def test_results_radau(self):
gd = GridData(num_segments=3,
transcription_order=[5, 3, 3],
segment_ends=_segends,
transcription='radau-ps')
p = om.Problem(model=om.Group())
ivc = p.model.add_subsystem(name='ivc', subsys=om.IndepVarComp(), promotes_outputs=['*'])
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=100.0, units='s')
p.model.add_subsystem('time',
TimeComp(num_nodes=gd.num_nodes, node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau, units='s'))
p.model.connect('t_initial', 'time.t_initial')
p.model.connect('t_duration', 'time.t_duration')
p.setup(check=True, force_alloc_complex=True)
p.run_model()
# Affine transform the nodes [0, 100]
dt_dptau = (p['t_duration'] - p['t_initial']) / 2.0
nodes = []
dt_dstau_per_node = []
for i in range(gd.num_segments):
a, b = gd.segment_ends[i], gd.segment_ends[i + 1] # segment ends in phase tau space
# ratio of phase tau to segment tau within the segment
dptau_dstau = (b - a) / 2.0
dt_dstau = dt_dptau * dptau_dstau * np.ones(gd.subset_num_nodes_per_segment['all'][i])
dt_dstau_per_node.extend(dt_dstau.tolist())
# nodes of current segment in segment tau space
nodes_segi_stau = _lgr_nodes[gd.transcription_order[i]]
# nodes of current segment in phase tau space
nodes_segi_ptau = a + (nodes_segi_stau + 1) * dptau_dstau
# nodes in time
nodes_time = (nodes_segi_ptau + 1) * dt_dptau
nodes.extend(nodes_time.tolist())
assert_almost_equal(p['time.time'], nodes, decimal=4)
assert_almost_equal(p['time.dt_dstau'], dt_dstau_per_node)
def test_polynomial_control_group_scalar_gl(self):
transcription = 'gauss-lobatto'
compressed = True
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order=5,
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {
'a': PolynomialControlOptionsDictionary(),
'b': PolynomialControlOptionsDictionary()
}
controls['a']['units'] = 'm'
controls['a']['order'] = 3
controls['a']['shape'] = (1, )
controls['a']['opt'] = True
controls['b']['units'] = 'm'
controls['b']['order'] = 3
controls['b']['shape'] = (1, )
controls['b']['opt'] = True
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(
num_nodes=gd.num_nodes,
node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau,
units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
polynomial_control_group = PolynomialControlGroup(
grid_data=gd, polynomial_control_options=controls, time_units='s')
p.model.add_subsystem('polynomial_control_group',
subsys=polynomial_control_group,
promotes_inputs=['*'],
promotes_outputs=['*'])
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
control_nodes_ptau, _ = lgl(controls['a']['order'] + 1)
t_control_input = p['t_initial'] + 0.5 * (control_nodes_ptau +
1) * p['t_duration']
t_all = p['time']
p['polynomial_controls:a'][:, 0] = f_a(t_control_input)
p['polynomial_controls:b'][:, 0] = f_b(t_control_input)
p.run_model()
a_value_expected = f_a(t_all)
b_value_expected = f_b(t_all)
a_rate_expected = f1_a(t_all)
b_rate_expected = f1_b(t_all)
a_rate2_expected = f2_a(t_all)
b_rate2_expected = f2_b(t_all)
assert_almost_equal(p['polynomial_control_values:a'],
np.atleast_2d(a_value_expected).T)
assert_almost_equal(p['polynomial_control_values:b'],
np.atleast_2d(b_value_expected).T)
assert_almost_equal(p['polynomial_control_rates:a_rate'],
np.atleast_2d(a_rate_expected).T)
assert_almost_equal(p['polynomial_control_rates:b_rate'],
np.atleast_2d(b_rate_expected).T)
assert_almost_equal(p['polynomial_control_rates:a_rate2'],
np.atleast_2d(a_rate2_expected).T)
assert_almost_equal(p['polynomial_control_rates:b_rate2'],
np.atleast_2d(b_rate2_expected).T)
np.set_printoptions(linewidth=1024)
cpd = p.check_partials(compact_print=False,
out_stream=None,
method='cs')
assert_check_partials(cpd)
def test_control_interp_scalar(self,
transcription='gauss-lobatto',
compressed=True):
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order=5,
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {
'a': {
'units': 'm',
'shape': (1, ),
'dynamic': True
},
'b': {
'units': 'm',
'shape': (1, ),
'dynamic': True
}
}
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('controls:a',
val=np.zeros((gd.subset_num_nodes['control_input'], 1)),
units='m')
ivc.add_output('controls:b',
val=np.zeros((gd.subset_num_nodes['control_input'], 1)),
units='m')
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(
num_nodes=gd.num_nodes,
node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau,
units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
p.model.add_subsystem('control_interp_comp',
subsys=ControlInterpComp(
grid_data=gd,
control_options=controls,
time_units='s'),
promotes_inputs=['controls:*'])
p.model.connect('dt_dstau', 'control_interp_comp.dt_dstau')
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
t = p['time']
p['controls:a'][:, 0] = f_a(t[gd.subset_node_indices['control_input']])
p['controls:b'][:, 0] = f_b(t[gd.subset_node_indices['control_input']])
p.run_model()
a_value_expected = f_a(t)
b_value_expected = f_b(t)
a_rate_expected = f1_a(t)
b_rate_expected = f1_b(t)
a_rate2_expected = f2_a(t)
b_rate2_expected = f2_b(t)
assert_almost_equal(p['control_interp_comp.control_values:a'],
np.atleast_2d(a_value_expected).T)
assert_almost_equal(p['control_interp_comp.control_values:b'],
np.atleast_2d(b_value_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:a_rate'],
