def _compute_constraints_impl(self,x): from PyKEP import epoch, AU, EARTH_VELOCITY, fb_con from PyKEP.sims_flanagan import leg, sc_state from numpy.linalg import norm from math import sqrt, asin, acos #Ephemerides t_E = epoch(x[0]) t_V = epoch(x[0] + x[1]) t_M = epoch(x[0] + x[1] + x[9]) rE, vE = self.__earth.eph(t_E) rV, vV = self.__venus.eph(t_V) rM, vM = self.__mercury.eph(t_M) #First Leg v = [a+b for a,b in zip(vE,x[3:6])] x0 = sc_state(rE,v,self.__sc.mass) v = [a+b for a,b in zip(vV,x[6:9])] xe = sc_state(rV, v ,x[2]) self.__leg1.set(t_E,x0,x[-3 * (self.__nseg1 + self.__nseg2):-self.__nseg2 * 3],t_V,xe) #Second leg v = [a+b for a,b in zip(vV,x[11:14])] x0 = sc_state(rV,v,x[2]) v = [a+b for a,b in zip(vM,x[14:17])] xe = sc_state(rM, v ,x[10]) self.__leg2.set(t_E,x0,x[(-3 * self.__nseg2):],t_V,xe) #Defining the costraints #departure v_dep_con = (x[3] * x[3] + x[4] * x[4] + x[5] * x[5] - self.__Vinf_dep * self.__Vinf_dep) / (EARTH_VELOCITY * EARTH_VELOCITY) #arrival v_arr_con = (x[14] * x[14] + x[15] * x[15] + x[16] * x[16] - self.__Vinf_arr * self.__Vinf_arr) / (EARTH_VELOCITY * EARTH_VELOCITY) #fly-by at Venus DV_eq, alpha_ineq = fb_con(x[6:9],x[11:14],self.__venus) #Assembling the constraints retval = list(self.__leg1.mismatch_constraints() + self.__leg2.mismatch_constraints()) + [DV_eq] + list(self.__leg1.throttles_constraints() + self.__leg2.throttles_constraints()) + [v_dep_con] + [v_arr_con] + [alpha_ineq] #We then scale all constraints to non dimensional values #leg 1 retval[0] /= AU retval[1] /= AU retval[2] /= AU retval[3] /= EARTH_VELOCITY retval[4] /= EARTH_VELOCITY retval[5] /= EARTH_VELOCITY retval[6] /= self.__sc.mass #leg 2 retval[7] /= AU retval[8] /= AU retval[9] /= AU retval[10] /= EARTH_VELOCITY retval[11] /= EARTH_VELOCITY retval[12] /= EARTH_VELOCITY retval[13] /= self.__sc.mass #fly-by at Venus retval[14] /= (EARTH_VELOCITY*EARTH_VELOCITY) return retval
def _compute_constraints_impl(self,x): # 1 - We decode the chromosome extracting the time of flights T = list([0]*(self.__n_legs)) for i in range(self.__n_legs): T[i] = x[1+i*8] #2 - We compute the epochs and ephemerides of the planetary encounters t_P = list([None] * (self.__n_legs+1)) r_P = list([None] * (self.__n_legs+1)) v_P = list([None] * (self.__n_legs+1)) for i,planet in enumerate(self.seq): t_P[i] = epoch(x[0] + sum(T[0:i])) r_P[i],v_P[i] = self.seq[i].eph(t_P[i]) #3 - We iterate through legs to compute mismatches and throttles constraints ceq = list() cineq = list() m0 = self.__sc.mass for i in range(self.__n_legs): #First Leg v = [a+b for a,b in zip(v_P[i],x[(3 + i * 8):(6 + i * 8)])] x0 = sc_state(r_P[i],v,m0) v = [a+b for a,b in zip(v_P[i+1],x[(6 + i * 8):(9 + i * 8)])] xe = sc_state(r_P[i+1], v ,x[2 + i * 8]) throttles = x[(1 + 8*self.__n_legs + 3*sum(self.__n_seg[:i])):(1 + 8*self.__n_legs + 3*sum(self.__n_seg[:i])+3*self.__n_seg[i])] self.__leg.set(t_P[i],x0,throttles,t_P[i+1],xe) #update mass! m0 = x[2+8*i] ceq.extend(self.__leg.mismatch_constraints()) cineq.extend(self.__leg.throttles_constraints()) #Adding the boundary constraints #departure v_dep_con = (x[3] ** 2 + x[4] ** 2 + x[5] **2 - self.__vinf_dep ** 2) / (EARTH_VELOCITY**2) #arrival v_arr_con = (x[6 + (self.__n_legs-1)*8]**2 + x[7+ (self.__n_legs-1)*8]**2 + x[8+ (self.__n_legs-1)*8]**2 - self.__vinf_arr ** 2) / (EARTH_VELOCITY**2) cineq.append(v_dep_con*100) cineq.append(v_arr_con*100) #We add the fly-by constraints for i in range(self.__n_legs-1): DV_eq, alpha_ineq = fb_con(x[6 + i*8:9 + i*8],x[11+ i * 8:14+ i * 8],self.seq[i+1]) ceq.append(DV_eq / (EARTH_VELOCITY**2)) cineq.append(alpha_ineq) #Making the mismatches non dimensional for i in range(self.__n_legs): ceq[0+i*7] /= AU ceq[1+i*7] /= AU ceq[2+i*7] /= AU ceq[3+i*7] /= EARTH_VELOCITY ceq[4+i*7] /= EARTH_VELOCITY ceq[5+i*7] /= EARTH_VELOCITY ceq[6+i*7] /= self.__sc.mass #We assemble the constraint vector retval = list() retval.extend(ceq) retval.extend(cineq) return retval
