def test_matrixexpressions(self):
with open(os.path.join(TEST_DIR, 'MatrixExpressions.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'MatrixExpressions')
print(casadi_model)
ref_model = CasadiSysModel()
A = ca.MX.sym("A", 3, 3)
b = ca.MX.sym("b", 3)
c = ca.MX.sym("c", 3)
d = ca.MX.sym("d", 3)
C = ca.MX.sym("C", 2, 3)
D = ca.MX.sym("D", 3, 2)
E = ca.MX.sym("E", 2, 3)
I = ca.MX.sym("I", 5, 5)
F = ca.MX.sym("F", 3, 3)
ref_model.alg_states = [A, b, c, d]
ref_model.constants = [C, D, E, I, F]
ref_model.constant_values = [
1.7 * ca.DM.ones(2, 3),
ca.DM.zeros(3, 2),
ca.DM.ones(2, 3),
ca.DM.eye(5),
ca.DM.triplet([0, 1, 2], [0, 1, 2], [1, 2, 3], 3, 3)
]
ref_model.equations = [
ca.mtimes(A, b) - c,
ca.mtimes(A.T, b) - d, F[1, 2]
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_attributes(self):
with open(os.path.join(TEST_DIR, 'Attributes.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'Attributes')
print(casadi_model)
ref_model = CasadiSysModel()
i = ca.MX.sym("int")
b = ca.MX.sym("bool")
r = ca.MX.sym("real")
der_r = ca.MX.sym("der(real)")
i1 = ca.MX.sym("i1")
i2 = ca.MX.sym("i2")
i3 = ca.MX.sym("i3")
i4 = ca.MX.sym("i4")
cst = ca.MX.sym("cst")
prm = ca.MX.sym("prm")
protected_variable = ca.MX.sym("protected_variable")
ref_model.states = [r]
ref_model.der_states = [der_r]
ref_model.alg_states = [i, b, i1, i2, i3, i4, protected_variable]
ref_model.inputs = [i1, i2, i3]
ref_model.outputs = [i4, protected_variable]
ref_model.constants = [cst]
ref_model.constant_values = [1]
ref_model.parameters = [prm]
ref_model.equations = [
i4 - ((i1 + i2) + i3), der_r - (i1 + ca.if_else(b, 1, 0) * i),
protected_variable - (i1 + i2)
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_if_else(self):
with open(os.path.join(TEST_DIR, 'IfElse.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'IfElse')
ref_model = CasadiSysModel()
x = ca.MX.sym("x")
y1 = ca.MX.sym("y1")
y2 = ca.MX.sym("y2")
y3 = ca.MX.sym("y3")
y_max = ca.MX.sym("y_max")
ref_model.inputs = [x]
ref_model.outputs = [y1, y2, y3]
ref_model.alg_states = [x, y1, y2, y3]
ref_model.parameters = [y_max]
ref_model.equations = [
y1 - ca.if_else(x > 0, 1, 0) * y_max,
ca.if_else(
x > 1, ca.vertcat(y3 - 100, y2 - y_max),
ca.if_else(x > 2, ca.vertcat(y3 - 1000, y2 - y_max - 1),
ca.vertcat(y3 - 10000, y2)))
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_connector(self):
with open(os.path.join(TEST_DIR, 'ConnectorHQ.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'System')
ref_model = CasadiSysModel()
print(casadi_model)
a__up__H = ca.MX.sym("a.up.H")
a__up__Q = ca.MX.sym("a.up.Q")
a__down__H = ca.MX.sym("a.down.H")
a__down__Q = ca.MX.sym("a.down.Q")
b__up__H = ca.MX.sym("b.up.H")
b__up__Q = ca.MX.sym("b.up.Q")
b__down__H = ca.MX.sym("b.down.H")
b__down__Q = ca.MX.sym("b.down.Q")
c__up__H = ca.MX.sym("c.up.H")
c__up__Q = ca.MX.sym("c.up.Q")
c__down__H = ca.MX.sym("c.down.H")
c__down__Q = ca.MX.sym("c.down.Q")
qa__down__H = ca.MX.sym("qa.down.H")
qa__down__Q = ca.MX.sym("qa.down.Q")
qc__down__H = ca.MX.sym("qc.down.H")
qc__down__Q = ca.MX.sym("qc.down.Q")
hb__up__H = ca.MX.sym("hb.up.H")
hb__up__Q = ca.MX.sym("hb.up.Q")
ref_model.alg_states = [
qc__down__H, a__down__H, b__down__H, c__down__H, c__up__H,
hb__up__H, a__up__H, b__up__H, qa__down__H, a__up__Q, qa__down__Q,
c__down__Q, hb__up__Q, c__up__Q, b__up__Q, b__down__Q, qc__down__Q,
a__down__Q
]
ref_model.equations = [
a__up__H - a__down__H, a__up__Q + a__down__Q,
c__up__H - c__down__H, c__up__Q + c__down__Q,
b__up__H - b__down__H, b__up__Q + b__down__Q, qa__down__Q,
qc__down__Q, hb__up__H, qa__down__H - a__up__H,
qc__down__H - c__up__H, a__down__H - b__up__H,
c__down__H - b__up__H, b__down__H - hb__up__H,
a__down__Q + (b__up__Q + c__down__Q), qc__down__Q + c__up__Q,
b__down__Q + hb__up__Q, qa__down__Q + a__up__Q
]
print(ref_model)
self.assert_model_equivalent(ref_model, casadi_model)
def test_duplicate(self):
with open(os.path.join(TEST_DIR, 'DuplicateState.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'DuplicateState')
print(casadi_model)
ref_model = CasadiSysModel()
x = ca.MX.sym("x")
der_x = ca.MX.sym("der(x)")
y = ca.MX.sym("y")
der_y = ca.MX.sym("der(y)")
