Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Jump to bottom

More model cleanup, remove n_f_sys abuse #6

Merged
merged 4 commits into from
Dec 13, 2022
Merged

More model cleanup, remove n_f_sys abuse #6

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
67991f8
improve motor test
FreyJo Dec 12, 2022
2b98479
remove hack setting n_f_sys to something wrong for STEP
FreyJo Dec 12, 2022
10da5b0
more model cleanup
FreyJo Dec 12, 2022
4fbc601
J_cc_fun -> std_compl_res_fun
FreyJo Dec 12, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 12 additions & 18 deletions nosnoc/nosnoc.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,34 +34,28 @@ def __init__(self, x: SX, F: List[SX], c: List[SX], S: List[np.ndarray], x0: np.
self.dims: NosnocDims = None

def preprocess_model(self, opts: NosnocOpts):
# detect dimensions
nx = casadi_length(self.x)
nu = casadi_length(self.u)
n_sys = len(self.F)
n_c_sys = [casadi_length(self.c[i]) for i in range(n_sys)]
n_f_sys = [self.F[i].shape[1] for i in range(n_sys)]

g_Stewart_list = [-self.S[i] @ self.c[i] for i in range(n_sys)]
g_Stewart = casadi_vertcat_list(g_Stewart_list)

if opts.pss_mode == PssMode.STEP:
# double the size of the vectors, since alpha, 1-alpha treated at same time
# TODO: Is this correct? it does give an integer, not a list!
n_f_sys = np.sum(n_c_sys, axis=0) * 2

self.dims = NosnocDims(nx=nx,
nu=nu,
n_sys=n_sys,
n_c_sys=n_c_sys,
n_f_sys=n_f_sys)

# create dummy finite element.
# only use first stage
g_Stewart_list = [-self.S[i] @ self.c[i] for i in range(n_sys)]
g_Stewart = casadi_vertcat_list(g_Stewart_list)

# create dummy finite element - only use first stage
fe = FiniteElement(opts, self, ctrl_idx=0, fe_idx=0, prev_fe=None)

# setup upsilon
upsilon = []
if opts.pss_mode == PssMode.STEP:
# Upsilon collects the vector for dotx = F(x)Upsilon, it is either multiaffine
# terms or gamma from lifting
for ii in range(self.dims.n_sys):
upsilon_temp = []
S_temp = self.S[ii]
Expand All @@ -80,7 +74,7 @@ def preprocess_model(self, opts: NosnocOpts):
g_switching = SX.zeros((0, 1))
g_convex = SX.zeros((0, 1)) # equation for the convex multiplers 1 = e' \theta
lambda00_expr = SX.zeros(0, 0)
f_comp_residual = SX.zeros(1) # the orthogonality conditions diag(\theta) \lambda = 0.
std_compl_res = SX.zeros(1) # residual of standard complementarity

z = fe.rk_stage_z(0)

Expand All @@ -94,7 +88,7 @@ def preprocess_model(self, opts: NosnocOpts):
g_switching,
g_Stewart_list[ii] - fe.w[fe.ind_lam[0][ii]] + fe.w[fe.ind_mu[0][ii]])
g_convex = vertcat(g_convex, sum1(fe.w[fe.ind_theta[0][ii]]) - 1)
f_comp_residual += fabs(fe.w[fe.ind_lam[0][ii]].T @ fe.w[fe.ind_theta[0][ii]])
std_compl_res += fabs(fe.w[fe.ind_lam[0][ii]].T @ fe.w[fe.ind_theta[0][ii]])
lambda00_expr = vertcat(lambda00_expr,
g_Stewart_list[ii] - mmin(g_Stewart_list[ii]))
elif opts.pss_mode == PssMode.STEP:
Expand All @@ -103,9 +97,9 @@ def preprocess_model(self, opts: NosnocOpts):
g_switching = vertcat(
g_switching,
self.c[ii] - fe.w[fe.ind_lambda_p[0][ii]] + fe.w[fe.ind_lambda_n[0][ii]])
f_comp_residual += transpose(
std_compl_res += transpose(
fe.w[fe.ind_lambda_n[0][ii]]) @ fe.w[fe.ind_alpha[0][ii]]
f_comp_residual += transpose(fe.w[fe.ind_lambda_p[0][ii]]) @ (
std_compl_res += transpose(fe.w[fe.ind_lambda_p[0][ii]]) @ (
np.ones(n_c_sys[ii]) - fe.w[fe.ind_alpha[0][ii]])
lambda00_expr = vertcat(lambda00_expr, -fmin(self.c[ii], 0), fmax(self.c[ii], 0))

Expand All @@ -125,7 +119,7 @@ def preprocess_model(self, opts: NosnocOpts):
self.g_z_all_fun = Function('g_z_all_fun', [self.x, z, self.u], [g_z_all])
self.lambda00_fun = Function('lambda00_fun', [self.x], [lambda00_expr])

self.J_cc_fun = Function('J_cc_fun', [z], [f_comp_residual])
self.std_compl_res_fun = Function('std_compl_res_fun', [z], [std_compl_res])


class NosnocOcp:
Expand Down Expand Up @@ -695,7 +689,7 @@ def __init__(self, opts: NosnocOpts, model: NosnocModel, ocp: Optional[NosnocOcp
J_comp = sum1(diag(fe.sum_Theta()) @ fe.sum_Lambda())
else:
J_comp = casadi_sum_list([
model.J_cc_fun(fe.rk_stage_z(j))
model.std_compl_res_fun(fe.rk_stage_z(j))
for j in range(opts.n_s)
for fe in flatten(self.stages)
])
Expand Down
6 changes: 2 additions & 4 deletions test/test_ocp_motor.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,18 +8,16 @@
import nosnoc
import numpy as np

PSS_MODES = nosnoc.PssMode


def test_default():
example(plot=False)


def test_loop():
opts = get_default_options()

for step_equilibration in nosnoc.StepEquilibrationMode:
for pss_mode in PSS_MODES:
for pss_mode in nosnoc.PssMode:
opts = get_default_options()
opts.step_equilibration = step_equilibration
opts.pss_mode = pss_mode

Expand Down