process = FirstOrderLinearDS(x0, A)
myProcessRelation = MyR.MyR(C,B)
#myProcessRelation.setDPtr(D)
myNslaw = RelayNSL(2)
myNslaw.display()
myProcessInteraction = Interaction(ninter, myNslaw,
myProcessRelation)
myNSDS = NonSmoothDynamicalSystem()
myNSDS.insertDynamicalSystem(process)
myNSDS.link(myProcessInteraction,process)
filippov = Model(t0,T)
filippov.setNonSmoothDynamicalSystemPtr(myNSDS)
td = TimeDiscretisation(t0, h)
s = TimeStepping(td)
myIntegrator = EulerMoreauOSI(process, theta)
s.insertIntegrator(myIntegrator)
#TODO python <- SICONOS_RELAY_LEMKE
# access dparam
osnspb = Relay()
s.insertNonSmoothProblem(osnspb)
s.setComputeResiduY(True)
# a bullet shape with a mass (1.0)
box1 = BulletWeightedShape(box, 1.0)
# A Bullet Dynamical System : a shape + a mass + position and velocity
body = BulletDS(box1,
[0, 0, position_init, 1., 0, 0, 0],
[0, 0, velocity_init, 0., 0., 0.])
# set external forces
weight = [0, 0, - box1.mass() * g]
body.setFExtPtr(weight)
#
# Model
#
bouncingBox = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body)
#
# Simulation
#
# (1) OneStepIntegrators
osi = MoreauJeanOSI(theta)
osi.insertDynamicalSystem(body)
ground = btCollisionObject()
ground.setCollisionFlags(btCollisionObject.CF_STATIC_OBJECT)
groundShape = btBoxShape(btVector3(30, 30, .5))
A = zeros((ndof, ndof))
x0 = [Xinit, -Xinit]
sensorC = eye(ndof)
Csurface = [[0, 1.0]]
# Simple check
if h > hControl:
print("hControl must be bigger than h")
exit(1)
# Declaration of the Dynamical System
processDS = MyFOLDS(x0, A)
# XXX b is not automatically created ...
processDS.setb([0, 0])
# Model
process = Model(t0, T)
process.nonSmoothDynamicalSystem().insertDynamicalSystem(processDS)
# time discretization
processTD = TimeDiscretisation(t0, h)
tSensor = TimeDiscretisation(t0, hControl)
tActuator = TimeDiscretisation(t0, hControl)
# Creation of the Simulation
processSimulation = TimeStepping(processTD, 0)
processSimulation.setName("plant simulation")
# Declaration of the integrator
processIntegrator = ZeroOrderHoldOSI(processDS)
processSimulation.insertIntegrator(processIntegrator)
# Actuator, Sensor & ControlManager
control = ControlManager(process)
sens = LinearSensor(tSensor, processDS, sensorC)
control.addSensorPtr(sens)
def run(self,
with_timer=False,
time_stepping=None,
space_filter=None,
body_class=None,
shape_class=None,
face_class=None,
edge_class=None,
length_scale=1,
t0=0,
T=10,
h=0.0005,
multipoints_iterations=True,
theta=0.50001,
Newton_max_iter=20,
set_external_forces=None,
solver=Numerics.SICONOS_FRICTION_3D_NSGS,
itermax=100000,
tolerance=1e-8):
"""
Run a simulation from inputs in hdf5 file.
parameters are:
with_timer : use a timer for log output (default False)
length_scale : gravity is multiplied by this factor.
1. for meters (default).
1./100 for centimeters.
This parameter may be needed for small
objects because of Bullet collision margin (0.04).
