14334339264

Committed 08 Apr 2025 01:07PM UTC coverage: 92.981% (-0.1%) from 93.097%

Build # 14334339264

Build Type

push

github

Committed by

web-flow

Commit Message

Picard control continuity (#1167)

* Starting to add control continuity conditions to PicardShooting

* Added a continuity constraint component to enforce control continuity in PicardShooting.

* undo a reversion from last PR.

* missed a @use_tempdirs

Coverage Stats

45 of 48 new or added lines in 2 files covered. (93.75%)

61 existing lines in 6 files now uncovered.

33487 of 36015 relevant lines covered (92.98%)

5.65 hits per line

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70.3

/dymos/examples/goddard_rocket_problem/test/test_goddard_rocket_problem.py

UNCOV 1	import openmdao.api as om	×
UNCOV 2	import dymos as dm	×
UNCOV 3	import unittest	×
UNCOV 4	import os	×
5
UNCOV 6	try:	×
UNCOV 7	import matplotlib # noqa: F401	×
UNCOV 8	SHOW_PLOTS = True	×
9	except ImportError:	×
10	SHOW_PLOTS = False	×
11
UNCOV 12	from openmdao.utils.assert_utils import assert_near_equal, assert_check_partials	×
UNCOV 13	from openmdao.utils.testing_utils import use_tempdirs, require_pyoptsparse	×
14
UNCOV 15	from dymos.examples.goddard_rocket_problem import RocketODE	×
16
17
UNCOV 18	@require_pyoptsparse(optimizer='IPOPT')	×
UNCOV 19	def goddard_rocket_direct_collocation(grid_type='lgl'):	×
20
21	optimizer = 'IPOPT'	4✔
22	p = om.Problem(model=om.Group())	4✔
23	p.driver = om.pyOptSparseDriver()	4✔
24	p.driver.options['optimizer'] = optimizer	4✔
25	p.driver.declare_coloring()	4✔
26	if optimizer == 'SNOPT':	4✔
27	p.driver.opt_settings['Major iterations limit'] = 1000	×
28	p.driver.opt_settings['Major feasibility tolerance'] = 1.0E-6	×
29	p.driver.opt_settings['Major optimality tolerance'] = 1.0E-3	×
30	p.driver.opt_settings['iSumm'] = 6	×
31
32	t = dm.Birkhoff(num_nodes=150, grid_type=grid_type)	4✔
33
34	traj = p.model.add_subsystem('traj', dm.Trajectory())	4✔
35
36	phase = traj.add_phase('phase0', dm.Phase(ode_class=RocketODE, transcription=t))	4✔
37
38	phase.set_time_options(fix_initial=True, fix_duration=False, duration_bounds=(20, 80), units='s',	4✔
39	duration_ref=100)
40
41	phase.add_state('h', fix_initial=True, fix_final=False, rate_source='h_dot', units='ft', lower=0, ref=20000)	4✔
42	phase.add_state('v', fix_initial=True, fix_final=False, rate_source='v_dot', units='ft/s', ref=1000, lower=0)	4✔
43	phase.add_state('m', fix_initial=True, fix_final=True, rate_source='m_dot', units='slug',	4✔
44	lower=1e-3, ref=3, upper=3.0)
45
46	phase.add_control('T', units='lbf', lower=0, upper=200, ref=200)	4✔
47
48	# Minimize the control effort
49	phase.add_objective('h', loc='final', scaler=-1)	4✔
50
51	p.model.linear_solver = om.DirectSolver()	4✔
52
