コード例 #1
0
        def __call__(self,f,*args):
            self.iter = self.iter + 1
            xOpt = numpy.array(f.input(C.NLP_X_OPT))

            opt = ocp.devectorize(xOpt)
            xup = opt['vardict']
            
            kiteProtos = []
            for k in range(0,nk):
                j = nicp*(deg+1)*k
                kiteProtos.append( kiteproto.toKiteProto(C.DMatrix(opt['x'][:,j]),
                                                         C.DMatrix(opt['u'][:,j]),
                                                         C.DMatrix(opt['p']),
                                                         conf['kite']['zt'],
                                                         conf['carousel']['rArm'],
                                                         zeroDelta=True) )
#            kiteProtos = [kiteproto.toKiteProto(C.DMatrix(opt['x'][:,k]),C.DMatrix(opt['u'][:,k]),C.DMatrix(opt['p']), conf['kite']['zt'], conf['carousel']['rArm'], zeroDelta=True) for k in range(opt['x'].shape[1])]
            
            mc = kite_pb2.MultiCarousel()
            mc.css.extend(list(kiteProtos))
            
            mc.messages.append("endTime: "+str(xup['endTime']))
            mc.messages.append("w0: "+str(xup['w0']))
            mc.messages.append("iter: "+str(self.iter))

            # bounds feedback
#            lbx = ocp.solver.input(C.NLP_LBX)
#            ubx = ocp.solver.input(C.NLP_UBX)
#            violations = boundsFeedback(xOpt,lbx,ubx,ocp.bndtags,tolerance=1e-9)
#            for name in violations:
#                violmsg = "violation!: "+name+": "+str(violations[name])
#                mc.messages.append(violmsg)
            
            publisher.send_multipart(["multi-carousel", mc.SerializeToString()])
コード例 #2
0
ファイル: simutils.py プロジェクト: jaeandersson/rawesome
    def sendKite(self,x,u,p,outs,conf,otherMessages=[]):
        pb = kiteproto.toKiteProto(dict(x.items()+u.items()+p.items()+outs.items()).__getitem__,
                                   lineAlpha=0.2)

        for name in outs:
            v = outs[name]
            if type(v) is float:
                pb.messages.append(name+": "+str(v))
        if len(otherMessages)>0:
            pb.messages.append("-------------------------")
            for om in otherMessages:
                pb.messages.append(om)
        self.publisher.send_multipart(["carousel", pb.SerializeToString()])
コード例 #3
0
ファイル: idas_opt.py プロジェクト: jaeandersson/rawesome
      def __call__(self,f,*args):
          self.iter = self.iter + 1
          xOpt = f.input(C.NLP_X_OPT)

          xs,us,p = ocp.getTimestepsFromDvs(xOpt)
          kiteProtos = [kiteproto.toKiteProto(xs[k],us[k],p,rArm,zt) for k in range(0,nSteps)]

          mc = kite_pb2.KiteOpt()
          mc.horizon.extend(list(kiteProtos))

          xup = ocp.devectorize(xOpt)
          mc.messages.append("endTime: "+str(xup['endTime']))
          mc.messages.append("w0: "+str(xup['w0']))
          mc.messages.append("iter: "+str(self.iter))
          
          publisher.send_multipart(["multi-carousel", mc.SerializeToString()])
コード例 #4
0
ファイル: idas_opt.py プロジェクト: mvukov/rawesome
      def __call__(self,f,*args):
          self.iter = self.iter + 1
          xOpt = f.input(C.NLP_X_OPT)

          xs,us,p = ocp.getTimestepsFromDvs(xOpt)
          kiteProtos = [kiteproto.toKiteProto(xs[k],us[k],p,rArm,zt) for k in range(0,nSteps)]

          mc = kite_pb2.KiteOpt()
          mc.horizon.extend(list(kiteProtos))

          xup = ocp.devectorize(xOpt)
          mc.messages.append("endTime: "+str(xup['endTime']))
          mc.messages.append("w0: "+str(xup['w0']))
          mc.messages.append("iter: "+str(self.iter))

