print (section_list,key)
if key is not None:
print 'The "%s" key in the section "%s" failed validation' % (key, ', '.join(section_list))
elif isinstance(confdict[key],dict):
niceErr(confdict[key],resultsdict[key])
else:
print 'The following section was missing:%s ' % key
niceErr(conf,results)
sys.exit(1)
print "creating model"
x0 = setC0(x0,conf)
sim = simutils.Sim(ts=0.02, sloMoFactor=4, state0=simutils.SimState(pdOn = False, x = x0))
dae = carouselmodel.model(conf)
sxfun = dae.sxFun()
sxfun.init()
print "creating outputs function"
fOutputs = dae.outputsFun()
fOutputs.init()
print "creating communicator"
communicator = simutils.Communicator(fOutputs,dae._outputNames)
print "creating integrator"
f = C.IdasIntegrator(sxfun)
f.setOption("reltol",1e-6)
f.setOption("abstol",1e-8)
f.setOption("t0",0)
ocp.setupCollocation(ocp.lookup('endTime'))
ocp.setupSolver( solverOpts=solverOptions,
callback=MyCallback() )
return ocp
if __name__=='__main__':
context = zmq.Context(1)
publisher = context.socket(zmq.PUB)
publisher.bind("tcp://*:5563")
print "reading config..."
conf = readConfig('config.ini','configspec.ini')
print "creating model..."
dae = carouselmodel.model(conf,extraParams=['endTime'])
print "setting up ocp..."
ocp = setupOcp(dae,conf,publisher,nk=50)
xOpt = None
for w0 in [10]:
ocp.bound('w0',(w0,w0),force=True)
opt = ocp.solve(xInit=xOpt)
xup = opt['vardict']
xOpt = opt['X_OPT']
for k in range(0,ocp.nk):
j = ocp.nicp*(ocp.deg+1)*k
oldKites.append( kiteproto.toKiteProto(C.DMatrix(opt['x'][:,j]),C.DMatrix(opt['u'][:,j]),C.DMatrix(opt['p']), conf['kite']['zt'], conf['carousel']['rArm']) )