Exemplo n.º 1
0
def test_input_formatting_mixed_constraints():

    """ Test formatting of user provided input with linear constraints.
    """

    x = ca.MX.sym('x',1)
    u = ca.MX.sym('u',2)

    # case of mixed constraints
    sys = {}
    sys['F'] = ca.Function('F',[x,u],[x])
    h = ca.Function('h',[x,u],[ca.vertcat(x+u[0], u[1], x**2*u[0])])
    sys['h'] = h
    sys = preprocessing.input_formatting(sys)

    assert 'h' in sys, 'lin. inequalites are being removed'
    assert sys['h'].size1_out(0) == 3, 'lin inequalities have wrong dimension'
    assert 'g' in sys, 'nonlin. inequalities are not being created'
    assert sys['g'].size1_out(0) == 1, 'nonlin inequalities have wrong dimension'
    assert 'vars'  in sys, 'system variables are not being created'
    assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
    assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'
    assert sys['vars']['us'].shape == (1,1), 'us-variable dimensions are incorrect'

    x_num = 1.0
    u_num = ca.vertcat(0.0, 2.0)
    us_num = ca.vertcat(3.0)
    h_eval = sys['h'](x_num, u_num, us_num).full()
    g_eval = sys['g'](x_num, u_num, us_num).full()
    assert ca.vertsplit(h_eval) == [1.0, 2.0, 3.0]
    assert ca.vertsplit(g_eval) == [-3.0]
Exemplo n.º 2
0
    def __init__(self, f, l, h=None, p=1):
        """ Constructor 
        """

        # print license information
        self.__log_license_info()

        Logger.logger.info(60 * '=')
        Logger.logger.info(18 * ' ' + 'Create Tuner instance...')
        Logger.logger.info(60 * '=')
        Logger.logger.info('')

        # construct system
        sys = {'f': f}
        if h is not None:
            sys['h'] = h

        # detect nonlinear constraints
        Logger.logger.info('Detect nonlinear constraints...')

        self.__sys = preprocessing.input_formatting(sys)

        # problem dimensions
        self.__nx = sys['vars']['x'].shape[0]
        self.__nu = sys['vars']['u'].shape[0]
        self.__nw = self.__nx + self.__nu
        self.__p = p
        if 'us' in sys['vars'].keys():
            self.__nus = sys['vars']['us'].shape[0]
        else:
            self.__nus = 0

        # construct p-periodic OCP
        if self.__p == 1:
            Logger.logger.info(
                'Construct steady-state optimization problem...')
        else:
            Logger.logger.info(
                'Construct {}-periodic optimal control problem...'.format(
                    self.__p))

        self.__l = l
        self.__ocp = pocp.Pocp(sys=sys, cost=l, period=p)

        Logger.logger.info('')
        Logger.logger.info('Tuner instance created:')
        self.__log_problem_dimensions()

        return None
Exemplo n.º 3
0
def test_input_formatting_no_constraints():

    """ Test formatting of user provided input w/o constraints.
    """

    x = ca.MX.sym('x',1)
    u = ca.MX.sym('u',2)

    # case of no constraints
    sys = {}
    sys['F'] = ca.Function('F',[x,u],[x])
    sys = preprocessing.input_formatting(sys)

    assert 'h' not in sys, 'non-existent lin. inequalites are being created'
    assert 'g' not in sys, 'non-existent nonlin. inequalities are being created'
    assert 'vars'  in sys, 'system variables are not being created'
    assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
    assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'
Exemplo n.º 4
0
def test_input_formatting_lin_constraints():

    """ Test formatting of user provided input with linear constraints.
    """

    x = ca.MX.sym('x',1)
    u = ca.MX.sym('u',2)

    # case of linear constraints
    sys = {}
    sys['F'] = ca.Function('F',[x,u],[x])
    h = ca.Function('h',[x,u],[ca.vertcat(x+u[0], u[1])])
    sys['h'] = h
    sys = preprocessing.input_formatting(sys)

    assert 'h' in sys, 'lin. inequalites are being removed'
    assert sys['h'].size1_out(0) == 2, 'lin inequalities dimension is altered incorrectly'
    assert 'g' not in sys, 'non-existent nonlin. inequalities are being created'
    assert 'vars'  in sys, 'system variables are not being created'
    assert sys['vars']['x'].shape == x.shape, 'x-variable dimensions are incorrect'
    assert sys['vars']['u'].shape == u.shape, 'u-variable dimensions are incorrect'