def test_snopt(self):
name = "tp109_snopt.hst"
self.optimize("snopt", 1e-7, storeHistory=name)
hist = History(name)
self.assertNotIn("lin_con", hist.getConNames())
self.assertNotIn("lin_con", hist.getConInfo())
hist.getValues()
hist.getValues(scale=True)
def check_hist_file(self, optimizer, tol):
"""
We check the history file here along with the API
"""
hist = History(self.histFileName, flag="r")
# Metadata checks
metadata = hist.getMetadata()
self.assertEqual(metadata["optimizer"], optimizer)
metadata_def_keys = ["optName", "optOptions", "nprocs", "startTime", "endTime", "optTime", "version"]
for key in metadata_def_keys:
self.assertIn(key, metadata)
hist.getOptProb()
# Info checks
self.assertEqual(hist.getDVNames(), ["xvars"])
self.assertEqual(hist.getConNames(), ["con"])
self.assertEqual(hist.getObjNames(), ["obj"])
dvInfo = hist.getDVInfo()
self.assertEqual(len(dvInfo), 1)
self.assertEqual(dvInfo["xvars"], hist.getDVInfo(key="xvars"))
conInfo = hist.getConInfo()
self.assertEqual(len(conInfo), 1)
self.assertEqual(conInfo["con"], hist.getConInfo(key="con"))
objInfo = hist.getObjInfo()
self.assertEqual(len(objInfo), 1)
self.assertEqual(objInfo["obj"], hist.getObjInfo(key="obj"))
for key in ["lower", "upper", "scale"]:
self.assertIn(key, dvInfo["xvars"])
self.assertIn(key, conInfo["con"])
self.assertIn("scale", objInfo["obj"])
# callCounter checks
callCounters = hist.getCallCounters()
last = hist.read("last") # 'last' key should be present
self.assertIn(last, callCounters)
# iterKeys checks
iterKeys = hist.getIterKeys()
for key in ["xuser", "fail", "isMajor"]:
self.assertIn(key, iterKeys)
# extraFuncsNames checks
extraFuncsNames = hist.getExtraFuncsNames()
for key in ["extra1", "extra2"]:
self.assertIn(key, extraFuncsNames)
# getValues checks
val = hist.getValues()
# this check is only used for optimizers that guarantee '0' and 'last' contain funcs
if optimizer in ["SNOPT", "SLSQP", "PSQP"]:
val = hist.getValues(callCounters=["0", "last"], stack=True)
self.assertEqual(val["isMajor"].size, 2)
self.assertTrue(val["isMajor"][0]) # the first callCounter must be a major iteration
self.assertTrue(val["isMajor"][-1]) # the last callCounter must be a major iteration
# check optimum stored in history file against xstar
assert_allclose(val["xuser"][-1], self.xStar1, atol=tol, rtol=tol)
def check_hist_file(self, optimizer):
"""
We check the history file here along with the API
"""
hist = History(self.histFileName, flag='r')
# Metadata checks
metadata = hist.getMetadata()
self.assertEqual(metadata['optimizer'], optimizer)
metadata_def_keys = [
'optName', 'optOptions', 'nprocs', 'startTime', 'endTime',
'optTime', 'version'
]
for key in metadata_def_keys:
self.assertIn(key, metadata)
# Info checks
self.assertEqual(hist.getDVNames(), ['xvars'])
self.assertEqual(hist.getConNames(), ['con'])
self.assertEqual(hist.getObjNames(), ['obj'])
dvInfo = hist.getDVInfo()
self.assertEqual(len(dvInfo), 1)
self.assertEqual(dvInfo['xvars'], hist.getDVInfo(key='xvars'))
conInfo = hist.getConInfo()
self.assertEqual(len(conInfo), 1)
self.assertEqual(conInfo['con'], hist.getConInfo(key='con'))
objInfo = hist.getObjInfo()
self.assertEqual(len(objInfo), 1)
self.assertEqual(objInfo['obj'], hist.getObjInfo(key='obj'))
for key in ['lower', 'upper', 'scale']:
self.assertIn(key, dvInfo['xvars'])
self.assertIn(key, conInfo['con'])
self.assertIn('scale', objInfo['obj'])
# callCounter checks
callCounters = hist.getCallCounters()
last = hist.read('last') # 'last' key should be present
self.assertIn(last, callCounters)
# iterKey checks
iterKeys = hist.getIterKeys()
for key in ['xuser', 'fail', 'isMajor']:
