def test_trip(force_recompute=False, filename='/home/poine/tmp/glider_opty_4d_wp{}.npz', exp='0'):
if exp == '0': atm = go_u.AtmosphereCalmSym()
elif exp == '1': atm = go_u.AtmosphereHorizFieldSym(-5.)
else: atm = go_u.AtmosphereHorizFieldSym(-7.5)
_p = sgo4d.Planner( #_obj_fun=sgo4d.obj_sum_z, _obj_grad=sgo4d.obj_grad_sum_z,
#_obj_fun=sgo4d.obj_final_z, _obj_grad=sgo4d.obj_grad_final_z,
_obj_fun=obj_wp, _obj_grad=obj_grad_wp,
#_obj_fun=obj_cc, _obj_grad=obj_grad_cc,
_atm=atm, e0=-50, n0=0, u0=25, psi0=0,
_v_constraint = (7., 12.),
_e_constraint = (-75, 175),
_n_constraint = (-50, 100),
#_u_constraint = ( 25, 100),
duration=20, hz=50.)
sgo4d.compute_or_load(atm, _p, force_recompute, filename.format(exp), tol=1e-5, max_iter=2000, initial_guess=None)
dists_to_wp = np.linalg.norm(np.vstack((_p.sol_e, _p.sol_n)).T - [ewp, nwp], axis=1)
arrival_idx = np.argmax(dists_to_wp<20)
go_u.plot_solution_chronogram(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_wp{exp}_chrono.png')
go_u.plot_solution_2D_en(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_wp{exp}_en.png')
#go_u.plot_solution_2D_nu(_p, n0=-40, n1=50, dn=5., e0=0., h0=0., h1=70, dh=2.5)
go_u.plot_solution_3D(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_wp{exp}_3D.png')
plt.show()
def main(force_recompute=False, filename='/tmp/glider_opty.pkl'):
#atm = go_u.AtmosphereWharingtonSym(radius=40., strength=-1)
#atm = go_u.AtmosphereCalmSym()
#atm = go_u.atm2() # broken?
atm = go_u.AtmosphereRidgeSym()
_p = Planner( #_obj_fun=obj_final_z, _obj_grad=obj_grad_final_z,
_obj_fun=obj_sum_z,
_obj_grad=obj_grad_sum_z,
_atm=atm,
x0=10,
y0=0,
z0=25,
psi0=np.pi,
duration=50,
hz=50.)
compute_or_load(atm,
_p,
force_recompute,
filename,
tol=1e-5,
max_iter=1500,
initial_guess=None)
go_u.plot_solution_chronogram(_p)
go_u.plot_solution_2D_en(_p)
go_u.plot_solution_2D_nu(_p,
n0=-40,
n1=50,
dn=5.,
e0=0.,
h0=0.,
h1=70,
dh=2.5)
go_u.plot_solution_3D(_p)
plt.show()
def test_thermal(force_recompute=False, filename='/home/poine/tmp/glider_opty_4d_thermal_{}.npz', exp_id='2'):
if exp_id == '0':
atm = go_u.AtmosphereWharingtonSym(radius=40., strength=-1)
elif exp_id == '1':
atm = go_u.AtmosphereWharingtonOval(radius=60., strength=-0.8)
elif exp_id == '2':
atm = go_u.atm2()
#atm = go_u.AtmosphereArrayTest()
_p = sgo4d.Planner( _obj_fun=sgo4d.obj_sum_z, _obj_grad=sgo4d.obj_grad_sum_z,
#_obj_fun=sgo4d.obj_final_z, _obj_grad=sgo4d.obj_grad_final_z,
_atm=atm, e0=-100, n0=0, u0=25, psi0=0,
_v_constraint = (7., 15.),
_e_constraint = (-120, 120),
_n_constraint = (-120, 120),
#_u_constraint = ( 25, 100),
duration=40, hz=50., obj_scale=1.)
