ocp.setObjective(obj - ocp.lookup('prop_energy', timestep=-1) /
ocp.lookup('endTime'))
return ocp
if __name__ == '__main__':
print "reading config..."
# from carousel_conf import conf
#from highwind_carousel_conf import conf
from rawe.models.betty_conf import makeConf
nk = 60 * numLoops
# nk = 70
print "creating model..."
conf = makeConf()
dae = rawe.models.crosswind_drag(conf)
dae.addP('endTime')
conf['minAltitude'] = 0.5
print "setting up ocp..."
nicp = 1
deg = 4
collPoly = 'RADAU'
#collPoly='LEGENDRE'
ocp = setupOcp(dae, conf, nk, nicp, deg, collPoly)
# spawn telemetry thread
callback = rawe.telemetry.startTelemetry(
ocp,
callbacks=[(rawe.telemetry.trajectoryCallback(toProto,
def get_steady_state_guess():
ddelta = nTurns*2*pi/(ocp._guess.lookup('endTime'))
from rawekite.carouselSteadyState import getSteadyState
conf_ss = makeConf()
steadyState,_ = getSteadyState(carousel_dae.makeDae(conf_ss), None, ddelta, lineRadiusGuess, {})
return steadyState
ocp.bound('endTime',(0.5,4.0))
ocp.guess('endTime',1)
ocp.bound('w0',(10,10))
# boundary conditions
ocp.bound('sin_delta', (0,0), timestep=0, quiet=True)
ocp.bound('cos_delta', (0.5,1.5), timestep=0, quiet=True)
ocp.bound('cos_delta', (0.5,1.5), timestep=-1, quiet=True)
return ocp
if __name__=='__main__':
from rawe.models.betty_conf import makeConf
conf = makeConf()
conf['runHomotopy'] = True
conf['minAltitude'] = 0.5
nk = 75
dae = carousel_dae.makeDae(conf)
dae.addP('endTime')
print "setting up ocp..."
ocp = setupOcp(dae,conf,nk)
lineRadiusGuess = 4.0
nTurns = 1
# trajectory for homotopy
def get_steady_state_guess():
ddelta = nTurns*2*pi/(ocp._guess.lookup('endTime'))
def makeDae(conf=None):
if conf is None:
conf = betty_conf.makeConf()
return rawe.models.crosswind_drag(conf)
def makeDae(conf=None):
if conf is None:
conf = betty_conf.makeConf()
return rawe.models.carousel(conf)
def makeDae(conf=None):
if conf is None:
conf = betty_conf.makeConf()
return rawe.models.crosswind_drag(conf)