def _compute_constraints_impl(self,x): # 1 - We decode the chromosome extracting the time of flights T = list([0]*(self.__n_legs)) for i in range(self.__n_legs): T[i] = x[2+i*8] #2 - We compute the epochs and ephemerides of the planetary encounters t_P = list([None] * (self.__n_legs+1)) r_P = list([None] * (self.__n_legs+1)) v_P = list([None] * (self.__n_legs+1)) for i,planet in enumerate(self.seq): t_P[i+1] = epoch(self.tf - sum(T[i+1:])) r_P[i+1],v_P[i+1] = self.seq[i].eph(t_P[i+1]) #And we insert a fake planet simulating the starting position t_P[0] = epoch(self.tf - sum(T)) theta = x[0] phi = x[1] r = [cos(phi)*sin(theta), cos(phi)*cos(theta), sin(phi)] #phi close to zero is in the moon orbit plane injection r = [JR*1000*d for d in r] r_P[0] = r v_P[0] = x[4:7] #3 - We iterate through legs to compute mismatches and throttles constraints ceq = list() cineq = list() m0 = self.__sc.mass for i in range(self.__n_legs): if i!=0: #First Leg v = [a+b for a,b in zip(v_P[i],x[(4 + i * 8):(7 + i * 8)])] else: v = v_P[i] x0 = sc_state(r_P[i],v,m0) v = [a+b for a,b in zip(v_P[i+1],x[(7 + i * 8):(10 + i * 8)])] if (i==self.__n_legs-1): #Last leg v = [a+b for a,b in zip(v_P[i+1],self.vf)] xe = sc_state(r_P[i+1], v ,x[3+8*i]) throttles = x[(8*self.__n_legs-1 + 3*sum(self.__n_seg[:i])):(8*self.__n_legs-1 + 3*sum(self.__n_seg[:i])+3*self.__n_seg[i])] self.__leg.set(t_P[i],x0,throttles,t_P[i+1],xe) #update mass! m0 = x[3+8*i] ceq.extend(self.__leg.mismatch_constraints()) cineq.extend(self.__leg.throttles_constraints()) #raise Exception #Adding the boundary constraints #departure v_dep_con = (x[4] ** 2 + x[5] ** 2 + x[6] **2 - 3400.0 ** 2) / (3400.0**2) #arrival ceq.append(v_dep_con) #We add the fly-by constraints for i in range(self.__n_legs-1): DV_eq, alpha_ineq = fb_con(x[7 + i*8:10 + i*8],x[12+ i * 8:15+ i * 8],self.seq[i]) ceq.append(DV_eq / (3400.0**2)) cineq.append(alpha_ineq) #Making the mismatches non dimensional for i in range(self.__n_legs): ceq[0+i*7] /= JR*1000 ceq[1+i*7] /= JR*1000 ceq[2+i*7] /= JR*1000 ceq[3+i*7] /= 3400 ceq[4+i*7] /= 3400 ceq[5+i*7] /= 3400 ceq[6+i*7] /= 1000 #We assemble the constraint vector retval = list() retval.extend(ceq) retval.extend(cineq) return retval
def _compute_constraints_impl(self, x):
# 1 - We decode the chromosome extracting the time of flights
T = list([0] * (self.__n_legs))
for i in range(self.__n_legs):
T[i] = x[1 + i * 8]
#2 - We compute the epochs and ephemerides of the planetary encounters
t_P = list([None] * (self.__n_legs + 1))
r_P = list([None] * (self.__n_legs + 1))
v_P = list([None] * (self.__n_legs + 1))
for i, planet in enumerate(self.seq):
t_P[i] = epoch(x[0] + sum(T[0:i]))
r_P[i], v_P[i] = self.seq[i].eph(t_P[i])
#3 - We iterate through legs to compute mismatches and throttles constraints
ceq = list()
cineq = list()
m0 = self.__sc.mass
for i in range(self.__n_legs):
#First Leg
v = [a + b for a, b in zip(v_P[i], x[(3 + i * 8):(6 + i * 8)])]
x0 = sc_state(r_P[i], v, m0)
v = [a + b for a, b in zip(v_P[i + 1], x[(6 + i * 8):(9 + i * 8)])]
xe = sc_state(r_P[i + 1], v, x[2 + i * 8])
throttles = x[(1 + 8 * self.__n_legs + 3 * sum(self.__n_seg[:i])):(
1 + 8 * self.__n_legs + 3 * sum(self.__n_seg[:i]) +
3 * self.__n_seg[i])]
self.__leg.set(t_P[i], x0, throttles, t_P[i + 1], xe)
#update mass!