t0 : starting time (default 0)
T : end time (default 10)
h : timestep (default 0.0005)
multiPointIterations : use bullet "multipoint iterations"
(default True)
theta : parameter for Moreau-Jean OSI (default 0.50001)
Newton_max_iter : maximum number of iterations for
integrator Newton loop (default 20)
set_external_forces : method for external forces
(default earth gravity)
solver : default Numerics.SICONOS_FRICTION_3D_NSGS
itermax : maximum number of iteration for solver
tolerance : friction contact solver tolerance
"""
from Siconos.Kernel import \
Model, MoreauJeanOSI, TimeDiscretisation,\
GenericMechanical, FrictionContact, NewtonImpactFrictionNSL
from Siconos.Numerics import SICONOS_FRICTION_3D_AlartCurnierNewton
from Siconos.Mechanics.ContactDetection.Bullet import \
btConvexHullShape, btCollisionObject, \
btBoxShape, btQuaternion, btTransform, btConeShape, \
BulletSpaceFilter, cast_BulletR, \
BulletWeightedShape, BulletDS, BulletTimeStepping
if set_external_forces is not None:
self._set_external_forces = set_external_forces
if time_stepping is None:
time_stepping = BulletTimeStepping
if space_filter is None:
space_filter = BulletSpaceFilter
# Model
#
model = Model(t0, T)
# (1) OneStepIntegrators
joints = list(self.joints())
self._osi = MoreauJeanOSI(theta)
# (2) Time discretisation --
timedisc = TimeDiscretisation(t0, h)
if len(joints) > 0:
osnspb = GenericMechanical(SICONOS_FRICTION_3D_AlartCurnierNewton)
else:
osnspb = FrictionContact(3, solver)
osnspb.numericsSolverOptions().iparam[0] = itermax
osnspb.numericsSolverOptions().dparam[0] = tolerance
osnspb.setMaxSize(16384)
osnspb.setMStorageType(1)
#osnspb.setNumericsVerboseMode(False)
# keep previous solution
osnspb.setKeepLambdaAndYState(True)
# (5) broadphase contact detection
self._broadphase = space_filter(model)
if not multipoints_iterations:
print("""
ConvexConvexMultipointIterations and PlaneConvexMultipointIterations are unset
""")
else:
if hasattr(self._broadphase, 'collisionConfiguration'):
self._broadphase.collisionConfiguration().\
setConvexConvexMultipointIterations()
self._broadphase.collisionConfiguration().\
setPlaneConvexMultipointIterations()
# (6) Simulation setup with (1) (2) (3) (4) (5)
simulation = time_stepping(timedisc)
simulation.insertIntegrator(self._osi)
simulation.insertNonSmoothProblem(osnspb)
simulation.setNewtonMaxIteration(Newton_max_iter)
k = 1
self.importScene(body_class, shape_class, face_class, edge_class)
model.initialize(simulation)
self.outputStaticObjects()
self.outputDynamicObjects()
while simulation.hasNextEvent():
print ('step', k)
log(self._broadphase.buildInteractions, with_timer)\
(model.currentTime())
log(simulation.computeOneStep, with_timer)()
log(self.outputDynamicObjects, with_timer)()
log(self.outputVelocities, with_timer)()
log(self.outputContactForces, with_timer)()
log(self.outputSolverInfos, with_timer)()
log(simulation.nextStep, with_timer)()
log(self._out.flush)()
print ('')
k += 1
[0., 1., 0., 0.]]
B = [[0., 0., -1./Cvalue, 1./Cvalue],
[0., 0., 0., 0. ],
[1.0/Cfilt, 0., 1.0/Cfilt, 0. ]]
LTIRDiodeBridgeCapFilter = FirstOrderLinearTIR(C, B)
LTIRDiodeBridgeCapFilter.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
InterDiodeBridgeCapFilter = Interaction(4, nslaw, LTIRDiodeBridgeCapFilter, 1)
#
# Model
#
DiodeBridgeCapFilter = Model(t0, T, Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridgeCapFilter.nonSmoothDynamicalSystem().insertDynamicalSystem(LS1DiodeBridgeCapFilter)
DiodeBridgeCapFilter.nonSmoothDynamicalSystem().insertDynamicalSystem(LS2DiodeBridgeCapFilter)
# link the interaction and the dynamical system
DiodeBridgeCapFilter.nonSmoothDynamicalSystem().link(InterDiodeBridgeCapFilter, LS1DiodeBridgeCapFilter, LS2DiodeBridgeCapFilter)
#
# Simulation
#
# (1) OneStepIntegrators
theta = 0.5
gamma = 1.0
[0., 1., 0., 0.]]
