def check_states_data(xdata, nx, number_of_intervals):
if not nx == 0:
if xdata is None:
xdata = np.zeros((nx, number_of_intervals + 1))
xdata = np.atleast_2d(xdata)
if xdata.shape == (number_of_intervals + 1, nx):
xdata = xdata.T
if not xdata.shape == (nx, number_of_intervals + 1):
raise ValueError( \
"State values provided by user have wrong dimension.")
return xdata
else:
return ci.dmatrix(0,0)
def check_controls_data(udata, nu, number_of_controls):
if not nu == 0:
if udata is None:
udata = np.zeros((nu, number_of_controls))
udata = np.atleast_2d(udata)
if udata.shape == (number_of_controls, nu):
udata = udata.T
if not udata.shape == (nu, number_of_controls):
raise ValueError( \
"Time-varying control values provided by user have wrong dimension.")
return udata
else:
return ci.dmatrix(0, number_of_controls)
def check_constant_controls_data(qdata, nq):
if not nq == 0:
if qdata is None:
qdata = np.zeros((nq, 1))
qdata = np.atleast_2d(qdata)
if qdata.shape == (1, nq):
qdata = qdata.T
if not qdata.shape == (nq, 1):
raise ValueError( \
"Time-constant control values provided by user have wrong dimension.")
return qdata
else:
return ci.dmatrix(0, 1)
def check_input_error_weightings(weps_u, neps_u, number_of_intervals):
if not neps_u == 0:
if weps_u is None:
weps_u = np.ones((neps_u, number_of_intervals))
weps_u = np.atleast_2d(weps_u)
if weps_u.shape == (number_of_intervals,neps_u):
weps_u = weps_u.T
if not weps_u.shape == (neps_u, number_of_intervals):
raise ValueError( \
"Input error weightings provided by user have wrong dimension.")
return weps_u
else:
return ci.dmatrix(0, 0)
