def solve(measurements, method):
"""Find reasonable marker positions based on a set of measurements."""
print(method)
marker_measurements = measurements
if np.size(measurements) == 21:
marker_measurements = measurements[(21 - 15) :]
# m0 has known positions (0, 0, 0)
# m1 has unknown x-position
# All others have unknown xy-positions
num_params = 0 + 1 + 2 + 2 + 2 + 2
bound = 400.0
lower_bound = [
0.0,
0.0,
0.0,
0.0,
0.0,
-bound,
0.0,
-bound,
0.0,
]
upper_bound = [
bound,
bound,
bound,
bound,
bound,
bound,
bound,
bound,
bound,
]
def costx_no_nozzle(posvec):
"""Identical to cost_no_nozzle, except the shape of inputs"""
positions = posvec2matrix_no_nozzle(posvec)
return cost_no_nozzle(positions, marker_measurements)
guess_0 = [0.0] * num_params
intermediate_cost = 0.0
intermediate_solution = []
if method == "SLSQP":
sol = scipy.optimize.minimize(
costx_no_nozzle,
guess_0,
method="SLSQP",
bounds=list(zip(lower_bound, upper_bound)),
tol=1e-20,
options={"disp": True, "ftol": 1e-40, "eps": 1e-10, "maxiter": 500},
)
intermediate_cost = sol.fun
intermediate_solution = sol.x
elif method == "L-BFGS-B":
sol = scipy.optimize.minimize(
costx_no_nozzle,
guess_0,
method="L-BFGS-B",
bounds=list(zip(lower_bound, upper_bound)),
options={"disp": True, "ftol": 1e-12, "gtol": 1e-12, "maxiter": 50000, "maxfun": 1000000},
)
intermediate_cost = sol.fun
intermediate_solution = sol.x
elif method == "PowellDirectionalSolver":
from mystic.solvers import PowellDirectionalSolver
from mystic.termination import Or, CollapseAt, CollapseAs
from mystic.termination import ChangeOverGeneration as COG
from mystic.monitors import VerboseMonitor
from mystic.termination import VTR, And, Or
solver = PowellDirectionalSolver(num_params)
solver.SetRandomInitialPoints(lower_bound, upper_bound)
solver.SetEvaluationLimits(evaluations=3200000, generations=100000)
solver.SetTermination(Or(VTR(1e-25), COG(1e-10, 20)))
solver.SetStrictRanges(lower_bound, upper_bound)
solver.SetGenerationMonitor(VerboseMonitor(5))
solver.Solve(costx_no_nozzle)
intermediate_cost = solver.bestEnergy
intermediate_solution = solver.bestSolution
elif method == "differentialEvolutionSolver":
from mystic.solvers import DifferentialEvolutionSolver2
from mystic.monitors import VerboseMonitor
from mystic.termination import VTR, ChangeOverGeneration, And, Or
from mystic.strategy import Best1Exp, Best1Bin
stop = Or(VTR(1e-18), ChangeOverGeneration(1e-9, 500))
npop = 3
stepmon = VerboseMonitor(100)
solver = DifferentialEvolutionSolver2(num_params, npop)
solver.SetEvaluationLimits(evaluations=3200000, generations=100000)
solver.SetRandomInitialPoints(lower_bound, upper_bound)
solver.SetStrictRanges(lower_bound, upper_bound)
solver.SetGenerationMonitor(stepmon)
solver.Solve(
costx_no_nozzle,
termination=stop,
strategy=Best1Bin,
)
intermediate_cost = solver.bestEnergy
intermediate_solution = solver.bestSolution
else:
print("Method %s is not supported!" % method)
sys.exit(1)
print("Best intermediate cost: ", intermediate_cost)
print("Best intermediate positions: \n%s" % posvec2matrix_no_nozzle(intermediate_solution))
if np.size(measurements) == 15:
print("Got only 15 samples, so will not try to find nozzle position\n")
return
nozzle_measurements = measurements[: (21 - 15)]
# Look for nozzle's xyz-offset relative to marker 0
num_params = 3
lower_bound = [
0.0,
0.0,
-bound,
]
upper_bound = [bound, bound, 0.0]
def costx_nozzle(posvec):
"""Identical to cost_nozzle, except the shape of inputs"""
