def __check_all_system_parts_are_casadi_symbolics(self):
for arg in self.__init__.__code__.co_varnames[1:]:
if not isinstance(getattr(self, arg), type(ci.mx_sym("a"))):
raise TypeError('''
Missing input argument for system definition or wrong variable type for an
input argument. Input arguments must be CasADi symbolic types.''')
def __check_all_system_parts_are_casadi_symbolics(self):
for arg in self.__init__.__code__.co_varnames[1:]:
if not isinstance(getattr(self, arg), type(ci.mx_sym("a"))):
raise TypeError('''
Missing input argument for system definition or wrong variable type for an
input argument. Input arguments must be CasADi symbolic types.''')
def __generate_scaled_dae(self):
# ODE time scaling according to:
# https://groups.google.com/forum/#!topic/casadi-users/AeXzJmBH0-Y
t_scale = ci.mx_sym("t_scale", 1)
self.__dae_scaled = {"x": self.__system.x, \
"p": ci.vertcat([t_scale, self.__system.u]), \
"ode": t_scale * self.__ode_parameters_applied}
def __generate_scaled_dae(self):
# ODE time scaling according to:
# https://groups.google.com/forum/#!topic/casadi-users/AeXzJmBH0-Y
t_scale = ci.mx_sym("t_scale", 1)
dae_scaled = ci.mx_function(
"dae_scaled",
ci.daeIn(x=self.__system.x, p=ci.vertcat([t_scale, self.__system.u])),
ci.daeOut(ode=t_scale * self.__ode_parameters_applied),
)
self.__dae_scaled = dae_scaled.expand()
def __init__(self, \
u = ci.mx_sym("u", 0), \
q = ci.mx_sym("q", 0), \
p = None, \
x = ci.mx_sym("x", 0), \
eps_u = ci.mx_sym("eps_u", 0), \
phi = None, \
f = ci.mx_sym("f", 0), \
g = ci.mx_sym("g", 0)):
r'''
:raises: TypeError, NotImplementedError
:param u: time-varying controls :math:`u \in \mathbb{R}^{\text{n}_\text{u}}` that are applied piece-wise-constant for each control intervals, and therefor can change from on interval to another, e. g. motor dutycycles, temperatures, massflows (optional)
:type u: casadi.casadi.MX
:param q: time-constant controls :math:`q \in \mathbb{R}^{\text{n}_\text{q}}` that are constant over time, e. g. initial mass concentrations of reactants, elevation angles (optional)
:type q: casadi.casadi.MX
:param p: unknown parameters :math:`p \in \mathbb{R}^{\text{n}_\text{p}}`
:type p: casadi.casadi.MX
:param x: differential states :math:`x \in \mathbb{R}^{\text{n}_\text{x}}` (optional)
:type x: casadi.casadi.MX
:param eps_u: input errors :math:`\epsilon_{u} \in \mathbb{R}^{\text{n}_{\epsilon_\text{u}}}` (optional)
:type eps_u: casadi.casadi.MX
:param phi: output function :math:`\phi(u, q, x, p) = y \in \mathbb{R}^{\text{n}_\text{y}}`
:type phi: casadi.casadi.MX
:param f: explicit system of ODEs :math:`f(u, q, x, p, \epsilon_\text{u}) = \dot{x} \in \mathbb{R}^{\text{n}_\text{x}}` (optional)
:type f: casadi.casadi.MX
:param g: equality constraints :math:`g(u, q, p) = 0 \in \mathbb{R}^{\text{n}_\text{g}}` (optional)
:type g: casadi.casadi.MX
Depending on the inputs the user provides, the :class:`System`
is interpreted as follows:
**Non-dynamic system** (x = None):
.. math::
y = \phi(u, q, p)
0 = g(u, q, p).
**Explicit ODE system** (x != None):
.. math::
y & = & \phi(u, q, x, p) \\
\dot{x} & = & f(u, q, x, p, \epsilon_\text{u}).
'''
intro()
print('\n' + '# ' + 23 * '-' + \
' casiopeia system definition ' + 22 * '-' + ' #')
print('\nStarting system definition ...')
self.u = u
self.q = q
self.p = p
self.x = x
self.eps_u = eps_u
self.phi = phi
self.f = f
self.g = g
self.__system_validation()
def __init__(self, \
u = ci.mx_sym("u", 0), \
q = ci.mx_sym("q", 0), \
p = None, \
x = ci.mx_sym("x", 0), \
eps_u = ci.mx_sym("eps_u", 0), \
phi = None, \
f = ci.mx_sym("f", 0), \
g = ci.mx_sym("g", 0)):
r'''
:raises: TypeError, NotImplementedError
:param u: time-varying controls :math:`u \in \mathbb{R}^{\text{n}_\text{u}}` that are applied piece-wise-constant for each control intervals, and therefor can change from on interval to another, e. g. motor dutycycles, temperatures, massflows (optional)
:type u: casadi.casadi.MX
:param q: time-constant controls :math:`q \in \mathbb{R}^{\text{n}_\text{q}}` that are constant over time, e. g. initial mass concentrations of reactants, elevation angles (optional)
:type q: casadi.casadi.MX
:param p: unknown parameters :math:`p \in \mathbb{R}^{\text{n}_\text{p}}`
:type p: casadi.casadi.MX
:param x: differential states :math:`x \in \mathbb{R}^{\text{n}_\text{x}}` (optional)
:type x: casadi.casadi.MX
:param eps_u: input errors :math:`\epsilon_{u} \in \mathbb{R}^{\text{n}_{\epsilon_\text{u}}}` (optional)
:type eps_u: casadi.casadi.MX
:param phi: output function :math:`\phi(u, q, x, p) = y \in \mathbb{R}^{\text{n}_\text{y}}`
:type phi: casadi.casadi.MX
:param f: explicit system of ODEs :math:`f(u, q, x, p, \epsilon_\text{u}) = \dot{x} \in \mathbb{R}^{\text{n}_\text{x}}` (optional)
:type f: casadi.casadi.MX
:param g: equality constraints :math:`g(u, q, p) = 0 \in \mathbb{R}^{\text{n}_\text{g}}` (optional)
:type g: casadi.casadi.MX
Depending on the inputs the user provides, the :class:`System`
is interpreted as follows:
**Non-dynamic system** (x = None):
.. math::
y = \phi(u, q, p)
0 = g(u, q, p).
**Explicit ODE system** (x != None):
.. math::
y & = & \phi(u, q, x, p) \\
\dot{x} & = & f(u, q, x, p, \epsilon_\text{u}).
'''
intro()
print('\n' + '# ' + 23 * '-' + \
' casiopeia system definition ' + 22 * '-' + ' #')
print('\nStarting system definition ...')
self.u = u
self.q = q
self.p = p
self.x = x
self.eps_u = eps_u
self.phi = phi
self.f = f
self.g = g
self.__system_validation()