self.assertIn(key, iterKeys)
# getValues check
hist.getValues()
hist.getValues(stack=True, major=False, scale=True)
# this check is only used for optimizers that guarantee '0' and 'last' contain funcs
if optimizer in ['SNOPT', 'SLSQP', 'PSQP']:
val = hist.getValues(callCounters=['0', 'last'])
self.assertEqual(val['isMajor'].size, 2)
self.assertTrue(
val['isMajor']
[0]) # the first callCounter must be a major iteration
self.assertTrue(
val['isMajor']
[-1]) # the last callCounter must be a major iteration
def test_slsqp_scaling_offset_optProb(self):
"""
Test that scaling and offset works as expected
Also test optProb stored in the history file is correct
"""
test_name = "hs071_SLSQP_scaling_offset"
histFileName = "{}.hst".format(test_name)
optOptions = {"IFILE": "{}.out".format(test_name)}
objScale = 4.2
xScale = [2, 3, 4, 5]
conScale = [0.6, 1.7]
offset = [1, -2, 40, 2.5]
self.optimize(
"slsqp",
1e-6,
objScale=objScale,
xScale=xScale,
conScale=conScale,
storeHistory=histFileName,
offset=offset,
optOptions=optOptions,
)
# now we retrieve the history file, and check the scale=True option is indeed
# scaling things correctly
hist = History(histFileName, flag="r")
orig_values = hist.getValues(callCounters="0", scale=False)
optProb = hist.getOptProb()
# check that the scales are stored properly
for i, var in enumerate(optProb.variables["xvars"]):
assert_allclose(xScale[i], var.scale, atol=1e-12, rtol=1e-12)
assert_allclose(offset[i], var.offset, atol=1e-12, rtol=1e-12)
for con in optProb.constraints:
assert_allclose(conScale, optProb.constraints[con].scale, atol=1e-12, rtol=1e-12)
for obj in optProb.objectives:
assert_allclose(objScale, optProb.objectives[obj].scale, atol=1e-12, rtol=1e-12)
# verify the scale option in getValues
scaled_values = hist.getValues(callCounters="0", scale=True, stack=False)
x = orig_values["xvars"][0]
x_scaled = scaled_values["xvars"][0]
assert_allclose(x_scaled, (x - offset) * xScale, atol=1e-12, rtol=1e-12)
# now do the same but with stack=True
stacked_values = hist.getValues(callCounters="0", scale=True, stack=True)
x_scaled = stacked_values["xuser"][0]
assert_allclose(x_scaled, (x - offset) * xScale, atol=1e-12, rtol=1e-12)
# now we test objective and constraint scaling in getValues
obj_orig = orig_values["obj"][0]
obj_scaled = scaled_values["obj"][0]
assert_allclose(obj_scaled, obj_orig * objScale, atol=1e-12, rtol=1e-12)
con_orig = orig_values["con"][0]
con_scaled = scaled_values["con"][0]
assert_allclose(con_scaled, con_orig * conScale, atol=1e-12, rtol=1e-12)
def test_snopt(self):
name = "tp109_snopt.hst"
self.optimize("SNOPT", 1e-7, storeHistory=name)
hist = History(name)
self.assertNotIn("lin_con", hist.getConNames())
self.assertNotIn("lin_con", hist.getConInfo())
val = hist.getValues()
hist.getValues(scale=True)
# Check that the function values in the history are real
self.assertTrue(np.isrealobj(val["obj"]))
self.assertTrue(np.isrealobj(val["con"]))
def test_snopt(self):
self.optName = "SNOPT"
self.setup_optProb()
sol = self.optimize(storeHistory=True, sens="CS")
self.assert_solution_allclose(sol, 1e-7)
hist = History(self.histFileName)
self.assertNotIn("lin_con", hist.getConNames())
self.assertNotIn("lin_con", hist.getConInfo())
val = hist.getValues()
hist.getValues(scale=True)
# Check that the function values in the history are real
self.assertTrue(np.isrealobj(val["obj"]))
self.assertTrue(np.isrealobj(val["con"]))
def test_snopt(self):
store_vars = [
'step', 'merit', 'feasibility', 'optimality', 'penalty', 'Hessian',
'condZHZ', 'slack', 'lambda'
]
optOptions = {'Save major iteration variables': store_vars}
