def test_variables(self):
N = 10
ocp = Ocp(t0=2 * pi, T=10)
p = ocp.parameter(grid='control')
v = ocp.variable(grid='control')
x = ocp.state()
ocp.set_der(x, 0)
ocp.subject_to(ocp.at_t0(x) == 0)
ts = linspace(0, 10, N)
ocp.add_objective(ocp.integral(sin(v - p)**2, grid='control'))
ocp.method(MultipleShooting(N=N))
ocp.solver('ipopt')
ocp.set_value(p, ts)
ocp.set_initial(v, ts)
sol = ocp.solve()
_, xs = sol.sample(v, grid='control')
assert_array_almost_equal(xs[:-1], ts)
ocp.set_initial(v, 0.1 + 2 * pi + ts)
sol = ocp.solve()
_, xs = sol.sample(v, grid='control')
assert_array_almost_equal(xs[:-1], 2 * pi + ts)
ocp.set_initial(v, 0.1 + ocp.t)
sol = ocp.solve()
_, xs = sol.sample(v, grid='control')
assert_array_almost_equal(xs[:-1], 2 * pi + ts)
ocp.set_initial(v, 0.1 + 2 * pi)
sol = ocp.solve()
_, xs = sol.sample(v, grid='control')
with self.assertRaises(AssertionError):
assert_array_almost_equal(xs[:-1], 2 * pi + ts)
def test_param(self):
ocp = Ocp(T=1)
x = ocp.state()
u = ocp.control()
p = ocp.parameter()
ocp.set_der(x, u)
ocp.subject_to(u <= 1)
ocp.subject_to(-1 <= u)
ocp.add_objective(ocp.at_tf(x))
ocp.subject_to(ocp.at_t0(x) == p)
ocp.solver('ipopt')
ocp.method(MultipleShooting())
ocp.set_value(p, 0)
sol = ocp.solve()
ts, xs = sol.sample(x, grid='control')
self.assertAlmostEqual(xs[0], 0)
ocp.set_value(p, 1)
sol = ocp.solve()
ts, xs = sol.sample(x, grid='control')
self.assertAlmostEqual(xs[0], 1)
# Define states
x = ocp.state(2)
# Define controls
u = ocp.control()
# Specify ODE
model_rhs = pendulum_ode(x, u, model_param)
ocp.set_der(x, model_rhs)
# Set initial conditions
ocp.subject_to(ocp.at_t0(x) == x0)
# Define reference
y_ref = ocp.parameter(grid='control')
ocp.set_value(y_ref, y_ref_val)
# Define output correction
beta = ocp.parameter(grid='control')
# Define previous control
u_prev = ocp.parameter(grid='control')
# Set ILC objective
ocp.add_objective(
ocp.integral((y_ref - beta - x[0])**2, grid='control') +
1e-3 * ocp.integral((u - u_prev)**2, grid='control'))
# Pick a solution method
ocp.solver('ipopt')
sdot_obs = ocp.control() #-----------------------------ODEs ocp.set_der(x, v * cos(theta)) ocp.set_der(y, v * sin(theta)) ocp.set_der(theta, w) ocp.set_der(s_obs, sdot_obs) #-------------------------------------------------------------------------------# # Solve the first iteration # #-------------------------------------------------------------------------------# #------------------------- Constraints on initial point X_0 = ocp.parameter(4) X = vertcat(x, y, theta, s_obs) ocp.subject_to(ocp.at_t0(X) == X_0) current_X = vertcat(initial_pos_x, initial_pos_y, 0.0, 0.0) ocp.set_value(X_0, current_X) #------------------------- Constraints on Final point end_goal_x = ocp.parameter(1) end_goal_y = ocp.parameter(1) ocp.set_value(end_goal_x, global_end_goal_x) ocp.set_value(end_goal_y, global_end_goal_y)
v = ocp.control() w = ocp.control() #-----------------------------ODEs ocp.set_der(x, v * cos(theta)) ocp.set_der(y, v * sin(theta)) ocp.set_der(theta, w) #-------------------------------------------------------------------------------# # Solve the first iteration # #-------------------------------------------------------------------------------# #------------------------- Constraints on initial point X_0 = ocp.parameter(3) X = vertcat(x, y, theta) ocp.subject_to(ocp.at_t0(X) == X_0) current_X = vertcat(initial_pos_x, initial_pos_y, 0.0) ocp.set_value(X_0, current_X) #------------------------- Constraints on Final point global_goal = vertcat(global_end_goal_x, global_end_goal_y) end_goal_x = ocp.parameter(1) end_goal_y = ocp.parameter(1) ocp.set_value(end_goal_x, global_end_goal_x)
ocp.set_der(x , v*cos(theta)) ocp.set_der(y , v*sin(theta)) ocp.set_der(theta , w) ocp.set_der(s_obs , sdot_obs) #-------------------------------------------------------------------------------# # Solve the first iteration # #-------------------------------------------------------------------------------# #------------------------- Constraints on initial point X_0 = ocp.parameter(4) X = vertcat(x, y, theta, s_obs) ocp.subject_to(ocp.at_t0(X) == X_0) current_X = vertcat(initial_pos_x,initial_pos_y,0.0,0.0) ocp.set_value(X_0, current_X) #------------------------- Constraints on Final point global_goal = vertcat(global_end_goal_x,global_end_goal_y)