def setUp(self):
dm.options['include_check_partials'] = True
transcription = 'radau-ps'
self.gd = gd = GridData(num_segments=2,
transcription_order=3,
segment_ends=[0.0, 3.0, 10.0],
transcription=transcription)
ndn = gd.subset_num_nodes['state_disc']
self.p = om.Problem(model=om.Group())
controls = {
'a': ControlOptionsDictionary(),
'b': ControlOptionsDictionary(),
'c': ControlOptionsDictionary(),
'd': ControlOptionsDictionary()
}
controls['a'].update({'units': 'm', 'shape': (1, ), 'opt': False})
controls['b'].update({'units': 's', 'shape': (3, ), 'opt': False})
controls['c'].update({'units': 'kg', 'shape': (3, 3), 'opt': False})
ivc = om.IndepVarComp()
self.p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('a_disc', val=np.zeros((ndn, 1)), units='m')
ivc.add_output('b_disc', val=np.zeros((ndn, 3)), units='s')
ivc.add_output('c_disc', val=np.zeros((ndn, 3, 3)), units='kg')
path_comp = PathConstraintComp(num_nodes=gd.num_nodes)
self.p.model.add_subsystem('path_constraints', subsys=path_comp)
path_comp._add_path_constraint_configure('a',
shape=(1, ),
lower=0,
upper=10,
units='m')
path_comp._add_path_constraint_configure('b',
shape=(3, ),
lower=0,
upper=10,
units='s')
path_comp._add_path_constraint_configure('c',
shape=(3, 3),
lower=0,
upper=10,
units='kg')
self.p.model.connect('a_disc', 'path_constraints.all_values:a')
self.p.model.connect('b_disc', 'path_constraints.all_values:b')
self.p.model.connect('c_disc', 'path_constraints.all_values:c')
self.p.setup()
self.p.run_model()
def test_continuity_comp(self, transcription='gauss-lobatto', compressed='compressed'):
num_seg = 3
gd = GridData(num_segments=num_seg,
transcription_order=[5, 3, 3],
segment_ends=[0.0, 3.0, 10.0, 20],
transcription=transcription,
compressed=compressed == 'compressed')
self.p = om.Problem(model=om.Group())
ivp = self.p.model.add_subsystem('ivc', subsys=om.IndepVarComp(), promotes_outputs=['*'])
nn = gd.subset_num_nodes['all']
ivp.add_output('x', val=np.arange(nn), units='m')
ivp.add_output('y', val=np.arange(nn), units='m/s')
ivp.add_output('u', val=np.zeros((nn, 3)), units='deg')
ivp.add_output('v', val=np.arange(nn), units='N')
ivp.add_output('u_rate', val=np.zeros((nn, 3)), units='deg/s')
ivp.add_output('v_rate', val=np.arange(nn), units='N/s')
ivp.add_output('u_rate2', val=np.zeros((nn, 3)), units='deg/s**2')
ivp.add_output('v_rate2', val=np.arange(nn), units='N/s**2')
ivp.add_output('t_duration', val=121.0, units='s')
self.p.model.add_design_var('x', lower=0, upper=100)
state_options = {'x': StateOptionsDictionary(),
'y': StateOptionsDictionary()}
control_options = {'u': ControlOptionsDictionary(),
'v': ControlOptionsDictionary()}
state_options['x']['units'] = 'm'
state_options['y']['units'] = 'm/s'
control_options['u']['units'] = 'deg'
control_options['u']['shape'] = (3,)
control_options['u']['continuity'] = True
control_options['v']['units'] = 'N'
if transcription == 'gauss-lobatto':
cnty_comp = GaussLobattoContinuityComp(grid_data=gd, time_units='s',
state_options=state_options,
control_options=control_options)
elif transcription == 'radau-ps':
cnty_comp = RadauPSContinuityComp(grid_data=gd, time_units='s',
state_options=state_options,
control_options=control_options)
else:
raise ValueError('unrecognized transcription')
self.p.model.add_subsystem('cnty_comp', subsys=cnty_comp)
# The sub-indices of state_disc indices that are segment ends
num_seg_ends = gd.subset_num_nodes['segment_ends']
segment_end_idxs = np.reshape(gd.subset_node_indices['segment_ends'],
newshape=(num_seg_ends, 1))
if compressed != 'compressed':
self.p.model.connect('x', 'cnty_comp.states:x', src_indices=segment_end_idxs)
self.p.model.connect('y', 'cnty_comp.states:y', src_indices=segment_end_idxs)
self.p.model.connect('t_duration', 'cnty_comp.t_duration')
size_u = nn * np.prod(control_options['u']['shape'])
src_idxs_u = np.arange(size_u).reshape((nn,) + control_options['u']['shape'])
src_idxs_u = src_idxs_u[gd.subset_node_indices['segment_ends'], ...]
size_v = nn * np.prod(control_options['v']['shape'])
src_idxs_v = np.arange(size_v).reshape((nn,) + control_options['v']['shape'])
src_idxs_v = src_idxs_v[gd.subset_node_indices['segment_ends'], ...]