          publisher.send_multipart(["multi-carousel", mc.SerializeToString()])
コード例 #5
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def normalCallback(traj,myiter,ocp,conf,showAllPoints=False):
    kiteProtos = []
    for k in range(0,ocp.nk):
        for nicpIdx in range(0,ocp.nicp):
            if showAllPoints:
                degIdxRange = range(ocp.deg+1)
            else:
                degIdxRange = [0]
            for degIdx in degIdxRange:
                lookup = lambda name: traj.lookup(name,timestep=k,nicpIdx=nicpIdx,degIdx=degIdx)
                kiteProtos.append( kiteproto.toKiteProto(lookup,
                                                         lineAlpha=0.2) )
    t2 = time.time()
    mc = kite_pb2.MultiCarousel()
    mc.horizon.extend(list(kiteProtos))

    mc.messages.append("w0: "+str(traj.lookup('w0')))
    mc.messages.append("iter: "+str(myiter))
    mc.messages.append("endTime: "+str(traj.lookup('endTime')))
    mc.messages.append("average power: "+str(traj.lookup('quadrature energy',timestep=-1)/traj.lookup('endTime'))+" W")
    
    return mc.SerializeToString()
コード例 #6
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    print "creating model..."
    dae = carouselmodel.model(conf,extraParams=['endTime'])

    print "setting up ocp..."
    ocp = setupOcp(dae,conf,publisher,nk=50)

    xOpt = None
    for w0 in [10]:
        ocp.bound('w0',(w0,w0),force=True)
        opt = ocp.solve(xInit=xOpt)
        xup = opt['vardict']
        xOpt = opt['X_OPT']
        
        for k in range(0,ocp.nk):
            j = ocp.nicp*(ocp.deg+1)*k
            oldKites.append( kiteproto.toKiteProto(C.DMatrix(opt['x'][:,j]),C.DMatrix(opt['u'][:,j]),C.DMatrix(opt['p']), conf['kite']['zt'], conf['carousel']['rArm']) )

    print "optimal power: "+str(opt['vardict']['energy'][-1]/opt['vardict']['endTime'])
    # Plot the results
    ocp.plot(['x','y','z'],opt)
    ocp.plot(['aileron','elevator'],opt,title='control surface inputs')
    ocp.plot(['tc'],opt,title='motor inputs (tc)')
    ocp.plot(['ddr'],opt,title='winch accel (ddr)')
    ocp.plot(['c','cdot','cddot'],opt,title="invariants")
    ocp.plot('airspeed',opt)
    ocp.plot(['alpha(deg)','beta(deg)','alphaTail(deg)','betaTail(deg)'],opt)
    ocp.plot('cL',opt)
    ocp.plot('cD',opt)
    ocp.plot('L/D',opt)
    ocp.plot('motor power',opt)
#    ocp.plot('winch power',opt)
コード例 #7
0
ファイル: simutils.py プロジェクト: drewm1980/rawesome
import kiteproto
import joy


class Communicator:
    def __init__(self, fOutputs, outputNames):
        self.context = zmq.Context(1)
        self.publisher = self.context.socket(zmq.PUB)
        self.publisher.bind("tcp://*:5563")
        self.fOutputs = fOutputs
        self.outputNames = outputNames

    def sendKite(self, sim, (x, z, u, p), zt, rArm, w0, otherMessages=[]):
        assert isinstance(otherMessages, list)
        pb = kiteproto.toKiteProto(x, u, p, zt, rArm, w0=w0)
        pb.messages.append("sloMoFactor: " + str(sim.sloMoFactor))
        pb.messages.append("-------------------------")

        self.fOutputs.setInput(x, 0)
        self.fOutputs.setInput(z, 1)
        self.fOutputs.setInput(u, 2)
        self.fOutputs.setInput(p, 3)
        self.fOutputs.evaluate()
        for k, n in enumerate(self.outputNames):
            pb.messages.append(n + ": " + str(self.fOutputs.output(k)))
        if len(otherMessages) > 0:
            pb.messages.append("-------------------------")
            for om in otherMessages:
                assert isinstance(om, str)
                pb.messages.append(om)