def solve_spherical_model(case_index, lb, ub):
state_p0 = CASES[case_index - 1][0]
state_e0 = CASES[case_index - 1][1]
try:
opt_individual, opt_value, time_cost = ldope.spherical_solve_fcn(
state_p0, state_e0, lb, ub)
except:
print('exception!')
else:
print(opt_individual)
print(opt_value)
print(time_cost)
costate_p0, costate_e0, tf_norm = \
ldope.spherical_individual_convert_fcn(opt_individual)
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
file_name = './data/spherical/{}.data'.format(case_index)
with open(file_name, 'a') as data:
data.write('{} '.format(opt_value))
data.write('{} '.format(time_cost))
for ele in opt_individual:
data.write('{} '.format(ele))
data.write('\n')
def plot_spherical_trajectory(case_index,
individual,
ax,
norm=True,
p_color=seaborn.xkcd_rgb['red'],
e_color=seaborn.xkcd_rgb['green'],
p_linestyle='-',
e_linestyle='--',
p_label='Trajectory P in SM',
e_label='Trajectory E in SM',
side='both'):
# 初始状态量
state_p0 = solve_spherical_model.CASES[case_index - 1][0]
state_e0 = solve_spherical_model.CASES[case_index - 1][1]
if norm:
state_p0 = ldope.spherical_state_norm_fcn(state_p0)
state_e0 = ldope.spherical_state_norm_fcn(state_e0)
# 初始协态量
costate_p0, costate_e0, tf_norm = ldope.spherical_individual_convert_fcn(
individual)
# 积分时段
if (norm):
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
else:
step = 0.05 * ldope.TU
t_span = 0, tf_norm * ldope.TU
t_eval = np.arange(0, tf_norm * ldope.TU, step)
t_eval = np.append(t_eval, tf_norm * ldope.TU)
# 积分
result = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), norm),
t_span=np.array(t_span),
y0=np.array(state_p0 + state_e0 + costate_p0 + costate_e0),
t_eval=t_eval)
# 绘制向量计算
xp, yp, zp = [], [], []
xe, ye, ze = [], [], []
for each_state in result.y.T:
r_p, r_e = each_state[0], each_state[6]
xi_p, xi_e = each_state[3], each_state[9]
phi_p, phi_e = each_state[4], each_state[10]
xp.append(r_p * cos(phi_p) * cos(xi_p))
yp.append(r_p * cos(phi_p) * sin(xi_p))
zp.append(r_p * sin(phi_p))
xe.append(r_e * cos(phi_e) * cos(xi_e))
ye.append(r_e * cos(phi_e) * sin(xi_e))
ze.append(r_e * sin(phi_e))
# 绘制
if side == 'both' or side == 'p':
ax.plot(xp,
yp,
zp,
color=p_color,
linestyle=p_linestyle,
label=p_label)
if side == 'both' or side == 'e':
ax.plot(xe,
ye,
ze,
color=e_color,
linestyle=e_linestyle,
label=e_label)
def plot_same_control(case_index,
individual,
control_case_index,
control_individual,
ax,
p_o_color=seaborn.xkcd_rgb['red'],
p_o_linestyle='-',
p_o_label='P origin',
e_o_color=seaborn.xkcd_rgb['green'],
e_o_linestyle='--',
e_o_label='E origin',
p_color=seaborn.xkcd_rgb['purple'],
p_linestyle='-.',
p_label='P',
e_color=seaborn.xkcd_rgb['blue'],
e_linestyle=':',
e_label='E'):
# 控制初始状态量
state_control_p0 = solve_spherical_model.CASES[control_case_index - 1][0]
state_control_e0 = solve_spherical_model.CASES[control_case_index - 1][1]
state_control_p0 = ldope.spherical_state_norm_fcn(state_control_p0)
