# You should have received a copy of the GNU Lesser General Public License
# along with rawesome. If not, see <http://www.gnu.org/licenses/>.
import matplotlib.pyplot as plt
import rawe
from rawe.collocation import Coll
import rocket_dae
from autogen.torocketProto import toProto
from autogen.rocket_pb2 import Trajectory
if __name__ == "__main__":
dae = rocket_dae.makeDae()
N = 100
ocp = Coll(dae, nk=N, nicp=1, collPoly="RADAU", deg=4)
endTime = 5
ocp.setupCollocation( endTime )
# bounds
ocp.bound('thrust',(-1.3,0.9))
ocp.bound('pos',(-10,10))
ocp.bound('vel',(-10,10))
ocp.bound('mass',(0.001,1000))
# boundary conditions
ocp.bound('pos',(0,0),timestep=0)
ocp.bound('pos',(5,5),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
[pos,vel] = dae.addX( ["pos","vel"] )
dae.addX('abspos')
force = dae.addU( "force" )
# some extra outputs for the dae model
dae['force_over_pos'] = force/pos
# specify the ode residual
mass = 1.0
dae.setResidual([dae.ddt('pos') - vel,
dae.ddt('vel') - (force/mass - 3.0*pos - 0.2*vel)]
)
######## make the collocation scheme ########
N = 100
ocp = Coll(dae, nk=N, nicp=1, collPoly="RADAU", deg=4)
endTime = 5
ocp.setupCollocation( endTime )
# bounds
ocp.bound('abspos',(0,10))
ocp.bound('pos',(-1000,1000))
ocp.bound('vel',(-100,100))
ocp.bound('force',(-30,30))
# boundary conditions
ocp.bound('pos',(5,5),timestep=0)
ocp.bound('pos',(0.1,0.1),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
[pos,vel] = dae.addX( ["pos","vel"] )
dae.addX('abspos')
force = dae.addU( "force" )
# some extra outputs for the dae model
dae['force_over_pos'] = force/pos
# specify the ode residual
mass = 1.0
dae.setResidual([dae.ddt('pos') - vel,
dae.ddt('vel') - (force/mass - 3.0*pos - 0.2*vel)]
)
######## make the collocation scheme ########
N = 100
ocp = Coll(dae, nk=N, nicp=1, collPoly="RADAU", deg=4)
endTime = 5
ocp.setupCollocation( endTime )
# bounds
ocp.bound('abspos',(0,10))
ocp.bound('pos',(-1000,1000))
ocp.bound('vel',(-100,100))
ocp.bound('force',(-30,30))
# boundary conditions
ocp.bound('pos',(5,5),timestep=0)
ocp.bound('pos',(0.1,0.1),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
