def test_ex_brachistochrone_iteration(self):
print('test_ex_brachistochrone_iteration')
with patch.object(sys, 'argv', self.base_args + ['--refine_limit=5']):
command_line.dymos_cmd()
self._assert_correct_solution()
self.assertTrue(os.path.exists('grid_refinement.out'))
def test_vanderpol_simulation_restart(self):
from scipy.interpolate import interp1d
from numpy.testing import assert_almost_equal
from dymos.examples.vanderpol.vanderpol_dymos_plots import vanderpol_dymos_plots
self.base_args = [
'dymos_testing',
os.path.join(self.test_dir,
'../../examples/vanderpol/vanderpol_dymos.py')
]
# run simulation first to record the output database
print('test_vanderpol_simulation_restart first run')
with patch.object(sys, 'argv',
self.base_args + ['--simulate'] + ['--no_solve']):
s = command_line.dymos_cmd()
# run problem again loading the output simulation database, but not solving
print('test_vanderpol_simulation_restart second run')
# TODO: need this to match test_modify_problem:test_modify_problem? q.driver.opt_settings['maxiter'] = 0
with patch.object(sys, 'argv',
self.base_args + ['--solution=dymos_simulation.db']):
q = command_line.dymos_cmd()
# The solution should look like the explicit time history for the states and controls.
DO_PLOTS = False
if DO_PLOTS:
vanderpol_dymos_plots(
q['p']) # only for visual inspection and debug
else: # automate comparison
s['p'] = q['p'].model.traj.simulate()
# get_val returns data for duplicate time points; remove them before interpolating
tq = q['p'].get_val('traj.phase0.timeseries.time')[:, 0]
nodup = np.insert(tq[1:] != tq[:-1], 0, True)
tq = tq[nodup]
x1q = q['p'].get_val('traj.phase0.timeseries.states:x1')[:,
0][nodup]
x0q = q['p'].get_val('traj.phase0.timeseries.states:x0')[:,
0][nodup]
uq = q['p'].get_val('traj.phase0.timeseries.controls:u')[:,
0][nodup]
ts = s['p'].get_val('traj.phase0.timeseries.time')[:, 0]
nodup = np.insert(ts[1:] != ts[:-1], 0, True)
ts = ts[nodup]
x1s = s['p'].get_val('traj.phase0.timeseries.states:x1')[:,
0][nodup]
x0s = s['p'].get_val('traj.phase0.timeseries.states:x0')[:,
0][nodup]
us = s['p'].get_val('traj.phase0.timeseries.controls:u')[:,
0][nodup]
# create interpolation functions so that values can be looked up at matching time points
fx1s = interp1d(ts, x1s, kind='cubic')
fx0s = interp1d(ts, x0s, kind='cubic')
fus = interp1d(ts, us, kind='cubic')
assert_almost_equal(x1q, fx1s(tq), decimal=2)
assert_almost_equal(x0q, fx0s(tq), decimal=2)
assert_almost_equal(uq, fus(tq), decimal=5)
def test_ex_brachistochrone_no_solve(self):
print('test_ex_brachistochrone_no_solve')
with patch.object(sys, 'argv', self.base_args + ['--no_solve']):
command_line.dymos_cmd()
self.assertTrue(os.path.exists('dymos_solution.db'))
cr = om.CaseReader('dymos_solution.db')
self.assertTrue(len(cr.list_cases()) == 1)
def test_ex_brachistochrone_simulate(self):
print('test_ex_brachistochrone_simulate')
with patch.object(sys, 'argv', self.base_args + ['--simulate']):
command_line.dymos_cmd()
self.assertTrue(os.path.exists('dymos_simulation.db'))
self._assert_correct_solution()
def test_ex_brachistochrone_stock_nosolve_nosim(self):
""" Test to verify that the command line interface intercepts final_setup and
does nothing if given `--no_solve` and not given `--simulate`. """
print('test_ex_brachistochrone_stock_nosolve_nosim')
with patch.object(sys, 'argv', self.base_args + ['--no_solve']):
command_line.dymos_cmd()
self.assertTrue(os.path.exists('dymos_solution.db'))
cr = om.CaseReader('dymos_solution.db')
self.assertTrue(len(cr.list_cases()) == 1)
def test_ex_brachistochrone_set_solution_record_file(self):
