def __init__(self):
self.V = MX.zeros(0)
self.vdesc = []
self.pas = Passer()
self.lbx = []
self.ubx = []
self.xIN = False
# self.vnumber = [[]]
self.constraints = MX.zeros(0)
self.cmin = NP.zeros(0)
self.cmax = NP.zeros(0)
self.t = SX.sym("t", 1)
self.sens = False
self.check = False
self.nvar = 0
self.i = 0
def __init__(self):
self.V = MX.zeros(0)
self.vdesc = []
self.pas = Passer()
self.lbx = []
self.ubx = []
self.xIN = False
# self.vnumber = [[]]
self.constraints = MX.zeros(0)
self.cmin = NP.zeros(0)
self.cmax = NP.zeros(0)
self.t = SX.sym("t",1)
self.sens = False
self.check = False
self.nvar = 0
self.i = 0
class MultipleShootingProblem():
def __init__(self):
self.V = MX.zeros(0)
self.vdesc = []
self.pas = Passer()
self.lbx = []
self.ubx = []
self.xIN = False
# self.vnumber = [[]]
self.constraints = MX.zeros(0)
self.cmin = NP.zeros(0)
self.cmax = NP.zeros(0)
self.t = SX.sym("t",1)
self.sens = False
self.check = False
self.nvar = 0
self.i = 0
def setTimeRange(self,tstart,tend):
self.trange = NP.zeros(2)
self.trange[0] = tstart
self.trange[1] = tend
def addStates(self,n,xmin,xmax,xstart=None,method=['LagrangeColl',50],constr=True):
X = MSstates(SX.sym("X",n))
self.pas.addObj(X)
self.nvar = self.nvar + n*(method[1]+1)
self.i = X.initialize(self.pas,self.trange,method[1],xmin,xmax,xstart,self.i)
self.n_dis = method[1]
self.addVars(X.p,"X")
return X
def addControls(self,n,umin,umax,ustart=None,method=['PiecewiseConstant',50]):
U = MScontrols(SX.sym("U",n))
self.pas.addObj(U)
self.nvar = self.nvar + n*(method[1])
self.i = U.initialize(self.pas,self.trange,method[1],umin,umax,ustart,self.i)
self.addVars(U.p,"U")
return U
def addOde(self,x,u,rhs):
f = SXFunction(daeIn(x=x,p=u,t=self.t),daeOut(ode=rhs))
self.I = Integrator('cvodes',f)
self.I.setOption('tf',self.trange[1]/self.n_dis)
self.I.init()
X = x.p
X = X.reshape((x.shape[0],x.p.shape[0]/x.shape[0]))
U = u.p
U = U.reshape((u.shape[0],u.p.shape[0]/u.shape[0]))
for k in range(self.n_dis):
Xk = X[:,k]
Xk_next = X[:,k+1]
Uk = U[:,k]
Xk_end, = integratorOut(self.I(integratorIn(x0=Xk,p=Uk)),"xf")
c = Xk_next - Xk_end
self.addConstraints(c,0.0,0.0)
def addObjective(self,f):
self.objective = f
def initNLP(self):
nv = self.i
V = MX.sym('V',nv)
def addVars(self,v,desc):
vold = self.V.size()
self.V.append(vec(v))
vnew = self.V.size()
self.vdesc.append([desc,vold,vnew])
def addConstraints(self,c,cmin,cmax=None):
ab = c#
c = vec(c)
a = c##
self.constraints.append(c)
n = c.shape[0]
if cmax is None:
if isinstance(cmin,NP.float):
cmin = cmin*NP.ones(n)
cmax = cmin
else:
if isinstance(cmin,NP.float):
cmin = cmin*NP.ones(n)
if isinstance(cmax,NP.float):
cmax = cmax*NP.ones(n)
self.cmin = NP.append(self.cmin,cmin)
self.cmax = NP.append(self.cmax,cmax)
def getBounds(self):
vmin = NP.zeros(self.V.shape[0])
vmax = NP.zeros(self.V.shape[0])
for i in range(len(self.vdesc)):
low = self.vdesc[i][1]
up = self.vdesc[i][2]
vmin[low:up],vmax[low:up] = self.pas.obj[i].getBounds()
if self.vdesc[i][0] == 'X':
if self.xIN:
vmin[low:low+self.pas.obj[i].shape[0]] = vmax[low:low+self.pas.obj[i].shape[0]] = self.x_init
return vmin,vmax
def setInitCondition(self,x):
self.xIN = True
self.x_init = x
def saveOptResults(self,res):
for i in range(len(self.vdesc)):
low = self.vdesc[i][1]
up = self.vdesc[i][2]
pvals = res[low:up]
self.pas.obj[i].setPVals(pvals)
def makeExpression(self,f):