m0 = x[2 + 8 * i]
ceq.extend(self.__leg.mismatch_constraints())
cineq.extend(self.__leg.throttles_constraints())
#Adding the boundary constraints
#departure
v_dep_con = (x[3]**2 + x[4]**2 + x[5]**2 -
self.__vinf_dep**2) / (EARTH_VELOCITY**2)
#arrival
v_arr_con = (x[6 +
(self.__n_legs - 1) * 8]**2 + x[7 +
(self.__n_legs - 1) * 8]
**2 + x[8 + (self.__n_legs - 1) * 8]**2 -
self.__vinf_arr**2) / (EARTH_VELOCITY**2)
cineq.append(v_dep_con * 100)
cineq.append(v_arr_con * 100)
#We add the fly-by constraints
for i in range(self.__n_legs - 1):
DV_eq, alpha_ineq = fb_con(x[6 + i * 8:9 + i * 8],
x[11 + i * 8:14 + i * 8],
self.seq[i + 1])
ceq.append(DV_eq / (EARTH_VELOCITY**2))
cineq.append(alpha_ineq)
#Making the mismatches non dimensional
for i in range(self.__n_legs):
ceq[0 + i * 7] /= AU
ceq[1 + i * 7] /= AU
ceq[2 + i * 7] /= AU
ceq[3 + i * 7] /= EARTH_VELOCITY
ceq[4 + i * 7] /= EARTH_VELOCITY
ceq[5 + i * 7] /= EARTH_VELOCITY
ceq[6 + i * 7] /= self.__sc.mass
#We assemble the constraint vector
retval = list()
retval.extend(ceq)
retval.extend(cineq)
return retval
def _compute_constraints_impl(self, x):
# 1 - We decode the chromosome extracting the time of flights
T = list([0] * (self.__n_legs))
for i in range(self.__n_legs):
T[i] = x[2 + i * 8]
#2 - We compute the epochs and ephemerides of the planetary encounters
t_P = list([None] * (self.__n_legs + 1))
r_P = list([None] * (self.__n_legs + 1))
v_P = list([None] * (self.__n_legs + 1))
for i, planet in enumerate(self.seq):
t_P[i + 1] = epoch(self.tf - sum(T[i + 1:]))
r_P[i + 1], v_P[i + 1] = self.seq[i].eph(t_P[i + 1])
#And we insert a fake planet simulating the starting position
t_P[0] = epoch(self.tf - sum(T))
theta = x[0]
phi = x[1]
r = [cos(phi) * sin(theta),
cos(phi) * cos(theta),
sin(phi)] #phi close to zero is in the moon orbit plane injection
r = [JR * 1000 * d for d in r]
r_P[0] = r
v_P[0] = x[4:7]
#3 - We iterate through legs to compute mismatches and throttles constraints
ceq = list()
cineq = list()
m0 = self.__sc.mass
for i in range(self.__n_legs):
if i != 0: #First Leg
v = [a + b for a, b in zip(v_P[i], x[(4 + i * 8):(7 + i * 8)])]
else:
v = v_P[i]
x0 = sc_state(r_P[i], v, m0)
v = [
a + b for a, b in zip(v_P[i + 1], x[(7 + i * 8):(10 + i * 8)])
]
if (i == self.__n_legs - 1): #Last leg
v = [a + b for a, b in zip(v_P[i + 1], self.vf)]
xe = sc_state(r_P[i + 1], v, x[3 + 8 * i])
throttles = x[(8 * self.__n_legs - 1 + 3 * sum(self.__n_seg[:i])):(
8 * self.__n_legs - 1 + 3 * sum(self.__n_seg[:i]) +
3 * self.__n_seg[i])]
self.__leg.set(t_P[i], x0, throttles, t_P[i + 1], xe)
#update mass!