self.optimize('snopt', optOptions=optOptions, storeHistory=True)
self.check_hist_file('SNOPT')
hist = History(self.histFileName, flag='r')
data = hist.getValues(callCounters=['last'])
keys = hist.getIterKeys()
self.assertIn('isMajor', keys)
self.assertEqual(7, data['nMajor'])
for var in store_vars:
self.assertIn(var, data.keys())
# re-optimize with hotstart
self.optimize('snopt', storeHistory=False, hotStart=self.histFileName)
# now we should do the same optimization without calling them
self.assertEqual(self.nf, 0)
self.assertEqual(self.ng, 0)
# another test with hotstart, this time with storeHistory = hotStart
self.optimize('snopt', storeHistory=True, hotStart=self.histFileName)
# now we should do the same optimization without calling them
self.assertEqual(self.nf, 0)
self.assertEqual(self.ng, 0)
# final test with hotstart, this time with a different storeHistory
self.optimize('snopt',
storeHistory='snopt_new_hotstart.hst',
hotStart=self.histFileName)
# now we should do the same optimization without calling them
self.assertEqual(self.nf, 0)
self.assertEqual(self.ng, 0)
def test_snopt_setDVFromHist(self):
"""
Test that setDVFromHistory works as expected, even with scaling/offset
"""
test_name = "hs071_SNOPT_setDVFromHist"
optOptions = {
"Print file": "{}.out".format(test_name),
"Summary file": "{}_summary.out".format(test_name),
}
histFileName = "{}.hst".format(test_name)
self.optimize(
"SNOPT",
1e-6,
xScale=1.5,
conScale=1.2,
objScale=32,
offset=1.5,
storeHistory=histFileName,
optOptions=optOptions,
)
hist = History(histFileName, flag="r")
first = hist.getValues(names="xvars", callCounters="last", scale=False)
x_final = first["xvars"][0]
self.optimize(
"SNOPT",
1e-6,
xScale=0.5,
conScale=4.8,
objScale=0.1,
offset=1.5,
setDV=histFileName,
storeHistory=histFileName,
optOptions=optOptions,
)
# Verify the history file
hist = History(histFileName, flag="r")
second = hist.getValues(names="xvars", scale=False)
x_init = second["xvars"][0]
assert_allclose(x_init, x_final, atol=1e-5, rtol=1e-5)
# assert that this only took one major iteration
# since we restarted from the optimum
self.assertEqual(second["xvars"].shape, (1, 4))
def test_snopt_setDVFromHist(self):
"""
Test that setDVFromHistory works as expected, even with scaling/offset
"""
self.optName = "SNOPT"
histFileName = "hs071_SNOPT_setDVFromHist.hst"
self.setup_optProb(xScale=1.5, conScale=1.2, objScale=32, offset=1.5)
sol = self.optimize(storeHistory=histFileName)
self.assert_solution_allclose(sol, self.tol["SNOPT"])
hist = History(histFileName, flag="r")
first = hist.getValues(names="xvars", callCounters="last", scale=False)
x_final = first["xvars"][0]
self.setup_optProb(xScale=0.5, conScale=4.8, objScale=0.1, offset=1.5)
sol = self.optimize(setDV=histFileName, storeHistory=histFileName)
self.assert_solution_allclose(sol, self.tol["SNOPT"])
# Verify the history file
hist = History(histFileName, flag="r")
second = hist.getValues(names="xvars", scale=False)
x_init = second["xvars"][0]
assert_allclose(x_init, x_final, atol=1e-5, rtol=1e-5)
# assert that this only took one major iteration
# since we restarted from the optimum
self.assertEqual(second["xvars"].shape, (1, 4))
def test_slsqp_setDV(self):
"""
Test that setDV works as expected, even with scaling/offset
"""
self.optName = "SLSQP"
histFileName = "hs071_SLSQP_setDV.hst"
newDV = {"xvars": np.array([1, 4, 4, 1])}
self.setup_optProb(xScale=1.5, conScale=1.2, objScale=32, offset=1.5)
sol = self.optimize(setDV=newDV, storeHistory=histFileName)
self.assert_solution_allclose(sol, self.tol["SLSQP"])
# Verify the history file
hist = History(histFileName, flag="r")