out = caller(f)
out.initialize(self.pas)
return out
def addFixedParameters(self,n,pstart=None):
F = FixedParameters(SX.sym("F",n))
self.pas.addObj(F)
if pstart is None:
pstart = NP.zeros(n)
F.initialize(self.pas,pstart)
self.addVars(F.p,"F")
return F
class MultipleShootingProblem():
def __init__(self):
self.V = MX.zeros(0)
self.vdesc = []
self.pas = Passer()
self.lbx = []
self.ubx = []
self.xIN = False
# self.vnumber = [[]]
self.constraints = MX.zeros(0)
self.cmin = NP.zeros(0)
self.cmax = NP.zeros(0)
self.t = SX.sym("t", 1)
self.sens = False
self.check = False
self.nvar = 0
self.i = 0
def setTimeRange(self, tstart, tend):
self.trange = NP.zeros(2)
self.trange[0] = tstart
self.trange[1] = tend
def addStates(self,
n,
xmin,
xmax,
xstart=None,
method=['LagrangeColl', 50],
constr=True):
X = MSstates(SX.sym("X", n))
self.pas.addObj(X)
self.nvar = self.nvar + n * (method[1] + 1)
self.i = X.initialize(self.pas, self.trange, method[1], xmin, xmax,
xstart, self.i)
self.n_dis = method[1]
self.addVars(X.p, "X")
return X
def addControls(self,
n,
umin,
umax,
ustart=None,
method=['PiecewiseConstant', 50]):
U = MScontrols(SX.sym("U", n))
self.pas.addObj(U)
self.nvar = self.nvar + n * (method[1])
self.i = U.initialize(self.pas, self.trange, method[1], umin, umax,
ustart, self.i)
self.addVars(U.p, "U")
return U
def addOde(self, x, u, rhs):
f = SXFunction(daeIn(x=x, p=u, t=self.t), daeOut(ode=rhs))
self.I = Integrator('cvodes', f)
self.I.setOption('tf', self.trange[1] / self.n_dis)
self.I.init()
X = x.p
X = X.reshape((x.shape[0], x.p.shape[0] / x.shape[0]))
U = u.p
U = U.reshape((u.shape[0], u.p.shape[0] / u.shape[0]))
for k in range(self.n_dis):
Xk = X[:, k]
Xk_next = X[:, k + 1]
Uk = U[:, k]
Xk_end, = integratorOut(self.I(integratorIn(x0=Xk, p=Uk)), "xf")
c = Xk_next - Xk_end
self.addConstraints(c, 0.0, 0.0)
def addObjective(self, f):
self.objective = f
def initNLP(self):
nv = self.i
V = MX.sym('V', nv)
def addVars(self, v, desc):
vold = self.V.size()
self.V.append(vec(v))
vnew = self.V.size()
self.vdesc.append([desc, vold, vnew])
def addConstraints(self, c, cmin, cmax=None):
ab = c #
c = vec(c)
a = c ##
self.constraints.append(c)
n = c.shape[0]
if cmax is None:
if isinstance(cmin, NP.float):
cmin = cmin * NP.ones(n)
cmax = cmin
else:
if isinstance(cmin, NP.float):
cmin = cmin * NP.ones(n)
if isinstance(cmax, NP.float):
cmax = cmax * NP.ones(n)
self.cmin = NP.append(self.cmin, cmin)
self.cmax = NP.append(self.cmax, cmax)
def getBounds(self):
vmin = NP.zeros(self.V.shape[0])
vmax = NP.zeros(self.V.shape[0])
for i in range(len(self.vdesc)):
low = self.vdesc[i][1]
up = self.vdesc[i][2]
vmin[low:up], vmax[low:up] = self.pas.obj[i].getBounds()
if self.vdesc[i][0] == 'X':
if self.xIN:
vmin[low:low + self.pas.obj[i].shape[0]] = vmax[
low:low + self.pas.obj[i].shape[0]] = self.x_init
return vmin, vmax
def setInitCondition(self, x):
self.xIN = True
self.x_init = x
def saveOptResults(self, res):
for i in range(len(self.vdesc)):
low = self.vdesc[i][1]
up = self.vdesc[i][2]
pvals = res[low:up]
self.pas.obj[i].setPVals(pvals)
def makeExpression(self, f):
out = caller(f)
out.initialize(self.pas)
return out
def addFixedParameters(self, n, pstart=None):
F = FixedParameters(SX.sym("F", n))
self.pas.addObj(F)
if pstart is None:
pstart = NP.zeros(n)
F.initialize(self.pas, pstart)
self.addVars(F.p, "F")
return F
