def test_control_interp_scalar(self,
transcription='gauss-lobatto',
compressed=True):
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order=5,
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {
'a': {
'units': 'm',
'shape': (1, ),
'dynamic': True
},
'b': {
'units': 'm',
'shape': (1, ),
'dynamic': True
}
}
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('controls:a',
val=np.zeros((gd.subset_num_nodes['control_input'], 1)),
units='m')
ivc.add_output('controls:b',
val=np.zeros((gd.subset_num_nodes['control_input'], 1)),
units='m')
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(
num_nodes=gd.num_nodes,
node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau,
units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
p.model.add_subsystem('control_interp_comp',
subsys=ControlInterpComp(
grid_data=gd,
control_options=controls,
time_units='s'),
promotes_inputs=['controls:*'])
p.model.connect('dt_dstau', 'control_interp_comp.dt_dstau')
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
t = p['time']
p['controls:a'][:, 0] = f_a(t[gd.subset_node_indices['control_input']])
p['controls:b'][:, 0] = f_b(t[gd.subset_node_indices['control_input']])
p.run_model()
a_value_expected = f_a(t)
b_value_expected = f_b(t)
a_rate_expected = f1_a(t)
b_rate_expected = f1_b(t)
a_rate2_expected = f2_a(t)
b_rate2_expected = f2_b(t)
assert_almost_equal(p['control_interp_comp.control_values:a'],
np.atleast_2d(a_value_expected).T)
assert_almost_equal(p['control_interp_comp.control_values:b'],
np.atleast_2d(b_value_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:a_rate'],
np.atleast_2d(a_rate_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:b_rate'],
np.atleast_2d(b_rate_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:a_rate2'],
np.atleast_2d(a_rate2_expected).T)
assert_almost_equal(p['control_interp_comp.control_rates:b_rate2'],
np.atleast_2d(b_rate2_expected).T)
np.set_printoptions(linewidth=1024)
cpd = p.check_partials(compact_print=False,
out_stream=None,
method='cs')
assert_check_partials(cpd)
def test_control_interp_matrix_2x2(self,
transcription='gauss-lobatto',
compressed=True):
segends = np.array([0.0, 3.0, 10.0])
gd = GridData(num_segments=2,
transcription_order=5,
segment_ends=segends,
transcription=transcription,
compressed=compressed)
p = om.Problem(model=om.Group())
controls = {'a': {'units': 'm', 'shape': (2, 2), 'dynamic': True}}
ivc = om.IndepVarComp()
p.model.add_subsystem('ivc', ivc, promotes_outputs=['*'])
ivc.add_output('controls:a',
val=np.zeros(
(gd.subset_num_nodes['control_input'], 2, 2)),
units='m')
ivc.add_output('t_initial', val=0.0, units='s')
ivc.add_output('t_duration', val=10.0, units='s')
p.model.add_subsystem('time_comp',
subsys=TimeComp(
num_nodes=gd.num_nodes,
node_ptau=gd.node_ptau,
node_dptau_dstau=gd.node_dptau_dstau,
units='s'),
promotes_inputs=['t_initial', 't_duration'],
promotes_outputs=['time', 'dt_dstau'])
p.model.add_subsystem('control_interp_comp',
subsys=ControlInterpComp(
grid_data=gd,
control_options=controls,
time_units='s'),
promotes_inputs=['controls:*'])
p.model.connect('dt_dstau', 'control_interp_comp.dt_dstau')
p.setup(force_alloc_complex=True)
p['t_initial'] = 0.0
p['t_duration'] = 3.0
p.run_model()
t = p['time']
control_input_idxs = gd.subset_node_indices['control_input']
p['controls:a'][:, 0, 0] = f_a(t[control_input_idxs])
p['controls:a'][:, 0, 1] = f_b(t[control_input_idxs])
p['controls:a'][:, 1, 0] = f_c(t[control_input_idxs])
p['controls:a'][:, 1, 1] = f_d(t[control_input_idxs])
p.run_model()
a0_value_expected = f_a(t)
a1_value_expected = f_b(t)
a2_value_expected = f_c(t)
a3_value_expected = f_d(t)
a0_rate_expected = f1_a(t)
a1_rate_expected = f1_b(t)
a2_rate_expected = f1_c(t)
a3_rate_expected = f1_d(t)
a0_rate2_expected = f2_a(t)
a1_rate2_expected = f2_b(t)
a2_rate2_expected = f2_c(t)
a3_rate2_expected = f2_d(t)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 0, 0],
a0_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 0, 1],
a1_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 1, 0],
a2_value_expected)
assert_almost_equal(p['control_interp_comp.control_values:a'][:, 1, 1],
a3_value_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 0, 0],
a0_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 0, 1],
a1_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 1, 0],
a2_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate'][:, 1, 1],
a3_rate_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 0, 0],
a0_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 0, 1],
a1_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 1, 0],
a2_rate2_expected)
assert_almost_equal(
p['control_interp_comp.control_rates:a_rate2'][:, 1, 1],
a3_rate2_expected)
with np.printoptions(linewidth=100000, edgeitems=100000):
cpd = p.check_partials(compact_print=True, method='cs')
assert_check_partials(cpd)