state_control_e0 = ldope.spherical_state_norm_fcn(state_control_e0)
# 控制初始协态量
costate_control_p0, costate_control_e0, tf_control_norm = \
ldope.spherical_individual_convert_fcn(control_individual)
# 控制积分时段
step_control = 0.05
t_span_control = 0, tf_control_norm
t_eval_control = np.arange(0, tf_control_norm, step_control)
t_eval_control = np.append(t_eval_control, tf_control_norm)
# 积分
result_control = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), True),
t_span=np.array(t_span_control),
y0=np.array(state_control_p0 + state_control_e0 + costate_control_p0 +
costate_control_e0),
t_eval=t_eval_control)
# 控制向量计算
t_line = []
alpha_p, alpha_e = [], []
beta_p, beta_e = [], []
for i, t in enumerate(result_control.t):
t_line.append(t)
each_state = result_control.y.T[i]
control_p = ldope.spherical_control_fcn(each_state[0:6],
each_state[12:18], 'p')
alpha_p.append(control_p[0] if control_p[0] > -2 else control_p[0] +
2 * pi)
beta_p.append(control_p[1] if control_p[1] > 1 else control_p[1] +
2 * pi)
control_e = ldope.spherical_control_fcn(each_state[6:12],
each_state[18:24], 'e')
alpha_e.append(control_e[0])
beta_e.append(control_e[1])
alpha_p_fcn = interp1d(t_line, alpha_p, kind='cubic')
beta_p_fcn = interp1d(t_line, beta_p, kind='cubic')
alpha_e_fcn = interp1d(t_line, alpha_e, kind='cubic')
beta_e_fcn = interp1d(t_line, beta_e, kind='cubic')
def state_p_fcn(t, y: np.ndarray):
return ldope.spherical_state_fcn(tuple(y.tolist()),
(alpha_p_fcn(t), beta_p_fcn(t)),
side='p',
norm=True)
def state_e_fcn(t, y: np.ndarray):
return ldope.spherical_state_fcn(tuple(y.tolist()),
(alpha_e_fcn(t), beta_e_fcn(t)),
side='e',
norm=True)
# 初始状态量
state_p0 = solve_spherical_model.CASES[case_index - 1][0]
state_e0 = solve_spherical_model.CASES[case_index - 1][1]
state_p0 = ldope.spherical_state_norm_fcn(state_p0)
state_e0 = ldope.spherical_state_norm_fcn(state_e0)
# 初始协态量
costate_p0, costate_e0, tf_norm = ldope.spherical_individual_convert_fcn(
individual)
# 积分时段
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
print(tf_control_norm)
print(tf_norm)
# 积分
result_o = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), True),
t_span=np.array(t_span),
y0=np.array(state_p0 + state_e0 + costate_p0 + costate_e0),
t_eval=t_eval)
result_p = solve_ivp(state_p_fcn,
t_span=np.array(t_span),
y0=np.array(state_p0),
t_eval=t_eval)
result_e = solve_ivp(state_e_fcn,
t_span=np.array(t_span),
y0=np.array(state_e0),
t_eval=t_eval)
# 绘制向量计算
xp_o, yp_o, zp_o = [], [], []
xe_o, ye_o, ze_o = [], [], []
for each_state in result_o.y.T:
r_p, r_e = each_state[0], each_state[6]
xi_p, xi_e = each_state[3], each_state[9]
phi_p, phi_e = each_state[4], each_state[10]
xp_o.append(r_p * cos(phi_p) * cos(xi_p))
yp_o.append(r_p * cos(phi_p) * sin(xi_p))
zp_o.append(r_p * sin(phi_p))
xe_o.append(r_e * cos(phi_e) * cos(xi_e))
ye_o.append(r_e * cos(phi_e) * sin(xi_e))
ze_o.append(r_e * sin(phi_e))
xp, yp, zp = [], [], []