init = hist.getValues(names="xvars", callCounters="0", scale=False)
x_init = init["xvars"][0]
assert_allclose(x_init, newDV["xvars"], atol=1e-5, rtol=1e-5)
def test_snopt(self):
self.optName = "SNOPT"
self.setup_optProb()
store_vars = ["step", "merit", "feasibility", "optimality", "penalty", "Hessian", "condZHZ", "slack", "lambda"]
optOptions = {
"Save major iteration variables": store_vars,
}
self.optimize_with_hotstart(1e-8, optOptions=optOptions)
hist = History(self.histFileName, flag="r")
data = hist.getValues(callCounters=["last"])
keys = hist.getIterKeys()
self.assertIn("isMajor", keys)
self.assertEqual(36, data["nMajor"])
for var in store_vars:
self.assertIn(var, data.keys())
self.assertEqual(data["Hessian"].shape, (1, 4, 4))
self.assertEqual(data["feasibility"].shape, (1, 1))
self.assertEqual(data["slack"].shape, (1, 1))
self.assertEqual(data["lambda"].shape, (1, 1))
def test_snopt(self):
test_name = "hs015_SNOPT"
store_vars = ["step", "merit", "feasibility", "optimality", "penalty", "Hessian", "condZHZ", "slack", "lambda"]
optOptions = {
"Save major iteration variables": store_vars,
"Print file": "{}.out".format(test_name),
"Summary file": "{}_summary.out".format(test_name),
}
self.optimize_with_hotstart("SNOPT", 1e-12, optOptions=optOptions)
hist = History(self.histFileName, flag="r")
data = hist.getValues(callCounters=["last"])
keys = hist.getIterKeys()
self.assertIn("isMajor", keys)
self.assertEqual(7, data["nMajor"])
for var in store_vars:
self.assertIn(var, data.keys())
self.assertEqual(data["Hessian"].shape, (1, 2, 2))
self.assertEqual(data["feasibility"].shape, (1, 1))
self.assertEqual(data["slack"].shape, (1, 2))
self.assertEqual(data["lambda"].shape, (1, 2))
def test_slsqp_setDV(self):
"""
Test that setDV works as expected, even with scaling/offset
"""
test_name = "hs071_SLSQP_setDV"
histFileName = "{}.hst".format(test_name)
newDV = {"xvars": np.array([1, 4, 4, 1])}
optOptions = {"IFILE": "{}.out".format(test_name)}
self.optimize(
"SLSQP",
1e-5,
xScale=1.5,
conScale=1.2,
objScale=32,
offset=1.5,
setDV=newDV,
storeHistory=histFileName,
optOptions=optOptions,
)
# Verify the history file
hist = History(histFileName, flag="r")
init = hist.getValues(names="xvars", callCounters="0", scale=False)
x_init = init["xvars"][0]
assert_allclose(x_init, newDV["xvars"], atol=1e-5, rtol=1e-5)
def test_ipopt(self):
self.optName = "IPOPT"
self.setup_optProb()
optOptions = self.optOptions.pop(self.optName, None)
sol = self.optimize(optOptions=optOptions, storeHistory=True)
# Check Solution
self.assert_solution_allclose(sol, self.tol[self.optName])
# Check informs
self.assert_inform_equal(sol)
# Check iteration counters
hist = History(self.histFileName, flag="r")
data_init = hist.read(0)
self.assertEqual(0, data_init["iter"])
data_last = hist.read(hist.read("last"))
self.assertEqual(11, data_last["iter"]
) # took 12 function evaluations (see test_ipopt.out)
# Make sure there is no duplication in objective history
data = hist.getValues(names=["obj"])
objhis_len = data["obj"].shape[0]
self.assertEqual(12, objhis_len)
for i in range(objhis_len - 1):
self.assertNotEqual(data["obj"][i], data["obj"][i + 1])
from pyoptsparse import History
plt.rcParams["text.usetex"] = True # Comment out if latex installation is not present
plt.rcParams["font.family"] = "serif"
plt.rcParams["font.size"] = 20
plt.rcParams["xtick.labelsize"] = 16
plt.rcParams["ytick.labelsize"] = 16
plt.rcParams["lines.linewidth"] = 3.0
parser = argparse.ArgumentParser()
parser.add_argument("--histFile", type=str, default="opt.hst")
parser.add_argument("--outputDir", type=str, default="./")
args = parser.parse_args()