B = [[0., 0., -1./Cvalue, 1./Cvalue],
[0., 0., 0., 0. ]]
LTIRDiodeBridge = FirstOrderLinearTIR(C, B)
LTIRDiodeBridge.setDPtr(D)
nslaw = ComplementarityConditionNSL(4)
InterDiodeBridge = Interaction(4, nslaw, LTIRDiodeBridge, 1)
InterDiodeBridge.insert(LSDiodeBridge)
#
# Model
#
DiodeBridge = Model(t0, T, Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridge.nonSmoothDynamicalSystem().insertDynamicalSystem(LSDiodeBridge)
# link the interaction and the dynamical system
DiodeBridge.nonSmoothDynamicalSystem().link(InterDiodeBridge, LSDiodeBridge)
#
# Simulation
#
# (1) OneStepIntegrators
theta = 0.5
gamma = 0.5
aOSI = Moreau(LSDiodeBridge, theta, gamma)
def test_serialization4():
from Siconos.Kernel import LagrangianLinearTIDS, NewtonImpactNSL, \
LagrangianLinearTIR, Interaction, Model, MoreauJeanOSI, TimeDiscretisation, LCP, TimeStepping
from numpy import array, eye, empty
t0 = 0 # start time
T = 10 # end time
h = 0.005 # time step
r = 0.1 # ball radius
g = 9.81 # gravity
m = 1 # ball mass
e = 0.9 # restitution coeficient
theta = 0.5 # theta scheme
#
# dynamical system
#
x = array([1, 0, 0]) # initial position
v = array([0, 0, 0]) # initial velocity
mass = eye(3) # mass matrix
mass[2, 2] = 3./5 * r * r
# the dynamical system
ball = LagrangianLinearTIDS(x, v, mass)
# set external forces
weight = array([-m * g, 0, 0])
ball.setFExtPtr(weight)
#
# Interactions
#
# ball-floor
H = array([[1, 0, 0]])
nslaw = NewtonImpactNSL(e)
relation = LagrangianLinearTIR(H)
inter = Interaction(1, nslaw, relation)
#
# Model
#
first_bouncingBall = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
first_bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball)
# link the interaction and the dynamical system
first_bouncingBall.nonSmoothDynamicalSystem().link(inter, ball)
#
# Simulation
#
# (1) OneStepIntegrators
OSI = MoreauJeanOSI(theta)
OSI.insertDynamicalSystem(ball)
# (2) Time discretisation --
t = TimeDiscretisation(t0, h)
# (3) one step non smooth problem
osnspb = LCP()
# (4) Simulation setup with (1) (2) (3)
s = TimeStepping(t)
s.insertIntegrator(OSI)
s.insertNonSmoothProblem(osnspb)
# end of model definition
#
# computation
#
# simulation initialization
first_bouncingBall.initialize(s)
#
# save and load data from xml and .dat
#
from Siconos.IO import save, load
save(first_bouncingBall, "bouncingBall.xml")
bouncingBall = load("bouncingBall.xml")
# the number of time steps
N = (T-t0)/h+1
# Get the values to be plotted
# ->saved in a matrix dataPlot
dataPlot = empty((N, 5))
#
# numpy pointers on dense Siconos vectors
#
q = ball.q()
v = ball.velocity()
p = ball.p(1)
lambda_ = inter.lambda_(1)
#
# initial data
#
dataPlot[0, 0] = t0
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
dataPlot[0, 4] = lambda_[0]
k = 1
# time loop
while(s.hasNextEvent()):
s.computeOneStep()
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
print(s.nextTime())
s.nextStep()
#
# comparison with the reference file
#
from Siconos.Kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("result.ref"))
assert (norm(dataPlot - ref) < 1e-12)
ball.setFExtPtr(weight) # # Interactions # # ball-floor nslaw = NewtonImpactNSL(e) relation = BouncingBallR(r) inter = Interaction(1, nslaw, relation) # # Model # bouncingBall = Model(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball) # link the interaction and the dynamical system bouncingBall.nonSmoothDynamicalSystem().link(inter, ball) # # Simulation # # (1) OneStepIntegrators OSI = MoreauJeanOSI(theta) OSI.insertDynamicalSystem(ball)
def test_diodebridge1():
from Siconos.Kernel import FirstOrderLinearDS, FirstOrderLinearTIR, \
ComplementarityConditionNSL, Interaction,\
Model, EulerMoreauOSI, TimeDiscretisation, LCP, \
TimeStepping
from numpy import empty
from Siconos.Kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
t0 = 0.0
T = 5.0e-3 # Total simulation time
h_step = 1.0e-6 # Time step
Lvalue = 1e-2 # inductance
Cvalue = 1e-6 # capacitance
Rvalue = 1e3 # resistance
Vinit = 10.0 # initial voltage
Modeltitle = "DiodeBridge"
#
# dynamical system
#
init_state = [Vinit, 0]
A = [[0, -1.0/Cvalue],
[1.0/Lvalue, 0 ]]
LSDiodeBridge=FirstOrderLinearDS(init_state, A)
#
# Interactions
#
C = [[0., 0.],
[0, 0.],
[-1., 0.],
[1., 0.]]