for each_state in result_p.y.T:
r_p = each_state[0]
xi_p = each_state[3]
phi_p = each_state[4]
xp.append(r_p * cos(phi_p) * cos(xi_p))
yp.append(r_p * cos(phi_p) * sin(xi_p))
zp.append(r_p * sin(phi_p))
xe, ye, ze = [], [], []
for each_state in result_e.y.T:
r_e = each_state[0]
xi_e = each_state[3]
phi_e = each_state[4]
xe.append(r_e * cos(phi_e) * cos(xi_e))
ye.append(r_e * cos(phi_e) * sin(xi_e))
ze.append(r_e * sin(phi_e))
# 绘制
ax.plot(xp_o,
yp_o,
zp_o,
color=p_o_color,
linestyle=p_o_linestyle,
label=p_o_label)
ax.plot(xe_o,
ye_o,
ze_o,
color=e_o_color,
linestyle=e_o_linestyle,
label=e_o_label)
ax.plot(xp, yp, zp, color=p_color, linestyle=p_linestyle, label=p_label)
ax.plot(xe_o,
ye_o,
ze_o,
color=e_color,
linestyle=e_linestyle,
label=e_label)
def plot_spherical_txi(case_index,
individual,
ax_p,
ax_e,
p_color=seaborn.xkcd_rgb['red'],
p_linestyle='-',
p_label=r'Pursuer t vs. $\xi$',
e_color=seaborn.xkcd_rgb['green'],
e_linestyle='--',
e_label=r'Evader t vs. $\xi$',
p_base_xi=0,
e_base_xi=0):
# 初始状态量
state_p0 = solve_spherical_model.CASES[case_index - 1][0]
state_e0 = solve_spherical_model.CASES[case_index - 1][1]
state_p0 = ldope.spherical_state_norm_fcn(state_p0)
state_e0 = ldope.spherical_state_norm_fcn(state_e0)
# 初始协态量
costate_p0, costate_e0, tf_norm = ldope.spherical_individual_convert_fcn(
individual)
# 积分时段
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
# 积分
result = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), True),
t_span=np.array(t_span),
y0=np.array(state_p0 + state_e0 + costate_p0 + costate_e0),
t_eval=t_eval)
# 绘制向量计算
t_line = []
xi_p_line = []
xi_e_line = []
for i, t in enumerate(result.t):
t_line.append(t)
each_state = result.y.T[i]
r_p, r_e = each_state[0], each_state[6]
xi_p, xi_e = each_state[3], each_state[9]
phi_p, phi_e = each_state[4], each_state[10]
xp = r_p * cos(phi_p) * cos(xi_p)
yp = r_p * cos(phi_p) * sin(xi_p)
zp = r_p * sin(phi_p)
xe = r_e * cos(phi_e) * cos(xi_e)
ye = r_e * cos(phi_e) * sin(xi_e)
ze = r_e * sin(phi_e)
xi_p_line.append(xi_p)
xi_e_line.append(xi_e)
# 绘制
ax_p.semilogx(t_line,
np.array(xi_p_line[:]) - p_base_xi,
basex=2,
color=p_color,
linestyle=p_linestyle,
label=p_label)
ax_e.semilogx(t_line,
np.array(xi_p_line[:]) - e_base_xi,
basex=2,
color=e_color,
linestyle=e_linestyle,
label=e_label)
def plot_spherical_td(case_index,
individual,
ax,
norm=True,
color=seaborn.xkcd_rgb['red'],
linestyle='-',
label='t vs. D'):
# 初始状态量
state_p0 = solve_spherical_model.CASES[case_index - 1][0]
state_e0 = solve_spherical_model.CASES[case_index - 1][1]
if norm:
state_p0 = ldope.spherical_state_norm_fcn(state_p0)
state_e0 = ldope.spherical_state_norm_fcn(state_e0)
# 初始协态量
costate_p0, costate_e0, tf_norm = ldope.spherical_individual_convert_fcn(
individual)
# 积分时段
if norm:
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
else:
step = 0.05 * ldope.TU
t_span = 0, tf_norm * ldope.TU
t_eval = np.arange(0, tf_norm * ldope.TU, step)
