def update_expressions(self):
"""
Update OCP expressions using current parameter values.
"""
ocp_expressions = [
self.ocp.initial, self.ocp.ode, self.ocp.alg, self.ocp.path,
self.ocp.point, self.ocp.mterm, self.ocp.lterm
]
parameters = casadi.vertcat([p.var() for p in self._parameters])
parameter_values = [p.getStart() for p in self._parameters]
[
self.initial, self.ode, self.alg, self.path, self.point,
self.mterm, self.lterm
] = casadi.substitute(ocp_expressions, [parameters],
[parameter_values])
# Transform ODE RHS into residual
if self._casadi_blt:
self.ode = N.array(casadi.der(self.ocp.x)) - self.ode
def update_expressions(self):
"""
Update OCP expressions using current parameter values.
"""
ocp_expressions = [self.ocp.initial, self.ocp.ode, self.ocp.alg,
self.ocp.path, self.ocp.point, self.ocp.mterm,
self.ocp.lterm]
parameters = casadi.vertcat([p.var() for p in self._parameters])
parameter_values = [p.getStart() for p in self._parameters]
[self.initial,
self.ode,
self.alg,
self.path,
self.point,
self.mterm,
self.lterm] = casadi.substitute(ocp_expressions, [parameters],
[parameter_values])
# Transform ODE RHS into residual
if self._casadi_blt:
self.ode = N.array(casadi.der(self.ocp.x)) - self.ode
def _load_xml_to_casadi(self, xml, verbose):
# Create a symbolic OCP
self.ocp = casadi.SymbolicOCP()
options = {}
options["verbose"] = verbose
options["sort_equations"] = False
options["eliminate_dependent"] = False
self.ocp.parseFMI(xml, options)
if self._casadi_blt:
self.ocp.makeExplicit()
self.ocp.eliminateAlgebraic()
if len(self.ocp.z) > 0 or self.ocp.ode.empty():
raise RuntimeError("Unable to reformulate as ODE.")
casadi.updateDependent(self.ocp)
# Store list of non-free parameters
self._parameters = ([pi for pi in self.ocp.pi] +
[pd for pd in self.ocp.pd])
# Check the absence of multiple Mayer and Lagrange terms
if self.ocp.lterm.numel() > 1:
raise NotImplementedError("Multiple Lagrange terms are not " +
"supported.")
if self.ocp.mterm.numel() > 1:
raise NotImplementedError("Multiple Mayer terms are not " +
"supported.")
# Identify variables
variables = {}
variables['x'] = self.ocp.x
variables['u'] = self.ocp.u
variables['w'] = self.ocp.z
variables['p_opt'] = self.ocp.pf
names = {}
for vt in variables:
names[vt] = [(var.getValueReference(), var.getName()) for
var in variables[vt]]
# Make sure the variables appear in value reference order
var_vectors = {}
for var_type in names:
var_dict = dict((repr(v), v) for v in variables[var_type])
name_dict = dict((x[0], x[1]) for x in names[var_type])
if var_type == 'p_opt':
free_times = 0
if self.xmldoc.get_opt_finaltime_free():
free_times += 1
if self.xmldoc.get_opt_starttime_free():
free_times += 1
var_vectors[var_type] = casadi.VariableVector(len(var_dict) -
free_times)
else:
var_vectors[var_type] = casadi.VariableVector(len(var_dict))
i = 0
for vr in sorted(name_dict):
if (self.xmldoc.get_opt_finaltime_free() or
self.xmldoc.get_opt_starttime_free()):
if (name_dict[vr] == "finalTime" or
name_dict[vr] == "startTime"):
continue
var_vectors[var_type][i] = var_dict[name_dict[vr]]
i = i + 1
self._var_vectors = var_vectors
# Create symbolic variables
self.dx = casadi.vertcat(casadi.der(var_vectors['x']))
self.x = casadi.vertcat(casadi.var(var_vectors['x']))
self.u = casadi.vertcat(casadi.var(var_vectors['u']))
self.w = casadi.vertcat(casadi.var(var_vectors['w']))
self.t = self.ocp.t
self.p = casadi.vertcat(casadi.var(var_vectors['p_opt']))
sym_vars = {'dx': self.dx,
'x': self.x,
'u': self.u,
'w': self.w,
'p_opt': self.p}
# Create maps from value reference to CasADi variable index and type
vr_map = {}
get_vr = self.xmldoc.get_value_reference
for vt in sym_vars.keys():
i = 0
for v in sym_vars[vt]:
var_name = str(v)
if vt == "dx":
var_name = convert_casadi_der_name(var_name)
vr_map[get_vr(var_name)] = (i, vt)
i = i + 1
self.vr_map = vr_map
# Read integer parameter values separately (circumvent SymbolicOCP bug)
integer_vars = self.xmldoc.get_all_integer_variables()
if len(integer_vars) > 0:
[int_vr, int_names] = \
zip(*[(var.get_value_reference(), var.get_name()) for
var in integer_vars])
for (vr, start) in self.xmldoc.get_variable_start_attributes():
try:
index = int_vr.index(vr)
except ValueError:
pass
else:
var = self.ocp.variable(int_names[index])
# Assume that independent parameters have start values
if start is not None:
var.setStart(start)
casadi.updateDependent(self.ocp) # Handle dependent parameters
# Count variables
self.n_x = self.x.numel()
self.n_u = self.u.numel()
self.n_w = self.w.numel()
self.n_p = self.p.numel()
# Create scaling factors
sf = {}
sf['dx'] = N.ones(self.n_x)
sf['x'] = N.ones(self.n_x)
sf['u'] = N.ones(self.n_u)
sf['w'] = N.ones(self.n_w)
sf['p_opt'] = N.ones(self.n_p)
self.sf = sf
self._update_sf()