D = [[1./Rvalue, 1./Rvalue, -1., 0.],
[1./Rvalue, 1./Rvalue, 0., -1.],
[1., 0., 0., 0.],
[0., 1., 0., 0.]]
B = [[0., 0., -1./Cvalue, 1./Cvalue],
[0., 0., 0., 0. ]]
LTIRDiodeBridge=FirstOrderLinearTIR(C, B)
LTIRDiodeBridge.setDPtr(D)
LTIRDiodeBridge.display()
nslaw=ComplementarityConditionNSL(4)
InterDiodeBridge=Interaction(4, nslaw, LTIRDiodeBridge, 1)
#
# Model
#
DiodeBridge=Model(t0, T, Modeltitle)
# add the dynamical system in the non smooth dynamical system
DiodeBridge.nonSmoothDynamicalSystem().insertDynamicalSystem(LSDiodeBridge)
# link the interaction and the dynamical system
DiodeBridge.nonSmoothDynamicalSystem().link(InterDiodeBridge, LSDiodeBridge)
#
# Simulation
#
# (1) OneStepIntegrators
theta = 0.5
aOSI = EulerMoreauOSI(LSDiodeBridge, theta)
# (2) Time discretisation
aTiDisc = TimeDiscretisation(t0, h_step)
# (3) Non smooth problem
aLCP = LCP()
# (4) Simulation setup with (1) (2) (3)
aTS = TimeStepping(aTiDisc, aOSI, aLCP)
# end of model definition
#
# computation
#
# simulation initialization
DiodeBridge.initialize(aTS)
k = 0
h = aTS.timeStep()
print("Timestep : ", h)
# Number of time steps
N = (T-t0)/h
print("Number of steps : ", N)
# Get the values to be plotted
# ->saved in a matrix dataPlot
dataPlot = empty([N, 8])
x = LSDiodeBridge.x()
print("Initial state : ", x)
y = InterDiodeBridge.y(0)
print("First y : ", y)
lambda_ = InterDiodeBridge.lambda_(0)
# For the initial time step:
# time
dataPlot[k, 0] = t0
# inductor voltage
dataPlot[k, 1] = x[0]
# inductor current
dataPlot[k, 2] = x[1]
# diode R1 current
dataPlot[k, 3] = y[0]
# diode R1 voltage
dataPlot[k, 4] = - lambda_[0]
# diode F2 voltage
dataPlot[k, 5] = - lambda_[1]
# diode F1 current
dataPlot[k, 6] = lambda_[2]
# resistor current
dataPlot[k, 7] = y[0] + lambda_[2]
k += 1
while (k < N):
aTS.computeOneStep()
#aLCP.display()
dataPlot[k, 0] = aTS.nextTime()
# inductor voltage
dataPlot[k, 1] = x[0]
# inductor current
dataPlot[k, 2] = x[1]
# diode R1 current
dataPlot[k, 3] = y[0]
# diode R1 voltage
dataPlot[k, 4] = - lambda_[0]
# diode F2 voltage
dataPlot[k, 5] = - lambda_[1]
# diode F1 current
dataPlot[k, 6] = lambda_[2]
# resistor current
dataPlot[k, 7] = y[0] + lambda_[2]
k += 1
aTS.nextStep()
#
# comparison with the reference file
#
ref = getMatrix(SimpleMatrix("diode_bridge.ref"))
print(norm(dataPlot - ref))
assert (norm(dataPlot - ref) < 1e-12)
return ref, dataPlot
D = [[Rvalue]] B = [[ -1./Cvalue], [0.]] LTIRCircuitRLCD = FirstOrderLinearTIR(C, B) LTIRCircuitRLCD.setDPtr(D) nslaw = ComplementarityConditionNSL(1) InterCircuitRLCD = Interaction(1, nslaw, LTIRCircuitRLCD, 1) # # Model # CircuitRLCD = Model(t0, T, Modeltitle) # add the dynamical system in the non smooth dynamical system CircuitRLCD.nonSmoothDynamicalSystem().insertDynamicalSystem(LSCircuitRLCD) # link the interaction and the dynamical system CircuitRLCD.nonSmoothDynamicalSystem().link(InterCircuitRLCD, LSCircuitRLCD) # # Simulation # # (1) OneStepIntegrators theta = 0.5 aOSI = EulerMoreauOSI(LSCircuitRLCD, theta)
def test_smc1():
from Siconos.Kernel import FirstOrderLinearDS, Model, TimeDiscretisation, \
TimeStepping, ZeroOrderHoldOSI, TD_EVENT
from Siconos.Control import ControlManager, LinearSensor, LinearSMCOT2
from numpy import eye, empty, zeros
import numpy as np
from math import ceil, sin
# Derive our own version of FirstOrderLinearDS
class MyFOLDS(FirstOrderLinearDS):
def computeb(self, time):
t = sin(50*time)