positions = posvec2matrix_nozzle(posvec, intermediate_solution)
return cost_nozzle(positions, measurements)
guess_0 = [0.0, 0.0, 0.0]
final_cost = 0.0
final_solution = []
if method == "SLSQP":
sol = scipy.optimize.minimize(
costx_nozzle,
guess_0,
method="SLSQP",
bounds=list(zip(lower_bound, upper_bound)),
tol=1e-20,
options={"disp": True, "ftol": 1e-40, "eps": 1e-10, "maxiter": 500},
)
final_cost = sol.fun
final_solution = sol.x
elif method == "L-BFGS-B":
sol = scipy.optimize.minimize(
costx_nozzle,
guess_0,
method="L-BFGS-B",
bounds=list(zip(lower_bound, upper_bound)),
options={"disp": True, "ftol": 1e-12, "gtol": 1e-12, "maxiter": 50000, "maxfun": 1000000},
)
final_cost = sol.fun
final_solution = sol.x
elif method == "PowellDirectionalSolver":
from mystic.solvers import PowellDirectionalSolver
from mystic.termination import Or, CollapseAt, CollapseAs
from mystic.termination import ChangeOverGeneration as COG
from mystic.monitors import VerboseMonitor
from mystic.termination import VTR, And, Or
solver = PowellDirectionalSolver(num_params)
solver.SetRandomInitialPoints(lower_bound, upper_bound)
solver.SetEvaluationLimits(evaluations=3200000, generations=100000)
solver.SetTermination(Or(VTR(1e-25), COG(1e-10, 20)))
solver.SetStrictRanges(lower_bound, upper_bound)
solver.SetGenerationMonitor(VerboseMonitor(5))
solver.Solve(costx_nozzle)
final_cost = solver.bestEnergy
final_solution = solver.bestSolution
elif method == "differentialEvolutionSolver":
from mystic.solvers import DifferentialEvolutionSolver2
from mystic.monitors import VerboseMonitor
from mystic.termination import VTR, ChangeOverGeneration, And, Or
from mystic.strategy import Best1Exp, Best1Bin
stop = Or(VTR(1e-18), ChangeOverGeneration(1e-9, 500))
npop = 3
stepmon = VerboseMonitor(100)
solver = DifferentialEvolutionSolver2(num_params, npop)
solver.SetEvaluationLimits(evaluations=3200000, generations=100000)
solver.SetRandomInitialPoints(lower_bound, upper_bound)
solver.SetStrictRanges(lower_bound, upper_bound)
solver.SetGenerationMonitor(stepmon)
solver.Solve(
costx_nozzle,
termination=stop,
strategy=Best1Bin,
)
final_cost = solver.bestEnergy
final_solution = solver.bestSolution
print("Best final cost: ", final_cost)
print("Best final positions:")
final = posvec2matrix_nozzle(final_solution, intermediate_solution)[1:]
for num in range(0, 6):
print(
"{0: 8.3f} {1: 8.3f} {2: 8.3f} <!-- Marker {3} -->".format(final[num][0], final[num][1], final[num][2], num)
)
solver = DifferentialEvolutionSolver(3, 40) solver.SetRandomInitialPoints([0., 0., 0.], [10., 10., 10.]) term = VTR() solver.SetSaveFrequency(0) solver.Solve(rosen, term) x = solver.bestSolution y = solver.bestEnergy assert solver._state == None assert LoadSolver(solver._state) == None solver = DifferentialEvolutionSolver(3, 40) solver.SetRandomInitialPoints([0., 0., 0.], [10., 10., 10.]) term = When(VTR()) solver.SetSaveFrequency(10, tmpfile) solver.SetTermination(term) solver.Solve(rosen) x = solver.bestSolution y = solver.bestEnergy _solver = LoadSolver(tmpfile) os.remove(tmpfile) assert all(x == _solver.bestSolution) assert y == _solver.bestEnergy solver = DifferentialEvolutionSolver(3, 40) solver.SetRandomInitialPoints([0., 0., 0.], [10., 10., 10.]) term = Or(VTR(), ChangeOverGeneration()) solver.SetSaveFrequency(10, tmpfile) solver.SetTermination(term) solver.Solve(rosen) x = solver.bestSolution
def solve(samp, xyz_of_samp, _cost, method, cx_is_positive=False):
"""Find reasonable positions and anchors given a set of samples.