print('test_ex_brachistochrone_set_solution_record_file')
with patch.object(
sys, 'argv', self.base_args +
['--solution_record_file=solution_record_file.db']):
command_line.dymos_cmd()
self.assertTrue(os.path.exists('solution_record_file.db'))
cr = om.CaseReader('solution_record_file.db')
self.assertListEqual(['final'], cr.list_cases())
def test_ex_brachistochrone_no_solve(self):
print('test_ex_brachistochrone_no_solve')
with patch.object(sys, 'argv', self.base_args + ['--no_solve']):
command_line.dymos_cmd()
# Until the problem recorder is fixed, the driver recorder shouldn't be
# invoked by this test, and thus we won't get a dymos_solution.db file
self.assertTrue(os.path.exists('dymos_solution.db'))
cr = om.CaseReader('dymos_solution.db')
self.assertTrue(len(cr.list_cases()) == 0) # no case recorded
def test_ex_brachistochrone_simulate_set_simulation_record_file(self):
print('test_ex_brachistochrone_simulate')
with patch.object(
sys, 'argv', self.base_args + ['--simulate'] +
['--simulation_record_file=simulation_record_file.db']):
command_line.dymos_cmd()
self.assertTrue(os.path.exists('simulation_record_file.db'))
cr = om.CaseReader('simulation_record_file.db')
self.assertListEqual(['final'], cr.list_cases())
case = cr.get_case('final')
self.assertEqual(57, len(case.outputs))
def test_ex_brachistochrone_make_no_plots(self):
print('test_ex_brachistochrone_make_no_plots')
with patch.object(sys, 'argv', self.base_args):
command_line.dymos_cmd()
for varname in [
'time_phase', 'states:x', 'state_rates:x', 'states:y',
'state_rates:y', 'states:v', 'state_rates:v', 'controls:theta',
'control_rates:theta_rate', 'control_rates:theta_rate2',
'parameters:g'
]:
self.assertFalse(
os.path.exists(f'plots/{varname.replace(":","_")}.png'))
def test_ex_brachistochrone_solution(self):
# run stock problem first to record the output database
print('test_ex_brachistochrone_solution first run')
with patch.object(sys, 'argv', self.base_args):
command_line.dymos_cmd()
# run problem again loading the output database
print('test_ex_brachistochrone_solution second run')
with patch.object(sys, 'argv', self.base_args + ['--solution=dymos_solution.db']):
command_line.dymos_cmd()
self._assert_correct_solution()
self.assertTrue(os.path.exists('old_dymos_solution.db')) # old database renamed when used as input
def test_ex_brachistochrone_make_plots_set_plot_dir(self):
print('test_ex_brachistochrone_make_plots_set_plot_dir')
plot_dir = 'plot_dir'
with patch.object(
sys, 'argv', self.base_args + ['--make_plots'] +
[f'--plot_dir={plot_dir}']):
command_line.dymos_cmd()
for varname in [
'time_phase', 'states:x', 'state_rates:x', 'states:y',
'state_rates:y', 'states:v', 'state_rates:v', 'controls:theta',
'control_rates:theta_rate', 'control_rates:theta_rate2',
'parameters:g'
]:
self.assertTrue(
os.path.exists(f'{plot_dir}/{varname.replace(":","_")}.png'))
def test_ex_brachistochrone_stock(self):
""" Test to verify that the command line interface intercepts final_setup and runs
dm.run_problem by default without any additional arguments. """
print('test_ex_brachistochrone_stock')
with patch.object(sys, 'argv', self.base_args):
globals_dict = command_line.dymos_cmd()
self._assert_correct_solution()
print(globals_dict['p']['traj0.phase0.controls:theta'][:3])
# check first part of controls result:
assert_almost_equal(globals_dict['p']['traj0.phase0.controls:theta'][:3],
np.array([[2.54206362], [4.8278643], [10.11278149]]))
def test_ex_brachistochrone_reset_grid(self):
print('test_ex_brachistochrone_reset_grid')
with patch.object(sys, 'argv', self.base_args + ['--reset_grid']):
command_line.dymos_cmd()
self._assert_correct_solution()