m0 = x[3 + 8 * i]
ceq.extend(self.__leg.mismatch_constraints())
cineq.extend(self.__leg.throttles_constraints())
#raise Exception
#Adding the boundary constraints
#departure
v_dep_con = (x[4]**2 + x[5]**2 + x[6]**2 - 3400.0**2) / (3400.0**2)
#arrival
ceq.append(v_dep_con)
#We add the fly-by constraints
for i in range(self.__n_legs - 1):
DV_eq, alpha_ineq = fb_con(x[7 + i * 8:10 + i * 8],
x[12 + i * 8:15 + i * 8], self.seq[i])
ceq.append(DV_eq / (3400.0**2))
cineq.append(alpha_ineq)
#Making the mismatches non dimensional
for i in range(self.__n_legs):
ceq[0 + i * 7] /= JR * 1000
ceq[1 + i * 7] /= JR * 1000
ceq[2 + i * 7] /= JR * 1000
ceq[3 + i * 7] /= 3400
ceq[4 + i * 7] /= 3400
ceq[5 + i * 7] /= 3400
ceq[6 + i * 7] /= 1000
#We assemble the constraint vector
retval = list()
retval.extend(ceq)
retval.extend(cineq)
return retval
def _compute_constraints_impl(self, x):
from PyKEP import epoch, AU, EARTH_VELOCITY, fb_con
from PyKEP.sims_flanagan import leg, sc_state
from numpy.linalg import norm
from math import sqrt, asin, acos
#Ephemerides
t_E = epoch(x[0])
t_V = epoch(x[0] + x[1])
t_M = epoch(x[0] + x[1] + x[9])
rE, vE = self.__earth.eph(t_E)
rV, vV = self.__venus.eph(t_V)
rM, vM = self.__mercury.eph(t_M)
#First Leg
v = [a + b for a, b in zip(vE, x[3:6])]
x0 = sc_state(rE, v, self.__sc.mass)
v = [a + b for a, b in zip(vV, x[6:9])]
xe = sc_state(rV, v, x[2])
self.__leg1.set(
t_E, x0,
x[-3 * (self.__nseg1 + self.__nseg2):-self.__nseg2 * 3], t_V,
xe)
#Second leg
v = [a + b for a, b in zip(vV, x[11:14])]
x0 = sc_state(rV, v, x[2])
v = [a + b for a, b in zip(vM, x[14:17])]
xe = sc_state(rM, v, x[10])
self.__leg2.set(t_E, x0, x[(-3 * self.__nseg2):], t_V, xe)
#Defining the constraints
#departure
v_dep_con = (x[3] * x[3] + x[4] * x[4] + x[5] * x[5] -
self.__Vinf_dep * self.__Vinf_dep) / (EARTH_VELOCITY *
EARTH_VELOCITY)
#arrival
v_arr_con = (x[14] * x[14] + x[15] * x[15] + x[16] * x[16] -
self.__Vinf_arr * self.__Vinf_arr) / (EARTH_VELOCITY *
EARTH_VELOCITY)
#fly-by at Venus
DV_eq, alpha_ineq = fb_con(x[6:9], x[11:14], self.__venus)
#Assembling the constraints
retval = list(self.__leg1.mismatch_constraints() +
self.__leg2.mismatch_constraints()) + [
DV_eq
] + list(self.__leg1.throttles_constraints() +
self.__leg2.throttles_constraints()) + [
v_dep_con
] + [v_arr_con] + [alpha_ineq]
#We then scale all constraints to non-dimensional values
#leg 1
retval[0] /= AU
retval[1] /= AU
retval[2] /= AU
retval[3] /= EARTH_VELOCITY
retval[4] /= EARTH_VELOCITY
retval[5] /= EARTH_VELOCITY
retval[6] /= self.__sc.mass
#leg 2
retval[7] /= AU
retval[8] /= AU
retval[9] /= AU
retval[10] /= EARTH_VELOCITY
retval[11] /= EARTH_VELOCITY
retval[12] /= EARTH_VELOCITY
retval[13] /= self.__sc.mass
#fly-by at Venus
retval[14] /= (EARTH_VELOCITY * EARTH_VELOCITY)
return retval