53	p.setup(check=True, force_alloc_complex=True)	4✔
54
55	phase.set_time_val(initial=0.0, duration=40.0)	4✔
56	phase.set_state_val('h', [0.0, 10000.0])	4✔
57	phase.set_state_val('v', [0.0, 0.0])	4✔
58	phase.set_state_val('m', [3.0, 1.0])	4✔
59	phase.set_control_val('T', [0.0, 0.0])	4✔
60
61	return p	4✔
62
63
UNCOV 64	@use_tempdirs	×
UNCOV 65	class TestGoddardRocketProblem(unittest.TestCase):	×
66
UNCOV 67	@classmethod	×
UNCOV 68	def tearDownClass(cls):	×
69	for filename in ['total_coloring.pkl', 'SLSQP.out', 'SNOPT_print.out']:	7✔
70	if os.path.exists(filename):	7✔
71	os.remove(filename)	×
72
UNCOV 73	@staticmethod	×
UNCOV 74	def _assert_results(p, tol=1.0E-4):	×
75	h = p.get_val('traj.phase0.timeseries.h')	4✔
76	assert_near_equal(h[-1], 18745.0, tolerance=tol)	4✔
77
UNCOV 78	def test_goddard_rocket_problem_lgl(self):	×
79	p = goddard_rocket_direct_collocation(grid_type='lgl')	7✔
80	dm.run_problem(p)	4✔
81	if SHOW_PLOTS:	4✔
82	t = p.get_val('traj.phase0.timeseries.time')	4✔
83	h = p.get_val('traj.phase0.timeseries.h')	4✔
84	v = p.get_val('traj.phase0.timeseries.v')	4✔
85	m = p.get_val('traj.phase0.timeseries.m')	4✔
86	T = p.get_val('traj.phase0.timeseries.T')	4✔
87
88	import matplotlib.pyplot as plt	4✔
89	fig, axs = plt.subplots(2, 2)	4✔
90	axs[0, 0].plot(t, h)	4✔
91	axs[0, 0].set_xlabel('time (s)')	4✔
92	axs[0, 0].set_ylabel('altitude (ft)')	4✔
93	axs[0, 1].plot(t, v)	4✔
94	axs[0, 1].set_xlabel('time (s)')	4✔
95	axs[0, 1].set_ylabel('velocity (ft/s)')	4✔
96	axs[1, 0].plot(t, m)	4✔
97	axs[1, 0].set_xlabel('time (s)')	4✔
98	axs[1, 0].set_ylabel('mass (slug)')	4✔
99	axs[1, 1].plot(t, T)	4✔
100	axs[1, 1].set_xlabel('time (s)')	4✔
101	axs[1, 1].set_ylabel('thrust (lb)')	4✔
102	plt.show()	4✔
103
104	self._assert_results(p)	4✔
105
UNCOV 106	def test_goddard_rocket_problem_cgl(self):	×
107	p = goddard_rocket_direct_collocation(grid_type='cgl')	7✔
108	dm.run_problem(p)	4✔
109	if SHOW_PLOTS:	4✔
110	t = p.get_val('traj.phase0.timeseries.time')	4✔
111	h = p.get_val('traj.phase0.timeseries.h')	4✔
112	v = p.get_val('traj.phase0.timeseries.v')	4✔
113	m = p.get_val('traj.phase0.timeseries.m')	4✔
114	T = p.get_val('traj.phase0.timeseries.T')	4✔
115
116	import matplotlib.pyplot as plt	4✔
117	fig, axs = plt.subplots(2, 2)	4✔
118	axs[0, 0].plot(t, h)	4✔
119	axs[0, 1].plot(t, v)	4✔
120	axs[1, 0].plot(t, m)	4✔
121	axs[1, 1].plot(t, T)	4✔
122	plt.show()	4✔
123	self._assert_results(p)	4✔
124
UNCOV 125	def test_check_partials(self):	×
126	p = goddard_rocket_direct_collocation(grid_type='cgl')	7✔
127	p.run_model()	4✔
128	cpd = p.check_partials(method='cs', out_stream=None)	4✔
129	assert_check_partials(cpd)	4✔
130
131
UNCOV 132	if __name__ == "__main__":	×
133	unittest.main()	×

OpenMDAO / dymos / 14334339264

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