ocp.scale(m='x', rad=1)
guess_maker = beluga.guess_generator(
'ones',
start=[1.0], # Starting values for states in order
costate_guess=0.1,
control_guess=[0.35],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10, 'log') \
.const('eps1', 2e-1)
beluga.add_logger(file_level=logging.DEBUG, display_level=logging.INFO)
bvp_solver = beluga.bvp_algorithm('spbvp')
beluga.solve(ocp=ocp,
method='indirect',
optim_options={
'control_method': 'differential',
'analytical_jacobian': True
},
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker,
autoscale=False,
save_sols='indirect_data.beluga')
derivative_method='fd',
tolerance=1e-4)
guess_maker = beluga.guess_generator('auto',
start=[0, 0],
control_guess=[0],
use_control_guess=True,
direction='forward')
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('x_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('y_f', 10)
continuation_steps.add_step('bisection') \
.num_cases(10) \
.const('epsilon', 1)
beluga.add_logger(logging_level=logging.DEBUG)
sol = beluga.solve(ocp,
method='icrm',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker)
start=[0, 0],
costate_guess=-0.1,
time_integrate=1.1,
control_guess=[0],
use_control_guess=True)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(6) \
.const('x_f', 1) \
.const('y_f', 0) \
.const('s_f', 1.1)
continuation_steps.add_step('bisection') \
.num_cases(6) \
.const('x_f', 1) \
.const('y_f', 0) \
.const('s_f', 3)
beluga.add_logger(display_level=logging.INFO)
sol_set = beluga.solve(ocp=ocp,
method='traditional',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker,
autoscale=True,
initial_helper=True,
save_sols='chain.beluga')
bvp_solver_shooting = beluga.bvp_algorithm('Shooting', algorithm='Armijo')
bvp_solver_collocation = beluga.bvp_algorithm('spbvp')
guess_maker = beluga.guess_generator('auto',
start=[1, 0, 0, 1, 1],
direction='forward',
costate_guess=-0.1)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection') \
.num_cases(11) \
.const('v_r_f', 0) \
.const('t_f', 4)
beluga.add_logger(logging_level=logging.DEBUG, display_level=logging.DEBUG)
sol_set_collocation = beluga.solve(ocp=ocp,
method='indirect',
bvp_algorithm=bvp_solver_collocation,
steps=continuation_steps,
guess_generator=guess_maker,
save='highthrust_collocation_data.blg')
sol_set_shooting = beluga.solve(ocp=ocp,
method='indirect',
bvp_algorithm=bvp_solver_shooting,
steps=continuation_steps,
guess_generator=guess_maker,
save='highthrust_shooting_data.blg')