ref_model.states = [x, y]
ref_model.der_states = [der_x, der_y]
ref_model.equations = [der_x + der_y - 1, der_x - 2]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_arrayexpressions(self):
with open(os.path.join(TEST_DIR, 'ArrayExpressions.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'ArrayExpressions')
print(casadi_model)
ref_model = CasadiSysModel()
a = ca.MX.sym("a", 3)
b = ca.MX.sym("b", 4)
c = ca.MX.sym("c", 3)
d = ca.MX.sym("d", 3)
e = ca.MX.sym("e", 3)
g = ca.MX.sym("g", 1)
h = ca.MX.sym("h", 1)
B = ca.MX.sym("B", 3)
C = ca.MX.sym("C", 2)
D = ca.MX.sym("D", 3)
E = ca.MX.sym("E", 2)
arx = ca.MX.sym("ar.x", 3)
arcy = ca.MX.sym("arc.y", 2)
arcw = ca.MX.sym("arc.w", 2)
scalar_f = ca.MX.sym("scalar_f")
c_dim = ca.MX.sym("c_dim")
d_dim = ca.MX.sym("d_dim")
ref_model.alg_states = [a, c, d, e, scalar_f, g, arx, arcy, arcw, h]
ref_model.parameters = [d_dim]
ref_model.outputs = [h]
ref_model.constants = [b, c_dim, B, C, D, E]
ref_model.constant_values = [
np.array([2.7, 3.7, 4.7, 5.7]), 2,
ca.linspace(1, 2, 3), 1.7 * ca.DM.ones(2),
ca.DM.zeros(3),
ca.DM.ones(2)
]
ref_model.equations = [
c - (a + b[0:3] * e), d - (ca.sin(a / b[1:4])), e - (d + scalar_f),
g - ca.sum1(c), h - B[1], arx[1] - scalar_f, arcy[0] - arcy[1],
arcw[0] + arcw[1]
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_spring(self):
with open(os.path.join(TEST_DIR, 'Spring.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'Spring')
ref_model = CasadiSysModel()
print(casadi_model)
x = ca.MX.sym("x")
v_x = ca.MX.sym("v_x")
der_x = ca.MX.sym("der(x)")
der_v_x = ca.MX.sym("der(v_x)")
k = ca.MX.sym("k")
c = ca.MX.sym("c")
ref_model.states = [x, v_x]
ref_model.der_states = [der_x, der_v_x]
ref_model.parameters = [c, k]
ref_model.equations = [der_x - v_x, der_v_x - (-k * x - c * v_x)]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_estimator(self):
with open(os.path.join(TEST_DIR, 'Estimator.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'Estimator')
ref_model = CasadiSysModel()
print(casadi_model)
x = ca.MX.sym("x")
der_x = ca.MX.sym("der(x)")
y = ca.MX.sym("y")
ref_model.states = [x]
ref_model.der_states = [der_x]
ref_model.alg_states = [y]
ref_model.outputs = [y]
ref_model.equations = [der_x + x, y - x]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_inheritance(self):
with open(os.path.join(TEST_DIR, 'Inheritance.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'Sub')
print("inheritance", casadi_model)
ref_model = CasadiSysModel()
x = ca.MX.sym("x")
der_x = ca.MX.sym("der(x)")
y = ca.MX.sym("y")
der_y = ca.MX.sym("y")
k = ca.MX.sym("k")
ref_model.states = [x]
ref_model.der_states = [der_x]
ref_model.alg_states = [y]
ref_model.parameters = [k]
ref_model.equations = [der_x - k * x, x + y - 3]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_builtin(self):
with open(os.path.join(TEST_DIR, 'BuiltinFunctions.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'BuiltinFunctions')
print("BuiltinFunctions", casadi_model)
ref_model = CasadiSysModel()
x = ca.MX.sym("x")
y = ca.MX.sym("y")
z = ca.MX.sym("z")
w = ca.MX.sym("w")
u = ca.MX.sym("u")
ref_model.inputs = [x]
ref_model.outputs = [y, z, w, u]
ref_model.alg_states = [x, y, z, w, u]
ref_model.equations = [
y - ca.sin(ref_model.time), z - ca.cos(x), w - ca.fmin(y, z),
u - ca.fabs(w)
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_forloop(self):
with open(os.path.join(TEST_DIR, 'ForLoop.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'ForLoop')
print(casadi_model)
ref_model = CasadiSysModel()
x = ca.MX.sym("x", 10)
y = ca.MX.sym("y", 10)
z = ca.MX.sym("z", 10)
b = ca.MX.sym("b")
n = ca.MX.sym("n")
ref_model.alg_states = [x, y, z, b]
ref_model.parameters = [n]
ref_model.equations = [
x - (np.arange(1, 11) + b), y[0:5] - np.zeros(5),
y[5:] - np.ones(5),
ca.horzcat(z[0:5] - np.array([2, 2, 2, 2, 2]),
z[5:10] - np.array([1, 1, 1, 1, 1]))
]
self.assert_model_equivalent_numeric(ref_model, casadi_model)
def test_aircraft(self):
with open(os.path.join(TEST_DIR, 'Aircraft.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
casadi_model = gen_casadi.generate(ast_tree, 'Aircraft')
ref_model = CasadiSysModel()