#sgo4d.compute_or_load(atm, _p, force_recompute, filename, tol=1e-5, max_iter=4000, initial_guess=None)
sgo4d.compute_or_load(atm, _p, force_recompute, filename.format(exp_id), tol=1e-4, max_iter=4000, initial_guess=None)
print(f'last altitude {_p.sol_u[-1]} m')
go_u.plot_solution_chronogram(_p); plt.savefig('plots/glider_4d_thermal_chrono.png')
go_u.plot_solution_2D_en(_p); plt.savefig('plots/glider_4d_thermal_en.png')
go_u.plot_solution_2D_nu(_p, n0=-40, n1=50, dn=5., e0=0., h0=0., h1=70, dh=2.5); plt.savefig('plots/glider_4d_thermal_nu.png')
go_u.plot_solution_2D_eu(_p, contour_wz=True, e0=-40, e1=50, de=5., n0=0., h0=0., h1=70, dh=2.5); plt.savefig('plots/glider_4d_thermal_eu.png')
go_u.plot_solution_3D(_p); plt.savefig('plots/glider_4d_thermal_3D.png')
plt.show()
def plot_all(_p, n0, n1, dn, e0, e1, de, h0, h1, dh):
go_u.plot_solution_chronogram(_p)
go_u.plot_solution_2D_en(_p)
go_u.plot_solution_2D_nu(_p,
n0=n0,
n1=n1,
dn=dn,
e0=e0,
h0=h0,
h1=h1,
dh=dh)
go_u.plot_solution_3D(_p)
def main(force_recompute=False, filename='/tmp/glider2_opty.pkl'):
atm = go_u.AtmosphereWharingtonSym(center=[0, 0, 0],
radius=40,
strength=1.)
_p = Planner(_atm=atm, x0=-100, y0=-100, z0=5)
_p.configure(tol=1e-7, max_iter=2000)
_p.run()
go_u.plot_solution_chronogram(_p)
go_u.plot_solution_2D_en(_p)
go_u.plot_solution_2D_nu(_p)
go_u.plot_solution_3D(_p)
plt.show()
def test_cc(force_recompute=False, filename='/home/poine/tmp/glider_opty_4d_cc{}.npz', exp='0'):
if exp == '0': atm = go_u.atm4(strengths=(-0.6, -1.4, -0.8, -1.9))
else: atm = go_u.atm4(strengths=(-0.6, -1.4, -0.8, -0.6))
_p = sgo4d.Planner(_obj_fun=obj_cc, _obj_grad=obj_grad_cc,
_atm=atm, e0=-100, n0=0, u0=25, psi0=0,
_v_constraint = (7., 15.),
_e_constraint = (-150, 300),
_n_constraint = (-100, 100),
_u_constraint = ( 23, 100),
duration=60, hz=20.)
#sgo4d.compute_or_load(atm, _p, force_recompute, filename, tol=1e-5, max_iter=2000, initial_guess=None)
sgo4d.compute_or_load(atm, _p, force_recompute, filename.format(exp), tol=1e-4, max_iter=1500, initial_guess=None)
dists_to_wp = np.linalg.norm(np.vstack((_p.sol_e, _p.sol_n)).T - [ccg_e, ccg_n], axis=1)
arrival_idx = np.argmax(dists_to_wp<10)
go_u.plot_solution_chronogram(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_cc{exp}_chrono.png')
go_u.plot_solution_2D_en(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_cc{exp}_en.png')
go_u.plot_solution_3D(_p, max_idx=arrival_idx); plt.savefig(f'plots/glider_4d_cc{exp}_3D.png')
plt.show()
def test_slope(force_recompute=False, filename='/home/poine/tmp/glider_opty_4d_slope.npz'):
atm = go_u.AtmosphereRidgeSym()
_p = sgo4d.Planner( #_obj_fun=sgo4d.obj_sum_z, _obj_grad=sgo4d.obj_grad_sum_z,
_obj_fun=sgo4d.obj_final_z, _obj_grad=sgo4d.obj_grad_final_z,
_atm=atm, e0=0, n0=0, u0=25, psi0=-np.pi/6,
_v_constraint = (7., 15.),
_n_constraint = (-100, 100),
_e_constraint = (-100, 100),
duration=50, hz=50.)