# XXX fix this !
u = [t, -t]
self.setb(u)
# variable declaration
ndof = 2 # Number of degrees of freedom of your system
t0 = 0.0 # start time
T = 1 # end time
h = 1.0e-4 # time step for simulation
hControl = 1.0e-2 # time step for control
Xinit = 1.0 # initial position
N = ceil((T-t0)/h + 10) # number of time steps
outputSize = 4 # number of variable to store at each time step
# Matrix declaration
A = zeros((ndof, ndof))
x0 = [Xinit, -Xinit]
Brel = np.array([[0], [1]])
sensorC = eye(ndof)
sensorD = zeros((ndof, ndof))
Csurface = [[0, 1.0]]
# Simple check
if h > hControl:
print("hControl must be bigger than h")
exit(1)
# Declaration of the Dynamical System
processDS = MyFOLDS(x0, A)
# XXX b is not automatically created ...
# processDS.setb([0, 0])
# Model
process = Model(t0, T)
process.nonSmoothDynamicalSystem().insertDynamicalSystem(processDS)
# time discretization
processTD = TimeDiscretisation(t0, h)
tSensor = TimeDiscretisation(t0, hControl)
tActuator = TimeDiscretisation(t0, hControl)
# Creation of the Simulation
processSimulation = TimeStepping(processTD, 0)
processSimulation.setName("plant simulation")
# Declaration of the integrator
processIntegrator = ZeroOrderHoldOSI(processDS)
processSimulation.insertIntegrator(processIntegrator)
# Actuator, Sensor & ControlManager
control = ControlManager(processSimulation)
sens = LinearSensor(processDS, sensorC, sensorD)
control.addSensorPtr(sens, tSensor)
act = LinearSMCOT2(sens)
act.setCsurface(Csurface)
act.setB(Brel)
control.addActuatorPtr(act, tActuator)
# Initialization.
process.initialize(processSimulation)
control.initialize(process)
# This is not working right now
# eventsManager = s.eventsManager()
# Matrix for data storage
dataPlot = empty((3*(N+1), outputSize))
dataPlot[0, 0] = t0
dataPlot[0, 1] = processDS.x()[0]
dataPlot[0, 2] = processDS.x()[1]
dataPlot[0, 3] = act.u()[0]
# Main loop
k = 1
while processSimulation.hasNextEvent():
if processSimulation.eventsManager().nextEvent().getType() == TD_EVENT:
processSimulation.computeOneStep()
dataPlot[k, 0] = processSimulation.nextTime()
dataPlot[k, 1] = processDS.x()[0]
dataPlot[k, 2] = processDS.x()[1]
dataPlot[k, 3] = act.u()[0]
k += 1
processSimulation.nextStep()
# print processSimulation.nextTime()
# Resize matrix
dataPlot.resize(k, outputSize)
D = [[0.0]] B = [[0.0], [0.0], [1.0]] LTIRRelayOscillator = FirstOrderLinearTIR(C, B) LTIRRelayOscillator.setDPtr(D) nslaw = RelayNSL(1) InterRelayOscillator = Interaction(1, nslaw, LTIRRelayOscillator, 1) InterRelayOscillator.insert(LSRelayOscillator) # # Model # RelayOscillator = Model(t0, T, Modeltitle) # add the dynamical system in the non smooth dynamical system RelayOscillator.nonSmoothDynamicalSystem().insertDynamicalSystem(LSRelayOscillator) # link the interaction and the dynamical system RelayOscillator.nonSmoothDynamicalSystem().link(InterRelayOscillator, LSRelayOscillator) # # Simulation # # (1) OneStepIntegrators theta = 0.5 aOSI = EulerMoreauOSI(LSRelayOscillator, theta)