def test_input_formatting_mixed_constraints():
""" Test formatting of user provided input with linear constraints.
"""
x = ca.MX.sym('x',1)
u = ca.MX.sym('u',2)
# case of mixed constraints
sys = {}
sys['F'] = ca.Function('F',[x,u],[x])
h = ca.Function('h',[x,u],[ca.vertcat(x+u[0], u[1], x**2*u[0])])
sys['h'] = h
sys = preprocessing.input_formatting(sys)
assert 'h' in sys, 'lin. inequalites are being removed'
assert sys['h'].size1_out(0) == 3, 'lin inequalities have wrong dimension'
assert 'g' in sys, 'nonlin. inequalities are not being created'
assert sys['g'].size1_out(0) == 1, 'nonlin inequalities have wrong dimension'
assert 'vars' in sys, 'system variables are not being created'
assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'
assert sys['vars']['us'].shape == (1,1), 'us-variable dimensions are incorrect'
x_num = 1.0
u_num = ca.vertcat(0.0, 2.0)
us_num = ca.vertcat(3.0)
h_eval = sys['h'](x_num, u_num, us_num).full()
g_eval = sys['g'](x_num, u_num, us_num).full()
assert ca.vertsplit(h_eval) == [1.0, 2.0, 3.0]
assert ca.vertsplit(g_eval) == [-3.0]
def __init__(self, f, l, h=None, p=1):
""" Constructor
"""
# print license information
self.__log_license_info()
Logger.logger.info(60 * '=')
Logger.logger.info(18 * ' ' + 'Create Tuner instance...')
Logger.logger.info(60 * '=')
Logger.logger.info('')
# construct system
sys = {'f': f}
if h is not None:
sys['h'] = h
# detect nonlinear constraints
Logger.logger.info('Detect nonlinear constraints...')
self.__sys = preprocessing.input_formatting(sys)
# problem dimensions
self.__nx = sys['vars']['x'].shape[0]
self.__nu = sys['vars']['u'].shape[0]
self.__nw = self.__nx + self.__nu
self.__p = p
if 'us' in sys['vars'].keys():
self.__nus = sys['vars']['us'].shape[0]
else:
self.__nus = 0
# construct p-periodic OCP
if self.__p == 1:
Logger.logger.info(
'Construct steady-state optimization problem...')
else:
Logger.logger.info(
'Construct {}-periodic optimal control problem...'.format(
self.__p))
self.__l = l
self.__ocp = pocp.Pocp(sys=sys, cost=l, period=p)
Logger.logger.info('')
Logger.logger.info('Tuner instance created:')
self.__log_problem_dimensions()
return None
def test_input_formatting_no_constraints():
""" Test formatting of user provided input w/o constraints.
"""
x = ca.MX.sym('x',1)
u = ca.MX.sym('u',2)
# case of no constraints
sys = {}
sys['F'] = ca.Function('F',[x,u],[x])
sys = preprocessing.input_formatting(sys)
assert 'h' not in sys, 'non-existent lin. inequalites are being created'
assert 'g' not in sys, 'non-existent nonlin. inequalities are being created'
assert 'vars' in sys, 'system variables are not being created'
assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'
def test_input_formatting_lin_constraints():
""" Test formatting of user provided input with linear constraints.
"""
x = ca.MX.sym('x',1)
u = ca.MX.sym('u',2)
# case of linear constraints
sys = {}
sys['F'] = ca.Function('F',[x,u],[x])
h = ca.Function('h',[x,u],[ca.vertcat(x+u[0], u[1])])
sys['h'] = h
sys = preprocessing.input_formatting(sys)
assert 'h' in sys, 'lin. inequalites are being removed'
assert sys['h'].size1_out(0) == 2, 'lin inequalities dimension is altered incorrectly'
assert 'g' not in sys, 'non-existent nonlin. inequalities are being created'
assert 'vars' in sys, 'system variables are not being created'
assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'