"""
u = np.shape(samp)[0]
ux = np.shape(xyz_of_samp)[0]
number_of_params_pos = 3*(u - ux)
def costx(posvec, anchvec):
"""Identical to cost, except the shape of inputs and capture of samp, xyz_of_samp, ux, and u
Parameters
----------
x : [A_ay A_az A_bx A_by A_bz A_cx A_cy A_cz A_dz
x1 y1 z1 x2 y2 z2 ... xu yu zu
"""
anchors = anchorsvec2matrix(anchvec)
pos = np.zeros((u, 3))
if(np.size(xyz_of_samp) != 0):
pos[0:ux] = xyz_of_samp
pos[ux:] = np.reshape(posvec, (u-ux,3))
return _cost(anchors, pos, samp)
l_long = 5000.0
l_short = 1700.0
data_z_min = -20.0
# Limits of anchor positions:
# |ANCHOR_XY| < 4000
# ANCHOR_B_X > 0
# ANCHOR_C_X < 0
# |ANCHOR_ABC_Z| < 1700
# 0 < ANCHOR_D_Z < 4000
# Limits of data collection volume:
# |x| < 1700
# |y| < 1700
# -20.0 < z < 3400.0
# Define bounds
lb = [ -l_long, # A_ay > -4000.0
-l_short, # A_az > -1700.0
0.0, # A_bx > 0
0.0, # A_by > 0
-l_short, # A_bz > -1700.0
-l_long, # A_cx > -4000
0.0, # A_cy > 0
-l_short, # A_cz > -1700.0
0.0, # A_dz > 0
] + [-l_short, -l_short, data_z_min]*(u-ux)
ub = [ 0.0, # A_ay < 0
l_short, # A_az < 1700
l_long, # A_bx < 4000
l_long, # A_by < 4000
l_short, # A_bz < 1700
0.0, # A_cx < 0
l_long, # A_cy < 4000.0
l_short, # A_cz < 1700
l_long, # A_dz < 4000.0
] + [l_short, l_short, 2*l_short]*(u-ux)
# If the user has input xyz data, then signs should be ok anyways
if(ux > 2):
lb[A_bx] = -l_long
# It would work to just swap the signs of bx and cx after the optimization
# But there are fewer assumptions involved in setting correct bounds from the start instead
if(cx_is_positive):
tmp = lb[A_bx]
lb[A_bx] = lb[A_cx]
lb[A_cx] = tmp
tmp = ub[A_bx]
ub[A_bx] = ub[A_cx]
ub[A_cx] = tmp
pos_est0 = np.zeros((u-ux,3)) # The positions we need to estimate
anchors_est = np.array([[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0]])
x_guess0 = list(anchorsmatrix2vec(anchors_est)) + list(posmatrix2vec(pos_est0))
if(method == 'PowellDirectionalSolver'):
from mystic.termination import ChangeOverGeneration, NormalizedChangeOverGeneration, VTR
from mystic.solvers import PowellDirectionalSolver
from mystic.termination import Or, CollapseAt, CollapseAs
from mystic.termination import ChangeOverGeneration as COG
target = 1.0
term = Or((COG(generations=100), CollapseAt(target, generations=100)))
# Solver 0
solver0 = PowellDirectionalSolver(number_of_params_pos+params_anch)
solver0.SetEvaluationLimits(evaluations=3200000, generations=10000)
solver0.SetTermination(term)
solver0.SetInitialPoints(x_guess0)
solver0.SetStrictRanges(lb, ub)
solver0.Solve(lambda x: costx(x[params_anch:], x[0:params_anch]))
x_guess0 = solver0.bestSolution
# PowellDirectional sometimes finds new ways if kickstarted anew
for i in range(1,20):
solver0 = PowellDirectionalSolver(number_of_params_pos+params_anch)
solver0.SetInitialPoints(x_guess0)
solver0.SetStrictRanges(lb, ub)
solver0.Solve(lambda x: costx(x[params_anch:], x[0:params_anch]))
x_guess0 = solver0.bestSolution
return x_guess0
elif(method == 'SLSQP'):
# 'SLSQP' is crazy fast and lands on 0.0000 error
x_guess0 = scipy.optimize.minimize(lambda x: costx(x[params_anch:], x[0:params_anch]), x_guess0, method=method, bounds=list(zip(lb,ub)),
options={'disp':True,'ftol':1e-20, 'maxiter':150000})
return x_guess0.x
elif(method == 'L-BFGS-B'):
## 'L-BFGS-B' Is crazy fast but doesn't quite land at 0.0000 error
x_guess0 = scipy.optimize.minimize(lambda x: costx(x[params_anch:], x[0:params_anch]), x_guess0, method=method, bounds=list(zip(lb,ub)),
options={'ftol':1e-12, 'maxiter':150000})
return x_guess0.x
else:
print("Method %s is not supported!" % method)
sys.exit(1)
