# add nonlinear constraint
ocp.constrain(thrust4, '<=', posvel4_2**2)
# fix objective and setup solver
obj = sum([ocp('thrust',timestep=k)**2
for k in range(ocp.nk)])
ocp.setObjective(obj)
# ocp.setObjective(ocp.lookup('integral vel*vel',timestep=-1))
callback = rawe.telemetry.startTelemetry(
ocp, callbacks=[
(rawe.telemetry.trajectoryCallback(toProto, Trajectory), 'rocket trajectory')
])
solverOptions = [ ("tol",1e-9) ]
ocp.setupSolver(solverOpts=solverOptions,
callback=callback)
# ocp.interpolateInitialGuess("data/rocket_opt.dat",force=True,quiet=True,numLoops=1)
traj = ocp.solve()
print "final position: "+str(traj.lookup('pos',-1))
# save trajectory
traj.save("data/rocket_opt.dat")
# plot results
# traj.plot('pos')
traj.plot(['pos','vel'])
traj.plot('thrust')
# traj.subplot([['pos','vel'],['thrust']])
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
# fix objective and setup solver
# L1 parts
obj = 0
for k in range(N):
for j in range(ocp.deg+1):
obj += ocp('abspos',timestep=k,degIdx=j)
obj += ocp('abspos',timestep=N,degIdx=0)
# L2 parts
for k in range(N):
obj += ocp('force',timestep=k)**2
ocp.setObjective(obj)
solverOptions = [ ("expand_f",True)
, ("expand_g",True)
, ("generate_hessian",True)
, ("tol",1e-9)
]
ocp.setupSolver(solverOpts=solverOptions)
traj = ocp.solve()
# plot results
traj.subplot([['pos','vel'],['force'],['force_over_pos']])
traj.plot(['pos','abspos'])
plt.show()
ocp.constrain( pos, '<=', abspos)
ocp.constrain(-abspos, '<=', pos)
# fix objective and setup solver
# L1 parts
obj = 0
for k in range(N):
for j in range(ocp.deg+1):
obj += ocp('abspos',timestep=k,degIdx=j)
obj += ocp('abspos',timestep=N,degIdx=0)
# L2 parts
for k in range(N):
obj += ocp('force',timestep=k)**2
ocp.setObjective(obj)
solverOptions = [ ("expand_f",True)
, ("expand_g",True)
, ("generate_hessian",True)
, ("tol",1e-9)
]
ocp.setupSolver(solverOpts=solverOptions)
traj = ocp.solve()
# plot results
traj.subplot([['pos','vel'],['force'],['force_over_pos']])
traj.plot(['pos','abspos'])
plt.show()