np.atleast_2d(a_rate_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:b_rate'],
np.atleast_2d(b_rate_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:a_rate2'],
np.atleast_2d(a_rate2_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:b_rate2'],
np.atleast_2d(b_rate2_expected).T)
np.set_printoptions(linewidth=1024)
cpd = p.check_partials(compact_print=False,
out_stream=None,
method='cs')
assert_check_partials(cpd)
def test_polynomial_control_group_matrix_rungekutta(self):
transcription = 'runge-kutta'
compressed = True
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order='RK4',
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {'a': PolynomialControlOptionsDictionary()}
controls['a']['units'] = 'm'
controls['a']['order'] = 3
controls['a']['opt'] = True
controls['a']['shape'] = (3, 1)
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(num_nodes=gd.num_nodes, node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau, units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
polynomial_control_group = PolynomialControlGroup(grid_data=gd,
polynomial_control_options=controls,
time_units='s')
p.model.add_subsystem('polynomial_control_group',
subsys=polynomial_control_group,
promotes_inputs=['*'],
promotes_outputs=['*'])
# p.model.connect('dt_dstau', 'control_interp_comp.dt_dstau')
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
control_nodes_ptau, _ = lgl(controls['a']['order'] + 1)
t_control_input = p['t_initial'] + 0.5 * (control_nodes_ptau + 1) * p['t_duration']
t_all = p['time']
p['polynomial_controls:a'][:, 0, 0] = f_a(t_control_input)
p['polynomial_controls:a'][:, 1, 0] = f_b(t_control_input)
p['polynomial_controls:a'][:, 2, 0] = f_c(t_control_input)
p.run_model()
a0_value_expected = f_a(t_all)
a1_value_expected = f_b(t_all)
a2_value_expected = f_c(t_all)
a0_rate_expected = f1_a(t_all)
a1_rate_expected = f1_b(t_all)
a2_rate_expected = f1_c(t_all)
a0_rate2_expected = f2_a(t_all)
a1_rate2_expected = f2_b(t_all)
a2_rate2_expected = f2_c(t_all)
assert_almost_equal(p['polynomial_control_values:a'][:, 0, 0],
a0_value_expected)
assert_almost_equal(p['polynomial_control_values:a'][:, 1, 0],
a1_value_expected)
assert_almost_equal(p['polynomial_control_values:a'][:, 2, 0],
a2_value_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate'][:, 0, 0],
a0_rate_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate'][:, 1, 0],
a1_rate_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate'][:, 2, 0],
a2_rate_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate2'][:, 0, 0],
a0_rate2_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate2'][:, 1, 0],
a1_rate2_expected)
assert_almost_equal(p['polynomial_control_rates:a_rate2'][:, 2, 0],
a2_rate2_expected)
np.set_printoptions(linewidth=1024)
cpd = p.check_partials(method='cs', out_stream=None)
assert_check_partials(cpd)
def test_control_interp_matrix_2x2(self,
transcription='gauss-lobatto',
compressed=True):
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order=5,
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {'a': {'units': 'm', 'shape': (2, 2), 'dynamic': True}}
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('controls:a',
val=np.zeros(
(gd.subset_num_nodes['control_input'], 2, 2)),
units='m')
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(
num_nodes=gd.num_nodes,
node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau,
units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
p.model.add_subsystem('control_interp_comp',
subsys=ControlInterpComp(
grid_data=gd,
control_options=controls,
time_units='s'),
promotes_inputs=['controls:*'])
p.model.connect('dt_dstau', 'control_interp_comp.dt_dstau')
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
t = p['time']
control_input_idxs = gd.subset_node_indices['control_input']
p['controls:a'][:, 0, 0] = f_a(t[control_input_idxs])
p['controls:a'][:, 0, 1] = f_b(t[control_input_idxs])
p['controls:a'][:, 1, 0] = f_c(t[control_input_idxs])
p['controls:a'][:, 1, 1] = f_d(t[control_input_idxs])
p.run_model()
a0_value_expected = f_a(t)
a1_value_expected = f_b(t)
a2_value_expected = f_c(t)
a3_value_expected = f_d(t)
a0_rate_expected = f1_a(t)
a1_rate_expected = f1_b(t)
a2_rate_expected = f1_c(t)
a3_rate_expected = f1_d(t)
a0_rate2_expected = f2_a(t)
a1_rate2_expected = f2_b(t)
a2_rate2_expected = f2_c(t)
a3_rate2_expected = f2_d(t)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 0, 0],
a0_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 0, 1],
a1_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 1, 0],
a2_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 1, 1],
a3_value_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 0, 0],
a0_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 0, 1],
a1_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 1, 0],
a2_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 1, 1],
a3_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 0, 0],
a0_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 0, 1],
a1_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 1, 0],
a2_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 1, 1],
a3_rate2_expected)
with np.printoptions(linewidth=100000, edgeitems=100000):
cpd = p.check_partials(compact_print=True, method='cs')
assert_check_partials(cpd)