optHist = History(args.histFile)
histValues = optHist.getValues()
fig, axes = plt.subplots(nrows=5, sharex=True, constrained_layout=True, figsize=(14, 10))
axes[0].plot("nMajor", "optimality", data=histValues, label="Optimality")
axes[0].plot("nMajor", "feasibility", data=histValues, label="Feasibility")
axes[0].set_yscale("log")
axes[0].axhline(1e-4, linestyle="--", color="gray")
axes[0].annotate("Convergence Criteria", xy=(3, 9e-5), ha="left", va="top", fontsize=24, color="gray")
axes[0].legend(fontsize=20, labelcolor="linecolor", loc="upper right", frameon=False)
axes[0].autoscale(enable=True, tight=True)
axes[1].plot("nMajor", "obj", data=histValues, label="Objective")
axes[1].set_ylabel("Objective \n($C_D$)", rotation="horizontal", ha="right", fontsize=24)
axes[2].plot("nMajor", "alpha_fc", data=histValues, label="Alpha")
def check_hist_file(self, tol):
"""
We check the history file here along with the API
"""
hist = History(self.histFileName, flag="r")
# Metadata checks
metadata = hist.getMetadata()
self.assertEqual(metadata["optimizer"], self.optName)
metadata_def_keys = [
"optName",
"optOptions",
"nprocs",
"startTime",
"endTime",
"optTime",
"version",
"optVersion",
]
for key in metadata_def_keys:
self.assertIn(key, metadata)
# we test that SNOPT version is stored correctly
if self.optName == "SNOPT" and key == "optVersion":
self.assertNotEqual(metadata[key], None)
hist.getOptProb()
# Info checks
self.assertEqual(set(hist.getDVNames()), self.DVs)
self.assertEqual(set(hist.getConNames()), self.cons)
self.assertEqual(set(hist.getObjNames()), self.objs)
dvInfo = hist.getDVInfo()
self.assertEqual(len(dvInfo), len(self.DVs))
for var in self.DVs:
self.assertEqual(dvInfo[var], hist.getDVInfo(key=var))
conInfo = hist.getConInfo()
self.assertEqual(len(conInfo), len(self.cons))
objInfo = hist.getObjInfo()
self.assertEqual(len(objInfo), len(self.objs))
for obj in self.objs:
self.assertEqual(objInfo[obj], hist.getObjInfo(key=obj))
for key in ["lower", "upper", "scale"]:
for dvName in self.DVs:
self.assertIn(key, dvInfo[dvName])
for con in self.cons:
self.assertIn(key, conInfo[con])
for obj in self.objs:
self.assertIn("scale", objInfo[obj])
# callCounter checks
callCounters = hist.getCallCounters()
last = hist.read("last") # 'last' key should be present
self.assertIn(last, callCounters)
# iterKey checks
iterKeys = hist.getIterKeys()
for key in ["xuser", "fail", "isMajor"]:
self.assertIn(key, iterKeys)
# extraFuncsNames checks
extraFuncsNames = hist.getExtraFuncsNames()
if hasattr(self, "extras"):
for key in self.extras:
self.assertIn(key, extraFuncsNames)
# getValues checks
val = hist.getValues()
# timing checks
times = hist.getValues(names="time", major=False)["time"]
# the times should be monotonically increasing
self.assertTrue(np.all(np.diff(times) > 0))
# the final time should be close to the metadata time
# we only specify a relatively loose atol because of variations in overhead cost between machines
assert_allclose(times[-1], metadata["optTime"], atol=1.0)
# this check is only used for optimizers that guarantee '0' and 'last' contain funcs
if self.optName in ["SNOPT", "PSQP"]:
val = hist.getValues(callCounters=["0", "last"], stack=True)
self.assertEqual(val["isMajor"].size, 2)
self.assertTrue(
val["isMajor"]
[0]) # the first callCounter must be a major iteration
self.assertTrue(
val["isMajor"]
[-1]) # the last callCounter must be a major iteration
# check optimum stored in history file against xstar
val = hist.getValues(callCounters="last", stack=False)
for varName in self.DVs:
assert_allclose(val[varName].flatten(),
self.xStar[self.sol_index][varName],
atol=tol,
rtol=tol)