# bounds
ocp.bound('thrust',(-1.3,0.9))
ocp.bound('pos',(-10,10))
ocp.bound('vel',(-10,10))
ocp.bound('mass',(0.001,1000))
# boundary conditions
ocp.bound('pos',(0,0),timestep=0)
ocp.bound('pos',(5,5),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.bound('mass',(1,1),timestep=0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("mass",1)
ocp.guess("thrust",0)
# lookup states/actions/outputs/params
thrust4 = ocp.lookup('thrust',timestep=4)
thrust4 = ocp('thrust',timestep=4)
# can specify index of collocation point
posvel4_2 = ocp('posvel',timestep=4, degIdx=2)
# add nonlinear constraint
ocp.constrain(thrust4, '<=', posvel4_2**2)
# fix objective and setup solver
ocp.setupCollocation( endTime )
# bounds
ocp.bound('abspos',(0,10))
ocp.bound('pos',(-1000,1000))
ocp.bound('vel',(-100,100))
ocp.bound('force',(-30,30))
# boundary conditions
ocp.bound('pos',(5,5),timestep=0)
ocp.bound('pos',(0.1,0.1),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.guess("abspos",0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("force",0)
# add slacks
for k in range(N):
for j in range(ocp.deg+1):
pos = ocp('pos', timestep=k, degIdx=j)
abspos = ocp('abspos',timestep=k, degIdx=j)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
pos = ocp('pos', timestep=N, degIdx=0)
abspos = ocp('abspos',timestep=N, degIdx=0)
ocp.constrain( pos, '<=', abspos)
ocp.setupCollocation( endTime )
# bounds
ocp.bound('abspos',(0,10))
ocp.bound('pos',(-1000,1000))
ocp.bound('vel',(-100,100))
ocp.bound('force',(-30,30))
# boundary conditions
ocp.bound('pos',(5,5),timestep=0)
ocp.bound('pos',(0.1,0.1),timestep=-1)
ocp.bound('vel',(0,0),timestep=0)
ocp.bound('vel',(0,0),timestep=-1)
ocp.guess("abspos",0)
ocp.guess("pos",0)
ocp.guess("vel",0)
ocp.guess("force",0)
# add slacks
for k in range(N):
for j in range(ocp.deg+1):
pos = ocp('pos', timestep=k, degIdx=j)
abspos = ocp('abspos',timestep=k, degIdx=j)
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
pos = ocp('pos', timestep=N, degIdx=0)
abspos = ocp('abspos',timestep=N, degIdx=0)
ocp.constrain( pos, '<=', abspos)
