def test_5_radau_uncompressed(self):
"""
Test two 5th order radau segment indices
All nodes are: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
Input nodes: [^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^]
Solver nodes: [ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^]
Indep nodes: [^ ^ ]
Of input nodes, solver nodes for fix_initial are: {1, 2, 3, 4, 5, 7, 8, 9, 10, 11}
The indep node is just the first one: {0, 6}
"""
p = brach(transcription='radau-ps',
num_segments=2,
transcription_order=5,
compressed=False,
solve_segments='forward',
run_driver=True)
state_indeps_comp = p.model.traj0.phases.phase0.indep_states
self.assertSetEqual(
set(state_indeps_comp.state_idx_map['x']['solver']),
{1, 2, 3, 4, 5, 7, 8, 9, 10, 11})
self.assertSetEqual(set(state_indeps_comp.state_idx_map['x']['indep']),
{0, 6})
def test_5_lgl(self):
"""
Test one 5th order LGL segment indices
All nodes are: [0, 1, 2, 3, 4]
Input nodes: [^ ^ ^]
Solver nodes: [ ^ ^]
Of input nodes, solver nodes for fix_initial are: {1, 2}
The indep node is just the first one: {0}
"""
p = brach(transcription='gauss-lobatto', num_segments=1, transcription_order=5,
compressed=True, solve_segments='forward', run_driver=True)
state_indeps_comp = p.model.traj0.phases.phase0.indep_states
self.assertSetEqual(set(state_indeps_comp.state_idx_map['x']['solver']), {1, 2})
self.assertSetEqual(set(state_indeps_comp.state_idx_map['x']['indep']), {0})
def test_3_radau(self):
"""
Test one 3rd order radau segment indices
All nodes are: [0, 1, 2, 3]
Input nodes: [^ ^ ^ ^]
Solver nodes: [ ^ ^ ^]
Indep nodes: [^ ]
Of input nodes, solver nodes for fix_initial are: {1, 2, 3}
The indep node is just the first one: {0}
"""
p = brach(transcription='radau-ps', num_segments=1, transcription_order=3,
compressed=True, solve_segments='forward', run_driver=True)
state_indeps_comp = p.model.traj0.phases.phase0.indep_states
self.assertSetEqual(set(state_indeps_comp.state_idx_map['x']['solver']), {1, 2, 3})
self.assertSetEqual(set(state_indeps_comp.state_idx_map['x']['indep']), {0})