# if transcription =='radau-ps' or compressed != 'compressed':
self.p.model.connect('u', 'cnty_comp.controls:u', src_indices=src_idxs_u,
flat_src_indices=True)
self.p.model.connect('u_rate', 'cnty_comp.control_rates:u_rate', src_indices=src_idxs_u,
flat_src_indices=True)
self.p.model.connect('u_rate2', 'cnty_comp.control_rates:u_rate2', src_indices=src_idxs_u,
flat_src_indices=True)
# if transcription =='radau-ps' or compressed != 'compressed':
self.p.model.connect('v', 'cnty_comp.controls:v', src_indices=src_idxs_v,
flat_src_indices=True)
self.p.model.connect('v_rate', 'cnty_comp.control_rates:v_rate', src_indices=src_idxs_v,
flat_src_indices=True)
self.p.model.connect('v_rate2', 'cnty_comp.control_rates:v_rate2', src_indices=src_idxs_v,
flat_src_indices=True)
self.p.setup(check=True, force_alloc_complex=True)
self.p['x'] = np.random.rand(*self.p['x'].shape)
self.p['y'] = np.random.rand(*self.p['y'].shape)
self.p['u'] = np.random.rand(*self.p['u'].shape)
self.p['v'] = np.random.rand(*self.p['v'].shape)
self.p['u_rate'] = np.random.rand(*self.p['u'].shape)
self.p['v_rate'] = np.random.rand(*self.p['v'].shape)
self.p['u_rate2'] = np.random.rand(*self.p['u'].shape)
self.p['v_rate2'] = np.random.rand(*self.p['v'].shape)
self.p.run_model()
if compressed != 'compressed':
for state in ('x', 'y'):
xpectd = self.p[state][segment_end_idxs, ...][2::2, ...] - \
self.p[state][segment_end_idxs, ...][1:-1:2, ...]
assert_near_equal(self.p['cnty_comp.defect_states:{0}'.format(state)],
xpectd.reshape((num_seg - 1,) + state_options[state]['shape']))
for ctrl in ('u', 'v'):
xpectd = self.p[ctrl][segment_end_idxs, ...][2::2, ...] - \
self.p[ctrl][segment_end_idxs, ...][1:-1:2, ...]
if compressed != 'compressed':
assert_near_equal(self.p['cnty_comp.defect_controls:{0}'.format(ctrl)],
xpectd.reshape((num_seg-1,) + control_options[ctrl]['shape']))
np.set_printoptions(linewidth=1024)
cpd = self.p.check_partials(method='cs', out_stream=None)
assert_check_partials(cpd)
def setUp(self):
transcription = 'runge-kutta'
self.gd = gd = GridData(num_segments=2,
transcription_order='RK4',
segment_ends=[0.0, 3.0, 10.0],
transcription=transcription)
nn = 4
self.p = Problem(model=Group())
controls = {
'a': ControlOptionsDictionary(),
'b': ControlOptionsDictionary(),
'c': ControlOptionsDictionary(),
'd': ControlOptionsDictionary()
}
controls['a'].update({'units': 'm', 'shape': (1, ), 'opt': False})
controls['b'].update({'units': 's', 'shape': (3, ), 'opt': False})
controls['c'].update({'units': 'kg', 'shape': (3, 3), 'opt': False})
ivc = IndepVarComp()
self.p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('a_disc', val=np.zeros((nn, 1)), units='m')
ivc.add_output('b_disc', val=np.zeros((nn, 3)), units='s')
ivc.add_output('c_disc', val=np.zeros((nn, 3, 3)), units='kg')
path_comp = RungeKuttaPathConstraintComp(grid_data=gd)
self.p.model.add_subsystem('path_constraints', subsys=path_comp)
path_comp._add_path_constraint('a',
var_class='ode',
shape=(1, ),
lower=0,
upper=10,
units='m')
path_comp._add_path_constraint('b',
var_class='input_control',
shape=(3, ),
lower=0,
upper=10,
units='s')
path_comp._add_path_constraint('c',
var_class='control_rate2',
shape=(3, 3),
lower=0,
upper=10,
units='kg')
self.p.model.connect('a_disc', 'path_constraints.all_values:a')
self.p.model.connect('b_disc', 'path_constraints.all_values:b')
self.p.model.connect('c_disc', 'path_constraints.all_values:c')
self.p.setup()
self.p.run_model()
