with_complete_guess(self):
# solve Problem for the first time
first_guess = {'seed': 20}
S1 = TransitionProblem(rhs_di,
a=0.0,
b=2.0,
xa=xa_di,
xb=xb_di,
ua=0,
ub=0,
show_ir=False,
ierr=None,
first_guess=first_guess,
use_chains=False)
S1.solve()
assert S1.reached_accuracy
first_guess2 = {
'complete_guess':
S1.eqs.sol,
'n_spline_parts':
aux.Container(x=S1.eqs.trajectories.n_parts_x,
u=S1.eqs.trajectories.n_parts_u)
}
S2 = S1.create_new_TP(first_guess=first_guess2)
S2.solve()
assert S2.reached_accuracy
# now test changed boundary conditions
S3 = S2.create_new_TP(first_guess=first_guess2, xb=[1.5, 0.0])
S3.solve()
assert S3.reached_accuracy
def test_get_attributes_from_object(self):
c = aux.Container(x=0, y=1.0, z="abc")
c.a = 10
y = aux.get_attributes_from_object(c)
a, z, x = aux.get_attributes_from_object(c)
assert a == c.a
assert z == c.z
assert x == c.x
assert y == c.y
# test whether meaningful exception is raised
with pytest.raises(NameError):
_ = aux.get_attributes_from_object(c)
plt.subplot(rows, 2, i + 1)
plt.plot(tt, data[i], 'b', lw=3, label='sim')
plt.grid(1)
# plt.savefig("ivp.pdf")
print xx[-1, :]
plt.show()
# für Animation
S.sim_data = (tt, xx, uu)
sys.exit()
elif 0:
# Simulation is ready, now try to reproduce this solution via collocation
refsol = aux.Container(tt=tt, xx=xx, uu=uu, n_raise_spline_parts=0)
#xb = xx2[-1, :]*1.0
S2 = TransitionProblem(model_rhs,
a=Ta,
b=Tb,
xa=xa,
xb=xb,
ua=uu[0, :],
ub=uu[-1, :],
use_chains=False,
refsol=refsol,
ierr=None,
maxIt=3,
eps=1e-1,
xa = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
xb = [pi, pi, pi, 0.0, 0.0, 0.0, 0.0, 0.0]
# S = ControlSystem(model_rhs, Ta, Tb, xa, xb, ua, ub)
# state, u = S.solve()
# constraints for the velocity of the car
# con = {"x7": [-4, 4]}
con = {}
if __name__ == "__main__":
args = aux.Container(
poolsize=3, ff=model_rhs, a=Ta, xa=xa, xb=xb, ua=0, ub=0,
use_chains=False, ierr=None, maxIt=5, eps=4e-1, kx=2, use_std_approach=False,
seed=[1, 2, 30, 81], constraints=con, show_ir=False, b=2.4 + np.r_[.4, .5]
)
if "single" in sys.argv:
args.b = 3.7
args.maxIt = 7
args.dict.pop("poolsize")
args.show_ir = True
args.seed = 1
args.maxIt = 4
TP1 = TransitionProblem(**args.dict)
results = xx, uu = TP1.solve()
# ensure that the result is compatible with system dynamics
# con = {"x7": [-4, 4]}
con = {}
if __name__ == "__main__":
args = aux.Container(
poolsize=2,
ff=model_rhs,
a=Ta,
xa=xa,
xb=xb,
ua=0,
ub=0,
use_chains=False,
ierr=None,
maxIt=5,
eps=4e-1,
kx=2,
use_std_approach=False,
seed=[
1,
],
constraints=con,
show_ir=True,
b=3.7 # + np.r_[0, .1, .2, .3, .4, .5]
)
if "single" in sys.argv:
args.b = 3.7
args.maxIt = 7
args.dict.pop("poolsize")