def test_eval_polycontrol_gl_compressed_vectorized(self):
grid_data = dm.transcriptions.grid_data.GridData(
num_segments=2,
transcription='gauss-lobatto',
transcription_order=[3, 5],
compressed=True)
time_options = dm.phase.options.TimeOptionsDictionary()
time_options['units'] = 's'
pc_options = {
'u1': dm.phase.options.PolynomialControlOptionsDictionary()
}
pc_options['u1']['shape'] = (1, )
pc_options['u1']['units'] = 'rad'
pc_options['u1']['order'] = 6
p = om.Problem()
interp_comp = p.model.add_subsystem(
'interp',
VandermondeControlInterpComp(grid_data=grid_data,
vec_size=6,
polynomial_control_options=pc_options,
standalone_mode=True,
time_units='s'))
p.setup(force_alloc_complex=True)
interp_comp.options['segment_index'] = 1
p.set_val('interp.t_duration', 12.2352)
p.set_val('interp.dstau_dt', .3526)
p.set_val('interp.polynomial_controls:u1',
[0.0, 3.0, 0.0, 1.5, 4.0, 3.0, 4.0])
p.set_val('interp.ptau', -1.0)
p.run_model()
ptau = np.array([-1.0, 0.0, 1.0, -1.0, 0.0, 1.0])
p.set_val('interp.ptau', ptau)
p.run_model()
expected = np.array([[0.0, 1.5, 4.0, 0.0, 1.5, 4.0]]).T
assert_near_equal(p.get_val('interp.polynomial_control_values:u1'),
expected,
tolerance=_TOL)
with np.printoptions(linewidth=1024):
cpd = p.check_partials(compact_print=False, method='cs')
assert_check_partials(cpd, atol=_TOL, rtol=_TOL)
def test_eval_control_radau_uncompressed_vectorized(self):
grid_data = dm.transcriptions.grid_data.GridData(
num_segments=2,
transcription='radau-ps',
transcription_order=[3, 5],
compressed=False)
time_options = dm.phase.options.TimeOptionsDictionary()
time_options['units'] = 's'
control_options = {'u1': dm.phase.options.ControlOptionsDictionary()}
control_options['u1']['shape'] = (1, )
control_options['u1']['units'] = 'rad'
p = om.Problem()
interp_comp = p.model.add_subsystem(
'interp',
VandermondeControlInterpComp(grid_data=grid_data,
control_options=control_options,
vec_size=5,
standalone_mode=True,
time_units='s'))
p.setup(force_alloc_complex=True)
interp_comp.options['segment_index'] = 1
p.set_val('interp.controls:u1',
[0.0, 3.0, 1.5, 0.0, 4.0, 3.0, 4.0, 3.0])
p.set_val('interp.stau',
[-1.0, -0.72048, -0.167181, 0.446314, 0.885792])
p.run_model()
expected = np.array([[0.0, 4.0, 3.0, 4.0, 3.0]]).T
assert_near_equal(p.get_val('interp.control_values:u1'),
expected,
tolerance=1.0E-6)
with np.printoptions(linewidth=1024):
cpd = p.check_partials(compact_print=False, method='cs')
assert_check_partials(cpd, atol=_TOL, rtol=_TOL)
def test_eval_control_gl_uncompressed(self):
grid_data = dm.transcriptions.grid_data.GridData(
num_segments=2,
transcription='gauss-lobatto',
transcription_order=[3, 5],
compressed=False)
time_options = dm.phase.options.TimeOptionsDictionary()
time_options['units'] = 's'
control_options = {'u1': dm.phase.options.ControlOptionsDictionary()}
control_options['u1']['shape'] = (1, )
control_options['u1']['units'] = 'rad'
p = om.Problem()
interp_comp = p.model.add_subsystem(
'interp',
VandermondeControlInterpComp(grid_data=grid_data,
control_options=control_options,
standalone_mode=True,
time_units='s'))
p.setup(force_alloc_complex=True)
interp_comp.options['segment_index'] = 1
p.set_val('interp.controls:u1',
[0.0, 3.0, 0.0, 0.0, 4.0, 3.0, 4.0, 3.0])
p.set_val('interp.stau', -1.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[0.0]],
tolerance=_TOL)
p.set_val('interp.stau', 0.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[3.0]],
tolerance=_TOL)
p.set_val('interp.stau', 1.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[3.0]],
tolerance=_TOL)
interp_comp.options['segment_index'] = 0
p.set_val('interp.stau', -1.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[0.0]],
tolerance=_TOL)
p.set_val('interp.stau', 0.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[3.0]],
tolerance=_TOL)
p.set_val('interp.stau', 1.0)
p.run_model()
assert_near_equal(p.get_val('interp.control_values:u1'), [[0.0]],
tolerance=_TOL)
p.set_val('interp.stau', 0.54262)
p.run_model()
with np.printoptions(linewidth=1024):
cpd = p.check_partials(compact_print=False, method='cs')
assert_check_partials(cpd, atol=_TOL, rtol=_TOL)