sgo4d.compute_or_load(atm, _p, force_recompute, filename, tol=1e-4, max_iter=3000, initial_guess=None)
#sgo4d.compute_or_load(atm, _p, force_recompute, filename, tol=1e-5, max_iter=2000, initial_guess=None)
print(f'last altitude {_p.sol_u[-1]} m')
go_u.plot_solution_chronogram(_p); plt.savefig('plots/glider_4d_slope_chrono.png')
go_u.plot_solution_2D_en(_p, contour_wz=True) ; plt.savefig('plots/glider_4d_slope_en.png')#, n0=-40, n1=50, dn=5., e0=0., h0=0., h1=70, dh=2.5)
go_u.plot_solution_2D_nu(_p, contour_wz=True, n0=-40, n1=50, dn=5., e0=0., h0=0., h1=70, dh=2.5); plt.savefig('plots/glider_4d_slope_nu.png')
go_u.plot_solution_2D_eu(_p, contour_wz=True, e0=-40, e1=50, de=5., n0=0., h0=0., h1=70, dh=2.5); plt.savefig('plots/glider_4d_slope_eu.png')
go_u.plot_solution_3D(_p); plt.savefig('plots/glider_4d_slope_3D.png')
plt.show()
def main(force_recompute=False, filename='/tmp/glider3_opty.pkl'):
atm = go_u.AtmosphereCalmSym()
_p = Planner( _obj_fun=obj_final_z, _obj_grad=obj_grad_final_z,
#_obj_fun=obj_sum_z, _obj_grad=obj_grad_sum_z,
#_atm=atm, x0=20, y0=0, z0=-35, psi0=np.pi,
_atm=atm, x0=10, y0=0, z0=-25, psi0=np.pi,
duration=120, hz=50.)
filename = '/tmp/glider_better_opty.npz'
if force_recompute:
_p.configure(tol=1e-5, max_iter=200)
_p.run()
_p.prob.plot_objective_value()
_p.prob.plot_trajectories(_p.solution)
#_p.prob.plot_constraint_violations(_p.solution)
_p.save_solution(filename)
else:
_p.load_solution(filename)
go_u.plot_solution_2D_en(_p)
go_u.plot_solution_2D_nu(_p, n0=-40, n1=50, dn=5., e0=0., h0=0., h1=70, dh=2.5)
go_u.plot_solution_3D(_p)
plt.show()
def main(force_recompute=False, filename='/tmp/glider_opty.pkl'):
if 1:
_atm = go_u.AtmosphereWharingtonSym(center=[0, 0, 0],
radius=40,
strength=1.)
_atm.center = np.array([-20, 0, 0])
_atm.strength = 2.
_atm.radius = 20.
else:
_atm = go_u.AtmosphereRidgeSym()
_p = Planner(_atm=_atm, x0=0, z0=20., psi0=np.pi /
2) #obj_cc, obj_grad_cc)#_min_bank=np.deg2rad(-10))
_p.configure(tol=1e-8, max_iter=1000)
_p.run_or_load(filename, force_recompute)
plot_run(_p)
alt_final, alt_mean = _p.sol_z[-1], np.mean(_p.sol_z)
txt = 'alt: final {:.1f} m, mean {:.1f}'.format(alt_final, alt_mean)
go_u.plot_solution_chronogram(_p)
go_u.plot_solution_2D_en(_p, title=txt)
go_u.plot_solution_2D_nu(_p, title=txt)
go_u.plot_solution_3D(_p, title=txt)
plt.show()
def test_cst_wind(force_recompute=False,
filename='/tmp/glider_opty_4d_cst_wind.npz'):
atm = go_u.AtmosphereCstWindSym([4, 0, 0])
#obj_f, obj_grad = obj_circle, obj_grad_circle
#obj_f, obj_grad = obj_min_bank, obj_grad_min_bank
obj_f, obj_grad = obj_sum_z, obj_grad_sum_z
_p = go4.Planner(_obj_fun=obj_f,
_obj_grad=obj_grad,
_atm=atm,
_n_constraint=(-40, 40),
_e_constraint=(-40, 40),
x0=10,
y0=0,
z0=-25,
psi0=np.pi,
duration=30,
hz=50.,
obj_scale=100.)
initial_guess = initial_guess_circle(_p)
go4.compute_or_load(atm,
_p,
force_recompute,
filename,
tol=1e-5,
max_iter=500,
initial_guess=initial_guess)
go_u.plot_solution_chronogram(_p)
go_u.plot_solution_2D_en(_p)
go_u.plot_solution_2D_nu(_p,
n0=-40,
n1=50,
dn=5.,
e0=0.,
h0=0.,
h1=70,
dh=2.5)
go_u.plot_solution_3D(_p)