def test_scalar_state_and_control(self):
n = 101
p = om.Problem(model=om.Group())
time_options = TimeOptionsDictionary()
time_options['units'] = 's'
state_options = {}
state_options['x'] = StateOptionsDictionary()
state_options['x']['units'] = 'm'
state_options['x']['shape'] = (1, )
control_options = {}
control_options['theta'] = ControlOptionsDictionary()
control_options['theta']['units'] = 'rad'
control_options['theta']['shape'] = (1, )
ivc = om.IndepVarComp()
ivc.add_output(name='phase:time', val=np.zeros(n), units='s')
ivc.add_output(name='phase:initial_jump:time',
val=100.0 * np.ones(1),
units='s')
ivc.add_output(name='phase:final_jump:time',
val=1.0 * np.ones(1),
units='s')
ivc.add_output(name='phase:x', val=np.zeros(n), units='m')
ivc.add_output(name='phase:initial_jump:x',
val=np.zeros(state_options['x']['shape']),
units='m')
ivc.add_output(name='phase:final_jump:x',
val=np.zeros(state_options['x']['shape']),
units='m')
ivc.add_output(name='phase:theta', val=np.zeros(n), units='rad')
ivc.add_output(name='phase:initial_jump:theta',
val=np.zeros(control_options['theta']['shape']),
units='rad')
ivc.add_output(name='phase:final_jump:theta',
val=np.zeros(control_options['theta']['shape']),
units='rad')
p.model.add_subsystem('ivc', subsys=ivc, promotes_outputs=['*'])
p.model.add_subsystem('initial_conditions',
subsys=EndpointConditionsComp(
loc='initial',
time_options=time_options,
state_options=state_options,
control_options=control_options),
promotes_outputs=['*'])
p.model.add_subsystem('final_conditions',
subsys=EndpointConditionsComp(
loc='final',
time_options=time_options,
state_options=state_options,
control_options=control_options),
promotes_outputs=['*'])
p.model.connect('phase:time', 'initial_conditions.initial_value:time')
p.model.connect('phase:time', 'final_conditions.final_value:time')
p.model.connect('phase:x', 'initial_conditions.initial_value:x')
p.model.connect('phase:x', 'final_conditions.final_value:x')
p.model.connect('phase:theta',
'initial_conditions.initial_value:theta')
p.model.connect('phase:theta', 'final_conditions.final_value:theta')
p.model.connect('phase:initial_jump:time',
'initial_conditions.initial_jump:time')
p.model.connect('phase:final_jump:time',
'final_conditions.final_jump:time')
p.model.connect('phase:initial_jump:x',
'initial_conditions.initial_jump:x')
p.model.connect('phase:final_jump:x', 'final_conditions.final_jump:x')
p.model.connect('phase:initial_jump:theta',
'initial_conditions.initial_jump:theta')
p.model.connect('phase:final_jump:theta',
'final_conditions.final_jump:theta')
p.model.linear_solver = om.DirectSolver()
p.setup(force_alloc_complex=True)
p['phase:time'] = np.linspace(0, 500, n)
p['phase:time'] = np.linspace(0, 500, n)
p['phase:x'] = np.linspace(0, 10, n)
p['phase:theta'] = np.linspace(-1, 1, n)
p['phase:initial_jump:time'] = 50.0
p['phase:final_jump:time'] = 75.0
p['phase:initial_jump:x'] = 100.0
p['phase:final_jump:x'] = 200.0
p['phase:initial_jump:theta'] = -1.0
p['phase:final_jump:theta'] = -1.0
p.run_model()
assert_almost_equal(p['time--'],
p['phase:time'][0] - p['phase:initial_jump:time'])
assert_almost_equal(p['time-+'], p['phase:time'][0])
assert_almost_equal(p['time++'],
p['phase:time'][-1] + p['phase:final_jump:time'])
assert_almost_equal(p['time+-'], p['phase:time'][-1])
assert_almost_equal(p['states:x--'],
p['phase:x'][0] - p['phase:initial_jump:x'])
assert_almost_equal(p['states:x++'],
