def test_ex_brachistochrone_vs_radau_compressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = False
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='radau-ps',
compressed=True,
force_alloc_complex=True,
solve_segments=True)
p.final_setup()
# set the final optimized control profile from
# TestBrachistochroneVectorStatesExample.test_ex_brachistochrone_vs_radau_compressed
# and see if we get the right state history
theta = np.array([2.54206362, 4.8278643, 10.11278149, 12.30024503, 17.35332815,
23.53948016, 25.30747573, 29.39010464, 35.47854735, 37.51549822,
42.16351471, 48.32419264, 50.21299389, 54.56658635, 60.77733663,
62.79222351, 67.35945157, 73.419141, 75.27851226, 79.60246558,
85.89170743, 87.96027845, 92.66164608, 98.89108826, ])
p['phase0.controls:theta'] = theta.reshape((-1, 1))
p['phase0.states:v'][:] = 100. # bad initial guess on purpose
p['phase0.states:v'][0] = 0. # have to set the initial condition
p['phase0.states:pos'][:] = 100.
p['phase0.states:pos'][0, 0] = 0. # have to set the initial condition
p['phase0.states:pos'][0, 1] = 10. # have to set the initial condition
p['phase0.t_duration'] = 1.8016 # need the final duration (ivp style)
p.run_model()
self.assert_results(p)
# self.assert_partials(p)
self.tearDown()
if os.path.exists('ex_brachvs_radau_compressed.db'):
os.remove('ex_brachvs_radau_compressed.db')
def test_ex_brachistochrone_vs_gl_compressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = False
p = ex_brachistochrone_vs.brachistochrone_min_time(
transcription='gauss-lobatto',
compressed=True,
force_alloc_complex=True,
solve_segments=True)
theta = np.array([
1.04466973, 6.40253991, 12.26063396, 18.51810659, 25.07411252,
31.59842762, 37.76082779, 43.8810928, 50.27900244, 56.67270776,
62.78035981, 68.93138259, 75.45520008, 81.95935786, 88.05140149,
94.03879494, 100.22900215
])
p['phase0.controls:theta'] = theta.reshape((-1, 1))
p['phase0.states:v'][:] = 100 # bad initial guess on purpose
p['phase0.states:v'][0] = 0 # have to set the initial condition
p['phase0.states:pos'][:] = 100
p['phase0.states:pos'][0, 0] = 0 # have to set the initial condition
p['phase0.states:pos'][0, 1] = 10. # have to set the initial condition
p['phase0.t_duration'] = 1.8016 # need the final duration (ivp style)
p.run_model()
self.assert_results(p)
self.tearDown()
if os.path.exists('ex_brachvs_gl_compressed.db'):
os.remove('ex_brachvs_gl_compressed.db')
def test_ex_brachistochrone_vs_rungekutta_compressed(self):
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='runge-kutta',
transcription_order='RK4',
compressed=True,
force_alloc_complex=True,
run_driver=True)
self.assert_results(p)
def test_ex_brachistochrone_vs_radau_uncompressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = True
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='radau-ps',
compressed=False,
force_alloc_complex=True,
run_driver=True)
self.assert_results(p)
self.assert_partials(p)
def test_ex_brachistochrone_vs_gl_uncompressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = True
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='gauss-lobatto',
transcription_order=5,
compressed=False,
force_alloc_complex=True,
run_driver=True)
self.assert_results(p)
self.assert_partials(p)
def test_ex_brachistochrone_vs_gl_single_segment(self):
ex_brachistochrone_vs.SHOW_PLOTS = False
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='gauss-lobatto',
compressed=False,
force_alloc_complex=True,
solve_segments='forward',
num_segments=1,
transcription_order=11)
self.assert_results(p)
def test_ex_brachistochrone_vs_radau_uncompressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = False
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='radau-ps',
compressed=False,
force_alloc_complex=True,
solve_segments='forward',
num_segments=10,
transcription_order=3)
self.assert_results(p)
def test_ex_brachistochrone_vs_radau_uncompressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = True
p = ex_brachistochrone_vs.brachistochrone_min_time(transcription='radau-ps',
compressed=False,
force_alloc_complex=True,
run_driver=True)
self.assert_results(p)
self.assert_partials(p)
self.tearDown()
if os.path.exists('ex_brachvs_radau_uncompressed.db'):
os.remove('ex_brachvs_radau_uncompressed.db')
def test_ex_brachistochrone_vs_gl_compressed(self):
ex_brachistochrone_vs.SHOW_PLOTS = True
p = ex_brachistochrone_vs.brachistochrone_min_time(
transcription='gauss-lobatto',
compressed=True,
sim_record='ex_brachvs_gl_compressed.db',
force_alloc_complex=True,
run_driver=True)
self.assert_results(p)
self.assert_partials(p)
self.tearDown()
if os.path.exists('ex_brachvs_gl_compressed.db'):
os.remove('ex_brachvs_gl_compressed.db')