def test_initial_guess_update():
# Load pendulum
bioptim_folder = TestUtils.bioptim_folder()
pendulum = TestUtils.load_module(
bioptim_folder +
"/examples/optimal_time_ocp/pendulum_min_time_Mayer.py")
ocp = pendulum.prepare_ocp(
biorbd_model_path=bioptim_folder +
"/examples/optimal_time_ocp/models/pendulum.bioMod",
final_time=2,
n_shooting=10,
)
np.testing.assert_almost_equal(ocp.nlp[0].x_init.init, np.zeros((4, 1)))
np.testing.assert_almost_equal(ocp.nlp[0].u_init.init, np.zeros((2, 1)))
idx = ocp.v.parameters_in_list.index("time")
np.testing.assert_almost_equal(
ocp.v.parameters_in_list[idx].initial_guess.init[0, 0], 2)
np.testing.assert_almost_equal(
ocp.v.init.init, np.concatenate((np.zeros(
(4 * 11 + 2 * 10, 1)), [[2]])))
wrong_new_x_init = InitialGuess([1] * 6)
new_x_init = InitialGuess([1] * 4)
wrong_new_u_init = InitialGuess([3] * 4)
new_u_init = InitialGuess([3] * 2)
new_time_init = InitialGuess([4])
# No name for the param
with pytest.raises(
ValueError,
match="update_initial_guess must specify a name for the parameters"
):
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
new_time_init.name = "dumb name"
with pytest.raises(
ValueError,
match="update_initial_guess cannot declare new parameters"):
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
new_time_init.name = "time"
with pytest.raises(RuntimeError):
ocp.update_initial_guess(new_x_init, wrong_new_u_init, new_time_init)
with pytest.raises(RuntimeError):
ocp.update_initial_guess(wrong_new_x_init, wrong_new_u_init,
new_time_init)
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
np.testing.assert_almost_equal(ocp.nlp[0].x_init.init, np.ones((4, 1)))
np.testing.assert_almost_equal(ocp.nlp[0].u_init.init, np.ones((2, 1)) * 3)
idx = ocp.v.parameters_in_list.index("time")
np.testing.assert_almost_equal(
ocp.v.parameters_in_list[idx].initial_guess.init[0, 0], 4)
np.testing.assert_almost_equal(
ocp.v.init.init,
np.array([[1, 1, 1, 1] * 11 + [3, 3] * 10 + [4]]).T)
def test_initial_guess_update():
# Load pendulum
PROJECT_FOLDER = Path(__file__).parent / ".."
spec = importlib.util.spec_from_file_location(
"pendulum", str(PROJECT_FOLDER) + "/examples/optimal_time_ocp/pendulum_min_time_Mayer.py"
)
pendulum = importlib.util.module_from_spec(spec)
spec.loader.exec_module(pendulum)
ocp = pendulum.prepare_ocp(
biorbd_model_path=str(PROJECT_FOLDER) + "/examples/optimal_time_ocp/pendulum.bioMod",
final_time=2,
number_shooting_points=10,
)
np.testing.assert_almost_equal(ocp.nlp[0].x_init.init, np.zeros((4, 1)))
np.testing.assert_almost_equal(ocp.nlp[0].u_init.init, np.zeros((2, 1)))
np.testing.assert_almost_equal(ocp.param_to_optimize["time"].initial_guess.init[0, 0], 2)
np.testing.assert_almost_equal(ocp.V_init.init, np.concatenate(([[2]], np.zeros((4 * 11 + 2 * 10, 1)))))
wrong_new_x_init = InitialGuess([1] * 6)
new_x_init = InitialGuess([1] * 4)
wrong_new_u_init = InitialGuess([3] * 4)
new_u_init = InitialGuess([3] * 2)
new_time_init = InitialGuess([4])
# No name for the param
with pytest.raises(ValueError, match="update_initial_guess must specify a name for the parameters"):
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
new_time_init.name = "dumb name"
with pytest.raises(ValueError, match="update_initial_guess cannot declare new parameters"):
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
new_time_init.name = "time"
with pytest.raises(RuntimeError):
ocp.update_initial_guess(new_x_init, wrong_new_u_init, new_time_init)
with pytest.raises(RuntimeError):
ocp.update_initial_guess(wrong_new_x_init, wrong_new_u_init, new_time_init)
ocp.update_initial_guess(new_x_init, new_u_init, new_time_init)
np.testing.assert_almost_equal(ocp.nlp[0].x_init.init, np.ones((4, 1)))
np.testing.assert_almost_equal(ocp.nlp[0].u_init.init, np.ones((2, 1)) * 3)
np.testing.assert_almost_equal(ocp.param_to_optimize["time"].initial_guess.init[0, 0], 4)
np.testing.assert_almost_equal(ocp.V_init.init, np.array([[4] + [1, 1, 1, 1, 3, 3] * 10 + [1, 1, 1, 1]]).T)