p['phase:x'][-1] + p['phase:final_jump:x'])
assert_almost_equal(
p['controls:theta--'],
p['phase:theta'][0] - p['phase:initial_jump:theta'])
assert_almost_equal(p['controls:theta++'],
p['phase:theta'][-1] + p['phase:final_jump:theta'])
cpd = p.check_partials(compact_print=True, method='cs')
assert_check_partials(cpd)
def test_vector_state_and_control(self):
n = 101
p = om.Problem(model=om.Group())
time_options = TimeOptionsDictionary()
time_options['units'] = 's'
state_options = {}
state_options['pos'] = StateOptionsDictionary()
state_options['pos']['units'] = 'm'
state_options['pos']['shape'] = (3, )
control_options = {}
control_options['cmd'] = ControlOptionsDictionary()
control_options['cmd']['units'] = 'rad'
control_options['cmd']['shape'] = (3, )
ivc = om.IndepVarComp()
ivc.add_output(name='phase:time', val=np.zeros(n), units='s')
ivc.add_output(name='phase:initial_jump:time',
val=100.0 * np.ones(1),
units='s')
ivc.add_output(name='phase:pos', val=np.zeros((n, 3)), units='m')
ivc.add_output(name='phase:initial_jump:pos',
val=np.zeros(state_options['pos']['shape']),
units='m')
ivc.add_output(name='phase:final_jump:pos',
val=np.zeros(state_options['pos']['shape']),
units='m')
ivc.add_output(name='phase:cmd', val=np.zeros((n, 3)), units='rad')
ivc.add_output(name='phase:initial_jump:cmd',
val=np.zeros(control_options['cmd']['shape']),
units='rad')
ivc.add_output(name='phase:final_jump:cmd',
val=np.zeros(control_options['cmd']['shape']),
units='rad')
p.model.add_subsystem('ivc', subsys=ivc, promotes_outputs=['*'])
p.model.add_subsystem('initial_conditions',
subsys=EndpointConditionsComp(
loc='initial',
time_options=time_options,
state_options=state_options,
control_options=control_options),
promotes_outputs=['*'])
p.model.add_subsystem('final_conditions',
subsys=EndpointConditionsComp(
loc='final',
time_options=time_options,
state_options=state_options,
control_options=control_options),
promotes_outputs=['*'])
p.model.connect('phase:time', 'initial_conditions.initial_value:time')
p.model.connect('phase:time', 'final_conditions.final_value:time')
p.model.connect('phase:pos', 'initial_conditions.initial_value:pos')
p.model.connect('phase:pos', 'final_conditions.final_value:pos')
p.model.connect('phase:initial_jump:pos',
'initial_conditions.initial_jump:pos')
p.model.connect('phase:final_jump:pos',
'final_conditions.final_jump:pos')
p.model.connect('phase:cmd', 'initial_conditions.initial_value:cmd')
p.model.connect('phase:cmd', 'final_conditions.final_value:cmd')
p.model.connect('phase:initial_jump:cmd',
'initial_conditions.initial_jump:cmd')
p.model.connect('phase:final_jump:cmd',
'final_conditions.final_jump:cmd')
p.model.linear_solver = om.DirectSolver()
p.model.options['assembled_jac_type'] = 'csc'
p.setup(force_alloc_complex=True)
p['phase:time'] = np.linspace(0, 500, n)
p['phase:pos'][:, 0] = np.linspace(0, 10, n)
p['phase:pos'][:, 1] = np.linspace(0, 20, n)
p['phase:pos'][:, 2] = np.linspace(0, 30, n)
p['phase:initial_jump:pos'] = np.array([7, 8, 9])
p['phase:final_jump:pos'] = np.array([4, 5, 6])
p['phase:cmd'][:, 0] = np.linspace(0, 5, n)
p['phase:cmd'][:, 1] = np.linspace(0, 6, n)
p['phase:cmd'][:, 2] = np.linspace(0, 7, n)
p['phase:initial_jump:cmd'] = np.array([1, 2, 3])
p['phase:final_jump:cmd'] = np.array([10, 11, 12])
p.run_model()
assert_almost_equal(p['states:pos--'],
p['phase:pos'][0, :] - p['phase:initial_jump:pos'])
assert_almost_equal(p['states:pos++'],