t_eval = np.append(t_eval, tf_norm * ldope.TU)
# 积分
result = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), norm),
t_span=np.array(t_span),
y0=np.array(state_p0 + state_e0 + costate_p0 + costate_e0),
t_eval=t_eval)
# 绘制向量计算
r = []
t_line = []
for i, t in enumerate(result.t):
if norm:
t_line.append(t)
else:
t_line.append(t / ldope.TU)
each_state = result.y.T[i]
r_p, r_e = each_state[0], each_state[6]
xi_p, xi_e = each_state[3], each_state[9]
phi_p, phi_e = each_state[4], each_state[10]
xp = r_p * cos(phi_p) * cos(xi_p)
yp = r_p * cos(phi_p) * sin(xi_p)
zp = r_p * sin(phi_p)
xe = r_e * cos(phi_e) * cos(xi_e)
ye = r_e * cos(phi_e) * sin(xi_e)
ze = r_e * sin(phi_e)
r.append(sqrt((xp - xe)**2 + (yp - ye)**2 + (zp - ze)**2))
# 绘制
ax.plot(t_line, r, color=color, linestyle=linestyle, label=label)
ax.scatter(t_line[-1], r[-1], color=color, marker='*')
def plot_spherical_control(case_index,
individual,
ax_control_alpha_p,
ax_control_alpha_e,
ax_control_beta_p,
ax_control_beta_e,
p_color=seaborn.xkcd_rgb['red'],
e_color=seaborn.xkcd_rgb['green'],
p_linestyle='-',
e_linestyle='--'):
# 初始状态量
state_p0 = solve_spherical_model.CASES[case_index - 1][0]
state_e0 = solve_spherical_model.CASES[case_index - 1][1]
state_p0 = ldope.spherical_state_norm_fcn(state_p0)
state_e0 = ldope.spherical_state_norm_fcn(state_e0)
# 初始协态量
costate_p0, costate_e0, tf_norm = ldope.spherical_individual_convert_fcn(
individual)
# 积分时段
step = 0.05
t_span = 0, tf_norm
t_eval = np.arange(0, tf_norm, step)
t_eval = np.append(t_eval, tf_norm)
# 积分
result = solve_ivp(
lambda t, y: ldope.spherical_ext_state_fcn(tuple(y.tolist()), True),
t_span=np.array(t_span),
y0=np.array(state_p0 + state_e0 + costate_p0 + costate_e0),
t_eval=t_eval)
# 绘制向量计算
t_line = []
alpha_p, alpha_e = [], []
beta_p, beta_e = [], []
for i, t in enumerate(result.t):
each_state = result.y.T[i]
t_line.append(t)
control_p = ldope.spherical_control_fcn(each_state[0:6],
each_state[12:18], 'p')
alpha_p.append(control_p[0])
beta_p.append(control_p[1])
control_e = ldope.spherical_control_fcn(each_state[6:12],
each_state[18:24], 'e')
alpha_e.append(control_e[0])
beta_e.append(control_e[1])
# 绘制
ax_control_alpha_p.plot(t_line,
alpha_p,
color=p_color,
linestyle=p_linestyle,
label=r'$\hat{\alpha}_P$')
ax_control_alpha_p.set_ylabel(ax_control_alpha_p.get_ylabel() + ' ' +
r'$\hat{\alpha}_P$')
ax_control_alpha_e.plot(t_line,
alpha_e,
color=e_color,
linestyle=e_linestyle,
label=r'$\hat{\alpha}_E$')
ax_control_alpha_e.set_ylabel(ax_control_alpha_e.get_ylabel() + ' ' +
r'$\hat{\alpha}_E$')
ax_control_beta_p.plot(t_line,
beta_p,
color=p_color,
linestyle=p_linestyle,
label=r'$\hat{\beta}_P$')
ax_control_beta_p.set_ylabel(ax_control_beta_p.get_ylabel() + ' ' +
r'$\hat{\beta}_P$')
ax_control_beta_e.plot(t_line,
beta_e,
color=e_color,
linestyle=e_linestyle,
label=r'$\hat{\beta}_E$')
ax_control_beta_e.set_ylabel(ax_control_beta_e.get_ylabel() + ' ' +
r'$\hat{\beta}_E$')