def jacobian(self, m):
ieqcons = []
if len(self.config.params['controls']) == 2:
# If the controls consists of the the friction and the positions, then we need to first extract the position part
assert (len(m) % 3 == 0)
m_pos = m[len(m) / 3:]
else:
m_pos = m
for i in range(len(m_pos) / 2):
x = m_pos[2 * i]
y = m_pos[2 * i + 1]
primes = numpy.zeros(len(m))
try:
primes[2 * i] = function_eval(self.feasible_area_grad[0],
(x, y))
primes[2 * i + 1] = function_eval(self.feasible_area_grad[1],
(x, y))
except RuntimeError:
primes[2 * i] = 2 * (x - self.attraction_center[0])
primes[2 * i + 1] = 2 * (y - self.attraction_center[1])
ieqcons.append(primes)
return -numpy.array(ieqcons)
def function(self, m):
ieqcons = []
if len(self.config.params['controls']) == 2:
# If the controls consists of the the friction and the positions, then we need to first extract the position part
assert (len(m) % 3 == 0)
m_pos = m[len(m) / 3:]
else:
m_pos = m
for i in range(len(m_pos) / 2):
x = m_pos[2 * i]
y = m_pos[2 * i + 1]
try:
ieqcons.append(function_eval(self.feasible_area, (x, y)))
except RuntimeError:
print "Warning: a turbine is outside the domain"
ieqcons.append((x - self.attraction_center[0])**2 +
(y - self.attraction_center[1])**
2) # Point is outside domain
arr = -numpy.array(ieqcons)
if any(arr <= 0):
log(
INFO,
"Domain restriction inequality constraints (should be >= 0): %s"
% arr)
return arr
def jacobian(self, m):
ieqcons = []
if len(self.config.params['controls']) == 2:
# If the controls consists of the the friction and the positions, then we need to first extract the position part
assert(len(m) % 3 == 0)
m_pos = m[len(m) / 3:]
else:
m_pos = m
for i in range(len(m_pos) / 2):
x = m_pos[2 * i]
y = m_pos[2 * i + 1]
primes = numpy.zeros(len(m))
try:
primes[2 * i] = function_eval(self.feasible_area_grad[0], (x, y))
primes[2 * i + 1] = function_eval(self.feasible_area_grad[1], (x, y))
except RuntimeError:
primes[2 * i] = 2 * (x - self.attraction_center[0])
primes[2 * i + 1] = 2 * (y - self.attraction_center[1])
ieqcons.append(primes)
return -numpy.array(ieqcons)
def function(self, m):
ieqcons = []
if len(self.config.params['controls']) == 2:
# If the controls consists of the the friction and the positions, then we need to first extract the position part
assert(len(m) % 3 == 0)
m_pos = m[len(m) / 3:]
else:
m_pos = m
for i in range(len(m_pos) / 2):
x = m_pos[2 * i]
y = m_pos[2 * i + 1]
try:
ieqcons.append(function_eval(self.feasible_area, (x, y)))
except RuntimeError:
print "Warning: a turbine is outside the domain"
ieqcons.append((x - self.attraction_center[0]) ** 2 + (y - self.attraction_center[1]) ** 2) # Point is outside domain
arr = -numpy.array(ieqcons)
if any(arr <= 0):
log(INFO, "Domain restriction inequality constraints (should be >= 0): %s" % arr)
return arr