p['phase:pos'][-1, :] + p['phase:final_jump:pos'])
assert_almost_equal(p['controls:cmd--'],
p['phase:cmd'][0, :] - p['phase:initial_jump:cmd'])
assert_almost_equal(p['controls:cmd++'],
p['phase:cmd'][-1, :] + p['phase:final_jump:cmd'])
cpd = p.check_partials(compact_print=True, method='cs')
assert_check_partials(cpd)
def setUp(self):
transcription = 'gauss-lobatto'
self.gd = gd = GridData(num_segments=2,
transcription_order=3,
segment_ends=[0.0, 3.0, 10.0],
transcription=transcription)
ndn = gd.subset_num_nodes['state_disc']
ncn = gd.subset_num_nodes['col']
nn = ndn + ncn
self.p = Problem(model=Group())
controls = {
'a': ControlOptionsDictionary(),
'b': ControlOptionsDictionary(),
'c': ControlOptionsDictionary(),
'd': ControlOptionsDictionary()
}
controls['a'].update({'units': 'm', 'shape': (1, ), 'opt': False})
controls['b'].update({'units': 's', 'shape': (3, ), 'opt': False})
controls['c'].update({'units': 'kg', 'shape': (3, 3), 'opt': False})
ivc = IndepVarComp()
self.p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('a_disc', val=np.zeros((ndn, 1)), units='m')
ivc.add_output('a_col', val=np.zeros((ncn, 1)), units='m')
ivc.add_output('b_disc', val=np.zeros((ndn, 3)), units='s')
ivc.add_output('b_col', val=np.zeros((ncn, 3)), units='s')
ivc.add_output('c_disc', val=np.zeros((ndn, 3, 3)), units='kg')
ivc.add_output('c_col', val=np.zeros((ncn, 3, 3)), units='kg')
ivc.add_output('a_ctrl', val=np.zeros((nn, 1)), units='m')
ivc.add_output('b_ctrl', val=np.zeros((nn, 3)), units='s')
ivc.add_output('c_ctrl', val=np.zeros((nn, 3, 3)), units='kg')
path_comp = GaussLobattoPathConstraintComp(grid_data=gd)
self.p.model.add_subsystem('path_constraints', subsys=path_comp)
path_comp._add_path_constraint('a',
var_class='ode',
shape=(1, ),
lower=0,
upper=10,
units='m')
path_comp._add_path_constraint('b',
var_class='ode',
shape=(3, ),
lower=0,
upper=10,
units='s')
path_comp._add_path_constraint('c',
var_class='ode',
shape=(3, 3),
lower=0,
upper=10,
units='kg')
path_comp._add_path_constraint('a_ctrl',
var_class='time',
shape=(1, ),
lower=0,
upper=10,
units='m')
path_comp._add_path_constraint('b_ctrl',
var_class='indep_control',
shape=(3, ),
lower=0,
upper=10,
units='s')
path_comp._add_path_constraint('c_ctrl',
var_class='control_rate',
shape=(3, 3),
lower=0,
upper=10,
units='kg')
self.p.model.connect('a_disc', 'path_constraints.disc_values:a')
self.p.model.connect('a_col', 'path_constraints.col_values:a')
self.p.model.connect('b_disc', 'path_constraints.disc_values:b')
self.p.model.connect('b_col', 'path_constraints.col_values:b')
self.p.model.connect('c_disc', 'path_constraints.disc_values:c')
self.p.model.connect('c_col', 'path_constraints.col_values:c')
self.p.model.connect('a_ctrl', 'path_constraints.all_values:a_ctrl')
self.p.model.connect('b_ctrl', 'path_constraints.all_values:b_ctrl')
self.p.model.connect('c_ctrl', 'path_constraints.all_values:c_ctrl')
self.p.setup()
self.p['a_disc'] = np.random.rand(*self.p['a_disc'].shape)
self.p['a_col'] = np.random.rand(*self.p['a_col'].shape)
self.p['b_disc'] = np.random.rand(*self.p['b_disc'].shape)
self.p['b_col'] = np.random.rand(*self.p['b_col'].shape)
self.p['c_disc'] = np.random.rand(*self.p['c_disc'].shape)
self.p['c_col'] = np.random.rand(*self.p['c_col'].shape)
self.p['a_ctrl'] = np.random.rand(*self.p['a_ctrl'].shape)
self.p['b_ctrl'] = np.random.rand(*self.p['b_ctrl'].shape)
self.p['c_ctrl'] = np.random.rand(*self.p['c_ctrl'].shape)
self.p.run_model()
