max_error=200
)
guess_maker = beluga.guess_generator('auto',
start=[0,.01], # Starting values for states in order
direction='forward',
costate_guess = -0.1,
time_integrate = 1 ## REQUIRED BECAUSE OF FIXED FINAL TIME
)
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection', max_divisions=30).num_cases(5) \
.terminal('x',0) \
.initial('v',1) \
.terminal('v', -1)
continuation_steps.add_step('activate_constraint', name='xlim')
continuation_steps.add_step('bisection') \
.num_cases(11) \
.constraint('xlim', 0.0, index=1)
beluga.setup_beluga(logging_level=logging.DEBUG)
beluga.solve(ocp,
method='traditional',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker
)
# # direction='forward',
# # time_integrate=0.01,
# )
continuation_steps = beluga.init_continuation()
continuation_steps.add_step('bisection').num_cases(11) \
.terminal('h', 15000) \
.terminal('theta', 0.01*pi/180)
# continuation_steps.add_step().num_cases(11) \
# .terminal('h',0)
continuation_steps.add_step('bisection').num_cases(41) \
.terminal('theta', 5*pi/180) \
# .terminal('phi',2*pi/180)
continuation_steps.add_step('bisection').num_cases(41) \
.terminal('phi', 2*pi/180)
beluga.setup_beluga(logging_level=logging.DEBUG,
display_level=logging.DEBUG,
output_file='data.dill')
beluga.solve(ocp,
method='traditional',
bvp_algorithm=bvp_solver,
steps=continuation_steps,
guess_generator=guess_maker)