def fitness(individual, numbers, classes): """procedure to compute evolutionary fitness""" correct = 0.0 p = fernpy.point2() for index, number in enumerate(numbers): p[0], p[1] = number[0], number[1] if individual.query(p) == classes[index]: correct += 1.0 return correct
def dh(theta, h, control=None, thrust=.5): """computes the derivative of angular momentum (torque thrust)""" if control is None: control = OptimalController() p = fernpy.point2() #p[0], p[1] = roll([theta, h]) mode = control.query(p) if mode is 0: torque = 0 elif mode is 1: torque = -thrust elif mode is 2: torque = thrust return torque
def simulate(t_final, dt, control=None, state0=None, thrust=.5):
"""simulates a satellite (with event detection)"""
if control is None:
control = OptimalController()
if state0 is None:
state0 = random_state()
state_tolerance = .01
y_out, t_out = [], []
solver = scipy.integrate.ode(fblank).set_integrator('dopri5') #vode cannot run in parallel
solver.set_initial_value(state0, 0.0) #thinks state0 has only one number in it?
p = fernpy.point2()
max_time = time.clock() + 0.1
while solver.t < t_final and solver.successful():
#select a control mode by setting torque
p[0], p[1] = solver.y
mode = control.query(p)
if mode is 0:
solver.set_f_params(0.0)
elif mode is 1:
solver.set_f_params(-thrust)
elif mode is 2:
solver.set_f_params(thrust)
if sum(abs(solver.y)) < state_tolerance: #dead zone around (0,0)
solver.set_f_params(0.0)
#run forward as far as possible
while solver.successful() and solver.t < t_final:
y_out.append(solver.y)
t_out.append(solver.t)
solver.integrate(solver.t + dt)
#if abs(solver.y[0]) > pi:
# solver.set_initial_value(roll(solver.y), solver.t)
p[0], p[1] = solver.y
if sum(abs(solver.y)) < state_tolerance:
solver.set_f_params(0.0)
elif control.query(p) != mode:
#print p, ", stopping at t = ", solver.t
break
#check if simulation is done
if solver.t >= t_final or time.clock() > max_time or not solver.successful():
y_out.append(solver.y)
t_out.append(solver.t)
break
#go back one step, cut step size in half until switch time is known
solver.set_initial_value(y_out[-1], t_out[-1])
bisect_step = dt / 2.0
while solver.successful(): #program hangs here somewhere
y_current, t_current = solver.y, solver.t
solver.integrate(solver.t + bisect_step)
#if abs(solver.y[0]) > pi: #two if statements interacting to stop break
# solver.set_initial_value(roll(solver.y), solver.t)
p[0], p[1] = solver.y
#sys.stdout.write("\rstep size: %f" % bisect_step)
#sys.stdout.flush()
if control.query(p) != mode:
if bisect_step < 0.001:
break
solver.set_initial_value(y_current, t_current)
bisect_step /= 2.0
if time.clock() > max_time:
break
if time.clock() > max_time: #solver hit time limit
break
#if solver hit the time limit
if t_out[-1] < t_final:
y_out.append(solver.y*1000)
t_out.append(t_final)
return numpy.array(y_out), t_out
